The invention provides an automatic workpiece hoisting method and system based on machine vision, and relates to the technical field of cranes, the method comprises the following steps: constructing a hoisting ring identification model based on machine vision; constructing a neural network-based PID (Proportion Integration Differentiation) controller of the bridge crane; acquiring a workpiece image; determining a hanging ring position through a hanging ring identification model; the target position of the crane trolley is determined by taking the position, located over the lifting ring position, of the crane trolley as the target; acquiring the current position of the crane trolley; according to the difference between the current position of the crane trolley and the target position of the crane trolley, system control force is calculated through a PID controller based on a neural network; the crane carriage is controlled to move to the position over the hanging ring; the lifting hook is controlled to descend, the relative position between the lifting hook and the lifting ring is obtained in real time through a depth sensor arranged on the lifting hook, and when the distance between the lifting hook and the lifting ring is smaller than a preset distance, an electromagnet is started to lock the lifting hook and the lifting ring; and the lifting hook is controlled to ascend to lift the workpiece.
本发明提供一种基于机器视觉的工件自动化吊起方法及系统,涉及起重机技术领域,方法包括:构建基于机器视觉的吊环识别模型;构建桥式起重机的基于神经网络的PID控制器;获取工件图像;通过吊环识别模型确定吊环位置;以起重小车位于吊环位置的正上方为目标,确定起重机小车目标位置;获取起重机小车当前位置;根据起重机小车当前位置与起重机小车目标位置之间的差异,通过基于神经网络的PID控制器,计算系统控制力;控制起重小车移动至吊环位置的正上方;控制吊钩下放,通过吊钩上设置的深度传感器实时获取吊钩与吊环之间的相对位置,在吊钩与吊环之间的距离小于预设距离时,开启电磁铁,将吊钩与吊环锁定;控制吊钩上升,吊起工件。
Automatic workpiece hoisting method and system based on machine vision
一种基于机器视觉的工件自动化吊起方法及系统
2024-07-26
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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