CN103264958B - Wheel crane and method for correcting error thereof - Google Patents
Wheel crane and method for correcting error thereof Download PDFInfo
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- CN103264958B CN103264958B CN201310146669.7A CN201310146669A CN103264958B CN 103264958 B CN103264958 B CN 103264958B CN 201310146669 A CN201310146669 A CN 201310146669A CN 103264958 B CN103264958 B CN 103264958B
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Abstract
The invention provides a kind of wheel crane and method for correcting error thereof.Wherein wheel crane comprises door frame, and the both sides of described door frame are provided with by motor-driven drive wheel, it is characterized in that, also comprise track acquiring unit and control unit; Described track acquiring unit is electrically connected with described control unit, for obtaining the real time execution track of described wheel crane; Described control unit is electrically connected with described motor, for described real time execution track and the planned trajectory preset being compared, and controls the rotating speed of each drive wheel of described wheel crane to rectify a deviation according to comparative structure.When position deviation appears in such scheme in wheel crane is advanced, by controlling the rotating speed of drive wheel to rectify a deviation, wheel crane being come back in predetermined planned trajectory, makes actual travel track consistent with planned trajectory or unanimous on the whole.
Description
Technical field
The present invention relates to wheel crane technical field, particularly relate to a kind of wheel crane and method for correcting error thereof.
Background technology
Along with the development of Chinese national economy and the growth of international trade, China's Container Transport development is very fast.The general container handling crane that adopts lifts freight container at present.Existing container handling crane is divided into wheel crane and locomotive crane.
Wheel crane is that the drive wheel of the rubber-tyred installed by door frame bottom is moved.In the course of the work, the position residing for freight container that is different because of each drive wheel tire pressure and/or lifting is different, and cause the stressed difference of each drive wheel, deflection is also different for wheel crane.Each drive wheel deflection is different, causes wheel crane can depart from projected path in traveling process.
Summary of the invention
Provide hereinafter about brief overview of the present invention, to provide about the basic comprehension in some of the present invention.Should be appreciated that this general introduction is not summarize about exhaustive of the present invention.It is not that intention determines key of the present invention or pith, and nor is it intended to limit the scope of the present invention.Its object is only provide some concept in simplified form, in this, as the preorder in greater detail discussed after a while.
The invention provides a kind of wheel crane and method for correcting error thereof, in order to solve the problem existing in existing wheel crane traveling process and depart from desired trajectory.
The invention provides a kind of wheel crane method for correcting error, comprising:
Obtain the real time execution track of wheel crane;
Described real time execution track and the planned trajectory preset are compared, and controls the rotating speed of each drive wheel of described wheel crane to rectify a deviation according to comparative structure.
The present invention also provides a kind of wheel crane, comprises door frame, and the both sides of described door frame are provided with by motor-driven drive wheel, also comprise track acquiring unit and control unit;
Described track acquiring unit is electrically connected with described control unit, for obtaining the real time execution track of described wheel crane;
Described control unit is electrically connected with described motor, for described real time execution track and the planned trajectory preset being compared, and controls the rotating speed of each drive wheel of described wheel crane to rectify a deviation according to comparative structure.
Wheel crane provided by the invention and method for correcting error thereof, when there is position deviation in wheel crane is advanced, by controlling the rotating speed of drive wheel to rectify a deviation, wheel crane being come back in predetermined planned trajectory, makes actual travel track consistent with planned trajectory or unanimous on the whole.
Accompanying drawing explanation
Below with reference to the accompanying drawings illustrate embodiments of the invention, above and other objects, features and advantages of the present invention can be understood more easily.Parts in accompanying drawing are just in order to illustrate principle of the present invention.In the accompanying drawings, same or similar technical characteristic or parts will adopt same or similar Reference numeral to represent.
The diagram of circuit of the wheel crane method for correcting error that Fig. 1 provides for the embodiment of the present invention;
The structural representation of the wheel crane that Fig. 2 provides for the embodiment of the present invention;
The schematic diagram of advancing of the wheel crane that Fig. 3 provides for the embodiment of the present invention;
The camera monitoring system schematic diagram of the wheel crane that Fig. 4 provides for the embodiment of the present invention.
Description of reference numerals:
Drive wheel-1; Motor-2; Camera-3;
Door frame-4; Control unit-5; Frequency converter-6;
Run trace-7; Wheel crane-8; Video Controller-9;
General controller-10; Telltale-11; Four image splitters-12.
Detailed description of the invention
With reference to the accompanying drawings embodiments of the invention are described.The element described in an accompanying drawing of the present invention or a kind of embodiment and feature can combine with the element shown in one or more other accompanying drawing or embodiment and feature.It should be noted that for purposes of clarity, accompanying drawing and eliminate expression and the description of unrelated to the invention, parts known to persons of ordinary skill in the art and process in illustrating.
The diagram of circuit of the wheel crane method for correcting error that Fig. 1 provides for the embodiment of the present invention.As shown in Figure 1, the wheel crane method for correcting error that the embodiment of the present invention provides comprises:
S10: the real time execution track obtaining wheel crane;
S20: described real time execution track and the planned trajectory preset are compared, and controls the rotating speed of each drive wheel of described wheel crane to rectify a deviation according to comparative structure.
When position deviation appears in such scheme in wheel crane is advanced, by controlling the rotating speed of drive wheel to rectify a deviation, wheel crane being come back in predetermined planned trajectory, makes actual travel track consistent with planned trajectory or unanimous on the whole.
Further, based on above-described embodiment, in actual use, the real time execution track of wheel crane can be obtained by camera; Or by GPS (GlobalPositioningSystem; Global positioning system) obtain the real time execution track of wheel crane.
Camera is adopted to obtain the real time execution track of this wheel crane, can be in the following way, ground in the work area of this wheel crane is arranged track index wire, this track index wire is as the planned trajectory preset, and it can be the straight line adopting paint etc. to mark on the ground.On wheel crane, hard-wired camera is arranged down, and aims at track index wire, relative to the position of track index wire during the walking of this wheel crane of camera captured in real-time, with this wheel crane of multilevel iudge whether off-track index wire.
Adopt GPS to measure the real-time location coordinates obtaining this wheel crane, this real-time location coordinates and the preset coordinates as the planned trajectory preset are compared, to judge whether this wheel crane occurs departing from.
If such as but not limited to this wheel crane in traveling process, the right side to track index wire is cheap, then can think that the right side of track index wire is deflection direction, left side is offset direction.
If this wheel crane offsets to the right in the process of walking, then the drive wheel that can control on the right side of this wheel crane improves rotating speed, corrects, make on its path got back to guided by track index wire the pose of this wheel crane.Certainly, the drive wheel controlled on the left of wheel crane can also be adopted to reduce rotating speed, the pose of this wheel crane is corrected, makes on its path got back to guided by track index wire.In addition, the drive wheel that can also control on the right side of this wheel crane improves rotating speed, and the drive wheel simultaneously controlled on the left of wheel crane reduces rotating speed, corrects, make on its path got back to guided by track index wire the pose of this wheel crane.
Further, based on above-described embodiment, can change by frequency converter the rotating speed driving the power frequency of the motor of described drive wheel rotation to change described drive wheel.Such as, improve the power frequency of motor to improve the rotating speed of drive wheel by frequency converter, reduce the power frequency of motor to reduce the rotating speed of drive wheel.
The structural representation of the wheel crane that Fig. 2 provides for the embodiment of the present invention.As shown in Figure 2, the wheel crane that the embodiment of the present invention provides comprises door frame 4, and the both sides of door frame 4 are provided with the drive wheel 1 driven by motor 2, also comprises track acquiring unit and control unit 5; Track acquiring unit is electrically connected with control unit 5, for obtaining the real time execution track of wheel crane; Control unit 5 is electrically connected with motor 2, for real time execution track and the planned trajectory preset being compared, and controls the rotating speed of each drive wheel 1 of wheel crane to rectify a deviation according to comparative structure.
The effect of this wheel crane and principle of work, see said method embodiment, repeat no more here.
Further, based on above-described embodiment, track acquiring unit can adopt the camera 3 or GPS that are electrically connected with control unit 5.
Further, based on above-described embodiment, camera 3 is arranged down, and is fixedly connected with door frame 4.
Further, based on above-described embodiment, as shown in Figure 3, camera 3 is oriented the direction that wheel crane 8 is walked, and camera 3 is installed on door frame by semifixed The Cloud Terrace, and the image pickup scope of camera 3 is within the scope of the 100cm of the both sides of drive wheel run trace 7.Adopt semifixed The Cloud Terrace install camera is installed, be convenient to camera towards regulating, be beneficial to regulate camera 3 initial towards just to wheel run trace 7.
Further, based on above-described embodiment, direction of travel all has a described camera before and after wheel crane, camera described in two is installed on described door frame respectively by semifixed The Cloud Terrace, and the image pickup scope of each described camera is within the scope of the 100cm of the both sides of described drive wheel run trace.Two cameras arranged before and after adopting better can observe whether this wheel crane track route occurs deflection.
Further, based on above-described embodiment, control unit 5 comprises the power frequency of the motor 2 for changing the rotation of driving drive wheel 1 to change the frequency converter 6 of the rotating speed of drive wheel 1, and frequency converter 6 is electrically connected with motor 2.
Further, based on above-described embodiment, as shown in Figure 4, control unit also comprises Video Controller 9 and general controller 10, Video Controller 9 is electrically connected with camera 3 and general controller 10 respectively, Video Controller 10 is electrically connected four image splitters 12, and general controller 10 is electrically connected telltale 11.Video Controller 9 and four image splitters 12 all can adopt existing product, do not repeat here to its physical circuit.The video image that four image splitter 12 pairs cameras 3 gather carries out split screen separation, then through Video Controller 10, the video image being divided into four pictures is sent to general controller, and general controller is used for controlling the video image that telltale display is divided into four pictures.The video image that can be shown according to telltale by operator controls, adjusts the pose of wheel crane accordingly.
In order to protect camera in actual use, a head-shield of making a video recording can be established in the outside mask of camera, the camera lens of a wiper to camera being installed in the camera lens side of camera and waking up with a start clean.Camera 3 can adopt integrated color to turn black camera.
Last it is noted that above embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to previous embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (8)
1. a wheel crane method for correcting error, is characterized in that, comprising:
Obtain the real time execution track of wheel crane;
Described real time execution track and the planned trajectory preset are compared, and controls the rotating speed of each drive wheel of described wheel crane to rectify a deviation according to comparative result;
The real time execution track of described acquisition wheel crane, is specially:
The real time execution track of described wheel crane is obtained by GPS;
Described described real time execution track and the planned trajectory preset to be compared, and control the rotating speed of each drive wheel of described wheel crane to rectify a deviation according to comparative result, be specially:
Described real time execution track and the planned trajectory preset are compared, if described wheel crane departs from described planned trajectory, then the described drive wheel controlling deflection side improves rotating speed; Or,
The described drive wheel controlling to depart from side reduces rotating speed; Or,
The described drive wheel controlling deflection side improves rotating speed, and the described drive wheel simultaneously controlling to depart from side reduces rotating speed.
2. wheel crane method for correcting error according to claim 1, is characterized in that, the power frequency being changed the motor driving described drive wheel to rotate by frequency converter changes the rotating speed of described drive wheel.
3. a wheel crane, comprises door frame, and the both sides of described door frame are provided with by motor-driven drive wheel, it is characterized in that, also comprise track acquiring unit and control unit;
Described track acquiring unit is electrically connected with described control unit, for obtaining the real time execution track of described wheel crane;
Described control unit is electrically connected with described motor, for described real time execution track and the planned trajectory preset being compared, and controls the rotating speed of each drive wheel of described wheel crane to rectify a deviation according to comparative result;
Described described real time execution track and the planned trajectory preset to be compared, and control the rotating speed of each drive wheel of described wheel crane to rectify a deviation according to comparative result, be specially:
Described real time execution track and the planned trajectory preset are compared, if described wheel crane departs from described planned trajectory, then the described drive wheel controlling deflection side improves rotating speed; Or,
The described drive wheel controlling to depart from side reduces rotating speed; Or,
The described drive wheel controlling deflection side improves rotating speed, and the described drive wheel simultaneously controlling to depart from side reduces rotating speed.
4. wheel crane according to claim 3, is characterized in that, described track acquiring unit is camera or GPS.
5. wheel crane according to claim 4, is characterized in that, described camera is arranged down, and is fixedly connected with described door frame.
6. wheel crane according to claim 4, it is characterized in that, described camera is oriented the direction of described wheel crane walking, described camera is installed on described door frame by semifixed The Cloud Terrace, and the image pickup scope of described camera is within the scope of the 100cm of the both sides of described drive wheel run trace.
7. the wheel crane according to claim 4 or 5 or 6, it is characterized in that, described control unit comprises the power frequency of the described motor for changing the described drive wheel rotation of driving to change the frequency converter of the rotating speed of described drive wheel, and described frequency converter is electrically connected with described motor.
8. wheel crane according to claim 7, it is characterized in that, described control unit also comprises Video Controller and general controller, described Video Controller is electrically connected with described camera and described general controller respectively, described Video Controller is electrically connected four image splitters, described general controller electrical connection telltale.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310146669.7A CN103264958B (en) | 2013-04-24 | 2013-04-24 | Wheel crane and method for correcting error thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201310146669.7A CN103264958B (en) | 2013-04-24 | 2013-04-24 | Wheel crane and method for correcting error thereof |
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| Publication Number | Publication Date |
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| CN103264958A CN103264958A (en) | 2013-08-28 |
| CN103264958B true CN103264958B (en) | 2016-02-17 |
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| CN201310146669.7A Active CN103264958B (en) | 2013-04-24 | 2013-04-24 | Wheel crane and method for correcting error thereof |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105197801A (en) * | 2014-06-12 | 2015-12-30 | 上海海镭激光科技有限公司 | Walking positioning, deviation correcting and collision preventing method for tire crane |
| CN109823968A (en) * | 2018-12-21 | 2019-05-31 | 佛山市诚德新材料有限公司 | A kind of overhead traveling crane reservoir region management system |
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| CN103264958A (en) | 2013-08-28 |
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