Target-free lifting appliance positioning method for closed-loop control of automatic travelling crane

Abstract

The invention provides a target-free lifting appliance positioning method for closed-loop control of an automatic travelling crane, which comprises the following steps of: positioning a lifting appliance; predicting position features; programs and codes produced on the PC are converted into files which can be recognized and run by a target hardware platform (such as an arm platform), and the files are made to run normally on a new hardware platform; performing exception processing; the method has no requirement on the structure of the crane lifting appliance, does not need to modify the lifting appliance, namely does not need to design a target pasting structure, and compared with an IMU (Inertial Measurement Unit)-based scheme, does not need to carry out power supply, signal transmission and other electrical system transformation, and the obtained swing angle has a prediction function, can directly serve the automatic control of the crane and does not need to carry out other processing.

Description

technical field [0001] The invention relates to the technical field of image detection and processing, in particular to a targetless spreader positioning method for automatic driving closed-loop control. Background technique [0002] The self-unmanned and unmanned technology of bridge cranes has always been the focus of industry development. Overseas, Siemens, Demag, Konecranes, domestic Taiyuan Heavy Industry, Henan Mining Heavy Industry, Weihua Heavy Industry and Baosteel Group are all conducting research on related technologies and products. Based on the traditional anti-sway algorithm, various companies have launched some manual driving assistance products. Generally, programmable controllers and frequency converters are used to calculate the operating speed of the large and small vehicles that can eliminate load swings according to the operating instructions and the real-time operating conditions of the crane, and then drive the large and small vehicles to run accordin...

AI Technical Summary

Problems solved by technology

[0003] Relying on such methods, but due to technical and cost problems, the degree of automation of bridge cranes in my country is still quite low, and the degree of automation of the entire industry is less than one-thousandth

The main reasons for the inability to achieve a high degree of automation in the entire industry are as follows: 1. The vast majority of control systems adopt open-loop control, which can only work under the condition of no initial swing angle, while the closed-loop system technology has always been mastered by foreign companies, and the research cost of enterprises has been high

2. Vision-based closed-loop anti-sway technology requires the application technology of installing positioning targets on the spreader, which often does not meet the conditions for installation under actual working conditions

3. The driver needs to estimate the braking distance when operating. Once the estimation is wrong, it may cause the suspended object to hit other objects

4. In case of abnormal conditions, the equipment cannot automatically resume operation after an emergency stop

5. The traditional anti-sway method does not consider the driver's working experience in the cab. The high-frequency control method makes the driver feel obvious discomfort during the anti-sway process, which is extremely difficult to promote

However, due to the large feedback delay of the existing vision and target methods, it cannot be directly used for automatic control of driving.

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