CN103466490A - Crane control method and system based on image processing and crane - Google Patents
Crane control method and system based on image processing and crane Download PDFInfo
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- CN103466490A CN103466490A CN2012103657228A CN201210365722A CN103466490A CN 103466490 A CN103466490 A CN 103466490A CN 2012103657228 A CN2012103657228 A CN 2012103657228A CN 201210365722 A CN201210365722 A CN 201210365722A CN 103466490 A CN103466490 A CN 103466490A
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- 239000011159 matrix material Substances 0.000 claims description 97
- 238000006243 chemical reaction Methods 0.000 claims description 15
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Abstract
The invention discloses a crane control method and system based on image processing and a crane, wherein the control method comprises the following steps: aiming at the double hoisting mechanisms, images capable of reflecting the winding state of the rope on a winding drum of the hoisting mechanism are respectively obtained; respectively decoding and binarizing the acquired images to generate two data matrixes; comparing the two data matrixes to judge whether the hook cross beam is inclined or not; and adjusting the rotation speed of the motor under the condition that the hook beam is inclined so that the hook beam tends to be horizontal. Through the technical scheme, whether the lifting hook cross beam is inclined or not can be judged in an image processing mode, and the rotating speed of the motor is adjusted under the condition that the lifting hook cross beam is inclined, so that the lifting hook cross beam tends to be horizontal, and the problem caused by inclination of the lifting hook cross beam in the background technology is solved.
Description
Technical field
The present invention relates to engineering machinery field, particularly, relate to a kind of for the rope of determining reel be wound around the method, equipment of state, for control method, the system of the hoisting crane that comprises two lifting mechanisms and the hoisting crane that comprises this system.
Background technology
Existing tower crane is general adopts two lifting mechanisms to lift object, and each lifting mechanism consists of motor, reel and steel rope, and this pair of lifting mechanism drives a lifting beam with hook hoist and descend, to lift object.
Yet, when two lifting mechanisms are worked at the same time, because of motor characteristic difference, reel manufacturing errors, row's rope form condition difference, easily cause lifting beam with hook to tilt.Now, steel rope is subject to force unbalance, and long-term so operation can cause the unbalance loadings such as structure, transmission device, electric elements, when serious, can cause lift heavy to fall or the equipment damage.
Summary of the invention
The purpose of this invention is to provide a kind of for the rope of determining reel be wound around the method, equipment of state, for control method, the system of the hoisting crane that comprises two lifting mechanisms and the hoisting crane that comprises this system.
To achieve these goals, the invention provides a kind of method that is wound around state for the rope of determining reel, the method comprises: obtain the image that the rope that can reflect on described reel is wound around state; This image is decoded and binary conversion treatment, with the generated data matrix; And, based on this data matrix, determine that the rope on described reel is wound around state.
Accordingly, the present invention also provides a kind of equipment that is wound around state for the rope of determining reel, and this equipment comprises: image collecting device, for obtaining the image of the rope winding state that can reflect on described reel; And control setup, for described image is decoded and binary conversion treatment, with the generated data matrix; Based on this data matrix, determine that the rope on described reel is wound around state.
Accordingly, the present invention also provides a kind of control method for the hoisting crane that comprises two lifting mechanisms, this pair of lifting mechanism comprises the first lifting mechanism and the second lifting mechanism, this first lifting mechanism and the second lifting mechanism all comprise reel, be wrapped in the rope on reel, and the motor that drives this reel to rotate, this first lifting mechanism and the second lifting mechanism are for driving lifting beam with hook to hoist and descending, the method comprises: obtain respectively rope on the reel that can reflect described the first lifting mechanism and be wound around the image of state and can reflect that the rope on the reel of described the second lifting mechanism is wound around the image of state, obtained image is decoded respectively and binary conversion treatment, to generate two data matrixes, these two data matrixes relatively, to judge the whether run-off the straight of described lifting beam with hook, and, in the situation that described lifting beam with hook tilts, regulate the rotating speed of described motor, so that described lifting beam with hook is tending towards level.
Accordingly, the present invention also provides a kind of control system for the hoisting crane that comprises two lifting mechanisms, this pair of lifting mechanism the first lifting mechanism and the second lifting mechanism, this first lifting mechanism and the second lifting mechanism all comprise reel, be wrapped in the rope on reel, and the motor that drives this reel to rotate, this first lifting mechanism and the second lifting mechanism are for driving lifting beam with hook to hoist and descending, this system comprises: image collecting device, be wound around the image of state and can reflect that the rope on the reel of described the second lifting mechanism is wound around the image of state for obtaining respectively rope on the reel that can reflect described the first lifting mechanism, control setup, for carrying out following operation: obtained image is decoded respectively and binary conversion treatment, to generate two data matrixes, these two data matrixes relatively, to judge the whether run-off the straight of described lifting beam with hook, and, in the situation that described lifting beam with hook tilts, regulate the rotating speed of described motor, so that described lifting beam with hook is tending towards level.
Accordingly, the present invention also provides a kind of hoisting crane, and this hoisting crane comprises the above-mentioned control system for the hoisting crane that comprises two lifting mechanisms.
Pass through technique scheme, the mode that can process by image judges whether run-off the straight of lifting beam with hook, and lower joint motor rotating speed in the situation of run-off the straight, so that lifting beam with hook is tending towards level, thereby avoided the mentioned problem that tilts to cause because of lifting beam with hook of background technology part.
Other features and advantages of the present invention will partly be described in detail in the specific embodiment subsequently.
The accompanying drawing explanation
Accompanying drawing is to be used to provide a further understanding of the present invention, and forms the part of specification sheets, is used from explanation the present invention with the following specific embodiment one, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the structural representation that is wound around the system of state for the rope of determining reel provided by the invention;
The schematic layout pattern that Fig. 2 is image collecting device and reel;
Fig. 3 is the image that image acquisition gathers;
Fig. 4 is the image processing flow chart;
Fig. 5 is the data matrix corresponding to the image shown in Fig. 3;
Fig. 6 A, Fig. 6 B and Fig. 6 C are respectively rope winding state and are normal condition, folded rope form state, reach schematic diagram and the corresponding data matrix of jumping around state;
Fig. 7 A and Fig. 7 B are respectively two lifting mechanisms synchronously and the rope under asynchronous state is wound around view;
Fig. 8 is the layout schematic diagram of obliquity sensor on lifting beam with hook;
The suspension hook that Fig. 9 A, Fig. 9 B, Fig. 9 C and Fig. 9 D are respectively the hoisting crane with two lifting mechanisms in the early warning position of rushing to summit, the decelerate position that hoists, emergency application position and schematic diagram and corresponding data matrix while rushing to summit position hoist; And
The suspension hook that Figure 10 A, Figure 10 B, Figure 10 C and Figure 10 D are respectively the hoisting crane with single lifting mechanism in the early warning position of rushing to summit, the decelerate position that hoists, emergency application position and schematic diagram and corresponding data matrix while rushing to summit position hoist.
Description of reference numerals
10,10a, 10b image collecting device 20 obliquity sensors
21 lifting beam with hook 22 solar panels
23 storage battery 24 wireless transport modules
30 current sensing means 40 motors
50 stop mechanism 60a, 60b reel
70,70a, 70b rope 80 base plates
100 control setup 25 crane arms
26 loading trolley 27 amplitude draw-bars
29 suspension hooks
The specific embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is elaborated.Should be understood that, the specific embodiment described herein only, for description and interpretation the present invention, is not limited to the present invention.
Fig. 1 is the structural representation that is wound around the system of state for the rope of determining reel provided by the invention.As shown in Figure 1, the invention provides a kind of control system for the hoisting crane that comprises two lifting mechanisms, this pair of lifting mechanism comprises the first lifting mechanism and the second lifting mechanism, this first lifting mechanism and the second lifting mechanism all comprise reel, be wrapped in the rope on reel, and the motor that drives this reel to rotate, this first lifting mechanism and the second lifting mechanism are for driving lifting beam with hook to hoist and descending, this system comprises: image collecting device 10, be used for for described pair of lifting mechanism, obtain respectively the image of the rope winding state on the reel that can reflect this lifting mechanism, control setup 100, for carrying out following operation: obtained image is decoded respectively and binary conversion treatment, to generate two data matrixes, these two data matrixes relatively, to judge the whether run-off the straight of described lifting beam with hook, and, in the situation that described lifting beam with hook tilts, regulate the rotating speed of described motor, so that described lifting beam with hook is tending towards level.
The schematic layout pattern that Fig. 2 is image collecting device and reel.As shown in Figure 2, can on these two reels of two reel 60a, 60b(for two lifting mechanisms, be wound with respectively rope 70a and 70b), an image collecting device 10a, 10b are set respectively, this image collecting device can gather the situation of arranging of the rope on reel.As shown in Figure 3, Reference numeral 80 represents the reel base plate to the image that this image collecting device gathers, and Reference numeral 70 representatives are wound in the rope on this reel base plate.
Fig. 4 is the image processing flow chart.As shown in Figure 4, at first, by image collecting device, obtain the image that the rope that can reflect on described reel is wound around state.Afterwards, control setup is decoded and binary conversion treatment to this image, with the generated data matrix (corresponding to the data matrix of the image shown in Fig. 3 as shown in Figure 5, value in data matrix is corresponding to the pixel in described image, show in described image that object (for example, rope or base plate etc.) pixel corresponding to the data in data matrix " 1 ", (for example do not show the pixel of object in described image, mean blank pixel) corresponding to the data in data matrix " 0 ", can certainly be conversely, for example in described image, show that the pixel of object is corresponding to the data in data matrix " 0 ", do not show in described image that the pixel of object is corresponding to the data in data matrix " 1 ").Afterwards, can determine that the rope on described reel is wound around state based on this data matrix, this will be described in detail following.
Preferably, before described image is carried out to binary conversion treatment, described control setup also can carry out gray processing and denoising to described image, can improve like this accuracy rate of image binaryzation.
Fig. 6 A, Fig. 6 B and Fig. 6 C are respectively rope winding state and are normal condition, folded rope form state, reach schematic diagram and the corresponding data matrix of jumping around state, it should be noted that, Fig. 6 A, Fig. 6 B and Fig. 6 C and following Fig. 7 A, the rope shown in Fig. 7 B are wound around state and have all only shown the first half of reel, and not showing the latter half, corresponding data matrix is also only for the first half.In fact, be no matter reel the first half, the latter half or a certain part part (for example, the flexible winding state of a certain part on reel), for example, as long as data matrix that can be corresponding according to it (reaches corresponding judgement purpose, judge the whether position etc. of disorder cable, suspension hook of rope) get final product, and for disorder cable, the winding state of reel each several part all may cause disorder cable, therefore should for example, according to the winding state of reel each several part (, considering upper part and lower part) simultaneously, judge whether to occur disorder cable under perfect condition.The present invention is for the purpose of simplified illustration, only take the first half at this and describes as example.As shown in Fig. 6 A, Fig. 6 B and Fig. 6 C, at it, in shown data matrix, there is not object (for example, rope or base plate etc.) in numerical value " 0 " representative, and there is object in numerical value " 1 " representative.From figure, can clearly find out, left and right 3 row in data matrix have all represented the baffle plate on the reel base plate, and in the data matrix of Fig. 6 A, the 4th row can represent the rope arranging situation of mandrel surface, and it is regularly arranged; In the data matrix of Fig. 6 B, the 3rd row and the 4th row can represent the rope arranging situation of mandrel surface, and it is folded rope form state, i.e. irregular alignment; In the data matrix of Fig. 6 C, the 4th row can represent the rope arranging situation of mandrel surface, and it is to jump around state, i.e. irregular alignment.By this, but the based on data matrix determines that rope on reel is wound around state.
Particularly, determine that based on described data matrix rope on described reel is wound around state and can comprises: the data of choosing a presumptive area from described data matrix are as judgment matrix (referring to the matrix that the frame of the data matrix shown in Fig. 6 A, Fig. 6 B and Fig. 6 C limits); According to the numeric distribution rule of this judgment matrix, judge that the rope on described reel is wound around state.In described judgment matrix, there is not rope in numerical value " 0 " representative, there is rope in numerical value " 1 " representative, represents that in described judgment matrix rope on described reel is wound around in 1 discontinuous situation in the row of state, judges that it is the disorder cable state that rope on described reel is wound around state.Certainly, only exemplified a kind of mode of determining rope winding state according to data matrix at this, the present invention is not limited to this, any based on data matrix determines that the mode of rope winding state all is applicable to this, for example, and a desirable judgment matrix, in this judgment matrix, there is not object (for example, rope, baffle plate or other objects) in numerical value " 0 " representative and there is object in numerical value " 1 " representative, or there is object in numerical value " 0 " representative and there is not object in numerical value " 1 " representative.
Fig. 7 A and Fig. 7 B are respectively two lifting mechanisms synchronously and the rope under asynchronous state is wound around view.As shown in Fig. 7 A and Fig. 7 B, in the synchronous situation of lifting mechanism, the data matrix that the image gathered according to image collecting device obtains should be identical, and, in the nonsynchronous situation of lifting mechanism, the data matrix that the image gathered according to image collecting device obtains should be not identical.By this, can judge that whether lifting mechanism is synchronous, in the nonsynchronous situation of lifting mechanism, lifting beam with hook must tilt.
More than introduced the image how to gather according to image collecting device and judged whether run-off the straight of lifting beam with hook, whether run-off the straight also can be undertaken by following two kinds of modes how to judge lifting beam with hook:
(1) obliquity sensor
Fig. 8 is the layout schematic diagram of obliquity sensor on lifting beam with hook.As shown in Figure 8, obliquity sensor 20, solar panel 22, storage battery 23, wireless transport module 24 all are positioned on lifting beam with hook 21, solar panel 22 and storage battery 23 are given obliquity sensor 20 and wireless transport module 24 power supplies, obliquity sensor 20 can detect the angle of inclination of lifting beam with hook 21, and sends to control setup via wireless transport module 24.Control setup can judge according to received angle of inclination whether run-off the straight of lifting beam with hook.
(2) current sensing means
As shown in Figure 1, this current sensing means 30 can detect the electric current of the motor of described pair of lifting mechanism, and the size of current of this electric current is sent to control setup.When this control setup can be greater than preset value at the absolute value of this difference between currents, judge the described lifting beam with hook run-off the straight of stating.Described electric current can represent the output torque of motor, when an electric current of motor that hoists mechanism obviously is greater than the electric current of motor of another lifting mechanism, the output torque of the two lifting mechanisms of representative is different, and cause this true reason to be lifting beam with hook, inclination has occurred, it is different that thereby the object that causes hoisting is applied to pair moment that plays mechanisms, thereby cause the output torque of two lifting mechanisms different.By this mode, also can judge whether run-off the straight of lifting beam with hook.
More than introduced and judged whether lifting beam with hook sends three kinds of modes of inclination, when by any mode, the lifting beam with hook run-off the straight being detected, all should regulate the motor speed of two lifting mechanisms, made lifting beam with hook be tending towards level.For example, when lifting beam with hook hoists mechanism's inclination towards one, represent that this lifting mechanism lifting velocity is excessively slow, can improve the rotating speed of the motor of this lifting mechanism, when lifting beam with hook is up to the standard (can judge according to the inclination angle of obliquity sensor output), then the motor speed of this lifting mechanism is adjusted to identical with the motor speed of another lifting mechanism.
In fact, the reason that causes lifting beam with hook to tilt has a lot, and the steel rope disorder cable is one of them.If steel rope is arranged on reel very poor (that is, disorder cable), can cause the horizontal extrusion abrasion of steel wire, produce huge impact load in row's rope process, long time integration can finally cause structural failure, wire cable rupture, thereby causes serious accident.For this reason, preferably, described control setup is also for carrying out following operation: based on described data matrix, determine that the rope of described lifting mechanism is wound around state; When any one rope winding state of described pair of lifting mechanism is the disorder cable state, controls described pair of lifting mechanism and stop driving lifting beam with hook to hoist.Now, control setup can be controlled two lifting mechanisms lift heavy is lowered, and by modes such as manual interventions, the rope of again arranging, make rope winding state return normal condition.By this, the mode that can gather image by image collecting device is identified rope and is wound around state, and in the situation that disorder cable occurs, solves in time this disorder cable problem, avoids causing safety misadventure.
By above data matrix, also can learn the winding number of plies of rope on reel and the position of rope on reel of current release, thereby show it has discharged rope how long, and then accurately judge the present position of suspension hook.For preventing lifting beam with hook, rush to summit, preferably, described control setup is also for carrying out at least one of following operation: by the data matrix in described two data matrixes with (for example rush to summit early warning position data matrix, this early warning position data matrix of rushing to summit can be the data matrix shown in Fig. 9 A) compare, and when both are equal, send the suspension hook early warning signal of rushing to summit, thus the alarm signal of reminding operating personal to slow down; By the data matrix in described two data matrixes with (for example hoist the decelerate position data matrix, this decelerate position data matrix that hoists can be the data matrix shown in Fig. 9 B) compare, and equate and described pair of lifting mechanism while not slowing down at both, control described pair of lifting mechanism and slow down; And by the data matrix in described two data matrixes with (for example hoist the emergency application position data matrix, this emergency application position data matrix that hoists can be the data matrix shown in Fig. 9 C) compare, and equate and described pair of lifting mechanism while not stopping hoisting at both, control stop mechanism 50 and braked, brake described pair of lifting mechanism.Due to lifting beam with hook when the certain altitude, it is certain gathering by image collecting device the data matrix that image obtains, by this, can judge by the mode of image acquisition state acquisition image the height of lifting beam with hook, and when this highly equals predetermined altitude, carry out corresponding control operation, rush to summit to avoid lifting beam with hook.The suspension hook that Fig. 9 A, Fig. 9 B, Fig. 9 C and Fig. 9 D are respectively the hoisting crane with two lifting mechanisms in the early warning position of rushing to summit, the decelerate position that hoists, emergency application position and schematic diagram and corresponding data matrix while rushing to summit position hoist, and it should be noted that, at this for the purpose of simplifying the description, the data matrix shown in Fig. 9 A, Fig. 9 B, Fig. 9 C and Fig. 9 D is the data matrix that is wound around state corresponding to reel the first half rope.
The solution of the present invention, by much information (that is, graphicinformation, obliquity information, size of current information) is carried out to fusion treatment, can solve the problem of three aspects:: (1) anti-lifting beam with hook tilts; (2) anti-disorder cable; And (3) anti-lifting beam with hook is rushed to summit.What need to illustrate is, the rope of determining reel herein is wound around state, determines whether to occur disorder cable and determine according to the winding state that the position of suspension hook is not limit to be applied to hoisting crane according to the winding state, also can be applicable to rotary drilling rig etc. and has in the equipment of hoisting mechanism.Except anti-lifting beam with hook tilts, anti-disorder cable and anti-lifting beam with hook are rushed to summit and all are not limited to two lifting mechanisms, single lifting mechanism is also applicable, the suspension hook that for example Figure 10 A, Figure 10 B, Figure 10 C and Figure 10 D are respectively the hoisting crane with single lifting mechanism in the early warning position of rushing to summit, the decelerate position that hoists, emergency application position and schematic diagram and corresponding data matrix while rushing to summit position hoist, single lifting mechanism can not relate to lifting beam with hook, but directly drives hook lifting.
Accordingly, the present invention also provides a kind of method that is wound around state for the rope of determining reel, and the method comprises: obtain the image that the rope that can reflect on described reel is wound around state; This image is decoded and binary conversion treatment, with the generated data matrix; And, based on this data matrix, determine that the rope on described reel is wound around state.
Accordingly, the present invention also provides a kind of control method for the hoisting crane that comprises two lifting mechanisms, the motor that this lifting mechanism comprises reel, is wrapped in the rope on reel and drives this reel to rotate, this pair of lifting mechanism is for driving lifting beam with hook to hoist and descending, the method comprises: for described pair of lifting mechanism, obtain respectively the image of the rope winding state on the reel that can reflect this lifting mechanism; Obtained image is decoded respectively and binary conversion treatment, to generate two data matrixes; These two data matrixes relatively, to judge the whether run-off the straight of described lifting beam with hook; And, in the situation that described lifting beam with hook tilts, regulate the rotating speed of described motor, so that described lifting beam with hook is tending towards level.
Identical or corresponding about the detail of said method and benefit and above-mentioned control system, repeat no more in this.
Accordingly, the present invention also provides a kind of hoisting crane, and this hoisting crane comprises the above-mentioned control system for the hoisting crane that comprises two lifting mechanisms.
Below describe by reference to the accompanying drawings the preferred embodiment of the present invention in detail; but; the present invention is not limited to the detail in above-mentioned embodiment; in technical conceive scope of the present invention; can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.
It should be noted that in addition each the concrete technical characterictic described in the above-mentioned specific embodiment, in reconcilable situation, can be combined by any suitable mode.For fear of unnecessary repetition, the present invention is to the explanation no longer separately of various possible array modes.
In addition, between various embodiment of the present invention, also can carry out combination in any, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (22)
1. a method that is wound around state for the rope of determining reel, the method comprises:
Obtain the image that the rope that can reflect on described reel is wound around state;
This image is decoded and binary conversion treatment, with the generated data matrix; And
Based on this data matrix, determine that the rope on described reel is wound around state.
2. method according to claim 1, is characterized in that, before described image is carried out to binary conversion treatment, the method also comprises: described image is carried out to gray processing and denoising.
3. method according to claim 1 and 2, is characterized in that, based on this data matrix, determines that the rope winding state on described reel comprises:
Choose the data of a presumptive area as judgment matrix from described data matrix;
According to the numeric distribution rule of this judgment matrix, determine that the rope on described reel is wound around state.
4. method according to claim 3, it is characterized in that, there is not rope in numerical value " 0 " representative, there is rope in numerical value " 1 " representative, represent that in described judgment matrix rope on described reel is wound around in 1 discontinuous situation in the row of state, judge that it is the disorder cable state that rope on described reel is wound around state.
5. an equipment that is wound around state for the rope of determining reel, this equipment comprises:
Image collecting device, for obtaining the image of the rope winding state that can reflect on described reel; And
Control setup, for being decoded and binary conversion treatment to described image, with the generated data matrix; Based on this data matrix, determine that the rope on described reel is wound around state.
6. equipment according to claim 5, is characterized in that, described control setup also, for before described image is carried out to binary conversion treatment, carries out gray processing and denoising to described image.
7. according to the described equipment of claim 5 or 6, it is characterized in that, described control setup is for choosing the data of a presumptive area as judgment matrix from described data matrix; According to the numeric distribution rule of this judgment matrix, judge that the rope on described reel is wound around state.
8. equipment according to claim 7, it is characterized in that, there is not rope in numerical value " 0 " representative, there is rope in numerical value " 1 " representative, described control setup, in 1 discontinuous situation in the row that represents rope winding state on described reel at described judgment matrix, judges that the rope winding state on described reel is the disorder cable state.
9. the control method for the hoisting crane that comprises two lifting mechanisms, this pair of lifting mechanism comprises the first lifting mechanism and the second lifting mechanism, the motor that this first lifting mechanism and the second lifting mechanism all comprise reel, are wrapped in the rope on reel and drive this reel to rotate, this first lifting mechanism and the second lifting mechanism are for driving lifting beam with hook to hoist and descending, and the method comprises:
Obtaining respectively rope on the reel that can reflect described the first lifting mechanism is wound around the image of state and can reflects that the rope on the reel of described the second lifting mechanism is wound around the image of state;
Obtained image is decoded respectively and binary conversion treatment, to generate two data matrixes;
These two data matrixes relatively, to judge the whether run-off the straight of described lifting beam with hook; And
In the situation that described lifting beam with hook tilts, regulate the rotating speed of described motor, so that described lifting beam with hook is tending towards level.
10. method according to claim 9, is characterized in that, the method also comprises:
Detect the inclination angle of described lifting beam with hook, to judge the whether run-off the straight of described lifting beam with hook; And/or
Detect the electric current of the motor of described the first lifting mechanism and the second lifting mechanism, and, when the absolute value of this difference between currents is greater than preset value, judge the described lifting beam with hook run-off the straight of stating.
11. method according to claim 9, is characterized in that, the method also comprises:
Data matrix based on described the first lifting mechanism or the second lifting mechanism, determine that the rope of described the first lifting mechanism or the second lifting mechanism is wound around state;
When the rope winding state of described the first lifting mechanism or the second lifting mechanism is the disorder cable state, controls described the first lifting mechanism and the second lifting mechanism and stop driving lifting beam with hook to hoist.
12. method according to claim 11, is characterized in that, the data matrix based on described the first lifting mechanism or the second lifting mechanism determines that the rope winding state on described reel comprises:
Choose the data of a presumptive area as judgment matrix from the data matrix of described the first lifting mechanism or the second lifting mechanism;
According to the numeric distribution rule of this judgment matrix, determine that the rope on described reel is wound around state.
13. method according to claim 12, it is characterized in that, there is not rope in numerical value " 0 " representative, there is rope in numerical value " 1 " representative, represent that in described judgment matrix rope on described reel is wound around in 1 discontinuous situation in the row of state, judge that it is the disorder cable state that rope on described reel is wound around state.
14. according to the described method of claim 9 or 11, it is characterized in that at least one during the method is further comprising the steps of:
A data matrix in described two data matrixes and the early warning position data matrix of rushing to summit are compared, and when both are equal, send the suspension hook early warning signal of rushing to summit;
A data matrix in described two data matrixes and the decelerate position data matrix that hoists are compared, and equate and described the first lifting mechanism and the second lifting mechanism while not slowing down at both, control described the first lifting mechanism and the second lifting mechanism and slow down; And
A data matrix in described two data matrixes and the emergency application position data matrix that hoists are compared, and equate and described the first lifting mechanism and the second lifting mechanism while not stopping hoisting at both, brake described the first lifting mechanism and the second lifting mechanism.
15. the control system for the hoisting crane that comprises two lifting mechanisms, this pair of lifting mechanism comprises the first lifting mechanism and the second lifting mechanism, the motor that this first lifting mechanism and the second lifting mechanism all comprise reel, are wrapped in the rope on reel and drive this reel to rotate, this first lifting mechanism and the second lifting mechanism are for driving lifting beam with hook to hoist and descending, and this system comprises:
Image collecting device, be wound around the image of state and can reflect that the rope on the reel of described the second lifting mechanism is wound around the image of state for obtaining respectively rope on the reel that can reflect described the first lifting mechanism;
Control setup, for carrying out following operation:
Obtained image is decoded respectively and binary conversion treatment, to generate two data matrixes;
These two data matrixes relatively, to judge the whether run-off the straight of described lifting beam with hook; And
In the situation that described lifting beam with hook tilts, regulate the rotating speed of described motor, so that described lifting beam with hook is tending towards level.
16. system according to claim 15, is characterized in that, this system also comprises:
Obliquity sensor, for detection of the inclination angle of described lifting beam with hook;
Described control setup is for according to described inclination angle, judges the whether run-off the straight of described lifting beam with hook.
17. system according to claim 15, is characterized in that, this system also comprises:
Current sensing means, for detection of the electric current of the motor of described the first lifting mechanism and the second lifting mechanism;
Described control setup, for when the absolute value of described difference between currents is greater than preset value, judges the described lifting beam with hook run-off the straight of stating.
18. system according to claim 15, is characterized in that, described control setup is also for carrying out following operation:
Data matrix based on described the first lifting mechanism or the second lifting mechanism, determine that the rope of described the first lifting mechanism or the second lifting mechanism is wound around state;
When the rope winding state of described the first lifting mechanism or the second lifting mechanism is the disorder cable state, controls described the first lifting mechanism and the second lifting mechanism and stop driving lifting beam with hook to hoist.
19. system according to claim 18, is characterized in that, the data matrix based on described the first lifting mechanism or the second lifting mechanism determines that the rope winding state on described reel comprises:
Choose the data of a presumptive area as judgment matrix from the data matrix of described the first lifting mechanism or the second lifting mechanism;
According to the numeric distribution rule of this judgment matrix, determine that the rope on described reel is wound around state.
20. system according to claim 19, it is characterized in that, there is not rope in numerical value " 0 " representative, there is rope in numerical value " 1 " representative, represent that in described judgment matrix rope on described reel is wound around in 1 discontinuous situation in the row of state, judge that it is the disorder cable state that rope on described reel is wound around state.
21. according to the described system of claim 15 or 18, it is characterized in that, described control setup is also for carrying out at least one of following operation:
A data matrix in described two data matrixes and the early warning position data matrix of rushing to summit are compared, and when both are equal, send the suspension hook early warning signal of rushing to summit;
A data matrix in described two data matrixes and the decelerate position data matrix that hoists are compared, and equate and described the first lifting mechanism and the second lifting mechanism while not carrying out deceleration-operation at both, control described the first lifting mechanism and the second lifting mechanism and slow down; And
A data matrix in described two data matrixes and the emergency application position data matrix that hoists are compared, and equate and described the first lifting mechanism and the second lifting mechanism while not stopping hoisting at both, brake described the first lifting mechanism and the second lifting mechanism.
22. a hoisting crane, this hoisting crane comprises according to the described system of any one claim in claim 15-21.
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| CN104477723A (en) * | 2014-12-25 | 2015-04-01 | 中国矿业大学 | Disorder rope monitoring system for winding reel of mine hoist and disorder rope judging method |
| CN105438983A (en) * | 2014-07-28 | 2016-03-30 | 徐州重型机械有限公司 | Engineering machinery and engineering machinery winding disorder cable monitoring device and method |
| CN109678060A (en) * | 2019-01-22 | 2019-04-26 | 江苏徐工工程机械研究院有限公司 | Intelligent monitoring method and system for disorder of hoisting steel wire rope of tower crane |
| CN110436362A (en) * | 2019-06-28 | 2019-11-12 | 佳力机械股份有限公司 | Loop chain hoister lifting hook systems stabilisation and hoisting equipment |
| CN112634592A (en) * | 2020-12-18 | 2021-04-09 | 杭州鸿泉物联网技术股份有限公司 | Method and device for identifying winding disorder rope by combining camera |
| CN112862817A (en) * | 2021-03-16 | 2021-05-28 | 精英数智科技股份有限公司 | Roller rope disorder detection method and device based on machine vision |
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