Gantry crane mounting method

Abstract

Disclosed in the present invention is a gantry crane mounting method, comprising: S1, lifting a main beam to a first height, acquiring a first mounting image, identifying the main beam in the first mounting image, and calculating an offset of the main beam; S2, if the offset is less than a first threshold, hinging one side of the upper end of a support leg to the main beam, and hinging one side of the lower end to a sliding trolley; S3, lifting the main beam to a second height, acquiring a second mounting image, identifying the support leg in the second mounting image, and calculating an angle of inclination of the support leg; S4, if the angle of inclination is within a predetermined range, continuing to lift the main beam to a third height, and acquiring a third mounting image; S5, identifying the support leg and the main beam in the third mounting image, and calculating an included angle at a position where the support leg and the main beam are hinged; and S6, if the included angle is less than a second threshold, welding the support leg to the main beam. The present invention can control the mounting process and ensure the mounting precision.

Description

Portal crane installation method TECHNICAL FIELD

[0001] The present application relates to the technical field of portal crane. More particularly, the present application relates to a portal crane installation method. BACKGROUND

[0002] The portal crane includes a main beam, a support leg, a support leg trolley, a hoist trolley and the like. The existing installation method of the portal crane is usually to first stand up the support leg, then lift the main beam to the upper end of the support leg, and then perform welding on the main beam and the support leg by the installation personnel at a high place. This method is difficult to guarantee precision, and it is often found that the installation is unqualified after welding, which is difficult to salvage. Therefore, it is necessary to design a technical solution which can overcome the above defects to some extent.

[0003] SUMMARY

[0004] An object of the present application is to provide a portal crane installation method which can control the installation process and guarantee installation precision.

[0005] In order to achieve these objects and other advantages and in accordance with the purpose of the application, an aspect of the present application provides a portal crane installation method, comprising: S1: lifting the main beam to a first height, and obtaining a first installation image, identifying the main beam in the first installation image, and calculating the offset of the main beam; S2: if the offset is less than a first threshold, then the upper end of the support leg is hinged to the main beam, and the lower end is hinged to a sliding trolley; S3: lifting the main beam to a second height, and obtaining a second installation image, and identifying the support leg in the second installation image, and calculating the inclination angle of the support leg; S4: if the inclination angle is within a predetermined range, then continue to lift the main beam to a third height, and obtain a third installation image; S5: identify the support leg and the main beam in the third installation image, and calculate the included angle of the hinged part of the support leg and the main beam; S6: if the included angle is less than a second threshold, then weld the support leg and the main beam.

[0006] Further, in the S1, a marker is arranged below the main beam, the main beam and the marker in the first installation image are identified, the pixel interval between each point on the main beam in the first installation image and the marker is calculated, and the offset is calculated according to the pixel interval.

[0007] Further, in the S2, if the offset is greater than the first threshold, then the main beam is adjusted until the offset is less than the first threshold.

[0008] Further, the first end of the support leg is provided with a first lug plate, the main beam is correspondingly provided with a second lug plate, the third lug plate is arranged on the lower end of the support leg, and the fourth lug plate is arranged on the sliding trolley, so that the support leg and the main beam are hinged through the first lug plate and the second lug plate, and the support leg and the sliding trolley are hinged through the third lug plate and the fourth lug plate.

[0009] Further, in the S3, the support leg and the marker in the second installation image are identified, the pixel contour of the support leg and the marker is determined, and is projected into a coordinate system, and the inclination angle is calculated.

[0010] Further, in the S4, if the inclination angle is not in the predetermined range, the sliding trolley is adjusted until the inclination angle is in the predetermined range.

[0011] Further, in the S5, the pixel contour of the contact surface between the support leg and the main beam in the third installation image is identified, and is projected into a coordinate system, and the included angle is calculated.

[0012] Further, in the S6, if the included angle is greater than the second threshold value, the sliding trolley and the main beam are adjusted until the included angle is less than the second threshold value.

[0013] Further, in the S6, the sliding trolley is removed, and the lower end of the support leg is welded with the support leg cart.

[0014] The present application at least has the following beneficial effects:

[0015] The present application sequentially lifts the main beam to the first height, the second height and the third height, and respectively obtains the first installation image, the second installation image and the third installation image, and obtains the offset of the main beam, the inclination angle of the support leg and the included angle of the hinged part of the support leg and the main beam through image recognition, adjusts the main beam and the support leg according to the offset, the inclination angle and the included angle, controls the installation process, and ensures the installation precision.

[0016] Other advantages, objects and features of the present application will be partly embodied in the following description, and partly embodied by those skilled in the art through research and practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0017] Fig. 1 is a flowchart of an embodiment of the present application;

[0018] Fig. 2 is a schematic diagram of an installation state of an embodiment of the present application. DETAILED DESCRIPTION

[0019] The present invention will be described in further detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0020] It should be understood that the terms such as "having", "including" and "comprising" used in the embodiments of the present application do not exclude the existence or addition of one or more other elements or their combinations. All directional indications in the embodiments of the present application (such as up, down, left, right, front, back...) are only used to explain the relative positional relationship, movement, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly. When an element is referred to as "fixed on" or "set on" another element, it can be directly on the other element or there may be a centering element at the same time. When an element is referred to as "connected" to another element, it can be directly connected to the other element or it can be indirectly connected to the other element through a centering element. The descriptions of "first", "second", etc. in the embodiments of the present application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" can explicitly or implicitly include at least one of such features.

[0021] It should be noted that the technical solutions between the various embodiments of the present application can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0022] As shown in Figures 1 and 2, an embodiment of the present application provides a gantry crane installation method, including:

[0023] S1: lifting the main beam 1 to a first height, acquiring a first installation image, identifying the main beam 1 in the first installation image, and calculating the offset of the main beam 1;

[0024] Exemplarily, a camera device is provided in front of the installation location of the gantry crane to capture a first installation image and subsequent second and third installation images;

[0025] Exemplarily, the offset is the maximum distance between the main beam 1 and the horizontal direction;

[0026] For example, the outline of the main beam 1 is identified by image recognition technology, and the offset is determined in combination with the horizontal plane;

[0027] S2: If the offset is less than the first threshold, the upper end of the support leg 2 is hinged to the main beam 1, and the lower end is hinged to a sliding trolley 3;

[0028] Exemplarily, the first threshold value is determined according to the required installation accuracy in the design stage, such as 50 mm;

[0029] Exemplarily, a first lug plate is arranged on the upper end of the support leg 2, a second lug plate is arranged on the main beam 1 correspondingly, a third lug plate is arranged on the lower end of the support leg 2, and a fourth lug plate is arranged on the sliding trolley 3, the support leg 2 and the main beam 1 are hinged through the first lug plate and the second lug plate, and the upper end of the support leg 2 can be gradually rotated to contact the main beam 1, and the support leg 2 and the sliding trolley 3 are hinged through the third lug plate and the fourth lug plate, so as to ensure that the lower end of the support leg 2 can move downward along the main beam 1 when the main beam 1 is lifted;

[0030] Exemplarily, the first height is relatively low, which can meet the hinged installation of the support leg 2;

[0031] S3: lifting the main beam 1 to a second height, acquiring a second installation image, and identifying the support leg 2 in the second installation image to calculate the inclination angle of the support leg 2;

[0032] Exemplarily, the profile of the support leg 2 is identified through image recognition technology, and the inclination angle of the support leg 2 is determined in combination with the horizontal plane, as shown by the angle a in FIG. 2;

[0033] Exemplarily, the second height is a height range, such as 1 / 2-2 / 3 of the maximum lifting height, and the second installation image is acquired in real time and the inclination angle is calculated in the height range;

[0034] S4: if the inclination angle is within a predetermined range, the main beam 1 is continuously lifted to a third height, and a third installation image is acquired; the inclination angle represents the lifting effect of the support leg 2, if the inclination angle cannot reach the predetermined range, it indicates that there is a problem with the driving route and speed of the sliding trolley 3, at this time, the sliding trolley 3 needs to be adjusted to ensure the relative position of the support leg 2 and the main beam 1 is accurate;

[0035] Exemplarily, the third height is a height that can make the lower end of the support leg 2 move to the lower end of the main beam 1 to be vertical;

[0036] S5: identifying the support leg 2 and the main beam 1 in the third installation image, and calculating the included angle of the hinged part of the support leg 2 and the main beam 1;

[0037] Exemplarily, the profiles of the support leg 2 and the main beam 1 are identified through image recognition technology, and the included angle of the combination surface of the two is determined, as shown by the angle β in FIG. 2;

[0038] S6: if the included angle is less than a second threshold value, the support leg 2 and the main beam 1 are welded; the included angle represents the fitting degree of the upper end surface of the support leg 2 and the main beam 1, if the included angle is less than the second threshold value, it indicates that the support leg 2 and the main beam 1 are closely fitted, at this time, welding can ensure the welding quality of the support leg 2 and the main beam 1;

[0039] The embodiment sequentially lifts the main beam 1 to the first height, the second height and the third height, and respectively obtains the first installation image, the second installation image and the third installation image, obtains the offset of the main beam 1, the inclination of the support leg 2 and the angle between the support leg 2 and the main beam 1 through image recognition, adjusts the main beam 1 and the support leg 2 according to the offset, the inclination and the angle, controls the installation process and guarantees the installation precision; compared with the prior art, the installation process can be monitored in advance, the poor installation precision of the support leg 2 and the main beam 1 after welding is avoided, and the welding frequency is reduced.

[0040] In another embodiment, in S1, a marker is arranged below the main beam 1, the main beam 1 and the marker in the first installation image are recognized, the pixel interval between each point on the main beam 1 and the marker in the first installation image is calculated, and the offset is calculated according to the pixel interval.

[0041] Exemplarily, the marker is cross-shaped and is calibrated in advance by a theodolite and a level.

[0042] Exemplarily, the marker also appears in the first installation image and has a known length.

[0043] Exemplarily, end points and multiple intermediate points on the main beam 1 are selected, the pixel interval is obtained by recording the number of pixel points of each point and the marker, the actual length of the marker is combined, the offset is obtained according to the proportion, and the offset is obtained.

[0044] In another embodiment, in S2, if the offset is greater than the first threshold value, the main beam 1 is adjusted until the offset is less than the first threshold value.

[0045] Exemplarily, one or more of the plurality of lifting towers and the connection with the main beam 1 are adjusted until the offset meets the condition of being less than the first threshold value.

[0046] In another embodiment, in S3, the support leg 2 and the marker in the second installation image are recognized, the pixel profile of the support leg 2 and the marker is determined, and the pixel profile is projected into a coordinate system to calculate the inclination.

[0047] Exemplarily, the edge profile of the support leg 2 is extracted, the edge profile of the horizontal part of the marker is combined, the edge profile is projected into the coordinate system, and the inclination is obtained by assigning coordinates.

[0048] In another embodiment, in S4, if the inclination is not within a predetermined range, the sliding trolley 3 is adjusted until the inclination is within the predetermined range.

[0049] Exemplarily, the sliding speed and the sliding route of the sliding trolley 3 are adjusted by connecting the traction vehicle and the sliding trolley 3, so that the speed of the sliding trolley 3 is not too fast and the route deviation does not cause the support leg 2 to deviate from the main beam 1.

[0050] In another embodiment, in S5, the pixel profile of the contact surface between the leg 2 and the main beam 1 in the third installation image is identified and projected into the coordinate system, and the included angle is calculated.

[0051] Illustratively, the edge profile of the contact surface is extracted, projected into the coordinate system, given coordinates, and the included angle is calculated.

[0052] In another embodiment, in S6, if the included angle is greater than the second threshold value, indicating that the leg 2 and the main beam 1 are not tightly fitted, the sliding trolley 3 and the main beam 1 are adjusted, such as lowering the height of the main beam 1 or continuing to rotate the leg 2 downward below the main beam 1 by the sliding trolley 3, until the included angle is less than the second threshold value, and then welding.

[0053] In another embodiment, in S6, the sliding trolley 3 is removed, and the lower end of the leg 2 is welded to the large trolley of the leg 2, completing the installation of the entire gantry crane.

[0054] Although the embodiments of the present application have been disclosed as above, it is not limited to the application and implementation listed in the specification and embodiments, and can be fully applied to various fields suitable for the present application, and other modifications can be easily realized by those skilled in the art, and therefore the present application is not limited to specific details and the figures shown and described herein, without departing from the general concept defined by the claims and the equivalent scope.

Claims

1. A method of installing a gantry crane, characterised in that, The method comprises the following steps: S1: lifting the main beam to a first height, obtaining a first installation image, identifying the main beam in the first installation image, and calculating the offset of the main beam; S2: if the offset is less than a first threshold, hinging the upper end of the outrigger to the main beam and hinging the lower end to a sliding trolley; S3: lifting the main beam to a second height, obtaining a second installation image, identifying the outrigger in the second installation image, and calculating the inclination of the outrigger; S4: if the inclination is within a predetermined range, continue to lift the main beam to a third height, and obtain a third installation image; S5: identifying the outrigger and the main beam in the third installation image, and calculating the included angle of the hinging part of the outrigger and the main beam; S6: if the included angle is less than a second threshold, welding the outrigger to the main beam.

2. The portal crane installation method according to claim 1, characterized in that, In the S1, a marker is arranged below the main beam, the main beam and the marker in the first installation image are identified, the pixel interval between each point on the main beam in the first installation image and the marker is calculated, and the offset is calculated according to the pixel interval.

3. The portal crane installation method according to claim 2, characterized in that, In the S2, if the offset is greater than the first threshold, the main beam is adjusted until the offset is less than the first threshold.

4. The portal crane installation method according to claim 2, characterized in that, The upper end of the outrigger is provided with a first lug plate, a second lug plate is correspondingly arranged on the main beam, a third lug plate is arranged at the lower end of the outrigger, and a fourth lug plate is arranged on the sliding trolley, the hinging of the outrigger and the main beam is realized through the first lug plate and the second lug plate, and the hinging of the outrigger and the sliding trolley is realized through the third lug plate and the fourth lug plate.

5. The portal crane installation method as claimed in claim 2, characterized in that, In the S3, the outrigger and the marker in the second installation image are identified, the pixel profile of the outrigger and the marker is determined, and is projected into a coordinate system, and the inclination is calculated.

6. The portal crane installation method as claimed in claim 5, characterized in that, In the S4, if the inclination is not within the predetermined range, the sliding trolley is adjusted until the inclination is within the predetermined range.

7. The portal crane installation method as claimed in claim 1, characterized in that, In the S5, the pixel profile of the contact surface of the outrigger and the main beam in the third installation image is identified, and is projected into a coordinate system, and the included angle is calculated.

8. The gantry crane installation method as claimed in claim 1, characterized in that, In the S6, if the included angle is greater than the second threshold, the sliding trolley and the main beam are adjusted until the included angle is less than the second threshold.

9. The gantry crane installation method as claimed in claim 1, characterized in that, In the S6, the sliding trolley is removed, and the lower end of the outrigger is welded to an outrigger cart.

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