EP4159661A1 - Verfahren zum führen der seilscheibe insbesondere eines freikrans - Google Patents

Verfahren zum führen der seilscheibe insbesondere eines freikrans Download PDF

Info

Publication number
EP4159661A1
EP4159661A1 EP22020476.2A EP22020476A EP4159661A1 EP 4159661 A1 EP4159661 A1 EP 4159661A1 EP 22020476 A EP22020476 A EP 22020476A EP 4159661 A1 EP4159661 A1 EP 4159661A1
Authority
EP
European Patent Office
Prior art keywords
sheave
control system
vision
structural member
distance
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.)
Pending
Application number
EP22020476.2A
Other languages
English (en)
French (fr)
Inventor
Andrzej Grzadziela
Stanislaw Hozyn
Piotr Szymak
Pawel Piskur
Marcin Kluczyk
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.)
Fud Technologies Sp Z OO
Original Assignee
Fud Technologies Sp Z OO
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 Fud Technologies Sp Z OO filed Critical Fud Technologies Sp Z OO
Publication of EP4159661A1 publication Critical patent/EP4159661A1/de
Pending legal-status Critical Current

Links

Images

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
    • 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
    • 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

Definitions

  • the invention relates to the method of guiding a sheave, especially of an overhead crane, to the catching part of a structural element to be lifted and placed in a different location or position.
  • the invention involves lifting and transporting structural elements.
  • special handles In order to lift a structural component, special handles must be attached to it.
  • a hook On the other hand, is lowered from the overhead crane, onto which the crane lifter normally places a sling. This activity is performed manually and involves manually inserting the sling or gripped component into the hook's throat.
  • When operating overhead cranes however, there is the problem of working in high winds exceeding 12 m/s and reaching up to 20 m/s. Each load needs to be hooked up to the crane hook. This operation is performed by a human crane operator. While the problem does not occur when the hookup is performed from the working level, the problem is the hookup of the load when the transported construction element (due to its weight and dimensions) has to be hoovered at height.
  • the system includes two types of three-axis reflectors located on the handle part, two distance-measuring sensors mounted on the crane and designed to measure the distance from the crane to the reflectors and to determine the direction, and a data processing device.
  • the distance measuring sensors are lasers.
  • the disclosed method involves automatic control, without operator intervention, of the crane handle using laser light by determining the time between the emitted laser pulse and the laser pulse reflected from the reflectors. The time is converted into distances and angles in a cylindrical reference system.
  • the invention is designed for lifting containers. However, a mechanism for automatically hooking the handle to the container's lugs has been not disclosed.
  • a crane handle with a video processing module, a video transmitting module, a video receiving module and a video acquiring module is known, where the upper part of the handle has a rotating bar with an attached ring and a flashing light.
  • Means with video modules are used in this solution to recognize objects and to avoid collisions with either objects or people in the path traversed by the mount, and the flashing means are warning means.
  • Methods for calibrating video measures are also generally known, for example from Flexible New Technique for Camera Calibration, by Zhang Z., A published in IEEE Transactions on Pattern Analysis and Machine Intelligence, 2000 , based on a calibration standard in the form of a plane with a grid of measurement points plotted on it.
  • the main object of the invention therefore, is to develop a method of guiding a sheave, in particular one suspended from an overhead crane, to the hitching part of a structural member allowing the elimination of human crane lifter work and making it possible to realize automatic hitching to the sheave and unhitching from the sheave of the structural member being lifted.
  • the object of the invention is to stabilize the position of the sheave and to obtain a stable position of the sheave, especially at standstill.
  • Another object of the invention is to develop such control of the displaced sheave that will reduce the impact of wind pressure, especially gusts with a frequency of change coinciding with the resonance frequency of the mathematical pendulum, and enable the sheave to be guided as a function of changing wind speed.
  • the object of the invention is to enable safe operation of the crane at wind speeds exceeding 12.5 m/s.
  • the subject matter of the invention is a method of guiding a sheave especially of an overhead crane on the catching part of a structural member to be lifted and placed in a different location or position.
  • the method is characterized by the fact that the motors of the overhead crane cart and the motor for raising and lowering the sheave are controlled using a predictive position control system with a closed feedback loop, in which a preset trajectory of the sheave's movement is determined by specifying successive preset positions for the sheave relative to the position of the catching part of the structural member that is being raised, a vision and sensor subsystem is used, containing at least two vision modules, two-stage guidance of the sheave to the catching member is used,
  • the first vision module is used, the first vision module mounted on the overhead crane cart in the far zone operating control system for moving the sheave over the catching part of the member, before lowering it until the distance to the catching part of the member reaches the first distance,
  • a second vision module is used, the second vision module mounted in the sheave in the near zone operating control system for shifting the sheave over the catching part of the structural member and to determine the vector of displacement of the sheave in relation to the catching part of the member within a measurement range smaller than the first distance.
  • the first distance delimiting the operation of the near zone shifting control system of the sheave from the operation of the far zone shifting control system of the sheave is preferably from 4 to 7 m, and most preferably about 5 m.
  • the catching part of the structural member is a catching mandrel.
  • a maintenance-free holder containing the mandrel may be attached to the sheave, while a second vision module is mounted inside the sheave.
  • the sheave also may be equipped with a hook.
  • the first and/or second vision module includes vision cameras.
  • the first vision module and/or second vision module include thermal imaging cameras, and during the guidance of the sheave, heating of the hook part of the structural member is used.
  • the operating frequency of the position controller in the near zone operating control system depends on the image processing speed of the second vision unit.
  • the vision systems used in locating the sheave relative to the graphic pattern have confirmed the ability of the vision systems to identify the position with an accuracy of 0.26 mm/pixel for both gyrostabilization systems off and on. With gyrostabilization systems enabled, the vibroactivity of the sheave does not cause risks to the vision and control systems.
  • the use of an infrared thermal imaging camera makes it possible to automatically guide the sheave in conditions of limited visibility, especially in rain, snow, dust or fog.
  • the heating of the attachment point facilitates the guiding of the sheave.
  • the values of temperature increment during the passage of the measuring line over the element with increased thermal emissivity are higher in the case of measurements with the gyrostabilizer activated.
  • Control protocols using the vision system can be adapted to the thermal camera and can operate redundantly. Disturbance excursions and ascent or descent rates do not affect hot spot identification and/or signature.
  • the gyrostabilization systems exponentially reduce the pivot angles set as kinetosthatic forcing, as observed in the form of a significant reduction in the angular swing speed of the sheave itself when the gyrostabilizers are engaged.
  • the use of a two-plane or three-plane gyrostabilizer in the present invention is also advantageous.
  • Sheave (suspended/removable hook in an autonomous manner) - in the sense of the present invention means a maintenance-free hitching bracket to which, depending on the crane used, a pulley system suitable for the crane is added.
  • the sheave can grab a mandrel or a hook can be hooked up.
  • the mandrel or hook mandrel - in the sense of the present invention means the arbor of the unmanned holder according to the co-pending application entitled "Method of lifting bulky objects, sheave assembly for lifting bulky objects and unmanned sheave assembly holder" of the Applicant. Obviously, this term should be understood to include any catch means and catch components that can be inserted into a maintenance-free mount holder.
  • the mount part of a component is, for example, a catch pin.
  • the sheave guidance method uses the concept of an optical sheave guidance system in conjunction with a sheave gyroscopic stabilization system based on the operation of a gyrostabilizer.
  • the decomposition of the dynamic system of the crane cart - sheave of the crane into three independent control paths in the Cartesian XYZ coordinate system was adopted.
  • a transmittance was extracted that describes the dynamics of the regulatory-executive system, that is, how the speed of the crane cart changes in the X and Y axes as well as the speed of the sheave in the Z axis.
  • the dynamics of the sheave in the X and Y axes is described using a transmittance that describes the angle of the sheave's deviation from the vertical as a function of the rate of change in the position of the crane cart.
  • a control system with a feedback loop was proposed to compare the reference position signal with the actual signal.
  • the position error signal which is the difference between the reference and actual position values in the coordinate system associated with the crane, was fed to the input of the PID controller.
  • the output of the controller was connected to an actuator system in the form of electric motors with mechanical gears and the controller parameters were selected in two ways.
  • the first method of selecting regulator settings was carried out using available methods, such as Ziegler-Nichols tuning rules, location of zeros and poles of the characteristic equation of the transmittance or frequency characteristics.
  • the second method used genetic algorithms (GA) to tune the control algorithms of the sheave's physical model.
  • the development of the sheave guidance method of the crane according to the invention used gyrostabilizers, operating with mechanical gyroscopic devices.
  • the main property of the gyroscope is to maintain the axis of the rotating rotor based on the principles of angular momentum of the rotating rotor.
  • biaxial stabilization (0x, 0y)
  • changes in the angle of deviation from the 0z axis are avoided.
  • the mathematical assumptions presented are also valid for biaxial stabilization; stabilization in the 0x, 0y axes enables accurate guidance of the sheave to the hitch by eliminating sheave sway.
  • the vertical displacements still occurring with respect to the 0xy plane are easy to implement and predict in the control algorithms, which significantly improves operator comfort and eliminates the need for crane work.
  • the nature of the acting forces and movements of the gyroscope is of course more complex.
  • the torque applied to the gyroscope generates internal resistance and precession torques based on simultaneous and interdependent actions, namely centrifugal forces, joint inertia forces and Coriolis forces generated by the mass elements of the spinning rotor and changes in angular momentum.
  • a mathematical model of the motions of a gyroscope suspended on an elastic cable has been formulated for the typical case when its axis is inclined at an angle ⁇ .
  • the analysis of the torques and motions acting in the gyroscope is illustrated in fig. 1 and was carried out based on several assumptions:
  • Fig. 1 graphically presents the action of external and internal torques.
  • the sheave gyrostabilization system was analyzed using the generally known relations, the technical data of which are:
  • Fig. 5 schematically shows the kinematics of the gyrostabilizer rotor.
  • MC2 gyro stabilizers do not contain any external components protruding from the foundation, have low power consumption, are easy to install and require little maintenance. It is also advantageous to use a two-plane or three-plane gyrostabilizer in the present invention. In order to minimize lateral sway that causes the sheave to deviate from the vertical, it is further proposed to act to reduce drag by using a lightweight fairing made in one embodiment of polycarbonate construction or in another embodiment of steel sheet construction. The sheave with a gyrostabilizer in the fairing is shown in fig. 7 . The parameters of the gyrostabilizer are as follows:
  • a characteristic feature of image acquisition systems is to perform a transformation of the real three-dimensional space to its own space. Knowing and determining the parameters of this transformation is an essential element required to determine the position of objects in three-dimensional space on the basis of image plane analysis. For most cameras, the models that determine the transformation performed on the three-dimensional space are based on either parallel or perspective projection. Since the parallel transformation is a less accurate approximation of the transformation performed by the camera, since it assumes parallel projection of three-dimensional objects onto a two-dimensional image plane, in an embodiment a perspective transformation model was adopted.
  • the internal parameters of the perspective camera are grouped according to the following criteria:
  • the present solution uses a measurement method based on calibration, which determines the internal parameters of the camera.
  • the result is an image free of distortion introduced by the optical system.
  • the focal lengths f x and f y are used to determine the position of the mandrel in 3D space.
  • This task requires knowledge of at least two measurement points located in close proximity to the catch mandrel. Therefore, active (illuminated) markers were used in the embodiment, allowing the system to operate under different lighting conditions.
  • the proposed predictive closed-loop position control of sheave guidance uses an algorithm for determining the position of the mandrel comprising the following steps:
  • the proposed measurement method is based on calibration and on the identification of internal and external camera parameters.
  • the calibration process is carried out before the measurement activities for the assumed position of the camera lens (fixed zoom).
  • the focal length, the center point of the image grid and the distortion vector are obtained.
  • Knowledge of the above parameters enables to determine the correct pixel coordinates on the image plane.
  • the focal length f x the horizontal plane, defining the position of the object in the imaging plane, can be graphically represented as shown in fig. 10 .
  • X ob x ob Z ob / f x
  • the task of determining the position of the mandrel was accomplished by a vision-sensory subsystem, built from two vision modules.
  • the first vision module was mounted on the crane cart and used in the process of moving the sheave over the catch mandrel, before lowering it.
  • the second vision module mounted inside the sheave, was used to determine the displacement vector of the sheave relative to the catch mandrel within a measurement range of 4 to 7 meters, not more than 5 meters.
  • the control method is based on a two-stage guidance of the sheave to the catch element. In the first stage, the sheave is initially positioned over the catch element using the first set of vision, with the sheave in the upper position.
  • This solution allows for a maximum sheave position accuracy of 8 mm/pixel, resulting from the camera optics.
  • the sheave is lowered to a distance of about 5 meters from the catching device.
  • the second vision set is activated, whose optical system is dedicated to operate in the range from 1 to 5 meters, allowing to obtain the measurement accuracy of 0.4 to 2 mm/pixel, respectively.
  • Increasing the measurement accuracy allows to correct the position of the sheave in relation to the catch device.
  • the sheave is lowered again to the desired height to carry out catching operations.
  • the vision-based detection algorithm of the catch device transmits position information of the sheave at a frequency of 10 Hz to the automatic control system. Knowing the exact position of the sheave relative to the catching device enables implementation of the control system using sheave position prediction, making the control system immune to external disturbances, such as those from wind pressure or inertia.
  • the first vision module had a field of view of 5x5 m to 20x20 m, a distance to the object of a dozen to 40 meters, a measurement accuracy of 0.4-3 mm/pix.
  • the second vision module had a distance to the object from 1 to 5 meters, field of view from 1 ⁇ 1 m at a distance of 1 meter, to 5x5 m at a distance of 5 meters, measurement accuracy of 5-10 mm/pix.
  • the modules were realized with JAI GO-5000M color cameras, PGE characterized by the following parameters:
  • a lens with a focal length of 35mm was selected for the sensor of the first camera (1", 12.8 ⁇ 10.2mm), in the other embodiment a lens with a focal length of 25mm was selected, while for the second camera (1", 12.8 ⁇ 10.2mm) in one embodiment a lens with a focal length of 16mm and in the other embodiment a lens with a focal length of 12.5mm was selected.
  • a laser rangefinder was used to automate the process of activating the first vision module.
  • the control system activated the camera of the second vision module and transmitted the image to the operator console.
  • the digital image processing algorithm began cyclically determining the position vector of the sheave relative to the catch mandrel.
  • the frequency of the position controller was 10 Hz and depended on the rate of image processing by the second vision set.
  • the calculated vector was presented graphically in the operator's console and transmitted to the control system.
  • the image from the camera of the second vision module also allowed the operator to supervise the hitching up/down of the unmanned sheave from the mandrel.
  • an IFM ELECTRONIC O1D106 - O1DLF3KG laser rangefinder with a range of 1 - 75 m with an E21159 reflector was used for distance measurement.
  • the first and second vision modules, together with the operator console, PLC and sensors and actuators, comprise the control system shown in fig. 11 .
  • the operator console is the image acquisition, processing and analysis component. It is also equipped with a graphical user interface application, enabling the following operations:
  • a programmable logic control PLC device was used to communicate with sensors and actuators. This solution allows the use of various communication protocols without the need for dedicated computer input circuit expansion cards. At the same time, the use of a PLC increases the reliability of the system, because if the connection to the operator console is lost, the controller will continue to perform the tasks of monitoring the operating status of the equipment.
  • Object detection in video images is an important part of image analysis, used in industry, science, medicine and the military.
  • a vision system using the GigE Vision communication standard was made and an application was prepared to detect and track an overhead crane catching device using the cameras.
  • Classic computer vision methods aimed at object detection, such as HAAR and HOG + SVM cascades use a sliding window. In this approach, a template in the image area is moved, and all pixels within the window are extracted and sent to a classifier. If the image classifier identifies a known object, it saves it and assigns a class label. Otherwise, the next window is evaluated.
  • Fig. 12 presents the principle of the applied algorithm based on HAAR operation.
  • CNNs Convolutional neural networks
  • RPN region proposal network
  • a pattern matching method was also used to find the object defined by the template. This method is based on comparing the input image with the template. The algorithm moves the template image over the input image and compares the template and a portion of the input image. The template is moved to the nearest pixel, and at each location the algorithm calculates the degree of matching.
  • the detection methods used are algorithms based on template matching.
  • a template is selected in the input image, and then a comparison of the template with the next image is implemented.
  • Template matching involves examining the image pixel by pixel and calculating the place identical to the template. So, after the acquisition of the input image, the definition of the template is carried out, then the acquisition of the next image is carried out and the template is moved, calculating the similarity, after which the obtained results are compared and the places identical to the template are determined.
  • algorithms for detection of the sought image in the input image were used. In determining the degree of matching of areas, the difference of the square of matching was used, as well as a variant of this method involving normalization of its operation. The most favorable variant was determined for a match of 0. Multiplication between the template and the image was also implemented. In the latter case, a larger number means a higher degree of matching.
  • the use of this model makes it easier to determine the occurrence of a given color, which translates into easier calculations and faster operation of the guidance method.
  • the developed method of template matching adopted a comparison of three image planes - saturation, color and grayscale. The adopted solution made it possible to detect the catch mandrel with very high precision under varying lighting conditions.
  • Detection of the catch mandrel is a computationally complex operation, which translates into a longer processing time of one control loop of the crane sheave guidance control reaching several hundred milliseconds. In the case of controlling the position of the crane cart using controllers, this time proves to be too long to determine the control signal. Therefore, methods of tracking the catch device were determined, whose processing time of one loop of the algorithm reached tens of milliseconds, making it possible to control the drive motors of the crane cart in the feedback loop.
  • Tracking an object involves a number of difficulties.
  • the first is defining the object to be tracked, predicting its movement and comparing the desired item with the real image.
  • the problems that occur when trying to detect and track objects can be considered in two categories: varying lighting conditions and different geometric depictions of the object.
  • object tracking is a broad term, and the available technical solutions allow to define many methods, the division of which can be systematized according to the following criteria:
  • the positioning algorithm is executeg in the controller, and the current positions of the catch mandrel relative to the sheave are transmitted from the vision system. This approach does not require tracking the mandrel, and readiness for use in the event of a change in the control system's assumptions is achieved.
  • the offset values in pixels are converted to actual dimensions using an appropriate conversion factor that depends, in the case of a particular camera, on the distance of the camera from the catch mandrel.
  • the conversion factor is: 0.21 mm / 1 pixel.
  • the match measure indicating the level of pattern recognition has been scaled in the range of 0 - 1, wherein for the values below 0.75, it is assumed that the object was not detected in the image. Graphically, the current match measure is displayed on the camera image, with a message indicating that no object was detected for values below 0.75.
  • the sheave guidance method was tested by implementing image acquisition using a video stream.
  • Image acquisition was implemented in software form as a separate application thread, which allowed data to be stored in memory with delays of several milliseconds.
  • the exchange of data and control signals between the developed application and PLCs was carried out using the RS-485 interface.
  • a port COM4 for the developed hardware solution
  • Connect option communication was initialized according to the proposed standard.
  • the position data of the mandrel was sent in pixel coordinates of the camera to the PLC.
  • Object detection was implemented using the developed method. For the recognized catch mandrel, it is a possible to realize the homing using the tracking function. This solution allows tracking a previously detected pattern in a time not exceeding 50 ms.
  • the mode selection module allows a smooth transition between detection, tracking and visualization modes of operation. This means that it is not required to stop the video stream to change the application mode.
  • the sought pattern module allows defining a new pattern for detection and tracking, as well as updating it based on current detection and imaging.
  • the above solution allows detection and tracking of any object, assuming that the color pattern is different from the background.
  • the developed detection method makes it possible to detect the catch mandrel in different lighting conditions.
  • the developed method of controlling the operation of the crane with a hook was realized in the mode of automatic movement along a preset trajectory, and at the moment of detection of the mandrel by the camera also automatic guidance of the sheave to the mandrel was enabled
  • Fig. 13 shows the steps of controlling the crane according to the invention implemented in the master system.
  • step 100 the drive parameters as well as the dynamics of the sheave and the average wind speed are updated.
  • the control parameters of all sensors and actuators operating on the RS-485 bus are sent to and/or received at the PLC in step 101.
  • step 102 a check is performed, whether the control system is in control mode 0.
  • the various control modes are set using the HMI touch panel. If the control system is in control mode 0, step 200 is executed, which consists of shutting down the drives, and step 101 is executed again. Shutting down the drives performed in step 200 causes the drives to stop by resetting all control flags and adopting the default movement speeds of the drives in preparation for eventual operation.
  • step 103 is executed to check whether the control system is in control mode 5. If the control system is in control mode 5, step 300 is executed, in which the extreme positions of the drives are calibrated, and then step 101 is executed again. Step 300 of calibrating the extreme positions of the drives involves driving the drives to two extreme positions, and when these positions are reached, these drive positions are stored in the control system's memory. The values of the extreme positions are used in the automatic operation mode to determine the offsets of the drive #0 during movement along a trajectory that follows the pattern of the so-called "lawn mowing," as shown in fig. 14 .
  • step 104 is carried out in which it is verified that the control system is in control mode 2. If the control system is in control mode 2, step 400 is executed in which the camera zero position is calibrated, and then step 101 is executed again. The step of calibrating the camera zero position causes the coordinates of the current camera position to be stored in the control system's memory, and after they are properly formatted, as described above, these coordinates are sent to the control master unit. The camera zero position data is stored in memory cells with data retention. On the other hand, if the control system is not in control mode 2, step 105 is performed to check whether the control system is in control mode 4.
  • step 500 of the control algorithm is executed, in which automatic following of the sheave along the set trajectory is realized.
  • drive control is realized so as to search for the object of interest, that is, to detect with the help of cameras the catching mandrel on the component to be lifted and/or moved to another location.
  • step 106 is performed to check whether the control system is in control mode 3. If the control system is in control mode 3, step 600 of the control system is executed, in which automatic guidance of the sheave to the catching mandrel of the structural element is realized, and then step 101 is executed again.
  • step 107 is executed, in which it is verified that the control system is in control mode 1. If the control system is in control mode 1, step 700 of the control system is realized, in which the drives are switched on and then stage 101 is realized again. In the step of switching on the drives, the setting of the control flags of all drives is realized. This gives the possibility to control remotely through the HMI or to operate in automatic mode. On the other hand, if the control system is not in control mode 1, stage 101 is executed.
  • Fig. 15 shows the operation steps involved in step 500 in which the sheave automatically follows a preset trajectory.
  • This step makes it possible to control the movement of the carriage on a horizontal plane according to the "lawn mowing" pattern shown in fig. 14 .
  • This type of trajectory makes it possible to search the entire area of interest in order to find the object of interest, and in this case to detect the catching mandrel of a structural element to be lifted and/or moved to another location.
  • the movement trajectory starts at point A and ends when the last point B is reached.
  • the #0 -#2 backward drive operation is started.
  • step 502 the operating status of the 0-2 drive is updated.
  • validation is made whether the drive performs the movement.
  • step 502 is executed and the drive is validated again in step 503.
  • the #0 or #1 forward or reverse drive is started in step 504, depending on the current position on the motion trajectory.
  • step 505 the operation status flag of either drive #0 or #1 is updated and it is validated in step 506 whether the drive is in motion. If the drive is in motion, the drive operating status flag is updated again in step 505 and step 506 is executed again, that is, it is validated whether the drive is in motion. If the drive is not in motion, step 507 is executed in which it is validated whether the this is the last point of the motion trajectory. If it is not the last point of the trajectory, step 504, 505 and 506 are executed again. In case it is the last point of the trajectory, the operating status of drive #0 and #1 is validating again by reading their flags one more time.
  • Fig. 16 shows the operation steps of step 700, which causes the sheave to be automatically guided over the mandrel.
  • the carriage drives are controlled in forward or reverse motion depending on the current values of the mandrel position coordinates to minimize the deviation from the camera's zero position in the horizontal plane.
  • step 701 the coordinates of the mandrel position are received from the camera.
  • step 702 it is checked whether the mandrel is in the far zone of the camera's imaging. If the mandrel is not in the far zone, it continues to automatically follow the set trajectory in step 700.
  • step 703 the drives are disabled and 1s of wait state is generated, after which in step 704 the #0 and #1 forward or backward drives are started depending on the coordinates of the mandrel position.
  • step 705 the updated coordinates of the mandrel position are received from the camera and in step 706 it is checked whether the mandrel is in the close zone. If the mandrel is not in the close zone, step 705 and 706 are implemented again, while if the mandrel is in the close zone, the actuators are stopped in step 707 and after 1s of a wait state in step 708, the coordinates of the mandrel position are updated.
  • step 709 the relative displacement for drive #0 and drive #1 is calculated, and then in step 710, drives #0 and drive #1 perform movement by the calculated relative displacement. Then, in step 711, drives #0 and #1 are stopped, Is of a wait state is generated and then in step 712 the preset relative offset determined for drive 2 is realized. Then, in step 713, drive #2 is stopped and Is of a wait state is generated.
  • the movement performed by the drives in the near zone is more precise than the previous movement in the far zone.
  • the drives have a preset relative movement with a resolution of 0.1°.
  • the relative displacement value for drive #2 is taken from the PLC's memory, taking into account the dynamics of the sheave, mainly based on the distance of the sheave (the current length of the cables) and the measured wind speed.
  • Table 1 illustrates the results of measuring control accuracy for 10 different initial positions (x pocz , y pocz ). For the three extreme positions, no coordinate values were obtained due to the excessive distance of the mandrel from the camera, that is, the mandrel in these cases was outside the camera's range of view. Table 1. Measurement of control accuracy for 10 different positions of the mandrel model position relative to the initial position of the sheave carriage Measurement No.
  • Table 2 illustrates the results of control stability measurements for increasing speed of drives controlling the movement of the carriage in the horizontal plane from a value of 83.3 rpm to 416.6 rpm, i.e. for a quintuple increase in speed.
  • the algorithm for automatic detection and guidance of the sheave to the mandrel worked stably, obtaining similar values of the average deviation of the sheave's end position (x end , y end ) from the sheave's zero position relative to the mandrel.
  • the sheave guidance method according to the invention was tested under real conditions in a gantry crane located in the Gdynia Shipyard, Tru.
  • This crane is one of the largest on the Baltic Sea coast. It has 1,000 tons of lifting capacity and a span of 153 meters.
  • the crane manufactured by the Finnish company Konecranes, is installed along the SD II dry dock, replacing a 900-ton capacity crane destroyed by a hurricane in December 1999.
  • the movement of the sheave was measured, using a state-of-the-art TS60 robotic total station from Leica Geosystems, which tracked the prisms mounted to the "sheave.” Mounting the prisms to the sheave required an unusual design. For this purpose, a mount with neodymium magnets was made.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)
EP22020476.2A 2021-09-30 2022-09-30 Verfahren zum führen der seilscheibe insbesondere eines freikrans Pending EP4159661A1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PL439104A PL439104A1 (pl) 2021-09-30 2021-09-30 Sposób naprowadzania zblocza zwłaszcza suwnicy

Publications (1)

Publication Number Publication Date
EP4159661A1 true EP4159661A1 (de) 2023-04-05

Family

ID=84361705

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22020476.2A Pending EP4159661A1 (de) 2021-09-30 2022-09-30 Verfahren zum führen der seilscheibe insbesondere eines freikrans

Country Status (2)

Country Link
EP (1) EP4159661A1 (de)
PL (1) PL439104A1 (de)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0958228A1 (de) * 1995-11-14 1999-11-24 Sime Oy Verfahren und vorrichtung zum aufnehmen, transportieren und absetzen einer last
EP2574587A1 (de) * 2011-09-30 2013-04-03 Siemens Aktiengesellschaft Verfahren zur Bestimmung einer Zielposition für ein Containergeschirr und Containergeschirr
AU2012285632B2 (en) 2011-07-18 2016-04-21 Konecranes Global Corporation System and method for determining location and skew of crane grappling member
CN106429878A (zh) * 2016-12-26 2017-02-22 安徽水利开发股份有限公司 塔吊作业辅助动态定位可视化装置
CN206751196U (zh) 2017-05-24 2017-12-15 刘国彬 一种起重机吊钩
WO2020208263A1 (de) * 2019-04-12 2020-10-15 Construction Robotics GmbH Vorrichtung zur steuerung einer an einem strang hängenden last

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0958228A1 (de) * 1995-11-14 1999-11-24 Sime Oy Verfahren und vorrichtung zum aufnehmen, transportieren und absetzen einer last
AU2012285632B2 (en) 2011-07-18 2016-04-21 Konecranes Global Corporation System and method for determining location and skew of crane grappling member
EP2574587A1 (de) * 2011-09-30 2013-04-03 Siemens Aktiengesellschaft Verfahren zur Bestimmung einer Zielposition für ein Containergeschirr und Containergeschirr
CN106429878A (zh) * 2016-12-26 2017-02-22 安徽水利开发股份有限公司 塔吊作业辅助动态定位可视化装置
CN206751196U (zh) 2017-05-24 2017-12-15 刘国彬 一种起重机吊钩
WO2020208263A1 (de) * 2019-04-12 2020-10-15 Construction Robotics GmbH Vorrichtung zur steuerung einer an einem strang hängenden last

Also Published As

Publication number Publication date
PL439104A1 (pl) 2023-04-03

Similar Documents

Publication Publication Date Title
CN109556577B (zh) 用于空中非破坏性检查的定位系统
EP3460393B1 (de) Verfahren zur messung und inspektion von strukturen mithilfe von per kabel aufgehängten plattformen
Mirallès et al. LineDrone Technology: Landing an unmanned aerial vehicle on a power line
CN106774436B (zh) 基于视觉的旋翼无人机稳定跟踪目标的控制系统及方法
CN105652891B (zh) 一种旋翼无人机移动目标自主跟踪装置及其控制方法
RU2623295C2 (ru) Система, устройство и способ текущего контроля положения и ориентации транспортного средства, погрузочного устройства и груза при работе погрузочного устройства
CN112850501A (zh) 一种塔吊自动化防撞方法及系统
CN103419944B (zh) 一种登机桥及其自动靠接方法
CN107572373B (zh) 基于机器视觉的新型起重机主动防斜拉控制系统及其控制方法
JP6860003B2 (ja) 無人飛行装置制御システム、無人飛行装置制御方法および検査装置
CN113860178B (zh) 一种塔式起重机吊装物体识别及碰撞信息测量系统及方法
CN111814936A (zh) 基于空间扫描的集装箱识别方法、系统、设备及存储介质
EP3960688A1 (de) Kraninspektionssystem und kran
CN205920057U (zh) 检测结构件表面裂缝的多旋翼无人机检测平台系统
CN107515622A (zh) 一种旋翼无人机在移动目标上自主着降的控制方法
CN112327898B (zh) 无人机的井道巡检导航方法、装置和无人机
CN114035598B (zh) 一种多旋翼吊挂系统的视觉摆角检测与减摆方法
KR102448233B1 (ko) 정밀 착륙을 위한 드론 제어 방법
CN111812659A (zh) 一种基于图像识别和激光测距的铁塔姿态预警装置及方法
CN109885091B (zh) 一种无人机自主飞行控制方法及系统
JP6707933B2 (ja) 無人飛行装置制御システム、無人飛行装置制御方法および無人飛行装置
EP4159661A1 (de) Verfahren zum führen der seilscheibe insbesondere eines freikrans
CN115188091B (zh) 一种融合电力输变配设备的无人机网格化巡检系统及方法
CN105731260A (zh) 一种轮胎式集装箱门式起重机自动驾驶系统及方法
CN114554030A (zh) 设备检测系统以及设备检测方法

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20231005

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20240809