Intelligent assembly hoisting device based on image recognition

Abstract

The present application relates to the technical field of hoisting equipment for prefabricated buildings, and particularly relates to an intelligent prefabrication hoisting device based on image recognition, which comprises: a hoisting unit for hoisting a prefabricated part; a rotating unit for rotating the prefabricated part; an image sensing unit comprising an image sensor arranged above the hoisting motor to acquire images during hoisting and an angle detector arranged above the rotating unit to detect the deviation angle between the steel wire rope and the vertical line; a management unit for analyzing the hoisting process images and other detection parameters to generate real-time execution images; and a central control unit for adjusting the allowable tension of the steel wire rope to a corresponding value according to the actual service time of the steel wire rope. The present application improves the assembly accuracy of the prefabricated part and the stability of the hoisting process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hoisting equipment for prefabricated buildings, and particularly relates to an intelligent prefabrication hoisting device based on image recognition. BACKGROUND

[0002] Compared with the cast-in-place construction method, the prefabricated PC structure is conducive to green construction, because the prefabricated construction can better meet the requirements of green construction, such as land saving, energy saving, material saving, water saving, and environmental protection, and reduce the negative impact on the environment, including reducing noise, preventing dust, reducing environmental pollution, clean transportation, reducing site interference, saving water, electricity, materials and other resources and energy, and following the principle of sustainable development. The prefabricated component is prefabricated in the factory, and when it is constructed on site, it needs to be moved to the corresponding construction position by hoisting. At present, for the on-site hoisting construction of prefabricated components, the hoisting positioning of prefabricated components is often carried out by the tower crane driver according to the actual situation of on-site hoisting by the on-site workers, and a series of verticality correction processes are needed after positioning. This method needs a large amount of manual labor and time cost, has slow work efficiency, low hoisting precision, and on the other hand, the hoisting workers who command the operation often have certain safety hazards, and the construction difficulty is greatly affected by the site environment. Therefore, the existing technology has the problems of low hoisting precision and easy influence of precision by external environment.

[0003] Chinese Patent Publication No. CN107010542A discloses a prefabricated building intelligent hoisting system and method, which includes a parallel system module, a construction site information module, a path parallel planning module, and an intelligent hoisting module. The parallel theory is adopted to complete the complex path planning problem in the hoisting process in a three-dimensional virtual reality model, ensuring the rapidity and safety of the hoisting task completion; the three-dimensional virtual reality model is updated in real time, ensuring the rationality of the hoisting path planning in the hoisting process; the RFID module in the Internet of Things technology is fully utilized to realize the informatization of the assembly site and the assembly process, which is conducive to realizing the automation and intelligentization of the whole process of prefabricated building hoisting. It can be seen that the prefabricated building intelligent hoisting system and method have the problems of low assembly precision of assembly parts and stability of the hoisting process. SUMMARY

[0004] Therefore, the present application provides an intelligent prefabrication hoisting device based on image recognition to overcome the problem of low assembly precision of assembly parts and stability of the hoisting process in the existing prefabricated building intelligent hoisting system and method.

[0005] In order to achieve the above object, the application provides an intelligent assembly hoisting device based on image recognition, comprising: a hoisting unit for hoisting an assembly part, including a steel wire for changing the position of the assembly part, a pulley connected with the steel wire for transmitting hoisting power, and a hoisting motor connected with the pulley for providing running power of the steel wire; a rotating unit connected with the hoisting unit for rotating the assembly part; an image sensing unit connected with the hoisting unit and the rotating unit, including an image sensor arranged above the hoisting motor for acquiring images during hoisting and an angle detector arranged above the rotating unit for detecting the deviation angle of the steel wire from the vertical line; a management unit connected with the image sensing unit for analyzing the hoisting process images and other detection parameters to generate real-time execution images; and a central control unit connected with the hoisting unit, the rotating unit, the image sensing unit and the management unit, for adjusting the allowable tension of the steel wire to a corresponding value according to the actual service time of the steel wire, adjusting the rotating speed of the hoisting motor to a corresponding rotating speed according to the actual deviation angle of the steel wire from the vertical line detected by the angle detector, and adjusting the length of the steel wire to a corresponding length according to the actual deviation angle of the steel wire from the vertical line detected by the angle detector.

[0006] Further, the central control unit is provided with a preset first steel wire service time T1 and a preset second steel wire service time T2, wherein T1

[0007] If T≤T1, the central control unit determines that the actual service time of the steel wire is within the allowable range and the steel wire has not been damaged.

[0008] If T1

[0009] If T>T2, the central control unit determines that the actual service time of the steel wire exceeds the allowable range and issues a notification of the service time of the steel wire exceeding the limit and a safety check of the steel wire.

[0010] Further, the central control unit is provided with a preset first steel wire rope use time length difference value △T1, a preset second steel wire rope use time length difference value △T2, a preset first steel wire rope allowable tension adjustment coefficient α1, a preset second steel wire rope allowable tension adjustment coefficient α2 and a preset steel wire rope allowable tension F0, wherein, △T1<△T2, 0<α1<α2<1, the central control unit determines whether to adjust the allowable tension of the steel wire rope to a corresponding value according to the difference △T between the actual use time length of the steel wire rope and the preset steel wire rope use time length when the determination of whether to adjust the allowable tension of the steel wire rope to a corresponding value is completed and the actual use time length T of the steel wire rope satisfies T1<T≤T2,

[0011] If △T≤△T1, the central control unit determines that the difference between the actual use time length of the steel wire rope and the preset steel wire rope use time length is within the allowable range and does not adjust the allowable tension of the steel wire rope.

[0012] If △T1<△T≤△T2, the central control unit determines that the difference between the actual use time length of the steel wire rope and the preset steel wire rope use time length exceeds the allowable range and adjusts the allowable tension of the steel wire rope using α2, the adjusted allowable tension of the steel wire rope is recorded as F1, and F1=α2×F0 is set.

[0013] If △T>△T2, the central control unit determines that the difference between the actual use time length of the steel wire rope and the preset steel wire rope use time length exceeds the allowable range and adjusts the allowable tension of the steel wire rope using α1, the adjusted allowable tension of the steel wire rope is recorded as F2, and F2=α1×F0 is set.

[0014] Further, the central control unit compares the tension Fa of the steel wire rope detected by the tension sensor arranged at the end of the steel wire rope with the adjusted allowable tension of the steel wire rope when the adjustment of the allowable tension of the steel wire rope is completed and the adjusted allowable tension of the steel wire rope is F2, and determines the stability of the steel wire rope according to the comparison result,

[0015] If Fa≤F2, the central control unit determines that the steel wire rope is stable and controls the hoisting device to perform hoisting operation on the assembly;

[0016] If Fa>F2, the central control unit determines that the steel wire rope is unstable and controls the angle detector to detect the deviation angle of the steel wire rope from the vertical line to further determine the stability of the hoisting process.

[0017] Further, the central control unit is provided with a preset first vertical line deviation angle P1 and a preset second vertical line deviation angle P2, wherein, P1<P2, the central control unit determines whether the hoisting process is stable according to the actual deviation angle P of the steel wire rope from the vertical line,

[0018] If P≤P1, the central control unit determines that the actual deviation angle of the steel wire rope from the vertical line is within the allowable range and the lifting process is stable.

[0019] If P1

[0020] If P>P2, the central control unit determines that the steel wire rope is damaged and sends a steel wire rope maintenance notice.

[0021] Further, the central control unit is provided with a preset first vertical line deviation angle difference △P1, a preset second vertical line deviation angle difference △P2, a preset first lifting motor speed adjustment coefficient k1, a preset second lifting motor speed adjustment coefficient k2 and a preset lifting motor speed V0, wherein △P1<△P2, 0<k1<k2<1, and the central control unit determines whether to adjust the lifting motor speed according to the difference △P between the actual deviation angle of the steel wire rope from the vertical line and the preset vertical line deviation angle when the preliminary determination of the lifting process stability is completed and the actual deviation angle P of the steel wire rope from the vertical line satisfies P1

[0022] If △P≤△P1, the central control unit determines that the difference between the actual deviation angle of the steel wire rope from the vertical line and the preset vertical line deviation angle is within the allowable range and adjusts the lifting motor speed to V0.

[0023] If △P1<△P≤△P2, the central control unit determines that the difference between the actual deviation angle of the steel wire rope from the vertical line and the preset vertical line deviation angle exceeds the allowable range and adjusts the lifting motor speed using k1, and the adjusted lifting motor speed is denoted as V1, which is set as V1=k1×V0.

[0024] If △P>△P2, the central control unit determines that the difference between the actual deviation angle of the steel wire rope from the vertical line and the preset vertical line deviation angle exceeds the allowable range and adjusts the lifting motor speed using k2, and the adjusted lifting motor speed is denoted as V2, which is set as V2=k2×V0.

[0025] After the central control unit completes the adjustment of the lifting motor speed, it performs secondary detection on the actual deviation angle of the steel wire rope from the vertical line and determines whether to adjust the length of the steel wire rope according to the secondary detection result.

[0026] Further, the central control unit controls the angle detector to detect the actual deviation angle of the vertical line again after completing the adjustment of the hoisting motor speed, sets Pe as the actual deviation angle of the wire rope and the vertical line detected again,

[0027] If Pe≤P1, the central control unit determines that the actual deviation angle of the wire rope and the vertical line detected again is within the allowable range and controls the hoisting motor to perform the hoisting operation at V0 speed;

[0028] If P1

[0029] If Pe>P2, the central control unit determines that the actual deviation angle of the wire rope and the vertical line detected again is beyond the allowable range, controls the visual detector arranged below the hoisting motor to detect the windward area of the assembly part in the case that the wind meets the requirements, and controls the rotating unit to rotate the assembly part to the side with the smallest windward area according to the actual windward area.

[0030] Further, the central control unit is provided with a preset first vertical line deviation angle difference △Pe1, a preset second vertical line deviation angle difference △Pe2, a preset first wire rope length adjustment coefficient β1, a preset second wire rope length adjustment coefficient β2, and a preset wire rope length L0, wherein △Pe1<△Pe2, 0<β1<β2<1, and the central control unit adjusts the length of the wire rope to a corresponding value according to the difference △Pe between the actual deviation angle of the wire rope and the vertical line detected again and the preset vertical line deviation angle when the actual deviation angle of the wire rope and the vertical line detected again Pe satisfies P1

[0031] If △Pe≤△Pe1, the central control unit determines that the difference between the actual deviation angle of the wire rope and the vertical line detected again and the preset vertical line deviation angle is within the allowable range and adjusts the length of the wire rope to L0;

[0032] If △Pe1<△Pe≤△Pe2, the central control unit determines that the difference between the actual deviation angle of the wire rope and the vertical line detected again and the preset vertical line deviation angle is beyond the allowable range and adjusts the length of the wire rope using β2, and the length of the wire rope after adjustment is recorded as L1, which is set as L1=β2×L0;

[0033] If △Pe > △Pe2, the central control unit determines that the difference between the actual deviation angle of the steel wire rope from the vertical line and the preset vertical line deviation angle exceeds the allowable range, and adjusts the length of the steel wire rope using β1, and the adjusted length of the steel wire rope is denoted as L2, and L2 = β1 * L0 is set.

[0034] Further, the central control unit is provided with a preset maximum windward area Bmax, and the central control unit controls the visual detector to detect the windward area of the assembly after completing the adjustment of the length of the steel wire rope and Pe > P2, and determines whether to adjust the direction of the assembly according to the actual detected windward area B of the assembly,

[0035] If B ≤ Bmax, the central control unit determines that the windward area of the assembly is within the allowable range, and issues a device maintenance notice;

[0036] If B > Bmax, the central control unit determines that the windward area of the assembly exceeds the allowable range, controls the rotating unit to adjust the windward side of the assembly to the side with the smallest area, and adjusts the direction of the assembly to the direction corresponding to the hoisting position when the assembly is about to be hoisted to the specified position.

[0037] Further, the hoisting unit further comprises a grabbing mechanism connected with the steel wire rope to perform a grabbing operation on the assembly.

[0038] Compared with the prior art, the device has the beneficial effects that by setting the preset steel wire rope use time, the preset vertical line deviation angle and the preset maximum windward area, it can be determined whether to adjust the allowable tension of the steel wire rope to the corresponding value according to the difference between the actual use time of the steel wire rope and the preset steel wire rope use time, whether to adjust the hoisting motor speed according to the difference between the actual deviation angle of the steel wire rope from the vertical line and the preset vertical line deviation angle, and whether to adjust the direction of the assembly according to the actual detected windward area of the assembly, thereby improving the precise control ability of the hoisting motor speed and the stability of the assembly hoisting, and realizing the improvement of the assembly precision and the stability of the hoisting process of the assembly.

[0039] Further, by setting the preset first steel wire rope use time and the preset second steel wire rope use time, the device can determine whether to adjust the allowable tension of the steel wire rope to the corresponding value according to the actual use time of the steel wire rope, thereby improving the precise adjustment of the allowable tension of the steel wire rope, and further realizing the improvement of the assembly precision and the stability of the hoisting process of the assembly.

[0040] Further, the device can determine whether to adjust the allowable tension of the steel wire according to the difference between the actual use time of the steel wire and the preset use time of the steel wire, improve the adjustment capability of the allowable tension of the steel wire, improve the precise adjustment of the preset parameters of the system, avoid the influence of the aging of the steel wire on the stability and hoisting precision of the hoisting process, and further improve the assembly precision of the assembly part and the stability of the hoisting process.

[0041] Further, the device can determine whether to adjust the allowable tension of the steel wire according to the difference between the actual use time of the steel wire and the preset use time of the steel wire, improve the adjustment capability of the allowable tension of the steel wire, improve the precise adjustment of the preset parameters of the system, avoid the influence of the aging of the steel wire on the stability and hoisting precision of the hoisting process, and further improve the assembly precision of the assembly part and the stability of the hoisting process.

[0042] Further, the device can determine whether to adjust the allowable tension of the steel wire according to the difference between the actual use time of the steel wire and the preset use time of the steel wire, improve the adjustment capability of the allowable tension of the steel wire, improve the precise adjustment of the preset parameters of the system, avoid the influence of the aging of the steel wire on the stability and hoisting precision of the hoisting process, and further improve the assembly precision of the assembly part and the stability of the hoisting process.

[0043] Further, the device can determine whether to adjust the allowable tension of the steel wire according to the difference between the actual use time of the steel wire and the preset use time of the steel wire, improve the adjustment capability of the allowable tension of the steel wire, improve the precise adjustment of the preset parameters of the system, avoid the influence of the aging of the steel wire on the stability and hoisting precision of the hoisting process, and further improve the assembly precision of the assembly part and the stability of the hoisting process.

[0044] Further, the device can determine whether to adjust the allowable tension of the steel wire according to the difference between the actual use time of the steel wire and the preset use time of the steel wire, improve the adjustment capability of the allowable tension of the steel wire, improve the precise adjustment of the preset parameters of the system, avoid the influence of the aging of the steel wire on the stability and hoisting precision of the hoisting process, and further improve the assembly precision of the assembly part and the stability of the hoisting process.

[0045] Further, the device can adjust the length of the steel wire to a corresponding value according to the difference between the actual deviation angle of the steel wire from the vertical line detected twice and the preset vertical line deviation angle, improve the precise adjustment of the length of the steel wire, realize more precise adjustment of the stability of the hoisting process, and further improve the assembly precision of the assembly part and the stability of the hoisting process.

[0046] Further, the device can adjust the length of the steel wire to a corresponding value according to the difference between the actual deviation angle of the steel wire from the vertical line detected twice and the preset vertical line deviation angle, improve the precise adjustment of the length of the steel wire, realize more precise adjustment of the stability of the hoisting process, and further improve the assembly precision of the assembly part and the stability of the hoisting process.

[0047] Further, the device can adjust the length of the steel wire to a corresponding value according to the difference between the actual deviation angle of the steel wire from the vertical line detected twice and the preset vertical line deviation angle, improve the precise adjustment of the length of the steel wire, realize more precise adjustment of the stability of the hoisting process, and further improve the assembly precision of the assembly part and the stability of the hoisting process. BRIEF DESCRIPTION OF DRAWINGS

[0048] Figure 1 The structure block diagram of the intelligent assembly hoisting device based on image recognition of the embodiment of the present application is shown in the figure.

[0049] Figure 2 The structure diagram of the hoisting unit and the rotating unit of the intelligent assembly hoisting device based on image recognition of the embodiment of the present application is shown in the figure.

[0050] Figure 3 The structure block diagram of the rotating unit of the intelligent assembly hoisting device based on image recognition of the embodiment of the present application is shown in the figure.

[0051] Figure 4 The connection structure block diagram of the image sensing unit and the central control unit of the intelligent assembly hoisting device based on image recognition of the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0052] In order to make the purpose and advantages of the present application more clear and explicit, the present application is further described below in combination with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present application, and do not limit the present application.

[0053] The preferred embodiments of the present application are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application, and are not intended to limit the protection scope of the present application.

[0054] It should be noted that in the description of the present application, the terms of direction or position relationship such as "upper", "lower", "left", "right", "inner", "outer" and the like are based on the direction or position relationship shown in the drawings, which is merely for the convenience of description, and does not indicate or imply that the device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0055] In addition, it should also be noted that in the description of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0056] Embodiment 1

[0057] Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 , which are respectively the overall structure block diagram of the intelligent assembly hoisting device based on image recognition, the structure schematic diagram of the hoisting unit and the rotating unit, the rotating unit structure block diagram, and the connection structure block diagram of the image sensing unit and the central control unit. The intelligent assembly hoisting device based on image recognition in the embodiment comprises:

[0058] The hoisting unit is used to hoist the assembly part 6, comprising a steel wire rope 3 used to change the position of the assembly part 6, a pulley 2 connected with the steel wire rope 3 to transmit the hoisting power, and a hoisting motor 1 connected with the pulley 2 to provide the running power of the steel wire rope 3;

[0059] The rotating unit 4 is connected with the hoisting unit to perform rotating operation on the assembly part 6;

[0060] The image sensing unit is connected with the hoisting unit and the rotating unit 4 respectively, comprising an image sensor disposed above the hoisting motor 1 to acquire images during hoisting, and an angle detector disposed above the rotating unit 4 to detect the deviation angle of the steel wire rope 3 from the vertical line;

[0061] The management unit is connected with the image sensing unit to analyze the hoisting process images and other detection parameters to generate real-time execution images;

[0062] A central control unit is connected with the hoisting unit, the rotating unit 4, the image sensing unit and the management unit respectively, to adjust the allowable tension of the steel wire rope 3 to a corresponding value according to the actual service time of the steel wire rope 3, to adjust the rotating speed of the hoisting motor to a corresponding rotating speed according to the actual deviation angle of the steel wire rope 3 from the vertical line detected by the angle detector, and to adjust the length of the steel wire rope 3 to a corresponding length according to the actual deviation angle of the steel wire rope 3 from the vertical line detected by the second angle detector.

[0063] The device can determine whether to adjust the allowable tension of the steel wire rope 3 to a corresponding value according to the difference between the actual service time of the steel wire rope 3 and the preset service time of the steel wire rope 3, can determine whether to adjust the rotating speed of the hoisting motor according to the difference between the actual deviation angle of the steel wire rope 3 from the vertical line and the preset deviation angle of the vertical line, and can determine whether to adjust the direction of the assembly 6 according to the actual detected windward area of the assembly 6, thereby improving the precise control of the rotating speed of the hoisting motor and the stability of the hoisting of the assembly 6, and improving the assembly precision of the assembly 6 and the stability of the hoisting process.

[0064] As shown in Fig. 1, the central control unit is provided with a preset first service time T1 of the steel wire rope and a preset second service time T2 of the steel wire rope, wherein T1 < T2, and the central control unit determines whether to adjust the allowable tension of the steel wire rope 3 according to the actual service time T of the steel wire rope 3,

[0065] If T ≤ T1, the central control unit determines that the actual service time of the steel wire rope 3 is within the allowable range and the steel wire rope 3 has not been damaged.

[0066] If T1 < T ≤ T2, the central control unit determines that the actual service time of the steel wire rope 3 exceeds the allowable range, calculates the difference ΔT between the actual service time of the steel wire rope 3 and the preset service time of the steel wire rope 3, and adjusts the allowable tension of the steel wire rope 3 to a corresponding value according to ΔT, wherein ΔT = T - T1.

[0067] If T > T2, the central control unit determines that the actual service time of the steel wire rope 3 exceeds the allowable range and issues a notification of the service time of the steel wire rope 3 exceeding the limit and a safety check of the steel wire rope 3.

[0068] The device can determine whether to adjust the allowable tension of the steel wire rope 3 to a corresponding value according to the actual service time of the steel wire rope 3, thereby improving the precise adjustment of the allowable tension of the steel wire rope 3 and further improving the assembly precision of the assembly 6 and the stability of the hoisting process.

[0069] Please continue to refer to Figure 1 As shown, the central control unit is provided with a preset first steel wire rope use time length difference value △T1, a preset second steel wire rope use time length difference value △T2, a preset first steel wire rope allowable tension adjustment coefficient α1, a preset second steel wire rope allowable tension adjustment coefficient α2 and a preset steel wire rope allowable tension F0, wherein △T1<△T2, 0<α1<α2<1, when the central control unit completes the determination of whether to adjust the allowable tension of the steel wire rope 3 to the corresponding value and the actual use time length T of the steel wire rope 3 satisfies T1<T≤T2, the central control unit determines whether to adjust the allowable tension of the steel wire rope 3 to the corresponding value according to the difference △T between the actual use time length of the steel wire rope 3 and the preset use time length of the steel wire rope 3,

[0070] If △T≤△T1, the central control unit determines that the difference between the actual use time length of the steel wire rope 3 and the preset use time length of the steel wire rope 3 is within the allowable range and does not adjust the allowable tension of the steel wire rope 3.

[0071] If △T1<△T≤△T2, the central control unit determines that the difference between the actual use time length of the steel wire rope 3 and the preset use time length of the steel wire rope 3 exceeds the allowable range and adjusts the allowable tension of the steel wire rope 3 using α2, and the adjusted allowable tension of the steel wire rope 3 is recorded as F1, and F1=α2×F0 is set.

[0072] If △T>△T2, the central control unit determines that the difference between the actual use time length of the steel wire rope 3 and the preset use time length of the steel wire rope 3 exceeds the allowable range and adjusts the allowable tension of the steel wire rope 3 using α1, and the adjusted allowable tension of the steel wire rope 3 is recorded as F2, and F2=α1×F0 is set.

[0073] The device of the present application can determine whether to adjust the allowable tension of the steel wire rope 3 to the corresponding value according to the difference between the actual use time length of the steel wire rope 3 and the preset use time length of the steel wire rope 3 by setting the preset first steel wire rope use time length difference value, the preset second steel wire rope use time length difference value, the preset first steel wire rope allowable tension adjustment coefficient, the preset second steel wire rope 3 allowable tension adjustment coefficient and the preset steel wire rope allowable tension, which improves the adjustment capability of the allowable tension of the steel wire rope 3 and improves the precision adjustment of the preset parameters of the system, avoids the influence of the aging of the steel wire rope 3 on the stability and hoisting precision of the hoisting process, and further improves the assembly precision of the assembly part 6 and the stability of the hoisting process.

[0074] Please continue to refer to Figure 1 As shown, when the central control unit completes the adjustment of the allowable tension of the steel wire rope 3 and the adjusted allowable tension of the steel wire rope 3 is F2, the central control unit compares the tension Fa of the steel wire rope 3 detected by the tension sensor arranged at the end of the steel wire rope 3 with the adjusted allowable tension of the steel wire rope 3 and determines the stability of the steel wire rope 3 according to the comparison result,

[0075] If Fa≤F2, the central control unit determines that the steel wire rope 3 is stable and controls the lifting device to hoist the assembly 6;

[0076] If Fa>F2, the central control unit determines that the steel wire rope 3 is unstable and controls the angle detector to detect the angle of deviation of the steel wire rope 3 from the vertical line to further determine the stability of the hoisting process.

[0077] The device of the present application realizes accurate determination of the stability of the steel wire rope 3 and the stability in the hoisting process by comparing the actual detected tension of the steel wire rope 3 with the adjusted allowable tension of the steel wire rope 3 and determining the stability of the steel wire rope 3 according to the comparison result, further realizes the improvement of the assembly accuracy of the assembly 6 and the stability of the hoisting process.

[0078] Please continue to read Figure 1 As shown, the central control unit is provided with a preset first vertical line deviation angle P1 and a preset second vertical line deviation angle P2, wherein P1

[0079] If P≤P1, the central control unit determines that the actual deviation angle of the steel wire rope 3 from the vertical line is within the allowable range and the hoisting process is stable.

[0080] If P1

[0081] If P>P2, the central control unit determines that the steel wire rope 3 is damaged and issues a maintenance notice of the steel wire rope 3.

[0082] The device of the present application can determine whether the hoisting process is stable according to the actual deviation angle of the steel wire rope 3 from the vertical line by setting the preset first vertical line deviation angle and the preset second vertical line deviation angle, improves the accurate determination ability of the stability of the hoisting process, and further realizes the improvement of the assembly accuracy of the assembly 6 and the stability of the hoisting process.

[0083] Please continue to read Figure 1As shown, the central control unit is provided with a preset first vertical deviation angle difference P1, a preset second vertical deviation angle difference P2, a preset first hoisting motor speed adjustment coefficient k1, a preset second hoisting motor speed adjustment coefficient k2 and a preset hoisting motor speed V0, wherein P1 < P2, 0 < k1 < k2 < 1, when the central control unit completes the preliminary judgment of the hoisting process stability and the actual deviation angle P of the steel wire rope 3 from the vertical line satisfies P1 < P ≤ P2, the central control unit judges whether to adjust the hoisting motor speed according to the difference ΔP between the actual deviation angle of the steel wire rope 3 from the vertical line and the preset vertical deviation angle,

[0084] If ΔP ≤ P1, the central control unit judges that the difference between the actual deviation angle of the steel wire rope 3 from the vertical line and the preset vertical deviation angle is within the allowable range, and adjusts the hoisting motor speed to V0.

[0085] If P1 < ΔP ≤ P2, the central control unit judges that the difference between the actual deviation angle of the steel wire rope 3 from the vertical line and the preset vertical deviation angle exceeds the allowable range, and adjusts the hoisting motor speed using k1, and the adjusted hoisting motor speed is denoted as V1, and V1 = k1 × V0 is set.

[0086] If ΔP > P2, the central control unit judges that the difference between the actual deviation angle of the steel wire rope 3 from the vertical line and the preset vertical deviation angle exceeds the allowable range, and adjusts the hoisting motor speed using k2, and the adjusted hoisting motor speed is denoted as V2, and V2 = k2 × V0 is set.

[0087] After the central control unit completes the adjustment of the hoisting motor speed, the central control unit detects the actual deviation angle of the steel wire rope 3 from the vertical line again, and judges whether to adjust the length of the steel wire rope 3 according to the detection result.

[0088] The device can judge whether to adjust the hoisting motor speed according to the difference between the actual deviation angle of the steel wire rope 3 from the vertical line and the preset vertical deviation angle, and can realize accurate adjustment of the hoisting motor speed, improve the stability of the hoisting process, and further improve the assembly precision of the assembly part 6 and the stability of the hoisting process.

[0089] Please continue to read Figure 1 As shown, the central control unit controls the angle detector to detect the actual deviation angle of the vertical line again after completing the adjustment of the hoisting motor speed, and sets Pe as the actual deviation angle of the steel wire rope 3 from the vertical line detected again,

[0090] If Pe≤P1, the central control unit determines that the actual deviation angle of the secondary detected steel wire rope 3 from the vertical line is within the allowable range and controls the hoisting motor 1 to operate at V0 speed;

[0091] If P1<Pe≤P2, the central control unit determines that the actual deviation angle of the secondary detected steel wire rope 3 from the vertical line exceeds the allowable range, calculates the difference △Pe between the actual deviation angle of the secondary detected steel wire rope 3 from the vertical line and the preset vertical line deviation angle, and adjusts the length of the steel wire rope 3 to a corresponding value according to △Pe, wherein △Pe=Pe-P1;

[0092] If Pe>P2, the central control unit determines that the actual deviation angle of the secondary detected steel wire rope 3 from the vertical line exceeds the allowable range, controls the visual detector arranged below the hoisting motor 1 to detect the windward area of the assembly 6 in the case that the wind meets the requirements, and controls the rotating unit 4 to rotate the assembly 6 to the side with the smallest windward area according to the actual windward area.

[0093] The device can continuously determine the stability of the hoisting process and whether to adjust the length of the steel wire rope 3 by using the angle detector to secondary detect the actual deviation angle of the vertical line, and further improve the assembly accuracy of the assembly 6 and the stability of the hoisting process.

[0094] Please continue to refer to Figure 1 As shown, the central control unit is provided with a preset first vertical line deviation angle difference △Pe1, a preset second vertical line deviation angle difference △Pe2, a preset first steel wire rope length adjustment coefficient β1, a preset second steel wire rope length adjustment coefficient β2, and a preset steel wire rope length L0, wherein △Pe1<△Pe2, 0<β1<β2<1, and the central control unit adjusts the length of the steel wire rope 3 to a corresponding value according to the difference △Pe between the actual deviation angle of the secondary detected steel wire rope 3 from the vertical line and the preset vertical line deviation angle when the secondary detection of the actual deviation angle of the steel wire rope 3 from the vertical line is completed and the actual deviation angle Pe of the secondary detected steel wire rope 3 from the vertical line satisfies P1<Pe≤P2,

[0095] If △Pe≤△Pe1, the central control unit determines that the difference between the actual deviation angle of the secondary detected steel wire rope 3 from the vertical line and the preset vertical line deviation angle is within the allowable range and adjusts the length of the steel wire rope 3 to L0;

[0096] If △Pe1< △Pe≤△Pe2, the central control unit determines that the difference between the actual deviation angle of the secondary detected steel wire rope 3 and the vertical line and the preset vertical line deviation angle exceeds the allowed range, and adjusts the length of the steel wire rope 3 using β2, and the adjusted steel wire rope length is recorded as L1, and L1=β2×L0 is set.

[0097] If △Pe>△Pe2, the central control unit determines that the difference between the actual deviation angle of the secondary detected steel wire rope 3 and the vertical line and the preset vertical line deviation angle exceeds the allowed range, and adjusts the length of the steel wire rope 3 using β1, and the adjusted steel wire rope length is recorded as L2, and L2=β1×L0 is set.

[0098] The device can adjust the length of the steel wire rope to the corresponding value according to the difference between the actual deviation angle of the secondary detected steel wire rope 3 and the vertical line and the preset vertical line deviation angle, improve the precise adjustment ability of the length of the steel wire rope, realize more precise adjustment of the stability of the hoisting process, and further realize the improvement of the assembly precision of the assembly part 6 and the stability of the hoisting process.

[0099] Please continue to refer to Figure 2 As shown, the central control unit is provided with a preset maximum windward area Bmax, and the central control unit controls the visual detector to detect the windward area of the assembly part 6 after completing the adjustment of the length of the steel wire rope 3 and Pe>P2, and determines whether to adjust the direction of the assembly part 6 according to the actual detected windward area B of the assembly part 6,

[0100] If B≤Bmax, the central control unit determines that the windward area of the assembly part 6 is within the allowed range and issues a device maintenance notice;

[0101] If B>Bmax, the central control unit determines that the windward area of the assembly part 6 exceeds the allowed range, controls the rotating unit 4 to adjust the windward side of the assembly part 6 to the side with the smallest area, and adjusts the direction of the assembly part 6 to the direction of the corresponding hoisting position when the assembly part 6 is about to be hoisted to the specified position.

[0102] The device can determine whether to adjust the direction of the assembly part 6 according to the actual detected windward area of the assembly part 6 by setting the preset maximum windward area, avoid the influence of wind on the hoisting process, improve the stability and precision of hoisting, and further realize the improvement of the assembly precision of the assembly part 6 and the stability of the hoisting process.

[0103] In the embodiment, the central control unit is further provided with a preset first vibration intensity M1 and a preset second vibration intensity M2, wherein M1

[0104] If M≤M1, the central control unit determines that the actual vibration intensity of the rotating unit is within the allowable range and does not adjust the rotating motor speed.

[0105] If M1

[0106] If AM≤AM1, the central control unit determines not to adjust the rotating motor speed.

[0107] If AM1

[0108] If AM>AM2, the central control unit determines to adjust the rotating motor speed using p1.

[0109] If M>M2, the central control unit determines that the rotating unit 4 has a device failure and sends a device failure check notification for the rotating unit 4.

[0110] Please continue to refer to Figure 2 As shown, the hoisting unit further includes a grabbing mechanism 5 connected with the steel wire rope 3 to perform a grabbing operation on the assembly piece 6.

[0111] The device can accurately position and accurately hoist during the hoisting process, the influence of errors on hoisting precision caused by external factors during the hoisting process is avoided to the maximum extent, and the assembly precision of the assembly part 6 and the stability of the hoisting process are further improved.

[0112] Embodiment 2

[0113] The intelligent assembly hoisting device based on image recognition in this embodiment is based on the central control unit in embodiment 1, which is provided with a preset first steel wire rope use time difference △T1, a preset second steel wire rope use time difference △T2, a preset first steel wire rope allowable tension adjustment coefficient α1, a preset second steel wire rope allowable tension adjustment coefficient α2 and a preset steel wire rope allowable tension F0, wherein △T1=300h, △T2=450h, α1=0.92, α2=0.96, F0=100KN, the central control unit determines whether to adjust the allowable tension of the steel wire rope to the corresponding value when the actual use time T of the steel wire rope satisfies T1

[0114] In this embodiment, △T=3300h is obtained, the central control unit determines △T1<△T≤△T2 and adjusts F0 using α1, and the adjusted steel wire rope allowable tension is recorded as F', which is calculated as F'=0.92×100KN=92KN.

[0115] The technical solutions of the present application have been described in combination with the preferred embodiments shown in the drawings, but those skilled in the art can easily understand that the protection scope of the present application is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to related technical features without departing from the principles of the present application, and the technical solutions after these changes or replacements will fall within the protection scope of the present application.

[0116] The above description is only the preferred embodiments of the present application and is not intended to limit the present application; for those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An intelligent assembly and lifting device based on image recognition, characterized in that, include: A lifting unit for lifting assemblies includes a wire rope for changing the position of the assemblies, a pulley connected to the wire rope for transmitting lifting power, and a lifting motor connected to the pulley for providing power for the wire rope to run. A rotating unit, which is connected to the lifting unit, is used to rotate the assembly. The image sensing unit, which is connected to the lifting unit and the rotating unit respectively, includes an image sensor partially disposed above the lifting motor to acquire images of the lifting process and an angle detector disposed above the rotating unit to detect the deviation angle of the wire rope from the vertical line. A management unit, connected to the image sensing unit, is used to analyze the lifting process image and other detection parameters to generate a real-time execution image; The central control unit is connected to the lifting unit, the rotating unit, the image sensing unit, and the management unit, respectively. It is used to adjust the allowable tension of the wire rope to a corresponding value according to the actual service time of the wire rope, adjust the speed of the lifting motor to a corresponding speed according to the actual deviation angle between the wire rope and the vertical line detected by the angle detector, and adjust the length of the wire rope to a corresponding length according to the actual deviation angle between the wire rope and the vertical line detected by the angle detector. The central control unit has a preset first wire rope usage time T1 and a preset second wire rope usage time T2, where T1 < T2. The central control module determines whether to adjust the allowable tension of the wire rope based on the actual usage time T. If T≤T1, the central control unit determines that the actual usage time of the wire rope is within the allowable range and the wire rope has not been damaged; If T1 < T ≤ T2, the central control unit determines that the actual usage time of the wire rope exceeds the allowable range, calculates the difference △T between the actual usage time of the wire rope and the preset usage time of the wire rope, and adjusts the allowable tension of the wire rope to the corresponding value according to △T, and sets △T = T - T1; If T > T2, the central control unit determines that the actual usage time of the wire rope exceeds the allowable range and issues a notification that the wire rope usage time has exceeded the limit and a safety inspection of the wire rope. The central control unit has preset first wire rope usage time difference △T1, preset second wire rope usage time difference △T2, preset first wire rope allowable tension adjustment coefficient α1, preset second wire rope allowable tension adjustment coefficient α2, and preset wire rope allowable tension F0, wherein △T1 < △T2, 0 < α1 < α2 < 1. When the central control unit completes the determination of whether to adjust the allowable tension of the wire rope to the corresponding value and the actual usage time T of the wire rope satisfies T1 < T ≤ T2, it determines whether to adjust the allowable tension of the wire rope to the corresponding value based on the difference △T between the actual usage time of the wire rope and the preset wire rope usage time. If △T≤△T1, the central control unit determines that the difference between the actual service time of the wire rope and the preset service time of the wire rope is within the allowable range and does not adjust the allowable tension of the wire rope. If △T1<△T≤△T2, the central control unit determines that the difference between the actual service time of the wire rope and the preset service time of the wire rope exceeds the allowable range and uses α2 to adjust the allowable tension of the wire rope. The allowable tension of the wire rope after adjustment is recorded as F1, and F1=α2×F0 is set. If △T>△T2, the central control unit determines that the difference between the actual service time of the wire rope and the preset service time of the wire rope exceeds the allowable range and uses α1 to adjust the allowable tension of the wire rope. The allowable tension of the wire rope after adjustment is recorded as F2, and F2=α1×F0 is set. When the central control unit completes the adjustment of the allowable tension of the wire rope and the adjusted allowable tension of the wire rope is F2, it compares the tension Fa of the wire rope detected by the tension sensor installed at the end of the wire rope with the adjusted allowable tension of the wire rope and determines the stability of the wire rope based on the comparison result. If Fa≤F2, the central control unit determines that the wire rope is stable and controls the lifting device to perform lifting operations on the assembly; If Fa > F2, the central control unit determines that the wire rope is unstable and controls the angle detector to detect the deviation angle between the wire rope and the vertical line to further determine the stability of the hoisting process.

2. The intelligent assembly and lifting device based on image recognition according to claim 1, characterized in that, The central control unit has a preset first vertical deviation angle P1 and a preset second vertical deviation angle P2, wherein P1 < P2. The central control module determines whether the lifting process is stable based on the actual deviation angle P between the wire rope and the vertical line. If P≤P1, the central control unit determines that the actual deviation angle between the wire rope and the vertical line is within the allowable range and the lifting process is stable; If P1 < P ≤ P2, the central control unit determines that the actual deviation angle between the wire rope and the vertical line exceeds the allowable range, the lifting process is unstable, and calculates the difference △P between the actual deviation angle between the wire rope and the vertical line and the preset deviation angle between the vertical line. Based on △P, the lifting motor speed is adjusted to the corresponding value, and △P = P - P1 is set. If P > P2, the central control unit determines that the wire rope is damaged and issues a wire rope repair notice.

3. The intelligent assembly and lifting device based on image recognition according to claim 2, characterized in that, The central control unit has preset first vertical deviation angle difference △P1, preset second vertical deviation angle difference △P2, preset first lifting motor speed adjustment coefficient k1, preset second lifting motor speed adjustment coefficient k2, and preset lifting motor speed V0, wherein △P1 < △P2, 0 < k1 < k2 < 1. When the central control unit completes the preliminary judgment of the stability of the lifting process and the actual deviation angle P between the wire rope and the vertical line satisfies P1 < P ≤ P2, it determines whether to adjust the lifting motor speed based on the difference △P between the actual deviation angle between the wire rope and the vertical line and the preset vertical deviation angle. If △P≤△P1, the central control unit determines that the difference between the actual deviation angle of the wire rope and the vertical line and the preset deviation angle of the vertical line is within the allowable range and adjusts the speed of the hoisting motor to V0; If △P1<△P≤△P2, the central control unit determines that the difference between the actual deviation angle of the wire rope and the vertical line and the preset deviation angle of the vertical line exceeds the allowable range and uses k1 to adjust the speed of the hoisting motor. The adjusted hoisting motor speed is recorded as V1, and V1=k1×V0 is set. If △P>△P2, the central control unit determines that the difference between the actual deviation angle of the wire rope and the vertical line and the preset deviation angle of the vertical line exceeds the allowable range and uses k2 to adjust the speed of the hoisting motor. The adjusted hoisting motor speed is recorded as V2, and V2=k2×V0 is set. After adjusting the speed of the lifting motor, the central control unit performs a secondary detection on the actual deviation angle between the wire rope and the vertical line, and determines whether to adjust the length of the wire rope based on the secondary detection result.

4. The intelligent assembly and lifting device based on image recognition according to claim 3, characterized in that, After adjusting the speed of the hoisting motor, the central control unit controls the angle detector to perform a secondary detection of the actual deviation angle between the wire rope and the vertical line. Pe is set as the actual deviation angle between the wire rope and the vertical line detected in the secondary detection. If Pe≤P1, the central control unit determines that the actual deviation angle between the steel wire rope and the vertical line detected in the second step is within the allowable range and controls the lifting motor to perform the lifting operation at V0 speed. If P1 < Pe ≤ P2, the central control unit determines that the actual deviation angle between the steel wire rope and the vertical line detected in the second step exceeds the allowable range, calculates the difference △Pe between the actual deviation angle between the steel wire rope and the vertical line detected in the second step and the preset deviation angle of the vertical line, and adjusts the length of the steel wire rope to the corresponding value according to △Pe, and sets △Pe = Pe - P1. If Pe > P2, the central control unit determines that the actual deviation angle between the steel wire rope and the vertical line detected in the second step exceeds the allowable range. When the wind force meets the requirements, it controls the visual detector set below the hoisting motor to detect the windward area of ​​the assembly and controls the rotating unit to rotate the assembly to the side with the smallest windward area based on the actual windward area.

5. The intelligent assembly and lifting device based on image recognition according to claim 4, characterized in that, The central control unit has preset first vertical deviation angle difference △Pe1, preset second vertical deviation angle difference △Pe2, preset first wire rope length adjustment coefficient β1, preset second wire rope length adjustment coefficient β2, and preset wire rope length L0, wherein △Pe1 < △Pe2, 0 < β1 < β2 < 1. When the central control unit completes a secondary detection of the actual deviation angle between the wire rope and the vertical line, and the actual deviation angle Pe of the wire rope and the vertical line detected in the secondary detection satisfies P1 < Pe ≤ P2, the central control unit adjusts the length of the wire rope to the corresponding value according to the difference △Pe between the actual deviation angle of the wire rope and the vertical line detected in the secondary detection and the preset vertical deviation angle. If △Pe≤△Pe1, the central control unit determines that the difference between the actual deviation angle of the steel wire rope and the vertical line detected in the second detection and the preset deviation angle of the vertical line is within the allowable range and adjusts the length of the steel wire rope to L0; If △Pe1<△Pe≤△Pe2, the central control unit determines that the difference between the actual deviation angle of the steel wire rope and the vertical line detected in the second detection and the preset deviation angle of the vertical line exceeds the allowable range, and uses β2 to adjust the length of the steel wire rope. The adjusted length of the steel wire rope is recorded as L1, and L1=β2×L0 is set. If △Pe>△Pe2, the central control unit determines that the difference between the actual deviation angle of the steel wire rope and the vertical line detected in the second detection and the preset deviation angle of the vertical line exceeds the allowable range, and uses β1 to adjust the length of the steel wire rope. The adjusted length of the steel wire rope is recorded as L2, and L2=β1×L0 is set.

6. The intelligent assembly and lifting device based on image recognition according to claim 5, characterized in that, The central control unit has a preset maximum windward area Bmax. When the length of the wire rope is adjusted and Pe > P2, the central control unit controls the vision detector to detect the windward area of ​​the assembly and determines whether to adjust the direction of the assembly based on the actual detected windward area B. If B≤Bmax, the central control unit determines that the windward area of ​​the assembly is within the allowable range and issues an equipment maintenance notice; If B > Bmax, the central control unit determines that the windward area of ​​the assembly exceeds the allowable range, controls the rotation unit to adjust the windward side of the assembly to the side with the smallest area, and adjusts the direction of the assembly to the direction of the corresponding hoisting position when the assembly is about to be hoisted to the designated position.

7. The intelligent assembly and lifting device based on image recognition according to claim 1, characterized in that, The lifting unit also includes a gripping mechanism connected to the wire rope for gripping the assembly.

Images