Method for controlling crown block to hoist casting blank and related equipment

Abstract

The invention discloses a control method for a crown block to hoist casting blanks and related equipment, and relates to the technical field of equipment control, the method comprises the following steps: acquiring a first casting blank image and a second casting blank image of a crown block trolley; performing image feature extraction processing on the first casting blank image to determine a first distance; performing image feature extraction processing on the second casting blank image to determine a second distance; based on the first distance and the second distance, the casting blank length deviation is determined; and based on the casting blank length deviation and a preset deviation threshold value, whether casting blank hoisting operation is executed or not is determined. The distance data between the clamp and the two ends of the casting blank are obtained in real time through the non-contact vision measurement technology, the gravity center shift risk of the clamping position is accurately recognized in combination with an automatic deviation judgment and interlocking control mechanism, and unbalance loading accidents caused by manual judgment errors are effectively avoided.

Description

Technical Field

[0001] The present application relates to the field of equipment control technology, and in particular to a control method for lifting a casting billet by an overhead crane and related equipment. Background Art

[0002] Overhead crane lifting of ingots is a key link in the steel production process, and its operational safety directly affects production efficiency and equipment stability. In traditional lifting operations, the overhead crane driver needs to visually determine the center of gravity of the clamp and the ingot, and rely on the intercom to coordinate with the ground operator to confirm the target position. Due to the limited viewing angle of the driver's seat and the large size of the ingot, manual judgment is easily affected by factors such as ambient light and operating experience, resulting in a large risk of deviation in the clamping position. Once the clamping position deviates from the center of gravity, it may cause the ingot to slip or even fall from a high altitude, resulting in serious safety accidents and equipment damage. Therefore, there is an urgent need for a control method for overhead crane lifting of ingots to solve the above-mentioned technical problems. Summary of the Invention

[0003] The Summary of the Invention introduces a series of simplified concepts that will be further described in the Detailed Description of the Invention. The Summary of the Invention of this application is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0004] In a first aspect, the present application provides a method for controlling a crane to lift a casting, the method comprising:

[0005] Acquire a first casting billet image and a second casting billet image of the overhead traveling vehicle;

[0006] Performing image feature extraction processing on the first ingot image to determine a first distance, wherein the first distance is a distance from the first clamp to the first end of the ingot;

[0007] Performing image feature extraction processing on the second casting billet image to determine a second distance, wherein the second distance is a distance from the second clamp to the second end of the casting billet;

[0008] determining a strand length deviation based on the first distance and the second distance;

[0009] Based on the billet length deviation and the preset deviation threshold, it is determined whether to perform the billet lifting operation.

[0010] In some embodiments, the overhead traveling crane trolley is provided with a first camera and a second camera, and acquiring the first and second images of the casting billet from the overhead traveling crane trolley includes:

[0011] Based on the first camera, an image of the first cast billet from the first clamp to the first end of the cast billet is collected;

[0012] Based on the second camera, an image of the second billet from the second clamp to the second end of the billet is collected.

[0013] In some embodiments, performing image feature extraction processing on the first casting image to determine the first distance includes:

[0014] Performing image feature extraction processing on the first ingot image to determine a positional relationship between the first clamp and the first end of the ingot;

[0015] Based on the positional relationship, a first distance from the first clamp to the first end of the casting strand is calculated.

[0016] In some embodiments, determining the strand length deviation based on the first distance and the second distance includes:

[0017] Based on the absolute value of the difference between the first distance and the second distance, the strand length deviation is obtained.

[0018] In some embodiments, determining whether to perform a slab lifting operation based on the slab length deviation and a preset deviation threshold includes:

[0019] When the billet length deviation is greater than the preset deviation threshold, a clamp prohibition operation instruction is generated to stop the billet lifting action;

[0020] When the billet length deviation is less than or equal to the preset deviation threshold, a clamp operation permission instruction is generated to perform the billet lifting action.

[0021] In some embodiments, further comprising:

[0022] During the process of lifting the ingot, first vibration sensing data of the first clamp and second vibration sensing data of the second clamp are obtained;

[0023] extracting a first slip coefficient of the first clamp based on a frequency spectrum feature of the first vibration sensing data;

[0024] extracting a second slip coefficient of the second clamp based on a frequency spectrum feature of the second vibration sensing data;

[0025] determining a comprehensive slip coefficient based on the first slip coefficient and the second slip coefficient;

[0026] When the comprehensive slip coefficient is greater than or equal to the preset risk threshold, a clamping force compensation instruction is generated;

[0027] Based on the clamping force compensation instruction, the clamping force of the first clamp and the clamping force of the second clamp are adjusted.

[0028] In some embodiments, further comprising:

[0029] After the slab is hoisted to the target position, an image of a third slab in the target position area is acquired;

[0030] determining an offset distance between the strand and a boundary of the target position region based on the third strand image;

[0031] When the offset distance is greater than a preset offset threshold, a position correction instruction is generated to control the overhead crane to adjust its position;

[0032] When the offset distance is less than or equal to a preset offset threshold, a placement permission instruction is generated to control the clamp to release the billet.

[0033] In a second aspect, the present application provides a control device for lifting a casting billet by a crane, comprising:

[0034] A casting slab image acquisition unit, used for acquiring a first casting slab image and a second casting slab image of the overhead traveling vehicle;

[0035] a first distance determining unit, configured to perform image feature extraction processing on the first ingot image to determine a first distance, wherein the first distance is a distance from the first clamp to the first end of the ingot;

[0036] a second distance determining unit, configured to perform image feature extraction processing on the second ingot image to determine a second distance, wherein the second distance is a distance from the second clamp to the second end of the ingot;

[0037] a slab deviation calculation unit, which determines a slab length deviation based on the first distance and the second distance;

[0038] The slab lifting identification unit determines whether to perform the slab lifting operation based on the slab length deviation and a preset deviation threshold.

[0039] In a third aspect, an electronic device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is configured to implement the steps of the method for controlling the overhead crane lifting the ingot when executing the computer program stored in the memory.

[0040] In a fourth aspect, the present application proposes a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method for lifting a cast billet by a crane according to any one of the first aspects.

[0041] In summary, this application obtains images of the billet on both sides of the overhead crane clamp in real time, and determines the distance from the clamp to the two ends of the billet based on image feature extraction technology, thereby calculating the billet length deviation. By comparing with the preset deviation threshold, it automatically determines whether the lifting operation is allowed. This application effectively solves the defect of traditional methods that rely on manual judgment, realizes precise control of the center of gravity of the clamping position, and reduces the risk of overloading. At the same time, through the automated interlocking mechanism, safety accidents caused by operational errors are avoided, and the safety, stability and efficiency of the lifting operation are improved.

[0042] The control method for overhead crane lifting of ingots proposed in this application, and other advantages, objectives and features of this application will be reflected in part through the following description, and will also be understood by technical personnel in this field through research and practice of this application. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present description. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0044] Figure 1 A schematic flow chart of a control method for lifting a casting billet by a crane provided in an embodiment of the present application;

[0045] Figure 2 A schematic diagram of an overhead crane lifting a casting billet and clamping the casting billet provided in an embodiment of the present application;

[0046] Figure 3 A schematic diagram of the structure of a control device for lifting a casting billet by a crane provided in an embodiment of the present application;

[0047] Figure 4 This is a structural diagram of the control electronic equipment for lifting ingots by a crane provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or that are inherent to these processes, methods, products or devices. The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments.

[0049] See also Figure 1 , which is a flow chart of a control method for lifting a casting billet by a crane provided in an embodiment of the present application, which may specifically include:

[0050] S110, acquiring a first ingot image and a second ingot image of the overhead traveling vehicle;

[0051] For example, during the lifting process, a first camera and a second camera are symmetrically mounted on either side of the overhead crane trolley, facing the clamp and the corresponding end of the billet, respectively. The vertically downward-mounted cameras ensure that the image acquisition direction is orthogonal to the billet's length, eliminating the interference of perspective distortion on distance measurement. The symmetrical distribution of the cameras fully covers the clamping area on both sides of the clamp, capturing the relative position of the clamp and the billet end in real time, providing raw image data for subsequent deviation calculations.

[0052] The first and second cameras focus on the ends of the billet on either side of the clamp, capturing images synchronously to determine the relative spatial position of the clamp and the billet ends. This step relies on visual sensing to replace manual judgment, converting the physical clamping state into quantifiable image data. This provides the data foundation for subsequent automated deviation analysis and ensures the objectivity and traceability of input information for the lifting control system.

[0053] S120, performing image feature extraction processing on the first ingot image to determine a first distance, wherein the first distance is a distance from the first clamp to the first end of the ingot;

[0054] For example, image feature extraction techniques are used to analyze the spatial relationship between the clamp and the end of the first strand in the first strand image. Based on the boundary features of the clamp and strand regions in the image, the pixel distance from the first side of the clamp to the first end of the strand is quantified. This distance is converted to an actual physical distance using pre-set calibration parameters, providing key data for subsequent deviation calculations.

[0055] The core of image feature extraction lies in using algorithms to identify and locate the boundary features between the clamp and the ingot in the image, establishing a relative position mapping relationship between the two. Using non-contact visual measurement technology, pixel differences in the image are converted into actual distance information, eliminating subjective errors in human visual judgment. This ensures the objectivity and accuracy of clamping position measurement, laying the data foundation for subsequent automated interlocking control.

[0056] S130, performing image feature extraction processing on the second ingot image to determine a second distance, wherein the second distance is the distance from the second clamp to the second end of the ingot;

[0057] Exemplarily, the relative position of the second clamp and the second end of the strand is determined by extracting features from the second strand image. Based on the boundary features of the clamp and strand regions in the image, the pixel distance from the second side of the clamp to the second end of the strand is quantified. This distance is converted to an actual physical distance using pre-set calibration parameters, ensuring symmetry and consistency between the two distance data.

[0058] The processing logic for the second strand image is symmetrical to that of the first, utilizing the same technical means to map the positional relationship between the clamp and the strand ends. By simultaneously acquiring distance information from both sides, the limitations of single-sided measurement are eliminated, providing balanced data input for subsequent global analysis of strand length deviations, thereby supporting safe assessment and precise control of lifting operations.

[0059] S140, determining a length deviation of the casting billet based on the first distance and the second distance;

[0060] For example, the billet length deviation is determined by comparing the distance between the first clamp and the first end of the billet with the distance between the second clamp and the second end of the billet, and calculating the absolute value of the difference between the two. This deviation directly reflects the degree of symmetry between the clamp's gripping position and the billet's center of gravity, providing a quantitative basis for determining the safety of subsequent lifting operations.

[0061] Determination of billet length deviation is based on analysis of the difference in clamping distances on both sides. Its core logic lies in verifying the equilibrium state of the clamping position through symmetry measurement. By calculating the absolute value of the difference, directional error interference is eliminated, ensuring objectivity in deviation determination. This allows for rapid identification of the risk of clamping center of gravity deviation, providing key input parameters for triggering the interlocking control mechanism.

[0062] S150. Determine whether to perform a billet lifting operation based on the billet length deviation and a preset deviation threshold.

[0063] Exemplarily, this step compares the billet length deviation with a preset deviation threshold to determine whether the symmetry of the gripping position meets safety requirements. If the deviation exceeds the threshold, an interlock mechanism is triggered to prohibit the lifting operation; if the deviation is within the threshold, the interlock mechanism is released to allow the lifting operation, thus ensuring that the gripping center of gravity remains safe and controllable.

[0064] Preset deviation thresholds are based on the physical properties of the ingot's center of gravity balance and safety regulations. Their core purpose is to define the boundaries of safe operation through quantitative standards. By comparing deviations against thresholds in real time, automated decisions about lifting operations are made, eliminating the randomness of manual judgment and ensuring the safety and compliance of the lifting process.

[0065] In summary, the embodiment of the present application captures images of the ends of the ingot in real time by symmetrically installing cameras on both sides of the overhead crane clamp, combines image feature extraction technology to accurately calculate the distance difference between the clamp and the two ends of the ingot, and automatically determines whether the center of gravity offset of the clamping position is within a safe range based on a preset deviation threshold. This method effectively replaces traditional manual visual judgment, overcomes the risk of clamping deviation caused by viewing angle limitations and subjective errors, and reduces the hidden dangers of ingot slippage or falling from height due to center of gravity deviation. At the same time, through real-time intervention of the lifting operation through the interlocking control mechanism, it is ensured that the operation is only performed under safe conditions, thereby improving the standardization level and operational reliability of the overhead crane lifting, and providing practical guarantees for the automation and safety of the steel production process.

[0066] See also Figure 2 , is a schematic diagram of an image of a cast billet being clamped by a crane lifting the cast billet provided in an embodiment of the present application; in some instances, the crane trolley is provided with a first camera and a second camera, and the first and second images of the cast billet are captured by the crane trolley, including:

[0067] Based on the first camera, an image of the first cast billet from the first clamp to the first end of the cast billet is collected;

[0068] Based on the second camera, an image of the second billet from the second clamp to the second end of the billet is collected.

[0069] Exemplarily, the first and second cameras are mounted symmetrically on either side of the central axis of the overhead crane trolley along its length (i.e., the longitudinal axis of motion), oriented vertically downward toward the strand gripping area. Specifically, the first camera is fixed to the center of the left half of the trolley, with its lens axis perpendicular to the trolley's direction of travel, and covers the area between the first clamp and the left end of the strand. The second camera is fixed to the center of the right half of the trolley in the same manner, covering the area between the second clamp and the right end of the strand. This symmetrical layout ensures that the viewing angles of the two cameras are strictly aligned with the clamp's motion trajectory, avoiding image distortion or measurement errors caused by deviations in the mounting angles.

[0070] In the embodiments of the present application, the "length direction" specifically refers to the main axis direction of the movement of the trolley along its track. Specifically, the crane structure usually includes a large trolley (moving along the transverse track of the factory building) and a small trolley (moving along the longitudinal track on the large trolley), wherein the longitudinal movement direction of the small trolley is the "length direction" described above. For example, if the crane is used to hoist the casting blank, the small trolley moves back and forth along the track of the large trolley to adjust the horizontal position of the clamp, and the axis of the back and forth movement is the length direction of the small trolley. The "left half" and the "right half" refer to the symmetric regions divided by the center line along the length direction (the longitudinal movement axis) of the trolley. Specifically, taking the longitudinal center line of the movement of the small trolley along the track as the reference, the physical region on the left side of the center line is defined as the left half, and the physical region on the right side of the center line is defined as the right half. This division is based on the geometric symmetry design of the small trolley, which ensures that the two regions are completely mirror symmetric in space.

[0071] The function of the first camera is to capture a complete image of the first clamp to the first end of the casting blank in real time, wherein the pixel distance between the first clamp and the first end of the casting blank is the key measurement target. The second camera synchronously captures an image of the second clamp to the second end of the casting blank to obtain the pixel distance between the second clamp and the second end of the casting blank. Both cameras adopt a vertical downward shooting mode to ensure that the relative positional relationship between the clamp and the casting blank in the image is consistent with the actual physical space, avoiding perspective errors caused by the top-down angle.

[0072] The symmetric installation of the cameras is based on the balance requirement of the trolley clamp clamping operation. By symmetrically arranging the cameras on both sides of the center axis of the trolley, it can be ensured that the image acquisition range on both sides completely covers the end of the casting blank within the opening width of the clamp, and at the same time, the single-side visual angle blind area is avoided. In addition, the symmetric layout makes the pixel distances between the first clamp and the first end of the casting blank, and between the second clamp and the second end of the casting blank in the images on both sides directly comparable, providing a consistent measurement reference for subsequent deviation calculation, and ensuring the accuracy of the length deviation determination.

[0073] In some examples, the first casting blank image is subjected to image feature extraction processing to determine the first distance, comprising:

[0074] The first casting blank image is subjected to image feature extraction processing to determine the positional relationship between the first clamp and the first end of the casting blank.

[0075] Based on the positional relationship, the first distance from the first clamp to the first end of the casting blank is calculated.

[0076] Exemplarily, image feature extraction processing for the first strand image includes segmenting the first strand image using a preset image segmentation algorithm to identify the clamping end region of the first clamp and the end region of the first end of the strand. Specifically, based on grayscale differences or structural feature changes between the clamp and the strand, the clamping end position of the first clamp and the end position of the first end of the strand are segmented and their pixel coordinates are extracted. Adaptive threshold processing or morphological operations are employed during the image segmentation process to ensure that the physical boundary between the first clamp and the first end of the strand can be accurately distinguished even in complex industrial environments.

[0077] After image segmentation, feature detection algorithms (such as contour matching or key point location) are used to further refine the positions of the first clamp's clamping end and the first end of the strand. Based on the geometric relationship between the clamping end and the strand's end position in the image coordinate system, the outermost pixel coordinates P1 of the first clamp's clamping end and the innermost pixel coordinates P2 of the first end of the strand are determined. The pixel distance from the first clamp to the first end of the strand is calculated by calculating the lateral pixel difference between P1 and P2 in the image coordinate system.

[0078] Converting pixel distance to actual physical distance requires the use of camera calibration parameters. The horizontal pixel difference is multiplied by a pre-calibrated pixel physical scale factor (e.g., 0.1 mm per pixel corresponds to actual distance) to obtain the first actual distance from the first clamp to the first end of the strand. Calibration parameters are determined by the geometric relationship between the camera mounting height, lens focal length, and the strand plane, ensuring that the measurement results are consistent with the actual physical space.

[0079] In the embodiments of this application, the image feature extraction and distance calculation process utilizes non-contact visual measurement technology, replacing traditional manual visual judgment and eliminating perspective errors and subjective interference. By precisely segmenting the end region between the first clamp and the first end of the billet, combined with calibration parameter conversion, quantitative assessment of the clamping position is achieved. This method provides high-precision input for the subsequent automated determination of billet length deviation, ensuring the reliability of clamping center of gravity calibration and the safety of lifting operations.

[0080] It should be noted that in the embodiment of the present application, the second ingot image is processed by the same technical means to determine the spatial position relationship between the second clamp and the second end of the ingot. First, the image features of the second ingot image are extracted to identify the geometric boundaries of the second clamp and the contour features of the second end of the ingot, and establish a relative position mapping relationship between the two. Based on the coordinate difference calculation in the pixel coordinate system, the pixel distance from the second clamp to the second end of the ingot is quantified, and converted into the actual physical distance through the same pixel physical distance conversion parameter. Through symmetrical processing logic, the measurement accuracy of the second distance is ensured to be consistent with the first distance, providing balanced data input for subsequent global deviation calculations, and supporting the safety judgment and closed-loop control of the lifting operation.

[0081] In some examples, determining the strand length deviation based on the first distance and the second distance includes:

[0082] Based on the absolute value of the difference between the first distance and the second distance, the strand length deviation is obtained.

[0083] For example, the strand length deviation is calculated by calculating the absolute value of the difference between the first and second distances. The first distance represents the actual physical distance from the first clamp to the first end of the strand, while the second distance represents the actual physical distance from the second clamp to the second end of the strand. By taking the absolute value of the difference between the two, the influence of the clamping position offset direction is eliminated, retaining only the amplitude of the deviation, which directly reflects the degree of symmetry deviation of the clamping position relative to the strand's center of gravity. This calculation method avoids interference from directional errors in the judgment results, ensures the objectivity and comparability of the deviation values, and provides a quantitative basis for subsequent safety judgments.

[0084] In some examples, determining whether to perform a slab lifting operation based on the slab length deviation and a preset deviation threshold includes:

[0085] When the billet length deviation is greater than the preset deviation threshold, a clamp prohibition operation instruction is generated to stop the billet lifting action;

[0086] When the billet length deviation is less than or equal to the preset deviation threshold, a clamp operation permission instruction is generated to perform the billet lifting action.

[0087] For example, when the billet length deviation exceeds a preset deviation threshold, the system generates a clamp prohibition instruction, triggering the interlock control mechanism of the overhead crane clamp and forcibly terminating the current lifting action. The preset deviation threshold is based on the physical characteristics of the billet's center of gravity balance and safety regulations, and its value represents the maximum allowable clamp position deviation. By comparing the deviation value with the threshold in real time, the system determines whether the clamp position exceeds the safe range. If so, it immediately blocks the clamp closure or lifting operation to prevent the risk of billet slippage or falling due to center of gravity deviation.

[0088] When the billet length deviation is less than or equal to the preset deviation threshold, the system generates a clamp operation permission command, releasing the interlock restriction and authorizing the overhead crane operator to perform the lifting operation. This decision logic, through pre-set numerical safety margins, transforms manual experience into automated decision-making, eliminating subjective errors during operation. The interlock control command directly acts on the overhead crane clamp drive system, ensuring that lifting operations are performed only under safe conditions, thereby reducing the probability of overloading accidents and improving the standardization and overall safety of lifting operations.

[0089] In some instances, this also includes:

[0090] During the process of lifting the ingot, first vibration sensing data of the first clamp and second vibration sensing data of the second clamp are obtained;

[0091] extracting a first slip coefficient of the first clamp based on a frequency spectrum feature of the first vibration sensing data;

[0092] extracting a second slip coefficient of the second clamp based on a frequency spectrum feature of the second vibration sensing data;

[0093] determining a comprehensive slip coefficient based on the first slip coefficient and the second slip coefficient;

[0094] When the comprehensive slip coefficient is greater than or equal to the preset risk threshold, a clamping force compensation instruction is generated;

[0095] Based on the clamping force compensation instruction, the clamping force of the first clamp and the clamping force of the second clamp are adjusted.

[0096] For example, during the slab lifting process, vibration sensors are installed on the first and second clamps, respectively, to collect real-time vibration signals from the clamps during the lifting operation. The first vibration sensor acquires the first vibration data, while the second vibration sensor acquires the second vibration data. The sensors record the vibration acceleration or displacement signals of the clamps in three dimensions at a fixed sampling frequency, providing raw data input for subsequent spectrum analysis.

[0097] A Fast Fourier Transform (FFT) is performed on the first vibration sensor data, converting its time-domain signal into a frequency-domain signal. The distribution characteristics of the vibration energy in a specific frequency band are extracted. Based on a preset slip characteristic frequency band (such as the proportion of low-frequency vibration energy), a first slip coefficient is calculated, which represents the frictional stability between the first clamp and the billet. Similarly, the second vibration sensor data is processed in the same way to extract a second slip coefficient.

[0098] The first and second slip coefficients are weighted and summed to produce a combined slip coefficient. This weighting is based on the load distribution characteristics of the clamp. For example, if the first clamp carries a higher percentage of the load, its slip coefficient is weighted higher. This combined slip coefficient quantifies the slip risk of the entire clamping system, ensuring that the results reflect the synergistic effect of both clamps.

[0099] The preset risk threshold is determined through statistical analysis of experimental data and historical operating conditions, representing the maximum allowable slip risk. When the combined slip coefficient is greater than or equal to the preset risk threshold, the current clamping force is deemed insufficient to maintain slab stability, triggering a clamping force compensation command. This decision logic replaces empirical judgment with a numerical standard, ensuring objective risk response.

[0100] The clamping force compensation command contains a target clamping force increment, whose magnitude is positively correlated with the extent to which the combined slip coefficient exceeds the threshold. This command is transmitted to the clamp drive system via the control unit, which adjusts the hydraulic cylinder pressure or motor torque to dynamically increase the clamping force of the first and second clamps. During this adjustment process, the clamping force changes are monitored in real time to ensure that the compensated clamping force reaches the target value and remains stable.

[0101] By combining vibration sensor data with spectrum analysis, the risk of slippage during the clamping process can be identified in real time, and the clamping force can be dynamically adjusted to enhance clamping stability. This embodiment of the application effectively addresses the potential for slippage of the slab caused by vibration disturbances during traditional lifting operations. At the same time, through automated closed-loop control, manual intervention delays are reduced, improving the safety and efficiency of lifting operations.

[0102] In some instances, this also includes:

[0103] After the slab is hoisted to the target position, an image of a third slab in the target position area is acquired;

[0104] determining an offset distance between the strand and a boundary of the target position region based on the third strand image;

[0105] When the offset distance is greater than a preset offset threshold, a position correction instruction is generated to control the overhead crane to adjust its position;

[0106] When the offset distance is less than or equal to a preset offset threshold, a placement permission instruction is generated to control the clamp to release the billet.

[0107] For example, after the strand is hoisted to the target location, a third camera mounted on an overhead crane or above the target area captures an image of the third strand in the target location. The third camera is mounted vertically downward, with its field of view covering the boundary markers of the target placement area (such as ground markings or reference lines of adjacent strands) and simultaneously capturing the end profile of the currently hoisted strand. During image acquisition, preset exposure parameters and focal length adjustment ensure clear imaging of the strand end and the boundary of the target area, providing high-precision visual data for subsequent offset analysis.

[0108] Based on the third strand image, image feature extraction technology is used to identify the spatial relationship between the strand end and the target region boundary. Specifically, an edge detection algorithm is used to locate the geometric boundary of the strand end and extract the pixel coordinates of the target region boundary marker. The pixel distance between the strand end boundary and the target region boundary is calculated and converted into an actual physical offset distance using preset pixel-to-physical distance conversion parameters. This offset distance directly reflects the degree of deviation between the strand placement position and the target region.

[0109] The offset distance is compared in real time with a preset offset threshold. If the offset distance exceeds the preset offset threshold, the billet placement position is determined to be outside the allowable error range, and a position correction command is generated to drive the overhead crane to adjust the trolley or lifting mechanism to move the billet toward the center of the target position. If the offset distance is less than or equal to the preset offset threshold, the billet position is determined to meet safe placement requirements, and a placement permission command is generated to control the clamp to release the billet and complete the lifting operation. The preset offset threshold is dynamically set based on the target area size and process specifications.

[0110] See also Figure 3 , which is a schematic structural diagram of a control device for lifting a casting billet by a crane according to an embodiment of the present application, comprising:

[0111] The slab image acquisition unit 21 is used to acquire the first slab image and the second slab image of the overhead traveling vehicle;

[0112] a first distance determining unit 22 for performing image feature extraction processing on the first billet image to determine a first distance, wherein the first distance is the distance from the first clamp to the first end of the billet;

[0113] a second distance determining unit 23, configured to perform image feature extraction processing on the second billet image to determine a second distance, wherein the second distance is the distance from the second clamp to the second end of the billet;

[0114] A strand deviation calculation unit 24 is configured to determine a strand length deviation based on the first distance and the second distance;

[0115] The slab lifting identification unit 25 determines whether to perform the slab lifting operation based on the slab length deviation and a preset deviation threshold.

[0116] See also Figure 4 An embodiment of the present application also provides an electronic device 300, including a memory 310, a processor 320, and a computer program 311 stored in the memory 310 and executable on the processor. When the processor 320 executes the computer program 311, it implements the steps of any method for controlling the overhead crane lifting the ingot.

[0117] Since the electronic device introduced in this embodiment is the equipment used to implement a control device for lifting a cast billet by an overhead crane in the embodiment of this application, based on the method introduced in the embodiment of this application, technical personnel in this field can understand the specific implementation of the electronic device of this embodiment and its various variations. Therefore, how the electronic device implements the method in the embodiment of this application will not be introduced in detail here. As long as the equipment used by technical personnel in this field to implement the method in the embodiment of this application falls within the scope of protection of this application.

[0118] During the specific implementation process, when the computer program 311 is executed by the processor, any implementation method of the embodiments corresponding to the first aspect can be implemented.

[0119] It should be noted that, in the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0120] Those skilled in the art will appreciate that embodiments of the present application may provide methods, systems, or computer program products. Thus, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-readable storage media containing computer-readable program code.

[0121] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0122] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0123] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0124] The present application also provides a computer program product, which includes computer software instructions. When the computer software instructions are executed on a processing device, the processing device executes Figure 1 The process of a control method for lifting a casting billet by a crane in the corresponding embodiment.

[0125] A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via wired or wireless means. The computer-readable storage medium can be any available medium that a computer can store or a data storage device such as a server or data center that includes one or more available media integrated therein. The available medium can be a magnetic medium, an optical medium or a semiconductor medium, etc.

[0126] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0127] In the several embodiments provided in this application, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0128] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0129] In addition, the functional units in the various embodiments of the present application may be integrated into a processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The above-mentioned integrated units may be implemented in the form of hardware and / or software functional units.

[0130] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device to execute all or part of the steps of the various embodiments of the method of the present application.

[0131] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

[0132] Although the preferred embodiments of this specification have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of this specification.

[0133] Obviously, those skilled in the art may make various changes and modifications to this specification without departing from the spirit and scope of this specification. Thus, if such changes and modifications fall within the scope of the claims of this specification and their equivalents, this specification is intended to include such changes and modifications.

Claims

1. A method for controlling a slab by hoisting a slab by a crane, characterized in that: include: Acquire a first casting billet image and a second casting billet image of the overhead traveling vehicle; Performing image feature extraction processing on the first casting billet image to determine a first distance, wherein the first distance is a distance from the first clamp to the first end of the casting billet; Performing image feature extraction processing on the second cast billet image to determine a second distance, wherein the second distance is a distance from the second clamp to the second end of the cast billet; determining a strand length deviation based on the first distance and the second distance; Based on the billet length deviation and a preset deviation threshold, it is determined whether to perform a billet lifting operation.

2. The method according to claim 1, characterized in that The overhead crane trolley is provided with a first camera and a second camera, and the acquisition of the first and second images of the casting blanks from the overhead crane trolley includes: Based on the first camera, an image of the first cast billet from the first clamp to the first end of the cast billet is collected; Based on the second camera, an image of the second billet from the second clamp to the second end of the billet is collected.

3. The method according to claim 1, characterized in that The performing image feature extraction processing on the first casting image to determine the first distance includes: Performing image feature extraction processing on the first ingot image to determine a positional relationship between the first clamp and the first end of the ingot; Based on the positional relationship, a first distance from the first clamp to the first end of the casting strand is calculated.

4. The method according to claim 1, wherein The determining of the strand length deviation based on the first distance and the second distance includes: Based on the absolute value of the difference between the first distance and the second distance, a strand length deviation is obtained.

5. The method according to claim 1, wherein The determining whether to perform the billet lifting operation based on the billet length deviation and a preset deviation threshold comprises: When the billet length deviation is greater than a preset deviation threshold, a clamp prohibition operation instruction is generated to stop the billet lifting action; When the billet length deviation is less than or equal to the preset deviation threshold, a clamp operation permission instruction is generated to perform the billet lifting action.

6. The method according to claim 1, characterized in that Also includes: During the process of lifting the ingot, first vibration sensing data of the first clamp and second vibration sensing data of the second clamp are obtained; extracting a first slip coefficient of the first clamp based on a frequency spectrum feature of the first vibration sensing data; extracting a second slip coefficient of the second clamp based on a frequency spectrum feature of the second vibration sensing data; determining a comprehensive slip coefficient based on the first slip coefficient and the second slip coefficient; When the comprehensive slip coefficient is greater than or equal to a preset risk threshold, generating a clamping force compensation instruction; Based on the clamping force compensation instruction, the clamping force of the first clamp and the clamping force of the second clamp are adjusted.

7. The method according to claim 1, characterized in that Also includes: After the slab is hoisted to the target position, an image of a third slab in the target position area is acquired; determining an offset distance between the cast strand and a boundary of the target position area based on the third cast strand image; When the offset distance is greater than a preset offset threshold, a position correction instruction is generated to control the overhead travelling crane to adjust its position; When the offset distance is less than or equal to the preset offset threshold, a placement permission instruction is generated to control the clamp to release the casting strand.

8. A control device for overhead crane hoisting casting billets, characterized in that: include: A casting slab image acquisition unit, used for acquiring a first casting slab image and a second casting slab image of the overhead traveling vehicle; a first distance determining unit, configured to perform image feature extraction processing on the first ingot image to determine a first distance, wherein the first distance is a distance from the first clamp to the first end of the ingot; a second distance determining unit, configured to perform image feature extraction processing on the second billet image to determine a second distance, wherein the second distance is a distance from the second clamp to the second end of the billet; a slab deviation calculation unit, configured to determine a slab length deviation based on the first distance and the second distance; The slab lifting identification unit determines whether to perform a slab lifting operation based on the slab length deviation and a preset deviation threshold.

9. An electronic device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is used to implement the steps of the control method for overhead crane lifting cast billets as described in any one of claims 1 to 7 when executing the computer program stored in the memory.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the control method for lifting a cast billet by an overhead crane according to any one of claims 1 to 7 is implemented.

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