CN102530729B - Method and system for controlling pendulum of suspender - Google Patents
Method and system for controlling pendulum of suspender Download PDFInfo
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- CN102530729B CN102530729B CN201210032956.0A CN201210032956A CN102530729B CN 102530729 B CN102530729 B CN 102530729B CN 201210032956 A CN201210032956 A CN 201210032956A CN 102530729 B CN102530729 B CN 102530729B
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Abstract
The invention discloses a method for controlling the pendulum of a suspender. The method comprises the following steps of: A) setting a running track of the suspender in the non-pendulum state according to the requirement of hoisting; B) acquiring the current position of the suspender in real time, and acquiring the setting position of the suspender, which corresponds to the current time according to the running track; C) comparing the current position of the suspender with the setting position corresponding to the current time, and calculating to obtain the amplitude of the pendulum of the suspender; and D) controlling the action of a base plate and/or winching according to the amplitude of the suspender to reduce the amplitude. According to the method, the action of the base plate and the winching is controlled according to the amplitude obtained by calculation, so that the suspender is subjected to acting force which is opposite to the swing direction to realize the function of stopping swinging quickly, prevent the pendulum of the suspender from damaging a crane and improve the safety of the hoisting. The invention also discloses a system for controlling the pendulum of the suspender.
Description
Technical field
The present invention relates to technical field of engineering machinery, particularly the method and system of thing runout is hung in a kind of control.
Background technology
Lifting machine is comparatively extensive in technical field of engineering machinery application.Crane generally comprises arm, chassis and elevator, the swing type mechanism on chassis can drive arm to rotate in horizontal surface, elevator hangs thing around to arm place hook, and elevator can control by the folding and unfolding of steel rope the height that hangs thing, and drives arm luffing in perpendicular., under the driving effect of chassis and elevator, jointly realize the lifting of hanging thing.
In hoisting process, the operating mode of crane, hang the factors such as lotus changes in weight and all can affect the change of scratching of arm, meanwhile, wind-force when lifting, hang that the operation control of thing is improper etc. all can make to hang the oscillating quantity that deposits yields is certain, thereby cause lifting machine to produce STRESS VARIATION.And, when hoisting object, lifting machine needs overhead certain altitude conventionally, and arm lifts certain height, to meet the demand of lifting, especially large-scale lifting machine, common in the overhead aloft work of 50～150 meters, while hanging deposits yields runout in hoisting process, the destructive force that runout causes lifting machine is larger, affect the service life of lifting machine, even can cause hanging thing and come off, cause even more serious safety misadventure.
In view of this, how effectively controlling and to hang thing runout, prevent from damaging lifting machine, improve the safety of lifting, is those skilled in the art's technical issues that need to address.
Summary of the invention
Object of the present invention is for providing a kind of control to hang the method and system of thing runout, this control system and control method can be according to the amplitudes that hangs thing, control chassis and/work speed of elevator, to reduce the amplitude that hangs thing, and then the runout of thing is hung in control, thereby prevent from hanging thing runout lifting machine is caused to damage, improve the safety factor of lifting machine lifting.
For achieving the above object, a kind of method that the invention provides control and hang thing runout, comprises the steps:
A), according to lifting demand, set and hang thing at the running orbit without under runout state;
B) Real-time Obtaining hangs the current location of thing, and obtains the desired location that hangs thing corresponding with current time according to running orbit;
C) relatively hang the current location of thing and the desired location corresponding with current time, calculate and obtain the amplitude that hangs thing runout;
D) according to amplitude control chassis and/or the elevator action of hanging thing, be subject to reducing amplitude with the application force of runout opposite direction so that hang thing.
Preferably, step B) in, detect and hang the current acceleration/accel of thing and cireular frequency in real time, obtain the current location of hanging thing according to the current acceleration/accel of lifting time, detection and angular speed calculation.
Preferably, step B) in, also detect in real time current temperature, by the temperature obtained, acceleration/accel and cireular frequency are carried out to rectification building-out and obtain and hang the current acceleration/accel of thing and cireular frequency.
Preferably, steps A) in, go back set amplitude comparison value; Step C) in, whether comparison amplitude exceeds rate of amplitude to value, no, enters step D), be to enter following step:
E) stop hanging thing operation.
Preferably, step e) in, also send alarm message.
Preferably, steps A) in, set track and set up in accordance with the following steps:
Determine and hang thing that reference position and final position are measured to obtain and hung thing position is in horizontal cross, level longitudinally and the shift value of vertical direction to terminal from reference position;
Take lifting appliance as initial point, hang thing reference position as initial point, cook up hang thing set track:
Lz＝M-v*T；
Wherein, Lx, Ly, Lz are respectively and hang thing position is in horizontal cross, level longitudinally and the shift value of vertical direction to terminal from reference position; T is that the lifting total time, the L that hang thing are arm length of run, and M is elevator lifting rope total length, the ω setting rotational angular velocity that is chassis, the setting gathering speed that v is lifting rope, the initial length that M is lifting rope.
The system that the present invention also provides a kind of control to hang thing runout, comprise controller and be attached thereto hang the acquisition device of thing current location parameter for Real-time Obtaining, described controller comprises:
Memory cell, that sets according to lifting demand in order to storage hangs thing at the running orbit without under runout state;
The analytic unit being connected with memory cell, the current location of hanging thing according to current location parameter acquiring; And obtaining the desired location that hang thing corresponding with current time without the running orbit under runout state according to hanging thing, and with the current location comparison of hanging thing, obtain and hang the amplitude of thing;
The signal output unit being connected with analytic unit, according to hanging the amplitude output control chassis of thing and/or the signal of elevator action, to reduce amplitude.
Preferably, acquisition device comprises the accelerometer and the turn meter that are connected with analytic unit, hangs the current acceleration/accel of thing and cireular frequency respectively in order to detect; Described analytic unit obtains the current location of hanging thing in conjunction with lifting time, the current acceleration/accel obtaining and cireular frequency.
Preferably, acquisition device also comprises the temperature sensor being connected with analytic unit, and described analytic unit carries out rectification building-out by the temperature that detects to acceleration/accel and cireular frequency and obtains and hang the current acceleration/accel of thing and cireular frequency.
Preferably, in described memory cell, also store rate of amplitude to value; When analytic unit comparison amplitude exceeds rate of amplitude to value, signal output unit output stops hanging the information of thing operation, and while not exceeding rate of amplitude to value, signal output unit is according to the signal of amplitude output control chassis and/or elevator action, to reduce amplitude.
Preferably, when analytic unit comparison amplitude exceeds rate of amplitude to value, signal output unit is output alarm information also.
The control providing is hung the method and system of thing runout all by obtaining the comparison of hanging thing current location and desired location in hoisting process, analyze the amplitude that hangs the actual runout of thing, and according to amplitude control chassis and/or elevator action, be subject to and the application force of runout opposite direction so that hang thing, and then reduction amplitude, lift by crane reposefully position to terminal to will hang thing, prevent from hanging thing runout lifting machine is caused to damage, improve the safety factor of lifting machine lifting.
Accompanying drawing explanation
Fig. 1 is the structural representation that a kind of specific embodiment of thing runout system is hung in control provided by the present invention;
Fig. 2 is the diagram of circuit that a kind of specific embodiment of the method for thing runout is hung in control provided by the present invention;
Fig. 3 is the schematic three dimensional views of hanging thing two kinds of running orbits under without runout state and actual lifting state;
Fig. 4 hangs thing real-world operation track and the mapping curve figure that sets running orbit in X-axis in Fig. 3;
Fig. 5 is for hanging thing X axis runout schematic diagram;
Fig. 6 is the diagram of circuit that the another kind of specific embodiment of the method for thing runout is hung in control provided by the present invention.
The specific embodiment
Core of the present invention is for providing a kind of control to hang the method and system of thing runout, this control system and control method can be according to the amplitudes that hangs thing, control chassis and/work speed of elevator, to reduce the amplitude that hangs thing, and then the runout of thing is hung in control, thereby prevent from hanging thing runout lifting machine is caused to damage, improve the safety factor of lifting machine lifting.
In order to make those skilled in the art understand better technical scheme of the present invention, below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.For ease of understanding and succinct description, the method and system that following content is hung thing runout in conjunction with control is discussed, and beneficial effect no longer repeats to discuss.
Please refer to Fig. 1, Fig. 1 is the structure principle chart that a kind of specific embodiment of thing runout system is hung in control provided by the present invention.
This system mainly comprise controller and be attached thereto hang the acquisition device 300 of thing 200 current location parameters for Real-time Obtaining.As shown in Figure 1, controller can be located on the chassis 100 of lifting machine, hang thing 200 current location parameter obtaining device 300 and comprise and be located at the detecting element that hangs thing 200 and suspension hook place, this detecting element comprises accelerometer and turn meter, hangs acceleration/accel and the cireular frequency of thing 200 in order to real-time detection.
Controller specifically comprises: memory cell, and that sets according to lifting demand in order to storage hangs thing 200 at the running orbit without under runout state; The analytic unit being connected with memory cell, obtains according to running orbit the desired location that hangs thing 200 that current time is corresponding, and analyzes and hang thing 200 current locations and the desired location corresponding with current time, calculates and obtains the amplitude that hangs thing 200; Signal output unit, for moving according to the amplitude control chassis 100 and/or the elevator that hang thing 200, to reduce amplitude.Concrete operating process can be with reference to following content.
Please refer to Fig. 2, Fig. 2 is the diagram of circuit that a kind of specific embodiment of the method for thing 200 runouts is hung in control provided by the present invention.
In this embodiment, control the method for hanging thing 200 runouts, undertaken by following step:
SA1), according to lifting demand, set and hang thing 200 at the running orbit without under runout state;
Be that controller plans according to reference position and the final position of hanging thing 200 expected path that hangs thing 200 in advance, this expected path hangs thing 200 at the running orbit without under runout state, while hanging thing 200 without runout, it is linear that running orbit is, can set up and hang the three-dimensional coordinate running orbit of thing 200 without runout, this running orbit is mapped to take lifting machine chassis 100 as initial point, and horizontal surface is XY axis plane, be highly, in the three dimensional space of Z axis, this running orbit to be stored in the memory cell of controller.Can understand in conjunction with Fig. 3, Fig. 3 is the schematic three dimensional views of hanging thing 200 two kinds of running orbits under without runout state and actual lifting state, wherein, dotted line running orbit indicates without the running orbit under runout state, be linear, the parameter that this running orbit is mainly set according to lifting position O, final position M, chassis 100 rotation amplitudes and elevator luffing amplitude etc. is set up.
Particularly, the foundation of running orbit can be divided into following step:
(1) before lifting starts, can determine reference position and the final position of hanging thing 200, by measure can hang thing 200 three axial displacement: Lx,, Ly, Lz, represent respectively to hang thing 200 from reference position to final position in horizontal cross, level longitudinally and the shift value of vertical direction.
(2) according to hanging three longitudinal travel values that thing 200 moves, take lifting appliance as initial point, to hang thing 200 reference positions be initial point, hanging thing 200 desired speed V, operation total time T cooks up and hangs thing 200 desired motion track route S (x, y, z)=f (V, T).Wherein displacement and speed and time relationship are: S=V*T.Desired speed V is mainly synthetic by the speed of chassis 100 rotating speeds and lifting rope.
Take single arm support hoisting crane as example, establishing arm length of run is L, and elevator lifting rope total length is M, and the speed control on chassis 100 is mainly the rotational angular velocity of controlling chassis 100, and the speed control of elevator is mainly the speed of controlling elevator collection lifting rope.Chassis 100 controls that to hang thing 200 as follows in horizontal relation of plane:
Suppose that chassis 100 is with rotational angular velocity ω rotation, chassis 100 is θ t at the rotation angle in t moment,
Can hang thing 200t time, be engraved in the horizontal and longitudinal displacement of horizontal surface: x=L*cos θ t; Y=L*sin θ t; It is known,
Rolling control hangs thing 200 pass in the vertical direction:
The gathering speed of supposing lifting rope is v, and the initial length of lifting rope is M, and the length that in lifting process, elevator lifting rope is collected is Ma, Ma=v*t;
Can hang thing 200t moment displacement in the vertical direction: z=M-Ma.
Known, Lz=z=M-v*T
Therefore, can calculate the desired location that hang thing 200 corresponding in each moment according to the time, i.e. the position corresponding with expected path under particular moment.
SB1) Real-time Obtaining hangs the current location of thing 200, and obtains the desired location that hangs thing 200 corresponding with current time according to running orbit;
The current location of hanging thing 200 can obtain by above-mentioned accelerometer and turn meter, also can obtain by other usual ways, such as displacement pickup; Certainly, the upset factor that the current location of hanging thing 200 of being determined by acceleration/accel and cireular frequency has considered to hang thing 200, the current location of hanging thing 200 also reflects the concrete attitude of hanging thing 200, and the mode of utilizing accelerometer and turn meter to combine has realized to be carried out static state simultaneously, detects dynamically hanging thing 200, reach sound and mutually supplement, improve under different operating modes hanging the accuracy rate of thing 200 position measurements.
In addition, according to current time, can draw and hang the time that thing 200 lifts by crane, according to lifting time and acceleration/accel, cireular frequency, can calculate the space displacement that hangs thing 200 by displacement computing formula, mainly calculate the straight-line displacement of hanging thing 200 according to acceleration/accel, may overturn in operational process owing to hanging thing 200, cireular frequency can also calculate and hang the angle that thing 200 overturns, and cireular frequency and acceleration/accel reflect the current location of hanging thing 200 jointly.In addition, can obtain according to the running orbit without runout state of setting and the setting running velocity (mainly being determined by chassis 100 speed omega and lifting-speed v) that hangs thing 200 desired location that hangs thing 200 that current time is corresponding, under without runout state, hang thing 200 this moment should in position.Continue with reference to figure 3, the solid line part in Fig. 3 is to hang the real-world operation track of thing 200.Due in actual moving process based on the factor such as velocity variations, wind-force, hang thing 200 and have runout.
SC1) relatively hang the current location of thing 200 and the desired location corresponding with current time, calculate and obtain the amplitude that hangs thing 200;
Analytic unit can be by the real-world operation trajectory map that hangs thing 200 to each plane, draw the moving trajectory map curve of X-axis, Y-axis, Z axis that hangs thing 200, please refer to Fig. 4, Fig. 4 hangs thing 200 real-world operation track and the mapping curve figure that sets running orbit in X-axis in Fig. 3.When hang thing 200 in lifting process a certain while axially having runout, hang thing 200 path of motions respective shaft to be mapped as non-linearly, in Fig. 4, reflection is hung the path of motion of thing 200 in X axis position within t0 to the te time.To hang the thing 200t moment as example, wherein, t is certain moment in t0 to the te time period, and according to setting track, the displacement Sx in t moment is known quantity, and the actual position that is engraved in X axis when t is made as Rx, and the runout amplitude of oscillation that is engraved in X-axis while hanging thing 200t should be Sx-Rx.Principle according to this, the X, Y, Z axis that can calculate each moment in lifting process t0 to the te time to amplitude A (x, y, z)=S (x, y, z)-R (x, y, z), understand incorporated by reference to Fig. 5, Fig. 5 is for hanging thing 200X shaft orientation oscillation schematic diagram, and wherein XS axle represents to hang the axial amplitude of thing 200X.
Further, acquisition device 300 can comprise temperature sensor, for the temperature of real-time sense acceleration meter and turn meter.Because the precision of the detecting element such as accelerometer and turn meter may be subject to the impact of temperature, therefore can set temperature sensor, at step SB 1) in, the temperature of sense acceleration meter and turn meter in real time, obtains not lower acceleration/accel and temperature value corresponding to cireular frequency detecting in the same time.When analytic unit is processed acceleration/accel and angular velocity signal, also consider the impact of temperature on detected value.Such as, by conic fitting algorithm, acceleration/accel and cireular frequency are carried out to temperature correction compensation, by the discrete detected value of temperature and acceleration/accel (or cireular frequency), be modeled as curve, according to curve corresponding relation, obtain the relation of sense acceleration value and actual acceleration value, to obtain more accurate accekeration, eliminate the impact of temperature traverse on acceleration detection.
SD1) according to amplitude control chassis 100 and/or the elevator action of hanging thing 200, to reduce amplitude.
Calculate after amplitude, controller can calculate as offsetting the needed runout A1 of this amplitude (x, y, z), in-service time T1, chassis 100 rotational angular velocities and elevator gathering speed.The direction of vibration of amplitude A 1 (x, y, z) and the opposite direction that hangs the runout that thing 200 motion produces.Therefore, this amplitude can be offset the runout that hangs thing 200 in lifting process wholly or in part, thereby makes the runout amplitude of the actual motion track that hangs thing 200 in preset range.Hang thing 200 runout motion controllers and only put needed runout A1, in-service time T1, chassis 100 disc angle speed and elevator gathering speed according to chassis 100 and elevator to hanging control relation, the vibration damping of thing 200, export corresponding control signal by signal output unit and drive the actuating units such as chassis 100 and elevator to carry out corresponding actions.
Hence one can see that, this scheme can be according to amplitude of oscillation size and the swaying direction of runout, by adjust chassis 100 and/responsiveness of elevator, making to hang thing 200 is subject to and swaying direction opposite effect power, to reduce the amplitude that hangs thing 200, chassis 100 and elevator can coordinate control simultaneously, realize the Fast Convergent of runout, thereby reach the function of fast short stopping pendulum.Can lift by crane reposefully position to terminal by hanging thing 200 by the way, prevent from hanging thing 200 runouts lifting machine is caused to damage, improve the safety factor of lifting machine lifting.
In the time only putting according to amplitude, can also further optimize, as shown in Figure 6, Fig. 6 is the diagram of circuit that the another kind of specific embodiment of the method for thing 200 runouts is hung in control provided by the present invention.
This specific embodiment comprises:
SA2) according to lifting demand, set and hang thing 200 at the running orbit without under runout state, and set amplitude comparison value;
Rate of amplitude, can be set according to the amplitude that hangs under normal circumstances thing 200 for considering the size of actual amplitude value.
SB2) Real-time Obtaining hangs the current location of thing 200, and obtains the desired location that hangs thing 200 corresponding with current time according to running orbit;
SC2) relatively hang the current location of thing 200 and the desired location corresponding with current time, calculate and obtain the amplitude that hangs thing 200;
SD2) judge whether amplitude exceedes rate of amplitude to value, no, enter step SE2), be to enter step SE3);
SE2) according to amplitude control chassis 100 and/or the elevator action of hanging thing 200, to reduce amplitude, and enter step SF2);
SF2) judging whether hang thing 200 reaches assigned address, is to enter step SG2), program stops, no, enters step SB2), again detect circulation.
SE3) stop hanging thing 200 and move, and send alarm message.
Now, the amplitude that hangs thing has exceeded rate of amplitude to value, and the amplitude that hangs thing is excessive, lift for safer, and the suitable operation that stops hanging thing, and warn operator safety operation.
The method and system that above a kind of control provided by the present invention is hung to thing runout is described in detail.Applied specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment is just for helping to understand method of the present invention and core concept thereof.It should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention, can also carry out some improvement and modification to the present invention, these improvement and modification also fall in the protection domain of the claims in the present invention.
Claims (11)
1. a method for thing runout is hung in control, it is characterized in that, comprises the steps:
A), according to lifting demand, set and hang thing at the running orbit without under runout state;
B) Real-time Obtaining hangs the current location of thing, and obtains the desired location that hangs thing corresponding with current time according to running orbit;
C) relatively hang the current location of thing and the desired location corresponding with current time, calculate and obtain the amplitude that hangs thing runout;
D) according to amplitude control chassis and/or the elevator action of hanging thing, be subject to reducing amplitude with the application force of runout opposite direction so that hang thing.
2. the method for thing runout is hung in control according to claim 1, it is characterized in that, step B) in, detect and hang the current acceleration/accel of thing and cireular frequency in real time, obtain the current location of hanging thing according to lifting time, the current acceleration/accel obtaining and angular speed calculation.
3. the method for thing runout is hung in control according to claim 2, it is characterized in that step B) in, also in real time detect current temperature, by the temperature that detects, acceleration/accel and cireular frequency are carried out to rectification building-out and obtain and hang the current acceleration/accel of thing and cireular frequency.
4. the method for hanging thing runout according to the control described in claims 1 to 3 any one, is characterized in that steps A) in, set amplitude comparison value gone back; Step C) in, whether comparison amplitude exceeds rate of amplitude to value, no, enters step D), be to enter following step:
E) stop hanging thing operation.
5. the method for thing runout is hung in control according to claim 4, it is characterized in that step e) in, alarm message also sent.
6. the method for hanging thing runout according to the control described in claims 1 to 3 any one, is characterized in that steps A) in, set track and set up in accordance with the following steps:
Determine and hang thing that reference position and final position are measured to obtain and hung thing position is in horizontal cross, level longitudinally and the shift value of vertical direction to terminal from reference position;
Take lifting appliance as initial point, hang thing reference position as initial point, cook up hang thing set track:
Lz＝M-v*T；
Wherein, Lx, Ly, Lz are respectively and hang thing position is in horizontal cross, level longitudinally and the shift value of vertical direction to terminal from reference position; T is that the lifting total time, the L that hang thing are arm length of run, and M is elevator lifting rope total length, the ω setting rotational angular velocity that is chassis, the setting gathering speed that v is lifting rope, the initial length that M is lifting rope.
7. a system for thing runout is hung in control, it is characterized in that, comprise controller and be attached thereto hang the acquisition device of thing current location parameter for Real-time Obtaining, described controller comprises:
Memory cell, that sets according to lifting demand in order to storage hangs thing at the running orbit without under runout state;
The analytic unit being connected with memory cell, the current location of hanging thing according to current location parameter acquiring; And obtaining the desired location that hang thing corresponding with current time without the running orbit under runout state according to hanging thing, and with the current location comparison of hanging thing, obtain and hang the amplitude of thing;
The signal output unit being connected with analytic unit, according to hanging the amplitude output control chassis of thing and/or the signal of elevator action, to reduce amplitude.
8. the system of thing runout is hung in control according to claim 7, it is characterized in that, acquisition device comprises the accelerometer and the turn meter that are connected with analytic unit, hangs the current acceleration/accel of thing and cireular frequency respectively in order to detect; Described analytic unit obtains the current location of hanging thing in conjunction with lifting time, the current acceleration/accel obtaining and cireular frequency.
9. the system of thing runout is hung in control according to claim 8, it is characterized in that, acquisition device also comprises the temperature sensor being connected with analytic unit, and described analytic unit carries out rectification building-out by the temperature that detects to acceleration/accel and cireular frequency and obtains and hang the current acceleration/accel of thing and cireular frequency.
10. the system of hanging thing runout according to the control described in claim 7 to 9 any one, is characterized in that, also stores rate of amplitude to value in described memory cell; When analytic unit comparison amplitude exceeds rate of amplitude to value, signal output unit output stops hanging the information of thing operation, and while not exceeding rate of amplitude to value, signal output unit is according to the signal of amplitude output control chassis and/or elevator action, to reduce amplitude.
The system that thing runout is hung in 11. controls according to claim 10, is characterized in that, when analytic unit comparison amplitude exceeds rate of amplitude to value, signal output unit is output alarm information also.
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| CN103723629B (en) * | 2013-12-31 | 2017-02-15 | 三一海洋重工有限公司 | Crane and anti-swing control method for steel wire rope of crane |
| CN104129712B (en) * | 2014-07-10 | 2015-11-25 | 浙江工业大学 | A kind of traverse crane adjustment control method strengthening anti-pendulum |
| JP6471702B2 (en) * | 2016-01-12 | 2019-02-20 | 株式会社ダイフク | Article conveying device |
| CN112323802B (en) * | 2020-10-13 | 2021-09-07 | 三峡大学 | Concrete tank landing anti-swing system and method for cable crane in dam construction |
| CN112938756B (en) * | 2021-01-29 | 2022-07-05 | 华中科技大学 | Active control method and system for space shimmy of crane ship lifting system |
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| CN101659379A (en) * | 2009-08-27 | 2010-03-03 | 三一汽车制造有限公司 | Method, system and device for controlling deviation of hanging hook |
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| CN102009914A (en) * | 2010-12-21 | 2011-04-13 | 三一汽车起重机械有限公司 | Lifting hook position monitoring system and method as well as crane with lifting hook position monitoring system |
| CN102245490A (en) * | 2008-12-15 | 2011-11-16 | 施耐德东芝换流器欧洲公司 | Device for controlling the movement of a load suspended from a crane |
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| CN102245490A (en) * | 2008-12-15 | 2011-11-16 | 施耐德东芝换流器欧洲公司 | Device for controlling the movement of a load suspended from a crane |
| CN101659379A (en) * | 2009-08-27 | 2010-03-03 | 三一汽车制造有限公司 | Method, system and device for controlling deviation of hanging hook |
| CN101723239A (en) * | 2009-11-20 | 2010-06-09 | 三一汽车制造有限公司 | Hanging hook attitude detection device and crane |
| CN102009914A (en) * | 2010-12-21 | 2011-04-13 | 三一汽车起重机械有限公司 | Lifting hook position monitoring system and method as well as crane with lifting hook position monitoring system |
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