CN108892042B - Steel ladle trunnion hoisting alignment recognition device and method - Google Patents
Steel ladle trunnion hoisting alignment recognition device and method Download PDFInfo
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- CN108892042B CN108892042B CN201811068635.XA CN201811068635A CN108892042B CN 108892042 B CN108892042 B CN 108892042B CN 201811068635 A CN201811068635 A CN 201811068635A CN 108892042 B CN108892042 B CN 108892042B
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 29
- 239000010959 steel Substances 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 23
- 101150107801 Top2a gene Proteins 0.000 claims description 19
- 101150041570 TOP1 gene Proteins 0.000 claims description 12
- 230000002159 abnormal effect Effects 0.000 claims description 8
- 230000001174 ascending effect Effects 0.000 claims description 6
- 239000011248 coating agent Substances 0.000 claims description 3
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- 101150104012 TOP2 gene Proteins 0.000 description 2
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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
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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
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
- B66C1/34—Crane hooks
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Abstract
The invention provides a steel ladle trunnion hoisting alignment recognition device and a method, wherein the recognition device comprises the following steps: the first hoisting alignment image acquisition unit is used for shooting images of white marks of trunnions at one side of the ladle and hook tips of the crane hook in real time as first alignment image information and transmitting the first alignment image information to the main control unit; the second hoisting alignment image acquisition unit is used for shooting images of white marks of trunnions at the other side of the ladle and hook tips of the crane hook in real time as second alignment image information and transmitting the second alignment image information to the main control unit; the lifting control loop is connected with the main control unit and used for controlling the lifting and descending of the lifting hook of the crane; and the main control unit drives the lifting control loop to act according to the information returned by the first lifting alignment image acquisition unit and the second lifting alignment image acquisition unit. The steel ladle trunnion hoisting alignment recognition device and method have the advantages of scientific design, strong practicability, simple structure and accurate recognition.
Description
Technical Field
The invention relates to the technical field of ladle hoisting, in particular to a ladle trunnion hoisting alignment recognition device and a ladle trunnion hoisting alignment recognition method.
Background
In the steel industry, ladles often need to be hoisted by a crane and transported to different production process locations.
At present, in the hoisting process, because the sight line is blocked, a crane driver can only see a near side ladle trunnion and a crane hook, but can not see a near side far ladle trunnion and a crane hook, and can only judge whether the far side trunnion is accurately aligned with the crane hook by experience or feel and the like, if the driver has insufficient experience, fatigue, god and the like, the serious accidents such as ladle overturning, falling and the like are caused.
In order to solve the above problems, an ideal technical solution is always sought.
Disclosure of Invention
The invention aims at overcoming the defects of the prior art, and provides a steel ladle trunnion hoisting alignment recognition device and method which are scientific in design, strong in practicability, simple in structure and accurate in recognition.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: the steel ladle trunnion hoisting alignment recognition device comprises a main control unit, a first hoisting alignment image acquisition unit, a second hoisting alignment image acquisition unit and a hoisting control loop, wherein the first hoisting alignment image acquisition unit, the second hoisting alignment image acquisition unit and the hoisting control loop are respectively connected with the main control unit;
White marks are coated on the trunnion of the ladle and the hook tip of the crane hook;
The first hoisting alignment image acquisition unit is used for shooting images of white marks of trunnions at one side of the ladle and hook tips of the crane hook in real time as first alignment image information and transmitting the first alignment image information to the main control unit;
the second hoisting alignment image acquisition unit is used for shooting images of white marks of trunnions at the other side of the ladle and hook tips of the crane hook in real time as second alignment image information and transmitting the second alignment image information to the main control unit;
The lifting control loop is connected with the main control unit and used for controlling the lifting and descending of the lifting hook of the crane;
and the main control unit drives the lifting control loop to act according to the information returned by the first lifting alignment image acquisition unit and the second lifting alignment image acquisition unit.
Based on the above, the lifting control loop is connected with the main control unit through a dynamic breaking switch K4;
The lifting control loop comprises a power supply, a single-pole three-throw switch K1, a lifting hook descending relay switch K2 and a lifting hook ascending relay switch K3; the fixed contact of the single-pole three-throw switch K1 is connected with the power supply, the first movable contact of the single-pole three-throw switch K1 is connected with the coil of the lifting hook descending relay switch K2, the second movable contact of the single-pole three-throw switch K1 is connected with the grounding end, and the third movable contact of the single-pole three-throw switch K1 is connected with the coil of the lifting hook ascending relay switch K3.
Based on the above, the invention also comprises an alarm unit connected with the main control unit, and when the trunnion of the ladle at any side is abnormal in alignment with the lifting hook of the crane, the main control unit drives the alarm unit to send an alarm signal.
Based on the above, the main control unit and the alarm unit are arranged in a cab of the crane.
Based on the above, the first hoisting alignment image acquisition unit and the second hoisting alignment image acquisition unit all adopt high-definition cameras.
Based on the above, the first hoisting alignment image acquisition unit and the second hoisting alignment image acquisition unit are arranged opposite to trunnions on the left side and the right side of the ladle.
The steel ladle trunnion hoisting alignment recognition method, which utilizes the alignment recognition device according to the previous claim, comprises the following steps:
Step 1, coating the end surfaces of trunnions at two sides of a steel ladle to be hoisted and hook tips of a crane hook into white;
Step 2, moving the steel ladle to be hoisted to a hoisting position, and moving the lifting hook to the lower part of the trunnion;
Step 3, the first hoisting alignment image acquisition unit and the second hoisting alignment image acquisition unit acquire alignment image information of trunnions and crane hooks at two sides of the steel ladle in real time and transmit the alignment image information to the main control unit;
step 4, the main control unit obtains a trunnion outline rectangle and a lifting hook outline rectangle according to the alignment image information;
step 5, according to the position coordinate information of the trunnion outline rectangle and the position coordinate information of the lifting hook outline rectangle, the main control unit judges whether the relative position relation between the trunnions on two sides of the ladle and the lifting hook of the corresponding crane meets the lifting requirement;
step 6, if the relative position relation between the trunnions at the two sides of the steel ladle and the lifting hook of the corresponding crane meets the lifting requirement, the main control unit drives the crane to perform lifting operation through the lifting control loop; otherwise, turning to the step 7;
And 7, the main control unit drives the alarm unit to send out an alarm signal, and simultaneously, the lifting control loop is disconnected.
Based on the above, in step 4, the main control unit identifies, according to the alignment image information, a first white area representing a trunnion outline rectangle of the ladle, specifically:
Scanning pixels of the alignment image information line by line, and traversing each pixel; recording the pixel position F of the first white pixel and the pixel position L of the last white pixel of each row, and the number of the white pixels;
Comparing the sizes of the pixel positions F of the white pixels, and marking the minimum value of the pixel positions F of the white pixels as a leftmost pixel position Left1 of the first white area;
Comparing the sizes of the pixel positions L of the white pixels, and marking the maximum value of the pixel positions L of the white pixels as a pixel position Right1 at the rightmost side of the first white area;
When the number of the white pixels in the m-1 th row is equal to zero and the number of the white pixels in the m-1 th row is larger than zero, marking the pixel position Top1 at the uppermost side of the first white area as Top1=m;
When the number of the white pixels in the n-1 row is greater than zero and the number of the white pixels in the n-1 row is equal to zero, marking a pixel position Bottom1 at the bottommost side of the first white region as Bottom1 = n;
obtaining the coordinate position of the upper Left corner of the trunnion outline rectangle as (Left 1, top 1) and the coordinate position of the lower Right corner as (Right 1, bottom 1) according to the leftmost pixel position Left1, the uppermost pixel position Top1, the rightmost pixel position Right1 and the bottommost pixel position Bottom1 of the first white area; thereby resulting in a trunnion contour rectangle.
Based on the above, in step 4, the main control unit identifies a second white area representing a hook outline rectangle according to the alignment image information; the method comprises the following steps:
Scanning pixels of the alignment image information line by line starting from a next line of the first white region; recording the pixel position F 'of the first white pixel, the pixel position L' of the last white pixel and the number of the white pixels in each row;
Comparing the sizes of the pixel positions F 'of the white pixels, and marking the minimum value of the pixel positions F' of the white pixels as a leftmost pixel position Left2 of the second white region;
comparing the sizes of the pixel positions L 'of the white pixels, and marking the maximum value of the pixel positions L' of the white pixels as a pixel position Right2 at the rightmost side of the second white area;
When the number of the white pixels in the p-1 row is equal to zero and the number of the white pixels in the p-1 row is larger than zero, marking the pixel position Top2 at the uppermost side of the second white area as Top2 = p;
When the number of the white pixels in the q-1 row is greater than zero and the number of the white pixels in the q-1 row is equal to zero, marking a pixel position Bottom2 at the lowest side of the second white region as Bottom2 = q;
obtaining the coordinate position of the upper Left corner of the hook outline rectangle as (Left 2, top 2) and the coordinate position of the lower Right corner as (Right 2, bottom 2) according to the leftmost pixel position Left2, the uppermost pixel position Top2, the rightmost pixel position Right2 and the bottommost pixel position Bottom2 of the second white area; thereby obtaining a rectangular hook profile.
Based on the above, in step 5, the main control unit determines whether the relative positional relationship between trunnions on two sides of the ladle and the hooks of the corresponding crane meets the hoisting requirement, and specifically includes the following steps:
Step 5.1, initializing, namely, marking P=No of the trunnion of the steel ladle above the lifting hook of the crane;
step 5.2, if the pixel position Top2 at the uppermost side of the hook outline rectangle is smaller than the pixel position Bottom1 at the lowermost side of the trunnion outline rectangle, turning to step 5.3; otherwise, turning to step 5.1;
step 5.3, if the Left-most pixel position Left2 of the hook contour rectangle is greater than or equal to the Left-most pixel position Left1 of the trunnion contour rectangle, and the Left-most pixel position Left2 of the hook contour rectangle is smaller than the Right-most pixel position Right1 of the trunnion contour rectangle;
Or if the pixel position Right2 at the rightmost side of the hook contour rectangle is greater than or equal to the pixel position Left1 at the leftmost side of the trunnion contour rectangle, and the pixel position Right2 at the rightmost side of the hook contour rectangle is smaller than the pixel position Right1 at the rightmost side of the trunnion contour rectangle;
Judging that the trunnion of the ladle is above the lifting hook of the crane, marking P=Yes, and turning to step 5.4; otherwise, turning to step 5.1;
Step 5.4, calculating to obtain the distance d between the hook contour and the trunnion contour according to the pixel position Top2 at the uppermost side of the hook contour rectangle and the pixel position Bottom1 at the lowermost side of the trunnion contour rectangle, wherein d=bottom 1-Top2;
Step 5.5, if the distance d between the hook contour and the trunnion contour is larger than a preset value, judging that the relative position relationship between the trunnions at two sides of the ladle and the hooks of the corresponding cranes meets the hoisting requirement;
Otherwise, judging that the alignment of the trunnion of the ladle and the lifting hook of the corresponding crane is abnormal.
Compared with the prior art, the invention has outstanding substantive characteristics and remarkable progress, and in particular provides a device and a method for identifying the lifting alignment of a trunnion of a steel ladle, wherein a first lifting alignment image acquisition unit is used for shooting images of white marks of the trunnion at one side of the steel ladle and the hook tip of a crane hook in real time as first alignment image information and transmitting the first alignment image information to a main control unit; the second hoisting alignment image acquisition unit is used for shooting images of white marks of trunnions at the other side of the ladle and hook tips of the crane hook in real time as second alignment image information and transmitting the second alignment image information to the main control unit; the main control unit drives the lifting control loop to act according to the information returned by the first lifting alignment image acquisition unit and the second lifting alignment image acquisition unit; the contraposition identification method judges whether the relative position relation between trunnions at two sides of the steel ladle and the lifting hook of the corresponding crane meets the lifting requirement; when the trunnion of the ladle at any side is abnormal in alignment with the lifting hook of the corresponding crane, the main control unit drives the alarm unit to send an alarm signal, and meanwhile, the lifting control loop is disconnected, so that the lifting hook cannot lift and can only descend;
the invention can accurately judge the contraposition condition of the trunnion of the ladle and the lifting hook of the crane, and avoid serious accidents such as overturning, separating and the like of the ladle caused by deflection lifting, unhooking and the like;
in conclusion, the invention has the advantages of scientific design, strong practicability, simple structure and accurate identification.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic diagram of a hoist control circuit of the present invention.
Fig. 3 is a schematic view of the trunnion and hook of the present invention.
Fig. 4 is a schematic of the main flow of the present invention.
Fig. 5 is a schematic view of the relative positions and distances of the trunnion and hook of the present invention.
Fig. 6 is a schematic diagram of a trunnion outline rectangle recognition flow of the present invention.
Fig. 7 is a schematic diagram of a hook profile rectangle recognition procedure of the present invention.
FIG. 8 is a schematic illustration of the relative position and distance calculation of the trunnion and hook of the present invention.
Detailed Description
The technical scheme of the invention is further described in detail through the following specific embodiments.
Example 1
As shown in fig. 1-3, the trunnion hoisting alignment recognition device for the ladle comprises a main control unit, a first hoisting alignment image acquisition unit, a second hoisting alignment image acquisition unit and a hoisting control loop, wherein the first hoisting alignment image acquisition unit, the second hoisting alignment image acquisition unit and the hoisting control loop are respectively connected with the main control unit;
White marks are coated on the trunnion of the ladle and the hook tip of the crane hook;
The first hoisting alignment image acquisition unit is used for shooting images of white marks of trunnions at one side of the ladle and hook tips of the crane hook in real time as first alignment image information and transmitting the first alignment image information to the main control unit;
the second hoisting alignment image acquisition unit is used for shooting images of white marks of trunnions at the other side of the ladle and hook tips of the crane hook in real time as second alignment image information and transmitting the second alignment image information to the main control unit;
The lifting control loop is connected with the main control unit and used for controlling the lifting and descending of the lifting hook of the crane;
and the main control unit drives the lifting control loop to act according to the information returned by the first lifting alignment image acquisition unit and the second lifting alignment image acquisition unit.
The embodiment provides a specific implementation mode of a lifting control loop, wherein the lifting control loop is connected with the main control unit through a dynamic breaking switch K4; the lifting control loop comprises a power supply, a single-pole three-throw switch K1, a lifting hook descending relay switch K2 and a lifting hook ascending relay switch K3; the fixed contact of the single-pole three-throw switch K1 is connected with the power supply, the first movable contact of the single-pole three-throw switch K1 is connected with the coil of the lifting hook descending relay switch K2, the second movable contact of the single-pole three-throw switch K1 is connected with the grounding end, and the third movable contact of the single-pole three-throw switch K1 is connected with the coil of the lifting hook ascending relay switch K3.
When the fixed contact of the single-pole three-throw switch is communicated with the first movable contact, the coil of the lifting hook descending relay switch is powered on, and the lifting hook descending relay switch is attracted to be capable of performing lifting hook descending operation of the crane; when the fixed contact of the single-pole three-throw switch is communicated with the third movable contact, the coil of the lifting hook lifting relay switch is electrified, and the lifting hook lifting relay switch is attracted to perform lifting operation of the crane; when the fixed contact of the single-pole three-throw switch is connected with the second movable contact, the lifting hook of the crane cannot perform lifting operation, and the lifting control loop of the crane is in a disconnection state.
Specifically, the invention also comprises an alarm unit connected with the main control unit, and when the trunnion of the ladle at any side is abnormal in alignment with the lifting hook of the crane, the main control unit drives the alarm unit to send an alarm signal to warn operators. The main control unit and the alarm unit are fixed at proper positions of the cab; the main control unit is connected with the lifting control loop through a control output interface and is connected with the alarm unit through an alarm output interface.
Specifically, the first hoisting alignment image acquisition unit and the second hoisting alignment image acquisition unit both adopt high definition cameras, are opposite to trunnion settings on the left side and the right side of the ladle, are arranged on upright posts or other fixed objects on the left side and the right side of the ladle, adjust the angle of the high definition cameras, enable the trunnion and the lifting hook to be all positioned at the approximate center position of an image, acquire image information when the trunnions on the two sides are aligned with the lifting hook, and send the image information to the main control unit in a wireless mode. The first hoisting alignment image acquisition unit and the second hoisting alignment image acquisition unit are provided with wireless transmitters, and the main control unit is provided with a wireless receiver.
Example 2
As shown in fig. 4 and fig. 5, a ladle trunnion hoisting alignment recognition method, using the alignment recognition device according to the previous claim, comprises the following steps:
Step 1, coating the end surfaces of trunnions at two sides of a steel ladle to be hoisted and hook tips of a crane hook into white;
Step 2, moving the steel ladle to be hoisted to a hoisting position, and moving the lifting hook to the lower part of the trunnion;
Step 3, the first hoisting alignment image acquisition unit and the second hoisting alignment image acquisition unit acquire alignment image information of trunnions and crane hooks at two sides of the steel ladle in real time and transmit the alignment image information to the main control unit;
step 4, the main control unit identifies two contour rectangles according to the alignment image information, and judges whether the contour rectangles are trunnion contour rectangles or hook contour rectangles according to the areas of the contour rectangles;
the areas of the two profile rectangles are larger trunnion profile rectangles, and the smaller trunnion profile rectangles are lifting hook profile rectangles;
step 5, according to the position coordinate information of the trunnion outline rectangle and the position coordinate information of the lifting hook outline rectangle, the main control unit judges whether the relative position relation between the trunnions on two sides of the ladle and the lifting hook of the corresponding crane meets the lifting requirement;
step 6, if the relative position relation between the trunnions at the two sides of the steel ladle and the lifting hook of the corresponding crane meets the lifting requirement, the main control unit drives the crane to perform lifting operation through the lifting control loop; otherwise, turning to the step 7;
And 7, the main control unit drives the alarm unit to send out an alarm signal, and simultaneously, the lifting control loop is disconnected.
Specifically, in the step 4, the main control unit identifies a first white area representing a trunnion outline rectangle of the ladle according to the alignment image information, specifically:
Scanning pixels of the alignment image information line by line, and traversing each pixel; recording the pixel position F of the first white pixel and the pixel position L of the last white pixel of each row, and the number of the white pixels;
Comparing the sizes of the pixel positions F of the white pixels, and marking the minimum value of the pixel positions F of the white pixels as a leftmost pixel position Left1 of the first white area;
Comparing the sizes of the pixel positions L of the white pixels, and marking the maximum value of the pixel positions L of the white pixels as a pixel position Right1 at the rightmost side of the first white area;
When the number of the white pixels in the m-1 th row is equal to zero and the number of the white pixels in the m-1 th row is larger than zero, marking the pixel position Top1 at the uppermost side of the first white area as Top1=m;
When the number of the white pixels in the n-1 row is greater than zero and the number of the white pixels in the n-1 row is equal to zero, marking a pixel position Bottom1 at the bottommost side of the first white region as Bottom1 = n;
obtaining the coordinate position of the upper Left corner of the trunnion outline rectangle as (Left 1, top 1) and the coordinate position of the lower Right corner as (Right 1, bottom 1) according to the leftmost pixel position Left1, the uppermost pixel position Top1, the rightmost pixel position Right1 and the bottommost pixel position Bottom1 of the first white area; thereby resulting in a trunnion contour rectangle.
Specifically, in the step 4, the main control unit identifies a second white area representing a hook outline rectangle according to the alignment image information; the method comprises the following steps:
Scanning pixels of the alignment image information line by line starting from a next line of the first white region; recording the pixel position F 'of the first white pixel, the pixel position L' of the last white pixel and the number of the white pixels in each row;
Comparing the sizes of the pixel positions F 'of the white pixels, and marking the minimum value of the pixel positions F' of the white pixels as a leftmost pixel position Left2 of the second white region;
comparing the sizes of the pixel positions L 'of the white pixels, and marking the maximum value of the pixel positions L' of the white pixels as a pixel position Right2 at the rightmost side of the second white area;
When the number of the white pixels in the p-1 row is equal to zero and the number of the white pixels in the p-1 row is larger than zero, marking the pixel position Top2 at the uppermost side of the second white area as Top2 = p;
When the number of the white pixels in the q-1 row is greater than zero and the number of the white pixels in the q-1 row is equal to zero, marking a pixel position Bottom2 at the lowest side of the second white region as Bottom2 = q;
Obtaining the coordinate position of the upper Left corner of the hook outline rectangle as (Left 2, top 2) and the coordinate position of the lower Right corner as (Right 2, bottom 2) according to the leftmost pixel position Left2, the uppermost pixel position Top2, the rightmost pixel position Right2 and the bottommost pixel position Bottom2 of the second white area; thereby obtaining the rectangular outline of the lifting hook
Example 3
This embodiment differs from embodiment 2 in that: in step 4, as shown in fig. 6, the main control unit identifies a first white area representing a trunnion outline rectangle of the ladle according to the alignment image information, and the specific steps are as follows:
Step 4.1, setting the leftmost pixel position of the first white area to be left=0, the uppermost pixel position Top 1=0, the rightmost pixel position Right 1=0, and the lowermost pixel position Bottom 1=0; white pixel number N (i) =0;
Step 4.2, scanning the alignment image information line by line; setting i=0;
step 4.3, setting j=0;
Step 4.4, setting k=0;
step 4.5, if the (i, j+k) th pixel is white, the number of white pixels N (i) =n (i) +1 in the i th row;
Recording the first white pixel position F (i) =j of the ith row and the last white pixel position L (i) =j+n (i) of the ith row, and then turning to step 4.6; otherwise, directly turning to the step 4.8;
step 4.6, if the first pixel position F (i) of the i-th row is white (i) < F (i-1), recording the leftmost pixel position left=f (i) of the first white area, and then turning to step 4.7; otherwise, directly turning to the step 4.8;
Step 4.7, if the last pixel position L (i) > L (i-1) of the ith row is white, recording the rightmost pixel position Right 1=l (i) of the first white area, and then turning to step 4.8; otherwise, directly turning to the step 4.8;
step 4.8, k=k+1; if j+k is less than or equal to the image width value, turning to step 4.9; otherwise, turning to step 4.5;
Step 4.9, if the number N (i-1) of white pixels in the i-1 th row is=0 and the number N (i) of white pixels in the i-1 th row is >0, recording the pixel position top1=i at the uppermost side of the first white area, and then turning to step 4.10; otherwise, directly turning to the step 4.10;
Step 4.10, if the number N (i-1) of white pixels in the i-1 th row is greater than 0 and the number N (i) of white pixels in the i-1 th row is=0, recording the pixel position Bottom 1=i at the lowest side of the first white area, and then turning to step 4.11; otherwise, directly turning to the step 4.11;
step 4.11, j=j+1, if j is less than or equal to the image width value, let i=i+1, and go to step 4.12; otherwise, directly turning to the step 4.4;
step 4.12, if i is smaller than or equal to the image height value, judging whether to end the identification process; if not, turning to the step 4.1;
If i is greater than the image height value, turning to step 4.3;
Step 4.13, obtaining the coordinate position of the upper Left corner of the trunnion outline rectangle as (Left 1, top 1) and the coordinate position of the lower Right corner as (Right 1, bottom 1) according to the obtained leftmost pixel position of the trunnion outline rectangle as Left1, the uppermost pixel position Top1, the rightmost pixel position Right1 and the bottommost pixel position Bottom 1.
Example 4
This embodiment differs from embodiment 2 in that: in the step 4, as shown in fig. 7, the main control unit identifies a hook outline rectangle according to the alignment image information;
And obtaining the coordinate position of the upper Left corner of the rectangular shape of the lifting hook as (Left 2, top 2) and the coordinate position of the lower Right corner as (Right 2, bottom 2) according to the obtained pixel position Left2, top2, right2 and Bottom2 of the second white region of the lifting hook. The method comprises the following specific steps:
step S4.1, setting the leftmost pixel position of the second white area to Left 2=0, the uppermost pixel position Top 2=0, the rightmost pixel position Right 2=0, and the lowermost pixel position Bottom 2=0;
S4.2, carrying out progressive scanning on the alignment image information; setting i=image height value, which is equal to Top 1-Bottom 1;
Step S4.3, setting j=0;
Step S4.4, setting k=0;
step S4.5, if the (i, j+k) th pixel is white, the number of white pixels N (i) =n (i) +1 in the i th row;
recording the first white pixel position F (i) =j of the ith row and the last white pixel position L (i) =j+n (i) of the ith row, and then turning to step S4.6; otherwise, directly turning to the step S4.8;
Step S4.6, if the first pixel position F (i) of the i-th row is white (i) < F (i-1), recording the leftmost pixel position left=f (i) of the second white area, and then turning to step S4.7; otherwise, directly turning to the step S4.8;
Step S4.7, if the last pixel position L (i) of the ith row is white > the last pixel position L (i-1) of the ith row is white, recording the rightmost pixel position Right 2=l (i) of the second white area, and then turning to step S4.8; otherwise, directly turning to the step S4.8;
Step S4.8, k=k+1; if j+k is smaller than or equal to the image width value, the image width value is equal to Right 1-Left 1, and step S4.9 is performed; otherwise, turning to the step S4.5;
Step S4.9, if the number N (i-1) of white pixels in the i-1 th row=0 and the number N (i) of white pixels in the i-1 th row >0, recording the pixel position top2=i at the uppermost side of the second white area, and then turning to step S4.10; otherwise, directly turning to the step S4.10;
Step S4.10, if the number N (i-1) of white pixels in the i-1 th row is greater than 0 and the number N (i) =0 of white pixels in the i-1 th row, recording the pixel position Bottom 2=i at the lowest side of the second white area, and turning to step S4.11; otherwise, directly turning to the step S4.11;
Step S4.11, j=j+1, if j is less than or equal to the image width value, let i=i-1, and go to step S4.12; otherwise, directly turning to the step S4.4;
Step S4.12, if i is equal to zero, judging whether the identification process is finished; if not, turning to the step S4.1;
if i is not equal to zero, turning to step S4.3;
In step S4.13, the coordinate position of the upper Left corner of the trunnion outline rectangle is (Left 2, top 2) and the coordinate position of the lower Right corner is (Right 2, bottom 2) according to the obtained leftmost pixel position of the second white area is Left2, the leftmost pixel position Top2, the rightmost pixel position Right2, and the bottommost pixel position Bottom 2.
Example 5
This embodiment differs from embodiment 2 in that: as shown in fig. 8, in step 5, the main control unit determines whether the relative positional relationship between trunnions on two sides of the ladle and the hooks of the corresponding crane meets the hoisting requirement, and specifically includes the following steps:
Step 5.1, initializing, namely, marking P=No of the trunnion of the steel ladle above the lifting hook of the crane;
step 5.2, if the pixel position Top2 at the uppermost side of the hook outline rectangle is smaller than the pixel position Bottom1 at the lowermost side of the trunnion outline rectangle, turning to step 5.3; otherwise, turning to step 5.1;
step 5.3, if the Left-most pixel position Left2 of the hook contour rectangle is greater than or equal to the Left-most pixel position Left1 of the trunnion contour rectangle, and the Left-most pixel position Left2 of the hook contour rectangle is smaller than the Right-most pixel position Right1 of the trunnion contour rectangle;
Or if the pixel position Right2 at the rightmost side of the hook contour rectangle is greater than or equal to the pixel position Left1 at the leftmost side of the trunnion contour rectangle, and the pixel position Right2 at the rightmost side of the hook contour rectangle is smaller than the pixel position Right1 at the rightmost side of the trunnion contour rectangle;
Judging that the trunnion of the ladle is above the lifting hook of the crane, marking P=Yes, and turning to step 5.4; otherwise, turning to step 5.1;
Step 5.4, calculating to obtain the distance d between the hook contour and the trunnion contour according to the pixel position Top2 at the uppermost side of the hook contour rectangle and the pixel position Bottom1 at the lowermost side of the trunnion contour rectangle, wherein d=bottom 1-Top2;
Step 5.5, if the distance d between the hook contour and the trunnion contour is larger than a preset value, judging that the relative position relationship between the trunnions at two sides of the ladle and the hooks of the corresponding cranes meets the hoisting requirement;
otherwise, judging that the trunnions at two sides of the ladle are abnormal in alignment with the lifting hooks of the corresponding cranes.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same; while the invention has been described in detail with reference to the preferred embodiments, those skilled in the art will appreciate that: modifications may be made to the specific embodiments of the present invention or equivalents may be substituted for part of the technical features thereof; without departing from the spirit of the invention, it is intended to cover the scope of the invention as claimed.
Claims (10)
1. The utility model provides a ladle trunnion hoist and mount counterpoint recognition device which characterized in that: the hoisting control system comprises a main control unit, a first hoisting alignment image acquisition unit, a second hoisting alignment image acquisition unit and a hoisting control loop, wherein the first hoisting alignment image acquisition unit, the second hoisting alignment image acquisition unit and the hoisting control loop are respectively connected with the main control unit;
White marks are coated on the trunnion of the ladle and the hook tip of the crane hook;
The first hoisting alignment image acquisition unit is used for shooting images of white marks of trunnions at one side of the ladle and hook tips of the crane hook in real time as first alignment image information and transmitting the first alignment image information to the main control unit;
the second hoisting alignment image acquisition unit is used for shooting images of white marks of trunnions at the other side of the ladle and hook tips of the crane hook in real time as second alignment image information and transmitting the second alignment image information to the main control unit;
The lifting control loop is connected with the main control unit and used for controlling the lifting and descending of the lifting hook of the crane;
the main control unit drives the lifting control loop to act according to the information returned by the first lifting alignment image acquisition unit and the second lifting alignment image acquisition unit;
The main control unit identifies two contour rectangles according to the alignment image information, and judges whether the contour rectangles are trunnion contour rectangles or hook contour rectangles according to the areas of the contour rectangles;
Obtaining the coordinate position of the upper Left corner of the trunnion outline rectangle as (Left 1, top 1) and the coordinate position of the lower Right corner as (Right 1, bottom 1) according to the leftmost pixel position Left1, the leftmost pixel position Top1, the rightmost pixel position Right1 and the bottommost pixel position Bottom1 of a first white area representing the trunnion outline rectangle of the ladle, thereby obtaining the trunnion outline rectangle;
Obtaining the coordinate position of the upper Left corner of the hook outline rectangle as (Left 2, top 2) and the coordinate position of the lower Right corner as (Right 2, bottom 2) according to the leftmost pixel position Left2, the leftmost pixel position Top2, the rightmost pixel position Right2 and the bottommost pixel position Bottom2 of the second white area representing the hook outline rectangle, thereby obtaining the hook outline rectangle;
According to the position coordinate information of the trunnion outline rectangle and the position coordinate information of the lifting hook outline rectangle, the main control unit judges whether the relative position relation between trunnions on two sides of the ladle and the lifting hook of the corresponding crane meets the lifting requirement or not; the method specifically comprises the following steps:
Step A1, initializing, namely, marking a trunnion of the steel ladle above a lifting hook of a crane by p=no;
step A2, if the pixel position Top2 at the uppermost side of the hook outline rectangle is smaller than the pixel position Bottom1 at the lowermost side of the trunnion outline rectangle, turning to step A3; otherwise, turning to the step A1;
Step A3, if the Left-most pixel position Left2 of the hook contour rectangle is greater than or equal to the Left-most pixel position Left1 of the trunnion contour rectangle, and the Left-most pixel position Left2 of the hook contour rectangle is smaller than the Right-most pixel position Right1 of the trunnion contour rectangle;
Or if the pixel position Right2 at the rightmost side of the hook contour rectangle is greater than or equal to the pixel position Left1 at the leftmost side of the trunnion contour rectangle, and the pixel position Right2 at the rightmost side of the hook contour rectangle is smaller than the pixel position Right1 at the rightmost side of the trunnion contour rectangle;
judging that the trunnion of the ladle is above the lifting hook of the crane, marking P=Yes, and turning to step A4; otherwise, turning to the step A1;
Step A4, calculating to obtain a distance d between the hook contour and the trunnion contour according to a pixel position Top2 at the uppermost side of the hook contour rectangle and a pixel position Bottom1 at the lowermost side of the trunnion contour rectangle, wherein d=bottom 1-Top2;
Step A5, if the distance d between the hook contour and the trunnion contour is larger than a preset value, judging that the relative position relationship between the trunnions at two sides of the ladle and the hooks of the corresponding cranes meets the hoisting requirement;
otherwise, judging that the alignment of the trunnion of the ladle and the lifting hook of the corresponding crane is abnormal;
And if the relative position relations between the trunnions at the two sides of the steel ladle and the lifting hooks of the corresponding cranes meet the lifting requirements, the main control unit drives the cranes to lift through the lifting control loop.
2. The ladle trunnion hoisting alignment recognition device according to claim 1, wherein: the lifting control loop is connected with the main control unit through a dynamic breaking switch K4;
The lifting control loop comprises a power supply, a single-pole three-throw switch K1, a lifting hook descending relay switch K2 and a lifting hook ascending relay switch K3; the fixed contact of the single-pole three-throw switch K1 is connected with the power supply, the first movable contact of the single-pole three-throw switch K1 is connected with the coil of the lifting hook descending relay switch K2, the second movable contact of the single-pole three-throw switch K1 is connected with the grounding end, and the third movable contact of the single-pole three-throw switch K1 is connected with the coil of the lifting hook ascending relay switch K3.
3. The ladle trunnion hoisting alignment recognition device according to claim 2, wherein: the automatic control device is characterized by further comprising an alarm unit connected with the main control unit, wherein when the trunnion of the ladle at any side is abnormal in alignment with the lifting hook of the crane, the main control unit drives the alarm unit to send an alarm signal.
4. A ladle trunnion hoisting alignment recognition device according to claim 3, wherein: the main control unit and the alarm unit are arranged in a cab of the crane.
5. The ladle trunnion hoisting alignment recognition device according to claim 1, wherein: the first hoisting alignment image acquisition unit and the second hoisting alignment image acquisition unit both adopt high-definition cameras.
6. The ladle trunnion hoisting alignment recognition device according to claim 1, wherein: the first hoisting alignment image acquisition unit and the second hoisting alignment image acquisition unit are arranged opposite to trunnions on the left side and the right side of the ladle.
7. The steel ladle trunnion hoisting alignment recognition method by using the alignment recognition device as claimed in claim 3, comprising the following steps:
Step 1, coating the end surfaces of trunnions at two sides of a steel ladle to be hoisted and hook tips of a crane hook into white;
Step 2, moving the steel ladle to be hoisted to a hoisting position, and moving the lifting hook to the lower part of the trunnion;
Step 3, the first hoisting alignment image acquisition unit and the second hoisting alignment image acquisition unit acquire alignment image information of trunnions and crane hooks at two sides of the steel ladle in real time and transmit the alignment image information to the main control unit;
step 4, the main control unit obtains a trunnion outline rectangle and a lifting hook outline rectangle according to the alignment image information;
step 5, according to the position coordinate information of the trunnion outline rectangle and the position coordinate information of the lifting hook outline rectangle, the main control unit judges whether the relative position relation between the trunnions on two sides of the ladle and the lifting hook of the corresponding crane meets the lifting requirement;
step 6, if the relative position relation between the trunnions at the two sides of the steel ladle and the lifting hook of the corresponding crane meets the lifting requirement, the main control unit drives the crane to perform lifting operation through the lifting control loop; otherwise, turning to the step 7;
And 7, the main control unit drives the alarm unit to send out an alarm signal, and simultaneously, the lifting control loop is disconnected.
8. The ladle trunnion hoisting alignment identification method of claim 7, wherein: in the step 4, the main control unit identifies a first white area representing a trunnion outline rectangle of the ladle according to the alignment image information, specifically:
Scanning pixels of the alignment image information line by line, and traversing each pixel; recording the pixel position F of the first white pixel and the pixel position L of the last white pixel of each row, and the number of the white pixels;
Comparing the sizes of the pixel positions F of the white pixels, and marking the minimum value of the pixel positions F of the white pixels as a leftmost pixel position Left1 of the first white area;
Comparing the sizes of the pixel positions L of the white pixels, and marking the maximum value of the pixel positions L of the white pixels as a pixel position Right1 at the rightmost side of the first white area;
When the number of the white pixels in the m-1 th row is equal to zero and the number of the white pixels in the m-1 th row is larger than zero, marking the pixel position Top1 at the uppermost side of the first white area as Top1=m;
When the number of the white pixels in the n-1 row is greater than zero and the number of the white pixels in the n-1 row is equal to zero, marking a pixel position Bottom1 at the bottommost side of the first white region as Bottom1 = n;
obtaining the coordinate position of the upper Left corner of the trunnion outline rectangle as (Left 1, top 1) and the coordinate position of the lower Right corner as (Right 1, bottom 1) according to the leftmost pixel position Left1, the uppermost pixel position Top1, the rightmost pixel position Right1 and the bottommost pixel position Bottom1 of the first white area; thereby resulting in a trunnion contour rectangle.
9. The ladle trunnion hoisting alignment identification method of claim 8, wherein: in the step 4, the main control unit identifies a second white area representing a hook outline rectangle according to the alignment image information; the method comprises the following steps:
Scanning pixels of the alignment image information line by line starting from a next line of the first white region; recording the pixel position F 'of the first white pixel, the pixel position L' of the last white pixel and the number of the white pixels in each row;
Comparing the sizes of the pixel positions F 'of the white pixels, and marking the minimum value of the pixel positions F' of the white pixels as a leftmost pixel position Left2 of the second white region;
comparing the sizes of the pixel positions L 'of the white pixels, and marking the maximum value of the pixel positions L' of the white pixels as a pixel position Right2 at the rightmost side of the second white area;
When the number of the white pixels in the p-1 row is equal to zero and the number of the white pixels in the p-1 row is larger than zero, marking the pixel position Top2 at the uppermost side of the second white area as Top2 = p;
When the number of the white pixels in the q-1 row is greater than zero and the number of the white pixels in the q-1 row is equal to zero, marking a pixel position Bottom2 at the lowest side of the second white region as Bottom2 = q;
obtaining the coordinate position of the upper Left corner of the hook outline rectangle as (Left 2, top 2) and the coordinate position of the lower Right corner as (Right 2, bottom 2) according to the leftmost pixel position Left2, the uppermost pixel position Top2, the rightmost pixel position Right2 and the bottommost pixel position Bottom2 of the second white area; thereby obtaining a rectangular hook profile.
10. The ladle trunnion hoisting alignment identification method according to claim 9, wherein: in step 5, the main control unit judges whether the relative position relationship between trunnions at two sides of the ladle and the lifting hook of the corresponding crane meets the lifting requirement or not, and specifically comprises the following steps:
Step 5.1, initializing, namely, marking P=No of the trunnion of the steel ladle above the lifting hook of the crane;
step 5.2, if the pixel position Top2 at the uppermost side of the hook outline rectangle is smaller than the pixel position Bottom1 at the lowermost side of the trunnion outline rectangle, turning to step 5.3; otherwise, turning to step 5.1;
step 5.3, if the Left-most pixel position Left2 of the hook contour rectangle is greater than or equal to the Left-most pixel position Left1 of the trunnion contour rectangle, and the Left-most pixel position Left2 of the hook contour rectangle is smaller than the Right-most pixel position Right1 of the trunnion contour rectangle;
Or if the pixel position Right2 at the rightmost side of the hook contour rectangle is greater than or equal to the pixel position Left1 at the leftmost side of the trunnion contour rectangle, and the pixel position Right2 at the rightmost side of the hook contour rectangle is smaller than the pixel position Right1 at the rightmost side of the trunnion contour rectangle;
Judging that the trunnion of the ladle is above the lifting hook of the crane, marking P=Yes, and turning to step 5.4; otherwise, turning to step 5.1;
Step 5.4, calculating to obtain the distance d between the hook contour and the trunnion contour according to the pixel position Top2 at the uppermost side of the hook contour rectangle and the pixel position Bottom1 at the lowermost side of the trunnion contour rectangle, wherein d=bottom 1-Top2;
Step 5.5, if the distance d between the hook contour and the trunnion contour is larger than a preset value, judging that the relative position relationship between the trunnions at two sides of the ladle and the hooks of the corresponding cranes meets the hoisting requirement;
Otherwise, judging that the alignment of the trunnion of the ladle and the lifting hook of the corresponding crane is abnormal.
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| CN110436338B (en) * | 2019-07-25 | 2020-06-26 | 太原重工股份有限公司 | Lifting appliance unhooking guide device and method |
| CN112141890A (en) * | 2020-08-19 | 2020-12-29 | 太原重工股份有限公司 | Automatic unhooking method and system for crane |
| CN112777489B (en) * | 2021-01-21 | 2023-05-02 | 瑞思特(珠海)科技有限责任公司 | Safety monitoring and alarming system and method for crane hoisting process based on AI analysis |
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