Unmanned overhead crane material correction method, apparatus, computer equipment and storage medium

Abstract

This application relates to a method, apparatus, computer equipment, and storage medium for correcting materials using an unmanned overhead crane. The method includes: determining the travel direction of the unmanned overhead crane in a steel coil storage area; detecting the travel position of the unmanned overhead crane in the travel direction in real time using an encoder; when the travel position reaches a target travel position, triggering each image acquisition component to acquire an image of the target steel coil at the target travel position; stitching together multiple target steel coil images corresponding to each target travel position according to the installation order of the image acquisition components on the unmanned overhead crane and the travel direction to obtain a stitched target steel coil image corresponding to the steel coil storage area; and correcting the pre-recorded size and position of the steel coils based on the stitched target steel coil image. This method can improve the accuracy of the overhead crane's hoisting operations and avoid problems caused by inaccurate steel coil size and position during hoisting.

Description

Technical Field

[0001] This application relates to a method, apparatus, computer equipment, and storage medium for material correction of an unmanned overhead crane. Background Technology

[0002] Unmanned overhead crane control technology can be applied in steel coil storage.

[0003] How to improve the accuracy of overhead crane hoisting operations to avoid problems caused by inaccurate steel coil dimensions and positions during hoisting is the technical problem to be solved in this application. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, apparatus, computer equipment, and storage medium for material correction of unmanned overhead cranes to address the aforementioned technical problems.

[0005] A method for material correction on an unmanned overhead crane, wherein the unmanned overhead crane is equipped with an encoder and at least one image acquisition component; the method includes:

[0006] Determine the direction of travel of the unmanned overhead crane in the steel coil warehouse; the steel coil warehouse includes multiple steel coils.

[0007] The encoder detects the position of the unmanned overhead crane in the direction of travel in real time.

[0008] When the travel position reaches the target travel position, each image acquisition component is triggered to acquire an image of the target steel coil at the target travel position; the target travel position includes multiple locations.

[0009] The multiple target steel coil images corresponding to each target driving position are stitched together according to the installation order of the image acquisition components on the unmanned crane and the driving direction to obtain the target stitched steel coil image corresponding to the steel coil library.

[0010] The size and position of the pre-recorded steel coil are corrected based on the target spliced ​​steel coil image.

[0011] In one embodiment, the method further includes:

[0012] Obtain the length measurement value of the steel coil in the direction of travel;

[0013] The encoder's encoded value is divided equally based on the length measurement value to obtain multiple encoded values;

[0014] Each of the coded values ​​corresponds to a target driving location.

[0015] In one embodiment, the step of detecting the travel position of the unmanned crane in the travel direction in real time via the encoder includes:

[0016] Obtain the real-time encoded value detected by the encoder in real time;

[0017] Based on the mapping relationship between the encoded value and the driving position, the driving position corresponding to the real-time encoded value is determined.

[0018] In one embodiment, the step of stitching together multiple target steel coil images corresponding to each target driving position according to the installation order of the image acquisition components on the unmanned overhead crane and the driving direction to obtain the target stitched steel coil image corresponding to the steel coil library includes:

[0019] The multiple target steel coil images corresponding to each target driving position are stitched together according to the installation order of the image acquisition components on the unmanned crane to obtain the sub-target stitched steel coil image corresponding to the current target driving position.

[0020] The images of the steel coils corresponding to the multiple target driving positions are stitched together, and then stitched together again according to the driving direction to obtain the target stitched steel coil images corresponding to the steel coil library.

[0021] In one embodiment, correcting the pre-recorded size and position of the steel coil based on the target stitched steel coil image includes:

[0022] Retrieve from the server the pre-recorded center position, width, and weight of each steel coil in the steel coil library;

[0023] Calculate the initial dimensions and initial position of the steel coil formed by projecting it onto a plane in the steel coil warehouse based on the center position, the width of the steel coil, and the weight of the steel coil;

[0024] Determine the actual size and location of each steel coil in the steel coil warehouse based on the target spliced ​​steel coil image;

[0025] The initial size and initial position are corrected based on the actual size and the actual position.

[0026] In one embodiment, the method further includes:

[0027] Calculate the dimensional deviation between the actual size and the initial size;

[0028] Calculate the positional deviation between the actual position and the initial position;

[0029] When the dimensional deviation and / or the positional deviation exceeds the deviation threshold, an alarm is triggered and transmitted to the management user of the steel coil warehouse.

[0030] In one embodiment, the direction of travel includes the transverse axis direction of the steel coil storage and the longitudinal axis direction of the steel coil storage.

[0031] A material correction device for an unmanned overhead crane, the device comprising:

[0032] A travel direction determination module is used to determine the travel direction of the unmanned overhead crane in the steel coil warehouse; the steel coil warehouse includes multiple steel coils;

[0033] The driving position determination module is used to detect the driving position of the unmanned crane in the driving direction in real time through the encoder;

[0034] The target steel coil image acquisition module is used to trigger each image acquisition component to acquire an image of the target steel coil at the target driving position when the driving position reaches the target driving position; the target driving position includes multiple locations.

[0035] The target spliced ​​steel coil image acquisition module is used to splice multiple target steel coil images corresponding to each target driving position according to the installation order of the image acquisition components on the unmanned crane and the driving direction to obtain the target spliced ​​steel coil image corresponding to the steel coil library;

[0036] The steel coil information correction module is used to correct the size and position of the pre-recorded steel coil based on the target spliced ​​steel coil image.

[0037] A computer device includes a memory and a processor, the memory storing a computer program, the processor executing the steps of the above-described unmanned overhead crane material correction method.

[0038] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described unmanned overhead crane material correction method.

[0039] The aforementioned unmanned overhead crane material correction method, device, computer equipment, and storage medium detect the crane's travel position in real time by installing encoders on the crane. When the travel position reaches the target travel position, each image acquisition component is triggered to simultaneously acquire an image of the target steel coil. When another target travel position is reached, each image acquisition component is triggered to simultaneously acquire an image of the target steel coil, thus obtaining multiple target steel coil images corresponding to multiple target travel positions. Then, the multiple acquired target steel coil images are stitched together according to the installation order of the image acquisition components and the travel direction of the crane to obtain a target stitched steel coil image. This target stitched steel coil image is used to correct the pre-recorded initial size and position of the steel coil, improving the accuracy of the crane's hoisting work and avoiding problems caused by inaccurate steel coil size and position during hoisting. Attached Figure Description

[0040] Figure 1 This is an application scenario diagram of the unmanned overhead crane material correction method in one embodiment;

[0041] Figure 2 This is a flowchart illustrating a material correction method for an unmanned overhead crane in one embodiment.

[0042] Figure 3 This is a schematic diagram of the overhead crane in the steel coil warehouse in an embodiment of the unmanned overhead crane material correction method;

[0043] Figure 4 This is a schematic diagram of a target stitched steel coil image obtained by an image acquisition component acquiring a steel coil in a material correction method for an unmanned overhead crane in one embodiment;

[0044] Figure 5 This is a schematic diagram of a pre-recorded steel coil warehouse in a server during a material correction method for an unmanned overhead crane in one embodiment.

[0045] Figure 6 This is a schematic diagram showing the actual size and position of steel coils in the steel coil warehouse in an embodiment of the unmanned overhead crane material correction method;

[0046] Figure 7 This is a structural block diagram of the unmanned overhead crane material correction device in one embodiment;

[0047] Figure 8 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0049] The unmanned overhead crane material correction method provided in this application can be applied to, for example... Figure 1The application environment shown is illustrated. This unmanned overhead crane material correction method is applied to an unmanned overhead crane material correction system. The unmanned overhead crane material correction system includes an overhead crane 102 and a server 104; the overhead crane 102 is equipped with an encoder 106, at least one image acquisition component 108, and [other components]. The overhead crane 102 and the server 104 communicate via a network. The encoder 106 can detect the position of the overhead crane 102 in real time, including its position during movement or when stationary. The image acquisition component 108 may include an optical sensor, such as a camera, which is a sensor that performs photosensitive imaging of a target object based on optical principles. The overhead crane 102 can receive and process data, and can also transmit the processing results to the server; the server 104 can be implemented using a standalone server or a server cluster consisting of multiple servers.

[0050] In one embodiment, such as Figure 2 As shown, a material correction method for unmanned overhead cranes is provided, which can be applied to... Figure 1 Taking the overhead crane 102 as an example, the explanation includes the following steps:

[0051] Step 202: Determine the direction of travel of the unmanned overhead crane in the steel coil warehouse; the steel coil warehouse includes multiple steel coils.

[0052] The steel coil storage unit contains multiple steel coils arranged in sequence. Each coil is secured to the unit by a saddle to prevent slippage. The saddles are located on the floor of the storage unit. The saddles are a different color from both the steel coils and the floor, allowing for better visual differentiation between the saddles, coils, and floor.

[0053] The overhead crane is equipped with an encoder and at least one image acquisition component. The encoder can be mounted on the crane's main wheels or on the crane body, such as a rope encoder. The image acquisition component can also be mounted on the main crane, with its shooting angle perpendicular to the horizontal plane where the steel coil storage is located. The image acquisition components can be evenly installed on the crane's main crane to ensure that the image range captured by each component is the same. Each image acquisition component has a corresponding installation order, which can be set from left to right or from right to left depending on the crane's direction.

[0054] The direction of travel can include the horizontal axis direction and the vertical axis direction of the steel coil storage, such as... Figure 3 The diagram shows a schematic of the overhead crane in the steel coil silo. The X-axis is the horizontal axis of the steel coil silo, and the Y-axis is the vertical axis of the steel coil silo.

[0055] In one embodiment, determining the direction of travel of the unmanned overhead crane in the steel coil warehouse can be achieved by determining the direction of travel based on the position of the unmanned overhead crane detected by the encoder.

[0056] In one embodiment, determining the travel direction of the unmanned overhead crane in the steel coil warehouse can be achieved by: acquiring images of the steel coils using an image acquisition component, and determining the travel direction of the unmanned overhead crane in the steel coil warehouse based on the pre-recorded initial size and position of the steel coils in the images. The method for determining the travel direction is not limited here, as long as the travel direction of the unmanned overhead crane can be obtained.

[0057] Step 204: The encoder is used to detect the position of the unmanned crane in the direction of travel in real time.

[0058] Real-time detection of the unmanned overhead crane's position in the direction of travel via encoders includes: acquiring the real-time encoded value detected by the encoder; and determining the corresponding position based on the mapping relationship between the encoded value and the travel position.

[0059] In one embodiment, before the step of detecting the travel position of the unmanned overhead crane in the travel direction in real time via the encoder, the encoder is initialized. This initialization includes the following steps: obtaining the length measurement value of the steel coil library in the travel direction; dividing the encoder's encoded value equally according to the length measurement value to obtain multiple encoded values; and assigning each encoded value a corresponding target travel position. The encoder initialization process mainly involves setting the encoder's detectable range to match the length measurement value of the steel coil library in the travel direction. Assuming the length measurement value is L, and the final target stitched steel coil image has pixel count G, then L / G = K, where K is a constant. Therefore, during the crane's travel, ΔL = ΔG * K should also be satisfied, where ΔL is the crane's travel offset, and ΔG is the pixel offset. The crane's travel distance in the travel direction is detected by the encoder. Therefore, the encoder's encoded value is divided equally according to the length measurement value to obtain multiple encoded values, and each encoded value has a corresponding target travel position, thus pre-setting multiple target travel positions.

[0060] Step 206: When the driving position reaches the target driving position, trigger each image acquisition component to acquire the target steel coil image at the target driving position; there are multiple target driving positions.

[0061] The target driving locations include multiple locations, and they are sorted according to their distance.

[0062] Once the overhead crane reaches the pre-set target travel position, each image acquisition component is triggered to simultaneously acquire an image of the target steel coil at that position and transmit the acquired image to the overhead crane. When the overhead crane reaches the next target travel position, each image acquisition component is again triggered to simultaneously acquire an image of the target steel coil at that position, until the overhead crane reaches the target travel position of the last sequence position. At that point, the image of the target steel coil after the current target travel position is acquired is acquired and transmitted to the overhead crane. In one embodiment, each image acquisition component can transmit the acquired image to the overhead crane after each acquisition of a target steel coil image, or it can transmit the image to the overhead crane after acquiring target steel coil images for all target travel positions in a sequence position.

[0063] Step 208: The multiple target steel coil images corresponding to each target driving position are stitched together according to the installation order of the image acquisition components on the unmanned overhead crane and the driving direction to obtain the target stitched steel coil image corresponding to the steel coil library.

[0064] In one embodiment, stitching together multiple target steel coil images corresponding to each target driving position according to the installation order of the image acquisition components on the unmanned overhead crane and the driving direction to obtain a target stitched steel coil image corresponding to the steel coil library includes: stitching together multiple target steel coil images corresponding to each target driving position according to the installation order of the image acquisition components on the unmanned overhead crane to obtain a sub-target stitched steel coil image corresponding to the current target driving position; and stitching together the sub-target stitched steel coil images corresponding to multiple target driving positions according to the driving direction to obtain a target stitched steel coil image corresponding to the steel coil library.

[0065] In one embodiment, stitching together multiple target steel coil images corresponding to each target driving position according to the installation order of the image acquisition components on the unmanned overhead crane and the driving direction to obtain the target stitched steel coil image corresponding to the steel coil library includes: stitching together the target steel coil images corresponding to each target driving position according to the driving direction to obtain the target stitched steel coil image corresponding to the steel coil library.

[0066] like Figure 4 The diagram illustrates how an image acquisition component captures a target steel coil image to obtain a stitched image of the steel coil. As shown, five target travel positions are identified for a single target steel coil. At each position, the image acquisition component captures an image of the target steel coil at that location (as shown in the first five images). The arrows in the diagram indicate the direction of travel of the overhead crane. These five images are then stitched together according to the crane's travel direction to obtain the stitched image of the target steel coil (as shown in the last image).

[0067] Step 210: Correct the size and position of the pre-recorded steel coil based on the target spliced ​​steel coil image.

[0068] In one embodiment, correcting the size and position of a pre-recorded steel coil based on the target stitched steel coil image includes: obtaining the center position, width, and weight of each steel coil in a pre-recorded steel coil library from a server; calculating the initial size and position of the steel coil formed by planar projection of the steel coil into the steel coil library based on the center position, width, and weight; determining the actual size and position of each steel coil in the steel coil library based on the target stitched steel coil image; correcting the initial size and position based on the actual size and position; and updating the corrected center position, width, and weight of the steel coil in the corresponding positions on the server. Figure 5 The diagram shows a pre-recorded steel coil library on the server. Black squares represent steel coils, their areas represent dimensions, and their positions indicate their locations within the library. The diagram shows that the library has horizontal columns A, B, C, D, E, F, and G, and vertical columns 1, 2, 3, and 4. Columns B3, C1, E3, and F2 are empty. Therefore, there are a total of 24 steel coils. Figure 6 The diagram shows the actual dimensions and positions of the steel coils in the storage container. It can be seen from the diagram that A3's actual weight is lighter and its width is smaller than recorded on the server. B4's actual weight is significantly heavier than recorded on the server. E2's position tracking is inaccurate due to hook swaying. If hoisting were performed according to the position recorded on the server, A3 would likely result in the clamps not aligning with the coil's centerline because the coil's height is lower than the tracking height. B4 would be the opposite, also unable to align with the centerline. Furthermore, due to inaccurate position tracking, E2's clamps might collide with the coil during descent.

[0069] In one embodiment, the dimensional deviation between the actual size and the initial size is calculated; the positional deviation between the actual position and the initial position is calculated; when the dimensional deviation and / or positional deviation exceeds a deviation threshold, an alarm is triggered and transmitted to the management user of the steel coil library. Each steel coil in the server records its center position, width, and weight data. Based on this data, the size and position of the steel coil's planar projection can be calculated and compared with the scanned image of the target stitched steel coil. If the deviation exceeds a certain value, the overhead crane issues an alarm through the alarm system. After personnel confirmation, the alarm is cleared, and the alarm information is fed back to the server.

[0070] In the aforementioned unmanned overhead crane material correction method, encoders are installed on the overhead crane to detect its travel position in real time. When the travel position reaches the target travel position, each image acquisition component is triggered to simultaneously acquire an image of the target steel coil. When another target travel position is reached, each image acquisition component is triggered to simultaneously acquire an image of the target steel coil, thus obtaining multiple target steel coil images corresponding to multiple target travel positions. Then, the multiple target steel coil images are stitched together according to the installation order of the image acquisition components and the travel direction of the overhead crane to obtain a target stitched steel coil image. This target stitched steel coil image is used to correct the pre-recorded initial size and position of the steel coil, improving the accuracy of the overhead crane's hoisting work and avoiding problems caused by inaccurate steel coil size and position during hoisting.

[0071] It should be understood that, although Figure 2-6 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 2-6 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0072] In one embodiment, such as Figure 7 As shown, an unmanned overhead crane material correction device 700 is provided, including: a travel direction determination module 702, a travel position determination module 704, a target steel coil image acquisition module 706, a target spliced ​​steel coil image acquisition module 708, and a steel coil information correction module 710, wherein:

[0073] The travel direction determination module 702 is used to determine the travel direction of the unmanned overhead crane in the steel coil warehouse; the steel coil warehouse includes multiple steel coils.

[0074] The driving position determination module 704 is used to detect the driving position of the unmanned overhead crane in the driving direction in real time through an encoder.

[0075] The target steel coil image acquisition module 706 is used to trigger each image acquisition component to acquire the target steel coil image at the target driving position when the driving position reaches the target driving position; there are multiple target driving positions.

[0076] The target splicing steel coil image acquisition module 708 is used to splice multiple target steel coil images corresponding to each target driving position according to the installation order of the image acquisition components on the unmanned crane and the driving direction to obtain the target splicing steel coil image corresponding to the steel coil library.

[0077] The steel coil information correction module 710 is used to correct the size and position of the pre-recorded steel coil based on the target spliced ​​steel coil image.

[0078] In one embodiment, the apparatus further includes an encoder initialization module for acquiring a length measurement value of the steel coil library in the direction of travel; dividing the encoder's encoded value equally according to the length measurement value to obtain multiple encoded values; each encoded value has a corresponding target travel position.

[0079] In one embodiment, the driving position determination module is further configured to acquire the real-time encoded value detected by the encoder in real time; and determine the driving position corresponding to the real-time encoded value based on the mapping relationship between the encoded value and the driving position.

[0080] In one embodiment, the target stitched steel coil image acquisition module is further configured to perform a first image stitching on multiple target steel coil images corresponding to each target driving position according to the installation order of the image acquisition components on the unmanned overhead crane, to obtain a sub-target stitched steel coil image corresponding to the current target driving position; and perform a second image stitching on the sub-target stitched steel coil images corresponding to multiple target driving positions according to the driving direction, to obtain a target stitched steel coil image corresponding to the steel coil library.

[0081] In one embodiment, the steel coil information correction module is further configured to obtain the center position, width, and weight of each steel coil in the pre-recorded steel coil library from the server; calculate the initial size and initial position of the steel coil formed by planar projection of the steel coil in the steel coil library based on the center position, width, and weight; determine the actual size and actual position of each steel coil in the steel coil library based on the target stitched steel coil image; and correct the initial size and initial position based on the actual size and actual position.

[0082] In one embodiment, the steel coil information correction module is also used to calculate the dimensional deviation between the actual size and the initial size; calculate the positional deviation between the actual position and the initial position; and when the dimensional deviation and / or positional deviation are greater than the deviation threshold, trigger an alarm message and transmit the alarm message to the management user of the steel coil library.

[0083] In the above embodiments, encoders are installed on the overhead crane to detect its travel position in real time. When the travel position reaches the target travel position, each image acquisition component is triggered to simultaneously acquire an image of the target steel coil. When another target travel position is reached, each image acquisition component is triggered to simultaneously acquire an image of the target steel coil, thereby obtaining multiple target steel coil images corresponding to multiple target travel positions. Then, the multiple target steel coil images are stitched together according to the installation order of the image acquisition components and the travel direction of the overhead crane to obtain a target stitched steel coil image. This target stitched steel coil image is used to correct the pre-recorded initial size and position of the steel coil, improving the accuracy of the overhead crane's hoisting work and avoiding problems caused by inaccurate size and position of the steel coil during hoisting.

[0084] Specific limitations regarding the unmanned overhead crane material correction device can be found in the limitations of the unmanned overhead crane material correction method described above, and will not be repeated here. Each module in the aforementioned unmanned overhead crane material correction device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0085] In one embodiment, a computer device is provided, which may be an overhead crane, and its internal structure diagram may be as follows: Figure 8 As shown, the computer device includes a processor, memory, network interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements a material correction method for an unmanned overhead crane. The display screen can be an LCD screen or an e-ink display screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0086] Those skilled in the art will understand that Figure 8 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0087] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps: determining the travel direction of an unmanned overhead crane in a steel coil storage facility; the steel coil storage facility includes multiple steel coils; detecting the travel position of the unmanned overhead crane in the travel direction in real time using an encoder; when the travel position reaches a target travel position, triggering each image acquisition component to acquire an image of the target steel coil at the target travel position; the target travel positions include multiple targets; stitching together the multiple target steel coil images corresponding to each target travel position according to the installation order of the image acquisition components on the unmanned overhead crane and the travel direction to obtain a stitched target steel coil image corresponding to the steel coil storage facility; and correcting the pre-recorded size and position of the steel coils based on the stitched target steel coil image.

[0088] In one embodiment, when the processor executes the computer program, it further performs the following steps: acquiring a length measurement value of the steel coil library in the direction of travel; dividing the encoder's encoded value equally according to the length measurement value to obtain multiple encoded values; each encoded value has a corresponding target travel position.

[0089] In one embodiment, when the processor executes the computer program, it further performs the following steps: acquiring the real-time encoded value detected by the encoder in real time; and determining the driving position corresponding to the real-time encoded value based on the mapping relationship between the encoded value and the driving position.

[0090] In one embodiment, when the processor executes the computer program, it further performs the following steps: stitching together multiple target steel coil images corresponding to each target driving position according to the installation order of the image acquisition components on the unmanned crane to obtain a sub-target stitched steel coil image corresponding to the current target driving position; stitching together the sub-target stitched steel coil images corresponding to multiple target driving positions according to the driving direction to obtain a target stitched steel coil image corresponding to the steel coil library.

[0091] In one embodiment, when the processor executes the computer program, it further performs the following steps: obtaining the center position, width, and weight of each steel coil in the steel coil library from the server; calculating the initial size and initial position of the steel coil formed by planar projection of the steel coil in the steel coil library based on the center position, width, and weight; determining the actual size and actual position of each steel coil in the steel coil library based on the target stitched steel coil image; and correcting the initial size and initial position based on the actual size and actual position.

[0092] In one embodiment, when the processor executes the computer program, it further performs the following steps: calculating the dimensional deviation between the actual size and the initial size; calculating the positional deviation between the actual position and the initial position; and triggering an alarm message when the dimensional deviation and / or positional deviation are greater than a deviation threshold, and transmitting the alarm message to the management user of the steel coil warehouse.

[0093] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When executed by a processor, the computer program performs the following steps: determining the travel direction of an unmanned overhead crane in a steel coil storage facility; the steel coil storage facility includes multiple steel coils; detecting the travel position of the unmanned overhead crane in the travel direction in real time using an encoder; when the travel position reaches a target travel position, triggering each image acquisition component to acquire an image of the target steel coil at the target travel position; the target travel positions include multiple ones; stitching together the multiple target steel coil images corresponding to each target travel position according to the installation order of the image acquisition components on the unmanned overhead crane and the travel direction to obtain a stitched target steel coil image corresponding to the steel coil storage facility; and correcting the pre-recorded size and position of the steel coils based on the stitched target steel coil image.

[0094] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: acquiring a length measurement value of the steel coil library in the direction of travel; dividing the encoder's encoded value equally according to the length measurement value to obtain multiple encoded values; each encoded value has a corresponding target travel position.

[0095] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: acquiring the real-time encoded value detected by the encoder in real time; and determining the driving position corresponding to the real-time encoded value based on the mapping relationship between the encoded value and the driving position.

[0096] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: stitching together multiple target steel coil images corresponding to each target driving position in the order of the image acquisition components installed on the unmanned crane to obtain a sub-target stitched steel coil image corresponding to the current target driving position; stitching together the sub-target stitched steel coil images corresponding to multiple target driving positions in the direction of travel to obtain a target stitched steel coil image corresponding to the steel coil library.

[0097] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: obtaining the center position, width, and weight of each steel coil in the steel coil library from the server; calculating the initial size and initial position of the steel coil formed by planar projection of the steel coil in the steel coil library based on the center position, width, and weight; determining the actual size and actual position of each steel coil in the steel coil library based on the target stitched steel coil image; and correcting the initial size and initial position based on the actual size and actual position.

[0098] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: calculating the dimensional deviation between the actual size and the initial size; calculating the positional deviation between the actual position and the initial position; and triggering an alarm message when the dimensional deviation and / or positional deviation are greater than a deviation threshold, and transmitting the alarm message to the management user of the steel coil warehouse.

[0099] In the above embodiments, encoders are installed on the overhead crane to detect its travel position in real time. When the travel position reaches the target travel position, each image acquisition component is triggered to simultaneously acquire an image of the target steel coil. When another target travel position is reached, each image acquisition component is triggered to simultaneously acquire an image of the target steel coil, thereby obtaining multiple target steel coil images corresponding to multiple target travel positions. Then, the multiple target steel coil images are stitched together according to the installation order of the image acquisition components and the travel direction of the overhead crane to obtain a target stitched steel coil image. This target stitched steel coil image is used to correct the pre-recorded initial size and position of the steel coil, improving the accuracy of the overhead crane's hoisting work and avoiding problems caused by inaccurate size and position of the steel coil during hoisting.

[0100] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0101] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0102] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for material correction on an unmanned overhead crane, wherein the unmanned overhead crane is equipped with an encoder and at least one image acquisition component; characterized in that, The method includes: Determine the direction of travel of the unmanned overhead crane in the steel coil warehouse; the steel coil warehouse includes multiple steel coils. The encoder detects the position of the unmanned overhead crane in the direction of travel in real time. When the travel position reaches the target travel position, each image acquisition component is triggered to acquire an image of the target steel coil at the target travel position; the target travel position includes multiple locations. The multiple target steel coil images corresponding to each target driving position are stitched together according to the installation order of the image acquisition components on the unmanned overhead crane and the driving direction to obtain the target stitched steel coil image corresponding to the steel coil library; specifically, this includes: stitching together the multiple target steel coil images corresponding to each target driving position according to the installation order of the image acquisition components on the unmanned overhead crane to obtain the sub-target stitched steel coil image corresponding to the current target driving position; and stitching together the multiple sub-target stitched steel coil images corresponding to the target driving positions according to the driving direction to obtain the target stitched steel coil image corresponding to the steel coil library. The dimensions and positions of pre-recorded steel coils are corrected based on the target stitched steel coil image. Specifically, this includes: obtaining the center position, width, and weight of each steel coil in the steel coil library from the server; calculating the initial dimensions and initial positions of the steel coils formed by planar projection of the steel coils in the steel coil library based on the center position, width, and weight; determining the actual dimensions and actual positions of each steel coil in the steel coil library based on the target stitched steel coil image; and correcting the initial dimensions and initial positions based on the actual dimensions and actual positions. Obtain the length measurement value of the steel coil in the direction of travel; The encoder's encoded value is divided equally based on the length measurement value to obtain multiple encoded values; Each of the coded values ​​corresponds to a target driving location.

2. The method according to claim 1, characterized in that, The step of detecting the position of the unmanned overhead crane in the direction of travel in real time through the encoder includes: Obtain the real-time encoded value detected by the encoder in real time; Based on the mapping relationship between the encoded value and the driving position, the driving position corresponding to the real-time encoded value is determined.

3. The method according to claim 1, characterized in that, The method further includes: Calculate the dimensional deviation between the actual size and the initial size; Calculate the positional deviation between the actual position and the initial position; When the dimensional deviation and / or the positional deviation exceeds the deviation threshold, an alarm is triggered and transmitted to the management user of the steel coil warehouse.

4. The method according to any one of claims 1 to 3, characterized in that, The travel direction includes the horizontal axis direction of the steel coil storage and the vertical axis direction of the steel coil storage.

5. A material correction device for an unmanned overhead crane, wherein the unmanned overhead crane is equipped with an encoder and at least one image acquisition component; characterized in that, The device includes: A travel direction determination module is used to determine the travel direction of the unmanned overhead crane in the steel coil warehouse; the steel coil warehouse includes multiple steel coils; The driving position determination module is used to detect the driving position of the unmanned crane in the driving direction in real time through the encoder; The target steel coil image acquisition module is used to trigger each image acquisition component to acquire an image of the target steel coil at the target driving position when the driving position reaches the target driving position; the target driving position includes multiple locations. The target spliced ​​steel coil image acquisition module is used to splice multiple target steel coil images corresponding to each target driving position according to the installation order of the image acquisition components on the unmanned overhead crane and the driving direction to obtain the target spliced ​​steel coil image corresponding to the steel coil library; specifically, it is used to: perform a first image splicing on multiple target steel coil images corresponding to each target driving position according to the installation order of the image acquisition components on the unmanned overhead crane to obtain a sub-target spliced ​​steel coil image corresponding to the current target driving position; and perform a second image splicing on multiple sub-target spliced ​​steel coil images corresponding to multiple target driving positions according to the driving direction to obtain the target spliced ​​steel coil image corresponding to the steel coil library; The steel coil information correction module is used to correct the size and position of pre-recorded steel coils based on the target stitched steel coil image. Specifically, it is used to: obtain the center position, width, and weight of each steel coil in the steel coil library from the server; calculate the initial size and initial position of the steel coil formed by planar projection of the steel coil in the steel coil library based on the center position, width, and weight; determine the actual size and actual position of each steel coil in the steel coil library based on the target stitched steel coil image; and correct the initial size and initial position based on the actual size and actual position. The encoder module is initialized to obtain the length measurement value of the steel coil library in the direction of travel; the encoder's encoded value is evenly divided according to the length measurement value to obtain multiple encoded values; each encoded value has a corresponding target travel position.

6. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

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