CN110171774A - Crane applications based on artificial intelligence (AI) technology - Google Patents
Crane applications based on artificial intelligence (AI) technology Download PDFInfo
- Publication number
- CN110171774A CN110171774A CN201811609605.5A CN201811609605A CN110171774A CN 110171774 A CN110171774 A CN 110171774A CN 201811609605 A CN201811609605 A CN 201811609605A CN 110171774 A CN110171774 A CN 110171774A
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- Prior art keywords
- crane
- radar
- monitor
- artificial intelligence
- marker
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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
- B66C13/22—Control systems or devices for electric drives
-
- 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
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The present invention provides a kind of crane applications for being based on artificial intelligence (AI) technology, are related to crane technology and innovation area.Radar monitor and video monitor are arranged in workshop region, radar monitor moment monitoring site, when monitoring object arrival workshop fixation position, this object dimensional position coordinates is exported immediately, simultaneously starting video monitor acquires this object synchronous images simultaneously for early warning, identify object in synchronous images, and according to identifying that the image data of object judges whether to need crane to carry.System controls crane movements and arrives the position of marker, and image acquisition and processing module further identifies marker on crane, and the shelf of clamping loading marker are simultaneously placed after being transported to designated position.The present invention can realize unmanned automatic transporting under general environment and use under explosion-proof and metallurgy environment, applied widely, strong antijamming capability have many advantages, such as high reliablity, safety and stability, artificial intelligence (AI) control.
Description
Technical field
The present invention relates to crane technology and security fields, more particularly, to crane innovation area.
Background technique
Crane is in a kind of most common tool of logistics activity, and with industrialized rise, the handling of crane are transported
Function plays increasingly important role in the manufacturing link of enterprise.But with the swift and violent hair of modernization industry
Exhibition, has more and more manufacturing enterprises and focuses on sight in the reduction of production cost, to improve the market competitiveness.For
For manufacturing enterprise, the links such as processing, transhipment, circulation, which are all be unable to do without, carries operation.Therefore, handling work it is efficient with
The no production efficiency that will directly affect enterprise, and then influence production cost.Traditional mode of transport, generally using artificial and semi-artificial
Mode of transport, it is low that this method usually will cause personnel equipment's investment height, utilization rate.It would therefore be desirable to design a kind of energy
The crane for enough realizing Automatic-searching, automatic transporting cargo, reduces cost of human and material resources, changes traditional work side, factory, China
Formula really realizes manual intelligent logistics factory.
Currently, the guide mode for being theoretically able to achieve crane Automatic Track Finding has very much, such as: magnetic cuiding,
Ultrasonic wave guiding, las er-guidance, inertial guide, acoustic control guiding etc..Although these guide modes can accurate completion lifting
The Automatic Track Finding of machine, but its either ancillary equipment is more, control system is relative complex and higher cost or flexibility it is poor,
Change path trouble.
Using wirerope as raising stressing device, wirerope easily waves crane in the prior art, is not fixed easily control
System, and the pulley that hoist rope bypasses is more, its bending times is more in the course of work, the hoist rope service life is reduced, and
And since each hoist rope number is different, so the service life of each wirerope is not also identical, maintenance workload is increased, and having can
It can cause to waste；Moreover, limit model as defined in design and manufacture standard has almost been arrived up to greatly in hoist rope disengaging reel drift angle
It encloses, leads to wirerope excessive wear, reduce the service life, and due to the excessive wear of hoist rope, drum rope groove is easily sharpened,
The more high then situation of lifting altitude is more serious；And the problem of trolley frame weight is unbalanced, and trolley frame unbalance loading is sternly given birth in meeting.
For technical problem of the existing technology, the present invention provide a kind of implementation method it is simple, can be to the intelligence of object
The crane artificial intelligence application that can be identified, and the shelf of marker can be automatically grabbed and be transported to defined position.
Therefore in order to promote application and development of the artificial intelligence in conventional plant, prevention and reduction accident, life is protected
And property safety, promote China's economic society more preferably, quickly to develop, developing this crane based on artificial intelligence has been
Situation is compeled.
Summary of the invention
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is that: radar and Video Image Processing are whole
End and crane auto-controll operation terminal.
Radar and Video Image Processing terminal are fixedly installed on working region, and crane auto-controll operation terminal includes setting
It sets on crane and the image acquisition and processing module that is connected with CPU, marker clamping carrying mechanism, wireless module is connected
It connects, crane auto-controll operation terminal is communicated by wireless module with radar with Video Image Processing terminal.
It arranges that radar monitor and video monitor execute real time monitoring in specified monitoring area, works as radar monitor
When having monitored that object reaches fixed position, output monitors the three-dimensional location coordinates of this object and issues warning information, simultaneously
It controls video monitor and exports current collected synchronous images, the three-dimensional location coordinates for the object that radar monitor is monitored
The corresponding position coordinates in synchronous images are mapped as, radar detection coordinate of the object in synchronous images, obtained thunder are obtained
When identifying object in synchronous images up to detection coordinate, and needs are judged whether it is according to the image data of the object identified and are opened
Dynamic crane carrys out automatic transporting.
Crane auto-controll operation terminal is led to by wireless module and radar and Video Image Processing terminal
Letter needs crane come when carrying if object is marker, crane by according to system provide automatic running to marker goods
Near rack position, by the image identification system on crane, further determine that crane mode of transport and crawl direction and
Lifting altitude.
In crane operational process, encounters when having obstruction, by the image identification system on crane, judges automatically,
And the obstruction in operational process is actively avoided, it automatically controls to defined position and safely and reliably places marker shelf.
The lifting mechanism of crane must be automatic telescopic lifting mechanism, cannot be steel wire rope type lifting mechanism.
The shape of telescoping support mechanism supports mechanism is also possible to other shapes either round and rectangular.
By HYDRAULIC CONTROL SYSTEM, the voltage of driving motor is also possible to safe voltage for the driving of big mechanism of car and trolley body
(≤50V), meet the voltage requirement of driving motor.It can pass through with transformer transformation to safe voltage in ground control cabinet
The transmission line of electricity at scene is passed on crane, and the Oil pump electrical machinery and control system for supplying crane use, and passes through safe voltage
Crane can be started and run, can guarantee the Electrical Safety and energy conservation and environmental protection of crane.
According to the practical use at scene, crane hoisting mechanism can install the suspender of the automatic liftings class such as grab bucket, sucker.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, and the drawings are intended to provide a further understanding of the invention, and constitutes specification
A part, be used to explain the present invention together with following specific embodiment, but be not construed as limiting the invention.
Fig. 1 is based on the implementation process schematic diagram of the crane applications of artificial intelligence (AI) technology
Fig. 2 is based on the realization principle schematic diagram of the crane applications of artificial intelligence (AI) technology
The process signal of coordinate correspondence relationship between Fig. 3 radar monitor and video monitor
Figure
The crane schematic diagram of the bis- grab bucket suspenders of Fig. 4
The shelf schematic diagram of Fig. 5 marker
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those skilled in the art
Every other embodiment obtained without making creative work, by automatically controlling the operation of lifting mechanism raising
Or other control stretch modes carry out raising and decline the equipment of operation, control system carries out control crane with low tension
Operation also shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that such as occur term " center ", "upper", "lower", "left", "right",
"vertical", "horizontal", "inner", "outside" etc., indicated by orientation or positional relationship be orientation based on the figure or position
Relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must have
There is specific orientation, be constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, as occurred
Term " first ", " second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " peace such as occur
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to electric Ze and connect；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
The concrete meaning of language in the present invention.
Fig. 1 and flow diagram shown in Fig. 2 arrange radar monitor and video monitor in specified monitoring area
Real time monitoring is executed, when radar monitor has monitored object, exports the three-dimensional location coordinates of the object monitored and sending
Warning information, while controlling video monitor and exporting current collected synchronous images, the object that radar monitor is monitored
Three-dimensional location coordinates be mapped as the corresponding position coordinates in synchronous images, obtain radar detection of the object in synchronous images
Coordinate when obtained radar detection coordinate identifies object in synchronous images, and is sentenced according to the image data of the object identified
Whether disconnected is to need to start crane to carry out automatic transporting.
Since radar monitor investigative range is wide, distance is remote and is quick on the draw, when there is object to enter radar monitoring region,
Radar will issue warning information, prompt have object entrance.But the class of object can not be distinguished or be identified to radar monitor
Type, thus it be easy to cause wrong report.The image information of video monitor acquisition is abundant, can identify to object, in Fig. 5
A is exactly the pattern-information for indicating video monitor and needing to acquire, and demonstrates the need for the shelf of the object of handling.
Such as the flow diagram of coordinate correspondence relationship between Fig. 3 radar monitor and video monitor, video of the invention
Monitor is video camera, and the inner parameter of video camera is calculated first with camera calibration technology, establishes camera coordinates model,
According to the positional relationship of video camera and radar monitor, establishing the coordinate pair under world coordinate system between video camera and radar should be closed
System, finally can realize that the information of radar monitor is merged with video information according to coordinate correspondence relationship, realize radar
The 3D world coordinates of monitor detection is converted into corresponding 2D image coordinate in video image, to make full use of radar monitor to supervise
The location information measured is corresponding into video image.
Fig. 4 is the crane schematic diagram of double grab bucket suspenders, and the crane of this schematic diagram is bridge (door) formula lifting of single girder
Machine, such as single girder 8 in Fig. 4.In Fig. 4,1 it is the lifting mechanism of crane, 2 is the big mechanism of car of crane, 3 is lifting
The trolley body of machine, 4 be double grab bucket suspenders of crane, 5 be the control system of crane, 6 be crane hoisting mechanism top
Rise hydraulic cylinder, 7 be crane hoisting mechanism telescopic lifting mechanism long pin shaft.Hydraulic cylinder 6 must be that two same positions must
It must be the hydraulic cylinder of two same models, specification, and raising synchronous must also be carried out with decline, they are by same controller control
System.For better operation stability and action consistency, connect in the supporting mechanism and pin shaft two sides multiple spot of suspender terminal position
Place is met, it is common to connect same root long pin shaft, as shown in the 7 of Fig. 4.Image acquisition and processing module on crane, mainly passes through
The camera of Image Acquisition on heavy-duty machine is acquired, and camera is typically mounted at the suitable position such as crane girder or end carriage
It sets, convenient for having barrier in monitoring identification crane operational process, aerial or ground obstacle is actively avoided by it.
The shelf schematic diagram of Fig. 5 marker is the schematic diagram for the shelf that double grab buckets automatically grab object, and 1 is the sheet of shelf
Body, 2 be the handle of shelf.A mark in Fig. 5 is exactly to need crane for hoisting shelf identification pattern, is for video monitoring knowledge
Other pattern can have the object shelf figure and pattern of many patterns, the present invention is schematic diagram to preferably grab.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, a variety of letters can be carried out to technical solution of the present invention
Monotropic type, these simple variants all belong to the scope of protection of the present invention.
In addition, various embodiments of the present invention can be combined randomly, it is all to utilize the present invention
Equivalent structure or equivalent flow shift made by description is applied directly or indirectly in other relevant technical fields,
It is included within the scope of the present invention.
Claims (13)
1. the crane applications of artificial intelligence (AI) technology of being based on characterized by comprising
Radar and Video Image Processing terminal and crane auto-controll operation terminal.
2. radar monitor is installed in defined workshop region according to claim 1 and video monitor executes in real time
Monitoring.
3. radar monitor has monitored object according to claim 1, the three-dimensional location coordinates of object are determined, early warning is simultaneously
The collected object synchronous images of output monitor, and obtain radar detection coordinate of the object in the synchronous images.
4. radar detection coordinate identifies object in the synchronous images according to claim 1, and according to identifying
The image data of object, which judges whether it is, needs to start crane to carry marker.
5. starting crane is run at object space according to claim 2, start the video monitoring system on crane,
It further determines whether to belong to defined marker and determines that crane automatically grabs mode and the method for operation and lifting altitude etc..
6. according to claim 2 in crane operational process, encounters when having obstruction, avoid obstruction automatically, it is automatic to control
Make the shelf that marker is safely and reliably placed in defined position.
7. crane according to claim 2, lifting mechanism is that hydraulic (air pressure) is telescopic, and lifting mechanism is by pin shaft
It links together, telescoping support mechanism can be cylindrical or rectangular support or other forms.In order to further ensure
Lifting mechanism operation stability and consistency, the connection pin shaft near suspender end, two sides need to share same root long pin shaft.
8. suspender according to claim 2 is mounted on the bottom of telescoping support mechanism, suspender can be grab bucket, sucker
The suspender of equal automatic liftings class.
9. crane according to claim 2 is also possible to single trolley (pedestal) carrying telescoping support mechanism or more
The compositions such as a trolley (pedestal) carrying telescoping support mechanism, can also be according to requiring the rotation for being arranged to automatically control to support
Seat.
10. crane according to claim 2 is also possible to crane (≤50V of safe voltage control), meet driving electricity
The voltage requirement of machine.Transformer transformation to safe voltage can be used in ground control cabinet, conveyed by the transmission line of electricity at scene
Onto crane, the Oil pump electrical machinery and control system for supplying crane are used, and can have been started and run by safe voltage
Heavy-duty machine can guarantee the Electrical Safety and energy conservation and environmental protection of crane.
11. radar and Video Image Processing terminal and crane auto-controll operation terminal are by wirelessly carrying out data biography
It is defeated, form local area network.
12. having different artificial intelligence control modes according to the practical use at scene to realize that automatic control hoisting machine is run.
13. the crane applications of artificial intelligence (AI) technology of being based on, which is characterized in that including any one of such as claim 1-12
The application.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811609605.5A CN110171774A (en) | 2018-12-27 | 2018-12-27 | Crane applications based on artificial intelligence (AI) technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811609605.5A CN110171774A (en) | 2018-12-27 | 2018-12-27 | Crane applications based on artificial intelligence (AI) technology |
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| Publication Number | Publication Date |
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| CN110171774A true CN110171774A (en) | 2019-08-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811609605.5A Pending CN110171774A (en) | 2018-12-27 | 2018-12-27 | Crane applications based on artificial intelligence (AI) technology |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111302236A (en) * | 2020-02-21 | 2020-06-19 | 廊坊中建机械有限公司 | Unmanned jacking system of tower crane |
| CN114634112A (en) * | 2022-03-23 | 2022-06-17 | 深圳唯创安全技术有限公司 | Personnel collision avoidance system based on AI vision and UWB technology hoist area |
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| CN102923578A (en) * | 2012-11-13 | 2013-02-13 | 扬州华泰特种设备有限公司 | Automatic control system of efficient handing operation of container crane |
| CN104724606A (en) * | 2015-03-18 | 2015-06-24 | 苏州盈兴信息技术有限公司 | Automatic tracking device and automatic tracking method for production material storage and transportation operation images |
| CN104821056A (en) * | 2015-04-30 | 2015-08-05 | 湖南华诺星空电子技术有限公司 | Intelligent guarding method based on radar and video integration |
| CN205195875U (en) * | 2015-12-08 | 2016-04-27 | 湖南纳雷科技有限公司 | Monitored control system on a large scale that radar and video fuse |
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2018
- 2018-12-27 CN CN201811609605.5A patent/CN110171774A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102923578A (en) * | 2012-11-13 | 2013-02-13 | 扬州华泰特种设备有限公司 | Automatic control system of efficient handing operation of container crane |
| CN104724606A (en) * | 2015-03-18 | 2015-06-24 | 苏州盈兴信息技术有限公司 | Automatic tracking device and automatic tracking method for production material storage and transportation operation images |
| CN104821056A (en) * | 2015-04-30 | 2015-08-05 | 湖南华诺星空电子技术有限公司 | Intelligent guarding method based on radar and video integration |
| CN205195875U (en) * | 2015-12-08 | 2016-04-27 | 湖南纳雷科技有限公司 | Monitored control system on a large scale that radar and video fuse |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111302236A (en) * | 2020-02-21 | 2020-06-19 | 廊坊中建机械有限公司 | Unmanned jacking system of tower crane |
| CN114634112A (en) * | 2022-03-23 | 2022-06-17 | 深圳唯创安全技术有限公司 | Personnel collision avoidance system based on AI vision and UWB technology hoist area |
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Application publication date: 20190827 |
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