CN202897859U - Vision-based obstacle avoidance pre-warning device of crown block robot - Google Patents
Vision-based obstacle avoidance pre-warning device of crown block robot Download PDFInfo
- Publication number
- CN202897859U CN202897859U CN 201220624776 CN201220624776U CN202897859U CN 202897859 U CN202897859 U CN 202897859U CN 201220624776 CN201220624776 CN 201220624776 CN 201220624776 U CN201220624776 U CN 201220624776U CN 202897859 U CN202897859 U CN 202897859U
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- movable trolley
- motor
- warning device
- suspension hook
- traveling crane
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Abstract
The utility model relates to a vision-based obstacle avoidance pre-warning device of a crown block robot. The vision-based obstacle avoidance pre-warning device comprises a large movable trolley and a small movable trolley, wherein the large movable trolley is mounted on longitudinal beams of the crown block robot and moves frontwards and backwards along the two longitudinal beams in a crossing manner; the small movable trolley is mounted on the large movable trolley through a transmission lead screw and moves in a transverse direction; a lifting hook motor connected with a lifting hook is mounted inside the small movable trolley; the driving motor of the large movable trolley and the lead screw motor and the lifting hook motor of the small movable trolley are provided with controllers capable of communicating with an industrial computer through wireless Bluetooth modules; a pair of binocular cameras for monitoring the surrounding environment of the lifting hook is mounted at the bottom of the small movable trolley and is connected with a kilomega network switch assembled at the lower part of a crown block through a kilomega network cable; and the kilomega network switch communicates with the industrial computer. The vision-based obstacle avoidance pre-warning device has the advantages that lifted goods and obstacles are identified and recognized in real time, the spatial three-dimensional coordinates of the lifted goods and the obstacles are accurately determined, then the condition that whether the distance between the lifted goods and the obstacles is in a dangerous condition is judged to give an pre-warning indication, so that the crown block is prevented from being scratched and collided.
Description
Technical field
The utility model relates to overhead traveling crane and keeps away safely the barrier prior-warning device, and specifically a kind of overhead traveling crane robotic vision is kept away the barrier prior-warning device.
Background technology
At present, known overhead traveling crane for industry is kept away safely the barrier prior-warning device, adopt laser, super sonic and the device such as infrared, can only detect the single obstacle of single direction, can not detect multidirectional a plurality of obstacles simultaneously, shortage is to identification and the cognitive function of obstacle, and along with distance increases, needs the energy consumption of transducer also larger.
The utility model content
Keep away safely the problems referred to above of the existence of barrier prior-warning device in order to solve overhead traveling crane in the industry, the utility model provides a kind of overhead traveling crane robot obstacle-avoiding prior-warning device based on binocular stereo vision, it not only can detect a plurality of obstacles, and can identify and cognition obstacle, more can not increase because of the change of distance of measured object energy consumption.Determine the barycenter three dimensional space coordinate of lift cargo and obstacle by the binocular stereo vision three-dimensional measurement, and then judge whether to be in and carry out safe early warning prompting in the danger range.
The technical scheme that its technical matters that solves the utility model adopts is:
A kind of overhead traveling crane robotic vision is kept away the barrier prior-warning device, comprise mobile cart, travelling car, mobile cart is installed on the longeron of overhead traveling crane robot and across two longerons and seesaws along longeron, travelling car is installed in laterally motion on the mobile cart by turn-screw, the suspension hook motor of connecting shackle is equipped with in travelling car inside, the drive motor of described mobile cart and the spindle motor of travelling car and suspension hook motor are respectively fitted with the controller that carries out communication by wireless blue tooth module and industrial computer, the a pair of binocular camera of monitoring suspension hook surrounding environment is equipped with in the travelling car bottom, described binocular camera is connected with the kilomega network exchange that is assemblied in the overhead traveling crane bottom by the gigabit netting twine, and kilomega network exchange and industrial computer carry out communication.
Further, power pack is equipped with in the overhead traveling crane bottom, wherein two-way 24V5A direct supply is connected with spindle motor with drive motor by power lead, one road 12V5A direct supply is connected with the suspension hook motor with the suspension hook controller by power lead, one road 12V1A direct supply is connected with binocular camera by power lead, and one road 5V2A direct supply is connected controller by power lead and drive motor and is connected with spindle motor.
Compared with prior art, the beneficial effects of the utility model are: can be in real time to lift cargo with obstacle is identified and cognitive, accurate its 3 d space coordinate, and then judge that its mutual spacing from whether making in danger early warning, prevents overhead traveling crane generation scratching accident.
Description of drawings
Fig. 1 is the utility model embodiment front elevation.
Fig. 2 is the utility model embodiment birds-eye view.
Fig. 3 is the utility model embodiment lateral plan.
Fig. 4 is mobile cart driving mechanism scheme drawing.
Among the figure: longeron 1, spindle motor 2, turn-screw 3, travelling car 4, suspension hook motor 5, binocular camera 6, suspension hook 7, mobile cart 8, power pack 9, kilomega network exchange 10, power lead 11, gigabit netting twine 12, mobile large vehicle carriage 13, drive motor 14, wheel 15, transmission gear 16, Jie's gear 17, driven wheel 18.
The specific embodiment
The utility model is described in further detail below in conjunction with embodiment:
Referring to accompanying drawing, on two longerons 1 of overhead traveling crane robot guide rail is housed, mobile cart 8 is across two longerons 1, the wheel 15 that moves at guide rail is equipped with in mobile large vehicle carriage 13 bottoms, transmission gear 16 is housed on the wheel shaft of wheel 15, and drive motor 14 is equipped with on mobile large vehicle carriage 13 tops, and driven wheel 18 is housed on the output shaft of drive motor 14, driven wheel 18 moves mobile cart 8 by Jie's gear 17 and transmission gear 16 engaged transmission in orbit along longeron 1 front and back.
The turn-screw 3 of lateral arrangement is housed on the mobile cart 8, turn-screw 3 one ends are connected with spindle motor 2 output shafts that are installed in mobile large vehicle carriage 13 tops, travelling car 4 is assemblied on the turn-screw 3 by feed screw nut, spindle motor 2 drives turn-screw 3 rotations, and then it is laterally mobile on turn-screw 3 to drive travelling car 4.
The suspension hook motor 5 of connecting shackle 7 is equipped with in travelling car 4 inside, and suspension hook 7 can up-and-down movement under the drive of lifting rope.The a pair of binocular camera 6 of monitoring suspension hook 7 surrounding environments is equipped with in travelling car 4 bottoms, and binocular camera 6 is connected with the kilomega network exchange 10 that is assemblied in the overhead traveling crane bottom by gigabit netting twine 12, and kilomega network exchange 10 carries out communication with industrial computer.
Above-mentioned drive motor 14, spindle motor 2 and suspension hook motor 5 are equipped with the controller that carries out communication by wireless blue tooth module and industrial computer.
Power pack 9 is equipped with in the overhead traveling crane bottom, wherein two-way 24V5A direct supply is connected with spindle motor by power lead 11 and drive motor 14 and is connected, one road 12V5A direct supply is connected with the suspension hook motor with the suspension hook controller and is connected by power lead 11, one road 12V1A direct supply is connected with binocular camera 6 by power lead 11, and one road 5V2A direct supply is connected with the controller that drive motor 14 is connected with spindle motor by power lead 11.Drive motor 14 and spindle motor 2 adopt brushless high pulling torque DC machine, and suspension hook motor 5 adopts the deceleration DC machine.
Controller is realized by mcu programming.A controller is controlled the state of kinematic motion of the brshless DC motor of mobile cart 8 and travelling car 4, the running state of the DC speed-reducing of another controller control suspension hook 7.These two controllers all are to carry out wireless telecommunications by wireless blue tooth communication module and industrial computer.
Binocular camera 6 is comprised of two gigabit Ethernet industrial cameras, and two camera self-consistentencies are parallel or converge and be installed together, and carry out communication by kilomega network exchange 10 and industrial computer respectively.
Function software on the industrial computer comprises control part and the vision early warning part of overhead traveling crane robot.The startup that control part is used for controlling suspension hook 7, mobile cart 8 and travelling car 4 stops, kinematic velocity, direction and detection speed.Image that binocular camera 6 photographs can be identified and cognition lift cargo and obstacle through the machine vision algorithm process of industrial computer, reduces the 3 d space coordinate of its barycenter.Judge whether to be in the dangerous warning distance according to the distance between their barycenter, to make corresponding early warning to the overhead traveling crane driver, play the auxiliary effect of driving of vision, can effectively avoid the generation of Peril Incident.
Claims (2)
1. an overhead traveling crane robotic vision is kept away the barrier prior-warning device, comprise mobile cart, travelling car, mobile cart is installed on the longeron of overhead traveling crane robot and across two longerons and seesaws along longeron, travelling car is installed in laterally motion on the mobile cart by turn-screw, the suspension hook motor of connecting shackle is equipped with in travelling car inside, it is characterized in that, the drive motor of described mobile cart and the spindle motor of travelling car and suspension hook motor are respectively fitted with the controller that carries out communication by wireless blue tooth module and industrial computer, the a pair of binocular camera of monitoring suspension hook surrounding environment is equipped with in the travelling car bottom, described binocular camera is connected with the kilomega network exchange that is assemblied in the overhead traveling crane bottom by the gigabit netting twine, and kilomega network exchange and industrial computer carry out communication.
2. overhead traveling crane robotic vision according to claim 1 is kept away the barrier prior-warning device, it is characterized in that, power pack is equipped with in the overhead traveling crane bottom, wherein two-way 24V5A direct supply is connected with spindle motor with drive motor by power lead, one road 12V5A direct supply is connected with the suspension hook motor with the suspension hook controller by power lead, one road 12V1A direct supply is connected with binocular camera by power lead, and one road 5V2A direct supply is connected controller by power lead and drive motor and is connected with spindle motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220624776 CN202897859U (en) | 2012-11-23 | 2012-11-23 | Vision-based obstacle avoidance pre-warning device of crown block robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220624776 CN202897859U (en) | 2012-11-23 | 2012-11-23 | Vision-based obstacle avoidance pre-warning device of crown block robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202897859U true CN202897859U (en) | 2013-04-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220624776 Expired - Fee Related CN202897859U (en) | 2012-11-23 | 2012-11-23 | Vision-based obstacle avoidance pre-warning device of crown block robot |
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| CN (1) | CN202897859U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104261266A (en) * | 2014-09-05 | 2015-01-07 | 芜湖新瑞新型建材有限公司 | Vehicle alarm safety device for ferry vehicle |
| CN105947897A (en) * | 2016-06-21 | 2016-09-21 | 辽宁科技大学 | Scaffold-free building structure for irregular building |
| CN106429849A (en) * | 2016-08-23 | 2017-02-22 | 上海科轻起重机有限公司 | Bluetooth smart control system for cranes |
| CN107934782A (en) * | 2017-10-24 | 2018-04-20 | 安徽德马泰格起重机械有限公司 | One kind driving automatic brake stops control system |
| CN111634820A (en) * | 2020-06-10 | 2020-09-08 | 南京工程学院 | Automatic early warning system and method for crane |
| CN112010185A (en) * | 2020-08-25 | 2020-12-01 | 陈兆娜 | System and method for automatically identifying and controlling surrounding danger sources of crown block |
| CN112884848A (en) * | 2021-03-05 | 2021-06-01 | 河北工业大学 | Intelligent crown block control system, method and terminal based on binocular vision |
| CN113415743A (en) * | 2021-06-07 | 2021-09-21 | 华能西藏雅鲁藏布江水电开发投资有限公司 | Method for protecting automobile crane from being close to electricity and objects |
-
2012
- 2012-11-23 CN CN 201220624776 patent/CN202897859U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104261266A (en) * | 2014-09-05 | 2015-01-07 | 芜湖新瑞新型建材有限公司 | Vehicle alarm safety device for ferry vehicle |
| CN105947897A (en) * | 2016-06-21 | 2016-09-21 | 辽宁科技大学 | Scaffold-free building structure for irregular building |
| CN106429849A (en) * | 2016-08-23 | 2017-02-22 | 上海科轻起重机有限公司 | Bluetooth smart control system for cranes |
| CN107934782A (en) * | 2017-10-24 | 2018-04-20 | 安徽德马泰格起重机械有限公司 | One kind driving automatic brake stops control system |
| CN111634820A (en) * | 2020-06-10 | 2020-09-08 | 南京工程学院 | Automatic early warning system and method for crane |
| CN111634820B (en) * | 2020-06-10 | 2023-02-28 | 南京工程学院 | Automatic early warning system and method for crane |
| CN112010185A (en) * | 2020-08-25 | 2020-12-01 | 陈兆娜 | System and method for automatically identifying and controlling surrounding danger sources of crown block |
| CN112884848A (en) * | 2021-03-05 | 2021-06-01 | 河北工业大学 | Intelligent crown block control system, method and terminal based on binocular vision |
| CN112884848B (en) * | 2021-03-05 | 2022-06-28 | 河北工业大学 | Intelligent crown block control system, method and terminal based on binocular vision |
| CN113415743A (en) * | 2021-06-07 | 2021-09-21 | 华能西藏雅鲁藏布江水电开发投资有限公司 | Method for protecting automobile crane from being close to electricity and objects |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130424 Termination date: 20151123 |