CN114604764B - Automatic detection and control method and device for loosening of intelligent tower crane lifting hook - Google Patents
Automatic detection and control method and device for loosening of intelligent tower crane lifting hook Download PDFInfo
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- CN114604764B CN114604764B CN202210077248.2A CN202210077248A CN114604764B CN 114604764 B CN114604764 B CN 114604764B CN 202210077248 A CN202210077248 A CN 202210077248A CN 114604764 B CN114604764 B CN 114604764B
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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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- 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]
Abstract
The embodiment of the application provides an automatic detection and control method and device for loosening of an intelligent tower crane lifting hook. The method comprises the following steps: when the lifting hook loosening control instruction is detected, suspending execution of the lifting hook loosening control instruction, starting a distance sensor, and detecting a first distance between the distance sensor and the ground; when the first distance is larger than a preset threshold value, starting the image sensor; the image sensor shoots images of the lifting hook and the material direction, performs pixel analysis based on the position relation between the material and the target platform in the images and the appearance size of the target platform and the size information of the material, and calculates to obtain the actual position relation between the material and the target platform; when the material is located above the target platform, whether the lifting hook can be loosened is judged according to whether the distance between the bottom of the material and the top of the target platform is located in a preset interval or not. According to the method and the device, whether the lifting hook is loosened or not is controlled according to the distance detection of the lifting hook and the ground and the distance detection result between the material and the platform, so that the construction efficiency and the control safety are improved.
Description
Technical Field
The application relates to the technical field of intelligent tower cranes, in particular to an automatic loosening detection control method and device for an intelligent tower crane lifting hook.
Background
At present, the tower crane is basically operated by personnel in a central control room on the tower crane, or is remotely and intelligently operated in real time by an operator. In the tower crane industry, the current development direction is unmanned tower cranes and intelligent tower cranes, so that a plurality of technical problems are encountered in the process of industrial upgrading.
In the control of the existing intelligent unmanned tower crane, when a lifting hook is loosened, if the distance between a material and the ground or a target platform is too large, the material can be caused to injure ground constructors or smash the target platform, and great potential safety hazards exist.
Disclosure of Invention
In view of this, the purpose of this application is to propose a loosening automated inspection control method and device for intelligent tower crane lifting hook, this application can the current lifting hook control safety problem of pertinence solution.
Based on the above purpose, the application provides an automatic detection and control method for loosening of an intelligent tower crane lifting hook, which comprises the following steps:
a distance sensor is arranged on a tower crane lifting hook, the distance sensor points to the ground vertically, an image sensor is arranged on a main beam, and the image sensor points to the lifting hook;
when a lifting hook loosening control instruction is detected, suspending execution of the lifting hook loosening control instruction, starting a distance sensor, and detecting a first distance between the distance sensor and the ground; when the first distance is smaller than a preset threshold value, the hook loosening control instruction is restored to be executed, and the hook is loosened; when the first distance is larger than a preset threshold value, starting the image sensor;
acquiring and analyzing a current lifting task to obtain size information of a material lifted by a lifting hook and information of a target platform to be placed, wherein the information of the target platform comprises the appearance size of the target platform;
the image sensor shoots images of the lifting hook and the material direction, performs pixel analysis based on the position relation between the material and the target platform in the images and the appearance size of the target platform and the size information of the material, and calculates to obtain the actual position relation between the material and the target platform;
when the material is located above the target platform, whether the lifting hook can be loosened is judged according to whether the distance between the bottom of the material and the top of the target platform is located in a preset interval or not.
Further, the image sensor is a video camera or an industrial camera.
Further, the image sensor shoots an image of the lifting hook and the direction of the material, performs pixel analysis based on the position relationship between the material and the target platform in the image, and the appearance size of the target platform and the size information of the material, and calculates to obtain the actual position relationship between the material and the target platform, including:
the image sensor shoots an image of the lifting hook and the direction of the material;
establishing a space coordinate system based on an image of an image sensor, and obtaining the position of a material in the space coordinate system according to the number of pixels occupied by the material in the image and the position of the material;
obtaining the position of the target platform in the space coordinate system according to the number of pixels occupied by the target platform in the image and the position of the target platform;
and carrying out pixel analysis on the position of the material in the space coordinate system, the position of the target platform in the space coordinate system, and the appearance size of the target platform and the size information of the material, and calculating to obtain the actual position relationship between the material and the target platform.
Further, the obtaining the position of the material in the space coordinate system according to the number of pixels occupied by the material in the image and the position of the material includes:
acquiring the number and positions of pixels occupied by the material in images obtained by shooting the material at different positions in the space coordinate system, wherein the images are obtained by pre-experiment;
and matching the number and the positions of the pixels occupied by the materials in the image shot by the image sensor when the hook loosening control instruction is received with the number and the positions of the pixels occupied by the materials in the image obtained in advance through experiments, and taking the position with the highest matching degree as the position of the materials in the space coordinate system.
Further, the obtaining the position of the target platform in the space coordinate system according to the number of pixels occupied by the target platform in the image and the position of the target platform includes:
acquiring the number and positions of pixels occupied by the target platform in images obtained by shooting the target platform at different positions in the space coordinate system, wherein the images are obtained by pre-experiments;
and matching the number and the positions of the pixels occupied by the target platform in the image shot by the image sensor when the hook release control instruction is received with the number and the positions of the pixels occupied by the target platform in the image obtained in advance, and taking the position with the highest matching degree as the position of the target platform in the space coordinate system.
Further, the calculating, based on the position of the material in the space coordinate system, the position of the target platform in the space coordinate system, and the appearance size of the target platform and the size information of the material, to obtain the actual position relationship between the material and the target platform includes:
based on the position of the material in the space coordinate system, the position of the target platform in the space coordinate system, and obtaining the relative position relation between the material and the target platform;
and calculating the distance between the bottom of the material and the top of the target platform according to the relative position relation between the material and the target platform, the appearance size of the target platform and the size information of the material.
Further, when the material level is above the target platform, according to whether the distance between the bottom of the material and the top of the target platform is within a preset interval, judging whether the lifting hook can be loosened, including:
when the material is positioned above the target platform, judging that the lifting hook can be loosened according to the fact that the distance between the bottom of the material and the top of the target platform is positioned in a preset interval;
and judging that the lifting hook cannot be loosened and giving an alarm according to the fact that the distance between the bottom of the material and the top of the target platform is outside a preset interval.
Based on the above-mentioned purpose, the application still provides a unclamp automated inspection controlling means for intelligent tower crane lifting hook, includes:
the sensor module is used for installing a distance sensor on a tower crane lifting hook, wherein the distance sensor vertically points to the ground direction, and an image sensor is installed on the main beam and points to the direction of the lifting hook;
the ground distance detection module is used for suspending execution of the lifting hook loosening control instruction when the lifting hook loosening control instruction is detected, starting a distance sensor and detecting a first distance between the distance sensor and the ground; when the first distance is smaller than a preset threshold value, the hook loosening control instruction is restored to be executed, and the hook is loosened; when the first distance is larger than a preset threshold value, starting the image sensor;
the target platform acquisition module is used for acquiring and analyzing the current lifting task to obtain the size information of the material lifted by the lifting hook, the method comprises the steps of preparing placed target platform information, wherein the target platform information comprises the appearance size of a target platform;
the material and platform position calculating module is used for shooting images of the lifting hook and the material direction by the image sensor, carrying out pixel analysis based on the position relation between the material and the target platform in the images and the appearance size of the target platform and the size information of the material, and calculating to obtain the actual position relation between the material and the target platform;
and the lifting hook loosening judging module is used for judging whether the lifting hook can be loosened according to whether the distance between the bottom of the material and the top of the target platform is in a preset interval or not when the material is positioned above the target platform.
Overall, the advantages of the present application and the experience brought to the user are:
according to the distance detection result of the lifting hook and the ground, the lifting hook is loosened when the distance between the lifting hook and the ground is located in a safe distance range, and the lifting hook is suspended to be loosened when the distance between the lifting hook and the ground is located out of the safe distance range, so that whether the distance between a material and a platform is located in the safe distance range or not is detected, whether the lifting hook is loosened is controlled, and the construction efficiency and the control safety are improved.
Drawings
In the drawings, the same reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily drawn to scale. It is appreciated that these drawings depict only some embodiments according to the disclosure and are not therefore to be considered limiting of its scope.
Fig. 1 shows a schematic diagram of the device architecture of the present application.
Fig. 2 shows a flowchart of a method for automatic detection and control of the release of a lifting hook of an intelligent tower crane according to an embodiment of the application.
Fig. 3 shows a construction diagram of an automatic release detection control device for an intelligent tower crane hook according to an embodiment of the present application.
FIG. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure;
fig. 5 shows a schematic diagram of a storage medium according to an embodiment of the present application.
Detailed Description
The present application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Fig. 1 shows a schematic diagram of the device architecture of the present application. In an embodiment of the application, the equipment comprises a controlled tower crane, a lifting hook and a distance sensor arranged on the lifting hook in a construction site, an image sensor arranged on a main beam, a target platform where materials can be lifted and placed, and the like.
A distance sensor, also called a displacement sensor, is a type of sensor that senses a distance between the sensor and an object to perform a predetermined function, and has been widely used. The distance sensor can be classified into an optical distance sensor, an infrared distance sensor, an ultrasonic distance sensor, and the like according to the different working principles thereof. The infrared distance sensor is provided with an infrared transmitting tube and an infrared receiving tube, the distance of the infrared transmitting tube and the infrared receiving tube is judged through the transmission and the reception of infrared rays, and substances transmitted by other types of distance sensors can be ultrasonic waves, light pulses, millimeter waves and the like.
In this embodiment, the form of the distance sensor may be as follows: the millimeter wave radar, the infrared distance sensor, and other well-known forms are not described in detail herein.
The image sensor may take the form of a video camera or an industrial camera or the like.
Fig. 2 shows a flowchart of a method for automatic detection and control of the release of a lifting hook of an intelligent tower crane according to an embodiment of the application. As shown in fig. 2, the automatic detection and control method for loosening the lifting hook of the intelligent tower crane comprises the following steps:
step 101: a distance sensor is arranged on a tower crane lifting hook, the distance sensor points to the ground vertically, an image sensor is arranged on a main beam, and the image sensor points to the lifting hook;
step 102: when a lifting hook loosening control instruction is detected, suspending execution of the lifting hook loosening control instruction, starting a distance sensor, and detecting a first distance between the distance sensor and the ground; when the first distance is smaller than a preset threshold value, the hook loosening control instruction is restored to be executed, and the hook is loosened; and when the first distance is larger than a preset threshold value, starting the image sensor.
In this embodiment, for example, the preset threshold is set to be a safe distance when the material falls to the ground, according to the distance detection result of the lifting hook and the ground, the lifting hook is released when the distance between the lifting hook and the ground is within the safe distance range, and the lifting hook is suspended to be released when the distance between the lifting hook and the ground is outside the safe distance range, so that the accident that the lifting hook is released when the lifting hook is higher from the ground, and the personnel are injured or the ground is damaged can be prevented.
For example, when it is detected that the command to release the hook is received, the distance between the hook and the ground is 10 meters, and the preset safety distance is 2-5 meters, so that the hook cannot be released at this time, and if the hook is released, the material can be caused to fall directly onto the ground to injure personnel or objects on the ground. At this time, whether the material is to be hoisted to an operation platform at high altitude is further considered, in order to verify the problem, the hoisting task is required to be analyzed, the target platform and the height thereof are found, and whether the distance between the material and the target platform meets the requirement of safe construction is detected again, so that whether the lifting hook is loosened is determined.
Step 103: and acquiring and analyzing the current lifting task to obtain size information of the material lifted by the lifting hook and information of a target platform to be placed, wherein the information of the target platform comprises the appearance size of the target platform.
In this embodiment, since the sizes of the hoisting material and the target platform are generally larger, in order to accurately calculate the distance, direction, etc. relationship between the material and the target platform, the sizes of the material and the target platform must be considered. For example, the size of the material is closely related to the distance between the material and the target platform, and the size of the target platform and the material can help determine its position in the image captured by the camera.
Step 104: the image sensor shoots an image of the lifting hook and the material direction, performs pixel analysis based on the position relation between the material and the target platform in the image and the appearance size of the target platform and the size information of the material, calculates to obtain the actual position relation between the material and the target platform, and comprises the following steps:
the image sensor shoots an image of the lifting hook and the direction of the material;
establishing a space coordinate system based on an image of an image sensor, and obtaining the position of a material in the space coordinate system according to the number of pixels occupied by the material in the image and the position of the material;
obtaining the position of the target platform in the space coordinate system according to the number of pixels occupied by the target platform in the image and the position of the target platform;
and carrying out pixel analysis on the position of the material in the space coordinate system, the position of the target platform in the space coordinate system, and the appearance size of the target platform and the size information of the material, and calculating to obtain the actual position relationship between the material and the target platform.
For example, in this embodiment, the number and positions of pixels occupied by the material obtained through experiments in advance are obtained from images obtained through shooting when the material is at different preset positions in the space coordinate system; these preset positions are preset and marked in the spatial coordinate system of the camera.
And matching the number and the positions of the pixels occupied by the materials in the image shot by the image sensor when the hook loosening control instruction is received with the number and the positions of the pixels occupied by the materials in the image obtained in advance through experiments, and taking the position with the highest matching degree as the position of the materials in the space coordinate system.
For another example, in this embodiment, the number and positions of pixels occupied by the target platform are obtained from images obtained by shooting the target platform obtained in advance at a plurality of different preset positions in the space coordinate system; these preset positions are preset and marked in the spatial coordinate system of the camera.
And matching the number and the positions of the pixels occupied by the target platform in the image shot by the image sensor when the hook release control instruction is received with the number and the positions of the pixels occupied by the target platform in the image obtained in advance, and taking the position with the highest matching degree as the position of the target platform in the space coordinate system.
Finally, in this embodiment, based on the position of the material in the spatial coordinate system, the position of the target platform in the spatial coordinate system obtains the relative positional relationship between the material and the target platform; and calculating the distance between the bottom of the material and the top of the target platform according to the relative position relation between the material and the target platform, the appearance size of the target platform and the size information of the material.
For example, the height of the top of the material from the camera is 10 meters, the height of the top of the target platform from the camera is 15 meters, and the height of the material itself is 3 meters, then the distance between the bottom of the material and the top of the target platform is 2 meters.
Step 105: when the material level is located the target platform top, according to whether the distance between the bottom of material with the top of target platform is located and predetermines the interval, judge whether the lifting hook can loosen, include:
when the material is positioned above the target platform, judging that the lifting hook can be loosened according to the fact that the distance between the bottom of the material and the top of the target platform is positioned in a preset interval;
and judging that the lifting hook cannot be loosened and giving an alarm according to the fact that the distance between the bottom of the material and the top of the target platform is outside a preset interval.
For example, the distance between the bottom of the material and the top of the target platform is 2 meters, and the preset safety distance is 1 meter, so that the distance between the material and the target platform is too far because the safety distance between the material and the target platform is insufficient, if the lifting hook is loosened, the material can damage the target platform by smashing, and therefore, the system sends out an alarm prompt to prompt the operator of the tower crane to be safe and dangerous, and the lifting hook cannot be loosened. When the lifting hook is automatically or manually controlled to drop the material within the safe distance, the lifting hook is released again, and the material is slowly placed on the appointed lifting position.
According to the distance detection result of the lifting hook and the ground, the lifting hook is loosened when the distance between the lifting hook and the ground is located in a safe distance range, and the lifting hook is suspended to be loosened when the distance between the lifting hook and the ground is located out of the safe distance range, so that whether the distance between a material and a platform is located in the safe distance range or not is detected, whether the lifting hook is loosened is controlled, and the construction efficiency and the control safety are improved.
An embodiment of the application provides an automatic detection and control device for loosening an intelligent tower crane hook, where the device is configured to execute the automatic detection and control method for loosening an intelligent tower crane hook according to the foregoing embodiment, as shown in fig. 3, and the device includes:
the sensor module 501 is used for installing a distance sensor on a tower crane lifting hook, wherein the distance sensor vertically points to the ground direction, and an image sensor is installed on a main beam and points to the direction of the lifting hook;
the ground distance detection module 502 is configured to suspend execution of a hook release control instruction when the hook release control instruction is detected, start a distance sensor, and detect a first distance between the distance sensor and the ground; when the first distance is smaller than a preset threshold value, the hook loosening control instruction is restored to be executed, and the hook is loosened; when the first distance is larger than a preset threshold value, starting the image sensor;
the target platform acquisition module 503 is configured to acquire and parse a current lifting task to obtain size information of a material lifted by the lifting hook and target platform information to be placed, where the target platform information includes an appearance size of a target platform;
the material and platform position calculating module 504 is configured to perform pixel analysis based on the position relationship between the material and the target platform in the image and the appearance size of the target platform and the size information of the material, and calculate an actual position relationship between the material and the target platform;
the lifting hook loosening judging module 505 is configured to judge whether the lifting hook is capable of loosening according to whether a distance between the bottom of the material and the top of the target platform is within a preset interval when the material is located above the target platform.
The automatic detection and control device for loosening the intelligent tower crane lifting hook provided by the embodiment of the application and the automatic detection and control method for loosening the intelligent tower crane lifting hook provided by the embodiment of the application have the same beneficial effects as the method adopted, operated or realized by the stored application program because of the same inventive concept.
The embodiment of the application also provides electronic equipment corresponding to the automatic detection and control method for loosening the intelligent tower crane lifting hook provided by the embodiment, so as to execute the automatic detection and control method for loosening the intelligent tower crane lifting hook. The embodiments of the present application are not limited.
Referring to fig. 4, a schematic diagram of an electronic device according to some embodiments of the present application is shown. As shown in fig. 4, the electronic device 2 includes: a processor 200, a memory 201, a bus 202 and a communication interface 203, the processor 200, the communication interface 203 and the memory 201 being connected by the bus 202; the memory 201 stores a computer program that can be run on the processor 200, and when the processor 200 runs the computer program, the method for automatically detecting and controlling the release of the intelligent tower crane hook provided in any of the foregoing embodiments of the present application is executed.
The memory 201 may include a high-speed random access memory (RAM: random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one disk memory. The communication connection between the system network element and at least one other network element is implemented via at least one communication interface 203 (which may be wired or wireless), the internet, a wide area network, a local network, a metropolitan area network, etc. may be used.
The processor 200 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in the processor 200 or by instructions in the form of software. The processor 200 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but may also be a Digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in the memory 201, and the processor 200 reads the information in the memory 201, and in combination with its hardware, performs the steps of the above method.
The electronic equipment provided by the embodiment of the application and the automatic detection control method for loosening the intelligent tower crane lifting hook provided by the embodiment of the application have the same beneficial effects as the method adopted, operated or realized by the electronic equipment and the method for automatically detecting the loosening of the intelligent tower crane lifting hook are based on the same inventive concept.
The present application further provides a computer readable storage medium corresponding to the method for controlling the automatic release detection of the intelligent tower crane hook according to the foregoing embodiment, referring to fig. 5, the computer readable storage medium is shown as an optical disc 30, and a computer program (i.e. a program product) is stored thereon, where the computer program, when executed by a processor, performs the method for controlling the automatic release detection of the intelligent tower crane hook according to any of the foregoing embodiments.
It should be noted that examples of the computer readable storage medium may also include, but are not limited to, a phase change memory (PRAM), a Static Random Access Memory (SRAM), a Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a flash memory, or other optical or magnetic storage medium, which will not be described in detail herein.
The computer readable storage medium provided by the above embodiment of the present application has the same beneficial effects as the method adopted, operated or implemented by the application program stored in the computer readable storage medium for the same inventive concept as the method for automatically detecting and controlling the loosening of the intelligent tower crane hook provided by the embodiment of the present application.
It should be noted that:
the algorithms and displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general-purpose systems may also be used with the teachings herein. The required structure for a construction of such a system is apparent from the description above. In addition, the present application is not directed to any particular programming language. It will be appreciated that a variety of programming languages may be used to implement the teachings of the present application as described herein, and the above description of specific languages is provided for disclosure of preferred embodiments of the present application.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the present application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the application, various features of the application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the application and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be construed as reflecting the intention that: i.e., the claimed application requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.
Those skilled in the art will appreciate that the modules in the apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. The modules or units or components of the embodiments may be combined into one module or unit or component and, furthermore, they may be divided into a plurality of sub-modules or sub-units or sub-components. Any combination of all features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be used in combination, except insofar as at least some of such features and/or processes or units are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the present application and form different embodiments. For example, in the following claims, any of the claimed embodiments can be used in any combination.
Various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that some or all of the functions of some or all of the components in a virtual machine creation system according to embodiments of the present application may be implemented in practice using a microprocessor or Digital Signal Processor (DSP). The present application may also be embodied as a device or system program (e.g., a computer program and a computer program product) for performing a portion or all of the methods described herein. Such a program embodying the present application may be stored on a computer readable medium, or may have the form of one or more signals. Such signals may be downloaded from an internet website, provided on a carrier signal, or provided in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think of various changes or substitutions within the technical scope of the present application, and these should be covered in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (8)
1. The automatic detection and control method for the loosening of the lifting hook of the intelligent tower crane is characterized by comprising the following steps:
a distance sensor is arranged on a tower crane lifting hook, the distance sensor points to the ground vertically, an image sensor is arranged on a main beam, and the image sensor points to the lifting hook;
when a lifting hook loosening control instruction is detected, suspending execution of the lifting hook loosening control instruction, starting a distance sensor, and detecting a first distance between the distance sensor and the ground; when the first distance is smaller than a preset threshold value, the hook loosening control instruction is restored to be executed, and the hook is loosened; when the first distance is larger than a preset threshold value, starting the image sensor;
acquiring and analyzing a current lifting task to obtain size information of a material lifted by a lifting hook and information of a target platform to be placed, wherein the information of the target platform comprises the appearance size of the target platform;
the image sensor shoots images of the lifting hook and the material direction, performs pixel analysis based on the position relation between the material and the target platform in the images and the appearance size of the target platform and the size information of the material, and calculates to obtain the actual position relation between the material and the target platform;
when the material is positioned above the target platform, judging whether the lifting hook can be loosened according to whether the distance between the bottom of the material and the top of the target platform is within a preset interval or not;
the image sensor shoots an image of the lifting hook and the direction of the material, performs pixel analysis based on the position relation between the material and the target platform in the image and the appearance size of the target platform and the size information of the material, calculates to obtain the actual position relation between the material and the target platform, and comprises the following steps:
the image sensor shoots an image of the lifting hook and the direction of the material;
establishing a space coordinate system based on an image of an image sensor, and obtaining the position of a material in the space coordinate system according to the number of pixels occupied by the material in the image and the position of the material;
obtaining the position of the target platform in the space coordinate system according to the number of pixels occupied by the target platform in the image and the position of the target platform;
based on the position of the material in the space coordinate system, the position of the target platform in the space coordinate system, the appearance size of the target platform and the size information of the material are subjected to pixel analysis, and the actual position relationship between the material and the target platform is obtained through calculation;
when the material is located above the target platform, according to whether the distance between the bottom of the material and the top of the target platform is located in a preset interval, whether the lifting hook can be loosened is judged, and the method comprises the following steps:
when the material is positioned above the target platform, judging that the lifting hook can be loosened according to the fact that the distance between the bottom of the material and the top of the target platform is positioned in a preset interval;
and judging that the lifting hook cannot be loosened and giving an alarm according to the fact that the distance between the bottom of the material and the top of the target platform is outside a preset interval.
2. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the image sensor is a camera or an industrial camera.
3. The method of claim 2, wherein the step of determining the position of the substrate comprises,
the step of obtaining the position of the material in the space coordinate system according to the number of pixels occupied by the material in the image and the position of the material comprises the following steps:
acquiring the number and positions of pixels occupied by the material in images obtained by shooting the material at different positions in the space coordinate system, wherein the images are obtained by pre-experiment;
and matching the number and the positions of the pixels occupied by the materials in the image shot by the image sensor when the hook loosening control instruction is received with the number and the positions of the pixels occupied by the materials in the image obtained in advance through experiments, and taking the position with the highest matching degree as the position of the materials in the space coordinate system.
4. The method of claim 3, wherein the step of,
the step of obtaining the position of the target platform in the space coordinate system according to the number of pixels occupied by the target platform in the image and the position of the target platform comprises the following steps:
acquiring the number and positions of pixels occupied by the target platform in images obtained by shooting the target platform at different positions in the space coordinate system, wherein the images are obtained by pre-experiments;
and matching the number and the positions of the pixels occupied by the target platform in the image shot by the image sensor when the hook release control instruction is received with the number and the positions of the pixels occupied by the target platform in the image obtained in advance, and taking the position with the highest matching degree as the position of the target platform in the space coordinate system.
5. The method of claim 4, wherein,
the pixel analysis is performed on the basis of the position of the material in the space coordinate system, the position of the target platform in the space coordinate system, and the appearance size of the target platform and the size information of the material, so as to calculate an actual position relationship between the material and the target platform, including:
based on the position of the material in the space coordinate system, the position of the target platform in the space coordinate system, and obtaining the relative position relation between the material and the target platform;
and calculating the distance between the bottom of the material and the top of the target platform according to the relative position relation between the material and the target platform, the appearance size of the target platform and the size information of the material.
6. A release automatic detection control device for an intelligent tower crane hook for performing the method of any one of claims 1-5, comprising:
the sensor module is used for installing a distance sensor on a tower crane lifting hook, wherein the distance sensor vertically points to the ground direction, and an image sensor is installed on the main beam and points to the direction of the lifting hook;
the ground distance detection module is used for suspending execution of the lifting hook loosening control instruction when the lifting hook loosening control instruction is detected, starting a distance sensor and detecting a first distance between the distance sensor and the ground; when the first distance is smaller than a preset threshold value, the hook loosening control instruction is restored to be executed, and the hook is loosened; when the first distance is larger than a preset threshold value, starting the image sensor;
the target platform acquisition module is used for acquiring and analyzing the current lifting task to obtain the size information of the material lifted by the lifting hook, the method comprises the steps of preparing placed target platform information, wherein the target platform information comprises the appearance size of a target platform;
the material and platform position calculating module is used for shooting images of the lifting hook and the material direction by the image sensor, carrying out pixel analysis based on the position relation between the material and the target platform in the images and the appearance size of the target platform and the size information of the material, and calculating to obtain the actual position relation between the material and the target platform;
and the lifting hook loosening judging module is used for judging whether the lifting hook can be loosened according to whether the distance between the bottom of the material and the top of the target platform is in a preset interval or not when the material is positioned above the target platform.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor runs the computer program to implement the method of any one of claims 1-5.
8. A computer readable storage medium having stored thereon a computer program, wherein the program is executed by a processor to implement the method of any of claims 1-5.
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| CN111392599A (en) * | 2020-03-05 | 2020-07-10 | 和芯星通科技(北京)有限公司 | Automatic tower crane control method |
| CN113173505A (en) * | 2021-05-11 | 2021-07-27 | 宁波梅东集装箱码头有限公司 | Automatic bottom-opening stacking method and system for gantry crane storage yard, storage medium and gantry crane |
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| CN111392599A (en) * | 2020-03-05 | 2020-07-10 | 和芯星通科技(北京)有限公司 | Automatic tower crane control method |
| CN113173505A (en) * | 2021-05-11 | 2021-07-27 | 宁波梅东集装箱码头有限公司 | Automatic bottom-opening stacking method and system for gantry crane storage yard, storage medium and gantry crane |
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