CN117623124A - Portal crane control system based on machine vision - Google Patents

Portal crane control system based on machine vision Download PDF

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Publication number
CN117623124A
CN117623124A CN202311525281.8A CN202311525281A CN117623124A CN 117623124 A CN117623124 A CN 117623124A CN 202311525281 A CN202311525281 A CN 202311525281A CN 117623124 A CN117623124 A CN 117623124A
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CN
China
Prior art keywords
laser radar
acquiring
cabin
servo turntable
crane
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311525281.8A
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Chinese (zh)
Inventor
佘海波
周泉
李威
王纪弢
邹少波
张红帅
刘蕊
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Changsha Yinghai Intelligent Technology Co ltd
Beijing Jinhang Vision Technology Co ltd
Original Assignee
Changsha Yinghai Intelligent Technology Co ltd
Beijing Jinhang Vision Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Changsha Yinghai Intelligent Technology Co ltd, Beijing Jinhang Vision Technology Co ltd filed Critical Changsha Yinghai Intelligent Technology Co ltd
Priority to CN202311525281.8A priority Critical patent/CN117623124A/en
Publication of CN117623124A publication Critical patent/CN117623124A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details

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

Abstract

The invention provides a control system of a gantry crane based on machine vision, which relates to the field of machine vision, and comprises: the crane comprises an amplitude changing mechanism, a first laser radar, a servo turntable mechanism for clamping the first laser radar, a trunk bridge, wherein the rotating direction of a rotating shaft of the servo turntable mechanism is parallel to the end face of the trunk bridge, a scanning beam of the first laser radar is perpendicular to the ground and the end face of the trunk bridge in an initial state, and when the computer program is executed by the processor, the initial speed of the amplitude changing mechanism in deceleration and the acceleration of the deceleration are obtained; the angular speed of the servo turntable mechanism for rotating the first laser radar is obtained, the servo turntable mechanism is controlled to rotate the first laser radar, the position of the grab bucket is obtained before unloading materials, and the working efficiency is improved.

Description

Portal crane control system based on machine vision
Technical Field
The invention relates to the field of machine vision, in particular to a control system of a gantry crane based on machine vision.
Background
At present, when a port loads and unloads shipborne materials, a portal crane is generally adopted for operation. The portal crane is arranged on the bank of the port, the grab bucket of the portal crane grabs the material on the ship and moves the grab bucket to the position above the storage bin on the bank, so that the transfer of the material is completed.
In the prior art, in order to grasp the state of a gantry crane during material taking and discharging, and adjust the gantry crane according to the real-time state of the gantry crane and the real-time state of materials, a laser radar is usually installed on the gantry crane, a real-time three-dimensional image of the gantry crane in the running process is obtained through the laser radar, and the gantry crane is adjusted according to the image.
However, the method has the following technical problems:
the detection angle of the existing laser radar is limited, when a gantry crane is adopted to transfer materials on a ship, the laser radar can only model images below a grab bucket, and when the materials are required to be placed into a discharge hopper, the crane can not timely scan the position of the discharge hopper in the rotation process, so that the working efficiency is affected.
Disclosure of Invention
Aiming at the technical problems, the invention adopts the following technical scheme:
a machine vision based gantry crane control system, the system comprising: the crane comprises an amplitude changing mechanism, a first laser radar, a servo turntable mechanism for clamping the first laser radar, a trunk bridge, wherein the rotating direction of a rotating shaft of the servo turntable mechanism is parallel to the end face of the trunk bridge, the servo turntable mechanism is arranged at the end part of the trunk bridge, which is far away from the crane, in an initial state, a scanning beam of the first laser radar is perpendicular to the ground and the end face of the trunk bridge, and when the computer program is executed by the processor, the following steps are realized:
s1: acquiring an initial speed Va of the luffing mechanism during deceleration movement and an acceleration a of the deceleration movement;
s2: obtaining the angular speed Va of the servo turntable mechanism for rotating the first laser radar according to Va and a;
wherein Va satisfies the following condition:
va=θ×a/Va, where θ is the angle at which the first lidar should rotate when the movement of the horn is stopped;
s3: and controlling the servo turntable mechanism to rotate the first laser radar according to Va and theta.
The invention has at least the following beneficial effects:
after the action of the amplitude variation mechanism is finished, the crane drives the grab bucket to rotate, and in an initial state, the scanning direction of the first laser radar is perpendicular to the ground. When the first laser radar rotates, the scanning surface of the first laser radar is inclined to the ground, so that an image generated by scanning of the first laser radar is advanced to the position of the grab bucket, the first laser radar locates the position of the discharge hopper in advance in the process that the rotation mechanism drives the grab bucket to move, and the subsequent condition that the grab bucket misses the discharge hopper due to real-time searching of the discharge hopper is reduced, and the working efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of steps implemented when a processor of a control system of a gantry crane based on machine vision executes a computer program according to an embodiment of the present invention.
Fig. 2 is a schematic side view of an end portion of a trunk bridge of a gantry crane according to an embodiment of the present invention.
Fig. 3 is a top view of an end of a trunk bridge of a gantry crane according to an embodiment of the present invention.
Reference numerals illustrate: 1. a trunk bridge; 2. a servo turntable mechanism; 3. a first lidar; 4. and a second laser radar.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
As shown in fig. 1,2 and 3, the embodiment of the invention provides a control system of a gantry crane based on machine vision, the system comprises a processor and a memory storing a computer program, the crane comprises an amplitude changing mechanism, a lifting mechanism, a slewing mechanism, a grab bucket, a first laser radar 3 and a servo turntable mechanism 2 for clamping the first laser radar 3, when the computer program is executed by the processor, the following steps are realized:
s1: the initial speed Va of the luffing mechanism during the decelerating motion and the acceleration a of the decelerating motion are obtained.
Specifically, the luffing mechanism is used for adjusting the distance between the grab bucket and the crane, the lifting mechanism is used for adjusting the height of the grab bucket, and the slewing mechanism is used for performing circular motion on the grab bucket by taking the crane as a central shaft.
Specifically, in the initial state, the grab bucket is located right above the materials in the cabin, and when the materials in the cabin need to be transported by using the crane, the lifting mechanism controls the grab bucket to descend to grab the materials when the materials in the cabin need to be grabbed. And then the lifting mechanism lifts the material, the amplitude changing mechanism adjusts the distance between the material and the crane, and the slewing mechanism works after the actions of the amplitude changing mechanism and the lifting mechanism are finished. Before the amplitude changing mechanism finishes the amplitude changing action, the amplitude changing mechanism needs to perform the decelerating motion from the initial speed Va of the amplitude changing motion until the amplitude changing mechanism stops working, and the acceleration of the decelerating motion is a constant.
Specifically, va is obtained by a speed sensor, a is obtained by an acceleration sensor, which is a technology known to those skilled in the art, and other methods for obtaining Va and a are all within the protection scope of the present invention, and are not described herein.
Specifically, as shown in fig. 2 and 3, the crane further includes a nose bridge 1, the servo turntable mechanism 2 is mounted at the end of the nose bridge 1 far away from the crane, the scanning beam of the first laser radar 3 is perpendicular to the ground and the end face of the nose bridge 1 in the initial state, the rotation direction of the rotating shaft of the servo turntable mechanism 2 is parallel to the end face of the nose bridge 1, the scanning beam of the first laser radar 3 is perpendicular to the ground and the end face of the nose bridge 1 in the initial state, and when the servo turntable mechanism 2 drives the first laser radar 3 to rotate, the scanning surface of the first laser radar 3 rotates simultaneously, so that the scanning area of the first laser radar 3 is increased, and the comprehensiveness of the whole scene in scanning and modeling can be improved.
S2: the angular velocity Va at which the servo turntable mechanism 2 rotates the first laser radar 3 is obtained from Va and a.
Wherein Va satisfies the following condition:
va=θ×a/Va, θ being the angle that the first lidar 3 should reach when the horn motion stops.
Specifically, when the movement of the amplitude changing mechanism stops, the rotation mechanism starts to work, so that when the movement of the amplitude changing mechanism stops, the adjustment of the first laser radar 3 is required to be completed at the same time, the angle of the first laser radar 3 is advanced in the direction in which the rotation mechanism is to rotate, and the condition of the position is scanned and modeled by the first laser radar 3 before the grab bucket reaches the set position, so that the position of the discharge hopper is conveniently acquired in advance, the speed during discharging is improved, and the working efficiency is improved. In addition, the first laser radar 3 after adjusting the scanning angle can acquire the obstacle on the moving path of the grab bucket in advance in the moving process of the grab bucket, so that the path of the grab bucket can be adjusted in time.
Specifically, when the deceleration movement of the luffing mechanism is stopped, the distance h between the end part of the nose bridge 1 and the central shaft of the crane meets the following conditions:
h < S, wherein S is the maximum outer contour edge distance between two adjacent cranes, and the value of S is set by the person skilled in the art, and will not be described here.
Above-mentioned, in the actual unloading process most can adopt many cranes, usually the revolution construction of two adjacent cranes can stagger the peak and use, and when one of them hoist gyration was finished, adjacent crane just revolved, in order to avoid two adjacent cranes to take place the condition of collision in the gyration in-process and appear, set up h in being less than S for the hoist can accomplish the gyration safely, thereby reduced the collision between two adjacent cranes.
Specifically, θ takes a value of 70 °.
When θ is 70 °, the first lidar 3 can scan and model the scene in front of the rotation direction in advance in the process that the rotation structure drives the grab bucket to move, so as to acquire the position of the discharge hopper in advance, reduce the time for acquiring the position of the discharge hopper, and improve the working efficiency.
S3: the servo turntable mechanism 2 is controlled to rotate the first lidar 3 according to Va and θ.
After the operation of the amplitude changing mechanism is finished, the slewing mechanism works to drive the grab bucket to rotate, and in the initial state, the scanning direction of the first laser radar 3 is perpendicular to the ground. When the first laser radar 3 is rotated, the scanning surface of the first laser radar 3 is inclined to the ground, so that an image generated by scanning of the first laser radar 3 is advanced to the position of the grab bucket, the position of the discharge hopper is positioned in advance by the first laser radar 3 in the process that the rotation mechanism drives the grab bucket to move, the condition that the discharge hopper is missed due to the fact that the discharge hopper is searched in real time later is reduced, and the working efficiency is improved. Specifically, the servo turntable mechanism 2 is mounted at the end of the trunk bridge 1, which is far away from the crane.
Above-mentioned, the tip that is kept away from hoist one side of trunk bridge 1 is the farthest position of whole hoist distance from hoist center, therefore first laser radar 3 can make the scanning area of self promote to the biggest, can acquire the scanning map of bigger scope, and this is high, can reduce the probability that the obstacle shelters from first laser radar 3's detection laser, has promoted the holistic reliability of system.
Specifically, the crane further comprises a second laser radar 4, the second laser radar 4 is fixedly arranged at the end part of the trunk bridge 1, which is far away from the crane, and the second laser radar 4 is positioned at one side of the servo turntable mechanism 2, the scanning beam of the second laser radar 4 is perpendicular to the ground and the end face of the trunk bridge 1, and the second laser radar 4 is positioned right above the grab bucket.
The second laser radar 4 is located right above the grab bucket and is used for monitoring and modeling the working state of the grab bucket. The first laser radar 3 is used for modeling an overall scene, and the second laser radar 4 is used for monitoring and modeling the working state of the grab bucket, so that the accuracy of the system is improved.
Specifically, the first lidar 3 and the second lidar 4 are both 32-line lidars.
Above-mentioned, 32 line lidar can increase scanning angle, and scanning angle is bigger, and the formation of image is more accurate.
Furthermore, in another embodiment of the present invention, the computer program when executed by the processor further performs the steps of:
s100: and acquiring a first instruction, and acquiring a global point cloud set A generated by the first laser radar 3 according to the first instruction.
Specifically, the first instruction is an instruction for grabbing materials in the cabin.
Specifically, S100 includes the following steps:
s101: acquiring a first instruction, and controlling a rotating shaft of the servo turntable mechanism 2 to rotate;
s102: all point clouds of the first lidar 3 during rotation are acquired to generate a.
Above-mentioned, in the in-process of acquireing the point cloud, control servo revolving stage mechanism 2 rotates, and servo revolving stage mechanism 2 drives first laser radar 3 and rotates for the point cloud that first laser radar 3 acquireed is the point cloud under the global image, can avoid the dead angle in the cabin through rotating, thereby has reduced the problem that leads to partial image unable scanning because of laser radar scanning angle.
S200: acquiring a point cloud set B= { B of materials in a cabin according to A 1 ，B 2 ，……，B i ，……，B m }，B i For the ith point in the point cloud set in the cabin, i=1, 2, … …, m, m is the total number of point clouds in the cabin.
In particular, acquiring a point cloud of known regions is a prior art known to those skilled in the art and will not be described in detail herein.
S300: acquiring each B i Distance L from plane of cabin mouth i Generate l= { L 1 ，L 2 ，……，L i ，……，L m }。
Specifically, S3 further includes the following steps:
s301: acquiring each B i Coordinates in a preset coordinate system are generated into a coordinate set C= { (x) corresponding to B 1 ，y 1 ，z 1 )，(x 2 ，y 2 ，z 2 )，……，(x i ，y i ，z i )，……，(x m ，y m ，z m )}，(x i ，y i ，z i ) Is B i Coordinates in a preset coordinate system.
Specifically, the preset coordinate system is a three-dimensional rectangular coordinate system, and the setting manner of the three-dimensional rectangular coordinate system in this embodiment does not affect the final system processing result, and will not be described herein.
S302: acquiring the position of a ship hatch plane in a preset coordinate system: a, a 0 x+b 0 y+c 0 z+d 0 =0, wherein a 0 、b 0 、c 0 And d 0 Are all parameters used for representing the position of the cabin mouth plane in a preset coordinate system.
Specifically, the position and parameters of the cabin mouth plane in the preset coordinate system are set by those skilled in the art, and are not described herein.
S303: obtaining L according to the C and the plane of the cabin mouth, wherein L i The following conditions are satisfied: l (L) i ＝|a 0 *x i +b 0 *y i +c 0 *z i +d 0 |/(a 0 2 +b 0 2 +c 0 2 ) 0.5 。
S400: acquiring the coordinate (x) of the nearest point from the cabin mouth plane in the cabin in a preset coordinate system according to L a ，y a ，z a )。
Specifically, let the coordinates corresponding to the points in B corresponding to max (L) be (x) a ，y a ，z a )。
S500: control luffing mechanism, lifting mechanism and slewing mechanism to move grab bucket to (x) a ，y a ，z a ) The position is grabbed.
S600: and controlling the amplitude changing mechanism, the lifting mechanism and the rotating mechanism to dump the grab bucket on the material.
Specifically, according to the final coordinates, control of the grab bucket by the luffing mechanism, the lifting mechanism and the slewing mechanism is a prior art well known to those skilled in the art, and will not be described herein.
S700: s100 to S600 are repeatedly performed.
When the materials in the cabin need to be grabbed, the servo turntable mechanism 2 is rotated to model the global image of the cabin, the global point cloud set in the cabin is obtained, the point cloud set B of the materials is obtained, the point closest to the plane of the cabin opening in the B is obtained, and the grab bucket is controlled to grab. When the materials in the position closest to the plane of the cabin opening in the cabin are grabbed, the probability of sliding of the residual materials in the cabin after the grabbing is finished can be reduced, so that the probability of damage to the materials caused by sliding of the materials in the cabin is reduced, and the safety of the materials is guaranteed.
While certain specific embodiments of the invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the invention. Those skilled in the art will also appreciate that many modifications may be made to the embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims (8)

1. A machine vision-based gantry crane control system, the system comprising: the crane comprises an amplitude changing mechanism, a first laser radar, a servo turntable mechanism for clamping the first laser radar, a trunk bridge, wherein the rotating direction of a rotating shaft of the servo turntable mechanism is parallel to the end face of the trunk bridge, the servo turntable mechanism is arranged at the end part of the trunk bridge, which is far away from the crane, in an initial state, a scanning beam of the first laser radar is perpendicular to the ground and the end face of the trunk bridge, and when the computer program is executed by the processor, the following steps are realized:
s1: acquiring an initial speed Va of the luffing mechanism during deceleration movement and an acceleration a of the deceleration movement;
s2: obtaining the angular speed Va of the servo turntable mechanism for rotating the first laser radar according to Va and a;
wherein Va satisfies the following condition:
va=θ×a/Va, where θ is the angle at which the first lidar should rotate when the movement of the horn is stopped;
s3: and controlling the servo turntable mechanism to rotate the first laser radar according to Va and theta.
2. The system of claim 1, wherein θ is 70 °.
3. The system of claim 1, wherein the crane further comprises a second lidar and a grapple, the scanning beam of the second lidar is perpendicular to the ground and the end face of the trunk bridge, the second lidar is fixedly mounted on one side of the servo turntable mechanism, and the second lidar is located directly above the grapple.
4. The system of claim 1, wherein the crane further comprises a swing mechanism and a lifting mechanism, the computer program when executed by the processor further performing the steps of:
s100: acquiring a first instruction, and acquiring a global point cloud set A generated by a first laser radar according to the first instruction;
s200: acquiring a point cloud set B= { B of materials in a cabin according to A 1 ，B 2 ，……，B i ，……，B m }，B i The ith point is concentrated for the point cloud in the cabin, i=1, 2, … …, m, m is the total number of points in the cabin;
s300: acquiring each B i Distance L from the plane of the cabin mouth i Generate l= { L 1 ，L 2 ，……，L i ，……，L m }；
S400: acquiring the coordinate (x) of the nearest point from the cabin mouth plane in the cabin in a preset coordinate system according to L a ，y a ，z a )；
S500: control luffing mechanism, lifting mechanism and slewing mechanism to move grab bucket to (x) a ，y a ，z a ) Gripping the position;
s600: the material is loaded and unloaded by the grab bucket through controlling the amplitude changing mechanism, the lifting mechanism and the rotating mechanism;
s700: s100 to S600 are repeatedly performed.
5. The system of claim 4, wherein said step S300 further comprises the steps of:
s301: acquiring each B i Coordinates in a preset coordinate system are generated into a coordinate set C= { (x) corresponding to B 1 ，y 1 ，z 1 )，(x 2 ，y 2 ，z 2 )，……，(x i ，y i ，z i )，……，(x m ，y m ，z m )}，(x i ，y i ，z i ) Is B i Coordinates in a preset coordinate system;
s302: acquiring a corresponding expression of a ship hatch plane in a preset coordinate system: a, a 0 x+b 0 y+c 0 z+d 0 =0, wherein a 0 、b 0 、c 0 And d 0 The parameters are used for representing the position of the cabin opening plane in a preset coordinate system;
s303: obtaining L according to the C and the plane of the cabin mouth, wherein L i The following conditions are satisfied: l (L) i ＝|a 0 *x i +b 0 *y i +c 0 *z i +d 0 |/(a 0 2 +b 0 2 +c 0 2 ) 0.5 。
6. The system of claim 4, wherein the distance h of the trunk bridge end from the crane center axis at which the luffing mechanism stops decelerating, satisfies the following condition:
h < S, wherein S is the maximum outer contour edge distance between two adjacent cranes.
7. The system of claim 4, wherein S100 comprises the steps of:
s101: acquiring a first instruction, and controlling a rotating shaft of a servo turntable mechanism to rotate;
s102: and acquiring all point clouds of the first laser radar in the rotation process to generate A.
8. The system according to claim 4, wherein: the first instruction is an instruction for grabbing materials in the ship cabin.
CN202311525281.8A 2023-11-15 2023-11-15 Portal crane control system based on machine vision Pending CN117623124A (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6737369B1 (en) * 2019-03-20 2020-08-05 株式会社タダノ crane
CN112723264A (en) * 2020-12-25 2021-04-30 湖南中联重科智能高空作业机械有限公司 Control system and method for aerial work platform and aerial work platform
CN112850501A (en) * 2020-12-31 2021-05-28 广州市建筑科学研究院有限公司 Automatic anti-collision method and system for tower crane
CN115432572A (en) * 2022-08-15 2022-12-06 武汉港迪智能技术有限公司 Gantry crane and hoisting path planning method of hoisting tool of gantry crane
CN116573539A (en) * 2023-04-14 2023-08-11 武汉港迪智能技术有限公司 Laser-based field bridge lifting height verification method and device
CN116605772A (en) * 2023-07-20 2023-08-18 武汉大学 Tower crane collision early warning method based on multiple integrated systems

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6737369B1 (en) * 2019-03-20 2020-08-05 株式会社タダノ crane
CN112723264A (en) * 2020-12-25 2021-04-30 湖南中联重科智能高空作业机械有限公司 Control system and method for aerial work platform and aerial work platform
CN112850501A (en) * 2020-12-31 2021-05-28 广州市建筑科学研究院有限公司 Automatic anti-collision method and system for tower crane
CN115432572A (en) * 2022-08-15 2022-12-06 武汉港迪智能技术有限公司 Gantry crane and hoisting path planning method of hoisting tool of gantry crane
CN116573539A (en) * 2023-04-14 2023-08-11 武汉港迪智能技术有限公司 Laser-based field bridge lifting height verification method and device
CN116605772A (en) * 2023-07-20 2023-08-18 武汉大学 Tower crane collision early warning method based on multiple integrated systems

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