The invention relates to the technical field of crane automatic control and discloses a crane anti-swing method based on machine vision. The crane anti-swing method comprises the following steps: mounting a camera and a calibration board; obtaining the swinging angle and attitude information of a sling through the vision algorithm; judging whether the swinging angle of the sling is equal to zero;determining the moving directions and accelerated speeds of a cart and a trolley; adopting a frequency converter to control the cart and the trolley to walk to eliminate swing; judging the swing angleof the sling is equal to zero; and ending the procedure. According to the crane anti-swing method, rapid swing elimination can be carried out on the crane sling, load caused by swing of the crane sling to the crane cart and the crane trolley is reduced, the service life of the crane cart and the crane trolley is prolonged, a safety accident caused by groove jumping of the crane sling during the swinging process is prevented, and application is safer; and in addition, the crane sling can rapidly stop swinging to improve the working efficiency of the crane.
本发明涉及起重机自动控制技术领域,且公开了一种基于机器视觉的起重机防摇方法,包括安装相机与标定板—通过视觉算法获取吊具的摆动角与姿态信息—判断吊具的摆动角度是否等于零—确定大车、小车的移动方向与加速度—变频器控制大车、小车行走消摆—判断吊具的摆动角度是否等于零—程序结束。该基于机器视觉的起重机防摇方法,可以对起重机吊具进行快速消摆,减小起重机吊具摇摆对起重机大车、起重机小车造成的负载,增加起重机大车、起重机小车的使用寿命,且防止起重机吊具摇摆过程中跳槽引发的安全事故,使用比较安全,另外,起重机吊具可以快速停摆,能提高起重机的工作效率。
Crane anti-swing method based on machine vision
一种基于机器视觉的起重机防摇方法
2020-04-24
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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