Automatic calibration method for swing angle positioning of lifting appliance of automatic travelling crane

Abstract

The invention provides an automatic calibration method for swing angle positioning of an automatic travelling crane lifting appliance. The method comprises the following steps: shooting the lifting appliance through a camera to obtain continuous image frames of the camera; the definition of the image frame is obtained by calculating the average value of the picture edges, and whether the camera focal length and the lifting height are correct is determined; collecting real picture data of the lifting appliance to generate a training set, performing data processing on the training set based on a convolutional neural network to obtain a feature graph containing feature information of a pulley block of the lifting appliance, and outputting an actual detection position of the pulley block of the lifting appliance; storing the data of the continuous image frames into a data sequence; a predictive generation lstm network based on lstm is adopted to process the data sequence to obtain swing angle data of the lifting appliance; and calculating the camera position deviation according to the swing angle data, judging whether the camera position deviation is effective or not according to the identified lifting appliance feature confidence, and correcting and updating the calibration value.

Description

technical field [0001] The invention relates to the technical field of image detection and processing, in particular to an automatic calibration method for positioning the swing angle of an automatic crane spreader. Background technique [0002] As a general logistics equipment with large loads, traveling cranes are used in most of the factory workshops, such as mining, steel cranes, non-ferrous metal cranes, machinery processing and manufacturing industries, etc. Drivers need to master certain technical skills, and at the same time need to work for a long time in a small cab. [0003] Based on the traditional anti-sway algorithm, programmable controllers and frequency converters are generally used to calculate the operating speed of large and small vehicles that can eliminate load sway according to the operating instructions and the real-time operating conditions of the crane, and then drive the large and small vehicles according to the required speed through the frequency ...

AI Technical Summary

Problems solved by technology

In many cases, the actual working conditions do not meet the installation 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 take into account the driver's working experience in the cab, and adopts high-frequency control. During the anti-sway process, the driver will have indistinct discomfort, which is extremely difficult to promote

However, these three methods all have more requirements on the spreader itself, and the installation position of the camera may have problems such as movement, which will lead to changes in system calibration parameters, and do not have camera self-inspection and self-calibration functions.

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