CN102774753B - GPS-based system and method for rectifying deviation of gantry crane automatically - Google Patents
GPS-based system and method for rectifying deviation of gantry crane automatically Download PDFInfo
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- CN102774753B CN102774753B CN201210283526.6A CN201210283526A CN102774753B CN 102774753 B CN102774753 B CN 102774753B CN 201210283526 A CN201210283526 A CN 201210283526A CN 102774753 B CN102774753 B CN 102774753B
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Abstract
The invention provides a GPS-based system and method for rectifying the deviation of a gantry crane automatically. The system is used for the gantry crane and comprises a processor, a controller, a GPS (Global Positioning System)) receiving plate and at least two GPS antennas; each GPS antenna is fixedly arranged on the main beam of the gantry crane; the signal output end of each GPS antenna is connected with the signal output end of the GPS receiving plate; the signal output end of the GPS receiving plate is connected with the signal input end of the processor; and the signal output end of the processor is connected with the signal input end of the controller. The system can not be affected by the friction, aging and other factors of the mechanical components, thereby having the advantage of long service life. In addition, the system has the advantages of no cumulative error and high measurement accuracy.
Description
Technical field
The invention belongs to gauntry crane control technology field, be specifically related to a kind of gauntry crane system for automatically correcting based on GPS and method.
Background technology
Gauntry crane, especially large span rail-mounted gantry crane is widely used in the industry spot such as shipyard, harbour, steel mill, and crest can reach 1600 tons, and maximum span is more than 200 meters.Common gauntry crane structure is made up of parts such as traveling wheels, portal frame, crane carriage, suspender, power system and control system usually.Wherein, portal frame is the load carrier of whole gauntry crane, is also the basis that miscellaneous part is installed.Portal frame is by horizontally disposed girder and be arranged on the rigid leg at girder two ends respectively and flexible leg forms; Install traveling wheels respectively in the bottom of the bottom of rigid leg and flexible leg, the wheel of traveling wheels is walked in orbit thus is driven whole gauntry crane to walk.
In actual applications, due to the impact of many factors, such as walk the deviation and motor speed deviation etc. of wheel diameter, gauntry crane deflection usually can be caused to run, when deviation is excessive, following fault can be caused: (1) occurs " gnaw rail " accident, thus serious wearing and tearing, destruction are produced to track, and it is very high to change track cost; (2) time serious, the major accident such as can cause that girder fracture or gauntry crane collapse.
Therefore, in prior art, for avoiding gauntry crane deflection to run, ensure that the safety that gauntry crane runs, gauntry crane need to configure system for automatically correcting.At present, the system for automatically correcting that gauntry crane adopts mainly comprises two kinds: (one) installs coder on the main wheel of cart both sides; (2) at flexible leg and girder joint portion setting angle sensor or limiting device.
Above-mentioned system for automatically correcting is all the deflection measurements based on mechanical system, requires higher to setting accuracy, installs complicated and that cost is high defect so have, and, affect by mechanical wear and aging etc. comparatively large, thus reduce service life.Further, for coder mode, owing to being by measurement rotating speed and stroke indirect inspection deflection, there are cumulative errors, thus reduce survey precision.
Summary of the invention
For the defect that prior art exists, the invention provides a kind of gauntry crane system for automatically correcting based on GPS and method, the impact of mechanical part wearing and tearing, the factor such as aging can not be subject to, therefore, there is the advantage of long service life.Further, without cumulative errors, there is the advantage that survey precision is high.
The technical solution used in the present invention is as follows:
The invention provides a kind of gauntry crane system for automatically correcting based on GPS, be applied in gauntry crane, comprise treater, controller, GPS dash receiver and at least two gps antennas; Gps antenna described in each is fixedly mounted on the girder of described gauntry crane, and the signal output part of gps antenna described in each is connected with the signal input part of described GPS dash receiver; The signal output part of described GPS dash receiver is connected with the signal input part of described treater, and the signal output part of described treater is connected with the signal input part of described controller.
Preferably, gps antenna described in each is all fixedly mounted on the upper surface of described girder.
Preferably, the quantity of described gps antenna is two, comprises the first gps antenna and the second gps antenna.
Preferably, described first gps antenna and described second gps antenna are fixedly mounted on the two ends of described girder respectively.
Preferably, the contact point of described first gps antenna and described girder is the first test point, and the contact point of described second gps antenna and described girder is the second test point; Line between described first test point and described second test point and the angle between the axis of described girder are 0-90 degree.
Preferably, the line between described first test point and described second test point and the axis being parallel of described girder.
Preferably, described controller has the first signal output part and secondary signal mouth; Described gauntry crane has the first drive motor driving flexible leg motion and the second drive motor driving rigid leg motion; Described first signal output part is connected with described first drive motor by frequency converter, and described secondary signal mouth is connected with described second drive motor by described frequency converter.
The present invention also provides a kind of method applying the above-mentioned gauntry crane system for automatically correcting based on GPS, comprises the following steps:
At least two described gps antennas are fixedly mounted on described girder by S1, and the contact point of described gps antenna and described girder is test point;
S2, in the process of described gauntry crane movement, gps antenna described in each receives the current location information of the test point corresponding with it, and described current location information is sent to described GPS dash receiver;
S3, described GPS dash receiver receives the described current location information corresponding with test point described in each, and the described current location information received is sent to described treater;
S4, described treater, based on the attitude algorithm Algorithm Analysis described current location information corresponding with test point described in each, obtains the present orientation angle measuring baseline described in each; Wherein, described measurement baseline is the line between any two described test points;
Three-dimensional rest frame set up by described treater, by analyzing the dead position of axis in described three-dimensional rest frame of test point described in each and described girder, obtains measuring the fixed angle between baseline and described girder described in each;
S5, for each described measurement baseline, COMPREHENSIVE CALCULATING is carried out at the described treater pair described fixed angle corresponding with described measurement baseline and described present orientation angle, obtains the angle excursion of the described girder corresponding with described measurement baseline;
S6, described treater judges whether the described angle excursion corresponding with any described measurement baseline exceedes specified value, if judged result is yes, then performs S7;
S7, described angle excursion is sent to described controller by described treater, and described controller generates the control signal corresponding with described angle excursion;
S8, described controller controls the state of kinematic motion of described gauntry crane by sending described control signal.
Preferably, after S5, also comprise before S8:
S-1, described treater calculates the angle excursion of the described girder corresponding respectively with measuring baseline described in each bar;
S-2, described treater S-1 is obtained each described in the angle excursion of girder average, obtain the aviation value of the angle excursion of described girder;
S-3, described treater judges whether the aviation value of described angle excursion exceedes specified value, if judged result is yes, then performs S-4;
S-4, the aviation value of described angle excursion is sent to described controller by described treater, and described controller generates the control signal corresponding with the aviation value of described angle excursion; Then S8 is performed.
Preferably, S8 is specially:
When described angle excursion is between default minimal value and default maximum value, described controller sends restriction signal by described frequency converter to described first drive motor or described second drive motor, and then adjusts the measure of skewness of described girder; When described angle excursion is greater than described default maximum value, described controller sends signal out of service to described first drive motor and described second drive motor.
Beneficial effect of the present invention is as follows:
The invention provides a kind of gauntry crane system for automatically correcting based on GPS and method, the angle excursion of Gantry Crane is measured based on GPS, be totally independent of movable parts and control system, the impact of mechanical part wearing and tearing, the factor such as aging can not be subject to, therefore, there is the advantage of long service life.Further, by measuring the angle between girder and geographical north and south, can directly calculate girder angle excursion, without cumulative errors, there is the advantage that survey precision is high.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation of the gauntry crane system for automatically correcting based on GPS provided by the invention;
Fig. 2 is the another kind of structural representation of the gauntry crane system for automatically correcting based on GPS provided by the invention;
Wherein, 1---girder; 2---first gps antenna; 3---second gps antenna; 4---left rail; The right guide rail of 5---; 6---measures baseline.
Detailed description of the invention
Below in conjunction with accompanying drawing, the gauntry crane system for automatically correcting based on GPS provided by the invention and method are described in detail:
As shown in Figure 1, the gauntry crane system for automatically correcting based on GPS provided by the invention, is applied in gauntry crane, comprises treater, controller, GPS dash receiver and at least two gps antennas; Gps antenna described in each is fixedly mounted on the girder of described gauntry crane, and the signal output part of gps antenna described in each is connected with the signal input part of described GPS dash receiver; The signal output part of described GPS dash receiver is connected with the signal input part of described treater, and the signal output part of described treater is connected with the signal input part of described controller.Wherein, for ensureing that each gps antenna can receive satellite-signal, gps antenna needs the upper surface being fixedly mounted on girder, and one end of gps antenna is fixed on the upper surface of girder, and the other end of gps antenna is arranged towards sky.
In the present invention, the quantity of gps antenna adjusts according to survey precision, and the quantity that gps antenna is arranged is more, and its survey precision is higher.But, the quantity of gps antenna is at least 2, the object of girder angle of bank measurement could be realized, when the quantity of the gps antenna arranged is two, distance between these two gps antennas is far away, and the precision of girder angle of bank measurement is higher, therefore, when these two gps antennas are fixedly mounted on the two ends of described girder respectively, the precision of girder angle of bank measurement is higher.
When employing two gps antennas, the arrangement of two gps antennas can be: the contact point of the first gps antenna and girder is the first test point, and the contact point of the second gps antenna and girder is the second test point; Line between described first test point and described second test point and the angle between the axis of described girder are 0-90 degree.Line preferably between the first test point and described second test point and the axis being parallel of described girder.
The method of the above-mentioned gauntry crane system for automatically correcting based on GPS of application provided by the invention, comprises the following steps:
At least two described gps antennas are fixedly mounted on described girder by S1, and the contact point of described gps antenna and described girder is test point;
S2, in the process of described gauntry crane movement, gps antenna described in each receives the current location information of the test point corresponding with it, and described current location information is sent to described GPS dash receiver;
In this step, because gauntry crane is in continuous movement, so the current location information of the test point corresponding with it that each gps antenna receives also constantly changes.Such as: as shown in Figure 2, when employing two gps antennas, the contact point of the first gps antenna and girder is a, the contact point of the second gps antenna and girder is b, the position of contact point a that then the first gps antenna receives is constantly change, same, the position of the contact point b that the second gps antenna receives is constantly change.In the present invention, the current location information of contact point can be geographical latitude and longitude coordinates.
S3, described GPS dash receiver receives the described current location information corresponding with test point described in each, and the described current location information received is sent to described treater;
In the present invention, the quantity of GPS dash receiver can be one also can be multiple.When an employing GPS dash receiver, this GPS dash receiver is provided with different input interfaces and output interface, and each input interface connects different gps antennas respectively.When the quantity of GPS dash receiver is multiple, such as: the quantity that can arrange GPS dash receiver is identical with the quantity of GPS receiving wire, that is: GPS dash receiver and GPS receiving wire one_to_one corresponding, then each GPS dash receiver only receives the signal that the GPS receiving wire corresponding with it sends.
S4, described treater, based on the attitude algorithm Algorithm Analysis described current location information corresponding with test point described in each, obtains the present orientation angle measuring baseline described in each; Wherein, described measurement baseline is the line between any two described test points;
Namely line between any two test points obtains one and measures baseline, baseline is measured as the ab in Fig. 2 is one, analyzed by the position coordinate of two test points measured on baseline, the azimuth of this measurement baseline can be obtained, such as: 5 degree, north by east or 20 degree, north by west etc.θ in Fig. 2 is the azimuth measuring baseline ab.When gauntry crane straight-line motion, the present orientation angle measuring baseline is fixed value; And when gauntry crane deflection motions, then can there is corresponding change in the present orientation angle measuring baseline.
Three-dimensional rest frame set up by described treater, by analyzing the dead position of axis in described three-dimensional rest frame of test point described in each and described girder, obtains measuring the fixed angle between baseline and described girder described in each; In this step, fixed angle is fixed value, with gauntry crane, whether deflection motions occurs and has nothing to do.In Fig. 2, measure baseline ab and girder dead in line, fixed angle is 0 degree.
S5, for each described measurement baseline, COMPREHENSIVE CALCULATING is carried out at the described treater pair described fixed angle corresponding with described measurement baseline and described present orientation angle, obtains the angle excursion of the described girder corresponding with described measurement baseline;
In Fig. 2, because fixed angle is 0 degree, so present orientation angle θ is the angle excursion of the girder corresponding with measuring baseline ab.
S6, described treater judges whether the described angle excursion corresponding with any described measurement baseline exceedes specified value, if judged result is yes, then performs S7;
S7, described angle excursion is sent to described controller by described treater, and described controller generates the control signal corresponding with described angle excursion;
S8, described controller controls the state of kinematic motion of described gauntry crane by sending described control signal.
Concrete, controller has the first signal output part and secondary signal mouth; Described gauntry crane has the first drive motor driving flexible leg motion and the second drive motor driving rigid leg motion; Described first signal output part is connected with described first drive motor by frequency converter, and described secondary signal mouth is connected with described second drive motor by described frequency converter.
In this step, when described angle excursion is between default minimal value and default maximum value, described controller sends restriction signal by described frequency converter to described first drive motor or described second drive motor, and then adjusts the measure of skewness of described girder; When described angle excursion is greater than described default maximum value, described controller sends signal out of service to described first drive motor and described second drive motor, brakes gauntry crane.Such as: when angle excursion is between default minimal value and default maximum value, further, when gauntry crane is exposed to the north motion, when girder angle of inclination is 135 degree, north by east, then to driving the drive motor of left side leg motion to send restriction signal, realize the object that adjustment girder tilts.And when angle excursion is greater than described default maximum value, show that girder tilts serious, need hard stop to keep in repair.
In above-mentioned steps, S5-S7 is the girder angle excursion measured baseline calculate for any, for improving survey precision, also the girder angle excursion that each bar measures baseline corresponding can be averaged.Concrete, comprise the following steps:
S-1, described treater calculates the angle excursion of the described girder corresponding respectively with measuring baseline described in each bar;
When employing more than three gps antennas, can obtain many and measure baseline, treater calculates the angle excursion measuring baseline girder corresponding respectively with each bar;
S-2, described treater S-1 is obtained each described in the angle excursion of girder average, obtain the aviation value of the angle excursion of described girder;
S-3, described treater judges whether the aviation value of described angle excursion exceedes specified value, if judged result is yes, then performs S-4;
S-4, the aviation value of described angle excursion is sent to described controller by described treater, and described controller generates the control signal corresponding with the aviation value of described angle excursion; Then S8 is performed.
Such as: when employing 3 gps antennas, that is: gps antenna m, gps antenna n and gps antenna p, the contact point of itself and girder is respectively m, n and p; Then will obtain three and measure baseline, be respectively: measure baseline mn, measure baseline mp and measure baseline np.By calculating, the angle excursion obtaining the girder corresponding with measuring baseline mn is α, and the angle excursion of the girder corresponding with measuring baseline mp is β, and the angle excursion of the girder corresponding with measuring baseline np is γ; Then aviation value=(alpha+beta+γ)/3 of the angle excursion of girder.
The invention provides a kind of gauntry crane system for automatically correcting based on GPS and method, the angle excursion of Gantry Crane is measured based on GPS, be totally independent of movable parts and control system, the impact of mechanical part wearing and tearing, the factor such as aging can not be subject to, therefore, there is the advantage of long service life.Further, by measuring the angle between girder and geographical north and south, can directly calculate girder angle excursion, without cumulative errors, there is the advantage that survey precision is high.
The above is only the preferred embodiment of the present invention; 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 make some improvements and modifications, these improvements and modifications also should look protection scope of the present invention.
Claims (3)
1. apply the method based on the gauntry crane system for automatically correcting of GPS for one kind, it is characterized in that, the described gauntry crane system for automatically correcting based on GPS, is applied in gauntry crane, comprises treater, controller, GPS dash receiver and at least two gps antennas; Gps antenna described in each is fixedly mounted on the girder of described gauntry crane, and the signal output part of gps antenna described in each is connected with the signal input part of described GPS dash receiver; The signal output part of described GPS dash receiver is connected with the signal input part of described treater, and the signal output part of described treater is connected with the signal input part of described controller; Gps antenna described in each is all fixedly mounted on the upper surface of described girder;
Said method comprising the steps of:
At least two described gps antennas are fixedly mounted on described girder by S1, and the contact point of described gps antenna and described girder is test point;
S2, in the process of described gauntry crane movement, gps antenna described in each receives the current location information of the test point corresponding with it, and described current location information is sent to described GPS dash receiver;
S3, described GPS dash receiver receives the described current location information corresponding with test point described in each, and the described current location information received is sent to described treater;
S4, described treater, based on the attitude algorithm Algorithm Analysis described current location information corresponding with test point described in each, obtains the present orientation angle measuring baseline described in each; Wherein, described measurement baseline is the line between any two described test points;
Three-dimensional rest frame set up by described treater, by analyzing the dead position of axis in described three-dimensional rest frame of test point described in each and described girder, obtains measuring the fixed angle between baseline and described girder described in each;
S5, for each described measurement baseline, COMPREHENSIVE CALCULATING is carried out at the described treater pair described fixed angle corresponding with described measurement baseline and described present orientation angle, obtains the angle excursion of the described girder corresponding with described measurement baseline;
S6, described treater judges whether the described angle excursion corresponding with any described measurement baseline exceedes specified value, if judged result is yes, then performs S7;
S7, described angle excursion is sent to described controller by described treater, and described controller generates the control signal corresponding with described angle excursion;
S8, described controller controls the state of kinematic motion of described gauntry crane by sending described control signal;
Wherein, after S5, also comprise before S8:
S-1, described treater calculates the angle excursion of the described girder corresponding respectively with measuring baseline described in each bar;
S-2, described treater S-1 is obtained each described in the angle excursion of girder average, obtain the aviation value of the angle excursion of described girder;
S-3, described treater judges whether the aviation value of described angle excursion exceedes specified value, if judged result is yes, then performs S-4;
S-4, the aviation value of described angle excursion is sent to described controller by described treater, and described controller generates the control signal corresponding with the aviation value of described angle excursion; Then S8 is performed.
2. method according to claim 1, is characterized in that, described controller has the first signal output part and secondary signal mouth; Described gauntry crane has the first drive motor driving flexible leg motion and the second drive motor driving rigid leg motion; Described first signal output part is connected with described first drive motor by frequency converter, and described secondary signal mouth is connected with described second drive motor by described frequency converter.
3. method according to claim 1, is characterized in that, S8 is specially:
When described angle excursion is between default minimal value and default maximum value, described controller sends restriction signal by described frequency converter to described first drive motor or described second drive motor, and then adjusts the measure of skewness of described girder; When described angle excursion is greater than described default maximum value, described controller sends signal out of service to described first drive motor and described second drive motor.
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| CN201210283526.6A CN102774753B (en) | 2012-08-10 | 2012-08-10 | GPS-based system and method for rectifying deviation of gantry crane automatically |
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| CN103332596B (en) * | 2013-07-08 | 2015-05-27 | 北京中船信息科技有限公司 | Method for GPS-based gantry crane attitude monitoring system |
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| CN101417773A (en) * | 2008-11-24 | 2009-04-29 | 常州基腾电气有限公司 | Wireless sensing type rectifying system of rail gantry crane |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7344037B1 (en) * | 2002-11-18 | 2008-03-18 | Mi-Jack Products, Inc. | Inventory storage and retrieval system and method with guidance for load-handling vehicle |
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|---|---|---|---|---|
| CN101417773A (en) * | 2008-11-24 | 2009-04-29 | 常州基腾电气有限公司 | Wireless sensing type rectifying system of rail gantry crane |
| CN201367306Y (en) * | 2009-02-23 | 2009-12-23 | 黄石市奇迅自动化工程有限公司 | Automatic correction control system for long-span programme-controlled travelling crane with accurate positioning function |
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| CN202072406U (en) * | 2010-05-10 | 2011-12-14 | Abb（中国）有限公司 | Synchronizer for gantry crane |
| CN102491175A (en) * | 2011-11-22 | 2012-06-13 | 中船第九设计研究院工程有限公司 | Error correcting method for large-scale gantry crane walking |
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