A system and method for measuring the gauge of a crane using a camera

Abstract

The present invention discloses a system for measuring the gauge of a crane using a camera, which includes a track system, a crane system disposed above the track system, and a camera system; the track system includes a left track (11) and a right track (12); the crane system includes a left wheel (21) and a right wheel (22), and the left wheel (21) and the right wheel (22) correspondingly travel along the left track (11) and the right track (12); the camera system includes a left camera (31) and a right camera (32); the left camera (31) is used to monitor the left track (11) and / or the left wheel (21), and the right camera (32) is used to monitor the right track (12) and / or the right wheel (22). The present invention uses the camera to obtain the change of the gauge when the crane is traveling in two different ways, namely, monitoring the side lines of the track respectively and monitoring the side lines of the track and the wheels, so as to effectively detect the problem of rail biting caused by unreasonable gauge deviation when the crane is traveling.

Description

Technical Field

[0001] The invention belongs to the field of crane track gauge measurement, and in particular relates to a system and method for measuring the crane track gauge by using a camera. Background Art

[0002] It is a very serious problem for a crane to have track gnawing during operation. Under normal operation, there is a certain gap between the wheel rim and the track. However, due to certain reasons such as foundation settlement, column inclination, structural deformation, lifting, and some factors during operation, the track is offset, so that the contact surface between the running wheel and the track is not in the middle of the tread. The wheel rim on one side of the crane and the side of the track are squeezed against each other, and side friction is generated between the wheel rim and the track, resulting in the center lines of the wheel rim and the track not coinciding. The entire crane walks by contacting one side of the track, causing the wheel rim to forcefully contact one side of the track, and causing severe wear of the wheel and track, thus causing track gnawing.

[0003] Slight rail gnawing will cause obvious wear marks on the wheel flange and the side of the track. Severe rail gnawing will cause metal peeling off on the wheel flange and the side of the track or the wheel flange to deform outward and endanger driving safety. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a system and method for measuring the track gauge of a crane using a camera, aiming to realize real-time monitoring of the track gauge during the travel of the crane and discover unreasonable track gauge deviations so as to prevent the crane from gnawing the rails in time.

[0005] The technical solution adopted by the present invention is: providing a system for measuring the track gauge of a crane using a camera, comprising a track system, a crane system arranged above the track system, and a camera system;

[0006] The track system includes a left track and a right track; the crane system includes a left wheel and a right wheel, and the left wheel and the right wheel travel along the left track and the right track respectively; the camera system includes a left camera and a right camera; the left camera is used to monitor the left track and / or the left wheel, and the right camera is used to monitor the right track and / or the right wheel.

[0007] Preferably, it also includes a data receiving and computing system, which is used to receive the information monitored by the camera system and further perform calculations and analyses.

[0008] The camera has an inversely proportional relationship between the height at which the photo is taken and the imaging distance, and the track gauge distance can be calculated based on the imaging height.

[0009] Preferably, the left camera is fixed on the crane system and arranged just above the left track, so as to monitor the gauge change of the left track;

[0010] The right camera is fixed on the crane system and is arranged directly above the right track for monitoring the gauge change of the right track.

[0011] The camera is arranged directly above the track. By photographing the side lines of the track, the real-time track center can be determined. By comparing the real-time track center with the initial track center, the real-time gauge change of the track can be obtained.

[0012] Preferably, the left camera is fixed on the crane system and is arranged above the left track for monitoring the gauge change between the left track and the left wheels.

[0013] The right camera is fixed on the crane system and is arranged above the right track for monitoring the gauge change between the right track and the right wheels.

[0014] The camera is arranged above the track. By photographing the outer side lines of the track and the wheels, the real-time distance between the track and the wheel side lines can be determined. By comparing with the distance between the track and the wheel side lines at the initial time, the real-time gauge change of the track can be obtained.

[0015] Furthermore, a method for measuring the crane gauge using a camera is provided, including the following steps:

[0016] S01: When the crane system travels along the track system, let the distance between the left camera and the right camera be L0. The left camera monitors and identifies the two outermost side lines of the left track contour, denoted as side lines A1 and A1'. The real-time center line C1 of the left track is determined through side lines A1 and A1', and the distance between the center line C1 and the center of the left camera is denoted as L1.

[0017] Meanwhile, the right camera monitors and identifies the two outermost side lines of the right track contour, denoted as side lines A2 and A2'. The real-time center line C2 of the right track is determined through side lines A2 and A2', and the distance between the center line C2 and the center of the right camera is denoted as L2.

[0018] S02: Method for judging the positive and negative of L1 and L2: If the real-time center line C1 is on the left side of the center of the left camera, the distance L1 is positive; if the real-time center line C1 is on the right side of the center of the left camera, the distance L1 is negative.

[0019] If the real-time center line C2 is on the right side of the center of the right camera, the distance L2 is positive; if the real-time center line C2 is on the left side of the center of the right camera, the distance L2 is negative.

[0020] S03: According to L = L0 ± L1 ± L2, the real-time distance between the left track and the right track is obtained.

[0021] Further, a method for measuring the gauge of a crane using a camera is provided, including the following steps:

[0022] S11: When the crane system travels along the track system, let the hub edge line on the left wheel side be C1, and the corresponding track edge line on the same side of the left track be B1. The left camera is used to monitor the real-time distance from the edge line C1 to the edge line B1, denoted as the distance L3'. The difference between the real-time distance L3' and the initial standard value on the left side is the offset ΔL3 of the left track (11);

[0023] At the same time, let the hub edge line on the right wheel side be C2, and the corresponding track edge line on the same side of the right track be B2. The right camera is used to monitor the real-time distance from the edge line C2 to the edge line B2, denoted as the distance L4'. The difference between the real-time distance L4' and the initial standard value on the right side is the offset ΔL4 of the right track;

[0024] S12: The data receiving and calculating system obtains the real-time gauge change of the left and right tracks based on the offsets ΔL3 and ΔL4.

[0025] Advantages of the present invention: The present invention uses a camera to monitor the edge lines of the track in real time, monitors the edge lines of the track and the wheels in real time, and performs calculation and conversion after receiving the information of the camera by the data receiving and calculating system. By using these two different methods, the real-time monitoring of the gauge of the left and right tracks during the crane's travel is realized, and the change of the track gauge during the crane's travel is obtained, so as to effectively prevent the safety problem of rail gnawing during the crane's travel. Brief Description of the Drawings

[0026] Figure 1 It is a schematic structural diagram of a system for measuring the gauge of a crane using a camera according to Embodiment 1 of the present invention;

[0027] Figure 2 It is a schematic structural diagram of a system for measuring the gauge of a crane using a camera according to Embodiment 2 of the present invention. Detailed Embodiment

[0028] The present invention will be further described below with reference to specific drawings.

[0029] Example 1

[0030] As Figure 1 shown, a system for measuring the gauge of a crane using a camera is provided, specifically including:

[0031] A track system, which includes a left track 11 and a right track 12, is laid in parallel, and the initial distance between them is a fixed standard value;

[0032] A crane system, which includes a left wheel 21 and a right wheel 22, is arranged directly above the track system. The left wheel 21 travels along the center of the left track 11 during operation, and simultaneously, the right wheel 22 travels along the center of the right track 12 during operation;

[0033] A camera system, which includes a left camera 31 and a right camera 32. The left camera 31 is fixed on the crane system and is arranged directly above the center of the left track 11, and the right camera 32 is fixed on the crane system and is arranged directly above the center of the right track 12.

[0034] A data receiving and computing system 4, which is signal-connected to the left camera 31 and the right camera 32, is used to receive the information detected by the left camera 31 and the right camera 32 and further perform calculation and analysis.

[0035] Embodiment 1 monitors the gauge of the crane according to the following method:

[0036] Before the crane travels safely along the track initially, it is set that the centers of the left wheel 21, the left track 11, and the left camera 31 coincide, and the centers of the right wheel 22, the right track 12, and the right camera 32 coincide. At this time, the distance between the center of the left camera 31 and the center of the right camera 32 is denoted as L0. When the crane travels safely normally, the monitored real-time gauge L = L0 (where: L is the real-time gauge);

[0037] When the crane wheels deviate from the center of the track during travel, the phenomenon of rail gnawing may occur. The method for monitoring the gauge is as follows:

[0038] S01: The left camera 31 monitors and identifies the two outermost side lines of the contour of the left track 11. The left side line of the contour is denoted as side line A1, and the right side line of the contour is denoted as side line A1'. Through the side lines A1 and A1' monitored and identified by the left camera 31, this information is fed back to the data receiving and computing system 4. The data receiving and computing system 4 can determine the real-time center line of the left track 11 at this time, denoted as center line C1, and the distance between the center line C1 and the center of the left camera 31 is denoted as L1;

[0039] Meanwhile, the right camera 32 monitors and identifies the two outermost side lines of the contour of the right track 12. The left side line of the contour is denoted as side line A2, and the right side line of the contour is denoted as side line A2'. Through the side lines A2 and A2' monitored and identified by the right camera 32, this information is fed back to the data receiving and computing system 4. The data receiving and computing system 4 can determine the real-time center line of the right track 12 at this time, denoted as center line C2, and the distance between the center line C2 and the center of the right camera 32 is denoted as L2;

[0040] S02: Method for judging the positive and negative of L1 and L2: If the real-time center line C1 is on the left side of the center of the left camera 31, it means that the left track 11 deviates to the left, and the distance L1 is recorded as positive. If the real-time center line C1 is on the right side of the center of the left camera (31), it means that the left track 11 deviates to the right, and the distance L1 is recorded as negative;

[0041] Similarly, if the real-time center line C2 is on the right side of the center of the right camera 32, it means that the right track 12 deviates to the right, and the distance L2 is recorded as positive. If the real-time center line C2 is on the left side of the center of the right camera 32, it means that the right track 12 deviates to the left, and the distance L2 is recorded as negative;

[0042] S03: According to the real-time gauge L = L0 ± L1 ± L2, the real-time distance between the left track 11 and the right track 12 is obtained by the data receiving and calculating system 4.

[0043] Among them Figure 1 The real-time gauge L of the left track 11 from the right track 12 is shown as L = L0 + L1 - L2.

[0044] Example 2

[0045] Such as Figure 2 shown, a system for measuring the crane gauge using cameras is provided. The main differences from Embodiment 1 lie in the setting of the camera system and the gauge measurement method.

[0046] Among them: The camera system includes a left camera 31 and a right camera 32. The left camera 31 is fixed above the left side of the center of the left track 11 of the crane system, and the right camera 32 is fixed above the left side of the center of the right track 12 of the crane system. The cameras monitor the driving of the track system and the crane system in real time.

[0047] Embodiment 2 monitors the crane gauge according to the following method:

[0048] Before the crane travels safely along the track initially, it is set that the center of the left wheel 21 of the crane coincides with the center of the left track 11, and the center of the right wheel 22 coincides with the center of the right track 12. At this time, the distance between the left track 11 monitored by the left camera 31 and the same side line of the left wheel 21 is a fixed value, denoted as L3; the distance between the right track 12 monitored by the right camera 32 and the same side line of the right wheel 22 is a fixed value, denoted as L4.

[0049] When the crane wheels deviate from the track center during driving, the phenomenon of rail gnawing may occur. The method for monitoring the gauge is as follows:

[0050] S11: When the crane system travels along the track system, let the left hub edge line of the left wheel 21 be C1, and the corresponding left track edge line on the left side of the left track 11 be B1. The left camera 31 is used to monitor the real-time distance from the edge line C1 to the edge line B1, denoted as L3'. The difference between this real-time distance L3' and the initial standard value L3 is the offset ΔL3 of the left track 11, that is, ΔL3 = L3' - L3;

[0051] Meanwhile, let the left hub edge line of the right wheel 22 be C2, and the corresponding left track edge line on the left side of the right track 12 be B2. The right camera 32 is used to monitor the real-time distance from the edge line C2 to the edge line B2, denoted as L4'. The difference between this real-time distance L4' and the initial standard value L4 is the offset ΔL4 of the right track 12, that is, ΔL4 = L4' - L4;

[0052] S12: The data receiving and calculating system 4 obtains the real-time gauge change magnitude of the left track 11 and the right track 12 according to the offsets ΔL3 and ΔL4, and then can judge the severity of rail gnawing of this gauge.

[0053] The above two embodiments respectively monitor the situation of the crane wheels traveling on the track through the camera. By identifying the outermost contour edge line of the track or by identifying the same-side edge line of the track and the wheel, the distance value of the real-time gauge can be finally determined. Further, by comparing with the corresponding parameter value of the standard gauge, the magnitude of the offset of this real-time gauge can be obtained, so that the severity of rail gnawing during the crane travel can be further known, which is convenient for the staff to monitor and prevent in time and reduce the potential production safety hazards.

[0054] The above content is a further detailed description of the present invention in combination with specific preferred embodiments. It cannot be determined that the specific implementation of the present invention is only limited to these descriptions. For those skilled in the technical field to which the present invention belongs, without departing from the concept of the present invention, several simple deductions or substitutions can still be made, which should all be regarded as belonging to the protection scope of the present invention.

Claims

1. A system for measuring the gauge of a crane using a camera, characterized in that: It includes an orbital system, a crane system arranged above the orbital system, a camera system, and a data receiving and calculating system (4) for receiving the information monitored by the camera system and calculating and analyzing it; The orbital system includes a left track (11) and a right track (12); the crane system includes a left wheel (21) and a right wheel (22), and the left wheel (21) and the right wheel (22) travel along the left track (11) and the right track (12) correspondingly; the camera system includes a left camera (31) and a right camera (32); the left camera (31) is fixed on the crane system and arranged directly above the left track (11) for monitoring the gauge change of the left track (11); the right camera (32) is fixed on the crane system and arranged directly above the right track (12) for monitoring the gauge change of the right track (12), and the center lines of the left track (11), the left wheel (21), and the left camera (31) coincide, and the center lines of the right track (21), the right wheel (22), and the right camera (32) coincide; Wherein: the left camera (31) is used to monitor and identify the two outermost side lines A1 and A1' of the left track (11) profile, and the data receiving and calculating system (4) determines the center line C1 of the left track (11) according to the identified two side lines A1 and A1'; the right camera (32) is used to monitor and identify the two outermost side lines A2 and A2' of the right track (12) profile, and the data receiving and calculating system (4) determines the center line C2 of the right track (21) according to the identified two side lines A2 and A2'; the real-time gauge of the crane is obtained through Formula 1; L = L0 ± L1 ± L2 Formula 1 Wherein: L0 = the distance between the center of the left camera and the center of the right camera; L1 = the distance between the center of the left camera and the center line C1. When C1 is on the left side of the center of the left camera, L1 is recorded as positive, and when it is on the right side, L1 is recorded as negative; L2 = the distance between the center of the right camera and the center line C2. When C2 is on the right side of the center of the right camera, L2 is recorded as positive, and when it is on the left side, L2 is recorded as negative.

2. A system for measuring the gauge of a crane using a camera, characterized in that: It includes an orbital system, a crane system arranged above the orbital system, a camera system, and a data receiving and calculating system (4) for receiving the information monitored by the camera system and calculating and analyzing it; The orbital system includes a left track (11) and a right track (12); the crane system includes a left wheel (21) and a right wheel (22), and the left wheel (21) and the right wheel (22) travel along the left track (11) and the right track (12) correspondingly; the camera system includes a left camera (31) and a right camera (32); the left camera (31) is fixed on the crane system and arranged above the left track (11) for monitoring the gauge change between the left track (11) and the left wheel (21); the right camera (32) is fixed on the crane system and arranged above the right track (12) for monitoring the gauge change between the right track (12) and the right wheel (22); Wherein: the left camera (31) is used to monitor the real-time distance L3' between the hub side line C1 on one side of the left wheel (21) and the corresponding same-side track side line B1 of the left track (11); the right camera (32) is used to monitor the real-time distance L4' between the side line C2 on one side of the right wheel (2) and the corresponding same-side track side line B2 of the right track (12), and judges the gauge offset of the left track (11) and the right track (12) through Formula 2 and Formula 3: ΔL3 = L3' - L3; Formula 2 Wherein: L3 is the distance between the left track (11) and the same-side line of the left wheel (21) before the initial exercise of the crane system; ΔL4 = L4' - L4; Formula 3 Wherein: L4 is the distance between the right track (12) and the same-side line of the right wheel (22) before the initial exercise of the crane system.

3. A method for measuring the gauge of a crane using the system for measuring the gauge of a crane with a camera as described in claim 1, characterized in that: Including the following steps: S01: When the crane system travels along the track system, let the distance between the left camera (31) and the right camera (32) be L0. The left camera (31) monitors and identifies the two outermost side lines of the left track (11) profile, denoted as side line A1 and side line A1'. The real-time center line C1 of the left track (11) is determined by side line A1 and side line A1', and the distance between the center line C1 and the center of the left camera (31) is denoted as L1; at the same time, the right camera (32) monitors and identifies the two outermost side lines of the right track (12) profile, denoted as side line A2 and side line A2'. The real-time center line C2 of the right track (12) is determined by side line A2 and side line A2', and the distance between the center line C2 and the center of the right camera (32) is denoted as L2; S02: Method for judging the positive and negative of L1 and L2: If the real-time center line C1 is on the left side of the center of the left camera (31), the distance L1 is positive. If the real-time center line C1 is on the right side of the center of the left camera (31), the distance L1 is negative; If the real-time center line C2 is on the right side of the center of the right camera (32), the distance L2 is positive. If the real-time center line C2 is on the left side of the center of the right camera (32), the distance L2 is negative; S03: According to L = L0 ± L1 ± L2, obtain the real-time distance between the left track (11) and the right track (12).

4. A method for measuring the gauge of a crane using the system for measuring the gauge of a crane with a camera as described in claim 2, characterized in that: Including the following steps: S11: When the crane system travels along the track system, let the hub side line on one side of the left wheel be C1, and the corresponding same-side track side line of the left track (11) be B1. The left camera (31) is used to monitor the real-time distance from side line C1 to side line B1, denoted as distance L3'. The difference between the real-time distance L3' and the left initial standard value is the offset ΔL3 of the left track (11); At the same time, let the hub side line on one side of the right wheel (22) be C2, and the corresponding same-side track side line of the right track (12) be B2. The right camera (32) is used to monitor the real-time distance from side line C2 to side line B2, denoted as distance L4'. The difference between the real-time distance L4' and the right initial standard value is the offset ΔL4 of the right track (12); S12: The data receiving and computing system (4) obtains the real-time gauge changes of the left track (11) and the right track (12) based on the offsets ΔL3 and ΔL4.

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