CN110790136A - Anti-shaking system based on image recognition and double-pulse control - Google Patents
Anti-shaking system based on image recognition and double-pulse control Download PDFInfo
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- CN110790136A CN110790136A CN201911106908.XA CN201911106908A CN110790136A CN 110790136 A CN110790136 A CN 110790136A CN 201911106908 A CN201911106908 A CN 201911106908A CN 110790136 A CN110790136 A CN 110790136A
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- blue light
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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
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses an anti-shaking system based on image recognition and double-pulse control, which relates to the technical field of anti-shaking and comprises two high-definition cameras, wherein the two high-definition cameras are fixedly arranged on a trolley steel beam and are respectively arranged on two sides of a steel wire rope, and a lifting appliance is fixedly arranged below the steel wire rope; the blue light emitter is vertically installed on the lifting appliance, and the high-definition high-resolution camera collects the offset angle and the distance between the blue light generated by the blue light emitter and the calibration line. According to the invention, the distance and the offset angle from the blue light emitter on the lifting appliance to the calibration line are acquired through the high-definition high-resolution camera and are sent to the operation controller for calculation, then the acceleration and deceleration time of the cart and the trolley is controlled in a double-pulse control mode, the anti-shaking is realized, and the offset angle fed back is acquired through the high-definition high-resolution camera to realize closed-loop control.
Description
Technical Field
The invention relates to the technical field of anti-shaking, in particular to an anti-shaking system based on image recognition and double-pulse control.
Background
When hoisting or transporting goods, the goods often swing in the commonly used bridge type/portal crane, so the bridge type/portal crane needs to be provided with an anti-swing device. The anti-shaking methods commonly used at present include electronic anti-shaking and mechanical anti-shaking.
The electronic anti-shaking is controlled by an anti-shaking card arranged on the frequency converter, the speed of a cart motor, the speed of a trolley motor, the lifting height of a lifting hook, the load capacity, the ambient wind speed and the like are acquired in real time, and finally the speed of the cart and the speed of the trolley are directly controlled by the frequency converter through internal operation of the anti-shaking card, so that the anti-shaking effect is achieved; mechanical anti-swing is through dolly frame increase lifting rope interval to four motors increase alone and be used for anti-swing control, four newly-increased wire rope on the hoist upper bracket are connected in anti-swing motor control, realize the anti-swing effect. The existing electronic anti-swing device has an unobvious anti-swing effect, a lifting appliance and goods have multiple amplitudes, and a driver is difficult to adapt to the operation; the mechanical anti-shaking effect is good, but the transformation difficulty is large, the structure is complex, the occupied space is large, and the actual application occasion is single.
Therefore, it is necessary to invent an anti-shake system based on image recognition and double pulse control to solve the above problems.
Disclosure of Invention
The present invention is directed to an anti-shake system based on image recognition and double-pulse control, so as to solve the problems mentioned in the background art.
In order to achieve the purpose, the invention provides the following technical scheme: an anti-sway system based on image recognition and dipulse control, comprising:
the high-definition high-resolution cameras are fixedly arranged on the steel beam of the trolley, the number of the high-definition high-resolution cameras is two, the two high-definition high-resolution cameras are respectively arranged on two sides of the steel wire rope, and a lifting appliance is fixedly arranged below the steel wire rope;
the blue light emitter is vertically arranged on the lifting appliance, and the high-definition high-resolution camera collects the offset angle and the distance between the blue light generated by the blue light emitter and the calibration line;
the operation controller is used for calculating the received data, calculating blue light emitter data collected by the high-definition high-resolution camera to obtain a lifting appliance offset angle and a lifting appliance height, and calculating a proper acceleration and deceleration value and a proper running speed by combining a pendulum principle and a running deceleration rate in a double-pulse control mode;
and the budget coefficient K is used for comparing with the calculated acceleration and deceleration values and adjusting the acceleration and deceleration values according to the compared data difference.
Preferably, the input end of the operation controller is provided with an image analysis processing budget unit, an I/O input/output unit and a communication control unit;
the input end of the image analysis processing budget unit is provided with an image acquisition unit for acquiring high-definition high-resolution camera data;
the input end of the I/O input/output unit is provided with a communication feedback unit for receiving the signals of starting, stopping and speed of the original machine;
the control unit is used for receiving and controlling signals and operation of the original locomotive, the original trolley and the original lifting frequency converter.
Preferably, the blue light emitter is configured as a battery-type blue light emitter, the calibration line is configured as a vertically downward light generated in the middle of a lens of the high definition camera, and the degree of the calibration line is set to 0 °.
Preferably, the communication control unit directly collects signals of the original frequency converter, and data collection is carried out through an RS485 communication mode and a Modbus protocol or a Profibus protocol.
Preferably, the specific calculation formula of the height of the lifting appliance is as follows:
wherein the content of the first and second substances,
h: the current height of the spreader;
Hgeneral assembly: the height from the trolley to the ground;
p: the number of pulses collected;
P1: the number of pulses per week of the encoder;
the diameter of the guide groove part of the lifting roller;
n: the number of the movable pulleys;
in addition, the movable pulley is arranged on a lifting appliance, and the lifting roller is a part of a crane;
the specific calculation formula of the offset angle is as follows:
wherein the content of the first and second substances,
a: distance between luminous length of blue light emitter and coordinate of calibration line
Lx: the luminous length of the blue light emitter;
α angle of blue light emitter to the calibration line;
β, angle between the high-definition high-resolution camera and the blue light emitter;
A0: and the blue light emitter is away from the coordinate of the calibration line.
Preferably, the pendulum principle is that the cargo swing period in the acceleration and deceleration process of the crane in operation is
And the swing amplitude is in direct proportion to the swing speed and the acceleration of the corresponding running direction of the travelling crane.
Preferably, the specific calculation formula of the budget coefficient K is as follows:
positive pulse phase (0 to T1):
v1＝v0+a1*t1；
s2＝v2*t2；
negative pulse period (T2 to T3):
v3＝vt-a3*t3；
total movement position:
s＝s1+s2+s3；
preferably, the budget coefficient K is an average value obtained through a plurality of operations.
The invention has the technical effects and advantages that:
1. according to the invention, the distance and the offset angle from a blue light emitter on a lifting appliance to a calibration line are acquired by a high-definition high-resolution camera and are sent to an operation controller for calculation, then the acceleration and deceleration time of a cart and a trolley is controlled by a double-pulse control mode, so that anti-shaking is realized, and closed-loop control is realized by acquiring the feedback offset angle by the high-definition high-resolution camera;
2. the control part of the invention uses a double-pulse control mode, and has quicker response time compared with a PID control algorithm; the image recognition method can solve the defect that the position of the angle sensor is not easy to determine, meanwhile, the communication or 4-20ma signal output is more reliable, the system has a broken line detection function, the anti-shaking effect is obvious when the system is put into use, and the goods cannot shake basically when the system is operated and stopped during positioning control.
Drawings
Fig. 1 is a schematic view of the installation of the high definition high resolution camera and the blue light emitter of the present invention.
Fig. 2 is a schematic diagram of a system control structure according to the present invention.
FIG. 3 is a graph showing the degree of shift and distance to a calibration line for a blue light emitter according to the present invention.
Fig. 4 is a double pulse transmission curve of the present invention.
FIG. 5 is a schematic diagram of a positive pulse curve according to the present invention.
FIG. 6 is a schematic view of the negative pulse curve of the present invention.
FIG. 7 is a graph illustrating K adjusted by different data according to the present invention.
In the figure: 1. a high-definition high-resolution camera; 2. a spreader; 3. a blue light emitter; 4. a steel cord.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides an anti-shaking system based on image recognition and double-pulse control as shown in figures 1 to 7, which comprises:
the high-definition high-resolution cameras 1 are fixedly arranged on the trolley steel beam, the high-definition high-resolution cameras 1 are arranged in two numbers, the two high-definition high-resolution cameras 1 are respectively arranged on two sides of the steel wire rope 4, and the lifting appliance 2 is fixedly arranged below the steel wire rope 4;
the blue light emitter 3 is vertically arranged on the lifting appliance 2, and the high-definition high-resolution camera 1 collects the offset angle and the distance between the blue light generated by the blue light emitter 3 and the calibration line;
the operation controller is used for calculating the received data, calculating the data of the blue light emitter 3 acquired by the high-definition high-resolution camera 1 to obtain the deviation angle of the lifting appliance and the height of the lifting appliance 2, and calculating a proper acceleration and deceleration value and a proper running speed by combining a pendulum principle and a double-pulse control mode for acceleration and deceleration in running;
and the budget coefficient K is used for comparing with the calculated acceleration and deceleration values and adjusting the acceleration and deceleration values according to the compared data difference.
Through the setting, the acceleration and deceleration time of the cart and the trolley is controlled in a double-pulse control mode, shaking prevention is achieved, and closed-loop control is achieved through the high-definition high-resolution camera 1 for collecting the fed-back offset angle.
Furthermore, the input end of the operation controller is provided with an image analysis processing budget unit, an I/O input/output unit and a communication control unit; the input end of the image analysis processing budget unit is provided with an image acquisition unit for acquiring high-definition high-resolution camera data; the input end of the I/O input/output unit is provided with a communication feedback unit for receiving the starting and stopping and speed signals of the original machine; the control unit is used for receiving and controlling signals and operation of the original locomotive, the original trolley and the lifting frequency converter, and more specifically, the communication control unit directly collects signals of the original locomotive frequency converter and carries out data collection through an RS485 communication mode and a Modbus protocol or a Profibus protocol.
The blue light emitter 3 is further provided as a battery-type blue light emitter, the further calibration line is provided as a vertically downward light generated in the middle of the lens of the high definition camera 1, and the degree of the calibration line is set to 0 °.
Referring to fig. 3, the specific calculation formula of the height of the spreader 2 is as follows:
wherein the content of the first and second substances,
h: the current height of the spreader;
Hgeneral assembly: the height from the trolley to the ground;
p: the number of pulses collected;
P1: the number of pulses per week of the encoder;
n: the number of the movable pulleys;
in addition, the movable pulley is arranged on the lifting appliance, and the lifting roller is a part of the crane;
the specific calculation formula of the offset angle is as follows:
wherein the content of the first and second substances,
a: distance between luminous length of blue light emitter and coordinate of calibration line
Lx: the luminous length of the blue light emitter;
α angle of blue light emitter to the calibration line;
β, angle between the high-definition high-resolution camera and the blue light emitter;
A0: and the blue light emitter is away from the coordinate of the calibration line.
Referring to fig. 4, 5, 6 and 7, the specific calculation formula of the budget coefficient K is as follows:
positive pulse phase (0 to T1):
v1＝v0+a1*t1；
s2＝v2*t2；
negative pulse period (T2 to T3):
v3＝vt-a3*t3；
total movement position:
s＝s1+s2+s3；
more specifically, the pendulum principle is that the cargo swing period in the acceleration and deceleration process of the crane in operation isAnd the swing amplitude is in direct proportion to the swing speed and the acceleration of the corresponding running direction of the travelling crane, a double-pulse control mode is used, namely, a positive pulse and a negative pulse are calculated and simultaneously added into the operation control, a reasonable acceleration and deceleration curve is synthesized, a feedback angle for acquiring the swing in real time is added, and a proper acceleration and deceleration value and running speed are calculated, see fig. 7, when a budget coefficient K is adjusted to obtain K1, the calculated acceleration and deceleration value is basically consistent with the acquired data, so that the speed is converted into a Modbus protocol or a Profibus protocol to output a speed value to a large car frequency converter and a small car frequency converter (the system can also output 4-20mA signals to the frequency converter which does not support the communication mode), and the anti-swing control of the cargo on the lifting hook is realized
Preferably, the budget coefficient K is an average value obtained through multiple operations, and the actual situation of model motion is as follows:
let a1＝0.588888889，a30.58888889, i.e. t1＝4.5s，t3＝4.5s，vmax＝1760pulses/s，
vminThe scan time was 50ms 205pulses/s, with the following partial acquisition data:
theoretical maximum positive pulse position: 4422 pulses;
actual maximum positive pulse position: 3799 pulses;
error: 623 pulses;
theoretical maximum negative pulse position: 4422 pulses;
actual maximum negative pulse: 4468 pulses;
error: -46 pulses;
theoretical maximum positive pulse: 3812 pulses;
actual maximum positive pulse position: 3789 pulses;
error: 23 pulses;
theoretical maximum deceleration distance: 4566 pulses;
actual maximum deceleration distance: 4553 pulses;
error: 16 pulses.
More specifically, the present invention further provides control model parameters, which are as follows:
maximum rotating speed of the motor: 1420 r/min;
the motor speed ratio: 10;
the gear ratio of the motor is as follows: 5;
encoder resolution: 4096;
diameter of the wheel: 74 mm;
wheel circumference: 232.4778524 mm;
encoder single pulse corresponds to length: 0.0567573 mm;
frequency converter dead band frequency fd: about 5.3 Hz;
dead zone frequency versus velocity vd：11.67085784mm/s(205pulses/s)；
Maximum velocity vmax：110.0395168mm/s(1936pulses/s)。
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (8)
1. An anti-shake system based on image recognition and double-pulse control is characterized by comprising:
the high-definition high-resolution cameras are fixedly arranged on the steel beam of the trolley, the number of the high-definition high-resolution cameras is two, the two high-definition high-resolution cameras are respectively arranged on two sides of the steel wire rope, and a lifting appliance is fixedly arranged below the steel wire rope;
the blue light emitter is vertically arranged on the lifting appliance, and the high-definition high-resolution camera collects the offset angle and the distance between the blue light generated by the blue light emitter and the calibration line;
the operation controller is used for calculating the received data, calculating blue light emitter data collected by the high-definition high-resolution camera to obtain a lifting appliance offset angle and a lifting appliance height, and calculating a proper acceleration and deceleration value and a proper running speed by combining a pendulum principle and a running deceleration rate in a double-pulse control mode;
and the budget coefficient K is used for comparing with the calculated acceleration and deceleration values and adjusting the acceleration and deceleration values according to the compared data difference.
2. The anti-shake system based on image recognition and double-pulse control of claim 1, wherein: the input end of the operation controller is provided with an image analysis processing budget unit, an I/O input/output unit and a communication control unit;
the input end of the image analysis processing budget unit is provided with an image acquisition unit for acquiring high-definition high-resolution camera data;
the input end of the I/O input/output unit is provided with a communication feedback unit for receiving the signals of starting, stopping and speed of the original machine;
the control unit is used for receiving and controlling signals and operation of the original locomotive, the original trolley and the original lifting frequency converter.
3. The anti-shake system based on image recognition and double-pulse control of claim 1, wherein: the blue light emitter is arranged as a battery type blue light emitter, the calibration line is arranged as a vertically downward light ray generated in the middle of a lens of the high-definition high-resolution camera, and the degree of the calibration line is set to be 0 degree.
4. The anti-shake system based on image recognition and double-pulse control of claim 1, wherein: the communication control unit directly collects signals of an original frequency converter, and data collection is carried out through an RS485 communication mode and a Modbus protocol or a Profibus protocol.
5. The anti-shake system based on image recognition and double-pulse control of claim 1, wherein: (ii) a
The specific calculation formula of the height of the lifting appliance is as follows:
wherein the content of the first and second substances,
h: the current height of the spreader;
Hgeneral assembly: the height from the trolley to the ground;
p: the number of pulses collected;
P1: the number of pulses per week of the encoder;
n: the number of the movable pulleys;
in addition, the movable pulley is arranged on a lifting appliance, and the lifting roller is a part of a crane;
the specific calculation formula of the offset angle is as follows:
wherein the content of the first and second substances,
a: distance between luminous length of blue light emitter and coordinate of calibration line
Lx: the luminous length of the blue light emitter;
α angle of blue light emitter to the calibration line;
β, angle between the high-definition high-resolution camera and the blue light emitter;
A0: and the blue light emitter is away from the coordinate of the calibration line.
6. The anti-shake system based on image recognition and double-pulse control of claim 1, wherein: the pendulum principle is that the pendulum period of the goods in the acceleration and deceleration process of the crane in operation isAnd the swing amplitude is in direct proportion to the swing speed and the acceleration of the corresponding running direction of the travelling crane.
7. The anti-shake system based on image recognition and double-pulse control of claim 1, wherein:
the specific calculation formula of the budget coefficient K is as follows:
positive pulse phase (0 to T1):
v1＝v0+a1*t1；
pulse 0 period (T1 to T2):
s2＝v2*t2；
negative pulse period (T2 to T3):
v3＝vt-a3*t3；
total movement position:
s＝s1+s2+s3；
8. the image recognition and dipulse control-based anti-shake system of claim 7, wherein: the budget coefficient K is an average value obtained through multiple operations.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112340608A (en) * | 2020-11-24 | 2021-02-09 | 中国人民解放军火箭军工程大学 | Bridge crane hoisting anti-diagonal-pulling monitoring and automatic centering system and method based on binocular vision |
| CN113003415A (en) * | 2021-02-02 | 2021-06-22 | 北京拓疆者智能科技有限公司 | Self-stabilization control method and system for tower crane |
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