CN112015133A - Anti-swing suspension system with real-time detection function and control method thereof - Google Patents
Anti-swing suspension system with real-time detection function and control method thereof Download PDFInfo
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- CN112015133A CN112015133A CN202010854922.4A CN202010854922A CN112015133A CN 112015133 A CN112015133 A CN 112015133A CN 202010854922 A CN202010854922 A CN 202010854922A CN 112015133 A CN112015133 A CN 112015133A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
- G05B2219/1103—Special, intelligent I-O processor, also plc can only access via processor
Abstract
The invention discloses an anti-swing suspension system with a real-time detection function and a control method thereof, wherein the anti-swing suspension system comprises a travelling crane, a hook, a visual system and a PLC (programmable logic controller), and the visual system is connected with the PLC; the vision system is arranged on the travelling crane, a target plate is arranged above the hook, the vision system acquires an image, calculates the position deviation of the target plate from the acquired image and feeds the position deviation of the target plate back to the PLC; the PLC controls the swinging of the travelling crane in the starting and stopping process and the travelling process. The invention can detect and control the suspension system in real time, thereby quickly eliminating the swing generated in the starting, stopping and driving processes of the traveling crane, eliminating the potential safety hazard and improving the working efficiency of the traveling crane.
Description
Technical Field
The invention belongs to the field of software technology and automatic control, and particularly relates to an anti-swing suspension system with a real-time detection function and a control method thereof.
Background
The sling of the travelling crane is connected with the moving trolley by a steel wire rope, which belongs to a flexible control system, so that the weight of the sling is swung due to the change of the speed in the running process of the travelling crane. If the swing amplitude is too large, a safety hazard may result. Moreover, the large swing takes a long time to be stationary, which also affects the working efficiency of the vehicle. In order to inhibit the phenomenon of swing of the travelling crane, some travelling cranes in the market adopt open-loop anti-swing based on crane dynamics, mainly the movement distance of acceleration and deceleration of the travelling crane is controlled, but due to lack of auxiliary positioning, a travelling crane system is easily influenced by the outside, so that the travelling crane system deviates from a theoretical position, and the anti-swing effect is reduced.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide an anti-swing suspension system with a real-time detection function, which can eliminate the swing phenomenon generated in the starting, stopping and driving processes of a vehicle; a second object of the present invention is to provide a method for controlling an anti-sway suspension system with a real-time detection function, which is capable of controlling a traveling speed of a vehicle in real time.
The technical scheme is as follows: the invention discloses an anti-swing suspension system with a real-time detection function, which comprises a travelling crane and a hook, wherein the hook is arranged at the bottom of the travelling crane through a rope, and the anti-swing suspension system also comprises a visual system and a PLC (programmable logic controller), wherein the visual system is connected with the PLC; the vision system is arranged on the travelling crane, a target plate is arranged above the hook, the vision system acquires an image, calculates the position deviation of the target plate from the acquired image and feeds the position deviation of the target plate back to the PLC; the PLC controls the swinging of the travelling crane in the starting and stopping process and the travelling process.
The analog quantity output port in the PLC controller outputs voltage signals with different sizes to the frequency converter in the travelling crane motor and the frequency converter in the hook motor to control the output frequency of the corresponding frequency converter, so that the travelling speed of the travelling crane is controlled.
The vision system and the PLC are connected through an RJ45 interface.
The invention also provides a control method of the anti-swing suspension system with the real-time detection function, which comprises the following steps:
the method comprises the following steps that (A) a vision system acquires an image containing a target plate to be detected;
acquiring the rough position of the target plate in the image through a target detection algorithm;
(III) eliminating interference targets similar to the target to be detected;
(IV) carrying out secondary processing on the image to acquire the horizontal position and the size of the target plate in the image;
fifthly, according to the size of the target plate obtained in the step (four) and the actual size of the target plate, the vertical height of the target plate from a vision system is obtained;
and (VI) feeding back the horizontal position and the vertical height of the target board to the PLC by the vision system, and controlling the starting and stopping process and the swinging of the driving process by the PLC.
In the step (iii), the operation of specifically removing the interference target similar to the target to be detected is to respectively calculate area intersection ratios of a plurality of target frames obtained by the current frame and the target frame of the previous frame, and the target frame with the largest area intersection ratio is the real target frame of the target plate to be detected in the current frame.
In the step (IV), the secondary processing is to find out the minimum circumscribed rectangle in the current target frame.
And (V) solving the vertical height of the target plate from the visual system by adopting a neural network model.
The internal parameters of the neural network model are determined by collecting a large amount of data and then solving by gradient descent.
In the step (VI), the PLC adopts an electronic anti-swing technology to eliminate swing in the starting and stopping process of the travelling crane; the PLC controller adopts a PID algorithm to eliminate the swing in the driving process, wherein the input of the PID algorithm is the position deviation of the horizontal position and the zero position of the target plate, the output of the PID algorithm is the driving speed, and the position deviation of the target plate at the next moment is fed back, so that closed-loop control is formed.
And (VI), the PLC acquires the horizontal position and the vertical height of the target board in a UDP communication mode.
Has the advantages that: compared with the prior art, the invention has the beneficial effects that: (1) the target plate is positioned in an auxiliary mode through a vision system, the position deviation of the target plate can reflect the swing amplitude of the lifting hook, so that the position information of the target plate is fed back to the PLC, and the running speed of the running vehicle is controlled in real time through the PLC, so that the swinging phenomenon of the running vehicle in the starting and stopping process and the running process is eliminated quickly; (2) the potential safety hazard caused by overlarge swing amplitude is eliminated, and meanwhile, the working efficiency of the travelling crane is improved.
Drawings
FIG. 1 is a schematic diagram of the anti-sway suspension system of the present invention;
FIG. 2 is an enlarged view of a portion of the target plate of FIG. 1;
FIG. 3 is a flow chart of a control method according to the present invention;
FIG. 4 is a schematic diagram of the rough position of a target plate in an image according to the method of the present invention;
FIG. 5 is a schematic diagram of interference box elimination in the method of the present invention;
FIG. 6 is a schematic diagram of the accurate return location information obtained by the secondary processing in the method of the present invention;
FIG. 7 is an algorithmic schematic of the target-to-camera distance in the method of the present invention.
Detailed Description
The invention is described in further detail below with reference to specific embodiments and the attached drawings.
As shown in fig. 1 and 2, the anti-sway suspension system with real-time detection function of the present invention comprises a traveling crane 1, a hook 6, a vision system 2 and a PLC controller. The couple 6 is installed in driving 2 below through rope 5, and the heavy object 4 is suspended in midair to couple 6 below, and vision system 2 installs on driving 1, and vision system 2 passes through RJ45 interface connection with the PLC controller, and wherein, not drawn in the PLC controller picture. In this embodiment, the rope 5 is a steel wire rope, the vision system 2 is a microcomputer based on an arm architecture, and a csi camera is installed. A hook platform is arranged above the hook 6, and the target plate 3 to be detected is placed on the hook platform. The vision system 2 acquires an image, calculates a positional deviation of the target board 3 from the acquired image, and feeds back the positional deviation of the target board 3 to the PLC controller. The PLC controller is provided with a digital quantity input and output port and an analog quantity output port, and the analog quantity output port outputs voltage signals with different sizes to a frequency converter in the traveling motor and a frequency converter in the hook motor to control the output frequency of the corresponding frequency converter. The output frequency of the corresponding frequency converter is respectively acted on the cart motor, the trolley motor and the hook motor, so that the running speed of the running vehicle is controlled, and finally the PLC is used for controlling the swinging of the running vehicle 1 in the starting and stopping process and the running process.
As shown in fig. 3, the present invention further includes a method for controlling an anti-sway suspension system with a real-time detection function, which specifically includes the following steps:
the method comprises the following steps that (A) a camera acquires an image containing a target plate to be detected; as shown in fig. 3, an object plate 3 to be inspected is placed on the hook platform, and the object plate 3 is composed of 5 white polygons and a black background. The camera is fixed right above the hook 6 in a static state, the microcomputer processes the video stream of the camera, and the output signal of the calculation is connected with the PLC. During the running process of the trolley, the hook 6 swings, so that the target board 3 in the picture of the camera moves along with the movement.
Secondly, acquiring the rough position of the target plate 3 in the image through a target detection algorithm; as shown in fig. 4, when the target board is shaken synchronously with the hook, the position of the target board in the camera image changes, and the rough position of the target board 3 to be detected in the image is obtained by using a target detection algorithm, in this embodiment, the target detection algorithm is a deep learning target detection algorithm ssd _ mobilenet _ v 1. The returned data format is the upper left point (x) of the rectangle1，y1) And lower right point (x)2，y2) The coordinate values of (2). And obtaining the position of the rectangular target frame in the image through the coordinate values of the two points.
(III) eliminating interference targets similar to the target to be detected; as shown in fig. 5, if there is an object with characteristics similar to those of the target to be detected in the actual environment, the target detection algorithm may calculate a plurality of target frames, but only one target is needed, so that the interference target similar to the target to be detected is removed first. The core idea is as follows: it is assumed that there is only one target frame obtained from the previous frame of picture, and it is exactly the target frame we need, and there are multiple target frames in the current picture. The operation of removing the interference target similar to the target to be detected is to respectively calculate the area intersection ratio (IOU) values of a plurality of target frames obtained by the current frame and the target frame of the previous frame, and the target frame with the largest area intersection ratio (IOU) value is the real target frame of the target plate in the current frame. The reason why this is feasible is that the time difference between two adjacent frames is less than 50ms, and in this short time, the target plate does not have a large position deviation, so the target frame of the real target plate in the current frame will have the largest value of the target frame IOU of the previous frame.
(IV) carrying out secondary processing on the image to acquire the horizontal position and the size of the target plate in the image; in order to obtain the exact position of the target plate, the error should be minimized. However, in practical cases, the returned rectangular target frame may be larger than the actual size of the target board or smaller than the actual size of the target board. The position of the target plate may also be rotated by an angle, as shown in fig. 4, where the target is not perfectly conformed by the returning rectangular target frame. Therefore, a secondary process is required to obtain a more accurate value. The principle of the secondary processing method is to find out the minimum circumscribed rectangle in the current target frame. As shown in fig. 6, the 5 minimum bounding rectangles can be obtained by 5 white polygons, each minimum bounding rectangle has 4 vertices, so 20 vertices (all points except the center point in fig. 6) are obtained; then, the point obtained by averaging the 20 vertices is the middle point (the center point in fig. 6) of the final large rectangle; and finally, solving 4 points of the 20 points which are farthest from the midpoint, wherein the obtained 4 points are 4 vertexes of the final large rectangle, namely the real position information of the target plate in the image.
Fifthly, according to the size of the target plate obtained in the step (four) and the actual size of the target plate, the vertical height of the target plate from a vision system is obtained; the exact length of the side D (in pixels) of the target plate is obtained after the second processing, and the actual length of the side D (in centimeters) of the target plate is known, so the actual height z (in meters) of the target plate to the camera can be determined from these two values. As shown in fig. 7, the actual distance from the target plate to the camera is found using a neural network model. Input x1，x2，x3，x4Respectively represent: side length D (unit pixel) of target plate to be detected in image, D2And √ D, the side length D (unit centimeter) of the actual target plate to be detected. There are 2 hidden layers in the middle, and the final output y is the distance z (unit meter) from the actual target board to be detected to the camera. In this embodiment, the internal parameters of the neural network are determined by receivingAfter a large amount of data is collected, the gradient descent is used for solving.
And (VI) feeding back the horizontal position and the vertical height of the target board to the PLC by the vision system. The PLC controller selects different anti-swing schemes according to the motion state of the travelling crane. Thereby controlling the starting and stopping process of the vehicle and the swinging of the driving process.
In the starting and stopping processes, the travelling crane can generate shaking deviation due to inertia, and an electronic anti-shaking technology is adopted in the process. The basic principle is as follows: a simple pendulum model is established in a PLC controller, and according to the simple pendulum model and the given speed of a travelling crane, an electronic anti-sway system controls the output of acceleration time and actual electronic speed to generate a speed curve with a slope change. Therefore, when the acceleration and deceleration are finished, the cargo swing basically returns to the state before starting and stopping.
In the driving process, the PLC acquires the position information of the goods by using the visual system, and the swinging phenomenon of the goods in the driving process is rapidly slowed down through the PID algorithm adjustment. The basic principle is as follows: and establishing zero position models of the simple pendulum at different lifting heights. When the goods swing, the position deviation is generated between the target point position and the zero point, the PID algorithm is applied, the input is the position deviation, the output is the driving speed of the running vehicle, and the feedback is the position deviation at the next moment (50ms), so that closed-loop control is formed, and the large swing amplitude existing in the driving process is quickly eliminated.
Claims (10)
1. The utility model provides a take suspension system that prevents swaing of real-time detection function, includes driving (1) and couple (6), install in driving (1) below, its characterized in that through rope (5) couple (6): the device also comprises a visual system (2) and a PLC (programmable logic controller), wherein the visual system (2) is connected with the PLC; the visual system (2) is installed on the travelling crane (1), the target plate (3) is arranged above the hook (6), the visual system (2) acquires images, calculates the position deviation of the target plate (3) from the acquired images, and feeds the position deviation of the target plate (3) back to the PLC; the PLC controls the running (1) to swing in the starting, stopping and running processes.
2. The anti-sway suspension system with real-time detection capability of claim 1, wherein: and the analog quantity output port in the PLC controls the output frequency of the corresponding frequency converter by outputting voltage signals with different sizes to the frequency converter in the travelling crane motor and the frequency converter in the hook motor, so that the travelling speed of the travelling crane (1) is controlled.
3. The anti-sway suspension system with real-time detection capability of claim 1, wherein: the vision system (2) and the PLC are connected through an RJ45 interface.
4. A method for controlling an anti-sway suspension system with real-time detection capability according to any one of claims 1 to 3, comprising the steps of:
the method comprises the following steps that (A) a vision system (2) acquires an image containing a target plate to be detected;
secondly, acquiring the rough position of the target plate (3) in the image through a target detection algorithm;
(III) eliminating interference targets similar to the target to be detected;
(IV) carrying out secondary processing on the image to acquire the horizontal position and the size of the target plate (3) in the image;
fifthly, according to the size of the target plate (3) obtained in the step (four) and the actual size of the target plate (3), the vertical height of the target plate (3) from the vision system (2) is obtained;
and (VI) feeding the horizontal position and the vertical height of the target plate (3) back to the PLC by the vision system (2), and controlling the start-stop process and the swing of the travelling process of the travelling crane (1) by the PLC.
5. The method of inspecting an anti-sway suspension system of claim 4, wherein: in the step (III), the operation of specifically removing the interference target similar to the target to be detected is to respectively calculate the area intersection ratio of a plurality of target frames obtained by the current frame and the target frame of the previous frame, and the target frame with the largest area intersection ratio is the real target frame of the target plate (3) in the current frame.
6. The method of inspecting an anti-sway suspension system of claim 4, wherein: in the step (IV), the secondary processing is to find out the minimum circumscribed rectangle in the current target frame.
7. The method of inspecting an anti-sway suspension system of claim 4, wherein: and in the step (V), the vertical height of the target plate (3) from the visual system (2) is calculated by adopting a neural network model.
8. The method of inspecting an anti-sway suspension system of claim 7, wherein: the internal parameters of the neural network model are determined by collecting a large amount of data and then solving by gradient descent.
9. The method of inspecting an anti-sway suspension system of claim 4, wherein: in the step (VI), the PLC controller adopts an electronic anti-swing technology to eliminate swing in the starting and stopping process of the travelling crane (1); the PLC controller adopts a PID algorithm to eliminate the swing of the traveling crane (1) in the traveling process, wherein the input of the PID algorithm is the position deviation of the horizontal position and the zero position of the target plate (3), the output of the PID algorithm is the traveling crane (1) traveling speed, and the position deviation of the target plate (3) at the next moment is fed back, so that closed-loop control is formed.
10. The method of inspecting an anti-sway suspension system of claim 4, wherein: in the step (VI), the PLC acquires the horizontal position and the vertical height of the target board (3) in a UDP communication mode.
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| CN202010854922.4A CN112015133A (en) | 2020-08-24 | 2020-08-24 | Anti-swing suspension system with real-time detection function and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114249244A (en) * | 2022-03-02 | 2022-03-29 | 聚时科技(江苏)有限公司 | Target-free sling positioning method for automatic traveling crane closed-loop control |
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