CN103803419A - Safety system of stacking crane and driving method - Google Patents
Safety system of stacking crane and driving method Download PDFInfo
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- CN103803419A CN103803419A CN201410080414.XA CN201410080414A CN103803419A CN 103803419 A CN103803419 A CN 103803419A CN 201410080414 A CN201410080414 A CN 201410080414A CN 103803419 A CN103803419 A CN 103803419A
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- trolley platform
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Abstract
The invention discloses a safety system of a stacking crane and a driving method. The safety system comprises a laser, a controller and a crane control driving device, wherein the laser is used for obtaining scanning data in a trolley platform proceeding direction of the stacking crane and/or under a hoisting tool; the controller is used for obtaining the scanning data from the laser, calculating a trolley platform limiting speed which is capable of preventing a container carried by the hoisting tool from bumping into a barrier and/or a hoisting mechanism limiting speed which is capable of enabling the container carried by the hoisting tool to land softly according to the scanning data; and a crane driver is used for limiting a proceeding speed of the trolley platform according to the trolley platform limiting speed and/or limiting a falling speed of the hoisting mechanism according to the hoisting mechanism limiting speed. The safety system of the stacking crane is capable of performing deceleration control for the trolley platform and the hoisting mechanism in time, realizing anti-bumping protection in the trolley platform proceeding direction and the soft landing function of the hoisting mechanism in a falling process.
Description
Technical field
The present invention relates to the safety control technology of stockyard hoisting crane, relate in particular to safety system and the driving method of a kind of stockyard hoisting crane.
Background technology
At present, stockyard hoisting crane is in harbour heap case region when operation, and the reasons such as the sight line interference causing due to driver operation error, heap case environment, very easily occur that suspender touches case, shake out and even falls the serious consequence of case, cause great economic loss.
Summary of the invention
The technical problem to be solved in the present invention is to provide safety system and the driving method of a kind of stockyard hoisting crane; can be in time to the control of slowing down of trolley platform and lifting mechanism, realize the soft landing function in Anti-bumping protection and the lifting mechanism decline process of trolley platform direct of travel.
For solving the problems of the technologies described above, the invention provides the safety system of a kind of stockyard hoisting crane, the suspender that this stockyard hoisting crane comprises trolley platform and driven by lifting mechanism, this safety system comprises laser, controller and crane control actuating device, wherein
Described laser is for obtaining the trolley platform direct of travel of this stockyard hoisting crane and/or the scan-data of suspender below;
Described controller obtains described scan-data from this laser, and the trolley platform that calculates the freight container strikes obstacles that can prevent that this suspender from carrying according to described scan-data limits speed and/or can make the lifting mechanism of the freight container soft landing that described suspender carries limit speed;
Described crane driver limits the gait of march of described trolley platform according to this trolley platform restriction speed and/or limits the lowering velocity of described lifting mechanism according to this lifting mechanism restriction speed.
According to one embodiment of present invention, the quantity of described laser is two, and described two lasers are diagonal line layout on described trolley platform.
According to one embodiment of present invention, described stockyard crane tool has driver's cab, described driver's cab is positioned at described trolley platform left side, the quantity of described laser is two, wherein a laser is arranged on the right front position of this trolley platform, and another laser is arranged on the left back position of this driver's cab.
According to one embodiment of present invention, described stockyard crane tool has driver's cab, described driver's cab is positioned at described trolley platform right side, the quantity of described laser is two, wherein a laser is arranged on the left front position of this trolley platform, and another laser is arranged on the right back position of this driver's cab.
According to one embodiment of present invention, the distance between the line of centers of described laser and the line of centers of described trolley platform is 1.5m～2.5m.
According to one embodiment of present invention, described controller calculates in the following way this trolley platform and limits speed:
Obtain the position data of described trolley platform and suspender from described crane driver, calculate vertical dimension and the level attitude of the freight container bottom surface that this suspender carries;
Retrieve on this trolley platform direct of travel higher than the obstacle of this vertical dimension the level attitude of definite this obstacle;
Calculate the horizontal throw between the level attitude of this freight container bottom surface and the level attitude of this obstacle, using this horizontal throw as horizontal deceleration distance;
Calculate described trolley platform according to the rated acceleration of this horizontal deceleration distance and this trolley platform and limit speed.
According to one embodiment of present invention, described controller calculates in the following way this lifting mechanism and limits speed:
Obtain the position data of described trolley platform and suspender from described crane driver, calculate the vertical dimension of the freight container bottom surface that this suspender carries;
Retrieve the maximum height of the current obstacle in this suspender below;
Calculate the vertical distance between the vertical dimension of this freight container bottom surface and the maximum height of this obstacle, using this vertical distance as vertical deceleration distance;
Calculate described lifting mechanism according to the rated acceleration of this vertical deceleration distance and this lifting mechanism and limit speed.
According to one embodiment of present invention, described laser is two-dimensional laser device.
The present invention also provides the driving method of a kind of stockyard hoisting crane, the suspender that this stockyard hoisting crane comprises trolley platform and driven by lifting mechanism, and the method comprises:
Use laser to obtain the trolley platform direct of travel of this stockyard hoisting crane and/or the scan-data of suspender below;
Obtain described scan-data from this laser, the trolley platform that calculates the freight container strikes obstacles that can prevent that this suspender from carrying according to described scan-data limits speed and/or can make the lifting mechanism of the freight container soft landing that described suspender carries limit speed;
Limit the gait of march of described trolley platform and/or limit the lowering velocity of described lifting mechanism according to this lifting mechanism restriction speed according to this trolley platform restriction speed.
According to one embodiment of present invention, the quantity of described laser is two, and described two lasers are diagonal line layout on described trolley platform.
According to one embodiment of present invention, described stockyard crane tool has driver's cab, described driver's cab is positioned at described trolley platform left side, the quantity of described laser is two, wherein a laser is arranged on the right front position of this trolley platform, and another laser is arranged on the left back position of this driver's cab.
According to one embodiment of present invention, described stockyard crane tool has driver's cab, described driver's cab is positioned at described trolley platform right side, the quantity of described laser is two, wherein a laser is arranged on the left front position of this trolley platform, and another laser is arranged on the right back position of this driver's cab.
According to one embodiment of present invention, the distance between the line of centers of described laser and the line of centers of described trolley platform is 1.5m～2.5m.
According to one embodiment of present invention, calculate in the following way this trolley platform and limit speed:
Obtain the position data of described trolley platform and suspender from described crane driver, calculate vertical dimension and the level attitude of the freight container bottom surface that this suspender carries;
Retrieve on this trolley platform direct of travel higher than the obstacle of this vertical dimension the level attitude of definite this obstacle;
Calculate the horizontal throw between the level attitude of this freight container bottom surface and the level attitude of this obstacle, using this horizontal throw as horizontal deceleration distance;
Calculate described trolley platform according to the rated acceleration of this horizontal deceleration distance and this trolley platform and limit speed.
According to one embodiment of present invention, calculate in the following way this lifting mechanism and limit speed:
Obtain the position data of described trolley platform and suspender from described crane driver, calculate the vertical dimension of the freight container bottom surface that this suspender carries;
Retrieve the maximum height of the current obstacle in this suspender below;
Calculate the vertical distance between the vertical dimension of this freight container bottom surface and the maximum height of this obstacle, using this vertical distance as vertical deceleration distance;
Calculate described lifting mechanism according to the rated acceleration of this vertical deceleration distance and this lifting mechanism and limit speed.
According to one embodiment of present invention, described laser is two-dimensional laser device.
Compared with prior art, the present invention has the following advantages:
The safety system of the stockyard hoisting crane of the embodiment of the present invention and driving method can detect the heap case environment of trolley platform direct of travel and/or suspender below; in time to the control of slowing down of trolley platform and lifting mechanism; thereby realize the functions such as crashproof, soft landing, can play stockyard hoisting crane safe in operation protective effect.
Accompanying drawing explanation
Fig. 1 is the front view of laser installation site in the safety system of stockyard hoisting crane of the embodiment of the present invention;
Fig. 2 is the birds-eye view of laser installation site in the safety system of stockyard hoisting crane of the embodiment of the present invention;
Fig. 3 is the back view of laser installation site in the safety system of stockyard hoisting crane of the embodiment of the present invention;
Fig. 4 is the structured flowchart of the safety system of the stockyard hoisting crane of the embodiment of the present invention.
The specific embodiment
Below in conjunction with specific embodiments and the drawings, the invention will be further described, but should not limit the scope of the invention with this.
The safety system of the present embodiment goes for multiple stockyard hoisting crane, for example tyre crane, track crane etc.
Referring to figs. 1 to Fig. 3, this stockyard hoisting crane can comprise trolley platform 11 and suspender 12, and wherein suspender 12 can be driven by lifting mechanism.It should be noted that, Fig. 3 is back view, the view namely looking over from land side direction sea side direction.
With reference to figure 4, this safety system can comprise laser 21, laser 22, controller 23 and crane driver 24.Wherein, laser 21 and laser 22 are preferably two-dimensional laser device.It should be noted that, adopting two two-dimensional laser devices is only preferred scheme, and according to the demand of practical application, the quantity of laser can also be other any suitable numerals.This crane driver 24 for example can adopt the modes such as PLC to realize.
In conjunction with Fig. 1 to Fig. 4, laser 21 and laser 22 are diagonal line layout on trolley platform 11.Laser 21 and laser 22 can be arranged on trolley platform 11 directly or indirectly, what is called is diagonal line layout and refers to the in-plane at trolley platform 11, two lasers 21 and laser 22 be along the diagonal layout of trolley platform 11, or be similar to the diagonal layout along trolley platform 11.
In the example shown in Fig. 1 to Fig. 4, the driver's cab 10 of stockyard hoisting crane is positioned at the left side of trolley platform 11 (namely using extra large side as front side, using land side as rear side), laser 22 is arranged on the one o'clock position place of trolley platform 11, and laser 21 is arranged on the left back position of driver's cab 10.Adopt this layout type, can guarantee to scan effect on the one hand, the maintenance of the equipment that is also is on the other hand convenient.
Furthermore, the minute surface of laser 21 and laser 22 can be downward, parallel to the ground, and its scanning line is parallel to the direct of travel of trolley platform 21, the profile map of real time scan heap case.In addition, preferably, laser 21 is relative with the plug direction of laser 22, so that installation and maintenance.
Distance B between the line of centers 111 of the line of centers of laser 21, laser 22 and trolley platform 11 is preferably 1.5m～2.5m, in this preferred scope, uses two lasers 21,22 can scan the freight container of current multiple standards dimensions.
In addition, according to the difference of specific embodiment, if driver's cab 10 is positioned at the right side of trolley platform 11, laser 22 can be arranged on the left front position of trolley platform 11 so, and laser 21 can be arranged on the right back position of driver's cab 10.
Further, laser 21 and laser 22 are for obtaining the scan-data of trolley platform 11 direct of travels and/or suspender 12 belows, and this scan-data can comprise the outline data of the obstacles such as the heap case of the obstacles such as the heap case on trolley platform 11 direct of travels, suspender 12 belows.
Controller 23 obtains scan-data from this laser 21,22, and the trolley platform that calculates the freight container strikes obstacles that can prevent that suspender 12 from carrying according to scan-data limits speed and/or can make the lifting mechanism of the freight container soft landing that suspender 12 carries limit speed.
Crane driver 24 limits the gait of march of trolley platform 11 according to this trolley platform restriction speed and/or limits the lowering velocity of lifting mechanism according to this lifting mechanism restriction speed.
Wherein, between controller 23 and laser 21,22, can pass through coupling fiber, controller 23 and crane driver 24 can be used the mode such as ethernet, ProfibusDP to carry out communication.For example can use Ethernet switch by laser 21, laser 22, controller 23 and crane driver 24 networkings.In addition, the other touch-screen of can also installing of driver's cab 10 provides human-computer interaction interface to show the profile map or the state of the system that obtain based on scan-data.
For collision prevention function, controller 22 can obtain from crane driver 23 position data of trolley platform 11 and suspender 12, in conjunction with the dimensional data of freight container, just can calculate vertical dimension and the level attitude of the freight container bottom surface that this suspender 12 carries; From scan-data, retrieve afterwards on trolley platform 11 direct of travels higher than the obstacle of this vertical dimension the level attitude of definite obstacle; Next, calculate the horizontal throw between the level attitude of this freight container bottom surface and the level attitude of obstacle, using this horizontal throw as horizontal deceleration distance; Calculate trolley platform according to the rated acceleration of trolley platform 11 and the horizontal deceleration distance that previously obtained and limit speed.This trolley platform restriction speed of crane driver 24 use limits the gait of march of trolley platform, thereby avoids clashing into the obstacles such as heap case.
For soft landing function, controller 22 can obtain from crane driver 23 position data of trolley platform 11 and suspender 12, in conjunction with the dimensional data of freight container, just can calculate the vertical dimension of the freight container bottom surface that this suspender 12 carries; From scan-data, retrieve afterwards the maximum height of the current obstacle in suspender 12 belows; Next calculate the vertical distance between the vertical dimension of this freight container bottom surface and the maximum height of obstacle, and set it as vertical deceleration distance; Calculate lifting mechanism according to the rated acceleration of lifting mechanism afterwards and limit speed.This lifting mechanism restriction speed of crane driver 24 use limits the below speed of lifting mechanism, thereby avoids the obstacle such as heap case of rigid shock below, with the function of pulling off a soft landing.
Adopt an example to be described in detail installation setting and the work of this safety system below.First, use mensuration laser 21, the installation deflection angle of laser 22, installation site, suspender 12 positions, front and back end etc. in dolly system of axes such as such as Lycra of high-acruracy survey instrument.Afterwards, adopt the communication modes such as ethernet or ProfibusDP, making to set up reliable, efficient communication between controller 23 and crane driver 24 is connected, controller 23 obtains position data and the operational factor etc. of trolley platform 11, lifting mechanism, suspender 12 from crane driver 24, and the control data such as trolley platform restriction speed, lifting mechanism restriction speed that calculate are issued to crane driver 24; Controller 23, with reference to the acquisition time of the position data of current trolley platform 11, obtains approaching most the laser scans data of this time, to reduce the impact of the inconsistent generation of Data Matching that communication delay causes; The scan-data (for example two-dimensional scan data) that laser 21, laser 22 are collected is transformed into the system of axes of trolley platform 11 from laser system of axes separately, set up also real-time update and pile the profile cartographic information of the obstacles such as case, and utilize this profile cartographic information to realize function crashproof, soft landing.
For dolly collision prevention function, controller 23 obtains vertical dimension and the level attitude of current suspender 12 and entrained freight container bottom surface thereof, from profile cartographic information, retrieve the obstacle higher than the vertical dimension of this bottom surface according to the service direction of trolley platform 11, obtain the level attitude of this obstacle, calculate the distance between two level attitudes, using this distance as horizontal deceleration distance, limit speed in conjunction with obtain trolley platform with reference to the rated acceleration of trolley platform 11, the velocity amplitude that controller 23 becomes crane driver 24 directly to process this restriction rate conversion, limited the gait of march of trolley platform 11 by crane driver 24, realize the Anti-bumping protection of trolley platform 11.
For soft landing function, in the time that lifting mechanism is transferred, controller 23 retrieves the maximum height of suspender 12 lower zones from profile cartographic information, calculate the vertical distance between the freight container bottom surface that itself and current suspender 12 carry, using this vertical distance as vertical deceleration distance, with reference to the rated acceleration of lifting mechanism, calculate lifting mechanism and limit speed, the velocity amplitude that controller 23 can become crane driver 24 directly to process this restriction rate conversion, limited the lifting velocity of lifting mechanism by crane driver 24, the function of pulling off a soft landing.
In addition, the present embodiment also provides the driving method of a kind of stockyard hoisting crane, and in order to realize crashproof and soft landing function, the method comprises the steps:
Use laser to obtain the trolley platform direct of travel of this stockyard hoisting crane and/or the scan-data of suspender below;
Obtain described scan-data from this laser, the trolley platform that calculates the freight container strikes obstacles that can prevent that this suspender from carrying according to described scan-data limits speed and/or can make the lifting mechanism of the freight container soft landing that described suspender carries limit speed;
Limit the gait of march of described trolley platform and/or limit the lowering velocity of described lifting mechanism according to this lifting mechanism restriction speed according to this trolley platform restriction speed.
The associated description that refers to aforementioned safety system about the more information of the method, repeats no more here.
Although the present invention with preferred embodiment openly as above; but it is not for limiting the present invention; any those skilled in the art without departing from the spirit and scope of the present invention; can make possible variation and modification, therefore protection scope of the present invention should be as the criterion with the scope that the claims in the present invention were defined.
Claims (16)
1. a safety system for stockyard hoisting crane, the suspender that this stockyard hoisting crane comprises trolley platform and driven by lifting mechanism, is characterized in that, this safety system comprises laser, controller and crane control actuating device, wherein,
Described laser is for obtaining the trolley platform direct of travel of this stockyard hoisting crane and/or the scan-data of suspender below;
Described controller obtains described scan-data from this laser, and the trolley platform that calculates the freight container strikes obstacles that can prevent that this suspender from carrying according to described scan-data limits speed and/or can make the lifting mechanism of the freight container soft landing that described suspender carries limit speed;
Described crane driver limits the gait of march of described trolley platform according to this trolley platform restriction speed and/or limits the lowering velocity of described lifting mechanism according to this lifting mechanism restriction speed.
2. safety system according to claim 1, is characterized in that, the quantity of described laser is two, and described two lasers are diagonal line layout on described trolley platform.
3. safety system according to claim 1, it is characterized in that, described stockyard crane tool has driver's cab, described driver's cab is positioned at described trolley platform left side, the quantity of described laser is two, wherein a laser is arranged on the right front position of this trolley platform, and another laser is arranged on the left back position of this driver's cab.
4. safety system according to claim 1, it is characterized in that, described stockyard crane tool has driver's cab, described driver's cab is positioned at described trolley platform right side, the quantity of described laser is two, wherein a laser is arranged on the left front position of this trolley platform, and another laser is arranged on the right back position of this driver's cab.
5. according to the safety system described in any one in claim 2 to 4, it is characterized in that, the distance between the line of centers of described laser and the line of centers of described trolley platform is 1.5m～2.5m.
6. safety system according to claim 1, is characterized in that, described controller calculates in the following way this trolley platform and limits speed:
Obtain the position data of described trolley platform and suspender from described crane driver, calculate vertical dimension and the level attitude of the freight container bottom surface that this suspender carries;
Retrieve on this trolley platform direct of travel higher than the obstacle of this vertical dimension the level attitude of definite this obstacle;
Calculate the horizontal throw between the level attitude of this freight container bottom surface and the level attitude of this obstacle, using this horizontal throw as horizontal deceleration distance;
Calculate described trolley platform according to the rated acceleration of this horizontal deceleration distance and this trolley platform and limit speed.
7. safety system according to claim 1, is characterized in that, described controller calculates in the following way this lifting mechanism and limits speed:
Obtain the position data of described trolley platform and suspender from described crane driver, calculate the vertical dimension of the freight container bottom surface that this suspender carries;
Retrieve the maximum height of the current obstacle in this suspender below;
Calculate the vertical distance between the vertical dimension of this freight container bottom surface and the maximum height of this obstacle, using this vertical distance as vertical deceleration distance;
Calculate described lifting mechanism according to the rated acceleration of this vertical deceleration distance and this lifting mechanism and limit speed.
8. according to the safety system described in any one in claim 1 to 4,6 to 7, it is characterized in that, described laser is two-dimensional laser device.
9. a driving method for stockyard hoisting crane, the suspender that this stockyard hoisting crane comprises trolley platform and driven by lifting mechanism, is characterized in that, the method comprises:
Use laser to obtain the trolley platform direct of travel of this stockyard hoisting crane and/or the scan-data of suspender below;
Obtain described scan-data from this laser, the trolley platform that calculates the freight container strikes obstacles that can prevent that this suspender from carrying according to described scan-data limits speed and/or can make the lifting mechanism of the freight container soft landing that described suspender carries limit speed;
Limit the gait of march of described trolley platform and/or limit the lowering velocity of described lifting mechanism according to this lifting mechanism restriction speed according to this trolley platform restriction speed.
10. driving method according to claim 9, is characterized in that, the quantity of described laser is two, and described two lasers are diagonal line layout on described trolley platform.
11. driving methods according to claim 9, it is characterized in that, described stockyard crane tool has driver's cab, described driver's cab is positioned at described trolley platform left side, the quantity of described laser is two, wherein a laser is arranged on the right front position of this trolley platform, and another laser is arranged on the left back position of this driver's cab.
12. driving methods according to claim 9, it is characterized in that, described stockyard crane tool has driver's cab, described driver's cab is positioned at described trolley platform right side, the quantity of described laser is two, wherein a laser is arranged on the left front position of this trolley platform, and another laser is arranged on the right back position of this driver's cab.
13. according to claim 10 to the driving method described in any one in 12, it is characterized in that, the distance between the line of centers of described laser and the line of centers of described trolley platform is 1.5m～2.5m.
14. driving methods according to claim 9, is characterized in that, calculate in the following way this trolley platform and limit speed:
Obtain the position data of described trolley platform and suspender from described crane driver, calculate vertical dimension and the level attitude of the freight container bottom surface that this suspender carries;
Retrieve on this trolley platform direct of travel higher than the obstacle of this vertical dimension the level attitude of definite this obstacle;
Calculate the horizontal throw between the level attitude of this freight container bottom surface and the level attitude of this obstacle, using this horizontal throw as horizontal deceleration distance;
Calculate described trolley platform according to the rated acceleration of this horizontal deceleration distance and this trolley platform and limit speed.
15. driving methods according to claim 9, is characterized in that, calculate in the following way this lifting mechanism and limit speed:
Obtain the position data of described trolley platform and suspender from described crane driver, calculate the vertical dimension of the freight container bottom surface that this suspender carries;
Retrieve the maximum height of the current obstacle in this suspender below;
Calculate the vertical distance between the vertical dimension of this freight container bottom surface and the maximum height of this obstacle, using this vertical distance as vertical deceleration distance;
Calculate described lifting mechanism according to the rated acceleration of this vertical deceleration distance and this lifting mechanism and limit speed.
16. according to the driving method described in any one in claim 9 to 12,14 to 15, it is characterized in that, described laser is two-dimensional laser device.
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| CN201410080414.XA CN103803419B (en) | 2014-03-06 | 2014-03-06 | The safety system of stockyard hoisting crane and driving method |
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| CN201410080414.XA CN103803419B (en) | 2014-03-06 | 2014-03-06 | The safety system of stockyard hoisting crane and driving method |
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| CN107473109A (en) * | 2017-08-23 | 2017-12-15 | 廊坊中建机械有限公司 | Tower crane collision-proof method and system |
| CN108275575A (en) * | 2018-02-05 | 2018-07-13 | 上海振华重工(集团)股份有限公司 | The adjacent shellfish position of gantry crane is anti-to hit intelligent secondary speed-reducing system |
| CN108689308A (en) * | 2018-07-17 | 2018-10-23 | 东台市富康机械有限公司 | Gantry crane with floating body bearing |
| CN112462373A (en) * | 2021-02-02 | 2021-03-09 | 聚时科技(江苏)有限公司 | Cabin position detection method based on multi-sensor fusion |
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| CN203284078U (en) * | 2013-05-08 | 2013-11-13 | 北京国泰星云科技有限公司 | Container collision prevention automatic control system for RTG/RMG lifting appliance in container wharf |
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| CN112462373A (en) * | 2021-02-02 | 2021-03-09 | 聚时科技(江苏)有限公司 | Cabin position detection method based on multi-sensor fusion |
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| Publication number | Publication date |
|---|---|
| CN103803419B (en) | 2016-01-27 |
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