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A method for positioning and grapple-hooking cylinder parts of a yard crane

A technology of yard crane and positioning method, applied in computer parts, image analysis, image enhancement and other directions, can solve the problems of low execution efficiency, high requirements, long time consumption, etc., to improve execution efficiency, reduce operating costs, and avoid positioning inaccurate effect

Active Publication Date: 2021-11-12
HENAN INST OF SCI & TECH
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  • Description
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Problems solved by technology

[0003] In addition, when locating the target part, the traditional method is to extract features through convolution or compare the image with the corresponding template to determine the contour, which requires a lot of calculations, and its execution efficiency is low. For the relevant control components on the crane, it takes a relatively long time and requires relatively high requirements. Therefore, it is necessary to solve the problem of execution efficiency during positioning

Method used

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  • A method for positioning and grapple-hooking cylinder parts of a yard crane
  • A method for positioning and grapple-hooking cylinder parts of a yard crane
  • A method for positioning and grapple-hooking cylinder parts of a yard crane

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Embodiment 1

[0038] Such as Figure 1-Figure 3 shown.

[0039] The invention relates to a method for locating a cylindrical piece of a storage yard crane, which is used for the storage yard crane to find the center of a target cylindrical piece stored in a storage yard, so as to perform positioning.

[0040] On the trolley of the crane, there is a vertically movable grab hook 2, and the center of the grab hook 2 is installed with a resolution of p x ×p y For industrial camera 1, it is stipulated that the upper left pixel of the image captured by industrial camera 1 is the coordinate origin, the horizontal direction on the image to the right is the positive direction of the x-axis, and the vertical direction on the image is the positive direction of the y-axis.

[0041] The included angle between the placement angle of the cylindrical parts stored axially and horizontally in the yard and the y-axis is any angle between [0°, 5°].

[0042] The information of the cylindrical parts stored in...

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Abstract

The invention discloses a method for positioning a cylindrical part of a yard crane and hooking a grapple. Specifically, it includes the following steps: A. First obtain the storage position of the cylindrical part corresponding to the code; B. Lower the grapple so that the height difference between the industrial camera of the grapple and the target cylindrical part is H; C. Start the grab D. Binarize the collected image; E. From top to bottom, scan and count the black and white pixel ratio line by line, and find the boundary representing the projection of the upper bottom surface of the target cylinder on the image The two endpoints are denoted as A(x a ,y a ), B(x b ,y b ); F. calculate the center coordinate C (x c ,y c ); G. Calculate the actual distance between the grapple and the center of the target cylinder on the XOY plane.

Description

technical field [0001] The invention belongs to the technical field of intelligent lifting, and in particular relates to a method for positioning and hooking a cylinder of a yard crane. Background technique [0002] How to quickly locate the cylindrical parts and the hook hook is a key factor affecting the operation efficiency of the yard crane. The hook is mainly based on experience and human eye observation, coupled with visual fatigue caused by continuous high-intensity work and blind spots of human vision, the accuracy of positioning and the efficiency of the grapple hook will be greatly reduced. In this regard, the intelligent level of the crane needs to be further improved to meet the application requirements of smart cranes. Therefore, seeking a machine vision-based method for rapid positioning of cylinder parts of yard cranes and hook hooks not only helps to enrich the theoretical knowledge of efficient operation of cranes, but also has good practical application an...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/70G06T7/66G06T7/136G06K9/38
CPCG06T7/70G06T7/66G06T7/136G06T2207/10004G06T2207/30248
Inventor 杨文强聂福全杜留锋陈永刚杨之乐李勇峰徐君鹏彭占磊张栋华
Owner HENAN INST OF SCI & TECH
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