CN114291734B - Intelligent electric hoist control system - Google Patents
Intelligent electric hoist control system Download PDFInfo
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- CN114291734B CN114291734B CN202111655388.5A CN202111655388A CN114291734B CN 114291734 B CN114291734 B CN 114291734B CN 202111655388 A CN202111655388 A CN 202111655388A CN 114291734 B CN114291734 B CN 114291734B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses an intelligent electric hoist control system, which belongs to the technical field of electric hoists and comprises an emergency landing module, a swing detection module, a duration detection module and a server; the swing detection module is used for detecting the swing amplitude of the hoisted object, generating an emergency landing signal according to the detection result and sending the emergency landing signal to the emergency landing module; the time length detection module is used for counting the hoisting time of the hoisted object, generating an emergency landing signal according to the counting result and sending the emergency landing signal to the emergency landing module; emergent descending module is used for the emergent descending of hoist and mount thing, acquires the factory building and lays the picture, and the ground colour in unified idle district when receiving emergent descending signal, acquires the high definition image of factory building, lays the idle district in the picture according to the factory building and cuts apart factory building high definition image, when detecting hoist and mount thing amplitude of oscillation too big or hoist and mount time long term, can be intelligent place the hoist and mount thing in the descending district, realize electric block's safe handling, avoid causing the incident because of the misuse.
Description
Technical Field
The invention belongs to the technical field of electric hoists, and particularly relates to an intelligent electric hoist control system.
Background
The electric hoist is a special hoisting device, is arranged on a crown block and a gantry crane, has the characteristics of small volume, light dead weight, simple operation, convenient use and the like, and is used in places such as industrial and mining enterprises, storage, docks and the like.
In the using process, when the hoisted object has larger swing in the hoisting process, emergency landing is required according to the standard requirement, or the hoisting time of the hoisted object is longer, so that certain landing waiting is required to avoid mechanical deformation; however, the existing electric hoist is basically controlled manually through a controller, and when emergency landing is required, the electric hoist has high requirements on the operation experience and safety awareness of operators, and has certain potential safety hazards, because an intelligent electric hoist control system needs to be provided at present to solve the problems.
Disclosure of Invention
In order to solve the problems existing in the scheme, the invention provides an intelligent electric hoist control system.
The purpose of the invention can be realized by the following technical scheme:
the intelligent electric hoist control system comprises an emergency landing module, a swing detection module, a duration detection module and a server; the swing detection module is used for detecting the swing amplitude of the hoisted object, generating an emergency landing signal according to the detection result and sending the emergency landing signal to the emergency landing module; the time length detection module is used for counting the hoisting time of the hoisted object, generating an emergency landing signal according to the counting result and sending the emergency landing signal to the emergency landing module;
the emergency landing module is used for emergency landing of hoisted objects, and the specific method comprises the following steps:
acquiring a plant layout drawing, unifying the ground color of an idle area, acquiring a high-definition image of a plant when an emergency landing signal is received, segmenting the high-definition image of the plant according to the idle area in the plant layout drawing to obtain the high-definition image of the idle area, carrying out image preprocessing on the high-definition image of the idle area, marking the image after the image preprocessing as a gray image, extracting an object outline in the gray image, and marking the corresponding idle area as a barrier-free area when the object outline is not extracted; when the object contour is extracted, establishing a judgment model, inputting the object contour into the judgment model, and obtaining a judgment result, wherein the judgment result comprises influence and no influence; when the judgment result is no influence, marking the corresponding idle area as a barrier-free area, and when the judgment result is influence, marking the corresponding idle area as a barrier area;
the method comprises the steps of obtaining the area of a non-obstacle area and the volume of a hoisted object, matching the volume of the hoisted object with the area of the non-obstacle area, marking the non-obstacle area which is closest to the current electric hoist and is successfully matched as a falling area, obtaining a coordinate area of the falling area, and automatically controlling the electric hoist to place the hoisted object in the falling area according to the coordinate area of the falling area.
Further, another method for the emergency landing module to perform emergency landing of the hoisted object comprises the following steps:
the method comprises the steps of obtaining a factory building layout drawing and the volume of a current hoisting object, matching the volume of the current hoisting object with the area of an idle area in the factory building layout drawing, marking the idle area successfully matched in the factory building layout drawing, sending the factory building layout drawing to a manager, and setting a falling area by the manager according to the idle area marked in the factory building layout drawing; and when the emergency landing signal is received, acquiring a coordinate area of the landing area, and automatically controlling the electric hoist to place the hoisted object in the landing area according to the coordinate area of the landing area.
Further, the method for acquiring the plant layout diagram comprises the following steps:
the method comprises the steps of obtaining a factory building drawing, establishing a same coordinate system in a factory building and the factory building drawing, identifying a fixed equipment installation area in the factory building, marking the identified fixed equipment installation area in the factory building drawing, marking an area of a non-fixed equipment installation area in the factory building drawing as a candidate area, sending the factory building drawing to a manager, confirming the candidate area, marking the confirmed candidate area as a free area, and marking a current factory building drawing as a factory building layout drawing.
Further, the method for segmenting the high-definition image of the factory building according to the free area in the factory building layout drawing comprises the following steps:
acquiring a fixed angle of an acquisition angle of an image acquisition device for acquiring a high-definition image of a factory building, acquiring the image acquired by the image acquisition device, marking a boundary line of a free area in the image, identifying coordinates of the boundary line, and marking the identified coordinates of the boundary line as segmentation coordinates; when the high-definition images of the factory building are required to be segmented, the high-definition images of the factory building are obtained, and the high-definition images of the factory building are segmented according to the segmentation coordinates.
Furthermore, an indication unit is arranged on the electric hoist, when a coordinate area of the landing area is obtained, the landing area is marked in the factory building through the indication unit, a warning sound is given out, and when a manager confirms that the landing area can be used, the electric hoist is controlled to place the hoisted object in the landing area; when the manager confirms that the landing area cannot be used, one landing area is selected again according to the distance between the barrier-free area and the electric hoist.
Further, the working method of the swing detection module comprises the following steps:
setting a positioning device, acquiring a coordinate system established in a factory building, inputting the acquired coordinate system into the positioning device, respectively installing the positioning device on a hoisting object and an electric block, acquiring the coordinates of the hoisting object and the electric block in real time, establishing a hoisting object track graph according to the acquired coordinates of the hoisting object and the electric block, calculating the swing amplitude of the hoisting object according to the hoisting object track graph, marking the swing amplitude as a detection amplitude, acquiring the length of a connecting rope between the current electric block and the hoisting object, setting a swing amplitude limit table, wherein the swing amplitude limit table comprises the length of the connecting rope and a corresponding warning amplitude, inputting the acquired length of the connecting rope into the swing amplitude limit table for matching, acquiring the warning amplitude, and generating an emergency landing signal when the detection amplitude is not less than the warning amplitude; and when the detection amplitude is smaller than the warning amplitude, generating an adjusting signal and sending the adjusting signal to a manager.
Further, the working method of the duration detection module comprises the following steps:
and marking the counted hoisting time as detection time, acquiring the weight of the hoisted object, establishing a weight time table, wherein the weight time table comprises a hoisted object weight interval and corresponding limit time, inputting the acquired hoisted object weight into the weight time table to obtain the corresponding limit time, when the detection time is less than the limit time, not operating, and when the detection time is not less than the limit time, generating an emergency landing signal.
Compared with the prior art, the invention has the beneficial effects that: when the swing amplitude of the hoisted object is detected to be too large or the hoisting time is detected to be long, the hoisted object can be intelligently placed in the falling area, the safe use of the electric hoist is realized, and the safety accident caused by improper use is avoided; by providing two different setting methods of the falling areas, a user can conveniently and reasonably plan according to the use condition of an actual factory building, and adverse effects on the production of a factory caused by the setting of the falling areas are avoided; and through set up the indicating unit on electric block, realize the timely check of the falling district that the managers set up to the system, avoid because the potential safety hazard that the system trouble brought.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic block diagram of the present invention;
FIG. 2 is a schematic diagram of the trajectory of the hoisted object of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
As shown in fig. 1 to 2, the intelligent electric hoist control system includes an emergency landing module, a swing detection module, a duration detection module, and a server;
the emergency landing module is used for emergency landing of the hoisted object, because when the hoisted object swings greatly in the hoisting process, emergency landing is required according to the standard requirement, or the hoisting time of the hoisted object is long, and certain landing waiting is required to avoid mechanical deformation; therefore, the emergency landing of the hoisted object needs to be carried out through the emergency landing module, and the specific method comprises the following steps:
acquiring a plant layout drawing and the volume of a current hoisting object, matching the volume of the current hoisting object with the area of an idle area in the plant layout drawing, marking the idle area successfully matched in the plant layout drawing, sending the plant layout drawing to a manager, and setting a falling area by the manager according to the idle area marked in the plant layout drawing; and when the emergency landing signal is received, acquiring a coordinate area of the landing area, and automatically controlling the electric hoist to place the hoisted object in the landing area according to the coordinate area of the landing area.
The method for acquiring the plant layout diagram comprises the following steps:
the method comprises the steps of obtaining a factory building drawing, establishing the same coordinate system in a factory building and the factory building drawing, namely, the two coordinate systems are corresponding and are equivalent to drawing lofting, identifying a fixed equipment installation area in the factory building, wherein the fixed equipment installation area refers to an area where fixed equipment is installed or an area where fixed objects exist, marking the identified fixed equipment installation area in the factory building drawing, marking an area of a non-fixed equipment installation area in the factory building drawing as a to-be-selected area, sending the factory building drawing to a manager, confirming the to-be-selected area, marking the confirmed to-be-selected area as an idle area, and marking the current factory building drawing as a factory building layout drawing.
In one embodiment, the method for emergency landing of a hoisted object by the emergency landing module further comprises:
acquiring a plant layout drawing, unifying the ground colors of idle areas, namely the ground of the idle areas is the same color, acquiring a high-definition image of a plant when an emergency landing signal is received, segmenting the high-definition image of the plant according to the idle areas in the plant layout drawing to obtain the high-definition image of the idle areas, carrying out image preprocessing on the high-definition image of the idle areas, marking the image after the image preprocessing as a gray image, wherein the image preprocessing comprises image segmentation, image denoising, image enhancement and gray level conversion, extracting an object contour in the gray image, extracting the object contour in the gray image as the existing image identification and extraction technology, and when the object contour is not extracted, marking the corresponding idle area as a barrier-free area; when the object contour is extracted, establishing a judgment model, wherein the judgment model is established based on a CNN network or a DNN network, training is carried out according to the object contour and a correspondingly set judgment result, the object contour is input into the judgment model, and a judgment result is obtained, wherein the judgment result comprises influence and no influence; when the judgment result is no influence, the corresponding idle area is marked as a non-obstacle area, and when the judgment result is influence, the corresponding idle area is marked as an obstacle area;
the method comprises the steps of obtaining the area of a non-obstacle area and the volume of a hoisted object, matching the volume of the hoisted object with the area of the non-obstacle area, marking the non-obstacle area which is closest to the current electric hoist and is successfully matched as a falling area, obtaining a coordinate area of the falling area, and automatically controlling the electric hoist to place the hoisted object in the falling area according to the coordinate area of the falling area.
The method for segmenting the high-definition image of the factory building according to the free area in the factory building layout drawing comprises the following steps:
the acquisition angles of the image acquisition devices for acquiring the high-definition images of the factory building are fixed angles and are all used for acquiring images of the idle area, so that the acquisition angles of the image acquisition devices are specifically set, and the full appearance of the idle area can be acquired; acquiring an image acquired by an image acquisition device, marking a boundary line of an idle area in the image, identifying coordinates of the boundary line, and marking the identified coordinates of the boundary line as segmentation coordinates;
when the high-definition images of the factory building are required to be segmented, the high-definition images of the factory building are obtained, and the high-definition images of the factory building are segmented according to the segmentation coordinates to obtain the high-definition images of the idle area.
In one embodiment, the difference between the present embodiment and the previous embodiment is that an indication unit is disposed on the electric block, and the indication unit may be a laser device, a lighting device, or the like, and is used for emitting light to perform a prompt mark; when a coordinate area of the landing area is obtained, the landing area is marked in the factory building through the indicating unit, warning sound is given out to prompt a manager to determine whether the marked landing area can be used, and when the manager confirms that the marked landing area can be used, the electric hoist is controlled to place a hoisted object in the landing area; when the manager confirms that the electric hoist cannot be used, one falling area is selected again according to the distance between the barrier-free area and the electric hoist.
The swing detection module is used for detecting the swing amplitude of a hoisted object, and the specific method comprises the following steps:
setting a positioning device, wherein the positioning device acquires a coordinate system established in a factory building by using an existing positioning device capable of inputting or establishing the coordinate system, inputs the acquired coordinate system into the positioning device, respectively installs the positioning device on a hoisting object and an electric block, acquires the coordinates of the hoisting object and the electric block in real time, establishes a hoisting object track graph according to the acquired coordinates of the hoisting object and the electric block, calculates the swing amplitude of the hoisting object according to the hoisting object track graph, marks the swing amplitude as a detection amplitude, acquires the length of a connecting rope between the current electric block and the hoisting object, and sets a swing amplitude limit table, wherein the swing amplitude limit table comprises the length of the connecting rope and a corresponding warning amplitude, and the swing amplitude limit table is set by an expert group according to the actual working condition of the electric block, and the warning amplitude refers to the maximum allowable swing amplitude of the hoisting object under the length of the corresponding connecting rope; inputting the obtained length of the connecting rope into a swing amplitude limit table for matching to obtain an alert amplitude, generating an emergency landing signal when the detection amplitude is not less than the alert amplitude, and sending the emergency landing signal to an emergency landing module; and when the detection amplitude is smaller than the warning amplitude, generating an adjusting signal, and sending the adjusting signal to a manager for prompting the manager to adjust the moving speed of the electric hoist and the length of the connecting rope according to actual needs.
The long time detection module is used for counting the hoisting time of the hoisted object, the counted hoisting time is marked as detection time, the weight of the hoisted object is obtained, the weight can be roughly calculated, a weight time table is established, the weight time table is set by an expert group for discussion and used for representing the maximum hoisting time of the hoisted objects with different weights, the weight time table comprises a hoisted object weight interval and corresponding boundary time, the boundary time is the maximum hoisting time of the hoisted object, the obtained weight of the hoisted object is input into the weight time table to obtain the corresponding boundary time, when the detection time is less than the boundary time, no operation is carried out, when the detection time is not less than the boundary time, an emergency landing signal is generated and sent to the emergency landing module.
The working principle of the invention is as follows: acquiring a plant layout drawing, unifying the ground color of an idle area, acquiring a high-definition image of a plant when an emergency landing signal is received, segmenting the high-definition image of the plant according to the idle area in the plant layout drawing to obtain the high-definition image of the idle area, carrying out image preprocessing on the high-definition image of the idle area, marking the image after the image preprocessing as a gray image, extracting an object outline in the gray image, and marking the corresponding idle area as a barrier-free area when the object outline is not extracted; when the object contour is extracted, establishing a judgment model, inputting the object contour into the judgment model, and obtaining a judgment result, wherein the judgment result comprises influence and no influence; when the judgment result is no influence, marking the corresponding idle area as a barrier-free area, and when the judgment result is influence, marking the corresponding idle area as a barrier area; the method comprises the steps of obtaining the area of a non-obstacle area and the volume of a hoisted object, matching the volume of the hoisted object with the area of the non-obstacle area, marking the non-obstacle area which is closest to the current electric hoist and is successfully matched as a falling area, obtaining a coordinate area of the falling area, and automatically controlling the electric hoist to place the hoisted object in the falling area according to the coordinate area of the falling area.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the present invention.
Claims (6)
1. The intelligent electric hoist control system is characterized by comprising an emergency landing module, a swing detection module, a duration detection module and a server; the swing detection module is used for detecting the swing amplitude of the hoisted object, generating an emergency landing signal according to the detection result and sending the emergency landing signal to the emergency landing module; the time length detection module is used for counting the hoisting time of the hoisted object, generating an emergency landing signal according to the counting result and sending the emergency landing signal to the emergency landing module; the emergency landing module controls the hoisting object to land in an emergency in the set landing area according to the received emergency landing signal;
the working method of the swing detection module comprises the following steps:
setting a positioning device, acquiring a coordinate system established in a factory building, inputting the acquired coordinate system into the positioning device, respectively installing the positioning device on a hoisting object and an electric block, acquiring the coordinates of the hoisting object and the electric block in real time, establishing a hoisting object track graph according to the acquired coordinates of the hoisting object and the electric block, calculating the swing amplitude of the hoisting object according to the hoisting object track graph, marking the swing amplitude as a detection amplitude, acquiring the length of a connecting rope between the current electric block and the hoisting object, setting a swing amplitude limit table, wherein the swing amplitude limit table comprises the length of the connecting rope and a corresponding warning amplitude, inputting the acquired length of the connecting rope into the swing amplitude limit table for matching, acquiring the warning amplitude, and generating an emergency landing signal when the detection amplitude is not less than the warning amplitude; when the detection amplitude is smaller than the warning amplitude, generating an adjusting signal and sending the adjusting signal to a manager;
the working method of the duration detection module comprises the following steps:
and marking the counted hoisting time as detection time, acquiring the weight of the hoisted object, establishing a weight time table, wherein the weight time table comprises a hoisted object weight interval and corresponding limit time, inputting the acquired hoisted object weight into the weight time table to obtain the corresponding limit time, when the detection time is less than the limit time, not operating, and when the detection time is not less than the limit time, generating an emergency landing signal.
2. The intelligent electric hoist control system of claim 1, wherein the emergency landing module performs emergency landing of the hoisted object by the method comprising:
acquiring a plant layout drawing, unifying the ground color of an idle area, acquiring a high-definition image of a plant when an emergency landing signal is received, segmenting the high-definition image of the plant according to the idle area in the plant layout drawing to obtain a high-definition image of the idle area, carrying out image preprocessing on the high-definition image of the idle area, marking the image after the image preprocessing as a gray image, extracting an object outline in the gray image, and marking the corresponding idle area as a barrier-free area when the object outline is not extracted; when the object contour is extracted, establishing a judgment model, inputting the object contour into the judgment model, and obtaining a judgment result, wherein the judgment result comprises influence and no influence; when the judgment result is no influence, marking the corresponding idle area as a barrier-free area, and when the judgment result is influence, marking the corresponding idle area as a barrier area;
the method comprises the steps of obtaining the area of a non-obstacle area and the volume of a hoisted object, matching the volume of the hoisted object with the area of the non-obstacle area, marking the non-obstacle area which is closest to the current electric hoist and is successfully matched as a falling area, obtaining a coordinate area of the falling area, and automatically controlling the electric hoist to place the hoisted object in the falling area according to the coordinate area of the falling area.
3. The intelligent electric hoist control system of claim 1, wherein the emergency landing module performs emergency landing of the hoisted object by the method comprising:
the method comprises the steps of obtaining a factory building layout drawing and the volume of a current hoisting object, matching the volume of the current hoisting object with the area of an idle area in the factory building layout drawing, marking the idle area successfully matched in the factory building layout drawing, sending the factory building layout drawing to a manager, and setting a falling area by the manager according to the idle area marked in the factory building layout drawing; and when the emergency landing signal is received, acquiring a coordinate area of the landing area, and automatically controlling the electric hoist to place the hoisted object in the landing area according to the coordinate area of the landing area.
4. The intelligent electric hoist control system of claim 2 or 3, wherein the method for obtaining the plant layout drawing comprises the following steps:
the method comprises the steps of obtaining a factory building drawing, establishing a same coordinate system in a factory building and the factory building drawing, identifying a fixed equipment installation area in the factory building, marking the identified fixed equipment installation area in the factory building drawing, marking an area of a non-fixed equipment installation area in the factory building drawing as a candidate area, sending the factory building drawing to a manager, confirming the candidate area, marking the confirmed candidate area as a free area, and marking a current factory building drawing as a factory building layout drawing.
5. The intelligent electric hoist control system of claim 2, wherein the method for segmenting the high-definition images of the factory building according to the free areas in the factory building layout drawing comprises the following steps:
acquiring a fixed angle of an acquisition angle of an image acquisition device for acquiring a high-definition image of a factory building, acquiring the image acquired by the image acquisition device, marking a boundary line of a free area in the image, identifying coordinates of the boundary line, and marking the identified coordinates of the boundary line as segmentation coordinates; when the high-definition images of the factory building need to be segmented, the high-definition images of the factory building are obtained, and the high-definition images of the factory building are segmented according to the segmentation coordinates.
6. The intelligent electric hoist control system according to claim 2, wherein the electric hoist is provided with an indicating unit, when a coordinate area of the landing area is obtained, the landing area is marked in the plant through the indicating unit, a warning sound is given, and when a manager confirms that the landing area can be used, the electric hoist is controlled to place a hoisted object in the landing area; when the manager confirms that the landing areas cannot be used, one landing area is selected again according to the distance between the obstacle-free area and the electric hoist.
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