CN114538285A - Crane remote operation control system - Google Patents
Crane remote operation control system Download PDFInfo
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- CN114538285A CN114538285A CN202210098275.8A CN202210098275A CN114538285A CN 114538285 A CN114538285 A CN 114538285A CN 202210098275 A CN202210098275 A CN 202210098275A CN 114538285 A CN114538285 A CN 114538285A
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- crane
- image data
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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
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control 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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- 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
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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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
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B5/00—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied
- G08B5/22—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission
- G08B5/36—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission using visible light sources
- G08B5/38—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission using visible light sources using flashing light
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/265—Mixing
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- General Physics & Mathematics (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Electromagnetism (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a crane remote operation control system, relates to the technical field of crane control, and solves the technical problems that in the prior art, most of crane operations depend on judgment of operators, no record is generated on the whole working process of a crane, the operation precision is low, and the crane and the whole reservoir area cannot be comprehensively monitored; according to the method, the key image data are obtained through the high-definition camera which is reasonably arranged, the whole working process of the crane is recorded by combining an image recognition technology and a video splicing technology, and an operation rendering video is generated; the operation precision of the crane is improved, and the monitoring and recording of the working process of the crane are realized; according to the invention, the observation image data is combined with the image recognition technology to recognize the position state of the crane and the obstacles in the working range of the crane, the observation warning label is generated according to the recognition result, and the early warning is carried out according to the observation warning label, so that the accident caused by insufficient information acquisition in the remote control of the crane is avoided.
Description
Technical Field
The invention belongs to the field of crane control, and relates to a crane remote operation control technology, in particular to a crane remote operation control system.
Background
The intelligent hoisting and conveying system is paid more and more attention and applied, the system takes automation and artificial intelligence technology as a core, manual operation is cancelled or reduced in each link of loading, unloading, storage, management and control of materials, and the system has the advantages of saving land, reducing labor intensity, improving management level, improving production efficiency and the like.
In the prior art, an operator needs to receive different task instructions, judge an article taking place, select an executable instruction according to conditions, carry out carrying work, and send an article to a specified place until the whole carrying process is completed, and the operator needs to monitor the state of a crane, the state of the article and the like in real time in the process; in the prior art, operation and related state monitoring of a crane are mostly judged by operators, and the whole working process is not recorded, so that the operation precision is low, and the crane and the whole reservoir area cannot be comprehensively monitored; therefore, there is a need for a crane operation system that can remotely monitor and control crane operation.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art; therefore, the invention provides a crane remote operation control system, which is used for solving the technical problems that in the prior art, most of crane operations depend on judgment of operators, no record exists in the whole working process of a crane, so that the operation precision is low, and the crane and the whole reservoir area cannot be comprehensively monitored.
In order to achieve the above object, an embodiment according to a first aspect of the present invention provides a crane remote operation control system, including a bridge crane and a remote control system applied to the bridge crane; the remote control system includes:
a data acquisition module: the system is used for acquiring real-time image data of the crane and acquiring reservoir area image data in real time; wherein the reservoir image data is associated with real-time image data, and the real-time image data includes observation image data and operation image data;
a control management module: the observation warning label is used for analyzing the observation image data to obtain an observation warning label; generating an operation rendering video based on the operation image data and the library region image data; but also for remote control of the crane.
Preferably, the data acquisition module acquires data through a high-definition camera, and the data acquisition module is in communication and/or electrical connection with the high-definition camera; wherein, high definition digtal camera includes rifle bolt and ball machine.
Preferably, each side end beam of the bridge crane is provided with at least one gun, and each gun is controlled by a cradle head and a PLC (programmable logic controller); the main beam of the bridge crane is at least provided with two guns, and the middle position of the main beam at each side is at least provided with one gun.
Preferably, the gunlock and the ball machine are arranged in the reservoir area in a crossed mode, so that no dead angle monitoring on the reservoir area is guaranteed.
Preferably, the control management module controls light of an area to which the crane belongs before the crane is operated; wherein, the control to the light comprises the flashing warning and the brightness adjustment.
Preferably, the observation image data is collected before the crane works; and the observation image data is combined with an image recognition technology to recognize the position state of the crane and the obstacles in the working range of the crane, an observation warning label is generated according to the recognition result, and early warning is performed according to the observation warning label.
Preferably, the generating, by the control management module, an operation rendering video includes:
acquiring operation image data, and positioning a hook group in the operation image data;
when the operation image data of the hook group has a reference object, marking the operation image data as a typical operation image;
arranging typical operation images according to a time sequence to generate an initial image sequence; and filling a blank in the initial image sequence through the library area image data, and generating an operation rendering video by combining a video splicing technology.
Preferably, the number of image frames between two typical operation images is acquired, and when the number of image frames is less than a frame number threshold, the operation image data between two typical operation images is marked as a typical operation image; wherein the frame number threshold is an integer between [25, 30 ].
Preferably, the control management module generates a hook group planning route according to the task request and the reservoir model; verifying the actual operation route by a hook group planning route; the reservoir area model is established based on the reservoir area and three-dimensional data of devices in the reservoir area.
Preferably, the remote control system further comprises a data display module for intelligently displaying the key image data; wherein the key image data includes real-time image data and library region image data.
Preferably, the control management module is respectively in communication and/or electrical connection with the data acquisition module and the data display module; and the control management module controls the crane to operate through a PLC control system.
Preferably, before processing the key image data, image preprocessing is required; the image preprocessing comprises image segmentation, image denoising and gray level transformation.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the method, the key image data are obtained through the high-definition camera which is reasonably arranged, the whole working process of the crane is recorded by combining an image recognition technology and a video splicing technology, and an operation rendering video is generated; the operation precision of the crane is improved, and meanwhile, the monitoring and recording of the crane working process are realized.
2. According to the invention, the observation image data is combined with the image recognition technology to recognize the position state of the crane and the obstacles in the working range of the crane, the observation warning label is generated according to the recognition result, and the early warning is carried out according to the observation warning label, so that the accident caused by insufficient information acquisition in the remote control of the crane is avoided.
Drawings
FIG. 1 is a schematic diagram of the working steps 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.
In the prior art, in the crane operation process, an operator needs to receive different task instructions, judge an article taking place, select an executable instruction according to conditions, perform a carrying work, and send an article to a designated place until the whole carrying process is completed, and the operator needs to monitor the crane state, the article state and the like in real time in the process; in such operation, the operation precision is low due to artificial leading, and the operation personnel cannot consider all factors of the storage area and can not carry out overall planning on the whole operation process; the position of the high-definition camera is reasonably set, the whole working process of the crane is monitored by combining key image data, the operation precision of the crane is improved, and the monitoring and recording of the whole working process of the crane are completed.
Referring to fig. 1, the present application provides a crane remote operation control system, which includes a bridge crane and a remote control system applied to the bridge crane; the remote control system includes:
a data acquisition module: the system is used for acquiring real-time image data of the crane and acquiring reservoir area image data in real time;
a control management module: the observation warning label is used for analyzing the observation image data to obtain an observation warning label; generating an operation rendering video based on the operation image data and the library region image data; but also for remote control of the crane.
The bridge crane in the application refers to a hoisting device which is transversely erected above a truck, a warehouse and a stock yard to carry out material dispatching, and is not particularly limited to a certain type of bridge crane, namely, the device with the same main structure or principle as the bridge crane also needs to be included in the protection scope of the application.
In the application, each bridge crane corresponds to a remote control system for controlling the operation of the bridge crane, but it can be understood that one remote control system can simultaneously control a plurality of bridge cranes to operate; particularly, a plurality of bridge cranes can share part or all of the high-definition cameras to acquire key image data, and a plurality of crane control modules in one remote control system can be adopted to control different bridge cranes.
The library area image data and the real-time image data are correlated, and the real-time image data comprises observation image data and operation image data; it should be noted that the association between the library area image data and the real-time image data specifically means a library area between the library area image data and the real-time image data; in other preferred embodiments, the association between the library region image data and the real-time image data can be further refined into the same library region and the same time period for the library region image data and the real-time image data.
In the application, the data acquisition module acquires data through the high-definition camera, and the data acquisition module is in communication and/or electrical connection with the high-definition camera; the high-definition camera comprises a gun camera and a ball machine; when the high-definition camera is arranged in the library area, the full coverage of the area is ensured under the condition of considering the cost and the characteristics of the high-definition camera.
In one embodiment, each side end beam of the bridge crane is provided with at least one gun, and each gun is controlled by a cradle head and a PLC; the main beam of the bridge crane is at least provided with two guns, and the middle position of the main beam at each side is at least provided with one gun.
In this embodiment, in order to monitor the hook groups, the gunlocks are arranged on the end beams on the two sides; it can be understood that the lifting hook and the main beam are parallel, so that the optimal installation position of the high-definition camera is on the end beam of the crane, after the angle of the bolt is adjusted, the visual angle of the bolt and the lifting hook are vertical, no visual deviation is generated, theoretically, one bolt is respectively installed on the end beams on two sides, but under the condition that the requirement on precision is particularly high, a plurality of bolts can be arranged on each side end beam, and the precision is improved through image data obtained by the plurality of bolts.
In actual operation, be subject to crane hook's operation region, a high definition digtal camera can't all be included true lifting hook activity region, consequently needs high definition digtal camera to have the automatic function of following the lifting hook, still requires can be according to the position automatic adjustment angle of lifting hook. Therefore, an external cradle head and PLC control mode can be adopted, an absolute value encoder is added behind a main hoisting mechanism winding drum of the crane and used for detecting the height of a lifting hook, an absolute value encoder is added for positioning a trolley, the camera cradle head is controlled through Ethernet communication, a PLC control module calculates the position of the lifting hook according to the height of the lifting hook and the position of the trolley, and then the cradle head is controlled to automatically follow the lifting hook to operate.
In the embodiment, in order to clearly see the relative position of the crane in the plant and the distance between the crane and the adjacent crane, a high-definition camera is required to be added on each main beam of the crane, and a wide-angle camera with a lens of 1.68mm is adopted, so that the relative position of the crane in the workshop and the distance between the crane and the adjacent crane can be observed; it can be understood that the high definition camera on the main beam can be arranged in the middle of the main beam, and can also be arranged in other positions on the main beam, which can solve the above problems.
In one embodiment, the gunlock and the ball machine are arranged in the reservoir area in a crossed mode, and dead-angle-free monitoring of the reservoir area is guaranteed.
Because the storage area is large, the number of cameras needs to be arranged too much, if each camera displays independently, visual fatigue of operators can be caused, and required visual information cannot be found quickly and accurately; in order to ensure no dead angle coverage of the reservoir area and based on the consideration of cost, the high-definition camera is reasonably arranged by fully utilizing the advantages of the gunlock and the ball machine.
Referring to fig. 1, the technical solution of the present application will be described in detail.
In one embodiment, the control management module controls light of an area where the crane belongs before the crane is operated; wherein, the control to the light comprises the flashing warning and the brightness adjustment.
The embodiment has two functions of controlling the lighting: firstly, the light in the working area of the crane is adjusted, so that the high-definition camera can acquire high-quality images; and secondly, early warning is realized through light flicker, and before the crane is started, the worker is reminded through the rapid flicker of the light, so that the effect of early warning is realized.
In one embodiment, the observation image data is collected before the crane is operated; and the observation image data is combined with an image recognition technology to recognize the position state of the crane and the obstacles in the working range of the crane, an observation warning label is generated according to the recognition result, and early warning is performed according to the observation warning label.
Specifically, the fact that the position state of the crane is identified is that whether the hook group is in the installation or preset position is determined, and accidents caused by the hook group during starting are avoided; the obstacle identification is mainly used for preventing the obstacles in the working area from being damaged when the crane is started; it should be noted that the obstacles in this embodiment refer to not only useless objects but also people and objects that affect the normal operation of the crane.
When early warning is carried out according to observing the warning label, not only need carry out the early warning to operating personnel, still need when the barrier is the people, carry out the early warning to this barrier.
In one embodiment, generating the operation rendered video by the control management module includes:
acquiring operation image data, and positioning a hook group in the operation image data;
when the operation image data of the hook group has a reference object, marking the operation image data as a typical operation image;
arranging typical operation images according to a time sequence to generate an initial image sequence; and filling a blank in the initial image sequence through the library area image data, and generating an operation rendering video by combining a video splicing technology.
The reference object in this embodiment is substantially an object that enables an operator to recognize the position of the hook group, such as a cargo rack, other cranes, etc., and it can be understood that there is a reference object in the image, and the operator can realize precise control of the hook group.
In the embodiment, an image which can clearly identify the position of the hook group by an operator is marked as a typical operation image, a video frame is established by using the typical operation image, and a rendered video is generated by filling the image data of the library area; it should be noted that the library image data in this embodiment can provide a data base for the operator to identify the position of the hook group.
In a specific embodiment, the number of image frames between two typical operation images is obtained, and when the number of image frames is less than the frame number threshold, the operation image data between the two typical operation images is marked as a typical operation image.
The threshold value of the number of frames is set to an integer between 25 and 30 in this embodiment, and the corresponding time is 1 second; in other preferred embodiments, the frame number threshold can also be set according to actual conditions.
In one embodiment, the control and management module generates a hook group planning route by combining the task request and the reservoir model; verifying the actual operation route by a hook group planning route; the reservoir area model is established based on the reservoir area and three-dimensional data of devices in the reservoir area.
In this embodiment, the control management module establishes a library area model according to the three-dimensional data, and generates a planned route of the hook group by combining the task request and the computer, where the planned route of the hook group can provide a reference for an operator and verify actual operation of the operator.
The working principle of the invention is as follows:
acquiring real-time image data of the crane through a high-definition camera, and acquiring image data of a reservoir area in real time; and the observation image data is combined with an image recognition technology to recognize the position state of the crane and the obstacles in the working range of the crane, an observation warning label is generated according to the recognition result, and early warning is performed according to the observation warning label.
Acquiring operation image data, and positioning a hook group in the operation image data; when the operation image data of the hook group has a reference object, marking the operation image data as a typical operation image; arranging typical operation images according to a time sequence to generate an initial image sequence; and filling a blank in the initial image sequence through the library area image data, and generating an operation rendering video by combining a video splicing technology.
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 (8)
1. Crane remote operation control system, including bridge crane and be applied to bridge crane's remote control system, its characterized in that, remote control system includes:
a data acquisition module: the system is used for acquiring real-time image data of the crane through the high-definition camera and acquiring image data of a reservoir area in real time; the high-definition camera comprises a gunlock and a ball machine, wherein the image data of the reservoir area is associated with the real-time image data, the real-time image data comprises observation image data and operation image data, and the high-definition camera comprises the gunlock and the ball machine;
a control management module: the observation warning label is used for analyzing the observation image data to obtain an observation warning label; generating an operation rendering video based on the operation image data and the library region image data; but also for remote control of the crane.
2. The crane remote operation control system according to claim 1, wherein at least one bolt machine is arranged on each side end beam of the bridge crane, and each bolt machine is controlled by a cradle head and a PLC; the main beam of the bridge crane is at least provided with two guns, and the middle position of the main beam at each side is at least provided with one gun.
3. The crane remote operation control system according to claim 1, wherein a gunlock and a ball machine are arranged in a reservoir area in a crossed manner, so that no dead angle monitoring on the reservoir area is ensured.
4. The crane remote operation control system according to claim 1, wherein the control management module controls lighting of an area to which the crane belongs before crane operation; wherein, the control to the light comprises the flashing warning and the brightness adjustment.
5. The crane teleoperational control system of claim 1, wherein the observation image data acquisition is prior to crane operation; and the observation image data is combined with an image recognition technology to recognize the position state of the crane and the obstacles in the working range of the crane, an observation warning label is generated according to the recognition result, and early warning is performed according to the observation warning label.
6. The crane remote operation control system according to claim 1, wherein generating an operation rendering video by the control management module includes:
acquiring operation image data, and positioning a hook group in the operation image data;
when the operation image data of the hook group has a reference object, marking the operation image data as a typical operation image;
arranging typical operation images according to a time sequence to generate an initial image sequence; and filling a blank in the initial image sequence through the library area image data, and generating an operation rendering video by combining a video splicing technology.
7. The crane remote operation control system according to claim 6, wherein a frame number of images between two of the typical operation images is acquired, and when the frame number of images is less than a frame number threshold, the operation image data between the two of the typical operation images is marked as a typical operation image.
8. The crane remote operation control system according to claim 1, wherein the control management module generates a hook group planned route in combination with a task request and a reservoir model; verifying the actual operation route by a hook group planning route; the reservoir area model is established based on the reservoir area and three-dimensional data of devices in the reservoir area.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210098275.8A CN114538285A (en) | 2022-01-20 | 2022-01-20 | Crane remote operation control system |
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| CN202210098275.8A CN114538285A (en) | 2022-01-20 | 2022-01-20 | Crane remote operation control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115367627A (en) * | 2022-09-16 | 2022-11-22 | 江苏省特种设备安全监督检验研究院 | Crane safety monitoring method and system based on Internet of things and storage medium |
| CN115784025A (en) * | 2022-10-09 | 2023-03-14 | 太原重工股份有限公司 | Video intelligent following control system for remotely operating crane hook |
-
2022
- 2022-01-20 CN CN202210098275.8A patent/CN114538285A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115367627A (en) * | 2022-09-16 | 2022-11-22 | 江苏省特种设备安全监督检验研究院 | Crane safety monitoring method and system based on Internet of things and storage medium |
| CN115367627B (en) * | 2022-09-16 | 2023-11-14 | 江苏省特种设备安全监督检验研究院 | Crane safety monitoring method, system and storage medium based on Internet of things |
| CN115784025A (en) * | 2022-10-09 | 2023-03-14 | 太原重工股份有限公司 | Video intelligent following control system for remotely operating crane hook |
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