CN113247810A - Crane braking distance measuring device - Google Patents
Crane braking distance measuring device Download PDFInfo
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- CN113247810A CN113247810A CN202110686345.7A CN202110686345A CN113247810A CN 113247810 A CN113247810 A CN 113247810A CN 202110686345 A CN202110686345 A CN 202110686345A CN 113247810 A CN113247810 A CN 113247810A
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- 238000004804 winding Methods 0.000 claims abstract description 29
- 238000000034 method Methods 0.000 claims abstract description 16
- 230000008569 process Effects 0.000 claims abstract description 11
- 238000004891 communication Methods 0.000 claims abstract description 9
- 238000003384 imaging method Methods 0.000 claims description 8
- 238000004148 unit process Methods 0.000 claims description 2
- 238000000691 measurement method Methods 0.000 claims 1
- 230000008859 change Effects 0.000 abstract description 4
- 230000007246 mechanism Effects 0.000 description 10
- 238000001514 detection method Methods 0.000 description 8
- 238000005259 measurement Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000011900 installation process Methods 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention provides a crane braking distance measuring device which is characterized by comprising a marking unit, an image acquisition unit and an image processing unit; the marking unit is arranged on the first end surface of the crane winding drum; the image acquisition unit is in communication connection with the crane brake starting unit and is used for acquiring a real-time image of the first end surface of the winding drum in the crane braking process and transmitting the real-time image to the image processing unit; the image processing unit is used for acquiring the braking distance of the crane according to the real-time image. The crane braking distance measuring device provided by the invention records and analyzes the position change of the crane winding drum before and after braking through the image acquisition unit and the image processing unit, so that the problem that the general crane braking distance detecting device cannot give the specific braking distance of the crane can be solved.
Description
Technical Field
The invention relates to the technical field of mechanical measurement, in particular to measurement of a braking distance of a crane.
Background
The descending braking distance is an important technical index of the braking performance of the crane hoisting mechanism, if the descending braking distance exceeds a preset standard, the braking capacity of the brake of the crane is insufficient, so that the condition of 'slipping hook' is likely to occur when the crane hoists heavy objects, the condition can cause damage of transported materials and even threaten the life safety of other people, and the detection of the braking performance of the crane hoisting mechanism is an important link.
The prior art discloses an online detection device and a method for the descending braking distance of a crane hoisting mechanism, the device comprises a crane operation condition signal detection part and a measurement recording part, wherein the operation condition signal detection part comprises an encoder, a brake power-off detection unit and a hoisting direction detection unit; the measurement recording part comprises a controller, a signal interface unit, a display and operation unit and a data storage unit; the encoder is an incremental encoder, or an absolute value encoder. The on-line detection method of the braking distance is characterized in that a measuring and recording part monitors the descending braking process of the hoisting mechanism in real time to obtain descending braking distance data, and the descending braking distance is calculated. The measuring and recording part measures and records the measuring and calculating result of each braking distance in real time, and sends out an early warning signal when the braking distance is close to or exceeds a specified value to prompt the deterioration of the braking performance. However, the device is complex in structure, complex in installation process and not beneficial to actual operation, and the device cannot give concrete braking distance data of the crane.
Disclosure of Invention
The invention aims to provide a crane braking distance measuring device to solve the problem that a general crane braking distance detecting device cannot give a specific braking distance of a crane.
In order to solve the above technical problem, the present invention provides a crane braking distance measuring device, comprising: the system comprises a marking unit, an image acquisition unit and an image processing unit; the marking unit is arranged on the first end surface of the crane winding drum; the image acquisition unit is in communication connection with the crane brake starting unit and is used for acquiring a real-time image of the first end surface of the winding drum in the crane braking process and transmitting the real-time image to the image processing unit; the image processing unit is used for acquiring the braking distance of the crane according to the real-time image.
Preferably, the marking unit includes a series of marks having different shapes.
Preferably, the markings are circumferentially spaced along the first end surface of the spool.
Preferably, the brake further comprises a delay unit, and the delay unit is respectively connected with the brake starting unit and the brake in a communication manner; the delay unit is used for delaying the time when the brake receives the signal of the brake starting unit.
Preferably, the delay time of the delay unit is set as the imaging time of the image acquisition unit.
Preferably, the image acquisition unit is vertically disposed near the first end surface of the roll.
Optionally, the image capturing unit is an industrial camera.
Preferably, the device further comprises a display unit, wherein the display unit is in communication connection with the image processing unit; the display unit is used for displaying the processing result of the image processing unit.
In order to solve the technical problem, the invention further provides a method for measuring the braking distance of the crane, which is characterized by comprising the following steps:
s1: disposing the marking unit on a first end surface of the roll; vertically disposing the image acquisition unit proximate to a first end face of the spool;
s2: the time delay unit is arranged between the brake starting unit and the brake;
s3: the brake starting unit sends a braking signal, and the image acquisition unit starts to acquire a real-time image of the first end surface of the winding drum after receiving the braking signal; meanwhile, the brake signal is transmitted to a delay unit, and the brake starts braking after a delay after the brake signal is sent out;
s4: the image acquisition unit stops acquiring when two identical images are continuously acquired;
s5: the image acquisition unit transmits the acquired image to the image processing unit, and the image processing unit processes the image and obtains a braking distance data signal;
s6: and the image processing unit transmits the braking distance data signal to the display unit and displays the braking distance data signal through the display unit.
Preferably, the imaging time of the first image acquired by the image acquisition unit is the same as the time when the brake starts to brake.
According to the crane braking distance measuring device provided by the invention, the position change of the crane winding drum before and after braking is recorded and analyzed through the image acquisition unit and the image processing unit, so that the problem that the general crane braking distance detecting device cannot give the specific braking distance of the crane can be solved.
Drawings
FIG. 1 is a flow chart of a crane braking distance measuring device provided by an embodiment of the invention;
FIG. 2 is a schematic position diagram of an image acquisition unit of the crane braking distance measuring device provided by the embodiment of the invention;
FIG. 3 is a schematic diagram of the position of a marking unit of the crane braking distance measuring device provided by the embodiment of the invention;
FIG. 4 is a position of a marking unit of the crane braking distance measuring device provided by the embodiment of the invention at the beginning of braking;
FIG. 5 is a position of a marking unit of the crane braking distance measuring device provided by the embodiment of the invention at the end of braking;
fig. 6 to 8 are process diagrams of processing image data by an image processing unit of the crane braking distance measuring device according to the embodiment of the invention;
in the figure, the position of the upper end of the main shaft,
100-reel; 110-a marking unit; 200-a brake activation unit; 210-a brake; 220-a delay unit; 300-an image acquisition unit; 310-an image processing unit; 320-display unit.
Detailed Description
The following describes a crane braking distance measuring device according to the present invention in further detail with reference to the accompanying drawings and specific embodiments. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
A crane generally comprises a frame, a mechanism including a hoisting mechanism for controlling the lifting or lowering of a heavy object and an operating mechanism including a brake actuating unit 200, and a control system including a drum 100. The control system sends a signal to the frame and the mechanism to control the working state of the frame and the mechanism, the reel 100 is rotatable around the central axis thereof, and the reel rotates to drive the traction rope, thereby driving the movement of the heavy object. A brake 210 is also provided on the reel 100. When the winding drum 100 is in a rotating state, the pulling rope drives a weight to ascend or descend, the brake starting unit 200 sends a braking signal, the winding drum 100 starts braking after the brake 210 receives the braking signal, the winding drum 100 gradually stops rotating, the weight also stops ascending or descending, and the braking process is finished. In braking, the drum 100 rotates through an angle generally less than 360 degrees.
The prior art discloses an online detection device and method for the descending braking distance of a crane hoisting mechanism, but the device is complex in structure, complex in installation process and not beneficial to actual operation, and the device cannot give concrete braking distance data of the crane, so that an inventor cannot predict the detailed state of a braking system of the crane according to the braking distance.
Therefore, the core idea of the invention is to measure the angle of the winding drum 100 rotated in the braking process by using the image acquisition unit 300, and obtain the braking distance of the crane through the analysis and calculation of the image processing unit 310, so that the problem that the specific braking distance of the crane cannot be obtained can be solved.
Specifically, please refer to fig. 1, which is a schematic diagram of an embodiment of the present invention. As shown in fig. 1, a crane braking distance measuring device is characterized by comprising a marking unit 110, an image acquisition unit 300 and an image processing unit 310; the marking unit 110 is arranged on a first end surface of the crane drum 100; the image acquisition unit 300 is in communication connection with the brake starting unit 200, and the image acquisition unit 300 is configured to acquire a real-time image of the first end surface of the winding drum 100 in the braking process of the crane and transmit the real-time image to the image processing unit 310; the image processing unit 310 is configured to obtain a braking distance of the crane according to the real-time image.
The end surface of the winding drum 100 generally has no obvious mark, and the image processing unit 310 cannot perform accurate feature capture when processing the image acquired by the image acquisition unit 300, thereby increasing the error of the processing result. Therefore, the inventor provides a marking unit 110 on a first end surface of the roll 100 (the first end surface can be selected from any end surface of the roll), and the marking unit 110 comprises a series of marks with different shapes. When the winding drum 100 rotates, the marking unit 110 rotates together with the winding drum 100 and is always kept in a relatively stationary state with respect to the winding drum 100. The image processing unit 310 can capture the position of the mark on the image of the end surface of the winding drum 100, and calculate the angle of the winding drum 100 rotated during the braking process through the position change of the mark unit 110 before and after the braking, and further obtain the braking distance of the crane.
Preferably, the marking units 110 are disposed at equal intervals along the circumference of the first end surface of the roll 100. The marks are uniformly distributed on the first end face, so that the winding drum 100 is more attractive, the image processing unit 310 can conveniently obtain multiple groups of data and obtain the average value of the data, and the measurement error is reduced.
Further, a figure for easily identifying the geometric center is further disposed on different marks of the marking unit 110, so that the image processing unit can simplify the positions of the marks into one point, thereby reducing measurement errors. The pattern may take the form of a line, circle, rectangle, or the like.
In order to ensure that the image capturing unit 300 can accurately capture the first image when the reel 100 starts braking, the inventor further provides a delay unit 220, and the delay unit 220 is disposed between and in communication with the brake 210 and the brake actuating unit 200. In the embodiment provided by the present invention, the image capturing unit 300 is configured as an industrial camera, the industrial camera starts image capturing after receiving the braking signal, but the image capturing unit 300 has a delay time from the receiving of the braking signal to the imaging of the first image, and the delay time from the receiving of the braking signal by the brake 210 to the braking is much shorter than the delay time from the imaging of the image capturing unit 300 and can be substantially ignored. If the delay unit 220 is not set, the first picture acquired by the image acquisition unit 300 is a picture in the braking process, but not a picture at the beginning of braking. This results in the measured stopping distance being less than the actual stopping distance. For accurate measurement of the braking distance, the delay time duration of the delay unit 220 is set as the imaging time of the image capturing unit 300. The brake starting unit 200 sends a braking signal, and after the delay of the delay unit 220, the braking starts when the image acquisition unit 300 images. Thereby ensuring that the imaging time of the image acquisition unit 300 is synchronized with the brake time of the brake 210.
In addition, in order to display the measurement result visually, the crane braking distance measuring device further comprises a display unit 320, and the display unit 320 is in communication connection with the image processing unit 310; the display unit 320 is configured to display a processing result of the image processing unit 310.
Therefore, the specific method for using the crane braking distance measuring device provided by the embodiment is as follows:
firstly, the marking unit 110 is arranged on the first end surface of the winding drum 100, and the image acquisition unit 300 is vertically arranged at a position close to the first end surface of the winding drum 100, so as to ensure that the image acquired by the image acquisition unit 300 does not generate size distortion and ensure that the proportions of the positions of the image are the same;
secondly, the time delay unit 220 is arranged between the brake starting unit 200 and the brake 210, so as to ensure that the first image record acquired by the image acquisition unit 300 is the state of the winding drum 100 when the braking starts;
when braking starts, the brake starting unit 200 sends a braking signal, and the image acquisition unit 300 starts to acquire a real-time image of the first end surface of the winding drum 100 after receiving the braking signal; meanwhile, the braking signal is transmitted to the delay unit 220, and the brake 210 starts braking after a delay after the braking signal is sent out;
the image processing unit 310 receives the image data sent by the image acquisition unit 300, the image processing unit 310 first compares the received image data with the previous image data, and if the received image data is not consistent with the previous image data, the image acquisition unit 300 continues to acquire data; if they are consistent, it is determined that the roll 100 stops moving, soThe image capturing unit 300 stops capturing data. Record the first image data as DFirst stageAnd finally the image data is recorded as DPowder. The image processing unit 310 processes the image data DFirst stageAnd DPowderAfter analysis and calculation, the angle theta through which the winding drum 100 rotates during braking is obtained.
Further, the algorithm for the image processing unit 310 to derive the angle θ is:
1': the different markings of the marking unit 110 are numbered 1, 2, 3.
2': processing the image data DFirst stageRecognizing said DFirst stageThe coordinates of the middle point of the graph on different marks are respectively marked as (a)1，b1)，(a2，b3)，(a3，b3) V.. v.. v.. v. v; said (a)1，b1) As the geometric center coordinates of the figure on the mark 1, (a)2，b3) The coordinates of the geometric center of the graphic on the mark 2 and so on to other marks.
3': processing the image data DPowderRecognizing said DPowderThe coordinates of the middle point of the graph on different marks are respectively marked as (A)1，B1)，(A3，B3)，(A4，B4) V.. v.. v.. v. v; said (A)1，B1) As the geometric center coordinates of the figure on the mark 1, (A)3，B3) The coordinates of the geometric center of the figure on the mark 3, and so on to other marks.
4': removing data without the same subscript, putting n groups of data with the same subscript together, and recording as M1＝[(a1，b1)；(A1，B1)]，M3＝[(a3，b3)；(A3，B3)]······。
5': from MiRandomly take 3 points. Judging whether the 3 points are on a straight line or not, and if so, randomly fetching data again; if not, the coordinates of the centers of the three points are calculated to be O (X, Y).
6': for each group of data MiCalculate MiThe middle 2 points are edges, and the included angles with O as a vertex are respectively theta1，θ3······。
7': then θ is (θ)1+θ3+······)/n。
Subsequently, the traction rope winding diameter of the reel 100 is measured and recorded as DWinding drumWhen the braking distance L of the crane is equal to theta.DWinding drum。
Finally, the image processing unit 310 transmits the crane braking distance signal to the display unit 320, and the crane braking distance signal is displayed through the display unit 320.
In summary, according to the crane braking distance measuring device provided by the invention, the position change of the crane winding drum 100 before and after braking is recorded and analyzed through the image acquisition unit 300 and the image processing unit 310, so that the problem that the general crane braking distance detecting device cannot give the specific braking distance of the crane can be solved.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.
Claims (10)
1. A crane braking distance measuring device is characterized by comprising a marking unit, an image acquisition unit and an image processing unit;
the marking unit is arranged on the first end surface of the crane winding drum;
the image acquisition unit is in communication connection with the crane brake starting unit and is used for acquiring a real-time image of the first end surface of the winding drum in the crane braking process and transmitting the real-time image to the image processing unit;
the image processing unit is used for acquiring the braking distance of the crane according to the real-time image.
2. The crane stopping distance measuring device according to claim 1, wherein said marking unit comprises a series of marks having different shapes.
3. The crane braking distance measuring device of claim 2 wherein said markings are circumferentially spaced along said first end surface of the drum.
4. The crane braking distance measuring device according to claim 1, further comprising a delay unit, wherein the delay unit is in communication connection with the brake actuating unit and the brake, respectively; the delay unit is used for delaying the time when the brake receives the signal of the brake starting unit.
5. The crane braking distance measuring device according to claim 4, wherein a delay time period of the delay unit is set as an imaging time of the image capturing unit.
6. The crane braking distance measuring device of claim 1 wherein said image capturing unit is disposed vertically proximate said drum first end surface.
7. The crane stopping distance measuring device of claim 6, wherein said image capturing unit is an industrial camera.
8. The crane braking distance measuring device of claim 1, further comprising a display unit communicatively coupled to the image processing unit; the display unit is used for displaying the processing result of the image processing unit.
9. A method for measuring the braking distance of a crane is characterized by comprising the following steps:
s1: disposing the marking unit on a first end surface of the roll; vertically disposing the image acquisition unit proximate to a first end face of the spool;
s2: the time delay unit is arranged between the brake starting unit and the brake;
s3: the brake starting unit sends a braking signal, and the image acquisition unit starts to acquire a real-time image of the first end surface of the winding drum after receiving the braking signal;
meanwhile, the brake signal is transmitted to a delay unit, and the brake starts braking after a delay after the brake signal is sent out;
s4: the image acquisition unit stops acquiring when two identical images are continuously acquired;
s5: the image acquisition unit transmits the acquired image to the image processing unit, and the image processing unit processes the image and obtains a braking distance data signal;
s6: and the image processing unit transmits the braking distance data signal to the display unit and displays the braking distance data signal through the display unit.
10. The measurement method according to claim 9, wherein the imaging time of the first image acquired by the image acquisition unit is the same as the time when the brake starts to be applied.
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| CN202110686345.7A CN113247810B (en) | 2021-06-21 | 2021-06-21 | Crane braking distance measuring method |
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| CN111017728A (en) * | 2019-12-23 | 2020-04-17 | 安徽工业大学 | Crane brake health state assessment method based on machine vision |
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2021
- 2021-06-21 CN CN202110686345.7A patent/CN113247810B/en active Active
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| CN201803668U (en) * | 2010-10-09 | 2011-04-20 | 大连光程光电科技有限公司 | Brake glide quantity detector of crane |
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