CN100378433C - Large industrial hock and crane positioning measuring apparatus based on FPGA - Google Patents
Large industrial hock and crane positioning measuring apparatus based on FPGA Download PDFInfo
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Abstract
The present invention relates to a position measuring device for a large industrial crane hook. The present invention has a scheme that an encoder [1] and a data acquisition unit [19] are connected with a photoelectric isolation module [2]; the photoelectric isolation module [2] is respectively connected with a signal filtering module [3] and a main control module [5]. The signal filtering module [3] is connected with a phase direction recognizing module [4], one end of the phase direction recognizing module [4] is connected with one end of a bidirectional counter module [6], and the other end of the phase direction recognizing module [4] and the other end of the bidirectional counter module [6] are respectively connected with the main control module [5]. A keyboard [18] is connected with the main control module [5] by a loading module [17], a memory [13] is connected with the main control module [5] by a bus module [12], a communication interface [11] is connected with the main control module [5] by a communication control module, and an LED display [9] is connected with the main control module [5] by a display control module [8]. A computation module [7], a clock [14] and a reset switch [15] are respectively connected with the main control module [5]. The present invention has the characteristics of high precision, easy upgrade and strong interference resistance, and is suitable for various harsh environments.
Description
One, the technical field
The invention belongs to a device for measuring the position of a lifting hook of an industrial large crane. In particular to an industrial large-scale crane hook position measuring device based on FPGA.
Second, background Art
With the development of the industrialization process, the industrial large crane is more and more widely applied to heavy industrial production such as petroleum, metallurgy and the like. In the operation of a large industrial crane, because the position of a crane driver is often very high (generally 20 to 50 meters) away from the ground, the driver can hardly judge the accurate position of the lifting hook accurately, the driver can only depend on the command of ground personnel completely, the efficiency is low, the production safety is completely charged by the ground command personnel, and the probability of accidents is high. An "automatic counting length measuring device" (CN92201010.2), which proposes a mechanical automatic counting measuring method, but has obvious defects: firstly, the method requires that the measured object and the measuring device keep rolling without sliding, and is difficult to strictly guarantee in an industrial field; secondly, the design of the device limits that the device can not measure the measured object in a large range; thirdly, the device is of a mechanical structure, cannot compensate errors of measurement, and cannot be applied to industrial fields with high dust and severe working conditions; in addition, the device does not consider the problem of monitoring the device in actual production in the implementation process, and a human-computer interface and a module for communicating with an upper computer are not designed.
Third, the invention
The invention aims to provide the industrial large crane hook position measuring device which has the advantages of high precision, small volume, low cost, good universality, strong anti-interference capability, convenient upgrade, suitability for various industrial severe environments, capability of realizing communication with an upper computer and capability of carrying out real-time tracking on the position of the measured hook.
In order to realize the measurement purpose, the technical scheme adopted by the invention is as follows: the encoder and the data acquisition device are respectively connected with the photoelectric isolation module, the photoelectric isolation module is respectively connected with the signal filtering module and the master control module, the signal filtering module is connected with the phase direction identification module, one end of the phase direction identification module is connected with one end of the two-way counter module, and the other end of the phase direction identification module and the other end of the two-way counter module are respectively connected with the master control module. The keyboard is connected with the master control module through the loading module, the memory is connected with the master control module through the bus module, the communication interface is connected with the master control module through the communication control module, and the LED display is connected with the master control module through the display control module; the computing module, the clock and the reset switch are respectively connected with the master control module.
The signal filtering module, the phase direction identification module, the master control module, the bidirectional counter module, the calculation module, the display control module, the communication control module, the bus module and the loading module are programmed by a hardware description language VHDL and integrated into an FPGA.
Wherein: the master control module consists of a master controller frequency division module, a microprocessor module and a master controller bus module, wherein one end of the microprocessor module is connected with the master controller bus module, and the other end of the microprocessor module is connected with the master controller frequency division module. In the master control module:
the master controller bus module is respectively connected with the photoelectric isolation module, the reset switch, the loading module, the phase direction identification module and the clock;
the master controller bus module is respectively connected with one end of the display control module, the communication control module and one end of the bus module, and the master controller frequency division module is respectively connected with the other end of the display control module, the other end of the communication control module and the other end of the bus module;
input end Dcoutin of bus module of master controller0～DcoutIn15And the output end D of the bidirectional counter module0～D15Connecting;
input end DIn of bus module of master controller0～DIn13And a calculation module [7]Output terminal of DoutCal0～DoutCal13Output terminal Doneout of bus module of connection and master controller0～DoneOut7、LoadDataOut0～LoadDataOut15And the input end DoneCal of the calculation module0～DoneCal7、LoadDataCal0～LoadDataCal15And (4) connecting.
The signal filtering module consists of a frequency divider, a comparator and an algorithm calculator, wherein the output end Clk of the frequency divider is connected with the input end Clkin of the comparator, and the output end SingalOut of the comparator1～SingalOut3Input Din of AND algorithm calculator1～Din3Connecting; output end Singal of photoelectric isolation moduleA、SingalBAnd SingalZAnd input terminal Singalin of comparator1、SingalIn2And Singalin3Output terminal Dout of connection and algorithm calculator1～Dout3And input end DphaseIn of phase direction identification module1～DphaseIn3And (4) connecting.
The phase direction identification module consists of a trigger and a direction identification controller, and the output end DphaseOut of the trigger1～DphaseOut3And the input Din of the direction recognition controller1～Din3Connecting; the input end of the trigger is connected with the output end of the signal filtering module, the input end En of the trigger is connected with the output end Entirer of the master controller bus module, and the output end Dphase of the direction identification controller1、Dphase2Respectively connected with the input ends Up and Down of the bidirectional counter module and the input end Din of the master controller bus module1、Din2And the input end En of the direction identification controller is connected with the output end Endir of the bus module of the master controller.
The display control module consists of a display decoder and a display driver, and the output end X of the display decoder0～X13With input XL of the display driver0～XL13End connection; output XA of display driver0～XA7、XB0～XB7、XC0～XC7、XD0～XD7And the input end DispA of the LED display0～DispA7、DispB0～DispB7、DispC0～DispC7、DispD0～DispD7Connected to, and displaying the input terminal In of the decoder0～In31Bus module [22] of read-write signal ends Tw and Rw and master controller]Output terminal Ddisp of0～Ddisp31The read-write signal ends Xtw and Xrw are connected, and the input end Clkin of the display decoder is connected with the output end Dispclk of the controller frequency division module.
The communication control module consists of a baud rate generation module, a sending module and a receiving module, wherein the output end Bdout of the baud rate generation module is respectively connected with the baud rate input end Bdrxd of the receiving module and the baud rate input end Bdtxd of the sending module; the input end Rxd of the receiving module and the output end Txd of the sending module are respectively connected with the output end Xrxd and the input end Xtxd of the communication interface, and the output end Dout of the receiving module0～Dout7Input end Duart of bus module of master controller0～Duart7The input end of the sending module is connected with the output end Duart of the bus module of the master controller8～Duart15And the input end Clkin of the baud rate generation module is connected with the output end Uartclk of the master controller frequency division module.
The bus module consists of a time sequence generation module and a logic control module, and the output end Dlout of the logic control module0、Dlout1And the input end Dl of the time sequence generation module0、Dl1Connecting; the output end Scl and the bidirectional end Sda of the time sequence generation module are connected with the input end Scleep and the bidirectional end Sdaep of the storage module, and the bidirectional end Bidriect of the time sequence generator0、Bidriect1Bidirectional end Bidriecccon with bus module of master controller0、Bidriectcon1An input end Dlin of a logic control module is connected0、Dlin1Output end Dconl of bus module of master controller0、Dconl1The input end Clkin of the time sequence generator and the output of the master controller frequency division module are connectedThe terminals Clk are connected.
The loading module is formed by connecting a data conversion module and a data operation module, and the input end Dcov of the data conversion module0～Dcov7And the output end Dkey of the keyboard0～Dkey7Input end Func of connection and data operation module0、Func1Output end FuncIn of bus module of master controller0、FuncIn1Output Done of connection and data operation module0～Done7And Loadata0～Loadata15Input end Donein of bus module of master controller0～Donein7And Loadataiin0～Loadatain15And (4) connecting.
By adopting the technical scheme, the invention has the characteristics of high measurement precision, low development cost, short development period, long product life cycle, convenient upgrading, strong anti-interference performance and suitability for various industrial severe environments, can realize communication with an upper computer and can track the position of the measured lifting hook in real time. The device integrates all modules into one FPGA chip, so that the device has small volume, light weight and low power consumption.
Description of the drawings
FIG. 1 is a schematic block diagram of an overall architecture of the present invention;
FIG. 2 is a schematic block diagram of the operation of the general control module [5] of FIG. 1;
FIG. 3 is a block diagram of the operation of the signal filtering module [3] of FIG. 1;
FIG. 4 is a block diagram of the operation of the phase direction identification module [4] of FIG. 1;
FIG. 5 is a block diagram of the operation of the display control module [8] of FIG. 1;
FIG. 6 is a schematic block diagram of the operation of the communication control module [10] of FIG. 1;
FIG. 7 is a block diagram of the operation of the I2C bus module [12] of FIG. 1;
FIG. 8 is a block diagram of the operation of the load module [17] of FIG. 1.
Fifth, detailed description of the invention
The invention will be further described with reference to the accompanying drawings in which:
an industrial large-scale crane hook position measuring device based on FPGA (field programmable gate array), as shown in figure 1, an encoder [1] and a data collector [19] are respectively connected with a photoelectric isolation module [2], the photoelectric isolation module [2] is respectively connected with a signal filtering module [3] and a master control module [5], the signal filtering module [3] is connected with a phase direction identification module [4], one end of the phase direction identification module [4] is connected with one end of a bidirectional counter module [6], and the other end of the phase direction identification module [4] and the other end of the bidirectional counter module [6] are respectively connected with the master control module [5 ]; the keyboard [18] is connected with the master control module [5] through the loading module [17], the memory [13] is connected with the master control module [5] through the bus module [12], the communication interface [11] is connected with the master control module [5] through the communication control module [10], and the LED display [9] is connected with the master control module [5] through the display control module [8 ]; the computing module [7], the clock [14] and the reset switch [15] are respectively connected with the master control module [5 ]; wherein,
the signal filtering module [3], the phase direction identification module [4], the master control module [5], the bidirectional counter module [6], the calculation module [7], the display control module [8], the communication control module [10], the bus module [12] and the loading module [17] are programmed by a hardware description language VHDL and integrated into an FPGA [16 ].
The total control module [5] is shown in figure 2. The system consists of a master controller frequency division module [20], a microprocessor module [21] and a master controller bus module [22], wherein one end of the microprocessor module [21] is connected with the master controller bus module [22], and the other end is connected with the master controller frequency division module [20 ]; wherein,
the master controller bus module [22] is respectively connected with the photoelectric isolation module [2], the reset switch [15], the loading module [17], the phase direction identification module [4] and the clock [14 ];
a master controller bus module [22] is respectively connected with one end of the display control module [8], the communication control module [10] and the bus module [12], and a master controller frequency division module [20] is respectively connected with the other end of the display control module [8], the communication control module [10] and the bus module [12 ];
master controller bus module [22]]Input terminal DcoutIn0～DcoutIn15And bidirectional counter module [6]Output terminal D of0～D15Connecting;
master controller bus module [22]]Input terminal DIn0～DIn13And a calculation module [7]Output terminal of DoutCal0～DoutCal13Connecting, master controller bus module [22]]Output terminal of (d) DoneOut0～DoneOut7、LoadDataOut0～LoadDataOut15And a calculation module [7]Input terminal of (1) DoneCal0～DoneCal7、LoadDataCal0～LoadDataCal15And (4) connecting.
Signal filtering module [3]As shown in fig. 3, by a frequency divider [23 ]]Comparator [24 ]]Sum algorithm calculator [25]Component, frequency divider [23 ]]Of the output terminal Clk and a comparator [24 ]]Is connected to an input terminal Clkin, a comparator [24 ]]Output terminal SingalOut1～SingalOut3And algorithm calculator [25]Input terminal Din1～Din3Connecting; photoelectric isolation module [2]Output terminal Singal ofA、SingalBAnd SingalZAnd comparator [24 ]]Input terminal Singalin1、SingalIn2And Singalin3Connection, Algorithm calculator [25 ]]Output terminal Dout1～Dout3And a phase direction identification module [4]]Input terminal DphaseIn1～DphaseIn3And (4) connecting.
Phase direction identification module [4]As shown in fig. 4, by a flip-flop [26 ]]And a direction recognition controller [27 ]]Comprising, a flip-flop [26]Output of (2)Terminal DphaseOut1～DphaseOut3And a direction recognition controller [27 ]]Input terminal Din1～Din3Connecting; trigger [26]Input terminal and signal filtering module [3]]Is connected to an output terminal of a flip-flop [26 ]]Input En of the master controller and a bus module [22]]Is connected with the output end Entirger of the direction identification controller [27 ]]Output end Dphase of1、Dphase2Respectively connected with a bidirectional counter module [6]Input ends Up and Down and a master controller bus module [22]]Input terminal Din1、Din2Connection, direction recognition controller [27 ]]Input En of the master controller and a bus module [22]]Is connected to the output end Endir.
Display control Module [8]As shown in fig. 5, by display decoder [28 ]]And a display driver [29 ]]Composition, display decoder [28]Output terminal X of0～X13And a display driver [29 ]]Input terminal XL0～XL13End connection; display driver [29]Is connected to the output XA0～XA7、XB0～XB7、XC0～XC7、XD0～XD7And LED display [9]]Input terminal DispA of0～DispA7、DispB0～DispB7、DispC0～DispC7、DispD0～DispD7Concatenated, display decoder [28]Input terminal In of0～In31Bus module [22] of read-write signal ends Tw and Rw and master controller]Output terminal Ddisp of0～Ddisp31The read/write signal terminals Xtw and Xrw are connected to a display decoder [28 ]]Input terminal Clkin and controller frequency division module [20]]Is connected with the output end of the signal processor.
Communication control module [10]As shown in fig. 6, by baud rate generation block [30 ]]And a transmission module [31 ]]And a receiving module [32 ]]Composition, baud rate generating module [30 ]]Respectively with a receiving module [32 ]]Baud rate input Bdrxd and transmit block [31 ]]The Baud rate input ends Bdtxd are connected; receiving module [32 ]]Input Rxd and transmit module [31 ]]Respectively with communication interfaces [11]]Is connected to the input terminal Xtxd, a receiving module [32 ]]Output terminal Dout0～Dout7And a master controller bus module [22]]Input terminal Duart0～Duart7Connection, sending Module [31]Input end of the master controller bus module [22]]Duart output terminal8～Duart15Connection, baud rate generation module [30 ]]Input end Clkin and master controller frequency division module [20]]Is connected to the output Uartclk.
Bus module [12]]As shown in fig. 7, by the timing generation module [33 ]]And a logic control module [34 ]]Component, logic control Module [34]Output terminal Dlout of0、Dlout1And timing generation module [33 ]]Input terminal Dl of0、Dl1Connecting; timing generation Module [33]Output terminal Scl, bidirectional terminal Sda and memory module [13]]Is connected with the input end Scleep and the bidirectional end Sdaeep, and a time sequence generator [33]Bidriect at bidirectional end0、Bidriect1And a master controller bus module [22]]Bidriecccon at bidirectional end0、Bidriectcon1Connection, logic control Module [34]Input terminal Dlin0、Dlin1And a master controller bus module [22]]Output terminal Dconl of0、Dconl1Connection, timing Generator [33]Input end Clkin and master controller frequency division module [20]]Is connected.
Loading Module [17]As shown in fig. 8, by a data conversion module [35 ]]And data operation Module [36]Connection component, data conversion module [35 ]]Input terminal Dcov0～Dcov7And keyboard [18]Output terminal Dkey0～Dkey7Connection, data operation Module [36]Input end Func of0、Func1And a master controller bus module [22]]Output terminal of FuncIn0、FuncIn1Connection, data operation Module [36]Is connected to the output terminal Done0～Done7And Loadata0～Loadata15And a master controller bus module [22]]Input terminal Donein0～Donein7And Loadataiin0～Loadatain15And (4) connecting.
The embodiment is shown in the attached drawing, and a rotary photoelectric encoder (1) is coaxially arranged at a traction roller of a large industrial crane]Through a keyboard [18]]Input deviceParameters are as follows: s is the vertical distance of the lifting hook to the ground; n is a radical of1The number of the movable pulley groups; n is a radical of2Is a rotary encoder P/R; l is the distance from the upper limit of the lifting hook to the bottom surface; d is the diameter of the roller. By the formula
The vertical distance S between the crane hook and the ground can be obtained.
The output ends of the rotary photoelectric encoder [1] and the data acquisition unit [19] of the upper limit input signal and the lower limit input signal are respectively connected with the input end of the photoelectric isolation module [2 ]; loading the initial value into a 16BIT bidirectional counter module [6] through a loading module [17] by a master control module [5], and calculating the position of a lifting hook by the device through a calculation module and the 16BIT bidirectional counter module [6] in real time; the display control module [8] displays data through an LED display [9 ]; the EEPROM storage module [13] stores key data through an I2C bus module [12] and a master control module [5 ]; the communication interface [11] is communicated with an upper computer through a communication control module [10] to complete real-time monitoring and fault detection; and the master control module [5] controls and coordinates the normal operation of each module and the transmission of data streams.
The device utilizes the rotary photoelectric encoder [1] as a measuring sensor to convert the vertical distance measurement of the lifting hook into the measurement of the output signal of the rotary photoelectric encoder [1], and the FPGA technology is used for master control. The device has the advantages of low development cost, short development period, long product life cycle, convenient upgrading and strong anti-interference performance, and is suitable for various industrial severe environments.
Claims (8)
1. An industrial large crane hook position measuring device based on FPGA is characterized in that an encoder [1] and a data collector [19] are respectively connected with a photoelectric isolation module [2], the photoelectric isolation module [2] is respectively connected with a signal filtering module [3] and a master control module [5], the signal filtering module [3] is connected with a phase direction identification module [4], one end of the phase direction identification module [4] is connected with one end of a bidirectional counter module [6], and the other end of the phase direction identification module [4] and the other end of the bidirectional counter module [6] are respectively connected with the master control module [5 ]; the keyboard [18] is connected with the master control module [5] through the loading module [17], the memory [13] is connected with the master control module [5] through the bus module [12], the communication interface [11] is connected with the master control module [5] through the communication control module [10], and the LED display [9] is connected with the master control module [5] through the display control module [8 ]; the computing module [7], the clock [14] and the reset switch [15] are respectively connected with the master control module [5 ]; wherein,
the signal filtering module [3], the phase direction identification module [4], the master control module [5], the bidirectional counter module [6], the calculation module [7], the display control module [8], the communication control module [10], the bus module [12] and the loading module [17] are programmed by a hardware description language VHDL and integrated into an FPGA [16 ].
2. The device for measuring the position of the lifting hook of the industrial large crane based on the FPGA as claimed in claim 1, wherein the master control module [5] consists of a master controller frequency division module [20], a microprocessor module [21] and a master controller bus module [22], one end of the microprocessor module [21] is connected with the master controller bus module [22], and the other end is connected with the master controller frequency division module [20 ]; wherein,
a master controller bus module [22] is respectively connected with the photoelectric isolation module [2], the reset switch [15], the loading module [17], the phase direction identification module [4] and the clock [14 ];
a master controller bus module [22] is respectively connected with one end of the display control module [8], the communication control module [10] and the bus module [12], and a master controller frequency division module [20] is respectively connected with the other end of the display control module [8], the communication control module [10] and the bus module [12 ];
-a general controller bus module [22]]Input terminal DcoutIn0～DcoutIn15And bidirectional counter module [6]Output terminal D of0～D15Connecting;
-a general controller bus module [22]]Input terminal DIn0～DIn13And a calculation module [7]Output terminal of DoutCal0～DoutCal13Connecting, master controller bus module [22]]Output terminal of (d) DoneOut0～DoneOut7、LoadDataOut0～LoadDataOut15And a calculation module [7]Input terminal of (1) DoneCal0～DoneCal7、LoadDataCal0～LoadDataCal15And (4) connecting.
3. The FPGA-based industrial large crane hook position measuring device according to claim 1, wherein the signal filtering module [3]]By a frequency divider [23 ]]Comparator [24 ]]Sum algorithm calculator [25]Component, frequency divider [23 ]]Of the output terminal Clk and a comparator [24 ]]Is connected to an input terminal Clkin, a comparator [24 ]]Output terminal SingalOut1～SingalOut3And algorithm calculator [25]Input terminal Din1～Din3Connecting; photoelectric isolation module [2]Output terminal Singal ofA、SingalBAnd SingalZAnd comparator [24 ]]Input terminal Singalin1、SingalIn2And Singalin3Connection, Algorithm calculator [25 ]]Output terminal Dout1～Dout3And a phase direction identification module [4]]Input terminal DphaseIn1～DphaseIn3And (4) connecting.
4. The FPGA-based industrial large crane hook position measuring device according to claim 1, wherein the phase direction identification module [4]]By a trigger [26 ]]And a direction recognition controller [27 ]]Comprising, a flip-flop [26]Is output end DphaseOut1～DphaseOut3And a direction recognition controller [27 ]]Input terminal Din1～Din3Connecting; trigger [26]Input terminal and signal filtering module [3]]Is connected to an output terminal of a flip-flop [26 ]]Input En of the master controller and a bus module [22]]Is connected with the output end Entirger of the direction identification controller [27 ]]Output end Dphase of1、Dphase2Respectively connected with a bidirectional counter module [6]Input ends Up and Down and a master controller bus module [22]]Input terminal Din1、Din2Connection, direction recognition controller [27 ]]Input En of the master controller and a bus module [22]]Is connected to the output end Endir.
5. The method of claim 1The device for measuring the position of the industrial large crane hook based on the FPGA is characterized in that the display control module [8]]From a display decoder [28]And a display driver [29 ]]Composition, display decoder [28]Output terminal X of0～X13And a display driver [29 ]]Input terminal XL0～XL13End connection; display driver [29]Is connected to the output XA0～XA7、XB0～XB7、XC0～XC7、XD0～XD7And LED display [9]]Input terminal DispA of0～DispA7、DispB0～DispB7、DispC0～DispC7、DispD0～DispD7Concatenated, display decoder [28]Input terminal In of0～In3Bus module [22] of read-write signal ends Tw and Rw and master controller]Output terminal Ddisp of0～Ddisp31The read/write signal terminals Xtw and Xrw are connected to a display decoder [28 ]]Input terminal Clkin and controller frequency division module [20]]Is connected with the output end of the signal processor.
6. The FPGA-based industrial large crane hook position measuring device as claimed in claim 1, wherein the communication control module [10]]By baud rate generating module [30]And a transmission module [31 ]]And a receiving module [32 ]]Composition, baud rate generating module [30 ]]Respectively with a receiving module [32 ]]Baud rate input Bdrxd and transmit block [31 ]]The Baud rate input ends Bdtxd are connected; receiving module [32 ]]Input Rxd and transmit module [31 ]]Respectively with communication interfaces [11]]Is connected to the input terminal Xtxd, a receiving module [32 ]]Output terminal Dout0～Dout7And a master controller bus module [22]]Input terminal Duart0～Duart7Connection, sending Module [31]Input end of the master controller bus module [22]]Duart output terminal8～Duart15Connection, baud rate generation module [30 ]]Input end Clkin and master controller frequency division module [20]]Is connected to the output Uartclk.
7. The base of claim 1The device for measuring the hook position of the industrial large crane in the FPGA is characterized in that the bus module [12]]By a timing generation module [33 ]]And a logic control module [34 ]]Component, logic control Module [34]Output terminal Dlout of0、Dlout1And timing generation module [33 ]]Input terminal Dl of0、Dl1Connecting; timing generation Module [33]Output terminal Scl, bidirectional terminal Sda and memory module [13]]Is connected with the input end Scleep and the bidirectional end Sdaeep, and a time sequence generator [33]Bidriect at bidirectional end0、Bidriect1And a master controller bus module [22]]Bidriecccon at bidirectional end0、Bidriectcon1Connection, logic control Module [34]Input terminal Dlin0、Dlin1And a master controller bus module [22]]Output terminal Dconl of0、Dconl1Connection, timing Generator [33]Input end Clkin and master controller frequency division module [20]]Is connected.
8. The FPGA-based industrial large crane hook position measuring device of claim 1, wherein the loading module [17]]By a data conversion module [35 ]]And data operation Module [36]Connection component, data conversion module [35 ]]Input terminal Dcov0～Dcov7And keyboard [18]Output terminal Dkey0～Dkey7Connection, data operation Module [36]Input end Func of0、Func1And a master controller bus module [22]]Output terminal of FuncIn0、FuncIn1Connection, data operation Module [36]Is connected to the output terminal Done0～Done7And Loadata0～Loadata15And a master controller bus module [22]]Input terminal Donein0～Donein7And Loadataiin0～Loadatain15And (4) connecting.
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| CNB2005100195513A CN100378433C (en) | 2005-10-08 | 2005-10-08 | Large industrial hock and crane positioning measuring apparatus based on FPGA |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005100195513A Expired - Fee Related CN100378433C (en) | 2005-10-08 | 2005-10-08 | Large industrial hock and crane positioning measuring apparatus based on FPGA |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100451553C (en) * | 2006-07-28 | 2009-01-14 | 武汉科技大学 | Wide-voltage range signal shunt based on FPGA |
| CN102999643B (en) * | 2011-11-22 | 2015-11-25 | 上海恩艾仪器有限公司 | Isolated data collecting card |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2114137U (en) * | 1992-01-15 | 1992-08-26 | 林喜升 | Automatic counting length measurer |
| DE19540319C1 (en) * | 1995-10-28 | 1997-04-03 | Christa Reiners | Test equipment for rigidity of mast anchored into ground |
| DE20205038U1 (en) * | 2002-03-28 | 2002-08-22 | Voith Siemens Hydro Power Generation GmbH & Co. KG, 89522 Heidenheim | Mechanical gap measuring device |
| CN2685306Y (en) * | 2004-03-25 | 2005-03-16 | 马振权 | Tower type crane monitoring instrument |
| CN2839220Y (en) * | 2005-10-08 | 2006-11-22 | 武汉科技大学 | Arrangement for real-time measuring position of articles to be lifted |
-
2005
- 2005-10-08 CN CNB2005100195513A patent/CN100378433C/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2114137U (en) * | 1992-01-15 | 1992-08-26 | 林喜升 | Automatic counting length measurer |
| DE19540319C1 (en) * | 1995-10-28 | 1997-04-03 | Christa Reiners | Test equipment for rigidity of mast anchored into ground |
| DE20205038U1 (en) * | 2002-03-28 | 2002-08-22 | Voith Siemens Hydro Power Generation GmbH & Co. KG, 89522 Heidenheim | Mechanical gap measuring device |
| CN2685306Y (en) * | 2004-03-25 | 2005-03-16 | 马振权 | Tower type crane monitoring instrument |
| CN2839220Y (en) * | 2005-10-08 | 2006-11-22 | 武汉科技大学 | Arrangement for real-time measuring position of articles to be lifted |
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| Publication number | Publication date |
|---|---|
| CN1746620A (en) | 2006-03-15 |
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