Positioning method of twin-lift spreader bridge crane based on image sensor

Abstract

The invention relates to a positioning method of twin-lift spreader bridge crane based on an image sensor. Index points (16) and (17) are arranged on a twin-lift spreader, two independent video cameras (7) and (8) are used for respectively shooting swinging images of the twin-lift spreader, and video frames are transmitted to video image processors (9) and (10) corresponding to the video cameras;each video image processor comprises a CPU (Central Processing Unit), a video processing module, a memory, an I / O (Input / Output) unit, and the like, wherein the input end of each video image processor is connected with each video camera, and the output end of each video image processor is connected with a control computer (11); and swing-angle information and sling-length information of the twin-lift spreader are calculated through an image-position processing algorithm and an image-depth restoring algorithm and are transmitted to the control computer in real time in order to complete the anti-swing positioning control of a current control period. The positioning method is simple, has the advantages of low cost and convenient use and not only is used for the information feedback of a swing angle and a sling length of an anti-swing positioning control system of the twin-lift spreader bridge crane, but also is used for the hand operation reference of a crane driver.

Description

technical field [0001] The invention relates to the technical fields of information technology and bridge crane loading and unloading, in particular to a positioning detection method for a bridge crane with double spreaders. Background technique [0002] Double-lift double-sling bridge crane (including field crane and quay crane) is a new type of port container handling machinery. Because it has two lifting spreaders, it can work at the same time, thus greatly improving the efficiency of container loading and unloading. However, this double-lifting double-slinger bridge crane system has a complex structure and various working methods; since this new type of bridge crane has two spreaders that can be lifted independently, it brings great difficulty to the detection of the swing angle of the spreader. [0003] Existing bridge crane detection devices are all designed for single-sling bridge cranes, and they all use relatively complicated detection instruments for the detection ...

AI Technical Summary

Problems solved by technology

In some recent reports, some institutions have carried out research and application on load anti-sway and load positioning control of single lifting bridge cranes. In these bridge crane control systems, more complex laser angle meters and angle sensors are generally used to detect The device realizes the detection of the load swing angle. These detection devices are only suitable for the detection of the load swing angle of the bridge crane with a single spreader, but they cannot detect the rope length of the spreader. Moreover, the detection device is expensive, complicated to use, poor in anti-interference ability, and difficult to maintain. It is also inconvenient, and some also have special requirements for the use environment (for example, the use of laser equipment for angle recognition requires a good working environment, dust-free, rain-free, and natural conditions such as shelter), which limit the swing angle of the above-mentioned bridge crane spreader Application of Angle Detection Device

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