CN112033373A - Attitude detection method for gantry crane lifting appliance - Google Patents
Attitude detection method for gantry crane lifting appliance Download PDFInfo
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- CN112033373A CN112033373A CN202010848138.2A CN202010848138A CN112033373A CN 112033373 A CN112033373 A CN 112033373A CN 202010848138 A CN202010848138 A CN 202010848138A CN 112033373 A CN112033373 A CN 112033373A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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Abstract
The invention discloses a method for detecting the posture of a gantry crane sling, which is used for detecting the sling in real time, identifying the position of an ultraviolet lamp in an image through an image processing algorithm, realizing coordinate conversion, calculating the coordinate of the ultraviolet lamp in a coordinate system of image capture equipment according to the distance between the front and the back of the ultraviolet lamp in the image, and calculating the coordinate of the geometric center of the sling under the image coordinate system, thereby obtaining the real-time offset of the sling relative to the coordinate of a reference point in the large and small vehicle directions.
Description
Technical Field
The invention relates to the field of hanger attitude detection, in particular to an attitude detection method for a portal frame hanger.
Background
With the rapid development of the intelligent logistics industry in China, the handling capacity of port containers is greatly promoted, and a key factor for improving the port operation efficiency is that a lock head of a lifting appliance is accurately aligned to a container corner fitting in the process of operating the lifting appliance by a crane.
The lifting appliance may deflect due to wind, impact and uneven load, and the phenomenon of too large swing amplitude of the lifting appliance inevitably occurs due to frequent actions of lifting, translation, falling, and the like of the lifting appliance, so that potential safety hazards are generated.
Disclosure of Invention
The invention mainly solves the technical problem of providing the attitude detection method of the portal frame lifting appliance, has the advantages of high reliability, accurate positioning and the like, and has wide market prospect in the application and popularization of the lifting appliance attitude detection.
In order to solve the technical problems, the invention adopts a technical scheme that:
the attitude detection method for the gantry crane sling comprises the following steps:
(1) installing an identification lamp for real-time position judgment on the lifting appliance;
(2) setting the corresponding proportion between the image pixels and the actual length of the lifting appliance at different heights, and setting the offset threshold range of the lifting appliance;
(3) acquiring an image of a lifting appliance in a static state; obtaining the static coordinate of each identification lamp on a coordinate system in the identification equipment according to the corresponding proportion; obtaining the center coordinate of the center of the lifting appliance according to the static coordinate; setting the static coordinate or the central coordinate as a reference point;
(4) acquiring images of the identification lamps in real time, and acquiring real-time coordinates of each identification lamp in a coordinate system according to corresponding proportions; obtaining the real-time center coordinate of the center of the lifting appliance according to the real-time coordinate; and obtaining the real-time offset of the lifting appliance relative to the reference point according to the reference point and the center real-time coordinate or the real-time coordinate, thereby obtaining the actual position of the lifting appliance.
In a preferred embodiment of the present invention, the identification lamp is an ultraviolet lamp.
In a preferred embodiment of the present invention, a filter is mounted on the industrial camera to cooperate with the marker light.
In a preferred embodiment of the invention, the marker lights are mounted on the center, corners or periphery of the spreader.
In a preferred embodiment of the invention, the two indicator lights are symmetrically arranged on the center line of the lifting appliance.
In a preferred embodiment of the invention, the image recognition device recognizes and locates the marker light on the image in real time.
In a preferred embodiment of the present invention, when the marker light for determination is installed on the hanger, the distance between each marker light and the center of the hanger is obtained.
In a preferred embodiment of the present invention, in step (3), the pixels between the center of the spreader and the reference point in the image are converted into the actual distance between the center of the spreader and the reference point according to the corresponding proportion, so as to obtain the actual deviation distance between the center of the spreader and the reference point.
In a preferred embodiment of the invention, the central static coordinate of the center of the lifting appliance is obtained according to the static coordinate and the actual pixel interval, and the central static coordinate is set as a reference point; and obtaining the center real-time coordinate of the center of the lifting appliance according to the real-time coordinate and the actual pixel interval.
In a preferred embodiment of the present invention, when the real-time offset is greater than the preset offset threshold, the hanger is in a posture to be adjusted, and the hanger is not lowered, and when the real-time offset is less than or equal to the preset offset threshold, the hanger is in a posture capable of being implemented, and the hanger can be lowered for operation.
The invention has the beneficial effects that: the device is favorable for accurately and quickly judging the posture of the lifting appliance, improves the accuracy and the efficiency of the lock hole of the lock head of the lifting appliance, and improves the port operation efficiency.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
fig. 1 is a schematic diagram of a position of an ultraviolet lamp in the attitude detection method for the gantry crane spreader according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an embodiment of the present invention includes:
a method for detecting the posture of a hanger of a portal frame includes such steps as real-time detecting the hanger, recognizing the position of ultraviolet lamp in image by image processing algorithm, converting the coordinates of ultraviolet lamp in the coordinate system of image capture device, and calculating the coordinates of geometric center of hanger in the coordinate system of image to obtain the real-time offset of hanger relative to the coordinate of reference point in big or small car.
A method for detecting the attitude of a gantry crane sling comprises the following specific steps:
(1) the identification lamps 1 for judgment are installed on the lifting appliance, and the distance between each identification lamp and the center of the lifting appliance can be obtained simultaneously when the identification lamps are installed;
(1.1) in order to resist the illumination interference of outdoor environment, the identification lamp can adopt an ultraviolet lamp, and meanwhile, an optical filter with corresponding wavelength is additionally arranged on the industrial camera.
(1.2) the installation and calibration positions of the identification lamps are arranged on the lifting appliance, wherein the installation and calibration positions can be arranged on different positions such as the central point, the central line, four corners and the periphery of the lifting appliance.
(1.3) uniformly arranging the identification lamps on the installation calibration positions, for example:
(a) when the installation calibration position is arranged at the central point of the lifting appliance, an identification lamp can be installed at the installation calibration position.
(b) When the installation calibration position is arranged on the center line of the lifting appliance, two identification lamps can be symmetrically arranged on the center line.
(c) When the installation calibration positions are arranged at four corners of the lifting appliance, an identification lamp can be respectively installed at each corner.
(d) When the installation calibration positions are arranged on the periphery of the lifting appliance, a plurality of identification lamps can be uniformly installed on the lifting appliance.
(2) Through an image processing algorithm, the ultraviolet lamp is detected in real time, and the position of the identification lamp in the image is identified so as to judge the posture of the lifting appliance and ensure the operation safety.
(2.1) setting a corresponding proportion between pixels in the image recognition equipment and the actual length of the lifting appliance at different heights, and converting the distance between the marker lamp and the center of the lifting appliance into actual pixels contained in coordinates according to the corresponding proportion so as to conveniently calculate the coordinates of the center of the lifting appliance in the image; a range of offset thresholds is set.
(2.2) the image capturing equipment acquires an image when the lifting appliance is static and is opposite to the box hole; the image recognition equipment recognizes and positions the identification lamps, and obtains the static coordinates of each identification lamp in the coordinate system according to the corresponding proportion; obtaining a central static coordinate of the center of the lifting appliance according to the static coordinate and the actual pixel; the static coordinates or the center static coordinates are set as reference points.
(2.3) the image capturing device acquires the image of the identification lamp in real time and sends the image to the image recognition device; the image recognition equipment acquires images of the identification lamps in real time and positions the identification lamps to the ultraviolet lamp, red frames are marked on the ultraviolet lamp on the images, and real-time coordinates of each identification lamp in a coordinate system are obtained according to corresponding proportions.
And (2.4) obtaining the real-time coordinate of the center of the lifting appliance according to the real-time coordinate and the actual pixel, wherein the lifting appliance can only translate or rotate in one direction due to the limitation of the lifting appliance structure, and the coordinate of the center point is obtained through various different calculation modes such as displacement, functions and the like.
And (2.5) obtaining real-time offset pixels of the lifting appliance relative to the reference point according to the reference point and the real-time coordinate or the real-time coordinate of the center, and converting the real-time offset pixels into actual deviation distances between the marker lamp or the lifting appliance center and the reference point according to the corresponding proportion.
(2.6) when actual deviation distance is greater than predetermined threshold value, the hoist is for waiting to adjust the gesture, and the hoist does not transfer, and when actual deviation distance was less than or equal to predetermined threshold value, the hoist can be for implementing the gesture, can transfer the hoist and carry out the transfer work of container.
Detailed description of the preferred embodiment
A method for detecting the attitude of a gantry crane sling specifically comprises the following steps:
(1) install the purple light lamp on the hoist, install the light filter additional at the industry camera, wherein, the purple light lamp installation symmetry is installed on the midline of hoist.
(2) The following parameters were set: when the distance between the lifting appliance and the ground is 3 times of the height of the container, calibrating that the pixel pitch in the image corresponds to 0.3cm (namely 3 mm comprises one pixel) of the actual lifting appliance plane; the offset threshold is set to 1cm in the actual plane.
(3) The method comprises the following steps that image capture equipment obtains an image of a marker light when a lifting appliance is over against a box hole, and sends the image to image recognition equipment; the image recognition device obtains the static coordinates (95, 95) of each identification lamp in the coordinate system according to the corresponding proportion, and sets the static coordinates (95, 95) as the reference point.
(4) In actual operation, when the height of the spreader is 3 times the height of the container, the image capturing and recognizing device acquires the image of the marker light in real time and positions the marker light to the purple light, marks a red frame on the purple light on the image (referring to fig. 1, the black frame represents the position of the purple light), and measures the real-time coordinates of the marker light in the coordinate system to be (98, 128).
(5) Comparing the static coordinate with the real-time coordinate, the difference between the marker light in the X direction is 3 pixels, the actual deviation distance corresponding to the 3 pixels is 3X 0.3= 0.9cm and is less than 1cm of the deviation threshold, but the coordinate of the marker light in the Y direction is different by 33 pixels and exceeds the deviation threshold, and the corresponding actual deviation 33X 0.3=9.9cm, so that the hanger cannot fall into the box in the state.
Detailed description of the invention
A method for detecting the attitude of a gantry crane sling specifically comprises the following steps:
(1) the lifting appliance is provided with the ultraviolet lamps, the optical filter is additionally arranged on the industrial camera, wherein the two ultraviolet lamps are symmetrical relative to the Y axis on two sides of the center of the lifting appliance, namely the center point of the lifting appliance is the middle point of the connecting line of the two ultraviolet lamps, and the lifting appliance only swings and deviates along the X axis direction.
(2) The following parameters were set: when the distance between the lifting appliance and the ground is 3 times of the height of the container, the pixel distance in the calibration image corresponds to 0.3cm of the plane of the actual lifting appliance, and the offset threshold value is set to be 1cm in the actual plane.
(3) The method comprises the following steps that image capture equipment obtains an image of a marker light when a lifting appliance is over against a box hole, and sends the image to image recognition equipment; the image recognition equipment obtains the static coordinates of the two identification lamps in the coordinate system according to the corresponding proportion, wherein the static coordinates are (90, 95) and (100, 95); the center static coordinate of the center of the spreader is (95, 95), and this center static coordinate is set as a reference point.
(4) The image capturing and identifying device acquires an image of the identification lamp in real time and positions the image to the ultraviolet lamp, and a red frame is marked on the ultraviolet lamp on the image; the image recognition device obtains real-time coordinates of the two identification lamps in a coordinate system, wherein the real-time coordinates are respectively (98, 95) and (108, 95), so that the center real-time coordinate of the center of the lifting appliance is (103, 95).
(5) Comparing static coordinates and real-time coordinates, the difference of the center of the lifting appliance in the X direction is 8 pixels, 8X 0.3=2.4 cm, namely the actual offset distance is greater than the offset threshold value, so that the lifting appliance cannot fall into a box under the state.
Detailed description of the preferred embodiment
A method for detecting the attitude of a gantry crane sling specifically comprises the following steps:
(1) the lifting appliance is provided with the ultraviolet lamps, the optical filter is additionally arranged on the industrial camera, wherein the two ultraviolet lamps are symmetrical relative to the Y axis on two sides of the center of the lifting appliance, namely the center point of the lifting appliance is the middle point of the connecting line of the two ultraviolet lamps, and the lifting appliance only swings and deviates along the X axis direction.
(2) The following parameters were set: when the distance between the lifting appliance and the ground is 3 times of the height of the container, the pixel distance in the calibration image corresponds to 0.3cm of the plane of the actual lifting appliance, and the offset threshold value is set to be 1cm in the actual plane.
(3) The method comprises the following steps that image capture equipment obtains an image of a marker light when a lifting appliance is over against a box hole, and sends the image to image recognition equipment; the image recognition equipment obtains the static coordinates of the two identification lamps in the coordinate system according to the corresponding proportion, wherein the static coordinates are (90, 95) and (100, 95); the center static coordinate of the center of the spreader is (95, 95), and this center static coordinate is set as a reference point.
(4) The image capturing and identifying device acquires an image of the identification lamp in real time and positions the image to the ultraviolet lamp, and a red frame is marked on the ultraviolet lamp on the image; the image recognition device obtains real-time coordinates of the two identification lamps in a coordinate system, namely (92, 95) and (102, 95), so that the center of the hanger center is (97, 95).
(5) Comparing static coordinates and real-time coordinates, the difference of the center of the lifting appliance in the X direction is 2 pixels, 2X 0.3=0.6 cm, namely the actual offset distance is smaller than the offset threshold value, so that the lifting appliance can fall into a box under the state.
The attitude detection method of the gantry crane lifting appliance has the beneficial effects that:
1. the posture of the lifting appliance can be accurately and quickly judged, the accuracy and the efficiency of a lock hole of a lock head of the lifting appliance are improved, and the port operation efficiency is improved;
2. the method is favorable for operators to master the working state of the spreader at any time, effectively prevents accidents, and has important research value and practical significance for detecting the running state of the container spreader.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by the present specification, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method for detecting the attitude of a gantry crane sling is characterized by comprising the following steps:
(1) installing an identification lamp for real-time position judgment on the lifting appliance;
(2) setting the corresponding proportion between the image pixels and the actual length of the lifting appliance at different heights, and setting the offset threshold range of the lifting appliance;
(3) acquiring an image of a lifting appliance in a static state; obtaining the static coordinate of each identification lamp on a coordinate system in the identification equipment according to the corresponding proportion; obtaining the center coordinate of the center of the lifting appliance according to the static coordinate; setting the static coordinate or the central coordinate as a reference point;
(4) acquiring images of the identification lamps in real time, and acquiring real-time coordinates of each identification lamp in a coordinate system according to corresponding proportions; obtaining the real-time center coordinate of the center of the lifting appliance according to the real-time coordinate; and obtaining the real-time offset of the lifting appliance relative to the reference point according to the reference point and the center real-time coordinate or the real-time coordinate, thereby obtaining the actual position of the lifting appliance.
2. The attitude detection method for the gantry crane spreader according to claim 1, wherein the identification light is an ultraviolet light.
3. The attitude detection method for the gantry crane spreader according to claim 2, wherein an optical filter matched with the identification lamp is installed on the industrial camera.
4. The method of claim 1, wherein the indication lamp is installed at a center point, a center line, four corners or a periphery of the hanger.
5. The method of claim 4, wherein the two marker lights are symmetrically disposed on a center line of the spreader.
6. The attitude detection method for the gantry crane spreader according to claim 1, wherein the image recognition device recognizes in real time and detects and positions the indicator light on the image in real time.
7. The attitude detection method for the gantry crane spreader according to claim 1, wherein the distance between each marker light and the center of the spreader is obtained when the marker light for judgment is installed on the spreader.
8. The attitude detection method for gantry cranes of claim 1, wherein in step (3), the pixels between the center of the spreader and the reference point in the image are converted into the actual distance between the center of the spreader and the reference point according to the corresponding proportion, so as to obtain the actual offset distance between the center of the spreader and the reference point.
9. The attitude detection method for the gantry crane spreader according to claim 8, wherein the central static coordinate of the center of the spreader is obtained according to the static coordinate and the actual pixel pitch, and is set as a reference point; and obtaining the center real-time coordinate of the center of the lifting appliance according to the real-time coordinate and the actual pixel interval.
10. The attitude detection method of a gantry crane spreader according to claim 1, wherein when the real-time offset is greater than a preset offset threshold, the spreader is in an attitude to be adjusted, and the spreader is not lowered, and when the real-time offset is less than or equal to the preset offset threshold, the spreader is in an attitude capable of being implemented, and the spreader can be lowered for operation.
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