A targetless spreader positioning method for automatic driving closed-loop control

Abstract

The invention proposes a target-free spreader positioning method for closed-loop control of automatic driving, which includes the following steps: positioning the spreader; Platform) files that can be identified and run, and make it run normally on the new hardware platform; exception handling; no requirement for the structure of the crane spreader itself, no need to modify the spreader, that is, no need to design the target paste structure, and Compared with the solution based on IMU, it does not need to transform the electrical system such as power supply and signal transmission, and the obtained swing angle has the function of prediction, which can directly serve the automatic control of driving, and no other processing is required.

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 closed-loop control of automatic driving. Background technique [0002] The self-free 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 traditional anti-sway algorithms, companies have launched some manual driving assistance products. Generally, a programmable controller and a frequency converter are used to calculate the running speed of the large and small cars that can eliminate the load swing according to the operation instructions and the real-time operation status of the crane, and then drive the cart and trolley to run according to the required speed t...

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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