CN103010963A - Aided driving method and system for jib type crane - Google Patents
Aided driving method and system for jib type crane Download PDFInfo
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- CN103010963A CN103010963A CN201210457717XA CN201210457717A CN103010963A CN 103010963 A CN103010963 A CN 103010963A CN 201210457717X A CN201210457717X A CN 201210457717XA CN 201210457717 A CN201210457717 A CN 201210457717A CN 103010963 A CN103010963 A CN 103010963A
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Abstract
The invention discloses an aided driving method and system for a jib type crane. The system comprises a sensor, a central processing unit (CPU) module, a storage module, an analog/digital (A/D) conversion module, a keyboard, a display screen and a relay output module. Due to the acquisition of position sensor data in a lifting mechanism, a luffing mechanism, a rotating mechanism and a traveling mechanism in the jib type crane, a real-time operation track of a sling of a crane operating cycle which is manually operated and finished serves as a sling memory operation track and is recorded in the storage module; and according to the recording of each sensor position signal which corresponds to the sling memory operation track along with time change, the CPU module controls the relay output module to drive a control circuit, so that the lifting mechanism, the luffing mechanism, the rotating mechanism and the traveling mechanism of the crane operate according to the memorized time history. Due to motion synthesis of the movements, the sling automatically operates according to the sling memory operation track until a working cycle is finished, and the steps are repeated until the whole hoisting operation is finished.
Description
Technical field
The present invention relates to a kind of jib-type crane, more particularly relate to a kind of auxiliary driving method and system thereof of jib-type crane.
Background technology
The machinery that jib-type crane is a kind of work take reciprocation cycle, intermittent moment as feature, a working cycle comprises: load-engaging device is mentioned article from getting thing ground, combination by mechanisms such as revolution, luffing and walkings is moved horizontally to the appointed place with article and falls article, then carry out counter motion, make the load-engaging device reposition, in order to carry out next time working cycle.Usually hoisting crane by the lifting mechanism that makes the article up-and-down movement, make traveling gear that tower machine complete machine vertical equity moves, make suspender and body of the tower apart from the luffing mechanism (comprising luffing jib and dolly level luffing) of change and the rotating swing type mechanism of jib and metal construction formed.Jib-type crane is widely used in high-building construction and harbour portage, and in a single day jib-type crane has an accident and may cause the loss of great personnel's lives and properties.The accident rate of China's hoisting crane is relatively high at present, the reason that causes the accident mainly contains two aspects: the one, and the reason of hoisting crane own such as design, manufacturing and repair and maintenance defective, the 2nd, the operation Slurry pump, mainly comprise: 1) driver tired driving: the 2) harmful effect of pilot's line of vision, take building operation tower machine as example, pilot's line of vision is subjected to stopping of building often to cannot see hanging object, has the dead angle on the sight line, very easily has an accident when commander and misoperation.
Summary of the invention
For the defective that exists in the prior art, the purpose of this invention is to provide a kind of auxiliary driving method and system thereof of jib-type crane.
For achieving the above object, the present invention adopts following technical scheme:
According to an aspect of the present invention, provide a kind of auxiliary driving method of jib-type crane, the concrete steps of this auxiliary driving method are:
A. path recording step, namely by being located at the data acquisition of the respective sensor on lifting mechanism, luffing mechanism, swing type mechanism and the traveling gear in the jib-type crane, the real time execution track of the suspender in the hoisting crane work circulation of being finished by manual operation is recorded in the memory module as suspender memory operating path;
B. automatic cycle step, namely according to the time dependent data of each sensor position signal that record in the suspender memory operating path, CPU module controls relay output module Drive and Control Circuit, so that lifting mechanism, luffing mechanism, swing type mechanism and traveling gear are according to the time history running of having remembered, the synthetic suspender that makes by the said mechanism motion moves automatically according to suspender memory operating path, until finish a working cycle;
C. repeating step B is until whole Rigger is finished.
The concrete steps of described steps A are: the manual motion arm frame of chaufeur type hoisting crane makes suspender move to destination locations behind reference position lifting goods, returns manually operated reference position after destination locations has been downloaded goods again;
In whole working cycle process, the Real-time Collection signal of amplitude sensor, height sensor, degreeof turn sensor and walking sensor is stored to the signal after the above-mentioned conversion in the memory module respectively by the CPU module; Perhaps, the Real-time Collection signal of amplitude sensor, height sensor, degreeof turn sensor and walking sensor is stored to the signal after the above-mentioned conversion in the memory module respectively by the CPU module after the conversion of A/D modular converter.
Reference position among the described step B is manually operated reference position.
Destination locations among the described step B is manually operated destination locations.
Reference position among the described step B is that described default azimuth deviation distance values is located in the memory module from the position of a default azimuth deviation distance values of reference position skew of a upper working cycle.
Destination locations among the described step B is that described default azimuth deviation distance values is located in the memory module from the position of a default azimuth deviation distance values of destination locations skew of a upper working cycle.
Described default azimuth deviation distance values realizes by M/C or realizes by the keyboard input.
The realization of the position of a default azimuth deviation distance values of described skew is to be moved by a mechanism kinematic or a plurality of multi mechanism compound that the CPU module is controlled in swing type mechanism, luffing mechanism and the traveling gear by relay output module, and the suspender that drives hoisting crane moves to finish.
Suspender real time operation track in the described steps A moves to realize by a mechanism kinematic or a plurality of multi mechanism compound in control lifting mechanism, swing type mechanism, luffing mechanism and the traveling gear.
The concrete steps of described step B are: amplitude sensor, height sensor, the Real-time Collection signal of degreeof turn sensor and walking sensor is respectively after the conversion of A/D modular converter, respectively the signal after the above-mentioned conversion and the suspender memory operating path that is recorded in the memory module are compared by the CPU module, the CPU module is judged lifting mechanism according to the comparison signal, operating unit, the sense of motion of luffing mechanism and swing type mechanism and kinematic velocity, and control respectively said mechanism by relay output module, be used for the control to the crane hanger walking path, until finish a working cycle
Described auxiliary driving method also comprises the emergency unchaining step: in step B, and any one handle in the driver's operation hoisting crane, then hoisting crane withdraws from the automatic Pilot state automatically, and the operation of hoisting crane is replaced by the manual operation of chaufeur.
When chaufeur was pressed " memory " key in the lower keyboard, the path recording step began in the described steps A, and chaufeur is pressed " memory " key in the lower keyboard again, and the path recording step finishes;
In above-mentioned recording process, when goods moved to destination locations, chaufeur was pressed " time-out " key charged timeout, and after having downloaded goods, chaufeur is pressed " time-out " key again, and cancellation suspends and continues record.
When chaufeur was pressed in the lower keyboard " repetition " key among the described step B, the automatic cycle step began, and chaufeur is pressed " repetition " key in the lower keyboard again, and the automatic cycle step finishes;
In above-mentioned automatic Pilot process, when goods moved to destination locations, chaufeur was pressed " time-out " key operation suspension, and after having downloaded goods, chaufeur is pressed " time-out " key again, and cancellation suspends and continues operation.
According to a further aspect in the invention, a kind of DAS (Driver Assistant System) of jib-type crane also is provided, comprise the CPU module, described CPU module realizes two way communication with memory module, A/D modular converter, keyboard, read-out and relay output module respectively, and described A/D modular converter also links to each other with amplitude sensor, height sensor, degreeof turn sensor and walking sensor;
Described height sensor is located on the lifting mechanism, described walking sensor is located on the operating unit, described amplitude sensor is located on the luffing mechanism, described degreeof turn sensor is located on the swing type mechanism;
Described relay output module links to each other with the control circuit of lifting mechanism, operating unit, luffing mechanism and swing type mechanism respectively;
Described keyboard comprises " memory " key, " repetition " key and " time-out " key.
Compared with prior art, adopt auxiliary driving method and the system thereof of a kind of jib-type crane of the present invention, comprise sensor, the CPU module, memory module, the A/D modular converter, keyboard, read-out and relay output module, the sensor of this mechanism's control position of expression is set in each operating mechanism of jib-type crane, by gathering these sensor signals, obtain the location information of crane hook, and the working trajectory of suspender is decomposed into the Changing Pattern of each operating mechanism's position transduser on the same time history, record this Changing Pattern by memory module.CPU calls the sensor station information of preserving in the storing module, by the relay output module Drive and Control Circuit, with regard to original operating path of reducible suspender.And can when the each working cycle of suspender finishes, can change lifting position and the final position of suspender by setting step-length and direction.Need to have the practical operation of a chaufeur to be " demonstration " before personal vehicle system uses, personal vehicle system can be remembered multiple " demonstration pattern ", and the working cycle that repeats to have remembered in the automatic Pilot afterwards.
The auxiliary driving method of a kind of jib-type crane of the present invention and system thereof, can make things convenient for chaufeur operation, alleviate the labour intensity of chaufeur, increase work efficiency.
Description of drawings
Fig. 1 is the principle schematic of the DAS (Driver Assistant System) of a kind of jib-type crane of the present invention.
The specific embodiment
Further specify technical scheme of the present invention below in conjunction with drawings and Examples.
A kind of auxiliary driving method of jib-type crane, the concrete steps of this auxiliary driving method are:
11. path recording step, namely by being located at the data acquisition of the respective sensor on lifting mechanism, luffing mechanism, swing type mechanism and the traveling gear in the jib-type crane, the real time execution track of the suspender in the hoisting crane work circulation of being finished by manual operation is recorded in the memory module as suspender memory operating path;
12. automatic cycle step, namely according to the time dependent data of each sensor position signal that record in the suspender memory operating path, CPU module controls relay output module Drive and Control Circuit, so that lifting mechanism, luffing mechanism, swing type mechanism and traveling gear are according to the time history running of having remembered, the synthetic suspender that makes by the said mechanism motion moves automatically according to suspender memory operating path, until finish a working cycle;
13. repeating step 12, until whole Rigger is finished.
The concrete steps of described step 11 are: the manual motion arm frame of chaufeur type hoisting crane makes suspender move to destination locations behind reference position lifting goods, returns manually operated reference position after destination locations has been downloaded goods again;
In whole working cycle process, the Real-time Collection signal of amplitude sensor, height sensor, degreeof turn sensor and walking sensor is stored to the signal after the above-mentioned conversion in the memory module respectively by the CPU module; Perhaps, the Real-time Collection signal of amplitude sensor, height sensor, degreeof turn sensor and walking sensor is stored to the signal after the above-mentioned conversion in the memory module respectively by the CPU module after the conversion of A/D modular converter;
Reference position in the described step 12 is manually operated reference position.
Destination locations in the described step 12 is manually operated destination locations.
Reference position in the described step 12 is that described default azimuth deviation distance values is located in the memory module from the position of a default azimuth deviation distance values of reference position skew of a upper working cycle.
Destination locations in the described step 12 is that described default azimuth deviation distance values is located in the memory module from the position of a default azimuth deviation distance values of destination locations skew of a upper working cycle.
Described default azimuth deviation distance values realizes by M/C or realizes by the keyboard input.
The realization of the position of a default azimuth deviation distance values of described skew is to be moved by a mechanism kinematic or a plurality of multi mechanism compound that the CPU module is controlled in swing type mechanism, luffing mechanism and the traveling gear by relay output module, and the suspender that drives hoisting crane moves to finish.
Suspender real time operation track in the described step 11 moves to realize by a mechanism kinematic or a plurality of multi mechanism compound in control lifting mechanism, swing type mechanism, luffing mechanism and the traveling gear.
The concrete steps of described step 12 are: amplitude sensor, height sensor, the Real-time Collection signal of degreeof turn sensor and walking sensor is respectively after the conversion of A/D modular converter, respectively the signal after the above-mentioned conversion and the suspender memory operating path that is recorded in the memory module are compared by the CPU module, the CPU module is judged lifting mechanism according to the comparison signal, operating unit, the sense of motion of luffing mechanism and swing type mechanism and kinematic velocity, and control respectively said mechanism by relay output module, be used for the control to the crane hanger walking path, until finish a working cycle.
Described auxiliary driving method also comprises the emergency unchaining step: in step 12, and any one handle in the driver's operation hoisting crane, then hoisting crane withdraws from the automatic Pilot state automatically, and the operation of hoisting crane is replaced by the manual operation of chaufeur.
When chaufeur was pressed " memory " key in the lower keyboard, the path recording step began in the described step 11, and chaufeur is pressed " memory " key in the lower keyboard again, and the path recording step finishes;
In above-mentioned recording process, when goods moved to destination locations, chaufeur was pressed " time-out " key charged timeout, and after having downloaded goods, chaufeur is pressed " time-out " key again, and cancellation suspends and continues record.
When chaufeur was pressed in the lower keyboard " repetition " key in the described step 12, the automatic cycle step began, and chaufeur is pressed " repetition " key in the lower keyboard again, and the automatic cycle step finishes;
In above-mentioned automatic Pilot process, when goods moved to destination locations, chaufeur was pressed " time-out " key operation suspension, and after having downloaded goods, chaufeur is pressed " time-out " key again, and cancellation suspends and continues operation.
See also the DAS (Driver Assistant System) of a kind of jib-type crane shown in Figure 1, comprise the CPU module 1 of being located in the operator's compartment, CPU module 1 links to each other with memory module 2, A/D modular converter 3, keyboard 4, read-out 5 and relay output module 6 respectively and realizes two way communication, and A/D modular converter 3 also links to each other with amplitude sensor 7, height sensor 8, degreeof turn sensor 9 and walking sensor 10.Height sensor 8 is located on the lifting mechanism (not shown), walking sensor 10 is located on the operating unit (not shown), amplitude sensor 7 is located on the luffing mechanism (not shown), degreeof turn sensor 9 is located on the swing type mechanism (not shown); Relay output module 6 links to each other with lifting mechanism, operating unit, luffing mechanism and swing type mechanism respectively.Keyboard comprises " study " key, " repetition " key and " continuation " key.
When chaufeur was pressed in the lower keyboard 4 " study " key, DAS (Driver Assistant System) entered mode of learning.CPU module 1 is recorded in the sensor information in the A/D modular converter 3 in the memory module 2 in real time, chaufeur manually operation makes the suspender of jib-type crane move to the destination from reference position, press again " study " key in the lower keyboard 4, system finishing mode of learning this moment.When chaufeur calls this mode of learning path, press " repetition " key in the lower keyboard 4, CPU module 1 reads the path of remembering from memory module 2, by output module 6 spans of control limit of control, highly, the position at crane arm corner and tower machine body of the tower center.Suspender moves to first the reference position of learning path from current location, wait on the suspender and loading, read-out prompting " in the loading ", wait to load complete chaufeur and press " continuation " key in the lower keyboard 4, then suspender along the path movement in when study to terminal, this moment, suspender was parked in the final position, read-out shows " in the unloading ", treat that unloading finishes chaufeur and presses " continuation " key in the lower keyboard 4, suspender continues learning path again and moves to starting point.System enters circulation pattern, and when chaufeur wanted to finish this pattern, " repetition " key of pressing again in the lower keyboard 4 got final product.
Consider the volume of handling material, hoisting crane is when hoisting or stack material, sometimes need the spreader position of next working cycle of hoisting crane with respect to this working cycle position a biasing spacing to be arranged, can obtain this default azimuth deviation distance values as the step pitch of each handling biasing this moment by the real-world operation of manipulating crane or by the keyboard input in the CPU module.Step pitch can be produced by the operation of hoisting crane, also can be produced by the variation of hoisting crane amplitude or jib angle of revolution.
DAS (Driver Assistant System) of the present invention is provided with the emergency unchaining function, and system needs only any one handle in the manipulating crane in carrying out auxiliary driving procedure, and auxiliary driving is replaced by the manual operation of chaufeur automatically.
It is pointed out that auxiliary driving method of the present invention is identical or similar with DAS (Driver Assistant System) of the present invention in principle and implementation procedure, so its repeating part does not repeat them here.
Those of ordinary skill in the art will be appreciated that, above embodiment illustrates purpose of the present invention, and be not as limitation of the invention, as long as in essential scope of the present invention, all will drop in the scope of claim of the present invention variation, the modification of the above embodiment.
Claims (14)
1. the auxiliary driving method of a jib-type crane is characterized in that:
The concrete steps of this auxiliary driving method are:
A. path recording step, namely by being located at the data acquisition of the respective sensor on lifting mechanism, luffing mechanism, swing type mechanism and the traveling gear in the jib-type crane, the real time execution track of the suspender in the hoisting crane work circulation of being finished by manual operation is recorded in the memory module as suspender memory operating path;
B. automatic cycle step, namely according to the time dependent data of each sensor position signal that record in the suspender memory operating path, CPU module controls relay output module Drive and Control Circuit, so that remembering operating path according to suspender, lifting mechanism, luffing mechanism, swing type mechanism and traveling gear automatically move, until finish a working cycle;
C. repeating step B is until whole Rigger is finished.
2. auxiliary driving method according to claim 1 is characterized in that:
The concrete steps of described steps A are: the manual motion arm frame of chaufeur type hoisting crane makes suspender move to destination locations behind reference position lifting goods, returns manually operated reference position after destination locations has been downloaded goods again;
In whole working cycle process, the Real-time Collection signal of amplitude sensor, height sensor, degreeof turn sensor and walking sensor is stored to the signal after the above-mentioned conversion in the memory module respectively by the CPU module; Perhaps, the Real-time Collection signal of amplitude sensor, height sensor, degreeof turn sensor and walking sensor is stored to the signal after the above-mentioned conversion in the memory module respectively by the CPU module after the conversion of A/D modular converter.
3. auxiliary driving method according to claim 2 is characterized in that:
Reference position among the described step B is manually operated reference position.
4. auxiliary driving method according to claim 2 is characterized in that:
Destination locations among the described step B is manually operated destination locations.
5. auxiliary driving method according to claim 2 is characterized in that:
Reference position among the described step B is that described default azimuth deviation distance values is located in the memory module from the position of a default azimuth deviation distance values of reference position skew of a upper working cycle.
6. auxiliary driving method according to claim 2 is characterized in that:
Destination locations among the described step B is that described default azimuth deviation distance values is located in the memory module from the position of a default azimuth deviation distance values of destination locations skew of a upper working cycle.
7. it is characterized in that according to claim 5 or 6 described auxiliary driving methods:
Described default azimuth deviation distance values realizes by M/C or realizes by the keyboard input.
8. it is characterized in that according to claim 5 or 6 described auxiliary driving methods:
The realization of the position of a default azimuth deviation distance values of described skew is to be moved by a mechanism kinematic or a plurality of multi mechanism compound that the CPU module is controlled in swing type mechanism, luffing mechanism and the traveling gear by relay output module, and the suspender that drives hoisting crane moves to finish.
9. auxiliary driving method according to claim 1 and 2 is characterized in that:
Suspender real time operation track in the described steps A moves to realize by a mechanism kinematic or a plurality of multi mechanism compound in control lifting mechanism, swing type mechanism, luffing mechanism and the traveling gear.
10. auxiliary driving method according to claim 1 is characterized in that:
The concrete steps of described step B are: amplitude sensor, height sensor, the Real-time Collection signal of degreeof turn sensor and walking sensor is respectively after the conversion of A/D modular converter, respectively the signal after the above-mentioned conversion and the suspender memory operating path that is recorded in the memory module are compared by the CPU module, the CPU module is judged lifting mechanism according to the comparison signal, operating unit, the sense of motion of luffing mechanism and swing type mechanism and kinematic velocity, and control respectively said mechanism by relay output module, be used for the control to the crane hanger walking path, until finish a working cycle.
11. auxiliary driving method according to claim 1 is characterized in that:
Described auxiliary driving method also comprises the emergency unchaining step: in step B, and any one handle in the driver's operation hoisting crane, then hoisting crane withdraws from the automatic Pilot state automatically, and the operation of hoisting crane is replaced by the manual operation of chaufeur.
12. auxiliary driving method according to claim 2 is characterized in that:
When chaufeur was pressed " memory " key in the lower keyboard, the path recording step began in the described steps A, and chaufeur is pressed " memory " key in the lower keyboard again, and the path recording step finishes;
In above-mentioned recording process, when goods moved to destination locations, chaufeur was pressed " time-out " key charged timeout, and after having downloaded goods, chaufeur is pressed " time-out " key again, and cancellation suspends and continues record.
13. auxiliary driving method according to claim 2 is characterized in that:
When chaufeur was pressed in the lower keyboard " repetition " key among the described step B, the automatic cycle step began, and chaufeur is pressed " repetition " key in the lower keyboard again, and the automatic cycle step finishes;
In above-mentioned automatic Pilot process, when goods moved to destination locations, chaufeur was pressed " time-out " key operation suspension, and after having downloaded goods, chaufeur is pressed " time-out " key again, and cancellation suspends and continues operation.
14. the DAS (Driver Assistant System) of a jib-type crane is characterized in that:
Comprise the CPU module, described CPU module realizes two way communication with memory module, A/D modular converter, keyboard, read-out and relay output module respectively, and described A/D modular converter also links to each other with amplitude sensor, height sensor, degreeof turn sensor and walking sensor;
Described height sensor is located on the lifting mechanism, described walking sensor is located on the operating unit, described amplitude sensor is located on the luffing mechanism, described degreeof turn sensor is located on the swing type mechanism;
Described relay output module links to each other with the control circuit of lifting mechanism, operating unit, luffing mechanism and swing type mechanism respectively;
Described keyboard comprises " memory " key, " repetition " key and " time-out " key.
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| CN104516878A (en) * | 2013-09-26 | 2015-04-15 | 徐州重型机械有限公司 | Crane driving manipulation analysis method and system |
| CN105353776A (en) * | 2014-08-20 | 2016-02-24 | 湖南中联重科智能技术有限公司 | System, method and device for controlling arm frame and engineering machinery |
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| CN106672810A (en) * | 2016-12-12 | 2017-05-17 | 徐州建机工程机械有限公司 | Self-learning type intelligent obstacle avoidance control system and method of tower crane |
| CN108217482A (en) * | 2016-12-22 | 2018-06-29 | 利勃海尔工厂埃英根有限公司 | Auxiliary implements the method and crane of the crane movements of crane |
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| CN109534173A (en) * | 2018-12-06 | 2019-03-29 | 中联重科股份有限公司 | For the control method of crane, limiter of moment and crane |
| CN110615362A (en) * | 2019-10-28 | 2019-12-27 | 中建三局集团有限公司 | Intelligent control system and method for tower crane |
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| CN104516878A (en) * | 2013-09-26 | 2015-04-15 | 徐州重型机械有限公司 | Crane driving manipulation analysis method and system |
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| CN108383002A (en) * | 2018-05-25 | 2018-08-10 | 菏泽学院 | A kind of high pedestal jib crane cluster manipulation monitor system |
| CN109534173A (en) * | 2018-12-06 | 2019-03-29 | 中联重科股份有限公司 | For the control method of crane, limiter of moment and crane |
| CN110615362B (en) * | 2019-10-28 | 2020-12-29 | 中建三局集团有限公司 | Intelligent control system and method for tower crane |
| CN110615362A (en) * | 2019-10-28 | 2019-12-27 | 中建三局集团有限公司 | Intelligent control system and method for tower crane |
| CN112551397A (en) * | 2020-11-23 | 2021-03-26 | 长沙中联消防机械有限公司 | Control method and system for aerial ladder vehicle arm support and aerial ladder vehicle |
| CN113023612A (en) * | 2021-04-01 | 2021-06-25 | 中联重科股份有限公司 | Equipment parking method and device, crane, electronic equipment and readable medium |
| CN113023612B (en) * | 2021-04-01 | 2022-03-01 | 中联重科股份有限公司 | Equipment parking method and device, crane, electronic equipment and readable medium |
| CN116081493A (en) * | 2023-04-07 | 2023-05-09 | 沈阳欧柏斯德起重输送技术有限公司 | Crane maintenance management system |
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