CN110775818A - Crane anti-swing control method based on machine vision - Google Patents
Crane anti-swing control method based on machine vision Download PDFInfo
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- CN110775818A CN110775818A CN201910911283.8A CN201910911283A CN110775818A CN 110775818 A CN110775818 A CN 110775818A CN 201910911283 A CN201910911283 A CN 201910911283A CN 110775818 A CN110775818 A CN 110775818A
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- acceleration
- deceleration
- swing
- crane
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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
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
Abstract
The invention discloses a crane anti-swing control method based on machine vision, which is used for identifying and tracking the swing track of a lifting hook in real time, adaptively controlling and adjusting the acceleration and deceleration frequency curve of a large car and a small car when the large car and the small car increase (decrease) speed according to the swing angle, amplitude and frequency of the lifting hook, and realizing the intelligent anti-swing function. The invention aims at the closed loop real-time anti-swing of the hoisting weight, and has strong adaptability and good anti-swing effect.
Description
Technical Field
The invention relates to an application of machine vision and a motion control method, in particular to a crane anti-swing control method based on machine vision.
Background
With the rapid development of the globalization of economic trade, the crane as an important logistics tool is developing towards multi-parameter and large-scale. Because the length of the hanging steel wire rope is increased, the running speed is increased, the visual range of a driver is continuously increased, and the hook following operation is more and more difficult, so that more and more time is spent on eliminating load swing and rapidly and accurately realizing accurate lifting and dropping, the production efficiency is greatly influenced, and potential safety hazards are caused.
The anti-swing technology of the crane is gaining more and more attention. The conventional crane anti-swing technology mainly comprises a mechanical anti-swing technology and an electronic anti-swing technology. The mechanical anti-sway system consumes sway energy by a mechanical means to passively prevent sway, and has long consumption time and effect related to driver experience. The electronic anti-sway system combines anti-sway and driving control and relies on the intelligent active anti-sway of the system.
The traditional electronic anti-swing of the crane is a typical open-loop system, and basically, the electronic anti-swing is realized by a fixed acceleration and deceleration curve of a rope in a long-distance way; the anti-swing can only be used for the condition that the initial hook is static, and the actual working condition is that the hook mostly begins to swing before the crane accelerates or decelerates, and the open-loop electronic anti-swing does not only prevent the hook from swinging, but also can aggravate the swinging of the hook.
Disclosure of Invention
The invention aims to solve the technical problem of providing a crane anti-swing control method based on machine vision aiming at the defects related to the background technology.
The invention adopts the following technical scheme for solving the technical problems:
a crane anti-swing control method based on machine vision comprises the following steps:
step 1), arranging an industrial camera on a trolley on a crane to acquire a hook image in real time, and transmitting the acquired hook image to an industrial personal computer of the crane;
step 2), the industrial personal computer tracks the swing track of the lifting hook in real time according to the collected image based on the machine vision technology to obtain the dynamic angle of the lifting hook
Amplitude of oscillation
And period of oscillation omega
x；
Step 3), the swing equation of the lifting hook of the hoisting system for fixing the rope length is as follows:
wherein l represents the length of the rope, g represents the acceleration of gravity, x represents the horizontal displacement of the crane movement mechanism,
representing the acceleration, theta, of the moving mechanism
xThe swing angle of the hoist is shown,
representing the swing angle acceleration of the hoist;
when the crane big trolley needs to be accelerated or decelerated, the moment t is determined
0Angle of oscillation of
And amplitude of oscillation
Substituting equation (1) as an initial condition of equation (1) to find the acceleration/deceleration time t and acceleration/deceleration a of the hoist so that the swing angle theta of the hoist is obtained when the acceleration or deceleration of the moving mechanism is completed
xAnd angular velocity
Minimum;
and 4), the industrial personal computer transmits the calculated hoisting/decelerating time t and the calculated hoisting/decelerating a to the programmable logic controller PLC, and the PLC converts the hoisting/decelerating time and the hoisting/decelerating a into a real-time frequency curve based on the rotating speed, the wheel diameter and the deceleration ratio parameters of the motor of the large and small cranes of the crane and transmits the frequency curve to the frequency converter of the crane to accurately drive the acceleration and deceleration of the motor.
As a further optimization scheme of the crane anti-swing control method based on machine vision, the concrete steps of solving the equation (1) in the step 3) are as follows:
the acceleration and deceleration process of the big car is divided into 3 sections, and each section is in uniform acceleration/deceleration motion; obtaining an acceleration/deceleration time t ═ t
1,t
2,t
3And add/subtract speed a ═ a
1,a
2,a
3}; the acceleration/deceleration time and the acceleration/deceleration satisfy the constraint equation:
wherein t is
0And v
0Time and speed before acceleration/deceleration, t
sAnd v
sTime and speed when acceleration/deceleration is completed, respectively; all the accelerations a and the acceleration time t which satisfy the equation (2) are substituted into the equation (1), and the swing angle theta of the hoisting weight when the acceleration/deceleration is finished
xAnd angular velocity
The smallest is the optimal solution.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
compared with the prior open-loop anti-swing method, the visual-based anti-swing system is a real closed-loop real-time anti-swing control system for the lifting hook, has strong adaptability, and is particularly suitable for the good anti-swing effect of the actual working condition that the lifting hook begins to swing before the crane accelerates or decelerates.
Drawings
FIG. 1 is a block diagram of a machine vision based crane anti-sway control system;
FIG. 2 is a block diagram of machine vision based crane anti-sway control software;
fig. 3 is a graph of measured anti-sway curves.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.
The invention discloses a crane anti-swing control method based on machine vision, wherein a hardware part comprises an industrial camera (used for shooting a crane hook) arranged on a crane trolley, an industrial personal computer arranged in a control cabinet, a Programmable Logic Controller (PLC) and a frequency converter for driving the crane trolley to run, and the method is shown in figure 1.
The software comprises a machine vision algorithm for detecting the hook track based on an industrial personal computer, an anti-shaking algorithm and a driving module based on a programmable logic controller, and is shown in figure 2. The system identifies and tracks the swing track of the lifting hook in real time, and adaptively controls and adjusts the acceleration and deceleration curve of the big car and the small car according to the swing angle, amplitude and frequency of the lifting hook when the big car and the small car increase (decrease) the speed, thereby realizing the intelligent anti-swing function. The anti-shaking system based on vision is a real closed-loop real-time anti-shaking control system aiming at the lifting hook, and has strong adaptability and good anti-shaking effect.
The invention relates to a crane anti-swing control method based on machine vision, which specifically comprises the following steps:
step 1), arranging an industrial camera on a trolley on a crane to acquire a hook image in real time, and transmitting the acquired hook image to an industrial personal computer of the crane;
step 2), the industrial personal computer tracks the swing track of the lifting hook in real time according to the collected image based on the machine vision technology to obtain the dynamic angle of the lifting hook
Amplitude of oscillation
And period of oscillation omega
x；
Step 3), the swing equation of the lifting hook of the hoisting system for fixing the rope length is as follows:
wherein l represents the length of the rope, g represents the acceleration of gravity, x represents the horizontal displacement of the crane movement mechanism,
representing the acceleration, theta, of the moving mechanism
xThe swing angle of the hoist is shown,
representing the swing angle acceleration of the hoist;
when the big and small cars of the crane need to be addedAt the time of speed or deceleration, the time t
0Angle of oscillation of
And amplitude of oscillation
Substituting equation (1) as an initial condition of equation (1) to find the acceleration/deceleration time t and acceleration/deceleration a of the hoist so that the swing angle theta of the hoist is obtained when the acceleration or deceleration of the moving mechanism is completed
xAnd angular velocity
Minimum;
in order to solve the acceleration equation, the acceleration and deceleration process of the big car is divided into 3 sections, and each section is in uniform acceleration/deceleration motion; obtaining an acceleration/deceleration time t ═ t
1,t
2,t
3And add/subtract speed a ═ a
1,a
2,a
3}; the acceleration/deceleration time and the acceleration/deceleration satisfy the constraint equation:
wherein t is
0And v
0Time and speed before acceleration/deceleration, t
sAnd v
sTime and speed when acceleration/deceleration is completed, respectively; all the accelerations a and the acceleration time t which satisfy the equation (2) are substituted into the equation (1), and the swing angle theta of the hoisting weight when the acceleration/deceleration is finished
xAnd angular velocity
The minimum is the optimal solution;
and 4), the industrial personal computer transmits the calculated hoisting/decelerating time t and the calculated hoisting/decelerating a to the programmable logic controller PLC, and the PLC converts the hoisting/decelerating time and the hoisting/decelerating a into a real-time frequency curve based on the rotating speed, the wheel diameter and the deceleration ratio parameters of the motor of the large and small cranes of the crane and transmits the frequency curve to the frequency converter of the crane to accurately drive the acceleration and deceleration of the motor.
Fig. 3 is an anti-roll curve based on which the measurements are based. The abscissa of the graph is time in units of 100 milliseconds; the ordinate is the industrial camera hook offset distance in millimeters. The wave-shaped curve is the swing track of the lifting hook recognized by the system, and the other curve is the rotating speed of the motor, and the unit is 10 revolutions per minute. As can be seen from FIG. 3, before the crane moves, the lifting hook swings to a certain extent (the amplitude is about 180mm), because the system tracks the swing track of the lifting hook in real time based on machine vision, and brings a swing equation, after two stages of acceleration and deceleration are adjusted, the swing amplitude is obviously reduced, and when the crane stops, the swing amplitude is only 8 mm.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalents, 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. A crane anti-swing control method based on machine vision is characterized by comprising the following steps:
step 1), arranging an industrial camera on a trolley on a crane to acquire a hook image in real time, and transmitting the acquired hook image to an industrial personal computer of the crane;
step 2), the industrial personal computer tracks the swing track of the lifting hook in real time according to the collected image based on the machine vision technology to obtain the dynamic angle of the lifting hook
Amplitude of oscillation
And period of oscillation omega
x；
Step 3), the swing equation of the lifting hook of the hoisting system for fixing the rope length is as follows:
wherein l represents the length of the rope, g represents the acceleration of gravity, x represents the horizontal displacement of the crane movement mechanism,
representing the acceleration, theta, of the moving mechanism
xThe swing angle of the hoist is shown,
representing the swing angle acceleration of the hoist;
when the crane big trolley needs to be accelerated or decelerated, the moment t is determined
0Angle of oscillation of
And amplitude of oscillation
Substituting the initial condition of the equation (1) into the equation (1) to obtain the acceleration/deceleration time t and the acceleration/deceleration a of the hoisting weight; so that the swing angle theta of the hoist at the completion of acceleration or deceleration of the moving mechanism
xAnd angular velocity
Minimum;
and 4), the industrial personal computer transmits the calculated hoisting/decelerating time t and the calculated hoisting/decelerating a to the programmable logic controller PLC, and the PLC converts the hoisting/decelerating time and the hoisting/decelerating a into a real-time frequency curve based on the rotating speed, the wheel diameter and the deceleration ratio parameters of the motor of the large and small cranes of the crane and transmits the frequency curve to the frequency converter of the crane to accurately drive the acceleration and deceleration of the motor.
2. The machine vision-based crane anti-swing control method according to claim 1, wherein the specific steps in solving equation (1) in step 3) are as follows:
the acceleration and deceleration process of the big car is divided into 3 sections, and each section is in uniform acceleration/deceleration motion; obtaining an acceleration/deceleration time t ═ t
1,t
2,t
3And add/subtract speed a ═ a
1,a
2,a
3}; the acceleration/deceleration time and the acceleration/deceleration satisfy the constraint equation:
wherein t is
0And v
0Time and speed before acceleration/deceleration, t
sAnd v
sTime and speed when acceleration/deceleration is completed, respectively; all the accelerations a and the acceleration time t which satisfy the equation (2) are substituted into the equation (1), and the swing angle theta of the hoisting weight when the acceleration/deceleration is finished
xAnd angular velocity
The smallest is the optimal solution.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111422739A (en) * | 2020-03-24 | 2020-07-17 | 苏州西弗智能科技有限公司 | Electronic anti-swing method of bridge crane based on vision technology |
| CN111689395A (en) * | 2020-05-14 | 2020-09-22 | 河北雷萨重型工程机械有限责任公司 | Crane, control system and method for vertical and horizontal movement of lifting hook of crane and vehicle |
| CN111813132A (en) * | 2020-09-10 | 2020-10-23 | 歌尔光学科技有限公司 | Positioning control method and device, programmable logic controller and readable storage medium |
| CN112015133A (en) * | 2020-08-24 | 2020-12-01 | 南京宝珵软件有限公司 | Anti-swing suspension system with real-time detection function and control method thereof |
| CN112850500A (en) * | 2021-02-22 | 2021-05-28 | 博大视野(厦门)科技有限公司 | Vision anti-swing system and method for lifting appliance |
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| CN112850500A (en) * | 2021-02-22 | 2021-05-28 | 博大视野(厦门)科技有限公司 | Vision anti-swing system and method for lifting appliance |
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Application publication date: 20200211 Assignee: CHENGDU WESTERN TAILI INTELLIGENT EQUIPMENT Co.,Ltd. Assignor: Nanjing University of Aeronautics and Astronautics Contract record no.: X2021980000314 Denomination of invention: A crane anti swing control method based on machine vision Granted publication date: 20201027 License type: Common License Record date: 20210113 |
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