EP2796402A1 - Système et procédure de commande pour le positionnement de ponts-grues - Google Patents

Système et procédure de commande pour le positionnement de ponts-grues Download PDF

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Publication number
EP2796402A1
EP2796402A1 EP13382156.1A EP13382156A EP2796402A1 EP 2796402 A1 EP2796402 A1 EP 2796402A1 EP 13382156 A EP13382156 A EP 13382156A EP 2796402 A1 EP2796402 A1 EP 2796402A1
Authority
EP
European Patent Office
Prior art keywords
image
bridge crane
camera
bridge
positioning
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP13382156.1A
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German (de)
English (en)
Inventor
Alberto Cogollos Martinez
Ivan Portas Arrondo
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mecatronia Automatizaciones SL
Original Assignee
Mecatronia Automatizaciones SL
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mecatronia Automatizaciones SL filed Critical Mecatronia Automatizaciones SL
Priority to EP13382156.1A priority Critical patent/EP2796402A1/fr
Publication of EP2796402A1 publication Critical patent/EP2796402A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • 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

Definitions

  • the present invention falls within the field of bridge cranes, and specifically, of systems and devices for controlling the distance covered by the bridge cranes.
  • a bridge crane is a type of crane used in factories and industries for hoisting and displacing heavy loads horizontally and vertically.
  • the control of the positioning of bridge cranes is mainly performed in three ways:
  • the present invention solves the aforementioned problems by using artificial vision to enable the accurate calculation of the distance covered by the bridge crane.
  • the present invention relates to a system and a procedure for controlling the positioning of bridge cranes.
  • the system comprises image capturing means, integrated into the bridge crane and focusing on a surface of reference, and data processing means, responsible for receiving and analysing the images acquired by the image capturing means, in order to recognise, using a character extraction process, relevant characteristics in the image, and determine the relative displacement of said relevant characteristics between successive images, and therefore, the positioning of the bridge crane.
  • the image capturing means are implemented using a camera integrated into the running trolley of the bridge crane, preferably, with zenithal orientation (focusing on the floor).
  • the data processing means are preferably configured to determine regions in the image, to calculate the central, spatial and invariant moments thereof, to obtain some characteristic points P i as relevant characteristics of the image.
  • Another aspect of the present invention relates to a procedure for controlling the positioning of the bridge crane, which comprises acquiring images using a camera integrated into the bridge crane and focusing on a surface of reference, and analysing the acquired images in order to recognise, using a character extraction process, relevant characteristics in the image, and determine the relative displacement of said relevant characteristics between successive images, and therefore the positioning of the bridge crane.
  • the procedure may comprise determining regions in the image and calculating the central, spatial and invariant moments thereof to obtain some characteristic points P i as relevant characteristics of the image.
  • the control of the distance covered by the lifting centre on the bridge crane is essential when it comes to automate handling processes in which this type of machinery is involved.
  • FIG 1 shows, by way of example, a bridge crane known in the state of the art, which has been equipped with image capturing means, camera 6.
  • a bridge crane consist of a pair of parallel rails positioned at a great height, longitudinal guides 1, on which there is a displaceable bridge 2, which spans the space between the longitudinal guides 1.
  • the bridge 2 has one or two transversal guides 3 (two, in the case shown in Figure 1 ) along which, moves a running trolley 4 with a block and tackle 5 for hoisting a loading hook that determines the lifting centre C.
  • the movement of the lifting centre C may be determined using the coordinates (X, Y, Z), where:
  • the motion of the coordinates in the (X, Y) plane, which are of interest to calculate the distance covered by the lifting centre C, can usually be calculated in two ways:
  • the system of the present invention enables to determine the parameters of the movement (distance, orientation and direction) in real time, maintaining a permissible accumulated deviation on great lengths and irrespective of the path covered, the vibrations and the existing lighting conditions.
  • the present invention consists in an artificial vision system that measures the distance covered, based on the comparison between two images taken at a controlled interval of time.
  • the area where the image-capturing camera 6 is placed depends fundamentally, on which movements of the bridge crane we want to control. If the two X and Y axes need to be recorded, the camera is placed integrally attached to some element moving with the running trolley 4 (the actual structure of the running trolley, the hook, a handling element, etc.). On the other hand, if only the displacement on the X axis of the bridge 2 movement needs to be controlled, then, the camera should be integrated into the bridge 2.
  • the orientation of the camera depends on where the surface of reference is. Usually it is placed in zenithal view to acquire images of the surface, but it can also use the sidewalls, or even the ceiling as reference.
  • the camera 6 is integrally attached to the running trolley 4 and with zenithal orientation, focusing on the floor, in such a way that it can obtain the positioning of the running trolley 2 in the X and Y coordinates.
  • the control of displacement is based on the recognition of relevant characteristics in the image (by means of a characteristic extraction process, "feature extraction") and the observation of the relative displacement of these characteristics with respect to the following image captured. With this information, a displacement vector is obtained, which, once calibrated, can be expressed in physical measurement units of the crane.
  • FIG. 2A and 2B show successive images acquired by the camera (with zenithal orientation) installed in the running trolley 4 during its displacement. The images have been filtered and show coils 10 on the floor, which are the handling target of the bridge crane, and the characteristic points P i considered. They also show the coordinates X 0 ,Y 0 at an initial instant (first capture, Figure 2A ) and the coordinates X 1 ,Y 1 at the instant of the second capture ( Figure 2B ) for a specific characteristic point.
  • the second step is to find, by comparing the mentioned parameters, similar regions in the second capture and set its new coordinates (X 1 ,Y 1 ) i .
  • the average value of the differences between the coordinates of the first and second captures are calculated, (X 1 ,Y 1 ) i - (X 0 ,Y 0 ) i and an analysis of the standard deviation is performed, setting the permissible error depending on the desired accuracy to be obtained.
  • the result of this is the distance covered on the two X and Y axes by the elements of the crane during the interval of time between captures.
  • the minus symbol between the values of the coordinates indicates the direction of the displacement; dividing this value by the time interval between captures, determines the velocity of the movement.
  • the accuracy of the system depends on the resolution of the images captured, the frequency between captures and the margin defined as permissible at the level of uncertainty of the statistical analysis.
  • the fundamental limitation of this method of measurement relates to the capture time and the mathematical processing time.
  • the current commercial hardware can be used to measure the displacement of systems that move no faster than 2 m/s and wherein light changes (visible light) do not occur more frequently than at 100 Hz.
  • Figure 3 shows, in a schematic way, the connection of the camera 6 with the data processing means 12 responsible for processing the images to calculate the positioning of the bridge crane.
  • the data processing means 12 e.g. a processor or a mini computer
  • the data processing means can be seen integrated into the running trolley 4, in such a way that the camera 6 sends the image data using the cable 13.
  • the data processing means could be in another location, for example in a control station located in the actual hangar or factory and receiving information from a wireless camera.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
EP13382156.1A 2013-04-25 2013-04-25 Système et procédure de commande pour le positionnement de ponts-grues Withdrawn EP2796402A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP13382156.1A EP2796402A1 (fr) 2013-04-25 2013-04-25 Système et procédure de commande pour le positionnement de ponts-grues

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP13382156.1A EP2796402A1 (fr) 2013-04-25 2013-04-25 Système et procédure de commande pour le positionnement de ponts-grues

Publications (1)

Publication Number Publication Date
EP2796402A1 true EP2796402A1 (fr) 2014-10-29

Family

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Family Applications (1)

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EP13382156.1A Withdrawn EP2796402A1 (fr) 2013-04-25 2013-04-25 Système et procédure de commande pour le positionnement de ponts-grues

Country Status (1)

Country Link
EP (1) EP2796402A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017091972A1 (fr) * 2015-12-01 2017-06-08 Hong Kong R&D Centre for Logistics and Supply Chain Management Enabling Technologies Limited Système de sécurité pour machine
WO2022008793A1 (fr) * 2020-07-06 2022-01-13 Cargotec Finland Oy Procédé et appareil de positionnement relatif d'un palonnier
CN114476959A (zh) * 2022-04-07 2022-05-13 杭州杰牌传动科技有限公司 一种塔式起重机变幅机构预警系统

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997018153A1 (fr) * 1995-11-14 1997-05-22 Sime Oy Procede et dispositif d'enlevement, de transport et de depose d'une charge
US20090067673A1 (en) * 2007-09-12 2009-03-12 Hilmar Hofmann Method and apparatus for determining the position of a vehicle, computer program and computer program product
EP2305594A1 (fr) * 2008-07-23 2011-04-06 Daifuku Co., Ltd. Dispositif d'apprentissage et procédé d'apprentissage dans un dispositif de transport d'articles

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997018153A1 (fr) * 1995-11-14 1997-05-22 Sime Oy Procede et dispositif d'enlevement, de transport et de depose d'une charge
US20090067673A1 (en) * 2007-09-12 2009-03-12 Hilmar Hofmann Method and apparatus for determining the position of a vehicle, computer program and computer program product
EP2305594A1 (fr) * 2008-07-23 2011-04-06 Daifuku Co., Ltd. Dispositif d'apprentissage et procédé d'apprentissage dans un dispositif de transport d'articles

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017091972A1 (fr) * 2015-12-01 2017-06-08 Hong Kong R&D Centre for Logistics and Supply Chain Management Enabling Technologies Limited Système de sécurité pour machine
WO2022008793A1 (fr) * 2020-07-06 2022-01-13 Cargotec Finland Oy Procédé et appareil de positionnement relatif d'un palonnier
CN114476959A (zh) * 2022-04-07 2022-05-13 杭州杰牌传动科技有限公司 一种塔式起重机变幅机构预警系统
CN114476959B (zh) * 2022-04-07 2022-08-05 杭州杰牌传动科技有限公司 一种塔式起重机变幅机构预警系统

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