Study On Control Strategy Of Tower Crane Based On Machine Vision

Tower crane in the process of operation there are visual blind areas,operating errors,high requirements for the operator characteristics and hidden dangers,at the same time in the process of load lifting will produce a lot of swing.How to eliminate these hidden dangers,reduce the swing of the tower crane and other issues have gradually been concerned by the public.The control of tower crane is becoming more and more complicated,and the current control system and mode are gradually unable to meet the requirements.Therefore,exploring a set of control strategy that integrates solving visual blind area,fixed-point control and anti-pendulum control is of great significance for the development of this direction.First of all,this dissertation begins with a statement of the research background of the subject,the source of the subject and the significance of the study of the subject,a detailed description of the tower crane control methods and industrial vision theory of the current situation and future development.Aiming at different types of control strategies,the control principle is expounded,and the control effect and existing problems of tower crane control in current control field are introduced.Secondly,the spatial coordinate system of the tower crane is established,and the deep learning YOLO algorithm is used to realize the identification of the hook of the tower crane.Thirdly,the characteristics of tower crane as a typical under-actuated model are analyzed,and the detailed modeling process and derivation are given by using Lagrange method.The physical model of tower crane is abstracted and the control model for actual control is obtained.For the control model,the sliding mode control method is adopted,and the lifting process is divided into three processes.In addition,Simulink simulates the model combined with the control algorithm of the controlled object,which verifies that the method can realize fixed-point control and anti-pendulum of tower crane in a relatively short time.Fourth,according to the functional requirements of the actual controlled object tower crane,a control structure based on DSP controller is proposed,and the overall block diagram and the overall hardware block diagram are given.The hardware circuit design of DSP minimum system,JTAG interface circuit,485 communication module,photoelectric coupling circuit,amplifying circuit,alarm circuit and so on is given.Lastly,the future research and development of this subject are prospected.