CN115303950A - Take driving automatic feeding system of AI discernment - Google Patents
Take driving automatic feeding system of AI discernment Download PDFInfo
- Publication number
- CN115303950A CN115303950A CN202210842031.6A CN202210842031A CN115303950A CN 115303950 A CN115303950 A CN 115303950A CN 202210842031 A CN202210842031 A CN 202210842031A CN 115303950 A CN115303950 A CN 115303950A
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- automatic feeding
- electrically connected
- feeding system
- identification
- crown block
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- 239000000463 material Substances 0.000 claims abstract description 25
- 238000000034 method Methods 0.000 claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 7
- 230000008569 process Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 8
- 239000000523 sample Substances 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 description 8
- 238000013461 design Methods 0.000 description 6
- 238000005259 measurement Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000012797 qualification Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000004056 waste incineration Methods 0.000 description 1
Images
Classifications
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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
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
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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
- B66C13/16—Applications of indicating, registering, or weighing 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
-
- 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
- B66C13/50—Applications of limit circuits or of limit-switch arrangements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention belongs to the technical field of electromechanical automation devices, in particular to a travelling crane automatic feeding system with AI identification, which aims at the problem of low safety performance of the existing crown block and provides a scheme which comprises a crown block, an anti-swing control system, a PLC system, a low-voltage distribution system, an upper computer system and a zero mechanism; the invention adds the anti-swing control system; periodically and forcibly returning to zero, and calibrating an initial zero point; the AI identification technology is adopted, so that the safety is improved; a plurality of encoders are added to position the space coordinate of the overhead travelling crane, and the overhead travelling crane is programmed to realize full-automatic operation, so that the labor intensity of workers is reduced; the method has the advantages that a plurality of means such as three-dimensional real-time display, intuition and clarity of a material pit and an overhead traveling crane are realized, the automatic operation level of the overhead traveling crane is greatly improved, and the method has obvious economic value for enterprises.
Description
Technical Field
The invention relates to the technical field of electromechanical automation devices, in particular to a travelling crane automatic feeding system with AI identification.
Background
The crown block is widely applied in the field of waste incineration, and is widely applied as general equipment capable of improving the working efficiency all the time. However, the crown block is managed according to special equipment, qualified operators are needed for operation, potential safety hazards exist due to inconsistent operation levels of the operators, and safety accidents are easy to happen. If the automatic control level of the overhead travelling crane can be improved, workers are gradually replaced, the operation efficiency can be improved, the enterprise cost is reduced, and the overhead travelling crane is safer and more reliable.
Disclosure of Invention
The invention provides an automatic traveling crane feeding system with AI identification, which solves the problems in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a take driving automatic feeding system of AI discernment, includes overhead traveling crane, prevents swaying control system, PLC system, low pressure distribution system, upper computer system and zero mechanism, wherein:
the anti-swing control system comprises a sensor, an encoder, a limit switch and a radar;
the low-voltage distribution system comprises an air switch, a contactor and a frequency converter;
the PLC system comprises a power supply, a CPU, an IO module, a relay and a safety barrier;
the upper computer system comprises an industrial personal computer and software;
preferably, the zero point mechanism comprises a beam and a crown block, the beam is provided with a track for the crown block to move, the beam is provided with a process groove, and a photoelectric switch is arranged in the process groove.
Preferably, the limit switch is electrically connected with the encoder, the sensor is electrically connected with the encoder, and the sensor is electrically connected with the radar.
Preferably, the frequency converter is electrically connected with the contactor, the contactor is electrically connected with the air switch, and the air switch is electrically connected with the safety gate.
Preferably, the power supply is electrically connected with the CPU, the CPU is electrically connected with the IO module, the IO module is electrically connected with the relay, and the relay is electrically connected with the safety grid.
Preferably, the industrial personal computer is electrically connected with the software, the software is electrically connected with the frequency converter, and the frequency converter is electrically connected with the limit switch.
Preferably, AI identification cameras are mounted on the local operating platform and the central control operating platform of the overhead travelling crane.
Preferably, the method comprises the following steps:
s101: a material level is arranged at the bottom of the overhead traveling crane and a detection probe is arranged;
s102: in a standby state, monitoring the material level elevation in the previous grabbing subarea in real time through a detection probe, and comprehensively calculating the average material level elevation in the subareas after eliminating bad values;
s103: level elevation in the subregion is surveyed through the radar accuracy, realizes the three-dimensional modeling of material condition of piling up, supports as the data of driving automatic feeding to show on the screen through the three-dimensional figure, as the control of staff to actual conditions.
Preferably, the method comprises the following steps:
s201: arranging a plurality of subareas in the storage pit, and setting the subareas by an operator;
s202: after a feeding instruction is given, the crown block automatically executes the instruction, automatically moves to a designated subarea, and puts down the grab bucket;
s302: lifting after grabbing, automatically moving to a blanking hopper, putting down the grab bucket, opening the grab bucket to blank, automatically returning to the original position after one action is finished, and entering a new round of standby state
Has the beneficial effects that:
1. the invention adds the anti-swing control system which can automatically eliminate the swing generated in the operation process of the hoisted objects and can more quickly finish the transfer of the hoisted objects, in particular to an automatic crown block with a positioning function, so that the operation of the crown block becomes more efficient and safer.
2. The overhead traveling crane is provided with an automatic zero resetting point, runs to the design zero point periodically, compares with the absolute position generated by the encoder, confirms whether the offset exists, automatically increases or decreases the offset if the offset exceeds the design range, and resets again, thereby solving the problem of the positioning distance deviation of the existing overhead traveling crane.
3. The on-site operation console and the central control operation console are provided with AI identification cameras, so that whether operators have the qualification for operating the overhead travelling crane and give operation authority can be identified, the operators cannot operate without the operation authority, and the operation authority is automatically switched at the same time, wherein the on-site operation authority is the highest level; in addition, whether the operators are awake or not and whether potential safety hazards exist can be identified at night, and reminding is timely given.
4. The overhead traveling crane has the advantages that the full-automatic feeding function is added to the overhead traveling crane, the material storage pit is provided with a plurality of subareas, operators set the subareas, after a feeding instruction is given, the overhead traveling crane automatically executes the instruction, automatically moves to the appointed subarea, puts down the grab bucket, lifts after grabbing, automatically moves to the blanking hopper, puts down the grab bucket, opens the grab bucket for blanking, and automatically returns to the original position after one action is finished, and enters a new standby state.
5. According to the invention, the material level detection probe is additionally arranged at the bottom of the crown block, the material level elevation in the previous grabbing subarea is monitored in real time in a standby state, the average material level elevation in the subarea is comprehensively calculated after a bad value is eliminated, and meanwhile, the average material level elevation is displayed in a three-dimensional modeling system in real time, so that the method is visual and clear.
Drawings
Fig. 1 is a schematic structural diagram of a traveling crane automatic feeding system with AI identification according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1, a take driving automatic feeding system of AI discernment, includes overhead traveling crane, anti-sway control system, PLC system, low pressure distribution system, upper computer system and mechanism at zero point, wherein:
the anti-swing control system comprises a sensor, an encoder, a limit switch and a radar;
the low-voltage distribution system comprises an air switch, a contactor and a frequency converter;
the PLC system comprises a power supply, a CPU, an IO module, a relay and a safety barrier;
the upper computer system comprises an industrial personal computer and software; the control system controls the grab bucket to swing greatly in the starting and stopping stages through the acceleration and deceleration adjusting function of the control system, the variable-frequency self-provided acceleration and deceleration adjusting function can control the swing amplitude of the travelling grab bucket in the starting stage by setting the acceleration time and the acceleration curve from rest to the highest speed, and the swing amplitude of the grab bucket in the travelling bucket turning and stopping stages by setting the deceleration time and the deceleration curve from the running state to rest; when the overhead traveling crane moves to the photoelectric switch on the track, the photoelectric switch is conducted, automatically confirmed and set to zero, meanwhile, the absolute position generated by the encoder is compared with the absolute position to confirm whether the deviation exists or not, if the deviation exceeds the design range, the deviation is automatically increased or reduced and re-zeroed, and the problem of the existing large-vehicle positioning distance deviation is solved; material level elevation in the subregion is surveyed through the radar accuracy, realizes that the material piles up the three-dimensional modeling of the condition, supports as driving automatic feeding's data to show on the screen through three-dimensional figure, as the control of staff to actual conditions, reject bad value, because in the elevation measurement process, for example inserted a trunk in the material pit, the elevation is obviously higher than peripheral numerical value, and the gap is big, just can default as bad value.
The zero point mechanism comprises a cross beam and a crown block, wherein a track for the crown block to move is installed on the cross beam, a process groove is formed in the cross beam, and a photoelectric switch is installed in the process groove; the overhead traveling crane moves through the track on the crossbeam, and when the overhead traveling crane moved to photoelectric switch department, photoelectric switch switched on to automatic confirmation, set zero, the periodic operation reaches design zero point simultaneously, compares with the absolute position that the encoder produced, confirms whether has the skew, if the offset exceeds the design range, automatic increase or reduction offset return to zero again, solve the problem of present big car positioning distance off tracking.
The limit switch is electrically connected with the encoder, the sensor is electrically connected with the encoder, and the sensor is electrically connected with the radar; whether the encoder and the sensor work is controlled through the limit switch, the radar transmits signals to the sensor after detecting corresponding objects, and the sensor transmits the signals to the encoder to be processed, so that whether the signals are consistent with a set value is judged.
The frequency converter is electrically connected with the contactor, the contactor is electrically connected with the air switch, and the air switch is electrically connected with the safety grid; the contactor and the frequency converter are controlled by an air switch.
The power supply is electrically connected with the CPU, the CPU is electrically connected with the IO module, the IO module is electrically connected with the relay, and the relay is electrically connected with the safety gate; the power supply provides working power for the CPU, the IO module and the relay.
The industrial personal computer is electrically connected with the software, the software is electrically connected with the frequency converter, and the frequency converter is electrically connected with the limit switch; and the software controls the industrial personal computer.
AI identification cameras are arranged on a local operation platform and a central control operation platform in the overhead travelling crane; the system can identify whether an operator has the qualification of operating the overhead travelling crane and gives an operation authority, can not operate without the operation authority, and automatically switches the operation authority to take the local operation authority as the highest level; in addition, whether the operators are awake or not and whether potential safety hazards exist can be identified at night, and reminding is timely given.
S101: a material level is additionally arranged at the bottom of the crown block, and a detection probe is arranged;
s102: in a standby state, monitoring the material level elevation in the previous grabbing subarea in real time through a detection probe, and comprehensively calculating the average material level elevation in the subareas after eliminating bad values;
s103: the elevation of the material level in the subarea is accurately detected through a radar, three-dimensional modeling of the material accumulation condition is realized, the three-dimensional modeling is used as data support for automatic loading of a travelling crane, and the three-dimensional modeling is displayed on a screen through a three-dimensional graph and used as monitoring of an actual condition by a worker;
s201: arranging a plurality of subareas in the storage pit, and setting the subareas by an operator;
s202: after a feeding instruction is given, the crown block automatically executes the instruction, automatically moves to a designated subarea, and puts down the grab bucket;
s302: lifting after grabbing, automatically moving to a blanking hopper, putting down the grab bucket, opening the grab bucket to blank, automatically returning to the original position after one action is finished, and entering a new round of standby state;
the working principle is as follows: the control system controls the grab bucket to swing greatly in the starting and stopping stages through the acceleration and deceleration adjusting function of the control system, the variable-frequency self-provided acceleration and deceleration adjusting function can control the swing amplitude of the travelling grab bucket in the starting stage by setting the acceleration time from rest to the highest speed and an acceleration curve, and control the swing amplitude of the grab bucket in the travelling rotary bucket stopping stage by setting the deceleration time from the running state to rest and the deceleration curve; when the overhead traveling crane moves to the photoelectric switch on the track, the photoelectric switch is conducted, automatically confirmed and set to zero, meanwhile, the absolute position generated by the encoder is compared, whether deviation exists or not is confirmed, if the deviation exceeds the design range, the deviation is automatically increased or reduced, the return to zero is carried out again, and the problem that the positioning distance of the existing overhead traveling crane deviates is solved; material level elevation in the accurate detection subregion of radar, the three-dimensional modeling of the condition is piled up to the realization material supports as the data of driving automatic feeding to show on the screen through three-dimensional figure, as the staff to actual conditions's control, reject bad value, because in the elevation measurement process, for example a trunk has been inserted in the material hole, the elevation is obviously higher than peripheral numerical value, and the gap is big, just can default into bad value.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (9)
1. The utility model provides a take driving automatic feeding system of AI discernment which characterized in that, includes overhead traveling crane, prevents shaking pendulum control system, PLC system, low pressure distribution system, upper computer system and mechanism at zero point, wherein:
the anti-swing control system comprises a sensor, an encoder, a limit switch and a radar;
the low-voltage distribution system comprises an air switch, a contactor and a frequency converter;
the PLC system comprises a power supply, a CPU, an IO module, a relay and a safety barrier;
the upper computer system comprises an industrial personal computer and software.
2. A driving automatic feeding system with AI identification as claimed in claim 1, wherein the zero point mechanism comprises a beam and a crown block, the beam is provided with a track for the crown block to move, the beam is provided with a process groove, and a photoelectric switch is arranged in the process groove.
3. The automatic driving feeding system with the AI identification of claim 1, wherein the limit switch is electrically connected to the encoder, the sensor is electrically connected to the encoder, and the sensor is electrically connected to the radar.
4. A driving automatic feeding system with AI discernment of claim 1, characterized in that, the converter is connected with contactor electric connection, contactor and air switch electric connection, air switch and safety grid electric connection.
5. A driving automatic feeding system with AI identification as claimed in claim 1, wherein the power supply is electrically connected with CPU, CPU is electrically connected with IO module, IO module is electrically connected with relay, and relay is electrically connected with safety grid.
6. A driving automatic feeding system with AI discernment of claim 1, characterized in that, the industrial computer is connected with software electrical behavior, and software is connected with converter electrical behavior, and converter and limit switch electrical behavior.
7. A traveling crane automatic feeding system with AI identification as claimed in claim 1, characterized in that AI identification cameras are installed on the local operating platform and the central operating platform of the overhead traveling crane.
8. A driving automatic feeding system with AI identification according to claim 1, characterized by comprising the following steps:
s101: a material level is additionally arranged at the bottom of the crown block, and a detection probe is arranged;
s102: in a standby state, monitoring the material level elevation in the previous grabbing subarea in real time through a detection probe, and comprehensively calculating the average material level elevation in the subareas after eliminating bad values;
s103: level elevation in the subregion is surveyed through the radar accuracy, realizes the three-dimensional modeling of material condition of piling up, supports as the data of driving automatic feeding to show on the screen through the three-dimensional figure, as the control of staff to actual conditions.
9. A driving automatic feeding system with AI identification according to claim 1, characterized by comprising the following steps:
s201: arranging a plurality of subareas in the storage pit, and setting the subareas by an operator;
s202: after a feeding instruction is given, the crown block automatically executes the instruction, automatically moves to a specified subarea, and puts down the grab bucket;
s302: lifting after grabbing, automatically moving to a blanking hopper, putting down the grab bucket, opening the grab bucket to blank, automatically returning to the original position after one action is finished, and entering a new round of standby state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210842031.6A CN115303950A (en) | 2022-07-18 | 2022-07-18 | Take driving automatic feeding system of AI discernment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210842031.6A CN115303950A (en) | 2022-07-18 | 2022-07-18 | Take driving automatic feeding system of AI discernment |
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| Publication Number | Publication Date |
|---|---|
| CN115303950A true CN115303950A (en) | 2022-11-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210842031.6A Pending CN115303950A (en) | 2022-07-18 | 2022-07-18 | Take driving automatic feeding system of AI discernment |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103407883A (en) * | 2013-08-22 | 2013-11-27 | 泰富重工制造有限公司 | Control system and control method for ship unloader |
| CN213202125U (en) * | 2020-08-31 | 2021-05-14 | 北京迪安帝科技有限公司 | Full-automatic unmanned hoist and mount integrated control platform |
| CN114014163A (en) * | 2021-10-13 | 2022-02-08 | 杭州科晟能源技术有限公司 | Traveling control system of waste incineration plant |
-
2022
- 2022-07-18 CN CN202210842031.6A patent/CN115303950A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103407883A (en) * | 2013-08-22 | 2013-11-27 | 泰富重工制造有限公司 | Control system and control method for ship unloader |
| CN213202125U (en) * | 2020-08-31 | 2021-05-14 | 北京迪安帝科技有限公司 | Full-automatic unmanned hoist and mount integrated control platform |
| CN114014163A (en) * | 2021-10-13 | 2022-02-08 | 杭州科晟能源技术有限公司 | Traveling control system of waste incineration plant |
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