Crane anti-swing control method based on machine vision

A machine vision and control method technology, applied in the direction of load hanging components, transportation and packaging, etc., can solve the problems of anti-sway not only not anti-sway, aggravate the swing of the hook, etc., to achieve the effect of strong adaptability and good anti-sway effect

Active Publication Date: 2020-02-11
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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AI Technical Summary

Problems solved by technology

[0004] The traditional crane electronic anti-sway system is a typical open-loop system. Basically, the rope length goes along a fixed acceleration and deceleration curve to anti-sway; this anti-sway can only be used when the initial hook is stationary, and the actual working condition is that the crane Most of the hooks have already started to swing before accelerating or decelerating. At this time, the open-loop electronic anti-sway is not only not anti-sway, but may aggravate the swing of the hook

Method used

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  • Crane anti-swing control method based on machine vision
  • Crane anti-swing control method based on machine vision
  • Crane anti-swing control method based on machine vision

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Embodiment Construction

[0024] Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:

[0025] This invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.

[0026] The invention discloses a crane anti-swing control method based on machine vision. The hardware part includes an industrial camera installed on the crane trolley (for photographing the crane hook), an industrial computer installed in the control cabinet, and a programmable controller. (PLC) and inverters that drive large and small vehicles, such as figure 1 shown.

[0027] The software includes the machine vision algorithm based on the industrial computer to detect the track o...

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Abstract

The invention discloses a crane anti-swing control method based on machine vision, and the method is used for identifying and tracking the swing track of a lifting hook in real time, self-adaptively controlling and adjusting an acceleration and deceleration frequency curve of a large car and a small car when the large car and the small car accelerate or decelerate according to the swing angle, amplitude and frequency of the lifting hook, and realizing an intelligent anti-swing function. The crane anti-swing control method aims at the real-time anti-swing of the closed loop of a load, and is strong in adaptability and good in anti-swing effect.

Description

technical field [0001] The invention relates to the application of machine vision and a motion control method, in particular to a machine vision-based crane anti-sway control method. Background technique [0002] With the rapid development of economic and trade globalization, cranes as an important logistics tool are developing towards multi-parameter and large-scale development. Due to the increase in the length of the suspension wire rope, the increase in operating speed, and the continuous increase in the driver's sight distance, it is becoming more and more difficult to operate with the hook, which makes it more and more expensive to eliminate load swing and quickly and accurately realize precise lifting and unloading. Too much time has greatly affected production efficiency and caused potential safety hazards. [0003] Crane anti-sway technology is getting more and more attention. Currently commonly used crane anti-sway technology mainly includes mechanical anti-sway ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66C13/06B66C13/16B66C13/46B66C13/48
CPCB66C13/06B66C13/16B66C13/46B66C13/48
Inventor 余汉成
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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