本发明公开了一种基于机器视觉的吊具精准定位系统及方法,该系统采用检测装置、控制器和输出单元,控制器用于采集检测装置获取的吊具和载荷的位置信息,控制输出单元做相应动作,完成吊具与载荷的对接;检测装置包括设于吊具上的双目相机、主回转编码器和吊臂角度传感器,双目相机与载荷上的靶标配套使用,用于识别载荷上的靶标,获取载荷的位置信息;主回转编码器用于实时检测吊装车的主回转角度;吊臂角度传感器用于实时检测吊装车的吊臂幅度。本发明有效消除传感器安装偏差、机构间隙和结构形变等前端传感器无法检测的各种误差,提高了控制系统的检测精度,由以前的分米级提高到毫米级;增加了检测的冗余性,提高了系统的安全性与可靠性。

    The invention discloses a precise lifting appliance positioning system and method based on machine vision. According to the precise lifting appliance positioning system, a detection device, a controller and an output unit are adopted, the controller is used for collecting position information of a lifting appliance and a load obtained by the detection device, and controlling the output unit to perform corresponding actions to complete butt joint of the lifting appliance and the load; the detection device comprises a binocular camera, a main rotary encoder and a suspension arm angle sensor which are arranged on the lifting appliance, and the binocular camera is used in cooperation with a target on the load and used for recognizing the target on the load and obtaining position information of the load; the main rotary encoder is used for detecting the main rotary angle of a sling cart in real time; and the suspension arm angle sensor is used for detecting the suspension arm amplitude of the sling cart in real time. Various errors which cannot be detected by a front-end sensor, such as sensor installation deviation, mechanism gaps and structural deformation, are effectively eliminated, and the detection precision of a control system is improved from the previous decimeter level to the millimeter level; and the detection redundancy is increased, and the safety and reliability of the system are improved.


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    Titel :

    基于机器视觉的吊具精准定位系统及方法


    Erscheinungsdatum :

    2024-07-02


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B66C Krane , CRANES