CN116812799B - Multi-reel speed control method, device, equipment and computer medium - Google Patents
Multi-reel speed control method, device, equipment and computer medium Download PDFInfo
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- CN116812799B CN116812799B CN202311077334.4A CN202311077334A CN116812799B CN 116812799 B CN116812799 B CN 116812799B CN 202311077334 A CN202311077334 A CN 202311077334A CN 116812799 B CN116812799 B CN 116812799B
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 20
- 239000010959 steel Substances 0.000 claims abstract description 20
- 238000006073 displacement reaction Methods 0.000 claims abstract description 19
- 238000004804 winding Methods 0.000 claims abstract description 10
- 230000006870 function Effects 0.000 claims description 24
- 230000001105 regulatory effect Effects 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000012216 screening Methods 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 4
- 238000000605 extraction Methods 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 claims description 2
- 230000003287 optical effect Effects 0.000 description 3
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- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
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- 230000001360 synchronised effect Effects 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
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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
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
- B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
-
- 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
-
- 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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The application relates to the technical field of winders, in particular to a multi-winding machine speed control method, a device, equipment and a computer medium, which comprise the following steps: image acquisition is carried out on the lifting appliance from the upper part of the lifting appliance; extracting features of the lifting appliance from the acquired images, and judging the posture of the lifting appliance; calculating target adjustment amounts of winches on two sides according to the posture of the lifting appliance; collecting real-time rotation speeds and rotation displacements of the windlasses at two sides, and calculating the rotation speed adjustment quantity of the windlasses at two sides according to the target adjustment quantity; and adjusting the windlass at two sides according to the calculated rotation speed adjustment quantity. According to the inclined posture of the lifting appliance, the length difference of steel cables at two sides is calculated, the real-time rotation speed and the rotation displacement of the winders at two sides are collected, and the length of the released or reeled steel cable is obtained, so that the rotation speed adjustment quantity of the winders at two sides is calculated, the winders at two sides are adjusted, and the lifting appliance is kept horizontal.
Description
Technical Field
The present application relates to the field of windlass technologies, and in particular, to a method, an apparatus, a device, and a computer medium for controlling speed of a multi-winding machine.
Background
Above the mountain canyon at the ultra-large bridge of WuMongolian, the mountain walls on two sides of the canyon are steep, and the construction operation space is greatly limited in the immediate vicinity of the geological park of WuMongolian country. In order to solve the problem of limited places, meanwhile, damage to mountain excavation and surrounding vegetation is reduced, and the safety coefficient of construction is increased, so that a winch of a part of cable hoisting system is placed in tunnels of mountain at two sides.
Because the engineering hoisting is limited by single rope tension, wire rope length and speed reducer torque of a single winch when large tonnage or high height hoisting is performed, a plurality of hoists can be used for synchronous operation when large tonnage or high height hoisting is performed. Because the span between the tunnels at two sides is large, the distance between the windlass of the two sides cooperative operation is long, the requirement on the speed control accuracy of the windlass is higher, if the speeds of the windlass at two sides are not synchronous, the windlass is easy to deviate, so that safety accidents occur, and the speed difference caused by small deviation is amplified to a non-negligible step on the distance due to the reasons of manufacturing tolerance, hydraulic element deviation and the like of the windlass.
The information disclosed in this background section is only for enhancement of understanding of the general background of the application and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The application provides a multi-winding machine speed control method, a multi-winding machine speed control device, multi-winding machine speed control equipment and a computer medium, so that the problems in the background technology are effectively solved.
In order to achieve the above purpose, the technical scheme adopted by the application is as follows: a speed control method of a multi-winding machine comprises the following steps:
image acquisition is carried out on the lifting appliance from the upper part of the lifting appliance;
extracting features of the lifting appliance from the acquired images, and judging the posture of the lifting appliance;
calculating target adjustment amounts of winches on two sides according to the posture of the lifting appliance;
collecting real-time rotation speeds and rotation displacements of the windlass at two sides, and calculating the rotation speed adjustment quantity of the windlass at two sides according to the target adjustment quantity;
adjusting winches at two sides according to the calculated rotation speed adjustment quantity;
the feature extraction of the acquired image comprises the following steps:
setting a region of interest, extracting an image of the region of interest in the image, and discarding the image outside the region of interest;
image enhancement is carried out on the image of the region of interest, and edges are strengthened;
extracting the edge of the lifting appliance;
the step of judging the posture of the lifting appliance comprises the following steps:
finding out the top edge outline of the lifting appliance in the image according to the edge;
identifying quadrilaterals around the top edge profile of the lifting appliance, and judging whether the quadrilaterals sharing the edge with the top edge profile exist or not;
if the lifting appliance is positioned at the position of the top edge outline, judging that the lifting appliance is inclined in the opposite direction;
calculating the deviation angle of the lifting appliance according to the proportional relation between the actual size of the lifting appliance and the outline of the top edge, and calculating the length difference of the steel cable on the wheel set according to the inclination angle of the lifting appliance to obtain a target adjustment quantity;
the finding of the top edge profile of the spreader in the image comprises:
before hoisting, finding out a rectangular outline in the image according to the edge of the acquired image;
screening the rectangular outline according to the area, and removing the rectangular outline with the area smaller than a first threshold value to obtain the edge outline of the top of the lifting appliance;
tracking the edge profile of the top of the lifting appliance in the lifting process, which specifically comprises the following steps:
finding out a rectangular contour with the overlapping area of the rectangular contour and the top edge contour of the lifting appliance in the previous frame in the image of the next frame, and judging the rectangular contour as the top edge contour of the lifting appliance;
the calculating of the rotation speed adjustment amount of the windlass at two sides according to the target adjustment amount comprises the following steps:
respectively constructing a relation function A of rotation displacement and time of windlass at two sides 1 （t）、A 2 （t）；
Respectively constructing relation functions S of actual rotation speeds and time of winches at two sides 1 （t）、S 2 （t）；
Respectively superposing a compensating rotation speed to the windlass at two sides、/>The compensated rotational speed is:
；
；
；
wherein ,tin order to be able to take time,Kis a coefficient of proportionality and is used for the control of the power supply,T i as an integral coefficient of the power supply,T d as a result of the differential coefficient,e(t)as a function of the deviation(s),the target adjustment amount.
Further, the image enhancement of the image of the region of interest, edge enhancement, includes:
converting the image of the region of interest to a frequency domain through Fourier transform;
carrying out high-pass filtering on the frequency domain image, and reserving high-frequency information;
and converting the filtered frequency domain image into a spatial domain.
Further, the calculated compensating rotation speed is superimposed with the actual rotation speed to obtain a target rotation speed, and the rotation speeds of the windlass at the two sides are adjusted.
The application also includes a multi-reel speed control device comprising:
the image acquisition module is used for acquiring images of the lifting appliance from above the lifting appliance;
the image recognition module is used for extracting features of the lifting appliance from the acquired images, and judging the posture of the lifting appliance;
the adjusting amount calculating module is used for calculating target adjusting amounts of winches at two sides according to the posture of the lifting appliance;
the rotating speed regulating quantity calculating module is used for collecting real-time rotating speeds and rotating displacements of the windlass at two sides and calculating the rotating speed regulating quantity of the windlass at two sides according to the target regulating quantity;
the adjusting module is used for adjusting winches at two sides according to the calculated rotating speed adjusting quantity;
the image recognition module is further configured to:
setting a region of interest, extracting an image of the region of interest in the image, and discarding the image outside the region of interest;
image enhancement is carried out on the image of the region of interest, and edges are strengthened;
extracting the edge of the lifting appliance;
the image recognition module is further configured to:
finding out the top edge outline of the lifting appliance in the image according to the edge;
identifying quadrilaterals around the top edge profile of the lifting appliance, and judging whether the quadrilaterals sharing the edge with the top edge profile exist or not;
if the lifting appliance is positioned at the position of the top edge outline, judging that the lifting appliance is inclined in the opposite direction;
before hoisting, finding out a rectangular outline in the image according to the edge of the acquired image;
screening the rectangular outline according to the area, and removing the rectangular outline with the area smaller than a first threshold value to obtain the edge outline of the top of the lifting appliance;
finding out a rectangular contour with the overlapping area of the rectangular contour and the top edge contour of the lifting appliance in the previous frame in the image of the next frame, and judging the rectangular contour as the top edge contour of the lifting appliance;
the adjustment amount calculation module is further configured to:
calculating the deviation angle of the lifting appliance according to the proportional relation between the actual size of the lifting appliance and the outline of the top edge, and calculating the length difference of the steel cable on the wheel set according to the inclination angle of the lifting appliance to obtain a target adjustment quantity;
the rotational speed adjustment amount calculation module is further configured to:
respectively constructing a relation function A of rotation displacement and time of windlass at two sides 1 （t）、A 2 （t）；
Respectively constructing relation functions S of actual rotation speeds and time of winches at two sides 1 （t）、S 2 （t）；
Respectively superposing a compensating rotation speed to the windlass at two sides、/>The compensated rotational speed is:
；
；
；
wherein ,tin order to be able to take time,Kis a coefficient of proportionality and is used for the control of the power supply,T i as an integral coefficient of the power supply,T d as a result of the differential coefficient,e(t)as a function of the deviation(s),the target adjustment amount.
The application also includes a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, which processor implements the method as described above when executing the computer program.
The application also includes a storage medium having stored thereon a computer program which, when executed by a processor, implements a method as described above.
The beneficial effects of the application are as follows: the application is characterized in that the image acquisition is carried out on the lifting appliance from the upper part of the lifting appliance, the characteristics of the lifting appliance are extracted, the posture of the lifting appliance is judged, when the image acquisition is carried out on the lifting appliance from the upper part, if the lifting appliance is not inclined, the image characteristics of the top of the lifting appliance can only be acquired when the image acquisition is carried out on the lifting appliance from the upper part, and if the lifting appliance is inclined, the image characteristics of the side surfaces of the lifting appliance can appear in the acquired image, so that the posture of the lifting appliance is judged, when the lifting appliance is inclined, the inclination of the lifting appliance is judged, generally because the lengths of steel cables on pulleys are inconsistent, the difference of the lengths of the steel cables at two sides is calculated according to the inclined posture of the lifting appliance, namely the target adjustment quantity of the lifting appliances at two sides, the real-time rotation speed and the rotation displacement of the lifting appliances at two sides are acquired, and the lengths of the steel cable to be discharged or wound are obtained according to the rotation speed multiplied by the rotation displacement, so that the rotation speed adjustment quantity of the lifting appliances at two sides is calculated, and the lifting appliances at two sides are required to be adjusted, so that the lifting appliance is kept horizontal.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.
FIG. 1 is a flow chart of the method of the present application;
FIG. 2 is a schematic diagram of the structure of the device of the present application;
fig. 3 is a schematic structural diagram of a computer device.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments.
As shown in fig. 1: a speed control method of a multi-winding machine comprises the following steps:
image acquisition is carried out on the lifting appliance from the upper part of the lifting appliance;
extracting features of the lifting appliance from the acquired images, and judging the posture of the lifting appliance;
calculating target adjustment amounts of winches on two sides according to the posture of the lifting appliance;
collecting real-time rotation speeds and rotation displacements of the windlasses at two sides, and calculating the rotation speed adjustment quantity of the windlasses at two sides according to the target adjustment quantity;
and adjusting the windlass at two sides according to the calculated rotation speed adjustment quantity.
The method comprises the steps of carrying out image acquisition on a lifting appliance from the upper part of the lifting appliance, extracting characteristics of the lifting appliance, judging the posture of the lifting appliance, when the lifting appliance is subjected to image acquisition from the upper part, if the lifting appliance is not inclined, only the image characteristics of the top of the lifting appliance can be acquired when the lifting appliance is subjected to image acquisition from the upper part, and if the lifting appliance is inclined, the image characteristics of the side surfaces of the lifting appliance can appear in the acquired images, so that the posture of the lifting appliance is judged, when the lifting appliance is inclined, the inclination of the lifting appliance is judged, generally because the lengths of steel cables on pulleys are inconsistent, the difference of the lengths of the steel cables at two sides is calculated according to the inclined posture of the lifting appliance, namely the target adjustment quantity of the lifting appliances at two sides, the real-time rotation speed and the rotation displacement of the lifting appliances at two sides are acquired, and the lengths of the steel cable to be discharged or rolled are obtained according to the rotation speed and the lengths of the steel cables are calculated, so that the rotation speed adjustment quantity of the lifting appliances at two sides are required to be regulated, and the lifting appliances at two sides are kept at the same level.
In this embodiment, feature extraction is performed on an acquired image, including:
setting a region of interest, extracting an image of the region of interest in the image, and discarding the image outside the region of interest;
image enhancement is carried out on the image of the region of interest, and edges are strengthened;
and extracting the edge of the lifting appliance.
Because the lifting appliance is being subjected to image acquisition from the upper part of the lifting appliance, the lifting appliance is in an area in the image, and in order to eliminate other interference and ensure the recognition accuracy, the region of interest is arranged, only the image in the region of interest is extracted, and the image in other places is discarded, so that the interference is prevented.
Wherein, image enhancement is carried out on the image of the region of interest, and edge reinforcement comprises:
converting the image of the region of interest to a frequency domain through Fourier transform;
carrying out high-pass filtering on the frequency domain image, and reserving high-frequency information;
and converting the filtered frequency domain image into a spatial domain.
When an image is extracted, the posture of the lifting appliance needs to be judged, namely whether the lifting appliance is inclined or not is judged, and in the judging process, the judgment is carried out by judging whether the top outline of the image can only be acquired in the image, so that the edge outline is only needed to be judged, the image is converted into a frequency domain through Fourier transformation, thereby high-pass filtering can be set, high-frequency information is reserved, the high-frequency information means an area with severe image gray level change, which is generally an edge, the filtered image is converted into a spatial domain, the image with reserved and strengthened edges is obtained, and the edges in the image are identified and judged.
In this embodiment, determining the posture of the spreader includes the following steps:
finding out the top edge outline of the lifting appliance in the image according to the edge;
identifying quadrilaterals around the top edge profile of the lifting appliance, and judging whether the quadrilaterals sharing the edge with the top edge profile exist or not;
if the lifting appliance exists, the lifting appliance is judged to be inclined in the opposite direction according to the position of the quadrangle positioned at the outline of the top edge.
When the lifting appliance is not inclined, only the top outline of the lifting appliance exists in the image, when the lifting appliance is inclined, side information appears around the top outline and is reflected to the edge, namely, the periphery of the top outline of the lifting appliance appears, a quadrilateral composed of side outlines and shared by one side of the quadrilateral and the top outline, when the quadrilateral exists in the image, the lifting appliance can be judged to be inclined towards the opposite direction, the shared edge is taken as the bottom through the quadrilateral, the height of the quadrilateral is calculated, and according to the proportional relation between the actual size of the lifting appliance and the top outline, the offset angle of the lifting appliance can be calculated, so that the length difference value of a steel cable on a wheel set can be calculated according to the inclination angle of the lifting appliance, and the target adjustment quantity is obtained.
Wherein, find the top edge profile of hoist in the image, include:
before hoisting, finding out a rectangular outline in the image according to the edge of the acquired image;
in the rectangular outline, screening is carried out according to the area, and the rectangular outline with the area smaller than a first threshold value is removed to obtain the edge outline of the top of the lifting appliance; the first threshold may be determined based on the distance of the location of the image acquisition from the spreader.
Tracking the edge profile of the top of the lifting appliance in the lifting process, which specifically comprises the following steps:
and finding out a rectangular contour with the overlapping area of the rectangular contour and the top edge contour of the lifting appliance in the previous frame in the image of the next frame, and judging the rectangular contour as the top edge contour of the lifting appliance.
When the inclination is judged later, the top edge contour is used as a reference for recognition and judgment, so that the accuracy of the top edge contour recognition needs to be ensured, before hoisting, the hoisting tool is in a horizontal state generally, the top edge contour of the hoisting tool is screened out through the rectangular contour in the image, in the subsequent hoisting process, the top edge contour is continuously tracked, only the rectangular contour with the overlapping area of the top edge contour of the hoisting tool in the previous frame being larger than a second threshold value is needed to be found out in the image of the next frame, the contour is also the top edge contour of the hoisting tool, and therefore continuous tracking and positioning are realized, the second threshold value can be determined according to the frame rate of image acquisition, the higher the frame rate of the image acquisition is, the smaller the image changes of the front frame and the rear frame are, and the higher the second threshold value can be set to improve the accuracy.
In this embodiment, calculating the rotational speed adjustment amounts of the winches on both sides according to the target adjustment amounts includes:
respectively constructing a relation function A of rotation displacement and time of windlass at two sides 1 （t）、A 2 （t）；
Respectively constructing relation functions S of actual rotation speeds and time of winches at two sides 1 （t）、S 2 （t）；
Respectively superposing a compensating rotation speed to the windlass at two sides、/>The compensated rotational speed is:
；
；
；
wherein ,tin order to be able to take time,Kis a coefficient of proportionality and is used for the control of the power supply,T i as an integral coefficient of the power supply,T d as a result of the differential coefficient,e(t)as a function of the deviation(s),the target adjustment amount.
And superposing the calculated compensation rotation speed with the actual rotation speed to obtain a target rotation speed, and adjusting the rotation speeds of the windlass at two sides.
The real-time compensation rotation speed of the windlass at two sides is calculated by respectively constructing a relation function of rotation displacement and time of the windlass at two sides and a relation function of actual rotation speed and time, when the speed of the windlass is regulated, the real-time compensation rotation speed is superposed on the actual rotation speed, when the compensation rotation speed is calculated, the difference value of the steel cables of the windlass at two sides at present is subtracted according to the target regulation quantity, so that the real-time difference value of the target value and the regulation value is obtained, and the size of the regulation value is judged. The accuracy of winch adjustment is improved, and the lifting appliance is kept in a horizontal state, so that when the winch is adjusted, the actual rotation speed of the winch is overlapped with the compensation rotation speed in real time, and the shaking of the lifting appliance in the winch adjustment process is reduced.
As shown in fig. 2, the present embodiment further includes a multi-winding machine speed control device, including:
the image acquisition module is used for acquiring images of the lifting appliance from above the lifting appliance;
the image recognition module is used for extracting features of the acquired images, extracting features of the lifting appliance and judging the posture of the lifting appliance;
the adjusting amount calculating module is used for calculating target adjusting amounts of winches at two sides according to the posture of the lifting appliance;
the rotating speed regulating quantity calculating module is used for collecting real-time rotating speeds and rotating displacements of the windlass at two sides and calculating the rotating speed regulating quantity of the windlass at two sides according to the target regulating quantity;
the adjusting module is used for adjusting winches at two sides according to the calculated rotating speed adjusting quantity;
the image recognition module is also used for:
setting a region of interest, extracting an image of the region of interest in the image, and discarding the image outside the region of interest;
image enhancement is carried out on the image of the region of interest, and edges are strengthened;
extracting the edge of the lifting appliance;
the image recognition module is also used for:
finding out the top edge outline of the lifting appliance in the image according to the edge;
identifying quadrilaterals around the top edge profile of the lifting appliance, and judging whether the quadrilaterals sharing the edge with the top edge profile exist or not;
if the lifting appliance exists, judging that the lifting appliance inclines in the opposite direction according to the position of the quadrangle positioned at the top edge outline;
before hoisting, finding out a rectangular outline in the image according to the edge of the acquired image;
in the rectangular outline, screening is carried out according to the area, and the rectangular outline with the area smaller than a first threshold value is removed to obtain the edge outline of the top of the lifting appliance;
finding out a rectangular contour with the overlapping area of the rectangular contour and the top edge contour of the lifting appliance in the previous frame in the image of the next frame, and judging the rectangular contour as the top edge contour of the lifting appliance;
the adjustment amount calculation module is also used for:
calculating the deviation angle of the lifting appliance according to the proportional relation between the actual size of the lifting appliance and the outline of the top edge, and calculating the length difference of the steel cable on the wheel set according to the inclination angle of the lifting appliance to obtain a target adjustment quantity;
the rotational speed adjustment amount calculation module is further configured to:
respectively constructing a relation function A of rotation displacement and time of windlass at two sides 1 （t）、A 2 （t）；
Respectively constructing relation functions S of actual rotation speeds and time of winches at two sides 1 （t）、S 2 （t）；
Respectively superposing a compensating rotation speed to the windlass at two sides、/>The compensated rotational speed is:
；
；
；
wherein ,tin order to be able to take time,Kis a coefficient of proportionality and is used for the control of the power supply,T i as an integral coefficient of the power supply,T d as a result of the differential coefficient,e(t)as a function of the deviation(s),the target adjustment amount.
The method comprises the steps of carrying out image acquisition on a lifting appliance from the upper part of the lifting appliance, extracting characteristics of the lifting appliance, judging the posture of the lifting appliance, when the lifting appliance is subjected to image acquisition from the upper part, if the lifting appliance is not inclined, only the image characteristics of the top of the lifting appliance can be acquired when the lifting appliance is subjected to image acquisition from the upper part, and if the lifting appliance is inclined, the image characteristics of the side surfaces of the lifting appliance can appear in the acquired images, so that the posture of the lifting appliance is judged, when the lifting appliance is inclined, the inclination of the lifting appliance is judged, generally because the lengths of steel cables on pulleys are inconsistent, the difference of the lengths of the steel cables at two sides is calculated according to the inclined posture of the lifting appliance, namely the target adjustment quantity of the lifting appliances at two sides, the real-time rotation speed and the rotation displacement of the lifting appliances at two sides are acquired, and the lengths of the steel cable to be discharged or rolled are obtained according to the rotation speed and the lengths of the steel cables are calculated, so that the rotation speed adjustment quantity of the lifting appliances at two sides are required to be regulated, and the lifting appliances at two sides are kept at the same level.
Please refer to fig. 3, which illustrates a schematic structure of a computer device according to an embodiment of the present application. The computer device 400 provided in the embodiment of the present application includes: a processor 410 and a memory 420, the memory 420 storing a computer program executable by the processor 410, which when executed by the processor 410 performs the method as described above.
The embodiment of the present application also provides a storage medium 430, on which storage medium 430 a computer program is stored which, when executed by the processor 410, performs a method as above.
The storage medium 430 may be implemented by any type or combination of volatile or nonvolatile Memory devices, such as a static random access Memory (Static Random Access Memory, SRAM), an electrically erasable Programmable Read-Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), an erasable Programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), a Programmable Read-Only Memory (PROM), a Read-Only Memory (ROM), a magnetic Memory, a flash Memory, a magnetic disk, or an optical disk.
In the description of the present application, the terms "first," "second," and the like 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 defining "a first" or "a second" may explicitly or implicitly include one or more such feature. The meaning of "a plurality of" is two or more, unless specifically defined otherwise.
In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily for the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (6)
1. A method for controlling the speed of a multi-reel machine, comprising the steps of:
image acquisition is carried out on the lifting appliance from the upper part of the lifting appliance;
extracting features of the lifting appliance from the acquired images, and judging the posture of the lifting appliance;
calculating target adjustment amounts of winches on two sides according to the posture of the lifting appliance;
collecting real-time rotation speeds and rotation displacements of the windlass at two sides, and calculating the rotation speed adjustment quantity of the windlass at two sides according to the target adjustment quantity;
adjusting winches at two sides according to the calculated rotation speed adjustment quantity;
the feature extraction of the acquired image comprises the following steps:
setting a region of interest, extracting an image of the region of interest in the image, and discarding the image outside the region of interest;
image enhancement is carried out on the image of the region of interest, and edges are strengthened;
extracting the edge of the lifting appliance;
the step of judging the posture of the lifting appliance comprises the following steps:
finding out the top edge outline of the lifting appliance in the image according to the edge;
identifying quadrilaterals around the top edge profile of the lifting appliance, and judging whether the quadrilaterals sharing the edge with the top edge profile exist or not;
if the lifting appliance is positioned at the position of the top edge outline, judging that the lifting appliance is inclined in the opposite direction;
calculating the deviation angle of the lifting appliance according to the proportional relation between the actual size of the lifting appliance and the outline of the top edge, and calculating the length difference of the steel cable on the wheel set according to the inclination angle of the lifting appliance to obtain a target adjustment quantity;
the finding of the top edge profile of the spreader in the image comprises:
before hoisting, finding out a rectangular outline in the image according to the edge of the acquired image;
screening the rectangular outline according to the area, and removing the rectangular outline with the area smaller than a first threshold value to obtain the edge outline of the top of the lifting appliance;
tracking the edge profile of the top of the lifting appliance in the lifting process, which specifically comprises the following steps:
finding out a rectangular contour with the overlapping area of the rectangular contour and the top edge contour of the lifting appliance in the previous frame in the image of the next frame, and judging the rectangular contour as the top edge contour of the lifting appliance;
the calculating of the rotation speed adjustment amount of the windlass at two sides according to the target adjustment amount comprises the following steps:
respectively constructing a relation function A of rotation displacement and time of windlass at two sides 1 （t）、A 2 （t）；
Respectively constructing relation functions S of actual rotation speeds and time of winches at two sides 1 （t）、S 2 （t）；
Respectively superposing a compensating rotation speed to the windlass at two sides、/>The compensated rotational speed is:
；
；
；
wherein ,tin order to be able to take time,Kis a coefficient of proportionality and is used for the control of the power supply,T i as an integral coefficient of the power supply,T d as a result of the differential coefficient,e(t)as a function of the deviation(s),the target adjustment amount.
2. The method of claim 1, wherein image enhancement, edge enhancement, of the image of the region of interest comprises:
converting the image of the region of interest to a frequency domain through Fourier transform;
carrying out high-pass filtering on the frequency domain image, and reserving high-frequency information;
and converting the filtered frequency domain image into a spatial domain.
3. The multi-winding machine speed control method according to claim 1, wherein the calculated compensated rotational speed is superimposed on an actual rotational speed to obtain a target rotational speed, and winding machine rotational speeds on both sides are adjusted.
4. A multi-reel speed control device, comprising:
the image acquisition module is used for acquiring images of the lifting appliance from above the lifting appliance;
the image recognition module is used for extracting features of the lifting appliance from the acquired images, and judging the posture of the lifting appliance;
the adjusting amount calculating module is used for calculating target adjusting amounts of winches at two sides according to the posture of the lifting appliance;
the rotating speed regulating quantity calculating module is used for collecting real-time rotating speeds and rotating displacements of the windlass at two sides and calculating the rotating speed regulating quantity of the windlass at two sides according to the target regulating quantity;
the adjusting module is used for adjusting winches at two sides according to the calculated rotating speed adjusting quantity;
the image recognition module is further configured to:
setting a region of interest, extracting an image of the region of interest in the image, and discarding the image outside the region of interest;
image enhancement is carried out on the image of the region of interest, and edges are strengthened;
extracting the edge of the lifting appliance;
the image recognition module is further configured to:
finding out the top edge outline of the lifting appliance in the image according to the edge;
identifying quadrilaterals around the top edge profile of the lifting appliance, and judging whether the quadrilaterals sharing the edge with the top edge profile exist or not;
if the lifting appliance is positioned at the position of the top edge outline, judging that the lifting appliance is inclined in the opposite direction;
before hoisting, finding out a rectangular outline in the image according to the edge of the acquired image;
screening the rectangular outline according to the area, and removing the rectangular outline with the area smaller than a first threshold value to obtain the edge outline of the top of the lifting appliance;
finding out a rectangular contour with the overlapping area of the rectangular contour and the top edge contour of the lifting appliance in the previous frame in the image of the next frame, and judging the rectangular contour as the top edge contour of the lifting appliance;
the adjustment amount calculation module is further configured to:
calculating the deviation angle of the lifting appliance according to the proportional relation between the actual size of the lifting appliance and the outline of the top edge, and calculating the length difference of the steel cable on the wheel set according to the inclination angle of the lifting appliance to obtain a target adjustment quantity;
the rotational speed adjustment amount calculation module is further configured to:
respectively constructing a relation function A of rotation displacement and time of windlass at two sides 1 （t）、A 2 （t）；
Respectively constructing relation functions S of actual rotation speeds and time of winches at two sides 1 （t）、S 2 （t）；
Respectively superposing a compensating rotation speed to the windlass at two sides、/>The compensated rotational speed is:
；
；
；
wherein ,tin order to be able to take time,Kis a coefficient of proportionality and is used for the control of the power supply,T i as an integral coefficient of the power supply,T d as a result of the differential coefficient,e(t)as a function of the deviation(s),the target adjustment amount.
5. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any of claims 1-3 when executing the computer program.
6. A storage medium having stored thereon a computer program which, when executed by a processor, implements the method of any of claims 1-3.
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