KR20050046463A - Apparatus for detecting the trunnion locking of hook - Google Patents

Abstract

The present invention relates to a trunnion fastening detecting device of a hook for detecting a state in which a crane hook is fastened to the trunnion to move an object having a trunnion attached thereto, for example, to a crane.

The present invention, in the case of fastening the trunnion of a predetermined length attached to the moving object in the trunnion fastening detection device of the hook, the moving object is attached to the trunnion at a specific reference position before the trunnion fastening of the hook A distance detector for detecting a first distance to the second distance and detecting a second distance from the specific reference position to the hook after the trunnion is engaged with the hook; An image acquisition unit for acquiring an engagement state of the hook and trunnion as an image; An image filtering unit which detects the image of the hook and the trunnion in the fastened state and extracts the image pattern of the fastened state of the hook and the trunnion by removing other images except the detected outline using the acquired image; A comparison unit comparing the similarity between the extracted image pattern of the fastened state of the hook and trunnion with a preset reference image pattern; If the deviation value of the first and second distances detected by the distance detection unit is less than the length of the trunnion, it is determined that the hook is suitable for fastening the trunnion and if the deviation value is greater than or equal to the length of the trunnion, A first judging unit determined to be inadequate in trunnion fastening; And if it is determined that the fastening is inadequate at the first determination unit, it is determined as a final fastening inconsistency, and when it is determined that the fastening is suitable at the first determination unit, the similarity degree between the two image patterns in the comparison unit is within a preset similar range. If the case includes a second judgment to determine the final fit.

According to the present invention, the trunnion fastening state of the hook can be reliably and accurately detected.

Description

Trunnion fastening detection device of hook {APPARATUS FOR DETECTING THE TRUNNION LOCKING OF HOOK}

BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to a trunnion fastening detecting device of a hook, and particularly, to detect a fastening state of the hook and trunnion when fastening a hook to the trunnion to move an object to which a trunnion is attached. It relates to a trunnion fastening detection device of the hook.

Typically, the hook device used in the process of moving the position of the object or loading or shipping the product in the industrial field has a variety of forms and configurations and various methods are applied in operation. Such a hook device is used for moving heavy objects, for example, by hanging on a crane or the like. Such a hook device is generally provided with a hook (hook) to hang the moving object directly or by using a medium member such as a wire.

For example, in a process of receiving a ladle from a steel mill in a steel manufacturing process and transferring it to a converter, a hook of an overhead head crane is fastened to a trunnion attached to the ladle. The ladle is then moved to the converter using a crane. It is very important to detect the fastening state of the hook and the trunnion in the process or work of moving the object by fastening the hook to the trunnion, including the example described above. This is because a safety accident (falling accident of a moving object, etc.) may occur if the hook and trunnion are in poor connection.

The conventional method for detecting the trunnion fastening state of the hook is a method of wirelessly notifying the crane driver by checking the fastening state of the trunnion of the ladle and the hook directly after receiving water in the ladle. However, in the conventional method, it is difficult to accurately determine the trunnion fastening state of the hook because the signal number is hard to approach the ladle due to the high radiant heat caused by the hot water in the ladle. In addition, since the number of signals visually confirms the fastening state, the criterion of the fastening state is different and it is difficult to make an accurate judgment.

In order to improve this problem, the driver detects the fastening state of the hook by checking the fastening state image transmitted from the surveillance camera installed on the upper side of the trunnion, which is a connecting ring of the ladle, on the monitor in the central cab. However, even in such a method, it is difficult to determine the exact fastening state because the driver detects the fastening state of the hook with eyes on the monitor.

As such, in the related art, the operator directly checks the fastening state of the hook or visually judges it through an image on the monitor, and thus it is difficult to make an accurate judgment. As a result, not only the safety accident due to the fastening of the hook but also a great physical damage occurs.

Therefore, there is a need in the art for a system that can reliably and safely detect the state of engagement between the hook and trunnion.

The present invention is to solve the above problems, by using a distance sensor of the deviation value of the distance to the moving object and the distance to the hook fastened to the trunnion attached to the moving object and the length value of the trunnion The trunnion fastening state of the hook is primarily detected by calculating the difference, and the trunnion fastening state of the hook is secondarily compared by comparing the image image pattern and the reference image pattern of the fastening state of the hook fastened to the trunnion. It is an object of the present invention to provide a device for detecting a trunnion fastening state of a hook more reliably and accurately.

In the present invention for achieving the above object, in the case of fastening the trunnion of a certain length attached to the moving object by a hook in the trunnion fastening detection device of the hook,

Detects a first distance from a specific reference position to a moving object to which the trunnion is attached before fastening the trunnion of the hook, and detects a second distance from the specific reference position to the hook after fastening the trunnion of the hook. A distance detection unit; An image acquisition unit for acquiring an engagement state of the hook and trunnion as an image; An image filtering unit which detects the image of the hook and the trunnion in the fastened state and extracts the image pattern of the fastened state of the hook and the trunnion by removing other images except the detected outline using the acquired image; A comparison unit comparing the similarity between the extracted image pattern of the fastened state of the hook and trunnion with a preset reference image pattern; If the deviation value of the first and second distances detected by the distance detection unit is less than the length of the trunnion, it is determined that the hook is suitable for fastening the trunnion and if the deviation value is greater than or equal to the length of the trunnion, A first judging unit determined to be inadequate in trunnion fastening; And if it is determined that the fastening is inadequate at the first determination unit, it is determined as a final fastening inconsistency, and when it is determined that the fastening is suitable at the first determination unit, the similarity degree between the two image patterns in the comparison unit is within a preset similar range. If the case includes a second judgment to determine the final fit.

Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings. In the drawings of the present invention will be described with the same reference numerals for components that perform the same function and operation.

1 is a perspective view showing an embodiment of a hook and trunnion to which the present invention is applied. Referring to one embodiment of the hook and trunnion shown in Figure 1, the moving object applied to one embodiment of the present invention, for example, ladle used to contain the water in the steelmaking process of the steel mill (ladle) (3), the hook (1) has a conventional annular shape, for example, connected to the end of the crane. In addition, the trunnion (trunnion) (2) is projected by a predetermined length (Y) on one side of the ladle (3) is fixed to the place where the hook (1) is fastened. Therefore, the hook 1 is fastened to the trunnion 2 of a predetermined length Y attached to the ladle 3 by the driver's operation, and finally moves the ladle 3 containing the waste water to the front. Done. In the above-described embodiment of the present invention, the hook 1 used in the crane and the ladle 3 containing the waste water in the steel mill, etc. are described. However, the present invention is not limited thereto, and the moving object may be hooked. The hook, trunnion and moving object may be applied in all fields capable of engaging the attached trunnion.

2 is a schematic configuration diagram of a trunnion fastening detection device of a hook according to an embodiment of the present invention. Referring to Figure 2, the trunnion fastening detection device of the hook according to an embodiment of the present invention, by attaching a laser measuring sensor 11 is fastened to the ladle (3) and trunnion (2) which is a moving object at a specific position Distance acquisition unit 10 for detecting the distance to the hook 1, the image acquisition unit for obtaining the image of the trunnion (2) attached to the ladle (3) and the hook (1) attached to the moving object ( 20), an image filtering unit 30 extracting image patterns of the hook 1 and trunnion 2 from the obtained image, and a comparison unit 40 comparing the extracted image pattern with a preset reference image pattern. Determination of the first determination unit 50 and the first determination unit 50 to primarily determine the engagement state of the trunnion 2 of the hook 1 by using the distance detected by the distance detection unit 10. According to the result and the comparison result of the comparison unit 40, the second (final) determination of the fastening state of the trunnion (2) of the hook (1) First and a second determining unit (60).

According to another embodiment of the present invention, the trunnion fastening detection device of the hook according to the present invention, the first determination unit 50 is determined to be inadequate fastening or the second determination unit 60 is determined as the final incompatibility. And a warning signal generator 70 for generating a warning signal, and is formed to surround the distance detector 10 and open the distance detector 10 by using a predetermined cooling material. It may further include a cooling unit (not shown) to protect from. 2 shows the trunnion detecting device of the hook according to the present invention only on one side of the ladle 3 as a moving object as an embodiment of the present invention, but preferably the other side of the ladle 3 is the same. Apply.

The distance detecting unit 10 detects the distance from the specific position P to the ladle 3 as the moving object and the distance from the hook 1 fastened to the trunnion 2 using the laser measuring sensor 11. do. The distance detector 10 emits a predetermined laser beam to the object and receives the reflected laser beam to the laser measurement sensor 11 to calculate the distance to the object. An operation of the distance detector 10 will be described in more detail with reference to FIG. 3.

Figure 3 shows an example of the trunnion fastening state of the hook according to the invention, Figure 3 (a) shows a state in which the hook is normally fastened, Figure 3 (b) is the hook is abnormally fastened The state is shown. Referring to FIG. 3, first, the trunnion (at a specific position P) at which the distance detection unit 10 is located before the hook 1 is fastened to the trunnion 2 attached to the ladle 3 that is a moving object. The first distance A to the ladle 3 to which 2) is attached is detected. Thereafter, the second distance B from the specific position P to the hook 1 in the fastened state is detected while the hook 1 is fastened to the trunnion 2. As described above, the distance detector 10 detects the first distance A and the second distance B at regular time intervals. Referring to the drawings, reference numeral X denotes a deviation value of the first distance A and the second distance B from the ladle 3 to which the trunnion 2 is attached to the trunnion 2. It is a value indicating the distance to the outermost surface of the hook 1 including the thickness of the hook 1.

The first determination unit 50 includes the deviation value X of the first distance A and the second distance B detected by the distance detection unit 10 and the length Y of the trunnion 2. When the deviation value (X) is smaller than the length (Y) of the trunnion (2) to determine the first fit to fit the trunnion (2) of the hook (1), and vice versa If the trunnion 2 is greater than or equal to the length Y, the first determination is made as a failure in fitting the trunnion 2 of the hook 1. Referring to FIG. 3 (a), when the hook 1 is normally fastened to the trunnion 2 of the ladle 3, the first determination unit 50 may determine the first distance detected by the distance detection unit 10. It is confirmed that the deviation value (X) of A) and the second distance (B) is smaller than the length (Y) of the trunnion (2), and the first determination is made by fitting the trunnion (2) of the hook (1). do. Meanwhile, referring to FIG. 3 (b), when the hook 1 is abnormally fastened to the trunnion 2 of the ladle 3, the first determination unit 50 detects the distance from the distance detection unit 10. It is confirmed that the deviation value X of the first distance A and the second distance B is greater than the trunnion Y, and the first determination is made as an inadequate fastening of the trunnion 2 of the hook 1.

The image acquisition unit 20 acquires an image of the trunnion 2 fastening state of the hook 1 at a set cycle. The image acquisition unit 20 preferably uses a monochrome CCD camera for high speed data processing. In addition, the image acquisition unit 20 preferably uses a high-sensitivity CCD camera that can be performed smoothly even in a poor external lighting environment.

The image filtering unit 30 uses the image of the trunnion (2) fastening state of the hook (1) obtained by the image acquisition unit 20 to draw the outline of the image of the hook (1) and trunnion (2) By detecting and removing images of portions other than the detected outline, only the image pattern of the fastening state of the hook 1 and the trunnion 2 is extracted. The extraction process of the image pattern will be described in detail step by step. First, in the first step, an outline image of the image of the fastening state of the hook 1 and the trunnion 2 is detected using pixel-specific data from the obtained image. In the second step, only the outline images of the hook 1 and the trunnion 2 are extracted by removing the remaining images except the outline images of the detected hook 1 and the trunnion 2. Here, the extraction of the outline image of the hook 1 and the trunnion 2 may include a black outline image of the hook and trunnion having an image data for each pixel larger than a preset threshold among the acquired pixel data for each pixel. In addition, the remaining images having image data for each pixel smaller than the threshold value are separated into white, for example, to extract the outlines of the hook 1 and the trunnion 2. As described above, the image filtering unit 30 separates and extracts the outline image patterns of the hook 1 and the trunnion 2 by using the image of the state in which the hook 1 is fastened to the trunnion 2. Extraction of such an image pattern may be generally used as a leveling technique and / or a superimposed image extraction technique.

The comparison unit 40 compares the degree of similarity between the extracted image of the hook 1 and the trunnion 2 and the preset reference image pattern. The comparison unit 40 compares the extracted image pattern to how similar to the set reference image pattern. Preferably the similarity is expressed as a percentage. In this case, the comparing unit 40 preferably compares the image data for each pixel of the extracted image of the outline of the hook and trunnion with the image data for each pixel of the preset reference image pattern to compare the two image patterns. To compare the similarities. Here, the reference image pattern means an outline image pattern of the hook 1 and the trunnion 2 in which the hook 1 and the trunnion 2 are normally fastened. In one embodiment of the present invention may be a plurality of reference image patterns. That is, after setting a plurality of reference image patterns step by step in which the fastening states of the hook 1 and the trunnion 2 show only slight differences from each other, the extracted image pattern and the plurality of reference image patterns are compared several steps. By determining whether the reference image pattern of the same is the degree of similarity can be expressed as a ratio.

The second determination unit 60 receives the determination and comparison result of the first determination unit 50 and the comparison unit 40 and finally determines the state of engagement of the trunnion 2 of the hook 1 according to the result. Judging by. In this case, the second determination unit 60 finally determines the trunnion engagement state of the hook according to the comparison result of the comparison unit 40 only when it is determined that the first determination unit 50 is suitable for fastening. First, when the second determination unit 50 receives the determination result of the fastening inadequate from the first determination unit 50, it is finally determined as the trunnion fastening of the hook. In this case, image acquisition by the image acquisition unit 20 is not performed. However, upon receiving the determination result of the fastening fit from the first determination unit 50, if the percentage of similarity is within the preset similar range from the comparison unit 40, it is finally determined to fit the trunnion fastening of the hook. . In addition, even when the result of determining that the fastening is suitable from the first determination unit 50 is determined, if the percentage of similarity is not within the similar range from the comparing unit 40, it is finally determined as a trunnion fastening of the hook. . The similar range is preferably 70% to 100%. As described above, the determination of whether the fastening is appropriate or inadequate in the second decision unit 60 has the highest priority in the determination of the first decision unit 50, and the second decision unit 60 is the first decision unit. Only when it is determined that the fastening fit in the 50, using the degree of similarity in the comparison unit 40 determines the final fit or non-fit.

The warning signal generator 70 generates a warning signal when the first decision unit 50 determines that the fastening is inadequate or the second decision unit 60 determines the final fastening. First, when the first determination unit 50 determines that the fastening is inadequate, a warning signal is generated regardless of the determination result of the second decision unit 60, and the first decision unit 50 determines that the fastening is appropriate. Even if the second determination unit 60 determines that the final fastening inadequate to generate a warning signal.

The cooling unit 80 is formed as a housing to surround the distance detecting unit 10, and protects the distance detecting unit 10 from heat by using a specific cooling material or an electronic cooling element. In one embodiment of the present invention, the cooling material preferably uses cool water or air at a low temperature to sufficiently protect the distance detection unit 10 from heat. In addition, the electronic cooling device preferably uses a device in which heat is generated on one side when a predetermined voltage is applied to the thermoelectric semiconductor device, and heat is absorbed and cooled on the other side. In one embodiment of the present invention, the cooling unit 80 using the electronic cooling device preferably uses a 'clean cooler' developed by 'Auto Data System Co., Ltd.'. The cooling unit 80 further includes a cooling housing to protect the camera, various sensors, and the like from environmental obstacles such as heat and dust. Thus, in the cooling unit 80 of the present invention, there is an advantage that there is almost no noise because it is a cooling method using a semiconductor. As described above, in one embodiment of the present invention, the distance detecting unit 10 is protected from heat by using the cooling unit 80 having the cooling housing, but the present invention is not limited thereto. If the trunnion fastening detection device of the hook according to the invention is not applied in a high temperature environment, the cooling unit 80 may be removed.

Figure 4 is a flow chart showing the operation of the trunnion detection device of the hook according to the present invention. Referring to FIG. 4, the distance detector 10 detects a first distance A from a specific position P to the ladle 3, which is a moving object to which the trunnion 2 is attached (S402). Here, the first distance A represents the distance from the specific position P where the distance detection unit 10 is located to the side of the ladle 3 to which the trunnion 2 is attached. Subsequently, the distance detection unit 10 detects a second distance B from the specific position P to the hook 1 in a state of being fastened to the trunnion 2 at a predetermined time interval (S404). . Here, the second distance (B) includes the thickness of the hook (1) fastened to the trunnion (2) from the specific position (P) where the distance detection unit 10 is located to the trunnion (2) The distance to the outermost surface of the fastened hook 1 is shown. The deviation value X of the detected first distance A and the second distance B is compared with the length value Y of the trunnion 2 (S406), and as a result, the deviation value X is If the length value (Y) is greater than or equal to (S408), it is determined that the trunnion (2) of the hook 1 is not fastened to generate a warning signal (S422), and the deviation value (X) is the length value (Y). If less than (S408) is determined first to fit the trunnion (2) fastening of the hook (1) (S410).

When it is determined that the trunnion 2 of the hook 1 is suitable for fastening as described above (S410), the image acquisition unit 20 acquires an image of the fastening state of the hook and trunnion (S412). The outline of the fastening state of the hook and the trunnion is detected from the obtained image (S414), and the remaining part is removed to extract an image pattern for the hook and the trunnion (S416). At this time, the extraction of the image pattern is the image of the hook and trunnion having the image data larger than the threshold set among the acquired image data of the fastening state of the hook and trunnion is black as an example, the image smaller than the set threshold The image of the other part having the data extracts the image pattern of the fastening state of the hook and trunnion by, for example, distinguishing white color.

Subsequently, it is determined whether the degree of similarity between the extracted image patterns of the hook and trunnion and the preset reference image pattern is within the set similar range (S418). The similarity is determined by comparing the image data of each pixel according to the extracted image pattern of the hook and trunnion with the image data of each pixel of the reference image pattern. The similarity is preferably expressed as a percentage, and the similarity range is preferably 70 to 100%. As a result of the determination in step S418, if the similarity is within the similar range, the second decision unit 60 determines that the final fastening is suitable (S420). That is, as an example, when the similarity is 70% or more, it is determined that the fastening is normally performed, and the second determination unit 60 finally determines that the fastening is appropriate. However, if the similarity is not within the similar range as a result of the determination in step S418, the second determination unit 60 determines that the final fastening is inadequate and generates a warning signal (S422).

As described above, in the present invention, the distance detection unit 10 primarily determines whether the hook is connected to the trunnion by using the distance information between the trunnion 2 and the hook 1, and in the first judgment. After the fitting is suitable, the trunnion fastening of the hook is detected by secondly determining whether the hook is suitable for fastening the trunnion of the hook using the image of the fastening state of the hook and the trunnion and the reference image.

The above description and contents of the drawings are related to an embodiment of the present invention, and the present invention is not limited thereto. In particular, the trunnion fastening detection device of the hook according to the present invention is not only applied to the ladle of the steel mill, but may be widely applied to various fields for fastening a trunnion-attached moving object with a hook. Further, it will be apparent to those skilled in the art that the structure and operation of the hook and trunnion can be changed and applied in various ways without departing from the technical spirit of the present invention.

Accordingly, the scope of the present invention should be determined by the appended claims rather than by the foregoing description and drawings.

According to the present invention, an accurate fastening state can be detected even in a high temperature working environment such as a steel mill, thereby improving production efficiency and work efficiency.

In addition, according to the present invention, it is possible to reliably and accurately detect the fastening state by determining whether the fastening is suitable as the primary by using the distance information detected by the distance detecting unit and determining whether the fastening is suitable as the secondary by using the image image.

1 is a perspective view showing an embodiment of a hook and trunnion to which the present invention is applied.

2 is a schematic configuration diagram of a trunnion fastening detection device of a hook according to an embodiment of the present invention.

Figure 3 is an illustration of a trunnion fastening state of the hook according to the invention.

Figure 4 is a flow chart showing the operation of the trunnion detection device of the hook according to the present invention.

 Explanation of symbols on the main parts of the drawings

1: hook 2: trunnion

3: ladle 10: distance detection unit

20: image acquisition unit 30: image filtering unit

40: comparison unit 50: first determination unit

60: second determination unit 70: warning signal generating unit

80: cooling part

Claims (7)

In the case of fastening the trunnion of a predetermined length (Y) attached to the moving object in the hook trunnion fastening detection device, The first distance A from the specific reference position P to the moving object to which the trunnion is attached is detected before the trunnion is fastened to the hook, and at the specific reference position P after the trunnion is fastened to the hook. A distance detector detecting a second distance B to the hook; An image acquisition unit for acquiring an engagement state of the hook and trunnion as an image; An image filtering unit which detects the image of the hook and the trunnion in the fastened state and extracts the image pattern of the fastened state of the hook and the trunnion by removing other images except the detected outline using the acquired image; A comparison unit comparing the similarity between the extracted image pattern of the fastened state of the hook and trunnion with a preset reference image pattern; If the deviation value X of the first and second distances detected by the distance detection unit is smaller than the length Y of the trunnion, it is determined that the trunnion is fastened to the hook and the deviation value X is the trunnion. A first determination unit determining that the trunnion fastening of the hook is not greater than or equal to the length (Y) of the first determination unit; And If it is determined that the fastening is inadequate in the first decision unit, it is determined that the final fastening incompatibility is judged, and if it is determined that the fastening is suitable in the first decision unit, when the similarity degree between the two image patterns is within the preset similar range, A second judging unit judged as final fastening fit; Trunnion fastening detection device of a hook comprising a. The method of claim 1, wherein the image filtering unit, The outline image of the hook and trunnion having the image data larger than the threshold set using the hook and trunnion image data of the fastening state is distinguished by the first color, and the remaining image having the image data smaller than the threshold is second. Trunnion fastening detection device of the hook, characterized in that for extracting the outline of the hook and trunnion distinguished by color. The method of claim 1, And a cooling unit including a housing formed to surround the distance detection unit and protecting the distance detection unit from heat by using a specific cooling material or an electronic cooling element. The method of claim 1, The trunnion fastening detection device of the hook, characterized in that the image acquisition unit is a CCD camera that performs a high-speed data processing. The method of claim 1, The trunnion fastening detection device of the hook, characterized in that it further comprises a warning signal generating unit for generating a warning signal when it is determined that the fastening inadequate in the first determination unit or the final fastening inconsistency in the second determination unit. The method of claim 1, wherein the comparison unit, The trunnion fastening detection device of the hook, characterized in that the degree of similarity between the extracted image pattern of the fastening state of the hook and trunnion and the preset reference image pattern as a percentage. The method of claim 6, wherein the second determination unit, Trunnion fastening detection device of the hook, characterized in that determined as the final fastening if the percentage of similarity is in the range 70% ~ 100%.