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Precise lifting appliance positioning system and method based on machine vision

A precise positioning and machine vision technology, which is applied in the field of precise positioning system for spreaders based on machine vision, can solve the problem that the positioning accuracy of engineering crane hoisting points cannot reach the millimeter level, so as to improve safety and reliability, and improve detection accuracy , the effect of increasing redundancy

Pending Publication Date: 2022-01-21
CHANGSHA ZHONGLIAN HENGTONG MACHINERY
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Problems solved by technology

[0005] The invention provides a machine vision-based precise positioning system and method for a spreader, aiming to solve the technical problem that the positioning accuracy of hoisting points of existing engineering cranes cannot reach the millimeter level

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  • Precise lifting appliance positioning system and method based on machine vision
  • Precise lifting appliance positioning system and method based on machine vision
  • Precise lifting appliance positioning system and method based on machine vision

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Embodiment Construction

[0053] In order to better understand the above technical solution, the above technical solution will be described in detail below with reference to the drawings and specific embodiments.

[0054] like figure 1 As shown, the first embodiment of the present invention proposes a machine-based spreader precision positioning system, including the detecting device 10, the controller 20, and the output unit 30, wherein the detecting device 10 is used to obtain a hoisting vehicle spreader 100 and The position information of the load 200, the detecting device 10 includes a binocular camera 11, the main autorector 12, and the boom angle sensor 13 on the spreader, and the budget camera 11 is used to identify the target 14 on the load 200 for identification. The target 14 on the load 200 acquires the position information of the load 200; the main auto-rotation encoder 12 is used to detect the main rotation angle of the lifting vehicle in real time; the boom angle sensor 13 is used to detect t...

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Abstract

The invention discloses a precise lifting appliance positioning system and method based on machine vision. According to the precise lifting appliance positioning system, a detection device, a controller and an output unit are adopted, the controller is used for collecting position information of a lifting appliance and a load obtained by the detection device, and controlling the output unit to perform corresponding actions to complete butt joint of the lifting appliance and the load; the detection device comprises a binocular camera, a main rotary encoder and a suspension arm angle sensor which are arranged on the lifting appliance, and the binocular camera is used in cooperation with a target on the load and used for recognizing the target on the load and obtaining position information of the load; the main rotary encoder is used for detecting the main rotary angle of a sling cart in real time; and the suspension arm angle sensor is used for detecting the suspension arm amplitude of the sling cart in real time. Various errors which cannot be detected by a front-end sensor, such as sensor installation deviation, mechanism gaps and structural deformation, are effectively eliminated, and the detection precision of a control system is improved from the previous decimeter level to the millimeter level; and the detection redundancy is increased, and the safety and reliability of the system are improved.

Description

Technical field [0001] The present invention relates to the field of engineering cranes, and more particularly to a machine-based spreader precision positioning system and method. Background technique [0002] The spreader lock pin is locked and the load angle hole is locked, and the rigid connection of the spreader and the load is a highly efficient lifting connection method, which is more common during the container lifting, and some large-specific load hoisting processes. The mating gap of the lock pin and the corner hole is millimeter, and the working amplitude and lifting height is a lifting device, the positioning accuracy is high, and the difficulty is difficult. [0003] In the prior art, the working amplitude of the engineering crane and the height detection accuracy is the grade, and the installation accuracy is not high in the lifting industry, or in the case where the lifting positioning accuracy is not enough, it is used to use the rope to pull the lifting. Install. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66C13/20B66C13/46B66C13/48B66C13/16
CPCB66C13/20B66C13/46B66C13/48B66C13/16
Inventor 胡奇飞宋院归刘龙兵范志勇杨勇邓胜达
Owner CHANGSHA ZHONGLIAN HENGTONG MACHINERY
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