CN112061993A - Automatic detecting and monitoring method for vehicle plate separation during container lifting - Google Patents
Automatic detecting and monitoring method for vehicle plate separation during container lifting Download PDFInfo
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- CN112061993A CN112061993A CN202010879213.1A CN202010879213A CN112061993A CN 112061993 A CN112061993 A CN 112061993A CN 202010879213 A CN202010879213 A CN 202010879213A CN 112061993 A CN112061993 A CN 112061993A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
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Abstract
The invention provides a method for automatically detecting and monitoring separation of a vehicle plate during lifting of a container, which can monitor, acquire and process video images of a storage yard operation area in real time, monitor key parts of equipment, recognize, analyze and judge various characteristics of an image picture in real time according to various prior conditions of a monitored target and equipment action association, finally perform early warning or feed back various parameter data in real time, and eliminate potential safety hazards which can be ignored when a driver operates crane equipment. Different from the traditional detection means, the invention not only can output the traditional video monitoring picture for the driver to check at any time, but also has the function of active detection, identification and judgment, can effectively relieve the labor intensity of the driver, provides guarantee for the safe operation of equipment, prevents various accidents, and can effectively avoid the occurrence of the accident that the container truck is hoisted due to manual misoperation.
Description
Technical Field
The invention belongs to the technical field of lifting prevention of container trucks, and particularly relates to an automatic detection and monitoring method for truck plate separation during lifting of a container.
Background
With the rapid development of global container transportation, the operation of modern container terminals and storage yards is increasingly busy, and the working environment is increasingly complex. The hoisting of the container at present usually utilizes a gantry crane or a tire crane, and due to the particularity of the container loading and unloading operation, the event that the container truck is taken up by the container due to the fact that the lock pin of the container truck is not completely opened frequently occurs in the loading and unloading process. When the container hoisting operation is carried out by utilizing the tire crane on a storage yard, the following three working conditions can be generally adopted: (1) the container is separated from the container truck, and at the moment, a relatively uniform gap exists between the container and the container truck, which is called as a 'completely separated state'; (2) the container and the container truck are partially separated, namely one end of the container is separated from the container truck, while the other end is not separated, at this time, a certain gap exists between the container and the container truck, but the gap is a triangular gap with a larger side and a smaller side, which is called as an 'incomplete separation state' or a 'single-side separation state'; (3) the two ends of the container and the container truck are not separated, and at the moment, no gap exists between the container and the container truck basically, which is called as a completely non-separated state. In the case of the (2) th working condition and the (3) rd working condition, the container and the truck can be damaged in severe cases, and even casualty accidents of drivers can happen.
In order to prevent accidents caused by the fact that a container truck and a container are carried together, a dock and a storage yard usually adopt a camera shooting technology, a tire crane driver monitors the separation condition of the container and the truck through a cab display, a lifting operator communicates with the driver through a telephone operator, and the accidents are avoided through manual operation, namely the accidents are completely avoided through ' people ' defense '. At present, container terminal storage yard area is big, and the operation car is many and the car condition is complicated, and to large-scale operation place, mechanical equipment's allotment and management are very important, lean on the people to arouse fatigue and negligence easily, and rely on traditional wireless intercom to assign the operation instruction and transmit production information and have a great deal of inconvenience, have greatly influenced the operating efficiency. Obviously, the current "people's air defense" measures cannot effectively avoid the accidents.
Therefore, in order to deal with the increasingly heavy and complex container transportation industry, a 'technical prevention' measure for automatically detecting whether the container and the container truck are separated or not based on machine vision and automatically or prompting to stop the action of the lifting mechanism under the condition of no separation is needed, so that accidents caused by the container truck and the container are avoided.
Disclosure of Invention
The invention aims to provide an automatic detection and monitoring method for vehicle plate separation during container lifting, which can solve the problems that whether a truck and a container are completely separated or not can not be automatically detected through technical measures in the prior art, the lifting action of a crane can be automatically stopped under the condition that the truck is lifted by mistake by the crane, and the accident that a container truck in a yard is lifted can be effectively prevented.
In order to solve the technical problem, the invention is solved by the following technical scheme:
the invention provides an automatic detecting and monitoring method for vehicle plate separation during container lifting, which comprises the following steps:
a, a signal processing module 1 acquires the positions of a container and a truck from real-time image data of the container and the truck acquired by a data acquisition module 2;
b, judging whether the truck is hoisted or not according to the position changes of the container and the truck;
step C, the control alarm module 4 gives an alarm when the truck is hoisted or the truck is not completely separated from the container.
In the above method for automatically detecting and monitoring separation of the car plate during lifting of the container, the step B at least includes: when a lifting appliance grabs and pulls a container from a truck plate, acquiring image data of a joint surface of the truck plate and the container, acquiring the frame edge contour position of the truck and the edge contour position of the container through real-time image data analysis, judging whether the frame edge position and the edge contour position of the container are overlapped, and judging whether the included angle between the bottom of the container and the truck plate contour line changes when the lifting container is lifted;
if the contour of the lower bottom surface of the container is not overlapped with the contour line of the frame of the truck when the lifting appliance grabs the container and rises, the position of the contour of the edge of the frame of the truck is unchanged, the edge position of the container gradually rises, and the angle of an included angle between the edge position of the frame of the truck and the edge position of the container is unchanged, the container is judged to be separated from the truck, and the truck is not lifted;
and if the distance between the edge position of the frame of the truck and the edge position of the container is not changed or the contour lines of the frame of the truck and the edge position of the container are overlapped or the included angle between the edge position of the frame of the truck and the edge position of the container is gradually increased, judging that the container is not separated from the truck and the truck is hoisted.
According to the automatic detecting and monitoring method for the separation of the truck plate during the lifting of the container, in the process that the container on the truck is grabbed by the lifting appliance after the lifting appliance starts to operate, the shooting device 5 sends the container profile data, the ground profile data and the truck profile data which are scanned in real time to the signal processing module 1.
In the above method for automatically detecting and monitoring the separation of the car deck during the lifting of the container, the intake device 5 is one or more of a camera, a multi-line laser scanner or a millimeter wave radar.
The automatic detecting and monitoring method for the separation of the vehicle plates during the container lifting further comprises at least two photoelectric switches, an electronic controller 6 and a lifting encoder, wherein the lifting encoder is arranged on a rotating shaft of a lifting motor of the container crane.
According to the automatic detecting and monitoring method for the separation of the car plates during the lifting of the container, the photoelectric switches are respectively arranged on the crane support, the horizontal intervals of the photoelectric switches are less than 20 feet, the photoelectric switches are connected with one input port of the electronic controller 6 through a lead, and the lifting encoder is connected with the other input port of the electronic controller 6 through a lead.
In the automatic detecting and monitoring method for the separation of the car plates during the lifting of the container, the electronic controller 6 is composed of a programmable logic controller, and a signal converter is connected between the photoelectric switch and the electronic controller 6 in series.
According to the automatic detecting and monitoring method for the separation of the vehicle plates during the lifting of the container, the data acquisition module 2 mainly comprises an input-output isolation photoelectric coupling circuit, a single chip circuit, a voltage-stabilized power supply circuit and an RS232 communication circuit; the input port of the electronic controller is used for receiving an operation state switching instruction sent by the electronic controller 6, when the electronic controller 6 sends a corresponding action instruction, the photoelectric coupling circuit pulls down the level of the I/O port of the electronic controller 6 corresponding to the photoelectric coupling circuit, the electronic controller 6 enables the corresponding camera to be turned on or turned off according to the level state of the I/O port, the corresponding sensor is enabled to trigger and collect images by changing the signal output state of the synchronous trigger port, an equipment action signal is sent to the signal processing module 1 through the RS232 port, and the signal processing module 1 is informed of the opening or closing action of the video image processing picture.
A method for automatically detecting and monitoring the separation of a vehicle plate during the lifting of a container comprises the following steps:
step a, a signal processing module 1 acquires the positions of a container and a truck from real-time image data of the container and the truck acquired by a data acquisition module 2;
step b, the image recognition device 3 detects the position and shape change of the projected image of the truck tire to judge whether the truck is completely separated from the container;
step c, the control alarm module 4 gives an alarm when the truck is hoisted or the truck is not completely separated from the container.
The automatic detecting and monitoring method for the separation of the vehicle plates during the container lifting further comprises at least two photoelectric switches, an electronic controller 6 and a lifting encoder, wherein the lifting encoder is arranged on a rotating shaft of a lifting motor of the container crane.
According to the automatic detecting and monitoring method for the separation of the car plates during the lifting of the container, the photoelectric switches are respectively arranged on the crane support, the horizontal intervals of the photoelectric switches are less than 20 feet, the photoelectric switches are connected with one input port of the electronic controller 6 through a lead, and the lifting encoder is connected with the other input port of the electronic controller 6 through a lead.
In the automatic detecting and monitoring method for the separation of the car plates during the lifting of the container, the electronic controller 6 is composed of a programmable logic controller, and a signal converter is connected between the photoelectric switch and the electronic controller 6 in series.
According to the automatic detecting and monitoring method for the separation of the vehicle plates during the lifting of the container, the data acquisition module 2 mainly comprises an input-output isolation photoelectric coupling circuit, a single chip circuit, a voltage-stabilized power supply circuit and an RS232 communication circuit; the input port of the electronic controller is used for receiving an operation state switching instruction sent by the electronic controller 6, when the electronic controller 6 sends a corresponding action instruction, the photoelectric coupling circuit pulls down the level of the I/O port of the electronic controller 6 corresponding to the photoelectric coupling circuit, the electronic controller 6 enables the corresponding camera to be turned on or turned off according to the level state of the I/O port, the corresponding sensor is enabled to trigger and collect images by changing the signal output state of the synchronous trigger port, an equipment action signal is sent to the signal processing module 1 through the RS232 port, and the signal processing module 1 is informed of the opening or closing action of the video image processing picture.
In the above method for automatically detecting and monitoring separation of the car deck during lifting of the container, the step b at least includes: acquiring an image value of the truck tire from the real-time projection image data of the truck tire, and judging whether the position and the angle of the real-time projection image of the truck tire are changed or not;
if the position and the angle of the real-time projection image of the truck tire are unchanged, the container is judged to be completely separated from the truck, and the truck is not lifted;
if the position and the angle of the real-time projection image of the tire of the truck are changed, the container is judged not to be separated from the truck, and the truck is lifted.
The automatic detecting and monitoring method for the separation of the truck plate during the lifting of the container monitors, acquires and processes the video image of a storage yard operation area in real time, monitors key parts of equipment, performs real-time identification, analysis and judgment on various characteristics of an image picture according to various prior conditions of a monitored target and the association of equipment action, finally performs early warning or feeds back various parameter data in real time, and eliminates potential safety hazards which can be ignored when a driver operates crane equipment. Different from the traditional detection means, the invention not only can output the traditional video monitoring picture for the driver to check at any time, but also has the function of active detection, identification and judgment, can effectively relieve the labor intensity of the driver, provides guarantee for the safe operation of equipment, prevents various accidents, and can effectively avoid the occurrence of the accident that the container truck is hoisted due to manual misoperation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will discuss the drawings required to be used in the embodiments or the technical solutions in the prior art, it is obvious that the technical solutions described in the figures are only some embodiments of the present invention, and for those skilled in the art, other embodiments and drawings thereof can be obtained according to the embodiments shown in the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an automatic detecting and monitoring method for vehicle plate separation during container lifting.
Detailed Description
The technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments described herein without the need for inventive work, are within the scope of the present invention.
The invention provides an automatic detecting and monitoring method for vehicle plate separation during container lifting, which comprises the following steps:
a, a signal processing module 1 acquires the positions of a container and a truck from real-time image data of the container and the truck acquired by a data acquisition module 2;
b, judging whether the truck is hoisted or not according to the position changes of the container and the truck;
step C, the control alarm module 4 gives an alarm when the truck is hoisted or the truck is not completely separated from the container.
Further, in a preferred embodiment of the method for automatically detecting and monitoring separation of the car deck during lifting of the container, the step B at least includes: when a lifting appliance grabs and pulls a container from a truck plate, acquiring image data of a joint surface of the truck plate and the container, acquiring the frame edge contour position of the truck and the edge contour position of the container through real-time image data analysis, judging whether the frame edge position and the edge contour position of the container are overlapped, and judging whether the included angle between the bottom of the container and the truck plate contour line changes when the lifting container is lifted;
if the contour of the lower bottom surface of the container is not overlapped with the contour line of the frame of the truck when the lifting appliance grabs the container and rises, the position of the edge contour of the container is unchanged, the edge position of the container gradually rises, and the angle of an included angle between the edge position of the frame of the truck and the edge position of the container is unchanged, the container is judged to be separated from the truck, and the truck is not lifted;
and if the distance between the edge position of the frame of the truck and the edge position of the container is not changed or the contour lines of the frame of the truck and the edge position of the container are overlapped or the included angle between the edge position of the frame of the truck and the edge position of the container is gradually increased, judging that the container is not separated from the truck and the truck is hoisted.
Further, in the preferred embodiment of the method for automatically detecting and monitoring the separation of the car deck during the lifting of the container, the capturing device 5 sends the real-time scanned contour data of the container, the contour data of the ground and the contour data of the truck to the signal processing module 1 during the process of the lifting tool starting to operate to capture the container on the truck.
Further, in a preferred embodiment of the automatic detecting and monitoring method for the separation of the car deck during the lifting of the container, the intake device 5 is one or more of a camera, a multi-line laser scanner or a millimeter wave radar.
Further, in a preferred embodiment of the method for automatically detecting and monitoring the separation of the car plates during the lifting of the container, the method further comprises at least two photoelectric switches, an electronic controller 6 and a lifting encoder, wherein the lifting encoder is arranged on a rotating shaft of a lifting motor of the container crane.
Further, in a preferred embodiment of the method for automatically detecting and monitoring the separation of the car plates during the lifting of the container, the photoelectric switches are respectively arranged on the crane supports, the photoelectric switches are horizontally spaced by less than 20 feet, the photoelectric switches are connected with one input port of the electronic controller 6 through a wire, and the lifting encoder is connected with the other input port of the electronic controller 6 through a wire.
Further, in a preferred embodiment of the method for automatically detecting and monitoring the separation of the car deck during the lifting of the container, the electronic controller 6 is formed by a programmable logic controller, and a signal converter is connected in series between the photoelectric switch and the electronic controller 6.
Further, in a preferred embodiment of the method for automatically detecting and monitoring the separation of the vehicle plates during the lifting of the container, the data acquisition module 2 mainly comprises an input-output isolation photoelectric coupling circuit, a single chip circuit, a voltage-stabilized power supply circuit and an RS232 communication circuit; the input port of the electronic controller is used for receiving an operation state switching instruction sent by the electronic controller 6, when the electronic controller 6 sends a corresponding action instruction, the photoelectric coupling circuit pulls down the level of the I/O port of the electronic controller 6 corresponding to the photoelectric coupling circuit, the electronic controller 6 enables the corresponding camera to be turned on or turned off according to the level state of the I/O port, the corresponding sensor is enabled to trigger and collect images by changing the signal output state of the synchronous trigger port, an equipment action signal is sent to the signal processing module 1 through the RS232 port, and the signal processing module 1 is informed of the opening or closing action of the video image processing picture.
The intake device 5 is arranged below one side of an operation lane of an RTG/RMG (container operation gantry crane), the installation height of the intake device 5 is required to be 170CM away from the ground (the installation height is equal to at least 20CM higher than a truck because the height of the truck is not more than 150 CM), the installation height is in communication connection with the electronic controller 6 through an Ethernet cable, and the electronic controller 6 is connected with the electronic controller through a data cable; the signal processing module 1 receives the scanning data of the intake device 5 for analysis, and continuously performs analysis and judgment in the lifting process of the lifting appliance; acquiring container contour lines, ground contour lines and card collection contour lines through analysis of the scanning points acquired by the shooting device 5; according to the position change of container contour line and container truck contour line and height distance change of ground contour line it can analyze and obtain that the container truck is lifted or not, when the lifted height is judged to be reached to protection limit value (typical value: 20CM), the signal processing module 1 can send lifting-resisting control signal to electronic controller 6 so as to implement protection function.
The function of the uptake device 5 is to enable a profile scan of the container perpendicular to the side of the collection truck.
The signal processing module 1 comprises a microprocessor, a storage chip, a power chip, a data interaction interface and the like. The function of the logic operation unit is to realize the functions of controlling and data acquisition of the intake device 5, recognizing the contour, judging the anti-hanging logic, and the like. The signal processing module 1 sends a data acquisition command to the intake device 5 through the TCP/IP protocol, and then the signal processing module 1 will receive the 2D laser data of the intake device 5 through the network.
The video image acquisition sensor system comprises a plurality of video detection sensors and a gigabit network switch, each video detection sensor comprises a gigabit network GIGE camera triggered out of band, a GIGE port B-1 of each camera B is connected with the gigabit network switch through a GIGE network cable, the gigabit network switch is connected with a signal processing module 1 through the GIGE network cable, and a trigger port B-2 of each camera is connected to a corresponding port of a video image acquisition synchronous trigger controller through a trigger cable, so that the cameras can be effectively triggered according to commands of the signal processing module 1 at any time. The camera is mounted in a waterproof and dustproof housing a. The signal processing module 1 may be connected to a plurality of video detection sensors for detecting different sites. The camera in the video in this embodiment is arranged at the upper end of the cable of the spreader of the container crane.
The data acquisition module 2 mainly comprises an input/output isolation photoelectric coupling circuit, a single chip circuit, a voltage-stabilized power supply circuit and an RS232 communication circuit; the input port of the electronic control unit is used for receiving an operation state switch instruction sent by the electronic controller 6, when the electronic controller 6 sends a corresponding action instruction, the photoelectric coupling circuit pulls the level of the I/O port of the electronic controller 63 corresponding to the photoelectric coupling circuit low, the electronic controller 6 enables the corresponding camera to be turned on or turned off according to the level state of the I/O port, the corresponding sensor is enabled to trigger and collect images by changing the signal output state of the synchronous trigger port, an equipment action signal is sent to the signal processing module 1 through the RS232 port, and the signal processing module 1 is informed to start or turn off the video image processing picture. The synchronous trigger control system has another function of judging the illuminance of the current traveling direction according to the signal of the illuminance sensor, and when the illuminance is lower than a certain value, the synchronous trigger control system triggers the auxiliary light source to be turned on to supplement light for the video detection sensor so as to ensure that the image collected by the video detection sensor is kept in a recognizable range. The signal processing module 1 is composed of a computer PC or an industrial personal computer IPC, a host computer of the signal processing module comprises gigabit network communication equipment, an RS232 port or an RS485 compatible port, and an application program for image analysis processing is installed.
The power supply system is a universal stabilized power supply and provides a stabilized power supply for each device in the system.
The principle of the invention mainly comprises an input and output photoelectric isolation coupling circuit, a single chip circuit, a voltage-stabilized power supply circuit and an RS232 communication circuit. The input port of the system is used for receiving an operation state switching instruction sent by a PLC of the tire crane equipment, when the tire crane equipment sends a corresponding action instruction, the photoelectric coupling circuit pulls down the level of the I/O port of the single chip microcomputer corresponding to the input port, the single chip microcomputer enables the corresponding camera to be turned on or turned off according to the level state of the I/O port, the corresponding sensor is triggered to acquire images by changing the signal output state of the synchronous trigger port, and meanwhile, an equipment action signal is sent to the host through the RS232 port to inform the host to turn on or turn off a video image processing picture. The synchronous trigger control system has another function of judging the illuminance of the current traveling direction according to the signal of the illuminance sensor, and when the illuminance is lower than a certain value, the synchronous trigger control system triggers the auxiliary light source to be turned on to supplement light for the video detection sensor so as to ensure that the image collected by the video detection sensor is kept in a recognizable range.
The automatic detection and monitoring method for the separation of the truck plate during the container lifting comprises the step that the container loading and unloading machine realizes the separation detection of the truck box after lifting in the operation process, wherein the separation detection is carried out on the truck box
The container truck boxcar separation detection includes:
when a container truck enters a monitoring target area, a signal processing module 1 searches a truck tire area in a picture and tracks the position change of the truck tire area in real time according to the relatively fixed size of the truck tire, when a crane device has a locking action, the signal processing module 1 records the shape characteristic and the gray characteristic of the truck tire area and outputs reference 3D position data which respectively correspond to X-direction displacement, Y-direction displacement, X-direction deflection angle, Y-direction deflection angle and Z-direction deflection angle, the reference data at the moment are all 0.00, when the crane has a lifting action, the signal processing module 1 analyzes the offset of each data of the tire area in real time and compares the data with the reference data, when the data offset is within a certain range after lifting for a certain time, the container is proved to be normally separated from the truck, the normal lifting can be realized, when a certain data or a plurality of data is offset beyond a certain range, the abnormal condition is realized, the signal processing module 1 sends out early warning or warning relay signals through the sound-light warning device, and controls equipment to stop lifting or informs a driver to confirm through an input port of the electronic controller 6.
In another embodiment, a method for automatically detecting and monitoring the separation of the car plates during the lifting of a container comprises the following steps:
step a, a signal processing module 1 acquires the positions of a container and a truck from real-time image data of the container and the truck acquired by a data acquisition module 2;
step b, the image recognition device 3 detects the change of the projected image of the truck tire to judge whether the truck is completely separated from the container;
step c, the control alarm module 4 gives an alarm when the truck is hoisted or the truck is not completely separated from the container.
Further, in a preferred embodiment of the method for automatically detecting and monitoring the separation of the car plates during the lifting of the container, the method further comprises at least two photoelectric switches, an electronic controller 6 and a lifting encoder, wherein the lifting encoder is arranged on a rotating shaft of a lifting motor of the container crane.
Further, in a preferred embodiment of the method for automatically detecting and monitoring the separation of the car plates during the lifting of the container, the photoelectric switches are respectively arranged on the crane supports, the photoelectric switches are horizontally spaced by less than 20 feet, the photoelectric switches are connected with one input port of the electronic controller 6 through a wire, and the lifting encoder is connected with the other input port of the electronic controller 6 through a wire.
Further, in a preferred embodiment of the method for automatically detecting and monitoring the separation of the car deck during the lifting of the container, the electronic controller 6 is formed by a programmable logic controller, and a signal converter is connected in series between the photoelectric switch and the electronic controller 6.
Further, in a preferred embodiment of the method for automatically detecting and monitoring the separation of the vehicle plates during the lifting of the container, the data acquisition module 2 mainly comprises an input-output isolation photoelectric coupling circuit, a single chip circuit, a voltage-stabilized power supply circuit and an RS232 communication circuit; the input port of the electronic controller is used for receiving an operation state switching instruction sent by the electronic controller 6, when the electronic controller 6 sends a corresponding action instruction, the photoelectric coupling circuit pulls down the level of the I/O port of the electronic controller 6 corresponding to the photoelectric coupling circuit, the electronic controller 6 enables the corresponding camera to be turned on or turned off according to the level state of the I/O port, the corresponding sensor is enabled to trigger and collect images by changing the signal output state of the synchronous trigger port, an equipment action signal is sent to the signal processing module 1 through the RS232 port, and the signal processing module 1 is informed of the opening or closing action of the video image processing picture.
Further, in a preferred embodiment of the method for automatically detecting and monitoring separation of the car deck during lifting of the container, the step b at least includes: acquiring an image value of the truck tire from the real-time projection image data of the truck tire, and judging whether the real-time projection image of the truck tire changes or not;
if the real-time projection image of the truck tire is not changed, the container is judged to be completely separated from the truck, and the truck is not lifted;
if the real-time projection image of the tire of the truck changes, the container is judged not to be separated from the truck, and the truck is hoisted.
The automatic detecting and monitoring method for the separation of the truck plate during the lifting of the container monitors, acquires and processes the video image of a storage yard operation area in real time, monitors key parts of equipment, performs real-time identification, analysis and judgment on various characteristics of an image picture according to various prior conditions of a monitored target and the association of equipment action, finally performs early warning or feeds back various parameter data in real time, and eliminates potential safety hazards which can be ignored when a driver operates crane equipment. Different from the traditional detection means, the invention not only can output the traditional video monitoring picture for the driver to check at any time, but also has the function of active detection, identification and judgment, can effectively relieve the labor intensity of the driver, provides guarantee for the safe operation of equipment, prevents various accidents, and can effectively avoid the occurrence of the accident that the container truck is hoisted due to manual misoperation.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the technical principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (14)
1. A method for automatically detecting and monitoring the separation of a vehicle plate during the lifting of a container is characterized by comprising the following steps:
a, a signal processing module (1) acquires the positions of a container and a truck from real-time image data of the container and the truck acquired by a data acquisition module (2);
b, judging whether the truck is hoisted or not according to the position changes of the container and the truck;
and step C, controlling the alarm module (4) to give an alarm when the truck is lifted or the truck is not completely separated from the container.
2. The method of claim 1, wherein step B comprises at least: when a lifting appliance grabs and pulls a container from a truck plate, acquiring image data of a joint surface of the truck plate and the container, acquiring the frame edge contour position of the truck and the edge contour position of the container through real-time image data analysis, judging whether the frame edge position and the edge contour position of the container are overlapped, and judging whether the included angle between the bottom of the container and the truck plate contour line changes when the lifting container is lifted;
if the contour of the lower bottom surface of the container is not overlapped with the contour line of the frame of the truck when the lifting appliance grabs the container and rises, the position of the edge contour of the truck frame is unchanged, the edge position of the container is gradually raised, and the angle of an included angle between the edge position of the frame of the truck and the edge position of the container is unchanged, the container is judged to be separated from the truck, and the truck is not lifted;
and if the distance between the edge position of the frame of the truck and the edge position of the container is not changed or the contour lines of the frame of the truck and the edge position of the container are overlapped or the included angle between the edge position of the frame of the truck and the edge position of the container is gradually increased, judging that the container is not separated from the truck and the truck is hoisted.
3. The automatic detecting and monitoring method for the separation of the car board during the lifting of the container according to claim 2 is characterized in that the capturing device (5) sends the container profile data, the ground profile data and the truck profile data scanned in real time to the signal processing module (1) during the process that the spreader starts to work to capture the container on the truck.
4. A method for automatic detection and monitoring of vehicle plate separation during container lifting according to claim 3, characterized in that the intake device (5) is one or more of a camera or a multi-line laser scanner or a millimeter wave radar.
5. A method for automatic detection and monitoring of carriage plate separation during container lifting as claimed in claim 1 further comprising at least two opto-electronic switches, an electronic controller (6) and a lifting encoder, said lifting encoder being provided on a rotating shaft of a lifting motor of a container crane.
6. A method for automatic detection and monitoring of separation of vehicle plates during lifting of a container as claimed in claim 5, wherein said photoelectric switches are respectively provided on crane supports, said photoelectric switches are horizontally spaced by less than 20 feet, said photoelectric switches are connected to one input port of said electronic controller (6) by a wire, and said lifting encoder is connected to the other input port of said electronic controller (6) by a wire.
7. The automatic detecting and monitoring method for the separation of the car plates during the lifting of the container as claimed in claim 6, characterized in that said electronic controller (6) is composed of a programmable logic controller, and a signal converter is connected in series between said photoelectric switch and said electronic controller (6).
8. The automatic detecting and monitoring method for the separation of the car plates during the lifting of the container as claimed in claim 7, wherein the data acquisition module (2) mainly comprises an input-output isolation photoelectric coupling circuit, a single chip circuit, a voltage-stabilized power supply circuit and an RS232 communication circuit; the input port of the electronic controller is used for receiving an operation state switching instruction sent by the electronic controller (6), when the electronic controller (6) sends a corresponding action instruction, the photoelectric coupling circuit pulls down the level of the I/O port of the electronic controller (6) corresponding to the photoelectric coupling circuit, the electronic controller (6) enables the corresponding camera to be turned on or turned off according to the level state of the I/O port, the corresponding sensor triggers and collects images by changing the signal output state of the synchronous trigger port, an equipment action signal is sent to the signal processing module (1) through the RS232 port, and the signal processing module (1) is informed to carry out the opening or closing action of a video image processing picture.
9. A method for automatically detecting and monitoring the separation of a vehicle plate during the lifting of a container is characterized by comprising the following steps:
step a, a signal processing module (1) acquires the positions of a container and a truck from real-time image data of the container and the truck acquired by a data acquisition module (2);
step b, detecting the change of the projected image of the truck tire by the image recognition device (3) to judge whether the truck is completely separated from the container;
and c, controlling the alarm module (4) to give an alarm when the truck is lifted or the truck is not completely separated from the container.
10. A method for automatic detection and monitoring of carriage plate separation during lifting of a container as claimed in claim 9, further comprising at least two opto-electronic switches, an electronic controller (6) and a lifting encoder, said lifting encoder being provided on a rotating shaft of a lifting motor of a container crane.
11. The method as claimed in claim 10, wherein the photoelectric switches are respectively arranged on the crane supports, the photoelectric switches are horizontally spaced by less than 20 feet, the photoelectric switches are connected with one input port of the electronic controller (6) through a wire, and the lifting encoder is connected with the other input port of the electronic controller (6) through a wire.
12. The automatic detecting and monitoring method for the separation of the car plates during the lifting of the container as claimed in claim 11, characterized in that said electronic controller (6) is composed of a programmable logic controller, and a signal converter is connected in series between said photoelectric switch and said electronic controller (6).
13. The automatic detecting and monitoring method for the separation of the car plates during the lifting of the container as claimed in claim 12, wherein the data acquisition module (2) is mainly composed of an input-output isolation photoelectric coupling circuit, a single chip circuit, a voltage-stabilized power supply circuit and an RS232 communication circuit; the input port of the electronic controller is used for receiving an operation state switching instruction sent by the electronic controller (6), when the electronic controller (6) sends a corresponding action instruction, the photoelectric coupling circuit pulls down the level of the I/O port of the electronic controller (6) corresponding to the photoelectric coupling circuit, the electronic controller (6) enables the corresponding camera to be turned on or turned off according to the level state of the I/O port, the corresponding sensor triggers and collects images by changing the signal output state of the synchronous trigger port, an equipment action signal is sent to the signal processing module (1) through the RS232 port, and the signal processing module (1) is informed to carry out the opening or closing action of a video image processing picture.
14. The method of claim 13, wherein step b comprises at least: acquiring an image value of the truck tire from the real-time projection image data of the truck tire, and judging whether the real-time projection image of the truck tire changes or not;
if the position or the angle of the real-time projection image of the truck tire is not changed, the container is judged to be completely separated from the truck, and the truck is not lifted;
if the position or the angle of the real-time projection image of the tire of the truck changes, the container is judged not to be separated from the truck, and the truck is lifted.
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