CN113947626A - Crown block operation method and system suitable for loading object on saddle-free flat car - Google Patents
Crown block operation method and system suitable for loading object on saddle-free flat car Download PDFInfo
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- CN113947626A CN113947626A CN202010686662.4A CN202010686662A CN113947626A CN 113947626 A CN113947626 A CN 113947626A CN 202010686662 A CN202010686662 A CN 202010686662A CN 113947626 A CN113947626 A CN 113947626A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
- G06T2207/10012—Stereo images
Abstract
The invention provides an overhead traveling crane operation method and system suitable for loading objects on a saddle-free flat car, comprising the following steps: step S1: setting a parking space, wherein the parking space and the horizontal ground form a set angle when the parking space is on, and acquiring parking space setting result information; step S2: parking the vehicle in the parking space according to the parking space setting result information; step S3: setting a shape recognition unit on the upper part of a factory building or the bottom of a crown block according to the position setting information of the shape recognition unit to obtain shape recognition result information; step S4: acquiring shape recognition positioning information according to the shape recognition result information; step S5: and executing the unmanned full-automatic overhead traveling crane, automatically clamping and unloading the cylindrical material, and acquiring the operation information of the overhead traveling crane suitable for loading the object on the saddle-free flat car. When the full-automatic unmanned overhead travelling crane is used for loading cylindrical materials on the saddle-free flat car, the requirement of close placement can be met, and the loading rate is improved.
Description
Technical Field
The invention relates to the technical field of laser scanning, in particular to an overhead travelling crane operation method and system suitable for loading objects on a saddle-free flat car.
Background
In the present day of high automation of industrial control, and the proposal of concepts of industrial 4.0, "manufacturing in china", and the like, the application of fully automatic unmanned overhead travelling cranes is increasing. When the unmanned full-automatic overhead traveling crane is used for automatic lifting, although the positioning precision of the overhead traveling crane is much higher than the manual positioning precision, the unmanned full-automatic overhead traveling crane cannot meet the requirement in some occasions. When cylindrical materials such as coils and the like are loaded by a flat car without a saddle, the materials are required to be placed closely in order to improve the loading rate. However, in the hoisting process of the unmanned full-automatic crown block, although the positioning accuracy is higher than that in the manual operation, the rail, the parking position of the flat car, the positioning accuracy and the like have influence on the final unloading accuracy, and the unmanned full-automatic crown block and the hoisting tool are connected by using the steel wire rope, are in flexible connection, and have factors such as shaking, and in such occasions, the requirement of tightly loading the cylindrical material is difficult to achieve.
Patent document CN110175405A discloses a vehicle loading optimization method and system, and relates to the technical field of vehicle loading layout optimization. A vehicle loading optimization method comprising the steps of: acquiring information of the cargo box to be loaded, generating a loading scheme, displaying and outputting the loading scheme corresponding to the cargo box to be loaded, wherein the output content comprises identity information and placement position information of any cargo box; when the container is loaded into the carriage, acquiring the identity information and the position information of the container placed in the carriage, comparing the identity information and the position information with the information in the loading scheme, and judging whether the identity information and the position information are consistent; and when the judgment result shows that the two are inconsistent, outputting prompt information. This patent is not well suited for use in loading cylindrical materials.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an overhead travelling crane operation method and an overhead travelling crane operation system suitable for loading objects on a saddle-free flat car.
The invention provides an operation method of an overhead travelling crane suitable for loading objects on a saddle-free flat car, which comprises the following steps: step S1: setting a parking space, wherein the parking space and the horizontal ground form a set angle when the parking space is on, and acquiring parking space setting result information; step S2: parking the vehicle in the parking space according to the parking space setting result information; step S3: setting a shape recognition unit on the upper part of a factory building or the bottom of a crown block according to the position setting information of the shape recognition unit to obtain shape recognition result information; step S4: acquiring shape recognition positioning information according to the shape recognition result information; step S5: and (3) according to the shape identification and positioning information, executing the unmanned full-automatic overhead crane, automatically clamping and unloading the cylindrical material, and acquiring the operation information of the overhead crane suitable for loading the object on the saddle-free flat car.
Preferably, the step S1 includes: step S1.1: and setting an upwardly inclined parking space or a recessed parking space, and acquiring parking space setting result information.
Preferably, the step S2 includes: step S2.1: and according to the placement information of the stop blocks, placing the stop blocks behind the wheels of the vehicle, and acquiring the placement result information of the stop blocks.
Preferably, the step S3 includes: step S3.1: and a two-dimensional laser scanner is adopted and is provided with a suitable high-precision moving mechanism with a third dimension, so that three-dimensional scanning is performed.
Preferably, the step S3 includes: step S3.2: and (3) combining an image processing technology, comprehensively adopting filtering and data clustering analysis, identifying the size of the cylindrical material and acquiring shape identification result information.
The invention provides an operation method of an overhead travelling crane suitable for loading objects on a saddle-free flat car, which comprises the following steps: module M1: setting a parking space, wherein the parking space and the horizontal ground form a set angle when the parking space is on, and acquiring parking space setting result information; module M2: parking the vehicle in the parking space according to the parking space setting result information; module M3: setting a shape recognition unit on the upper part of a factory building or the bottom of a crown block according to the position setting information of the shape recognition unit to obtain shape recognition result information; module M4: acquiring shape recognition positioning information according to the shape recognition result information; module M5: and (3) according to the shape identification and positioning information, executing the unmanned full-automatic overhead crane, automatically clamping and unloading the cylindrical material, and acquiring the operation information of the overhead crane suitable for loading the object on the saddle-free flat car.
Preferably, said module M1 comprises: module M1.1: and setting an upwardly inclined parking space or a recessed parking space, and acquiring parking space setting result information.
Preferably, said module M2 comprises: module M2.1: and according to the placement information of the stop blocks, placing the stop blocks behind the wheels of the vehicle, and acquiring the placement result information of the stop blocks.
Preferably, said module M3 comprises: module M3.1: and a two-dimensional laser scanner is adopted and is provided with a suitable high-precision moving mechanism with a third dimension, so that three-dimensional scanning is performed.
Preferably, said module M3 comprises: module M3.2: and (3) combining an image processing technology, comprehensively adopting filtering and data clustering analysis, identifying the size of the cylindrical material and acquiring shape identification result information.
Compared with the prior art, the invention has the following beneficial effects:
1. when a full-automatic unmanned overhead traveling crane is adopted to load cylindrical materials on the saddle-free flat car, the requirement of close placement can be met, and the loading rate is improved;
2. the invention has reasonable structure and convenient use, and can overcome the defects of the prior art;
3. the invention can reduce the large momentum collision between cylindrical materials and avoid the generation of quality objections.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic diagram of a first operation flow in the embodiment of the present invention.
FIG. 2 is a schematic diagram comparing the second operation flow principle in the embodiment of the present invention.
Fig. 3 is a schematic diagram of a third operation flow principle in the embodiment of the present invention.
Fig. 4 is a schematic diagram of a fourth operation flow in the embodiment of the present invention.
In the figure:
Cylindrical material 8 of vehicle stop 4
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1 to 4, there is provided a method for operating an overhead traveling crane for loading an object on a saddle-less flat car according to the present invention, comprising:
step S1: setting a parking space, wherein the parking space and the horizontal ground form a set angle when the parking space is on, and acquiring parking space setting result information;
step S2: parking the vehicle in the parking space according to the parking space setting result information; step S3: setting a shape recognition unit on the upper part of a factory building or the bottom of a crown block according to the position setting information of the shape recognition unit to obtain shape recognition result information; step S4: acquiring shape recognition positioning information according to the shape recognition result information; step S5: and (3) according to the shape identification and positioning information, executing the unmanned full-automatic overhead crane, automatically clamping and unloading the cylindrical material, and acquiring the operation information of the overhead crane suitable for loading the object on the saddle-free flat car.
Preferably, the step S1 includes: step S1.1: and setting an upwardly inclined parking space or a recessed parking space, and acquiring parking space setting result information.
Preferably, the step S2 includes: step S2.1: and according to the placement information of the stop blocks, placing the stop blocks behind the wheels of the vehicle, and acquiring the placement result information of the stop blocks.
Preferably, the step S3 includes: step S3.1: and a two-dimensional laser scanner is adopted and is provided with a suitable high-precision moving mechanism with a third dimension, so that three-dimensional scanning is performed.
Preferably, the step S3 includes: step S3.2: and (3) combining an image processing technology, comprehensively adopting filtering and data clustering analysis, identifying the size of the cylindrical material and acquiring shape identification result information.
In particular, in one embodiment, the cylindrical material 8 can be a steel coil, a wire coil or the like, the electromagnetic chuck 7 can suck up the cylindrical material 8,
the material can be lifted by a disk lifting appliance or a clamp lifting appliance. The vehicle is a flat car 1 without a saddle. The parking space is provided with a slope 3 having a certain gradient. The goods-carrying vehicle is at a certain angle with the horizontal plane 2 when the goods-carrying vehicle is stopped on the parking space. As shown in the following figures. Thus, after the cylindrical material is unloaded from the flat car, the cylindrical material can automatically roll down and stop at the lowest position by virtue of gravity. Moreover, since during loading of cylindrical objects, it is generally required to place a stopper behind the wheels of the vehicle in order to ensure safety and to avoid undesired movements of the vehicle during loading and unloading, it comprises: the vehicle is stopped 4, vehicle rear end stop 5, therefore generally adopts recessed type parking stall, can set up fixed type stop piece, and the vehicle is for backing a car into the parking stall, and on-the-spot operation is more convenient. The shape recognition system adopts a two-dimensional laser scanner 6 and is provided with a suitable high-precision moving mechanism with a third dimension, so that a three-dimensional scanning function is realized, and filtering and data clustering analysis are comprehensively adopted by combining an image processing technology to realize the recognition and positioning of the size of the cylindrical material. Generally, the laser scanner is mounted vertically above the object to be scanned (on a fixed platform or overhead traveling crane) with a head that controls the rotation of the scanner (the head may be configured as appropriate). The scanning plane formed by the sector laser moment emitted by the scanner is a vertical plane, and the laser irradiates the surface of the object to be measured and returns, so that a scanning image consisting of data points is formed in the scanning plane. According to the characteristics of the laser scanner 6, each laser moment value is the distance from a scanned object point to the laser head, and a two-dimensional coordinate system is established by combining the scanning precision value, so that the physical coordinate value of the scanned object can be restored. By acquiring physical coordinate values, and by methods of data preprocessing, data blocking and feature extraction, the scanned object is accurately identified and positioned, and the overall dimensions and real-time physical coordinates of the vehicle and the steel coil are obtained. An unmanned full-automatic crown block is used as an actuating mechanism to realize the automatic clamping and unloading of the cylindrical material.
The operation flow can be divided into two types:
the first type: the unloading position of the first roll is automatically obtained;
step P1, the vehicle stops in place, and the shape recognition system scans and obtains the vehicle tail position (vehicle tail stop shown in the following figure), which is the unloading position of the first roll;
and step P2, the unmanned full-automatic crown block finishes the automatic clamping of the first cylindrical material, and the cylindrical material is moved to the position above the first roll unloading position on the vehicle and unloaded. After the cylindrical material is unloaded from the flat car, the cylindrical material can automatically roll down and stop at the lowest position by virtue of gravity;
and step P3, the unmanned full-automatic crown block finishes the automatic clamping of the next cylindrical material.
Step P4, the shape recognition system scans to obtain the center position X (n-1) of the previous cylindrical material.
And step P5, according to the position of the previous cylindrical material obtained by scanning of the shape recognition system, and according to the size of the cylindrical material, the unmanned full-automatic crown block runs to the position above the discharging position of the cylindrical material in the operation cycle and discharges the cylindrical material. It should be noted that the target unloading position of the unmanned full-automatic crown block is overlapped with the placing position of the previous cylindrical material to a certain extent, and the calculation formula of the target position Xn is as follows:
Xn＝Xn-1+rn-1×cosθ+rn×cosθ-ΔSn；
wherein Xn is the target position of the cylindrical material circularly lifted and transported by the current operation; xn-1 is the unloading position of the cylindrical material hoisted in the previous operation cycle; rn is the radius of the cylindrical material circularly lifted and transported in the current operation; rn-1 is the radius of the cylindrical material hoisted in the previous operation cycle; theta is the angle of the parking space slope; and delta Sn is the offset of the current operation cycle position, and the variable needs to be comprehensively considered according to factors such as the size, the weight, the surface quality requirement and the like of the cylindrical material. When the cylindrical materials are unloaded at the positions in the mode, the lifting appliance has certain deflection, so that the cylindrical materials unloaded in the operation cycle can be tightly attached to the cylindrical materials which are last in the operation cycle.
And step P6, repeating the steps from the step P3 to the step P5 until the loading of the whole vehicle is finished.
The second type: the first roll is unloaded manually (in some cases, the vehicle tail stop is not obvious and the shape recognition system can not scan, or the stop is not available and needs to be placed manually on site)
Step P1: when the vehicle stops in place, the shape recognition system scans the vehicle tail position (vehicle tail stop shown in the following figure), which is the unloading position of the first roll.
Step P2: the unmanned full-automatic crown block finishes the automatic clamping of the first cylindrical material, and moves to the position above the first roll unloading position (preliminary) on the vehicle and stops. At this time, the cylindrical material is unloaded from the flat car by the crown block operated manually, and the cylindrical material can automatically roll down and stop at the lowest position by virtue of gravity.
Step P3: the subsequent steps are the same as the steps P3 to P6 of the first type workflow.
In actual use, due to the problems of the cylindrical material and the material on the upper surface of the flat car, a certain friction coefficient exists, so that in actual use, the purpose is not achieved, and the steps can be improved according to situations.
Aiming at the step P2 of the first type of flow, after the automatic clamping of the first cylindrical material is completed by the unmanned full-automatic crown block, the cylindrical material is moved to the position above the unloading position of the first roll on the vehicle and is unloaded in the tail direction. Therefore, the position for unloading the cylindrical material can be arranged on the stop inclined plane at the tail of the flat car, and the cylindrical material can be tightly attached to the stop.
Another control method can be adopted for the first flow step P5. As described below step1-step 3.
Step 1: the unmanned full-automatic crown block puts the cylindrical material down to be close to the flat car, and the lowest point of the cylindrical material is lower than the highest point of the previous material. The lowering position is at a certain distance from the previous material.
Step 2: according to the position of the previous cylindrical material obtained by scanning of the shape recognition system, an unmanned full-automatic crown block is close to the previous cylindrical material by combining the size of the cylindrical material, and the current cylindrical material to be unloaded and the position of the previous cylindrical material are overlapped to a certain extent when the unmanned full-automatic crown block runs.
Step 3: and unloading the cylindrical material by an unmanned full-automatic crown block.
According to the invention, the overhead traveling crane operating system suitable for loading objects on a saddle-free flat car comprises: module M1: setting a parking space, wherein the parking space and the horizontal ground form a set angle when the parking space is on, and acquiring parking space setting result information; module M2: parking the vehicle in the parking space according to the parking space setting result information; module M3: setting a shape recognition unit on the upper part of a factory building or the bottom of a crown block according to the position setting information of the shape recognition unit to obtain shape recognition result information; module M4: acquiring shape recognition positioning information according to the shape recognition result information; module M5: and (3) according to the shape identification and positioning information, executing the unmanned full-automatic overhead crane, automatically clamping and unloading the cylindrical material, and acquiring the operation information of the overhead crane suitable for loading the object on the saddle-free flat car.
Preferably, said module M1 comprises: module M1.1: and setting an upwardly inclined parking space or a recessed parking space, and acquiring parking space setting result information.
Preferably, said module M2 comprises: module M2.1: and according to the placement information of the stop blocks, placing the stop blocks behind the wheels of the vehicle, and acquiring the placement result information of the stop blocks.
Preferably, said module M3 comprises: module M3.1: and a two-dimensional laser scanner is adopted and is provided with a suitable high-precision moving mechanism with a third dimension, so that three-dimensional scanning is performed.
Preferably, said module M3 comprises: module M3.2: and (3) combining an image processing technology, comprehensively adopting filtering and data clustering analysis, identifying the size of the cylindrical material and acquiring shape identification result information.
Specifically, in one embodiment, an overhead traveling crane operating system for loading objects on a saddle-less flat car includes: cylindrical materials, such as coils; vehicles and parking spaces; a shape recognition system; unmanned full-automatic overhead traveling crane.
When a full-automatic unmanned overhead traveling crane is adopted to load cylindrical materials on the saddle-free flat car, the requirement of close placement can be met, and the loading rate is improved; the invention has reasonable structure and convenient use, and can overcome the defects of the prior art; the invention can reduce the large momentum collision between cylindrical materials and avoid the generation of quality objections.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A method of operating an overhead travelling crane adapted to load objects on a saddle-less flatbed, comprising:
step S1: setting a parking space, wherein the parking space and the horizontal ground form a set angle when the parking space is on, and acquiring parking space setting result information;
step S2: parking the vehicle in the parking space according to the parking space setting result information; step S3: setting a shape recognition unit on the upper part of a factory building or the bottom of a crown block according to the position setting information of the shape recognition unit to obtain shape recognition result information;
step S4: acquiring shape recognition positioning information according to the shape recognition result information;
step S5: and (3) according to the shape identification and positioning information, executing the unmanned full-automatic overhead crane, automatically clamping and unloading the cylindrical material, and acquiring the operation information of the overhead crane suitable for loading the object on the saddle-free flat car.
2. The operating method of an overhead traveling crane for loading an object on a saddle-less flat car according to claim 1, wherein said step S1 comprises:
step S1.1: and setting an upwardly inclined parking space or a recessed parking space, and acquiring parking space setting result information.
3. The operating method of an overhead traveling crane for loading an object on a saddle-less flat car according to claim 1, wherein said step S2 comprises:
step S2.1: and according to the placement information of the stop blocks, placing the stop blocks behind the wheels of the vehicle, and acquiring the placement result information of the stop blocks.
4. The operating method of an overhead traveling crane for loading an object on a saddle-less flat car according to claim 1, wherein said step S3 comprises:
step S3.1: and a two-dimensional laser scanner is adopted and is provided with a suitable high-precision moving mechanism with a third dimension, so that three-dimensional scanning is performed.
5. The operating method of an overhead traveling crane for loading an object on a saddle-less flat car according to claim 4, wherein said step S3 comprises:
step S3.2: and (3) combining an image processing technology, comprehensively adopting filtering and data clustering analysis, identifying the size of the cylindrical material and acquiring shape identification result information.
6. An overhead traveling crane operating system suitable for loading an object on a saddle-less flat car, comprising:
module M1: setting a parking space, wherein the parking space and the horizontal ground form a set angle when the parking space is on, and acquiring parking space setting result information;
module M2: parking the vehicle in the parking space according to the parking space setting result information;
module M3: setting a shape recognition unit on the upper part of a factory building or the bottom of a crown block according to the position setting information of the shape recognition unit to obtain shape recognition result information;
module M4: acquiring shape recognition positioning information according to the shape recognition result information;
module M5: and (3) according to the shape identification and positioning information, executing the unmanned full-automatic overhead crane, automatically clamping and unloading the cylindrical material, and acquiring the operation information of the overhead crane suitable for loading the object on the saddle-free flat car.
7. The crown block operating system for loading objects on a saddle-less flat car according to claim 6, wherein said module M1 comprises:
module M1.1: and setting an upwardly inclined parking space or a recessed parking space, and acquiring parking space setting result information.
8. The crown block operating system for loading objects on a saddle-less flat car according to claim 6, wherein said module M2 comprises:
module M2.1: and according to the placement information of the stop blocks, placing the stop blocks behind the wheels of the vehicle, and acquiring the placement result information of the stop blocks.
9. The crown block operating system for loading objects on a saddle-less flat car according to claim 6, wherein said module M3 comprises:
module M3.1: and a two-dimensional laser scanner is adopted and is provided with a suitable high-precision moving mechanism with a third dimension, so that three-dimensional scanning is performed.
10. The crown block operating system for loading objects on a saddle-less flat car according to claim 6, wherein said module M3 comprises:
module M3.2: and (3) combining an image processing technology, comprehensively adopting filtering and data clustering analysis, identifying the size of the cylindrical material and acquiring shape identification result information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010686662.4A CN113947626A (en) | 2020-07-16 | 2020-07-16 | Crown block operation method and system suitable for loading object on saddle-free flat car |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010686662.4A CN113947626A (en) | 2020-07-16 | 2020-07-16 | Crown block operation method and system suitable for loading object on saddle-free flat car |
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| CN113947626A true CN113947626A (en) | 2022-01-18 |
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| CN202010686662.4A Pending CN113947626A (en) | 2020-07-16 | 2020-07-16 | Crown block operation method and system suitable for loading object on saddle-free flat car |
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| CN (1) | CN113947626A (en) |
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