WO2021000942A1 - 起重机配重块对位检测及控制方法、设备及起重机 - Google Patents

起重机配重块对位检测及控制方法、设备及起重机 Download PDF

Info

Publication number
WO2021000942A1
WO2021000942A1 PCT/CN2020/100159 CN2020100159W WO2021000942A1 WO 2021000942 A1 WO2021000942 A1 WO 2021000942A1 CN 2020100159 W CN2020100159 W CN 2020100159W WO 2021000942 A1 WO2021000942 A1 WO 2021000942A1
Authority
WO
WIPO (PCT)
Prior art keywords
counterweight
crane
relative
mounting holes
positioning pin
Prior art date
Application number
PCT/CN2020/100159
Other languages
English (en)
French (fr)
Inventor
谭智仁
范卿
曾杨
徐柏科
武鸿
Original Assignee
中联重科股份有限公司
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 filed Critical 中联重科股份有限公司
Priority to US17/624,780 priority Critical patent/US12054362B2/en
Priority to EP20834929.0A priority patent/EP3995435B1/en
Publication of WO2021000942A1 publication Critical patent/WO2021000942A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/72—Counterweights or supports for balancing lifting couples
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—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
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/72—Counterweights or supports for balancing lifting couples
    • B66C23/74—Counterweights or supports for balancing lifting couples separate from jib
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/168—Segmentation; Edge detection involving transform domain methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/194—Segmentation; Edge detection involving foreground-background segmentation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20048—Transform domain processing
    • G06T2207/20061—Hough transform
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20048—Transform domain processing
    • G06T2207/20064—Wavelet transform [DWT]

Definitions

  • the invention relates to the field of construction machinery, and more specifically, to a crane counterweight alignment detection and control method, equipment and crane.
  • the installation of the crane counterweight is one of the very important links in the large crane hoisting system. It is used for the crane to maintain the balance of the vehicle during the hoisting process.
  • the counterweight alignment process of the crane is mainly realized by manual manual operation, which leads to low efficiency of the entire construction process, and there are also safety hazards and safety accidents.
  • the Chinese invention patent application CN 106064794A published on November 2, 2016 discloses a "crane-based counterweight bracket and its intelligent control system, and its self-lifting method", which can be used by the crane to hoist the counterweight bracket by itself.
  • hoist the counterweight that needs to be installed above the bracket to self-lift the counterweight; after the counterweight is lifted into place by the counterweight lifting cylinder, the on-site installer can use the ladder on the side of the counterweight bracket to stand on the counterweight.
  • On the heavy bracket complete the fixing of the counterweight and the pin at the tail of the turntable.
  • the process of installing the counterweight still requires human intervention. Manually hoisting the counterweight to be installed on the bracket does not fundamentally solve the function of automatically aligning the counterweight to the designated position.
  • the Chinese utility model patent CN 201952114U authorized and announced on August 31, 2011 discloses "a smart crane with machine vision and positioning system", which uses a CCD camera to capture images, and the image capture card simulates the captured images. It is converted into a digital signal and input to a computer, and then an image analysis algorithm is used to quickly identify and locate the cylindrical target.
  • the technical solution disclosed in the utility model patent only recognizes and locates cylindrical objects, and the positioning object is single, and does not consider the recognition and positioning of irregular objects (such as counterweights).
  • this field continues a method and equipment that can realize automatic alignment detection and control installation of crane counterweights.
  • the patent of the invention proposes a crane counterweight alignment detection and control method, equipment and crane, which can automatically detect the position of the counterweight during hoisting, and perform alignment analysis and guidance operations, which can effectively increase the counterweight Block installation efficiency.
  • the present invention provides a method for detecting and controlling the counterweight of a crane.
  • the counterweight is provided with a mounting hole for matching with a positioning pin on the crane.
  • the method includes: detecting the balance of the counterweight Center position, and calculate the relative offset between the center position and the position of the positioning pin; detect the relative position of the mounting hole on the counterweight and the positioning pin, and calculate according to the position
  • the relative rotation angle of the counterweight is such that the mounting hole is positioned relative to the positioning pin; according to the relative offset and the relative rotation angle, the counterweight is controlled to move so that the The mounting holes on the counterweight are aligned and mounted on the positioning pins.
  • the counterweight has at least two mounting holes for matching with at least two positioning pins on the crane; the position of the positioning pins is between the at least two positioning pins The center position; the detecting the relative orientation of the mounting hole on the counterweight and the positioning pin, and calculating the relative rotation angle of the counterweight according to the orientation includes: detecting the at least two mounting holes The relative rotation angle of the counterweight is calculated according to the positions of the at least two mounting holes and the positions of the at least two positioning pins.
  • the detecting the center position of the counterweight and the detecting the relative orientation of the mounting hole on the counterweight and the positioning pin includes: collecting an image of the counterweight, and Segment one or more foreground target regions from the image; extract edge features of the one or more foreground target regions; extract the edge of each of the one or more foreground target regions The feature is matched with the edge feature of the weight block in the pre-established standard model library, and the matching value is calculated; when the matching value is greater than the threshold, it is determined that the corresponding foreground target area corresponds to the weight block And according to the corresponding foreground target area corresponding to the counterweight block, determine the center position of the counterweight block and the relative orientation of the mounting hole on the counterweight block and the positioning pin.
  • the determining the center position of the counterweight according to the corresponding foreground target area corresponding to the counterweight includes: calculating the minimum bounding rectangle of the corresponding foreground target area, and calculating the center of the rectangle Position as the center position of the counterweight.
  • the counterweight has at least two mounting holes for matching with at least two positioning pins on the crane;
  • the detecting the relative orientation of the mounting hole on the counterweight and the positioning pin, and calculating the relative rotation angle of the counterweight according to the orientation includes: detecting the positions of the at least two mounting holes and The positions of the at least two positioning pins are calculated based on the positions of the at least two mounting holes and the positions of the at least two positioning pins to calculate the relative rotation angle of the counterweight;
  • the positions of the two mounting holes include: detecting the round hole object in the corresponding foreground target area according to the Hough circle transformation, and calculating the center coordinates of the round hole object by sub-pixel edge fitting, as the at least two The location of each mounting hole.
  • the segmenting one or more foreground target regions from the image includes: using wavelet transform to transform the image in the time domain space into the frequency domain space for filtering and denoising processing; and filtering the The noisy image performs one or more of the following operations to segment one or more foreground target regions: edge detection, morphological processing, and color feature extraction based on HSV color space.
  • the filtering and denoising processing includes: determining a high frequency part and a low frequency part of the image in the frequency domain space; in the high frequency part, when the decomposition coefficient is less than a first threshold, the decomposition coefficient is multiplied by A positive value less than 1 to weaken details; and in the low frequency part, when the decomposition coefficient is greater than the second threshold, the decomposition coefficient is multiplied by a value greater than 1 to emphasize the outline.
  • controlling the movement of the counterweight according to the relative offset and the relative rotation angle includes: controlling the slewing mechanism, the luffing mechanism and/or the hoist of the crane according to the relative offset
  • the structure is operated so that the relative offset is within the preset alignment error range; and the suction member that controls the rotating mechanism is lifted upward to be adsorbed on the bottom end of the counterweight, and the control is controlled according to the relative rotation angle.
  • the suction component rotates to drive the counterweight to rotate; and the suction component is controlled to be lowered so that the mounting holes on the counterweight are aligned and installed on the positioning pins.
  • the present invention also provides a crane counterweight alignment detection and control device, the counterweight has mounting holes for matching with the positioning pins on the crane, and the device includes: a detection device, It is used to detect the center position of the counterweight and the relative position of the mounting hole on the counterweight and the positioning pin; the control device is used to perform the following operations: according to the center position of the counterweight And the position of the positioning pin, and calculate the relative offset between the two positions; according to the relative orientation, calculate the relative rotation angle of the counterweight, so that the mounting hole and the positioning pin Relative position; according to the relative offset and the relative rotation angle, the counterweight is controlled to move, so that the mounting holes on the counterweight are aligned and installed on the positioning pins.
  • a detection device It is used to detect the center position of the counterweight and the relative position of the mounting hole on the counterweight and the positioning pin
  • the control device is used to perform the following operations: according to the center position of the counterweight And the position of the positioning pin, and calculate the relative offset between the two positions;
  • the counterweight has at least two mounting holes for matching with at least two positioning pins on the crane;
  • the position of the positioning pin is the center position between the at least two positioning pins; the detecting the relative position of the mounting hole on the counterweight and the positioning pin, and calculating the position according to the position
  • the relative rotation angle of the counterweight includes detecting the positions of the at least two mounting holes and the positions of the at least two positioning pins, and detecting the positions of the at least two mounting holes and the positions of the at least two positioning pins. Position, calculate the relative rotation angle of the counterweight.
  • the detecting the center position of the counterweight and the detecting the relative orientation of the mounting hole on the counterweight and the positioning pin includes: collecting an image of the counterweight, and Segment one or more foreground target regions from the image; extract edge features of the one or more foreground target regions; extract the edge of each of the one or more foreground target regions The feature is matched with the edge feature of the weight block in the pre-established standard model library, and the matching value is calculated; when the matching value is greater than the threshold, it is determined that the corresponding foreground target area corresponds to the weight block And according to the corresponding foreground target area corresponding to the counterweight block, determine the center position of the counterweight block and the relative orientation of the mounting hole on the counterweight block and the positioning pin.
  • the determining the center position of the counterweight according to the corresponding foreground target area corresponding to the counterweight includes: calculating the minimum bounding rectangle of the corresponding foreground target area, and calculating the center of the rectangle Position as the center position of the counterweight.
  • the counterweight has at least two mounting holes for matching with at least two positioning pins on the crane;
  • the detecting the relative orientation of the mounting hole on the counterweight and the positioning pin, and calculating the relative rotation angle of the counterweight according to the orientation includes: detecting the positions of the at least two mounting holes and The positions of the at least two positioning pins are calculated based on the positions of the at least two mounting holes and the positions of the at least two positioning pins to calculate the relative rotation angle of the counterweight;
  • the positions of the two mounting holes include: detecting the round hole object in the corresponding foreground target area according to the Hough circle transformation, and calculating the center coordinates of the round hole object by sub-pixel edge fitting, as the at least two The location of each mounting hole.
  • the segmenting one or more foreground target regions from the image includes: using wavelet transform to transform the image in the time domain space into the frequency domain space for filtering and denoising processing; and filtering the The noisy image performs one or more of the following operations to segment one or more foreground target regions: edge detection, morphological processing, and color feature extraction based on HSV color space.
  • the filtering and denoising processing includes: determining a high frequency part and a low frequency part of the image in the frequency domain space;
  • the decomposition coefficient when the decomposition coefficient is less than the first threshold, the decomposition coefficient is multiplied by a positive value less than 1 to weaken details; and in the low frequency part, when the decomposition coefficient is greater than the second threshold, the decomposition coefficient is The decomposition factor is multiplied by a value greater than 1 to emphasize the outline.
  • controlling the movement of the counterweight according to the relative offset and the relative rotation angle includes: controlling the slewing mechanism, the luffing mechanism and/or the hoist of the crane according to the relative offset
  • the structure is operated so that the relative offset is within the preset alignment error range; and the suction member that controls the rotating mechanism is lifted upward to be adsorbed on the bottom end of the counterweight, and the control is controlled according to the relative rotation angle.
  • the suction component rotates to drive the counterweight to rotate; and the suction component is controlled to be lowered so that the mounting holes on the counterweight are aligned and installed on the positioning pins.
  • the device further includes the rotating mechanism, the rotating mechanism comprising: the suction component for absorbing the counterweight; a telescopic component for driving the suction component to expand and contract; and a rotating component for It drives the adsorption component to rotate.
  • the present invention also provides a crane, which includes the above-mentioned crane counterweight alignment detection and control equipment.
  • a machine-readable storage medium has instructions stored on the machine-readable storage medium, and the instructions are used to make a machine execute the above crane counterweight alignment detection and control method.
  • the counterweight alignment process of the crane is mainly realized by manual manual operation, and the present invention can realize the real-time positioning detection of the counterweight position of the counterweight during the hoisting process, and calculate the difference between the counterweight and the designated placement position. Then, according to the relative offset and rotation angle, by controlling the movement of the slewing mechanism, hoisting mechanism and/or luffing mechanism of the crane and controlling the movement of an additional rotating mechanism to achieve the matching Automatic alignment of heavy blocks without manual intervention can meet the requirements of digital construction.
  • Figure 1 is a schematic diagram of the working process of a crane counterweight alignment detection and control device provided by an embodiment of the present invention
  • FIG. 2 is a working flow chart of a crane counterweight alignment detection and control method according to an embodiment of the present invention
  • FIG. 3 is a schematic structural diagram of a rotating mechanism provided by an embodiment of the present invention.
  • Figure 4 is a working flow chart of a crane counterweight alignment detection and control method according to an embodiment of the present invention.
  • Figure 5A is a schematic diagram of the working process of the slewing mechanism of the crane rotating to move the counterweight
  • Figure 5B is a schematic diagram of the working process of the crane luffing mechanism luffing to move the counterweight
  • Figure 5C is a schematic diagram of the working process of the rotating mechanism.
  • Fig. 5D is a schematic diagram of the working process of the rotating mechanism driving the counterweight to select the positioning pin.
  • the mounting hole on the counterweight to be matched with the positioning pin on the crane as an example to describe the embodiment of the present invention
  • the "locating pin” and “mounting hole” are at least a specific installation and coordination method for the counterweight in the crane.
  • Other installation and coordination methods that can realize the installation of the configuration block on the crane are also possible, and the positions of the two are interchangeable
  • the "locating pin” can be located on the "counterweight”
  • the "mounting hole” can be located on the "crane”.
  • the following embodiments mention that the respective numbers of "locating pins” and “mounting holes” are two respectively, but the present invention is not limited to this, and other numbers of “locating pins” and “mounting holes” are also applicable.
  • the following embodiments refer to the "relative orientation of the mounting hole and the positioning pin", and the detection of the "relative orientation” is achieved by the position detection of two "mounting holes” and two “positioning pins”
  • the present invention is not limited to this, and the relative orientation between the assembled parts can also be identified by identifying the relative orientations of the assembled parts of different shapes.
  • the shape of the "mounting hole” is a "round hole”, but in fact it can be a hole of other shapes, and the present invention is not limited to this.
  • the solution of the present invention is not limited to the specific configuration given by way of example in the following description, and any manner that can realize the matching of the counterweight with the corresponding installation position of the counterweight on the crane is possible.
  • Fig. 1 is a schematic diagram of the working process of a crane counterweight alignment detection and control device provided by an embodiment of the present invention.
  • the counterweight 10 is hoisted by the boom 30 of the crane.
  • the counterweight 10 has two mounting holes K1 and K2 for paired installation with the positioning pins B1 and B2 on the crane, respectively.
  • the camera 40 is installed beside the positioning pins B1 and B2 with the lens facing upward to capture images of the counterweight 10 hoisted by the crane boom 30 above it.
  • a distance measuring sensor 20 is installed at the end of the boom 30 of the crane to record the height H of the counterweight from the end of the boom in real time.
  • This H value can be used in the coordinate conversion process described below, which can be combined with Zhang Zhengyou's calibration
  • the formula converts the two-dimensional image coordinates of the target point into three-dimensional space coordinates.
  • a rotating mechanism 50 is installed between the two positioning pins B1 and B2.
  • the rotating mechanism 50 can perform up-and-down expansion and rotation to drive the counterweight to rotate, so that the mounting holes on the counterweight can be installed in the correct position. Said on the positioning pin.
  • the structure and working principle of the rotating mechanism 50 will be described in detail below in conjunction with FIG. 3.
  • Fig. 2 is a working flow chart of a crane counterweight alignment detection and control method provided by an embodiment of the present invention.
  • the crane counterweight alignment detection and control method provided by an embodiment of this case includes: detecting the center position of the counterweight, and calculating the relative deviation between the position and the position of the positioning pin Shift; detect the relative orientation of the mounting hole on the counterweight and the positioning pin, and calculate the relative rotation angle of the counterweight based on the orientation, so that the mounting hole and the positioning The pins are in relative position; according to the relative offset and the relative rotation angle, the movement of the counterweight is controlled, so that the mounting holes on the counterweight are aligned and installed on the positioning pins.
  • the invention can realize the real-time positioning detection of the counterweight position of the counterweight in the hoisting process, calculate the relative offset and rotation angle between the counterweight and the designated placement position, and then calculate the relative offset and rotation according to the relative offset and rotation Angle, by controlling the movement of the slewing mechanism, hoisting mechanism and/or luffing mechanism of the crane and controlling the movement of an additional rotating mechanism to achieve automatic counterweight alignment without manual intervention, which can meet the requirements of digital construction.
  • Fig. 3 is a schematic structural diagram of a rotating mechanism provided by an embodiment of the present invention.
  • the rotating mechanism 50 includes three parts: a suction part 51, a telescopic part 52 and a rotating part 53.
  • the suction component 51 is located at the initial position P1; when the counterweight 10 reaches above the positioning pins B1 and B2, the telescopic component 52 of the rotating mechanism 50 can be controlled to lift upwards , To lift the suction component 51 up to a designated position (for example, the P2 position shown in FIG.
  • the adsorption component 51 can be a device that has magnetism or can generate magnetism through electricity, which can adsorb the counterweight. Of course, other forms of devices that can adsorb the counterweight can also be used.
  • the telescopic component 52 may be a hydraulic oil cylinder, of course, other telescopic components such as electric telescopic rods may also be used.
  • the obtained counterweight center and the two circular hole centers in the two-dimensional plane coordinate system can be converted
  • the coordinates in the three-dimensional world coordinate system, combined with the three-dimensional coordinate points of the positioning pin, can calculate the relative offset and rotation angle between the current counterweight and the positioning pin, and finally control the rotating mechanism of the crane according to the calculation result , Luffing mechanism, hoisting mechanism operation and rotating mechanism rotation operation to achieve the final counterweight alignment.
  • Fig. 4 is a working flow chart of a crane counterweight alignment detection and control method provided by an embodiment of the present invention.
  • the crane counterweight alignment detection and control method provided by an embodiment of the present invention may include the following steps: First, according to the system schematic diagram, fix the camera and the ranging sensor, and specify the camera’s world coordinate system and The world coordinate system of the counterweight; after that, the coordinate coefficient conversion model is established; afterwards, the image acquisition and processing of the counterweight is carried out to determine the relative offset and rotation angle between the counterweight and the positioning pin; The offset and rotation angle control the operation of the crane's rotating mechanism, luffing mechanism, hoisting mechanism, and rotating mechanism to achieve the final counterweight alignment. details as follows:
  • the camera model formula is:
  • ⁇ u and ⁇ v are the scale factors on the u-axis and v-axis of the image, (u 0 , v 0 ) are the main point coordinates, and s is the parameter describing the tilt degree of the two image coordinate axes.
  • [R t] is called the external parameters of the camera, it is composed of rotation matrix and translation vector, [uv] represents the coordinate value of a point in the image plane, and [Xw Yw Zw] represents that a point in the image plane corresponds to the world coordinates Coordinate values in the system;
  • the process mainly includes analyzing the data collected by the image, extracting and identifying the counterweight object, and calculating the relative offset of the counterweight object relative to the specified position. details as follows:
  • the foreground target area to be recognized is matched with features such as Hu invariant moments, contour trees, and chain code encoding histograms of the standard model library that have the characteristics of scale scaling and rotation invariance.
  • features such as Hu invariant moments, contour trees, and chain code encoding histograms of the standard model library that have the characteristics of scale scaling and rotation invariance.
  • the characteristics of invariance characteristics are used to determine whether there is a weight object in the area to be identified based on the three characteristics, but the present invention is not limited to this, and the above three characteristics and other scale scaling known in the art can be used 1. Any combination of one or more of the characteristics of rotation invariance can realize the judgment of whether there is a counterweight object in the area to be identified.
  • a and B are respectively the foreground target area to be recognized and the standard area corresponding to the counterweight stored in the standard model database.
  • the feature matching value of the foreground target area to be recognized and the standard model library is greater than a certain threshold, it can be determined that the foreground target area to be recognized is a counterweight object; otherwise, it can be determined that no counterweight object is detected.
  • the counterweight is moved above the positioning pin, and the center coordinate point P center of the counterweight is Align the center of the two positioning pins P′ center :
  • O is the center of slewing.
  • O is the luffing center.
  • the counterweight can be moved from any space A position to a certain height B position directly above the positioning pin, so that the center point of the counterweight P center (x, y) and the two positioning pin centers P
  • the relative offset of'center (x',y') is within the alignment error range, then as shown in Figure 5C, lift up the rotating mechanism at the center of the two positioning pins until the suction part at the front end of the rotating mechanism is close Hold the counterweight, and then the rotating mechanism rotates the counterweight 10 according to the size and direction of the rotation angle ⁇ until the two circular holes of the counterweight 10 are slightly aligned with the positioning.
  • the calculation method of the rotation angle ⁇ is as follows:
  • the definition k1 (x1, y1) and k2 (x2, y2) are the coordinates of the two positioning pins, and k1' (x1', y1') and k2' (x2', y2') are The center coordinates of the two circular holes of the current counterweight, and the rotation angle ⁇ is calculated from these coordinate points:
  • the registration operation of the counterweight and the positioning pin can be completed, that is, the counterweight is placed on the positioning pin.
  • the solution of the present invention can realize counterweight detection and pose positioning based on machine vision technology; calculate the relative offset according to the center pose coordinates of the counterweight and the center position coordinates of the two positioning pins; according to the center pose of the two circular holes of the counterweight
  • the coordinates and the position coordinates of the two positioning pins calculate the relative rotation angle; according to the relative offset, it is decomposed into the combined movement of crane hoisting, luffing, and rotation to realize the movement of the counterweight from a certain position to the top of the positioning pin; and through a rotating mechanism, When the relative offset is less than a certain threshold, the rotating mechanism is lifted, and the adsorption part of the mechanism adsorbs the counterweight, and then controls the movement of the rotating mechanism according to the calculated rotation angle to achieve the final registration operation between the counterweight and the positioning pin .
  • the control device included in the crane counterweight alignment detection and control equipment provided by the present invention may include a processor and a memory. Various operations performed by the control device can be stored in the memory as a program unit, and the processor is The above-mentioned program unit stored in the memory is executed to realize the corresponding function.
  • the processor contains the kernel, which calls the corresponding program unit from the memory.
  • the kernel can be set with one or more, and the crane counterweight alignment detection and control can be realized by adjusting the kernel parameters.
  • the memory may include non-permanent memory in computer-readable media, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM), and the memory includes at least one Memory chip.
  • RAM random access memory
  • ROM read-only memory
  • flash RAM flash random access memory
  • the embodiment of the present invention provides a storage medium on which a program is stored, and when the program is executed by a processor, the crane counterweight alignment detection and control method is realized.
  • the embodiment of the present invention provides a processor, the processor is used to run a program, wherein the crane counterweight alignment detection and control method is executed when the program is running.
  • the embodiment of the present invention provides a device.
  • the device includes a processor, a memory, and a program stored on the memory and running on the processor.
  • the processor executes the program, the above crane counterweight alignment detection and control method is implemented.
  • the devices in this article can be servers, PCs, PADs, mobile phones, etc.
  • This application also provides a computer program product, which when executed on a data processing device, is suitable for executing a program that initializes the method steps involved in the above-mentioned crane counterweight alignment detection and control.
  • the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, this application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
  • a computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device.
  • the device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment.
  • the instructions provide steps for implementing functions specified in a flow or multiple flows in the flowchart and/or a block or multiple blocks in the block diagram.
  • the computing device includes one or more processors (CPU), input/output interfaces, network interfaces, and memory.
  • processors CPU
  • input/output interfaces network interfaces
  • memory volatile and non-volatile memory
  • the memory may include non-permanent memory in a computer readable medium, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM).
  • RAM random access memory
  • ROM read-only memory
  • flash RAM flash memory
  • Computer-readable media include permanent and non-permanent, removable and non-removable media, and information storage can be realized by any method or technology.
  • the information can be computer-readable instructions, data structures, program modules, or other data.
  • Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices. According to the definition in this article, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.
  • this application can be provided as methods, systems, or computer program products. Therefore, this application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, this application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

起重机配重块（10）对位检测及控制方法、起重机配重块（10）对位检测及控制设备和起重机。起重机配重块（10）对位检测及控制方法包括：配重块（10）上具有用于与起重机上的定位销（B1、B2）相配对的安装孔（K1、K2），检测配重块（10）的中心位置，并计算该中心位置与定位销（B1、B2）的位置之间的相对偏移量；检测配重块（10）上的安装孔（K1、K2）与定位销（B1、B2）的相对方位，并根据该方位，计算配重块（10）的相对旋转角度，以使得安装孔（K1、K2）与定位销（B1、B2）相对位；根据相对偏移量以及相对旋转角度，控制配重块（10）移动，以使得配重块（10）上的安装孔（K1、K2）对位安装到定位销（B1、B2）上。

Description

起重机配重块对位检测及控制方法、设备及起重机 技术领域
本发明涉及工程机械领域，更为具体的，涉及起重机配重块对位检测及控制方法、设备及起重机。
背景技术
起重机配重块安装是大型起重机吊装系统中非常重要的环节之一，它用于起重机在进行吊装过程时保持车辆平衡的作用。而目前，起重机的配重对位过程主要是通过人工手动操作来实现,这样导致整个施工过程效率低下，同时还存在安全隐患，易发生安全事故。
2016年11月2日公开的中国发明专利申请CN 106064794A公开了一种“基于起重机的配重支架及其智能控制系统、其自提升方法”，其在应用时起重机可自行将配重支架先吊装在下车的履带架侧面，再将需要安装的配重吊装在支架上方，自提升配重；在配重通过配重提升油缸提升到位后，现场安装人员可通过配重支架侧面的梯子站在配重支架上，完成配重与转台尾部的插销固定。然而，该配重安装过程仍然需要人为干预，手动将需要安装的配重块吊装到支架上，并没有从根本上解决配重块自动对位到指定位置的功能。
2011年08月31日授权公告的中国实用新型专利CN 201952114U公开了“一种带有机器视觉、定位系统的智能起重机”，其利用CCD摄像头采集图像，由图像采集卡将采集到的图像模拟信号转化成数字信号输入给计算机，然后利用图像分析算法实现对圆筒形目标进行快速识别定位。然而，该实用新型专利所公开的技术方案仅仅只对圆筒形目标进行识别定位，定位对象单一，没有考虑不规则的物体(比如说配重块)的识别定位情况。
综上，本领域继续一种可实现起重机配重块自动对位检测及控制安装的方法及设备。
发明内容
本发明专利提出了一种起重机配重块对位检测及控制方法、设备及起重机， 其可自动检测配重块吊装过程中的位置，并进行对位分析和引导操作，可有效地提高配重块的安装效率。
本发明提供一种起重机配重块对位检测及控制方法，所述配重块上具有用于与所述起重机上的定位销相配对的安装孔，该方法包括：检测所述配重块的中心位置，并计算该中心位置与所述定位销的位置之间的相对偏移量；检测所述配重块上的所述安装孔与所述定位销的相对方位，并根据该方位，计算所述配重块的相对旋转角度，以使得所述安装孔与所述定位销相对位；根据所述相对偏移量以及所述相对旋转角度，控制所述配重块移动，以使得所述配重块上的安装孔对位安装到所述定位销上。
可选的，所述配重块上具有用于与所述起重机上的至少两个定位销相配对的至少两个安装孔；所述定位销的位置为所述至少两个定位销之间的中心位置；所述检测所述配重块上的所述安装孔以及所述定位销的相对方位，并根据该方位计算所述配重块的相对旋转角度包括：检测所述至少两个安装孔的位置以及所述至少两个定位销的位置，并根据所述至少两个安装孔的位置以及所述至少两个定位销的位置，计算所述配重块的相对旋转角度。
可选的，所述检测所述配重块的中心位置以及所述检测所述配重块上的所述安装孔与所述定位销的相对方位包括：采集所述配重块的图像，并从该图像内分割出一个或多个前景目标区域；提取所述一个或多个前景目标区域的边缘特征；将所提取的所述一个或多个前景目标区域中的每一前景目标区域的边缘特征与预先建立的标准模型库内的关于所述配重块的边缘特征进行特征匹配，计算匹配值；在所述匹配值大于阈值的情况下，确定相应前景目标区域对应于所述配重块；以及根据该对应于所述配重块的相应前景目标区域，确定所述配重块的中心位置以及所述配重块上的所述安装孔与所述定位销的相对方位。
可选的，所述根据该对应于所述配重块的相应前景目标区域，确定所述配重块的中心位置包括：计算所述相应前景目标区域的最小外接矩形，并计算该矩形的中心位置，以作为所述配重块的中心位置。
可选的，所述配重块上具有用于与所述起重机上的至少两个定位销相配对的至少两个安装孔；
所述检测所述配重块上的所述安装孔以及所述定位销的相对方位，并根据该方位计算所述配重块的相对旋转角度包括：检测所述至少两个安装孔的位置以及 所述至少两个定位销的位置，并根据所述至少两个安装孔的位置以及所述至少两个定位销的位置，计算所述配重块的相对旋转角度；所述检测所述至少两个安装孔的位置包括：根据Hough圆变换，检测所述相应前景目标区域内的圆孔对象，并通过亚像素级边缘拟合而计算所述圆孔对象的中心坐标，以作为所述至少两个安装孔的位置。
可选的，所述从所述图像内分割出一个或多个前景目标区域包括：利用小波变换将时域空间的所述图像转换到频域空间进行滤波去噪处理；以及对所述滤波去噪后的图像执行以下操作中的一者或多者以分割出一个或多个前景目标区域：边缘检测、形态学处理、以及基于HSV色彩空间的颜色特征提取。
可选的，所述滤波去噪处理包括：确定所述频域空间的图像的高频部分和低频部分；在所述高频部分，当分解系数小于第一阈值时，将该分解系数乘以一小于1的正值，以弱化细节；以及在所述低频部分，当分解系数大于第二阈值时，将该分解系数乘以一大于1的值，以突出轮廓。
可选的，所述根据所述相对偏移量以及所述相对旋转角度来控制所述配重块移动包括：根据所述相对偏移量，控制起重机的回转机构、变幅机构和/或卷扬机构操作，以使得所述相对偏移量位于预设对位误差范围内；以及控制旋转机构的吸附部件向上抬升，以吸附在所述配重块底端，并根据所述相对旋转角度控制所述吸附部件转动，以带动所述配重块旋转；以及控制所述吸附部件下放，以使得所述配重块上的安装孔对位安装到所述定位销上。
相应地，本发明还提供一种起重机配重块对位检测及控制设备，所述配重块上具有用于与所述起重机上的定位销相配对的安装孔，该设备包括：检测装置，用于检测所述配重块的中心位置以及所述配重块上的所述安装孔与所述定位销的相对方位；控制装置，用于执行以下操作：根据所述配重块的中心位置与所述定位销的位置，并计算该两个位置之间的相对偏移量；根据所述相对方位，计算所述配重块的相对旋转角度，以使得所述安装孔与所述定位销相对位；根据所述相对偏移量以及所述相对旋转角度，控制所述配重块移动，以使得所述配重块上的安装孔对位安装到所述定位销上。
可选的，所述配重块上具有用于与所述起重机上的至少两个定位销相配对的至少两个安装孔；
所述定位销的位置为所述至少两个定位销之间的中心位置；所述检测所述配 重块上的所述安装孔以及所述定位销的相对方位，并根据该方位计算所述配重块的相对旋转角度包括：检测所述至少两个安装孔的位置以及所述至少两个定位销的位置，并根据所述至少两个安装孔的位置以及所述至少两个定位销的位置，计算所述配重块的相对旋转角度。
可选的，所述检测所述配重块的中心位置以及所述检测所述配重块上的所述安装孔与所述定位销的相对方位包括：采集所述配重块的图像，并从该图像内分割出一个或多个前景目标区域；提取所述一个或多个前景目标区域的边缘特征；将所提取的所述一个或多个前景目标区域中的每一前景目标区域的边缘特征与预先建立的标准模型库内的关于所述配重块的边缘特征进行特征匹配，计算匹配值；在所述匹配值大于阈值的情况下，确定相应前景目标区域对应于所述配重块；以及根据该对应于所述配重块的相应前景目标区域，确定所述配重块的中心位置以及所述配重块上的所述安装孔与所述定位销的相对方位。
可选的，所述根据该对应于所述配重块的相应前景目标区域，确定所述配重块的中心位置包括：计算所述相应前景目标区域的最小外接矩形，并计算该矩形的中心位置，以作为所述配重块的中心位置。
可选的，所述配重块上具有用于与所述起重机上的至少两个定位销相配对的至少两个安装孔；
所述检测所述配重块上的所述安装孔以及所述定位销的相对方位，并根据该方位计算所述配重块的相对旋转角度包括：检测所述至少两个安装孔的位置以及所述至少两个定位销的位置，并根据所述至少两个安装孔的位置以及所述至少两个定位销的位置，计算所述配重块的相对旋转角度；所述检测所述至少两个安装孔的位置包括：根据Hough圆变换，检测所述相应前景目标区域内的圆孔对象，并通过亚像素级边缘拟合而计算所述圆孔对象的中心坐标，以作为所述至少两个安装孔的位置。
可选的，所述从所述图像内分割出一个或多个前景目标区域包括：利用小波变换将时域空间的所述图像转换到频域空间进行滤波去噪处理；以及对所述滤波去噪后的图像执行以下操作中的一者或多者以分割出一个或多个前景目标区域：边缘检测、形态学处理、以及基于HSV色彩空间的颜色特征提取。
可选的，所述滤波去噪处理包括：确定所述频域空间的图像的高频部分和低频部分；
在所述高频部分，当分解系数小于第一阈值时，将该分解系数乘以一小于1的正值，以弱化细节；以及在所述低频部分，当分解系数大于第二阈值时，将该分解系数乘以一大于1的值，以突出轮廓。
可选的，所述根据所述相对偏移量以及所述相对旋转角度来控制所述配重块移动包括：根据所述相对偏移量，控制起重机的回转机构、变幅机构和/或卷扬机构操作，以使得所述相对偏移量位于预设对位误差范围内；以及控制旋转机构的吸附部件向上抬升，以吸附在所述配重块底端，并根据所述相对旋转角度控制所述吸附部件转动，以带动所述配重块旋转；以及控制所述吸附部件下放，以使得所述配重块上的安装孔对位安装到所述定位销上。
可选的，该设备还包括所述旋转机构，该旋转机构包括：所述吸附部件，用于吸附所述配重块；伸缩部件，用于带动所述吸附部件进行伸缩；以及回转部件，用于带动所述吸附部件进行旋转。
相应地，本发明还提供一种起重机，该起重机包含上述起重机配重块对位检测及控制设备。
相应地，一种机器可读存储介质，该机器可读存储介质上存储有指令，该指令用于使得机器执行上述起重机配重块对位检测及控制方法。
目前，起重机的配重对位过程主要是通过人工手动操作来实现，而本发明可以实现配重块在吊装过程中的配重块位置的实时定位检测，计算出配重块与指定放置位置之间的相对偏移量和旋转角度，然后再根据相对偏移量和旋转角度，通过控制起重机的回转机构、卷扬机构和/或变幅机构运动并控制一额外配置的旋转机构运动，以实现配重块的自动对位，无需人工介入，可满足数字化施工要求。
本发明实施例的其它特征和优点将在随后的具体实施方式部分予以详细说明。
附图说明
附图是用来提供对本发明实施例的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本发明实施例，但并不构成对本发明实施例的限制。在附图中：
图1为本发明一实施例提供的起重机配重块对位检测及控制设备的工作过程示意图；
图2为本发明一实施例提供的起重机配重块对位检测及控制方法的工作流程图；
图3为本发明一实施例提供的旋转机构的结构示意图；
图4为本发明一实施例提供的起重机配重块对位检测及控制方法的工作流程图；
图5A为起重机回转机构回转以移动配重块的工作过程示意图；
图5B为起重机变幅机构变幅以移动配重块的工作过程示意图；
图5C为旋转机构的工作过程示意图；以及
图5D为旋转机构带动配重块选准以对位定位销的工作过程示意图。
附图标记说明
10    配重块           20    测距传感器
30    吊臂                40    摄像机
50    旋转机构            51    吸附部件
52    伸缩部件            53    回转部件
P1    初始位置            P2    抬升位置
B1、B2   定位销              K1、K2安装孔
具体实施方式
以下结合附图对本发明实施例的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本发明实施例，并不用于限制本发明实施例。
需要说明的是，虽然以下描述以配重块上具有用于与所述起重机上的定位销相配对的安装孔为例对本发明的实施方式进行了说明，但本领域技术人员可以理解，此处的“定位销”与“安装孔”至少配重块在起重机一种特定的安装配合方式，其他可实现将配置块安装到起重机上的安装配合方式也是可以的且二者的位置是可以互换的，例如“定位销”可位于“配重块”上，而“安装孔”可位于“起重机”上。另外，以下实施例提及了“定位销”和“安装孔”各自的数量分别为2，但本发明并不限于此，其他数量的“定位销”和“安装孔”也是可以适用的。另外，以下实施例提及了“所述安装孔与所述定位销的相对方位”，对于该“相对方位”的检测通过两 个“安装孔”以及两个“定位销”的位置检测实现的，但本发明并不限于此，也可以通过识别不同形状的装配部件相互之间的相对朝向，进而识别出装配部件之间的相对方位。另外，以下实施例提及了“安装孔”的形状为“圆孔”，实际上其可为其他形状的孔，本发明并不限于此。整体而言，本发明的方案并不限于以下描述中以示例方式给出特定配置，任何可实现配重块与该配重块在起重机上对应安装位置的配合方式均是可以的。
图1为本发明一实施例提供的起重机配重块对位检测及控制设备的工作过程示意图。如图1所示，配重块10由起重机的吊臂30吊起，该配重块10上具有两个安装孔K1和K2，以分别与起重机上的定位销B1和B2向配对安装。摄像机40安装在定位销B1、B2旁边，镜头朝上，以采集关于其上方由起重机吊臂30吊装的配重块10的图像。在起重机的吊臂30末端安装一个测距传感器20，用来实时记录配重块距离吊臂末端的高度H，该H值可以应用在以下描述的坐标转换过程中，其可以被结合到张正友标定公式，将目标点的二维图像坐标换算成空间三维坐标值。在两个定位销B1和B2中间安装一个旋转机构50，该旋转机构50可以进行上下伸缩和旋转运动，以带动配重块旋转，进而使得所述配重块上的安装孔对位安装到所述定位销上。以下将结合图3对该旋转机构50的结构及其工作原理进行详细说明。
图2为本发明一实施例提供的起重机配重块对位检测及控制方法的工作流程图。如图2所示，本案一实施例提供的起重机配重块对位检测及控制方法包括：检测所述配重块的中心位置，并计算该位置与所述定位销的位置之间的相对偏移量；检测所述配重块上的所述安装孔与所述定位销的相对方位，并根据该方位，计算所述配重块的相对旋转角度，以使得所述安装孔与所述定位销相对位；根据所述相对偏移量以及所述相对旋转角度，控制所述配重块移动，以使得所述配重块上的安装孔对位安装到所述定位销上。本发明可以实现配重块在吊装过程中的配重块位置的实时定位检测，计算出配重块与指定放置位置之间的相对偏移量和旋转角度，然后再根据相对偏移量和旋转角度，通过控制起重机的回转机构、卷扬机构和/或变幅机构运动并控制一额外配置的旋转机构运动，以实现配重块的自动对位，无需人工介入，可满足数字化施工要求。
图3为本发明一实施例提供的旋转机构的结构示意图。如图3所示，所述旋转机构50包括三个部件：吸附部件51、伸缩部件52和回转部件53。在初始状 态下，该旋转机构50缩放在起重机机身内，吸附部件51位于初始位置P1；当配重块10到达定位销B1和B2上方时，可控制该旋转机构50的伸缩部件52向上抬升，以将吸附部件51向上抬升到指定位置(例如，图3中所示的P2位置)吸附配重块10；之后，可根据上述计算的旋转角度，控制回转部件53旋转，进而带动吸附部件51及该吸附部件51所吸附的配重块10旋转，以使得该配重块上的安装孔K1和K2与定位销B1和B2相对位；之后，可控制所述伸缩部件缩回，从而将配重块10放置指定位置，即，使得配重块上的安装孔K1和K2与定位销B1和B2对位安装。
所述吸附部件51可采用具有磁性或可通过电产生磁性的设备，其可吸附配重块，当然也可采用其他形式的可吸附配重块的设备。所述伸缩部件52可为液压油缸，当然也可以采用其他可实现伸缩的部件，诸如电动伸缩杆等。
当配重块10到达定位销B1和B2上方时(通过实时计算配重块的中心点与两定位销中心点之间的相对偏移量，当这个相对偏移量值控制在一定误差范围内时，即满足了配重块10到达定位销B1和B2上方的条件)，控制旋转机构向上抬升到指定位置吸附配重块。通过图像分析技术获取配重块中心P center、两安装孔的圆孔中心C1和C2，通过坐标系转换关系，可以将获取的二维平面坐标系内的配重块中心和两圆孔中心转换成三维世界坐标系下的坐标，再结合定位销的三维坐标点，即可计算出当前配重块与定位销之间的相对偏移量和旋转角，最后根据该计算结果控制起重机的旋转机构、变幅机构、卷扬机构操作以及旋转机构旋转操作，实现最终配重块的对位。
图4为本发明一实施例提供的起重机配重块对位检测及控制方法的工作流程图。如图4所示，本发明一实施例提供的起重机配重块对位检测及控制方法可包含以下步骤：首先，依据系统示意图，固定好摄像机和测距传感器，并规定摄像机的世界坐标系与配重块的世界坐标系；之后，建立坐标系数学转换模型；之后，进行配重块图像采集及处理，确定配重块与定位销之间的相对偏移量和旋转角；之后，根据相对偏移量和旋转角，控制起重机的旋转机构、变幅机构、卷扬机构操作以及旋转机构旋转操作，实现最终配重块的对位。具体如下：
建立坐标系数学转换模型
采用张正友标定方法标定摄像机，计算出摄像机模型的内参数，并结合测距 传感器，建立摄像机的二维图像坐标系与三维空间坐标系的数学转换模型；
摄像机模型公式为：
Figure PCTCN2020100159-appb-000001
其中α u、α v分别为图像u轴和v轴上的尺度因子，(u 0，v 0)为主点坐标，s是描述两图像坐标轴倾斜程度的参数，这些统称为摄像机的内参；[R t]称为摄像机的外部参数，它由旋转矩阵和平移向量组成，[u v]表示图像平面内某点的坐标值，而[Xw Yw Zw]表示图像平面内的某一点对应于世界坐标系中的坐标值；
配重块图像采集及处理
该过程主要包括分析图像采集的数据，提取并识别配重块对象，计算出配重块对象相对于指定位置的相对偏移量。具体如下：
1)利用小波变换将时域空间的图像数据转换到频域空间进行滤波处理，即通过设置高低频的分界值，大于该分界值的部分则为高频，否则为低频，在高频部分，当分解系数(其为小波基函数与原信号相似的系数)小于150时，将该系数乘以一小于1的正值(例如，0.75)，用于弱化细节；而在低频部分，当分解系数大于250时，将该系数乘以一大于1的正值(例如，1.5)，用于突出轮廓，这样即可剔除高斯噪声，保留细节特征；
2)将滤波祛噪后的图像数据进行图像预处理操作，包括边缘检测(本文采用自适应阈值的Canny边缘检测算子)、形态学处理、基于HSV色彩空间的颜色特征提取配重块感兴趣区域等等，分割出一个或多个前景目标区域；
3)遍历所有已提取出来的待匹配的前景目标区域，通过特征匹配的方式确认与所述配重块相对应的前景目标区域。具体包含以下步骤：
3.1建立待识别的几类不同形状的配重块基于边缘特征(或者形状特征)的标准模型数据库；
3.2提取待识别的前景目标区域的边缘特征；
3.3根据提取到的边缘特征，对待识别的前景目标区域与标准模型库的Hu不变矩、轮廓树、链码编码直方图等具有尺度缩放、旋转不变性特点的特征进行特征匹配，例如，可分别根据相似度量、二分树和直方图匹配方法分别计算这三种特征(即，Hu不变矩、轮廓树、链码编码直方图)的匹配值，再分别将这三 种特征计算到的匹配结果赋予一定的权重进行组合应用，最终判断待识别的区域内是否有配重块对象；当然，虽然以上列举了Hu不变矩、轮廓树、链码编码直方图这三种具有尺度缩放、旋转不变性特点的特征且根据该三个特征作待识别的区域内是否有配重块对象的判断，但本发明并不限于此，可采用上述三个特征及本领域已知的其他具有尺度缩放、旋转不变性特点的特征中的一者或多者的任意组合来实现待识别的区域内是否有配重块对象的判断。
相似性度量定义：
Figure PCTCN2020100159-appb-000002
其中
Figure PCTCN2020100159-appb-000003
和
Figure PCTCN2020100159-appb-000004
被定义为：
Figure PCTCN2020100159-appb-000005
Figure PCTCN2020100159-appb-000006
其中
Figure PCTCN2020100159-appb-000007
和
Figure PCTCN2020100159-appb-000008
分别是A和B的Hu矩，A和B分别为待识别的前景目标区域和标准模型数据库内存储的对应于配重块的标准区域。
3.4若待识别的前景目标区域与标准模型库中的特征匹配值大于某阈值，则可以判断该待识别的前景目标区域为配重块对象；否则，可以判断没有检测到配重块对象。
4)之后，可计算作为配重块对象的前景目标区域的最小外接矩形，并计算该矩形的中心点坐标P center，并根据摄像机标定模型公式计算出该点对应的三维空间坐标；
5)根据Hough圆变换，检测作为配重块对象的前景目标区域内的圆孔对象，并通过亚像素级边缘拟合技术计算圆心坐标C center，并根据摄像机标定模型公式计算出该点对应的三维空间坐标；
6)如图1所示，在世界坐标系Oc-XYZ下，根据配重块最小矩形框的中心点坐标P center(x,y)与两定位销中心P′ center(x’,y’)，分别计算在XOY坐标平面内的相对偏移量dx和dy；
dx＝|x-x’|
dy＝|y-y’|
配重块移动
根据上述计算得到的平移向量(dx,dy)，通过控制起重机的回转、变幅和/或卷扬操作，将配重块移动至定位销上方，并将配重块的中心坐标点P center与两定位销中心P′ center进行对准：
如图5A所示，O为回转中心，通过控制起重机吊臂的回转运动，实现配重块10在x轴方向的偏移dx；
回转角度θ的计算方式为：
Figure PCTCN2020100159-appb-000009
如图5B所示，O为变幅中心，通过控制起重机吊臂的变幅运动，实现配重块10在y轴方向的偏移dy；变幅角度β的计算方式为：
Figure PCTCN2020100159-appb-000010
其中L为起重机吊臂长度；
通过上述回转运动和变幅运动，可将配重块从任意空间A位置移动到定位销正上方某高度的B位置，使得配重块中心点P center(x,y)与两定位销中心P′ center(x’,y’)的相对偏移量在对位误差范围内时，然后如图5C所示，向上抬升位于两定位销中心位置的旋转机构，直至旋转机构前端的吸附部件紧贴住配重块，然后旋转机构根据旋转角α的大小和方向旋转配重块10，直至配重块10两圆孔与定位稍对准。旋转角α的计算方法如下：
如图5D所示，定义k1(x1,y1)和k2(x2,y2)分别是两个定位销的坐标，而k1’(x1’,y1’)和k2’(x2’,y2’)是当前配重块两圆孔的中心坐标，通过这些坐标点计算出旋转角α：
Figure PCTCN2020100159-appb-000011
其中：
Figure PCTCN2020100159-appb-000012
之后，通过控制起重机的卷扬操作和向下收缩旋转机构，可完成配重块与定位稍的配准操作，即将配重块放置到定位销上。
需要说明的是，虽然上述图4所给出的起重机配重块对位检测及控制方法的工作流程图按照某一顺序对本发明的工作过程进行了描述，但本发明并不限于该特定的工作顺序，可根据实际工作情况作出一些调整。例如，关于“旋转角”的计算，其可在“配重块图像采集及处理”阶段完成，而并非必然在将配重块移动到定位销上方之后完成。至于根据所述“旋转角”对配重块的调整，其也并非必然在将 配重块移动到定位销上方之后完成，可于其他适当的时机完成。
本发明的方案可基于机器视觉技术实现配重块检测与位姿定位；根据配重块中心位姿坐标与两定位销中心位置坐标计算相对偏移量；根据配重块两圆孔圆心位姿坐标与两定位销位置坐标计算相对旋转角；根据相对偏移量分解为起重机卷扬、变幅、旋转的复合运动，实现配重块从某位置移动到定位销上方；以及通过一个旋转机构，当相对偏移量小于某阈值时，抬升旋转机构，该机构的吸附部件吸附住配重块，然后根据计算得到的旋转角度来控制旋转机构运动，实现最终配重块与定位销的配准操作。
本发明的提供的起重机配重块对位检测及控制设备内所包含的控制装置可包括处理器和存储器，上述控制装置所执行的各种操作均可作为程序单元存储在存储器中，由处理器执行存储在存储器中的上述程序单元来实现相应的功能。
处理器中包含内核，由内核去存储器中调取相应的程序单元。内核可以设置一个或以上，通过调整内核参数来实现起重机配重块对位检测及控制。
存储器可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)，存储器包括至少一个存储芯片。
本发明实施例提供了一种存储介质，其上存储有程序，该程序被处理器执行时实现所述起重机配重块对位检测及控制方法。
本发明实施例提供了一种处理器，所述处理器用于运行程序，其中，所述程序运行时执行所述起重机配重块对位检测及控制方法。
本发明实施例提供了一种设备，设备包括处理器、存储器及存储在存储器上并可在处理器上运行的程序，处理器执行程序时实现上述起重机配重块对位检测及控制方法。本文中的设备可以是服务器、PC、PAD、手机等。
本申请还提供了一种计算机程序产品，当在数据处理设备上执行时，适于执行初始化具有上述起重机配重块对位检测及控制所包含的方法步骤的程序。
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本申请是参照根据本申请实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
在一个典型的配置中，计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。
存储器可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)。存储器是计算机可读介质的示例。
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。按照本文中的界定，计算机可读介质不包括暂存电脑可读媒体(transitory media)，如调制的数据信号和载波。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、商品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括要素的过程、方法、商品或者设备中还存在另外的相同要素。
本领域技术人员应明白，本申请的实施例可提供为方法、系统或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
以上仅为本申请的实施例而已，并不用于限制本申请。对于本领域技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。

Claims (19)

  1. 一种起重机配重块对位检测及控制方法，所述配重块上具有用于与所述起重机上的定位销相配对的安装孔，其特征在于，该方法包括：
    检测所述配重块的中心位置，并计算该中心位置与所述定位销的位置之间的相对偏移量；
    检测所述配重块上的所述安装孔与所述定位销的相对方位，并根据该方位，计算所述配重块的相对旋转角度，以使得所述安装孔与所述定位销相对位；
    根据所述相对偏移量以及所述相对旋转角度，控制所述配重块移动，以使得所述配重块上的安装孔对位安装到所述定位销上。
  2. 根据权利要求1所述的起重机配重块对位检测及控制方法，其特征在于，
    所述配重块上具有用于与所述起重机上的至少两个定位销相配对的至少两个安装孔；
    所述定位销的位置为所述至少两个定位销之间的中心位置；
    所述检测所述配重块上的所述安装孔以及所述定位销的相对方位，并根据该方位计算所述配重块的相对旋转角度包括：检测所述至少两个安装孔的位置以及所述至少两个定位销的位置，并根据所述至少两个安装孔的位置以及所述至少两个定位销的位置，计算所述配重块的相对旋转角度。
  3. 根据权利要求1所述的起重机配重块对位检测及控制方法，其特征在于，所述检测所述配重块的中心位置以及所述检测所述配重块上的所述安装孔与所述定位销的相对方位包括：
    采集所述配重块的图像，并从该图像内分割出一个或多个前景目标区域；
    提取所述一个或多个前景目标区域的边缘特征；
    将所提取的所述一个或多个前景目标区域中的每一前景目标区域的边缘特征与预先建立的标准模型库内的关于所述配重块的边缘特征进行特征匹配，计算匹配值；
    在所述匹配值大于阈值的情况下，确定相应前景目标区域对应于所述配重块；以及
    根据该对应于所述配重块的相应前景目标区域，确定所述配重块的中心位置以及所述配重块上的所述安装孔与所述定位销的相对方位。
  4. 根据权利要求3所述的起重机配重块对位检测及控制方法，其特征在于，所述根据该对应于所述配重块的相应前景目标区域，确定所述配重块的中心位置包括：
    计算所述相应前景目标区域的最小外接矩形，并计算该最小外接矩形的中心位置，以作为所述配重块的中心位置。
  5. 根据权利要求3所述的起重机配重块对位检测及控制方法，其特征在于，
    所述配重块上具有用于与所述起重机上的至少两个定位销相配对的至少两个安装孔；
    所述检测所述配重块上的所述安装孔以及所述定位销的相对方位，并根据该方位计算所述配重块的相对旋转角度包括：检测所述至少两个安装孔的位置以及所述至少两个定位销的位置，并根据所述至少两个安装孔的位置以及所述至少两个定位销的位置，计算所述配重块的相对旋转角度；
    所述检测所述至少两个安装孔的位置包括：根据Hough圆变换，检测所述相应前景目标区域内的圆孔对象，并通过亚像素级边缘拟合而计算所述圆孔对象的中心坐标，以作为所述至少两个安装孔的位置。
  6. 根据权利要求3所述的起重机配重块对位检测及控制方法，其特征在于，从所述图像内分割出一个或多个前景目标区域包括：
    利用小波变换将时域空间的所述图像转换到频域空间进行滤波去噪处理；以及
    对所述滤波去噪后的图像执行以下操作中的一者或多者以分割出一个或多个前景目标区域：边缘检测、形态学处理、以及基于HSV色彩空间的颜色特征提取。
  7. 根据权利要求6所述的起重机配重块对位检测及控制方法，其特征在于，所述滤波去噪处理包括：
    确定所述频域空间的图像的高频部分和低频部分；
    在所述高频部分，当分解系数小于第一阈值时，将该分解系数乘以一小于1的正值，以弱化细节；以及
    在所述低频部分，当分解系数大于第二阈值时，将该分解系数乘以一大于1的值，以突出轮廓。
  8. 根据权利要求1所述的起重机配重块对位检测及控制方法，其特征在于，根据所述相对偏移量以及所述相对旋转角度来控制所述配重块移动包括：
    根据所述相对偏移量，控制起重机的回转机构、变幅机构和/或卷扬机构操作，以使得所述相对偏移量位于预设对位误差范围内；以及
    控制旋转机构的吸附部件向上抬升，以吸附在所述配重块底端，并根据所述相对旋转角度控制所述吸附部件转动，以带动所述配重块旋转；以及
    控制所述吸附部件下放，以使得所述配重块上的安装孔对位安装到所述定位销上。
  9. 一种起重机配重块对位检测及控制设备，所述配重块上具有用于与所述起重机上的定位销相配对的安装孔，其特征在于，该设备包括：
    检测装置，用于检测所述配重块的中心位置以及所述配重块上的所述安装孔与所述定位销的相对方位；
    控制装置，用于执行以下操作：
    根据所述配重块的中心位置与所述定位销的位置，并计算所述配重块的中心位置与所述定位销的位置之间的相对偏移量；
    根据所述相对方位，计算所述配重块的相对旋转角度，以使得所述安装孔与所述定位销相对位；
    根据所述相对偏移量以及所述相对旋转角度，控制所述配重块移动，以使得所述配重块上的安装孔对位安装到所述定位销上。
  10. 根据权利要求9所述的起重机配重块对位检测及控制设备，其特征在于，
    所述配重块上具有用于与所述起重机上的至少两个定位销相配对的至少两 个安装孔；
    所述定位销的位置为所述至少两个定位销之间的中心位置；
    所述检测所述配重块上的所述安装孔以及所述定位销的相对方位，并根据该方位计算所述配重块的相对旋转角度包括：检测所述至少两个安装孔的位置以及所述至少两个定位销的位置，并根据所述至少两个安装孔的位置以及所述至少两个定位销的位置，计算所述配重块的相对旋转角度。
  11. 根据权利要求9所述的起重机配重块对位检测及控制设备，其特征在于，所述检测所述配重块的中心位置以及所述检测所述配重块上的所述安装孔与所述定位销的相对方位包括：
    采集所述配重块的图像，并从该图像内分割出一个或多个前景目标区域；
    提取所述一个或多个前景目标区域的边缘特征；
    将所提取的所述一个或多个前景目标区域中的每一前景目标区域的边缘特征与预先建立的标准模型库内的关于所述配重块的边缘特征进行特征匹配，计算匹配值；
    在所述匹配值大于阈值的情况下，确定相应前景目标区域对应于所述配重块；以及
    根据该对应于所述配重块的相应前景目标区域，确定所述配重块的中心位置以及所述配重块上的所述安装孔与所述定位销的相对方位。
  12. 根据权利要求11所述的起重机配重块对位检测及控制设备，其特征在于，所述根据该对应于所述配重块的相应前景目标区域，确定所述配重块的中心位置包括：
    计算所述相应前景目标区域的最小外接矩形，并计算该最小外接矩形的中心位置，以作为所述配重块的中心位置。
  13. 根据权利要求11所述的起重机配重块对位检测及控制设备，其特征在于，
    所述配重块上具有用于与所述起重机上的至少两个定位销相配对的至少两 个安装孔；
    所述检测所述配重块上的所述安装孔以及所述定位销的相对方位，并根据该方位计算所述配重块的相对旋转角度包括：检测所述至少两个安装孔的位置以及所述至少两个定位销的位置，并根据所述至少两个安装孔的位置以及所述至少两个定位销的位置，计算所述配重块的相对旋转角度；
    所述检测所述至少两个安装孔的位置包括：根据Hough圆变换，检测所述相应前景目标区域内的圆孔对象，并通过亚像素级边缘拟合而计算所述圆孔对象的中心坐标，以作为所述至少两个安装孔的位置。
  14. 根据权利要求11所述的起重机配重块对位检测及控制设备，其特征在于，从所述图像内分割出一个或多个前景目标区域包括：
    利用小波变换将时域空间的所述图像转换到频域空间进行滤波去噪处理；以及
    对所述滤波去噪后的图像执行以下操作中的一者或多者以分割出一个或多个前景目标区域：边缘检测、形态学处理、以及基于HSV色彩空间的颜色特征提取。
  15. 根据权利要求14所述的起重机配重块对位检测及控制设备，其特征在于，所述滤波去噪处理包括：
    确定所述频域空间的图像的高频部分和低频部分；
    在所述高频部分，当分解系数小于第一阈值时，将该分解系数乘以一小于1的正值，以弱化细节；以及
    在所述低频部分，当分解系数大于第二阈值时，将该分解系数乘以一大于1的值，以突出轮廓。
  16. 根据权利要求9所述的起重机配重块对位检测及控制设备，其特征在于，根据所述相对偏移量以及所述相对旋转角度来控制所述配重块移动包括：
    根据所述相对偏移量，控制起重机的回转机构、变幅机构和/或卷扬机构操作，以使得所述相对偏移量位于预设对位误差范围内；以及
    控制旋转机构的吸附部件向上抬升，以吸附在所述配重块底端，并根据所述相对旋转角度控制所述吸附部件转动，以带动所述配重块旋转；以及
    控制所述吸附部件下放，以使得所述配重块上的安装孔对位安装到所述定位销上。
  17. 根据权利要求16所述的起重机配重块对位检测及控制设备，其特征在于，该设备还包括所述旋转机构，该旋转机构包括：
    所述吸附部件，用于吸附所述配重块；
    伸缩部件，用于带动所述吸附部件进行伸缩；以及
    回转部件，用于带动所述吸附部件进行旋转。
  18. 一种起重机，其特征在于，该起重机包含根据权利要求9-17中任一项权利要求所述的起重机配重块对位检测及控制设备。
  19. 一种机器可读存储介质，该机器可读存储介质上存储有指令，该指令用于使得机器执行上述权利要求1-8中任一项所述的起重机配重块对位检测及控制方法。
PCT/CN2020/100159 2019-07-04 2020-07-03 起重机配重块对位检测及控制方法、设备及起重机 WO2021000942A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US17/624,780 US12054362B2 (en) 2019-07-04 2020-07-03 Crane counterweight block alignment detection and control method and device, and crane
EP20834929.0A EP3995435B1 (en) 2019-07-04 2020-07-03 Crane counterweight block alignment detection and control method and device, and crane

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910598050.7A CN110950255B (zh) 2019-07-04 2019-07-04 起重机配重块对位检测及控制方法、设备及起重机
CN201910598050.7 2019-07-04

Publications (1)

Publication Number Publication Date
WO2021000942A1 true WO2021000942A1 (zh) 2021-01-07

Family

ID=69976188

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/100159 WO2021000942A1 (zh) 2019-07-04 2020-07-03 起重机配重块对位检测及控制方法、设备及起重机

Country Status (4)

Country Link
US (1) US12054362B2 (zh)
EP (1) EP3995435B1 (zh)
CN (1) CN110950255B (zh)
WO (1) WO2021000942A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023005481A1 (zh) * 2021-07-28 2023-02-02 中联重科股份有限公司 用于吊钩倾角检测装置的通信方法及吊钩倾角检测装置

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110950255B (zh) * 2019-07-04 2020-09-01 中联重科股份有限公司 起重机配重块对位检测及控制方法、设备及起重机
CN114604762B (zh) * 2022-01-24 2023-06-02 杭州大杰智能传动科技有限公司 智能塔吊吊臂状况物联网传感监测系统及方法

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201882831U (zh) * 2010-11-11 2011-06-29 徐州重型机械有限公司 一种起重机及其平衡重防倾装置
CN201952114U (zh) 2010-09-27 2011-08-31 成都西部泰力起重机有限公司 一种带有机器视觉、定位系统的智能起重机
CN202226577U (zh) * 2011-09-21 2012-05-23 中联重科股份有限公司 配重自动装卸系统及具有该装卸系统的起重机械
CN102817958A (zh) * 2012-08-07 2012-12-12 三一重工股份有限公司 配重块及其安装方法和工程机械
CN106064794A (zh) 2016-06-06 2016-11-02 湖南维尔力德科技有限公司 基于起重机的配重支架及其智能控制系统、其自提升方法
JP2017043430A (ja) * 2015-08-24 2017-03-02 コベルコクレーン株式会社 移動式クレーンのウェイト浮き量調整装置及びウェイト浮き量調整方法
CN110956181A (zh) * 2019-07-04 2020-04-03 中联重科股份有限公司 起重机配重块检测方法、设备及起重机
CN110950255A (zh) * 2019-07-04 2020-04-03 中联重科股份有限公司 起重机配重块对位检测及控制方法、设备及起重机

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5772795B2 (ja) * 2012-11-20 2015-09-02 コベルコ建機株式会社 作業装置
DE202014008661U1 (de) * 2014-10-31 2014-12-02 Liebherr-Werk Ehingen Gmbh Mobilkran mit Ballastaufnahmevorrichtung
CN104612202B (zh) * 2014-12-11 2017-02-22 柳州柳工挖掘机有限公司 具有配重定位检测装置的挖掘机及配重的安装方法
US9783395B2 (en) 2015-03-31 2017-10-10 Manitowoc Crane Companies, Llc System and method for crane counterweight positioning
US11130658B2 (en) * 2016-11-22 2021-09-28 Manitowoc Crane Companies, Llc Optical detection and analysis of a counterweight assembly on a crane
JP6876530B2 (ja) * 2017-06-01 2021-05-26 株式会社加藤製作所 移動式クレーンのカウンタウエイト
CN109231034B (zh) * 2018-11-26 2020-08-25 中联重科股份有限公司 配重自动吊装就位、卸装归位的控制装置及起重机

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201952114U (zh) 2010-09-27 2011-08-31 成都西部泰力起重机有限公司 一种带有机器视觉、定位系统的智能起重机
CN201882831U (zh) * 2010-11-11 2011-06-29 徐州重型机械有限公司 一种起重机及其平衡重防倾装置
CN202226577U (zh) * 2011-09-21 2012-05-23 中联重科股份有限公司 配重自动装卸系统及具有该装卸系统的起重机械
CN102817958A (zh) * 2012-08-07 2012-12-12 三一重工股份有限公司 配重块及其安装方法和工程机械
JP2017043430A (ja) * 2015-08-24 2017-03-02 コベルコクレーン株式会社 移動式クレーンのウェイト浮き量調整装置及びウェイト浮き量調整方法
CN106064794A (zh) 2016-06-06 2016-11-02 湖南维尔力德科技有限公司 基于起重机的配重支架及其智能控制系统、其自提升方法
CN110956181A (zh) * 2019-07-04 2020-04-03 中联重科股份有限公司 起重机配重块检测方法、设备及起重机
CN110950255A (zh) * 2019-07-04 2020-04-03 中联重科股份有限公司 起重机配重块对位检测及控制方法、设备及起重机

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023005481A1 (zh) * 2021-07-28 2023-02-02 中联重科股份有限公司 用于吊钩倾角检测装置的通信方法及吊钩倾角检测装置

Also Published As

Publication number Publication date
US12054362B2 (en) 2024-08-06
CN110950255B (zh) 2020-09-01
EP3995435B1 (en) 2023-09-06
EP3995435A4 (en) 2022-09-07
US20220259016A1 (en) 2022-08-18
EP3995435A1 (en) 2022-05-11
CN110950255A (zh) 2020-04-03

Similar Documents

Publication Publication Date Title
WO2021000942A1 (zh) 起重机配重块对位检测及控制方法、设备及起重机
CN110956181A (zh) 起重机配重块检测方法、设备及起重机
CN109785317B (zh) 自动码垛桁架机器人的视觉系统
CN107767423B (zh) 一种基于双目视觉的机械臂目标定位抓取方法
US10824853B2 (en) Human detection system for construction machine
WO2022007431A1 (zh) 一种Micro QR二维码的定位方法
CN106863332B (zh) 一种机器人视觉定位方法及系统
CN107203973B (zh) 一种三维激光扫描系统中线激光中心的亚像素定位方法
CN112194011A (zh) 一种基于双目视觉的塔吊自动装载方法
CN106097329B (zh) 一种基于边缘检测的集装箱轮廓定位方法
WO2010009570A1 (zh) 一种起吊定位方法及起吊智能视觉系统
CN108007388A (zh) 一种基于机器视觉的转盘角度高精度在线测量方法
CN109815822B (zh) 基于广义Hough变换的巡检图零部件目标识别方法
US10465362B2 (en) Human detection system for construction machine
CN107292871A (zh) 一种变电站圆形仪表的实时矫正算法
CN108491851A (zh) 一种基于机器视觉的集装箱锁孔快速识别与吊具纠偏方法
WO2021000948A1 (zh) 配重重量的检测方法与系统、获取方法与系统及起重机
CN115018846B (zh) 基于ai智能相机的多目标裂纹缺陷检测方法和装置
CN109493313A (zh) 一种基于视觉的钢卷定位方法及设备
CN115205286B (zh) 爬塔机器人机械臂螺栓识别与定位方法、存储介质、终端
WO2023231262A1 (zh) 基于视觉振频识别的提升钢丝绳张力检测方法
Han et al. Target positioning method in binocular vision manipulator control based on improved canny operator
CN113034526B (zh) 一种抓取方法、抓取装置及机器人
CN109993715A (zh) 一种机器人视觉图像预处理系统及图像处理方法
CN116594351A (zh) 一种基于机器视觉的数控加工单元系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20834929

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2020834929

Country of ref document: EP

Effective date: 20220204