WO2014047840A1 - Procédé de commande de grue, système et grue basés sur un traitement d'image - Google Patents

Procédé de commande de grue, système et grue basés sur un traitement d'image Download PDF

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Publication number
WO2014047840A1
WO2014047840A1 PCT/CN2012/082181 CN2012082181W WO2014047840A1 WO 2014047840 A1 WO2014047840 A1 WO 2014047840A1 CN 2012082181 W CN2012082181 W CN 2012082181W WO 2014047840 A1 WO2014047840 A1 WO 2014047840A1
Authority
WO
WIPO (PCT)
Prior art keywords
hoisting mechanism
rope
reel
data matrix
winding state
Prior art date
Application number
PCT/CN2012/082181
Other languages
English (en)
Chinese (zh)
Inventor
阳云华
李桂芳
李宇力
何首文
Original Assignee
中联重科股份有限公司
湖南中联重科专用车有限责任公司
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 中联重科股份有限公司, 湖南中联重科专用车有限责任公司 filed Critical 中联重科股份有限公司
Priority to PCT/CN2012/082181 priority Critical patent/WO2014047840A1/fr
Publication of WO2014047840A1 publication Critical patent/WO2014047840A1/fr

Links

Classifications

    • 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
    • B66D1/485—Control devices automatic 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
    • B66C13/04—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
    • 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 relates to the field of construction machinery, and in particular to a method, apparatus, control method, system for a crane including a double hoisting mechanism, and a crane including the same. Background technique
  • the existing tower crane generally adopts a double lifting mechanism to lift the object, and each lifting mechanism is composed of a motor, a reel, and a wire rope, and the double lifting mechanism drives a hook beam to lift and lower to lift the object. .
  • the present invention provides a method for determining a winding state of a rope of a reel, the method comprising: acquiring an image reflecting a state of winding of a rope on the reel; decoding and binarizing the image Processing to generate a data matrix; and determining a rope winding state on the reel based on the data matrix.
  • the present invention also provides an apparatus for determining a winding state of a rope of a reel, the apparatus comprising: an image collecting device for acquiring an image reflecting a state of winding of the rope on the reel; and a control device, And used for decoding and binarizing the image to generate a data matrix; and determining a winding state of the rope on the reel based on the data matrix.
  • the present invention also provides a control method for a crane including a double hoisting mechanism, the double hoisting mechanism comprising a first hoisting mechanism and a second hoisting mechanism, the first hoisting mechanism and the second hoisting mechanism Each includes a reel, a cord wound around the reel, and a motor that drives the reel to rotate, the first hoisting mechanism and the second hoisting mechanism for driving the hook beam to ascend and descend, the method comprising: separately obtaining An image of a winding state of the rope on the reel of the first hoisting mechanism and an image reflecting a state of winding of the rope on the reel of the second hoisting mechanism; and decoding and binary values of the acquired image respectively Processing to generate two data matrices; comparing the two data matrices to determine whether the hook beam is tilted; and adjusting the hook when the hook beam is tilted The rotational speed of the motor is such that the hook beam tends to level.
  • the present invention also provides a control system for a crane including a double hoisting mechanism, a first hoisting mechanism and a second hoisting mechanism, the first hoisting mechanism and the second hoisting mechanism
  • the utility model comprises a reel, a rope wound on the reel, and a motor for driving the reel, wherein the first hoisting mechanism and the second hoisting mechanism are used for driving the lifting and lowering of the hook beam
  • the system comprises: an image collecting device And an image for respectively reflecting a winding state of the rope on the reel of the first hoisting mechanism and an image reflecting a winding state of the rope on the reel of the second hoisting mechanism; and a control device for executing The following operations: respectively decoding and binarizing the acquired images to generate two data matrices; comparing the two data matrices to determine whether the hook beam is tilted; and tilting the hook beam
  • the rotational speed of the motor is adjusted such that the hook beam tends to be horizontal.
  • the present invention also provides a crane including the above-described control system for a crane including a double hoisting mechanism.
  • FIG. 1 is a schematic structural view of a system for determining a winding state of a rope of a reel according to the present invention
  • FIG. 2 is a schematic view showing a layout of an image collecting device and a reel
  • Figure 3 is an image acquired by image acquisition
  • Figure 4 is a flow chart of image processing
  • Figure 5 is a data matrix corresponding to the image shown in Figure 3;
  • 6A, 6B and 6C are respectively a schematic diagram of a rope winding state being a normal state, a stacked rope state, and a hopping state, and corresponding data matrices;
  • FIG. 7A and 7B are respectively schematic diagrams of the winding state of the rope in the synchronous and unsynchronized state of the double lifting mechanism;
  • FIG. 8 is a schematic view showing the arrangement of the inclination sensor on the hook beam;
  • 9A, 9B, 9C, and 9D show the hook of the crane with the double hoisting mechanism in the top a schematic diagram of the warning position, the lifting and deceleration position, the lifting emergency braking position and the top position and the corresponding data matrix;
  • FIG. 10A, FIG. 10B, FIG. 10C, and FIG. 10D are respectively a schematic diagram of a hook of a crane having a single hoisting mechanism in a top warning position, a lifting and deceleration position, a lifting emergency braking position, and a topping position, respectively, and corresponding data matrices. . Description of the reference numerals
  • FIG. 1 is a schematic structural view of a system for determining a winding state of a rope of a reel according to the present invention.
  • the present invention provides a control system for a crane including a double hoisting mechanism, the double hoisting mechanism including a first hoisting mechanism and a second hoisting mechanism, the first hoisting mechanism and the second
  • the hoisting mechanism comprises a reel, a rope wound on the reel, and a motor for driving the reel, the first hoisting mechanism and the second hoisting mechanism for driving the lifting and lowering of the hook beam
  • the image capturing device 10 is configured to respectively acquire an image that reflects a winding state of the rope on the reel of the hoisting mechanism for the double hoisting mechanism; and the control device 100 is configured to: perform the following operations on the acquired image Performing decoding and binarization processing respectively to generate two data matrices; comparing the two data matrices to determine whether the hook beam is tilted; and adjusting the motor when the hook
  • FIG. 2 is a schematic view showing the layout of an image capture device and a reel.
  • the reels 60a, 60b (the two reels are respectively wound with ropes 70a and 70b) are respectively provided with an image collecting device 10a, 10b, which can collect the arrangement of the ropes on the reel.
  • the image acquired by the image capture device is shown in Figure 3, reference numeral 80 represents the reel bottom plate, and reference numeral 70 represents the tether wound on the reel bottom plate.
  • Figure 4 is a flow chart of image processing. As shown in Fig. 4, first, an image which reflects the state of winding of the rope on the reel is obtained by the image pickup device. Thereafter, the control device decodes and binarizes the image to generate a data matrix (the data matrix corresponding to the image shown in FIG. 3 is as shown in FIG. 5, and the value in the data matrix corresponds to the pixel in the image. a pixel of the display object (eg, a rope or a bottom plate, etc.) in the image corresponds to data "1" in the data matrix, and pixels of the object not displayed in the image (eg, pixels indicating blank) correspond to the data matrix The data “0” can of course be reversed.
  • a pixel of the display object eg, a rope or a bottom plate, etc.
  • the pixel of the display object in the image corresponds to the data “0” in the data matrix
  • the pixel of the object not displayed in the image corresponds to the data in the data matrix. ').
  • the rope winding state on the reel can be determined based on the data matrix, which will be described in detail below.
  • control device may further perform grayscale and denoising processing on the image, thereby improving the accuracy of image binarization.
  • FIG. 6A, 6B, and 6C are schematic diagrams showing a state in which the rope winding state is a normal state, a stacked rope state, and a hopping state, and corresponding data matrices, and FIG. 6A, FIG. 6B, and FIG. 6C and the following figures are respectively illustrated.
  • 7A the rope winding state shown in Fig. 7B shows only the upper half of the reel, and the lower half is not shown, and the corresponding data matrix is only for the upper half.
  • the value "0" represents the absence of an object (e.g., a rope or a bottom plate, etc.), and the value "1" represents an existing object.
  • the left and right columns in the data matrix represent the baffles on the reel bottom plate.
  • the fourth row can represent the arrangement of the ropes on the surface of the reel, which is Rule arrangement;
  • the third row and the fourth row may represent the arrangement of the ropes on the surface of the reel, which is a stacked rope state, that is, an irregular arrangement;
  • the fourth row It can represent the arrangement of the ropes on the surface of the reel, which is a state of hopping, that is, an irregular arrangement.
  • the winding state of the rope on the reel can be determined based on the data matrix.
  • determining the rope winding state on the reel based on the data matrix may include: Selecting data of a predetermined area as a judgment matrix in the data matrix (refer to the matrix defined by the frame of the data matrix shown in FIG. 6A, FIG. 6B, and FIG. 6C); determining the reel according to the numerical distribution rule of the judgment matrix The rope on the winding state.
  • the judgment matrix the value "0" represents the absence of a rope, and the value "1" represents the presence of a rope, in the case where the judgment matrix represents a discontinuity in the row of the rope winding state on the reel, Then, it is determined that the winding state of the rope on the reel is in a chaotic state.
  • the present invention is not limited thereto, and any method for determining the winding state of the rope based on the data matrix is applicable to this.
  • a judgment matrix may be adopted.
  • the value "0" represents the absence of an object (for example, a rope, a baffle or other object) and the value "1" represents the existence of the object, or the value "0" represents the presence of the object and the value "1" represents the absence of the object.
  • the judgment matrix the value "0" represents the absence of an object (for example, a rope, a baffle or other object) and the value "1" represents the existence of the object, or the value "0" represents the presence of the object and the value "1" represents the absence of the object.
  • FIG. 7A and 7B are schematic diagrams showing the winding state of the rope in the synchronized and unsynchronized state of the double hoisting mechanism, respectively.
  • the data matrix obtained according to the image acquired by the image capturing device should be the same, and in the case where the hoisting mechanism is not synchronized, according to the image collecting device The data matrix obtained from the acquired images should be different. Thereby, it can be judged whether or not the hoisting mechanism is synchronized, and the hook beam is necessarily inclined when the hoisting mechanism is not synchronized.
  • FIG. 8 is a schematic view showing the arrangement of the inclination sensor on the hook beam.
  • the tilt sensor 20, the solar panel 22, the battery 23, and the wireless transmission module 24 are all located on the hook beam 21, and the solar panel 22 and the battery 23 supply power to the tilt sensor 20 and the wireless transmission module 24, and the tilt sensor
  • the angle of inclination of the hook beam 21 can be detected and transmitted to the control device via the wireless transmission module 24.
  • the control device can determine whether the hook beam is tilted according to the received tilt angle.
  • the current detecting device 30 can detect the current of the motor of the double hoisting mechanism and transmit the current magnitude of the current to the control device.
  • the control device may determine that the hook beam is tilted when the absolute value of the difference of the currents is greater than a preset value.
  • the current can represent the output torque of the motor.
  • the output torque of the double hoisting mechanism is different, which causes the fact. That is, the hook beam is inclined, so that the torque applied to the double lifting mechanism by the lifting object is different, and the output torque of the double lifting mechanism is different. In this way, it is also possible to determine whether the hook beam is tilted.
  • the motor speed of the double lifting mechanism should be adjusted to make the hook beam level. For example, when the hook beam is inclined toward the lifting mechanism, the lifting speed of the lifting mechanism is too slow, and the rotation speed of the motor of the lifting mechanism can be increased, and the hook beam can be leveled (according to the inclination of the inclination sensor output) When judging), the motor speed of the hoisting mechanism is adjusted to be the same as the motor speed of the other hoisting mechanism.
  • control device is further configured to: determine, according to the data matrix, a rope winding state of the hoisting mechanism; a rope winding state of any of the double hoisting mechanisms is disordered In the rope state, the double hoisting mechanism is controlled to stop driving the hook beam to lift.
  • control device can control the double hoisting mechanism to lower the hoisting weight, re-arrange the rope by manual intervention, and return the rope winding state to the normal state.
  • the winding state of the rope can be identified by means of image acquisition by the image collecting device, and in the case of a disordered rope, the problem of the rope can be solved in time to avoid a safety accident.
  • control device is further configured to: perform at least one of: operating a data matrix of the two data matrices with a top warning position data matrix (eg, the top warning The position data matrix can be compared for the data matrix shown in FIG.
  • one of the two data matrices is The matrix is compared with a hoisting deceleration position data matrix (eg, the hoist deceleration position data matrix can be the data matrix shown in FIG. 9B), and when the two are equal and the double hoisting mechanism is not decelerating, the Double lifting mechanism deceleration; and a data matrix of the two data matrices and a lifting emergency braking position data matrix (eg, the lifting emergency braking position data matrix may be the data matrix shown in FIG.
  • a hoisting deceleration position data matrix eg, the hoist deceleration position data matrix can be the data matrix shown in FIG. 9B
  • a data matrix of the two data matrices and a lifting emergency braking position data matrix eg, the lifting emergency braking position data matrix may be the data matrix shown in FIG.
  • 9C For comparison, and when the two are equal and the double hoisting mechanism does not stop lifting, the brake mechanism 50 is controlled to brake and brake the double hoisting mechanism.
  • the hook beam is at a certain height, the data matrix obtained by the image acquisition device is obtained, and the height of the hook beam can be determined by the image acquisition state, and the height is equal to the predetermined height.
  • the corresponding control operation is carried out to avoid the top of the hook beam.
  • 9A, 9B, 9C, and 9D are schematic diagrams and corresponding data matrices of the crane with the double hoisting mechanism in the top warning position, the hoisting deceleration position, the hoisting emergency braking position, and the topping position, respectively.
  • FIG. 9A, FIG. 9B, FIG. 9C and The data matrix shown in Fig. 9D is a data matrix corresponding to the winding state of the upper half of the reel.
  • the solution of the present invention can solve three problems by combining a plurality of kinds of information (ie, image information, tilt information, current size information): (1) tilting of the anti-hook beam; (2) anti-corruption rope; (3) The anti-hook beam is topped.
  • the rope winding state of the reel is determined here, whether the chaotic rope is determined according to the winding state, and the position of the hook is determined according to the winding state, and is not limited to the crane, and can also be applied to the hoisting machine such as the rotary drilling rig. Constructed in the device.
  • the anti-corruption rope and the anti-hook beam top are not limited to the double lifting mechanism, and the single lifting mechanism is also applicable.
  • FIG. 10A, FIG. 10B, FIG. 10C and FIG. 10D respectively have a single lifting mechanism.
  • the crane's hook is in the top warning position, the lifting and deceleration position, the lifting emergency braking position and the top position and the corresponding data matrix.
  • the single lifting mechanism may not directly involve the hook beam, but directly drives the hook lifting .
  • the present invention also provides a method for determining a winding state of a rope of a reel, the method comprising: acquiring an image reflecting a state of winding of the rope on the reel; decoding and binarizing the image Processing to generate a data matrix; and determining a rope winding state on the reel based on the data matrix.
  • the present invention also provides a control method for a crane including a double hoisting mechanism, the hoisting mechanism comprising a reel, a rope wound on the reel, and a motor for driving the reel, the pair a lifting mechanism for driving the hook beam to lift and lower, the method comprising: acquiring, for the double lifting mechanism, an image that reflects a winding state of the rope on the reel of the lifting mechanism; Performing decoding and binarization processing respectively to generate two data matrices; comparing the two data matrices to determine whether the hook beam is tilted; and adjusting the motor when the hook beam is tilted
  • the rotational speed is such that the hook beam tends to be horizontal.
  • the present invention also provides a crane comprising the above-described control system for a crane including a double hoisting mechanism.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

La présente invention concerne un procédé de commande de grue, un système et une grue basés sur un traitement d'image. Selon l'invention, le procédé de commande fait appel : à l'obtention, dans le double mécanisme de levage d'une grue, de l'image qui peut refléter l'état respectif d'enroulement des câbles enroulés sur le tambour du mécanisme de levage; au décodage de l'image obtenue et à la binarisation de l'image de façon à générer deux matrices respectives de données; à la comparaison des deux matrices de données de façon à évaluer si le mécanisme de transition à crochet s'incline; et au réglage de la vitesse de rotation du moteur de manière à ce que le mécanisme de transition à crochet tende à se stabiliser lorsqu'il s'incline. Ladite solution technique selon l'invention permet d'évaluer, par traitement de l'image, si le mécanisme de transition à crochet s'incline et de régler la vitesse de rotation du moteur dans le cas de l'inclinaison de manière à ce que le mécanisme de transition à crochet tende à se stabiliser, ce qui évite les problèmes provoqués par l'inclinaison du mécanisme de transition à crochet.
PCT/CN2012/082181 2012-09-27 2012-09-27 Procédé de commande de grue, système et grue basés sur un traitement d'image WO2014047840A1 (fr)

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PCT/CN2012/082181 WO2014047840A1 (fr) 2012-09-27 2012-09-27 Procédé de commande de grue, système et grue basés sur un traitement d'image

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PCT/CN2012/082181 WO2014047840A1 (fr) 2012-09-27 2012-09-27 Procédé de commande de grue, système et grue basés sur un traitement d'image

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WO2014047840A1 true WO2014047840A1 (fr) 2014-04-03

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3323765A1 (fr) * 2016-11-22 2018-05-23 Manitowoc Crane Companies, LLC Detection et analyse optique de palan et de câble de grue
US10544012B2 (en) 2016-01-29 2020-01-28 Manitowoc Crane Companies, Llc Visual outrigger monitoring system

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Publication number Priority date Publication date Assignee Title
JPH0256397A (ja) * 1988-08-22 1990-02-26 Toshiba Corp クレーンのワイヤロープ点検装置
JPH08188333A (ja) * 1995-01-11 1996-07-23 Sumitomo Electric Ind Ltd 線状体の巻き取り方法および装置
CN201999675U (zh) * 2011-02-16 2011-10-05 长沙中联重工科技发展股份有限公司 塔式起重机卷筒监控装置
CN101934982B (zh) * 2010-09-29 2012-05-23 上海海事大学 基于图像传感器的双吊具桥吊定位方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0256397A (ja) * 1988-08-22 1990-02-26 Toshiba Corp クレーンのワイヤロープ点検装置
JPH08188333A (ja) * 1995-01-11 1996-07-23 Sumitomo Electric Ind Ltd 線状体の巻き取り方法および装置
CN101934982B (zh) * 2010-09-29 2012-05-23 上海海事大学 基于图像传感器的双吊具桥吊定位方法
CN201999675U (zh) * 2011-02-16 2011-10-05 长沙中联重工科技发展股份有限公司 塔式起重机卷筒监控装置

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10544012B2 (en) 2016-01-29 2020-01-28 Manitowoc Crane Companies, Llc Visual outrigger monitoring system
EP3323765A1 (fr) * 2016-11-22 2018-05-23 Manitowoc Crane Companies, LLC Detection et analyse optique de palan et de câble de grue
JP2018138489A (ja) * 2016-11-22 2018-09-06 マニタウォック クレイン カンパニーズ， エルエルシーＭａｎｉｔｏｗｏｃ Ｃｒａｎｅ Ｃｏｍｐａｎｉｅｓ， Ｌｌｃ クレーンのホイスト及びロープの光学的な検出及び分析
US10717631B2 (en) 2016-11-22 2020-07-21 Manitowoc Crane Companies, Llc Optical detection and analysis of crane hoist and rope
US10829347B2 (en) 2016-11-22 2020-11-10 Manitowoc Crane Companies, Llc Optical detection system for lift crane
US11124392B2 (en) 2016-11-22 2021-09-21 Manitowoc Crane Companies, Llc Optical detection and analysis for boom angles on a crane
US11130658B2 (en) 2016-11-22 2021-09-28 Manitowoc Crane Companies, Llc Optical detection and analysis of a counterweight assembly on a crane
JP7152145B2 (ja) 2016-11-22 2022-10-12 マニタウォック クレイン カンパニーズ， エルエルシー クレーンのホイスト及びロープの光学的な検出及び分析

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