CN114368690A - Gantry crane control method and system based on video real-time adjustment - Google Patents
Gantry crane control method and system based on video real-time adjustment Download PDFInfo
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- CN114368690A CN114368690A CN202111561449.1A CN202111561449A CN114368690A CN 114368690 A CN114368690 A CN 114368690A CN 202111561449 A CN202111561449 A CN 202111561449A CN 114368690 A CN114368690 A CN 114368690A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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Abstract
The invention discloses a gantry crane control method and system based on video real-time adjustment, and relates to the field of gantry crane control. The method comprises the following steps: the method comprises the steps of collecting and returning a first picture through a camera, adjusting the camera until the first picture is adjusted to a second picture including a target object by adjusting the camera when the first picture does not meet a preset condition, adjusting the focal length of the camera according to first distance information returned by a laser ranging module, collecting a real-time image of the target object through the camera after the focal length is adjusted, and controlling a gantry crane to move the target object to a target fixed point according to the real-time image. Through this scheme camera real-time tracking lifting hook, not sheltered from by the building, the picture through ball machine shooting guides the operation of tower crane driver, and the tower crane driver will be the operation that can be safer.
Description
Technical Field
The invention relates to the field of gantry crane control, in particular to a gantry crane control method and a gantry crane control system based on video real-time adjustment.
Background
The gantry crane is the most common hoisting equipment on the wharf of the port container, but because the distance of a grab hook of the gantry crane is long, an operator cannot accurately judge the position of the grab hook corresponding to the ground by naked eyes. At present, the operation area of a gantry crane is arranged at the top end of the gantry crane, and operators need to operate at high altitude and climb. When the crane climbs high altitude, dangerous accidents happen frequently, operators generally observe the condition of the operation position of the hanging head by naked eyes, and the operator only needs to manually call or remotely command the crane by an interphone, so that the crane is time-consuming, labor-consuming and unsafe. Sometimes, the position is far away, the observation is inconvenient, and the working efficiency is low.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art and provides a gantry crane control method and system based on video real-time adjustment.
The technical scheme for solving the technical problems is as follows:
a gantry crane control method based on video real-time adjustment comprises the following steps:
collecting and returning a first picture through a camera;
when the first picture does not meet the preset condition, adjusting the camera until the first picture is adjusted to a second picture comprising the target object;
adjusting the focal length of the camera according to the first distance information returned by the laser ranging module;
acquiring a real-time image of the target object by the camera after adjusting the focal length;
and controlling a gantry crane to move the target object to a target fixed point according to the real-time image.
The invention has the beneficial effects that: according to the scheme, the picture of the camera is adjusted to the second picture comprising the target object from the first picture, the focal length of the camera is adjusted according to the first distance information returned by the laser ranging module, the camera after the focal length is adjusted collects the real-time image of the target object, the gantry crane is controlled to move the target object to the target fixed point, the requirement that the crane guarantees real-time tracking of a hook lens in the operation process is met, the hook operation picture is tracked through 360-degree dead-angle-free automatic focusing, manual control or correction is not needed, and the system automatically adjusts the focal length, the multiplying power, the aperture, the steering and the like of the camera so as to guarantee the close-distance visual effect. Reduce blind and hang the risk, follow tracks of the lifting hook in real time through this scheme camera, do not sheltered from by the building, the picture through ball machine shooting guides the operation of tower crane driver, and the tower crane driver will be the operation that can be safer.
Further, still include:
when the target object is controlled to move to a preset position;
controlling the target object to move so that the first distance information is within a preset range;
and finely adjusting the position of the target object until the target object reaches the target fixed point.
The beneficial effect of adopting the further scheme is that: adjusting the position of the target object until the target object reaches the target fixed point by controlling the target object to move so that the first distance information is within a preset range; according to the scheme, when the position close to the target fixed point is reached, the target object is not placed at once, fine adjustment is performed by means of real-time images collected by the camera, and the scheduling precision of the gantry crane is improved.
Further, still include:
and displaying the first picture, the second picture, the first distance information and the real-time image through a display.
The beneficial effect of adopting the further scheme is that: according to the scheme, the first picture, the second picture, the first distance information and the real-time image are displayed, so that an operator can conveniently observe, record video and display and record laser positioning signals in real time on the whole site, the operator in a control room can fully know the dynamic state and the condition of a construction site, and the operator can conveniently start and place a control point.
Further, the first distance information represents a distance between the target object and the hook.
Further, still include:
transmitting the first picture, the second picture, the first distance information and the real-time image to a background server;
and monitoring and controlling the control process of moving the target object to the target fixed point through the background server.
The beneficial effect of adopting the further scheme is that: according to the scheme, the first picture, the second picture, the first distance information and the real-time image are transmitted to a background server, and the background server monitors and controls the control process of moving a target object to a target fixed point; through the scheme, the collected video information is recorded and stored in real time, the current field condition can be restored by reading the video information, and the supervision operation of a safety supervision department and a construction site door is facilitated.
Remote supervision personnel can look over any field situation of having installed this system through the internet, have made things convenient for building site safety supervision department's centralized management, more effectual the construction site many, the field situation is complicated, can't count the difficult problem of control.
Another technical solution of the present invention for solving the above technical problems is as follows:
a portal crane control system based on real-time video adjustment comprises: the device comprises a picture acquisition module, a picture adjusting module, a focal length adjusting module and a scheduling module;
the picture acquisition module is used for acquiring and returning a first picture through the camera;
the picture adjusting module is used for adjusting the camera until the first picture is adjusted to a second picture comprising the target object when the first picture does not meet the preset condition;
the focal length adjusting module is used for adjusting the focal length of the camera according to the first distance information returned by the laser ranging module;
the picture acquisition module is used for acquiring a real-time image of the target object through the camera after the focal length is adjusted;
and the scheduling module is used for controlling the gantry crane to move the target object to a target fixed point according to the real-time image.
The invention has the beneficial effects that: according to the scheme, the picture of the camera is adjusted to the second picture comprising the target object from the first picture, the focal length of the camera is adjusted according to the first distance information returned by the laser ranging module, the camera after the focal length is adjusted collects the real-time image of the target object, the gantry crane is controlled to move the target object to the target fixed point, the requirement that the crane guarantees real-time tracking of a hook lens in the operation process is met, the hook operation picture is tracked through 360-degree dead-angle-free automatic focusing, manual control or correction is not needed, and the system automatically adjusts the focal length, the multiplying power, the aperture, the steering and the like of the camera so as to guarantee the close-distance visual effect. Reduce blind and hang the risk, follow tracks of the lifting hook in real time through this scheme camera, do not sheltered from by the building, the picture through ball machine shooting guides the operation of tower crane driver, and the tower crane driver will be the operation that can be safer.
Further, still include: a schedule trimming module for
When the target object is controlled to move to a preset position;
controlling the target object to move so that the first distance information is within a preset range;
and finely adjusting the position of the target object until the target object reaches the target fixed point.
The beneficial effect of adopting the further scheme is that: adjusting the position of the target object until the target object reaches the target fixed point by controlling the target object to move so that the first distance information is within a preset range; according to the scheme, when the position close to the target fixed point is reached, the target object is not placed at once, fine adjustment is performed by means of real-time images collected by the camera, and the scheduling precision of the gantry crane is improved.
Further, still include: and the display module is used for displaying the first picture, the second picture, the first distance information and the real-time image through a display.
The beneficial effect of adopting the further scheme is that: according to the scheme, the first picture, the second picture, the first distance information and the real-time image are displayed, so that an operator can conveniently observe, record video and display and record laser positioning signals in real time on the whole site, the operator in a control room can fully know the dynamic state and the condition of a construction site, and the operator can conveniently start and place a control point.
Further, still include: the monitoring module is used for transmitting the first picture, the second picture, the first distance information and the real-time image to a background server;
and monitoring and controlling the control process of moving the target object to the target fixed point through the background server.
The beneficial effect of adopting the further scheme is that: according to the scheme, the first picture, the second picture, the first distance information and the real-time image are transmitted to a background server, and the background server monitors and controls the control process of moving a target object to a target fixed point; through the scheme, the collected video information is recorded and stored in real time, the current field condition can be restored by reading the video information, and the supervision operation of a safety supervision department and a construction site door is facilitated.
Remote supervision personnel can look over any field situation of having installed this system through the internet, have made things convenient for building site safety supervision department's centralized management, more effectual the construction site many, the field situation is complicated, can't count the difficult problem of control.
Another technical solution of the present invention for solving the above technical problems is as follows:
a gantry crane monitoring system comprising: the gantry crane control method based on video real-time adjustment adopts any one of the schemes.
The invention has the beneficial effects that: according to the scheme, the picture of the camera is adjusted to the second picture comprising the target object from the first picture, the focal length of the camera is adjusted according to the first distance information returned by the laser ranging module, the camera after the focal length is adjusted collects the real-time image of the target object, the gantry crane is controlled to move the target object to the target fixed point, the requirement that the crane guarantees real-time tracking of a hook lens in the operation process is met, the hook operation picture is tracked through 360-degree dead-angle-free automatic focusing, manual control or correction is not needed, and the system automatically adjusts the focal length, the multiplying power, the aperture, the steering and the like of the camera so as to guarantee the close-distance visual effect. Reduce blind and hang the risk, follow tracks of the lifting hook in real time through this scheme camera, do not sheltered from by the building, the picture through ball machine shooting guides the operation of tower crane driver, and the tower crane driver will be the operation that can be safer.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a schematic flow chart of a gantry crane control method based on video real-time adjustment according to an embodiment of the present invention;
fig. 2 is a block diagram of a gantry crane control system based on video real-time adjustment according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a gantry crane monitoring system according to another embodiment of the present invention;
fig. 4 is a schematic structural diagram of a laser ranging module according to another embodiment of the present invention;
fig. 5 is a schematic diagram of a laser ranging module according to another embodiment of the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth to illustrate, but are not to be construed to limit the scope of the invention.
As shown in fig. 1, a gantry crane control method based on video real-time adjustment provided in an embodiment of the present invention includes:
s1, collecting and returning a first picture through the camera;
s2, when the first picture does not meet the preset condition, adjusting the camera until the first picture is adjusted to a second picture comprising the target object;
it should be noted that the image acquisition can be performed by a high-definition spherical infrared camera to monitor the amplitude and the lifting height of the gantry crane in real time, wherein when the first image does not satisfy the preset condition, the first image indicates that no target object exists in the image of the camera, the angle of the camera needs to be automatically adjusted until the image of the camera includes the target object.
S3, adjusting the focal length of the camera according to the first distance information returned by the laser ranging module;
it should be noted that, in a certain embodiment, the laser ranging module may include a laser ranging sensor, the type of which may be RWRFB, and is used for receiving and transmitting laser, measuring a linear distance between two target objects, and quickly and accurately measuring a distance to a target, where a measurement result may be transmitted to a peripheral device having an RS232 or RS485 protocol interface through an RS232 or RS485 interface of the laser ranging sensor, so as to perform applications such as detection and control, and the control of the laser ranging sensor may also be completed through a computer or other devices connected thereto.
In one embodiment, the first distance information represents a distance between the target object and the hook, and according to the distance, in combination with a focal length file stored in the system, focal length information corresponding to the distance can be found, for example, in the focal length file, a distance of 100 meters corresponds to a focal length of 4mm for the camera, and then when the measured distance is 100 meters, the focal length of the camera is adjusted to 4 mm.
S4, acquiring a real-time image of the target object by the camera after adjusting the focal length;
and S5, controlling the gantry crane to move the target object to the target fixed point according to the real-time image.
In one embodiment, amplitude and height of the gantry crane are automatically calculated and automatically zoomed by monitoring amplitude and lifting height of the gantry crane in real time, and intelligent tracking of a lifting hook operation picture is realized. The real-time position of the lifting hook is transmitted to an operation screen of a crane driver, wherein the real-time position represents the position acquired by the camera in real time, the driver can manually/automatically adjust the picture of the dome camera to the target position according to the position of the lifting hook, so that the image is optimized, and meanwhile, the picture of the lifting hook can be monitored by a central control room. It should be noted that the process of adjusting the image to be optimal may include: firstly, adjusting a camera according to a returned real-time position to enable a picture of the camera to contain a target object; and secondly, adjusting the focal length according to the acquired distance between the lifting hook and the target object, so that the picture is optimal.
According to the scheme, the picture of the camera is adjusted from the first picture to the second picture comprising the target object, the focal length of the camera is adjusted according to the first distance information returned by the laser ranging module, the real-time image of the target object is collected by the camera after the focal length is adjusted, the gantry crane is controlled to move the target object to the target fixed point, the requirement that the crane tracks a hook lens in real time in the operation process is met, 360-degree dead-angle-free automatic focusing tracking lifting hook operation pictures is met, manual control or correction is not needed, and the system automatically adjusts the focal length, the multiplying power, the aperture, the steering and the like of the camera to ensure the close-distance visual effect. Reduce blind and hang the risk, follow tracks of the lifting hook in real time through this scheme camera, do not sheltered from by the building, the picture through ball machine shooting guides the operation of tower crane driver, and the tower crane driver will be the operation that can be safer.
Preferably, in any of the above embodiments, further comprising:
when the target object is controlled to move to a preset position;
controlling the target object to move so that the first distance information is within a preset range;
and finely adjusting the position of the target object until the target object reaches the target fixed point. It should be noted that, the fine adjustment of the position of the target object may be performed by maintaining a certain height near the position where the target object reaches the target fixed point, and adjusting the peripheral edge of the target object one by one, so that the periphery of the target object approaches the target fixed point, that is, the parking position of the target object, thereby improving the stacking precision of the goods and the placing safety of the goods.
In one embodiment, the preset position may represent a position close to the target fixed point, the preset range may be within 1 meter, and it should be noted that the mobile tower vehicle may rapidly reach positions about 1 meter away from the ground and the target point with the target object, and the mobile position of the target object is finely adjusted to determine the final parking point of the target object.
The target object is controlled to move, so that the first distance information is in a preset range, and the position of the target object is adjusted until the target object reaches a target fixed point; according to the scheme, when the position close to the target fixed point is reached, the target object is not placed at once, fine adjustment is performed by means of real-time images collected by the camera, and the scheduling precision of the gantry crane is improved.
Preferably, in any of the above embodiments, further comprising:
and displaying the first picture, the second picture, the first distance information and the real-time image through the display.
According to the scheme, the first picture, the second picture, the first distance information and the real-time image are displayed, so that an operator can conveniently observe, record video and display and record laser positioning signals on the whole site in real time, the operator in a control room can fully know the dynamic state and the condition of a construction site, and the operator can conveniently start and place a control point.
Preferably, in any of the above embodiments, the first distance information indicates a distance between the target object and the hook.
Preferably, in any of the above embodiments, further comprising:
transmitting the first picture, the second picture, the first distance information and the real-time image to a background server;
and monitoring and controlling the control process of moving the target object to the target fixed point through the background server.
According to the scheme, the first picture, the second picture, the first distance information and the real-time image are transmitted to the background server, and the background server monitors and controls the control process of moving the target object to the target fixed point; through the scheme, the collected video information is recorded and stored in real time, the current field condition can be restored by reading the video information, and the supervision operation of a safety supervision department and a construction site door is facilitated.
Remote supervision personnel can look over any field situation of having installed this system through the internet, have made things convenient for building site safety supervision department's centralized management, more effectual the construction site many, the field situation is complicated, can't count the difficult problem of control.
In one embodiment, as shown in fig. 2, a gantry crane control system based on real-time video adjustment comprises: a picture acquisition module 1103, a picture adjustment module 1101, a focal length adjustment module 1102 and a scheduling module 1104;
the picture acquisition module 1103 is configured to acquire and return a first picture through the camera;
the picture adjusting module 1101 is used for adjusting the camera until the first picture is adjusted to a second picture including the target object when the first picture does not meet the preset condition;
the focal length adjusting module 1102 is configured to adjust a focal length of the camera according to the first distance information returned by the laser ranging module;
the picture acquisition module 1103 is configured to acquire a real-time image of the target object through the camera after adjusting the focal length;
and the scheduling module 1104 is used for controlling the gantry crane to move the target object to the target fixed point according to the real-time image.
According to the scheme, the picture of the camera is adjusted from the first picture to the second picture comprising the target object, the focal length of the camera is adjusted according to the first distance information returned by the laser ranging module, the real-time image of the target object is collected by the camera after the focal length is adjusted, the gantry crane is controlled to move the target object to the target fixed point, the requirement that the crane tracks a hook lens in real time in the operation process is met, 360-degree dead-angle-free automatic focusing tracking lifting hook operation pictures is met, manual control or correction is not needed, and the system automatically adjusts the focal length, the multiplying power, the aperture, the steering and the like of the camera to ensure the close-distance visual effect. Reduce blind and hang the risk, follow tracks of the lifting hook in real time through this scheme camera, do not sheltered from by the building, the picture through ball machine shooting guides the operation of tower crane driver, and the tower crane driver will be the operation that can be safer.
Preferably, in any of the above embodiments, further comprising: the scheduling fine adjustment module is used for moving the control target object to a preset position;
controlling the target object to move so that the first distance information is within a preset range;
and finely adjusting the position of the target object until the target object reaches the target fixed point.
The target object is controlled to move, so that the first distance information is in a preset range, and the position of the target object is adjusted until the target object reaches a target fixed point; according to the scheme, when the position close to the target fixed point is reached, the target object is not placed at once, fine adjustment is performed by means of real-time images collected by the camera, and the scheduling precision of the gantry crane is improved.
Preferably, in any of the above embodiments, further comprising: and the display module is used for displaying the first picture, the second picture, the first distance information and the real-time image through the display.
According to the scheme, the first picture, the second picture, the first distance information and the real-time image are displayed, so that an operator can conveniently observe, record video and display and record laser positioning signals on the whole site in real time, the operator in a control room can fully know the dynamic state and the condition of a construction site, and the operator can conveniently start and place a control point.
Preferably, in any of the above embodiments, further comprising: the monitoring module is used for transmitting the first picture, the second picture, the first distance information and the real-time image to the background server;
and monitoring and controlling the control process of moving the target object to the target fixed point through the background server.
According to the scheme, the first picture, the second picture, the first distance information and the real-time image are transmitted to the background server, and the background server monitors and controls the control process of moving the target object to the target fixed point; through the scheme, the collected video information is recorded and stored in real time, the current field condition can be restored by reading the video information, and the supervision operation of a safety supervision department and a construction site door is facilitated.
Remote supervision personnel can check any site condition of the system through the Internet, thereby facilitating the centralized management of site safety supervision departments, and more effectively solving the problems of more construction sites, complex site conditions and incapability of counting and monitoring
In another embodiment, a gantry crane monitoring system comprises: the gantry crane control method based on video real-time adjustment in any one of the embodiments is adopted.
In one embodiment, a gantry crane monitoring system, as shown in fig. 3, comprises: front-end monitoring, wireless/wired transmission, a driver cab and a central control room.
The high-speed automatic zooming of a high-definition spherical infrared camera is adopted for front end monitoring, the amplitude and the lifting height of a gantry crane are monitored in real time, the distance of the amplitude and the height are automatically calculated and automatically zoomed, intelligent tracking of a lifting hook operation picture is realized, automatic control of automatic focusing of the high-definition camera is realized, 360-degree dead-angle-free tracking shooting is realized, the real-time position of a lifting hook is transmitted to a crane driver operation screen, a driver can manually/automatically adjust the picture of the dome camera to a preset position according to the position of the lifting hook, the image is optimized, and meanwhile, a central control room can also monitor the picture of the lifting hook.
The front end monitoring further comprises: the laser ranging module, as shown in fig. 4, first aims at a target, then switches on a laser power supply, starts a laser, and transmits a laser pulse signal to the aimed target through a transmitting optical system. Meanwhile, a time discrimination circuit acquires a door opening pulse signal, pulse laser ranging is simply based on the time difference of flight of laser, and the ranging is carried out by utilizing the characteristics of extremely short duration of laser pulse, relatively concentrated energy in time and very high instantaneous power. When a cooperative target exists, a far measuring range can be achieved; in close range measurements (within a few kilometers) even without a cooperative target, ranging can be performed with low accuracy requirements. And starting a timing circuit, transmitting laser echo reflected by the target through the atmosphere, acting on a photoelectric detector, converting the laser echo into an electric pulse signal, amplifying the electric pulse signal through an amplifier, using the signal obtained by a moment identifying circuit as a door closing signal of the timing circuit, stopping timing by the timing circuit, calculating to obtain a target distance, and displaying the target distance on a display.
The laser emitting system emits pulse laser with extremely short duration, the pulse laser is reflected by a target object after passing through a distance L to be measured, a pulse laser emitting signal is received by a photoelectric detector in the laser receiving system, and the time interval circuit calculates the time t between laser emission and the arrival of an echo signal to obtain the distance L between the target object and the emitted pulse laser. As shown in fig. 5, when TRIGER is at a low level, Q1 and Q2 are turned off, and a high voltage is charged to a capacitor C2 through a parallel circuit of R4, C2, D1 and R5, so that the voltage of about 150v is charged across C2. When TRIGER is in high level, Q1 and Q2 are conducted, capacitor C2 discharges through Q1, Q2 and the laser, and at the moment, the laser correspondingly emits light pulses with the peak power of about 20w through a current pulse with the peak current of about 20A in a short time. The Q2 mainly plays a role in acceleration, and the parallel circuit of the D1 and the R5 is used for inhibiting reverse pulses of the laser and plays a role in protecting the laser. The rising edge and half pulse width of the light pulse emitted by the laser are mainly determined by the response speed of the transistors Q1 and Q2, the capacitance value of C2, the equivalent resistance and inductance of the discharge circuit. The ranging accuracy of the pulse laser ranging system and the rising edge of the optical pulse have a great relationship, so that a fast product pipe is required to be selected, the wiring of a circuit board is reasonable, the capacitance value of C2 is proper, the rising edge of the optical pulse is increased due to overlarge capacitance value, the ranging accuracy is influenced, and the peak power of the optical pulse is influenced due to an undersized value, so that the ranging range is influenced.
According to the real shot image transmitted back to the cab, the operator can conveniently observe the whole site in real time, record video and display and record laser positioning signals, so that the operator in the control room can fully know the dynamic state and condition of the construction site, and can conveniently control fixed-point starting and fixed-point placing.
The crane driver firstly starts the distance measurement, calibration and reset of space coordinate intervals, such as tower height, moving vehicle distance, lifting point, placing terminal point and the like, and the LED display panel displays the distance measurement, calibration and reset in a pointer mode and in a digital mode (the distance between the tower height, the moving vehicle distance, the lifting point and the placing terminal point is equal to a meter), and starts the front operation of a camera monitoring system and the like. A set of space positioning ranging system is formed through laser ranging, wireless transmission and the like, the corresponding positions (meters) of all the positions are displayed on a high-definition display, and the distance (meters) between a lifting point and a final placement point is determined. After the lifting point is determined, observing the operation condition of the lifting point through an image transmitted by a lifting point camera, and adjusting the rotation direction of the tower crane in real time; a crane driver observes some conditions below the lifting hook through a high-definition spherical infrared camera, the position of the lifting hook is adjusted, then the tower crane is moved to reach positions about 1 meter away from the ground and about 1 meter away from a target point, and finally fixed-point adjustment is carried out.
In another embodiment, a control remote control lever can be further installed in the control room, images can be automatically/manually switched according to requirements, and the rotation position of the high-definition spherical infrared camera and the zooming of the lens can be arbitrarily controlled according to requirements.
In another embodiment, the crane transmits the video wirelessly, the crane climbs along with the height of the main body, the actual operation difficulty of monitoring and wiring in a conventional fixed line laying mode is extremely high, the crane monitoring video transmission is in a wireless mode, the crane wireless monitoring transmission mode is not influenced by the change of the lifting height of the crane, and the wireless monitoring transmission can reach as far as 10 kilometers.
In another embodiment, managers can watch the monitoring video through client and removal APP, gather lifting hook operating conditions in real time, in time with video transmission to driver's cabin, solved the loop wheel machine and hung the problem that has the blind area apart from superelevation, sight, the driver just can clearly see lifting hook real-time status in tens meters high driver's cabin, whether someone, hoist around and have the barrier to effectively ensured the safety of loop wheel machine operation. The monitoring video signals can also be transmitted to a construction site monitoring platform or a monitoring platform of a supervision department in a wireless mode, so that the government supervision department can retrieve and supervise the monitoring video signals.
It is understood that some or all of the alternative embodiments described above may be included in some embodiments.
It should be noted that the above embodiments are product embodiments corresponding to the previous method embodiments, and for the description of each optional implementation in the product embodiments, reference may be made to corresponding descriptions in the above method embodiments, and details are not described here again.
The reader should understand that in the description of this specification, reference to the description of the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A gantry crane control method based on video real-time adjustment is characterized by comprising the following steps:
collecting and returning a first picture through a camera;
when the first picture does not meet the preset condition, adjusting the camera until the first picture is adjusted to a second picture comprising the target object;
adjusting the focal length of the camera according to the first distance information returned by the laser ranging module;
acquiring a real-time image of the target object by the camera after adjusting the focal length;
and controlling a gantry crane to move the target object to a target fixed point according to the real-time image.
2. The gantry crane control method based on video real-time adjustment according to claim 1, further comprising:
when the target object is controlled to move to a preset position;
controlling the target object to move so that the first distance information is within a preset range;
and finely adjusting the position of the target object until the target object reaches the target fixed point.
3. The method for controlling the gantry crane based on the video real-time adjustment as claimed in claim 1 or 2, further comprising:
and displaying the first picture, the second picture, the first distance information and the real-time image through a display.
4. The gantry crane control method based on video real-time adjustment according to claim 1, wherein the first distance information represents a distance between the target object and the hook.
5. The method for controlling the gantry crane based on the video real-time adjustment as claimed in claim 1 or 4, further comprising:
transmitting the first picture, the second picture, the first distance information and the real-time image to a background server;
and monitoring and controlling the control process of moving the target object to the target fixed point through the background server.
6. The utility model provides a portal crane control system based on real-time adjustment of video which characterized in that includes: the device comprises a picture acquisition module, a picture adjusting module, a focal length adjusting module and a scheduling module;
the picture acquisition module is used for acquiring and returning a first picture through the camera;
the picture adjusting module is used for adjusting the camera until the first picture is adjusted to a second picture comprising the target object when the first picture does not meet the preset condition;
the focal length adjusting module is used for adjusting the focal length of the camera according to the first distance information returned by the laser ranging module;
the picture acquisition module is also used for acquiring a real-time image of the target object through the camera after the focal length is adjusted;
and the scheduling module is used for controlling the gantry crane to move the target object to a target fixed point according to the real-time image.
7. The gantry crane control system based on video real-time adjustment as claimed in claim 6, further comprising: the scheduling fine adjustment module is used for controlling the target object to move to a preset position;
controlling the target object to move so that the first distance information is within a preset range;
and finely adjusting the position of the target object until the target object reaches the target fixed point.
8. The gantry crane control system based on video real-time adjustment as claimed in claim 6 or 7, further comprising: and the display module is used for displaying the first picture, the second picture, the first distance information and the real-time image through a display.
9. The gantry crane control system based on video real-time adjustment as claimed in claim 6 or 7, further comprising: the monitoring module is used for transmitting the first picture, the second picture, the first distance information and the real-time image to a background server;
and monitoring and controlling the control process of moving the target object to the target fixed point through the background server.
10. A gantry crane monitoring system, comprising: a method for controlling a gantry crane based on video real-time adjustment according to any one of claims 1 to 5.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116152243A (en) * | 2023-04-19 | 2023-05-23 | 深圳市平方科技股份有限公司 | Method for detecting container loading and unloading operation state based on image analysis |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116152243A (en) * | 2023-04-19 | 2023-05-23 | 深圳市平方科技股份有限公司 | Method for detecting container loading and unloading operation state based on image analysis |
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