CN111232845A - Steel coil crane automatic grabbing algorithm based on machine vision - Google Patents
Steel coil crane automatic grabbing algorithm based on machine vision Download PDFInfo
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- CN111232845A CN111232845A CN201811501110.0A CN201811501110A CN111232845A CN 111232845 A CN111232845 A CN 111232845A CN 201811501110 A CN201811501110 A CN 201811501110A CN 111232845 A CN111232845 A CN 111232845A
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- steel coil
- lifting appliance
- crane
- height
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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
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
-
- 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)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a steel coil crane automatic grabbing algorithm based on machine vision, which comprises the following steps: data reading, strapping tape detection, horizontal adjustment of a lifting appliance, height adjustment of the lifting appliance, height finishing of the lifting appliance, storage path adjustment and placement height adjustment. The method is characterized in that a machine vision is adopted to process the steel coil, the position deviation of the lifting appliance and the geometric center point of the steel coil is calculated, and the method is an important link for realizing the automatic grabbing of the steel coil lifting appliance. The invention has the advantages of high positioning precision, high automation degree and high processing efficiency, and can greatly improve the working efficiency of the steel coil crane.
Description
Technical Field
The invention relates to the field of steel coil carrying and hoisting equipment, in particular to a steel coil crane automatic grabbing algorithm based on machine vision.
Background
Present coil of strip grasping system all needs the operator to carry out manual control to the manipulator in the working method, and artificial manual control requires very high and also very high precision to the operator, often leads to production efficiency to reduce because the inaccurate manipulator that leads to the fact collides with the coil of strip and damages. In order to improve the automation level of steel coil grabbing, a technology capable of realizing automatic steel coil positioning is urgently needed in many steel coil finished product libraries at present, and with the progress of technologies such as computers, image processing, artificial intelligence and intelligent control, a flexible automation technology based on machine vision is realized and rapidly developed, and the steel coil automatic positioning technology based on machine vision is widely researched and applied.
Disclosure of Invention
In order to achieve the mechanical automation level of the steel coil crane, the invention provides a steel coil crane automatic grabbing algorithm based on machine vision, which is realized by the following technical scheme:
a steel coil crane automatic grabbing algorithm based on machine vision comprises the following steps:
1) data reading
After the system is started, firstly, a steel coil to be hung is selected according to needs, steel coil information including the specification of the steel coil and the storage position of the steel coil is read from a database, and then the steel coil crane is controlled to reach a specified area.
2) Strapping detection
After the steel coil crane reaches a specified area, an arrival signal is returned, meanwhile, the crane provided with the industrial camera is controlled to reach a specified height, then the industrial camera is instructed to collect a steel coil picture, whether the strapping tape is broken or not is detected according to the picture, an alarm signal is sent out if the strapping tape is broken, meanwhile, a crew is informed to select other steel coils to continue judging, and the strapping tape normally enters the next step.
3) Horizontal adjustment of lifting appliance
And (3) carrying out image processing on the steel coil with normal strapping tape, calculating the horizontal plane displacement deviation between the lifting appliance and the geometric center point of the steel coil, and calling an automatic path planning program to move the lifting appliance to the position right above the steel coil to be lifted.
4) Height adjustment of lifting appliance
And after the lifting appliance reaches the position right above the steel coil, sending an instruction to descend the lifting appliance, measuring the distance between the clamp and the steel coil in real time by using the laser displacement sensor, calculating the descending height of the lifting appliance according to the specification of the steel coil, and stopping descending the lifting appliance after reaching the specified height.
5) High finishing of lifting appliance
And the proximity switch judges whether the clamp reaches the axis of the steel coil, if not, finishing is carried out, and the steel coil is clamped and lifted after reaching the position of the axis.
6) Storage path adjustment
After the lifting appliance grabs the steel coil, the steel coil is lifted to a specified height, and then an automatic path planning program is called to convey the steel coil to a specified area.
7) Adjustment of placement height
And the system controls the lifting appliance to descend to a specified position according to the specified region calibration data, the clamp is released, the crane returns to the initial position, and the operation is finished.
The image processing is carried out on the steel coil with the normal strapping tape, and the specific algorithm is as follows:
① reading the steel coil picture, and performing gray processing;
②, filtering and reducing noise;
③ extracting the edge of the steel coil by adopting an active contour model;
④ calculating the circle center of the circumscribed circle of the edge of the extracted steel coil;
⑤ transform the center pixel coordinates to actual coordinates.
Compared with the prior art, the invention has the following obvious advantages: the mechanical automation level of the steel coil crane is improved, double positioning is carried out in the horizontal direction or the height direction, and the positioning precision is guaranteed.
Drawings
FIG. 1 is a flow chart of the algorithm of the present invention.
Detailed Description
The following further illustrates the practice of the present invention:
the utility model provides a coil of strip hangs automatic algorithm of snatching based on machine vision which characterized in that: the method comprises the following steps:
1) data reading
After the system is started, firstly, a steel coil to be hung is selected according to needs, steel coil information including the specification of the steel coil and the storage position of the steel coil is read from a database, and then the steel coil crane is controlled to reach a specified area.
2) Strapping detection
After the steel coil crane reaches a specified area, an arrival signal is returned, meanwhile, the crane provided with the industrial camera is controlled to reach a specified height, then the industrial camera is instructed to collect a steel coil picture, whether the strapping tape is broken or not is detected according to the picture, an alarm signal is sent out if the strapping tape is broken, meanwhile, a crew is informed to select other steel coils to continue judging, and the strapping tape normally enters the next step.
3) Horizontal adjustment of lifting appliance
And (3) carrying out image processing on the steel coil with normal strapping tape, calculating the horizontal plane displacement deviation between the lifting appliance and the geometric center point of the steel coil, and calling an automatic path planning program to move the lifting appliance to the position right above the steel coil to be lifted. The image processing is carried out on the steel coil with the normal strapping tape, and the specific algorithm is as follows:
① reading the steel coil picture, and performing gray processing;
②, filtering and reducing noise;
③ extracting the edge of the steel coil by adopting an active contour model;
④ calculating the circle center of the circumscribed circle of the edge of the extracted steel coil;
⑤ transform the center pixel coordinates to actual coordinates.
4) Height adjustment of lifting appliance
And after the lifting appliance reaches the position right above the steel coil, sending an instruction to descend the lifting appliance, measuring the distance between the clamp and the steel coil in real time by using the laser displacement sensor, calculating the descending height of the lifting appliance according to the specification of the steel coil, and stopping descending the lifting appliance after reaching the specified height.
5) High finishing of lifting appliance
And the proximity switch judges whether the clamp reaches the axis of the steel coil, if not, finishing is carried out, and the steel coil is clamped and lifted after reaching the position of the axis.
6) Storage path adjustment
After the lifting appliance grabs the steel coil, the steel coil is lifted to a specified height, and then an automatic path planning program is called to convey the steel coil to a specified area.
7) Adjustment of placement height
And the system controls the lifting appliance to descend to a specified position according to the specified region calibration data, the clamp is released, the crane returns to the initial position, and the operation is finished.
The automatic steel coil crane grabbing algorithm based on machine vision improves the mechanical automation level of the steel coil crane, double positioning is carried out in both the horizontal direction and the height direction, and the positioning precision is guaranteed.
The technical means disclosed in the invention scheme are not limited to the technical means disclosed in the above embodiments, but also include the technical scheme formed by any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and such improvements and modifications are also considered to be within the scope of the present invention.
Claims (2)
1. The utility model provides a coil of strip hangs automatic algorithm of snatching based on machine vision which characterized in that: the method comprises the following steps:
1) data reading
After the system is started, firstly, a steel coil to be hung is selected according to needs, steel coil information including the specification of the steel coil and the storage position of the steel coil is read from a database, and then the steel coil crane is controlled to reach a specified area.
2) Strapping detection
After the steel coil crane reaches a specified area, an arrival signal is returned, meanwhile, the crane provided with the industrial camera is controlled to reach a specified height, then the industrial camera is instructed to collect a steel coil picture, whether the strapping tape is broken or not is detected according to the picture, an alarm signal is sent out if the strapping tape is broken, meanwhile, a crew is informed to select other steel coils to continue judging, and the strapping tape normally enters the next step.
3) Horizontal adjustment of lifting appliance
And (3) carrying out image processing on the steel coil with normal strapping tape, calculating the horizontal plane displacement deviation between the lifting appliance and the geometric center point of the steel coil, and calling an automatic path planning program to move the lifting appliance to the position right above the steel coil to be lifted.
4) Height adjustment of lifting appliance
And after the lifting appliance reaches the position right above the steel coil, sending an instruction to descend the lifting appliance, measuring the distance between the clamp and the steel coil in real time by using the laser displacement sensor, calculating the descending height of the lifting appliance according to the specification of the steel coil, and stopping descending the lifting appliance after reaching the specified height.
5) High finishing of lifting appliance
And the proximity switch judges whether the clamp reaches the axis of the steel coil, if not, finishing is carried out, and the steel coil is clamped and lifted after reaching the position of the axis.
6) Storage path adjustment
After the lifting appliance grabs the steel coil, the steel coil is lifted to a specified height, and then an automatic path planning program is called to convey the steel coil to a specified area.
7) Adjustment of placement height
And the system controls the lifting appliance to descend to a specified position according to the specified region calibration data, the clamp is released, the crane returns to the initial position, and the operation is finished.
2. The steel coil crane automatic grabbing algorithm based on the machine vision as claimed in claim 1, characterized in that: the image processing is carried out on the steel coil with the normal strapping tape, and the specific algorithm is as follows:
① reading the steel coil picture, and performing gray processing;
②, filtering and reducing noise;
③ extracting the edge of the steel coil by adopting an active contour model;
④ calculating the circle center of the circumscribed circle of the edge of the extracted steel coil;
⑤ transform the center pixel coordinates to actual coordinates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811501110.0A CN111232845A (en) | 2018-11-28 | 2018-11-28 | Steel coil crane automatic grabbing algorithm based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811501110.0A CN111232845A (en) | 2018-11-28 | 2018-11-28 | Steel coil crane automatic grabbing algorithm based on machine vision |
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| Publication Number | Publication Date |
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| CN111232845A true CN111232845A (en) | 2020-06-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811501110.0A Withdrawn CN111232845A (en) | 2018-11-28 | 2018-11-28 | Steel coil crane automatic grabbing algorithm based on machine vision |
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| CN (1) | CN111232845A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111968104A (en) * | 2020-08-27 | 2020-11-20 | 中冶赛迪重庆信息技术有限公司 | Machine vision-based steel coil abnormity identification method, system, equipment and medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5589185A (en) * | 1978-12-25 | 1980-07-05 | Nippon Kokan Kk | Automatic control system for conveyance of coil |
| CN101062745A (en) * | 2007-05-28 | 2007-10-31 | 江苏双友重型机械有限公司 | Light-operated steel roll hoister |
| CN106044570A (en) * | 2016-05-31 | 2016-10-26 | 河南卫华机械工程研究院有限公司 | Steel coil lifting device automatic identification device and method adopting machine vision |
| CN106839985A (en) * | 2017-03-22 | 2017-06-13 | 常熟理工学院 | The automatic identification localization method of unmanned overhead traveling crane coil of strip crawl |
| CN206486175U (en) * | 2017-03-02 | 2017-09-12 | 张家港市盛达冶金吊具制造有限公司 | Coil grab device for automating unmanned crane |
-
2018
- 2018-11-28 CN CN201811501110.0A patent/CN111232845A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5589185A (en) * | 1978-12-25 | 1980-07-05 | Nippon Kokan Kk | Automatic control system for conveyance of coil |
| CN101062745A (en) * | 2007-05-28 | 2007-10-31 | 江苏双友重型机械有限公司 | Light-operated steel roll hoister |
| CN106044570A (en) * | 2016-05-31 | 2016-10-26 | 河南卫华机械工程研究院有限公司 | Steel coil lifting device automatic identification device and method adopting machine vision |
| CN206486175U (en) * | 2017-03-02 | 2017-09-12 | 张家港市盛达冶金吊具制造有限公司 | Coil grab device for automating unmanned crane |
| CN106839985A (en) * | 2017-03-22 | 2017-06-13 | 常熟理工学院 | The automatic identification localization method of unmanned overhead traveling crane coil of strip crawl |
Non-Patent Citations (1)
| Title |
|---|
| 周永章等: "《地球科学大数据挖掘与机器学习》", 30 September 2018 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111968104A (en) * | 2020-08-27 | 2020-11-20 | 中冶赛迪重庆信息技术有限公司 | Machine vision-based steel coil abnormity identification method, system, equipment and medium |
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