CN103848344B - A kind of overhead traveling crane accurate positioning method and device - Google Patents
A kind of overhead traveling crane accurate positioning method and device Download PDFInfo
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- CN103848344B CN103848344B CN201210511932.3A CN201210511932A CN103848344B CN 103848344 B CN103848344 B CN 103848344B CN 201210511932 A CN201210511932 A CN 201210511932A CN 103848344 B CN103848344 B CN 103848344B
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- crown block
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 229910052782 aluminium Inorganic materials 0.000 claims abstract description 84
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims abstract description 82
- 239000000725 suspension Substances 0.000 claims abstract description 66
- 239000000523 sample Substances 0.000 claims abstract description 56
- 238000005259 measurement Methods 0.000 claims abstract description 17
- 238000000926 separation method Methods 0.000 claims abstract description 12
- 238000004364 calculation method Methods 0.000 claims description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 230000009466 transformation Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000005868 electrolysis reaction Methods 0.000 description 3
- 239000004411 aluminium Substances 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
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- Control And Safety Of Cranes (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
<b>the invention discloses a kind of overhead traveling crane accurate positioning method and device.Its method is to install a vertical infrared probe and two horizontal infrared probes on the suspension hook of overhead traveling crane, height and position is determined by vertical infrared probe, determine horizontal level by two horizontal infrared probes, single-chip microcomputer automatically calculate the crown block hook center lateral separation to aluminum bag suspension ring center</b><b>x1</b><b>and fore-and-aft distance</b><b>y1</b><b>；And guided crown block hook center to move to aluminum bag suspension ring center by single-chip microcomputer.The present invention installs based on infrared distance measurement, the positioner being control core with single-chip microcomputer on crown block hook, it is achieved that being quickly accurately positioned between overhead traveling crane and aluminum bag.There is cost low, practical, it is easy to the feature of upgrading and transformation.With existing do not set pinpoint overhead traveling crane compared with, it is not necessary to significantly high in temperature, the lifting scene of bad environments arranges commanding, can simplify overhead traveling crane operation, alleviate labor strength, reduce the probability that personnel casualty accidents occurs, improve work efficiency, reduce production cost.</b>
Description
Technical field
The present invention relates to a kind of overhead traveling crane accurate positioning method and device, belong to overhead traveling crane automatic positioning technology field, especially belong to the field of locating technology of aluminum casting workshop overhead traveling crane lifting aluminum bag.
Background technology
Overhead traveling crane is the key equipment of modern prebaked anode aluminum electrolysis, is suitable for prebaked anode aluminum electrolysis process and produces, can meet the harsh environments in the electrolysis process such as aluminium electroloysis, foundry.Overhead traveling crane in foundry is used for lifting aluminum bag, needs operator's positioning aluminium bag accurately when lifting.Due on existing overhead traveling crane without accurate positioning device, need workman to command overhead traveling crane driver to position operation at the scene during location, owing to foundry's temperature is significantly high, working environment very severe, labor strength is very big, as accidentally there is aluminum bag overthrow accident, it is also possible to cause casualties accident.
Summary of the invention
It is an object of the invention to, it is provided that a kind of overhead traveling crane accurate positioning method and device.Employing infrared probe is found range, and by single-chip microcomputer as analytical calculation machine element, positions operation by screen display and voice message overhead traveling crane driver, it is not necessary to personnel on site commands, to overcome the deficiencies in the prior art.
Technical scheme:
A kind of overhead traveling crane accurate positioning method, the method is to install a vertical infrared probe and two horizontal infrared probes on the suspension hook of overhead traveling crane, first passes through vertical infrared probe and measures the vertical dimension Z at crown block hook centre-to-centre spacing aluminum bag suspension ring center and make crown block hook center drop to the equal height at aluminum bag suspension ring center；Then measure the horizontal vertical line distance X of crown block hook centre-to-centre spacing aluminum bag side Factory Building wall to horizontal infrared probe again through X, horizontal linear distance S1 and the crown block hook center at non-directional horizontal infrared probe measurement crown block hook centre-to-centre spacing aluminum bag suspension ring center extend to the horizontal oblique line distance S of Factory Building wall through aluminum bag suspension ring center, and measurement result is inputted single-chip microcomputer；By keyboard, infrared probe correction factor d, aluminum bag height h, aluminum bag radius R, aluminum bag suspension ring radius r are inputted single-chip microcomputer simultaneously；Automatically crown block hook center lateral separation X1 and fore-and-aft distance Y1 to aluminum bag suspension ring center is calculated by single-chip microcomputer；And guided crown block hook center to move to aluminum bag suspension ring center by single-chip microcomputer.
In preceding method, described infrared probe correction factor d refers to the distance at infrared probe deviation crown block hook center.
In preceding method, described single-chip microcomputer is by the display screen display data of input through keyboard and position fixing process and operation result.
In preceding method, described single-chip microcomputer is by voice module prompting key in data and position fixing process and operation result.
In preceding method, described single-chip microcomputer guides crown block hook center to move to aluminum bag suspension ring center to be the screen display by being connected with single-chip microcomputer and crown block hook center is moved to aluminum bag suspension ring center by voice message overhead traveling crane operator.
In preceding method, when described vertical infrared probe measures the vertical dimension Z at crown block hook centre distance aluminum bag suspension ring center, with ground for measuring basis, first record the infrared probe height H from ground, then pass through single-chip microcomputer by formulaCalculate the vertical dimension Z at crown block hook centre-to-centre spacing aluminum bag suspension ring center；Represent during result of calculation Z > 0 that rings center is higher than suspension ring center, during Z < 0, represent that rings center is lower than suspension ring center.
In preceding method, crown block hook is dropped to aluminum bag middle height by the described measurement rings center horizontal linear distance S1 from aluminum bag suspension ring center, measure crown block hook center to the distance D of aluminum bag outer wall by the horizontal infrared probe of non-directional, press formula by single-chip microcomputerCalculate the value of the rings center horizontal linear distance S1 from aluminum bag suspension ring center.
In preceding method, the calculating of described lateral separation X1 and fore-and-aft distance Y1 is first by formula by single-chip microcomputerAngle, θ value between computed range X and distance S；Formula is pressed by single-chip microcomputer again through distance S1 and angle, θWithCalculate rings center lateral separation X1 and fore-and-aft distance Y1 to suspension ring center.
By the device that preceding method is constituted, including single-chip microcomputer, the signal input part of single-chip microcomputer is connected with the infrared distance measurement device being arranged on crown block hook, and the data input pin of single-chip microcomputer is connected with keyboard, and the signal output part of single-chip microcomputer is connected with display screen and voice module.
In aforementioned means, described infrared distance measurement device includes vertical infrared probe, X to the horizontal infrared probe of horizontal infrared probe and non-directional.
Compared with prior art, the present invention based on infrared distance sensor, with single-chip microcomputer for control core complete overhead traveling crane handling aluminum bag in foundry time be quickly accurately positioned.There is cost low, practical, it is possible to be installed on existing overhead traveling crane, it is easy to the feature of upgrading and transformation.With existing do not set pinpoint overhead traveling crane compared with, it is not necessary to significantly high in temperature, the lifting scene of bad environments arranges commanding, can simplify overhead traveling crane operation, alleviate labor strength, reduce the probability that personnel casualty accidents occurs, improve work efficiency, reduce production cost.
Accompanying drawing explanation
Fig. 1 is principles of the invention block diagram；
Fig. 2 is plane positioning schematic diagram of the present invention；
Fig. 3 is perpendicular positioning schematic diagram of the present invention；
Fig. 4 is the method schematic diagram measuring the rings center horizontal linear distance S1 from aluminum bag suspension ring center.
Fig. 5 is the mechanical flow diagram of the present invention.
Being labeled as in figure: 1-single-chip microcomputer, 2-crown block hook, 3-keyboard, 4-display screen, 5-voice module, the vertical infrared probe of 6-, 7-X are to horizontal infrared probe, the horizontal infrared probe of 8-non-directional, 9-aluminum bag, 10-aluminum bag suspension ring.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail, but not as any limitation of the invention.
A kind of overhead traveling crane accurate positioning method, as depicted in figs. 1 and 2.The method is to install a vertical infrared probe and two horizontal infrared probes on the suspension hook of overhead traveling crane, measures the vertical dimension Z at crown block hook centre-to-centre spacing aluminum bag suspension ring center by vertical infrared probe and makes crown block hook center drop to the equal height at aluminum bag suspension ring center；Then (refer to that detection angle is less again through X to horizontal infrared probe, the distance of object within the scope of assigned direction can only be detected) measure the horizontal vertical line distance X of crown block hook centre-to-centre spacing aluminum bag side Factory Building wall, the horizontal infrared probe of non-directional (refers to that detection angle is bigger, the distance of object within the scope of certain angle can be detected) measure the horizontal linear distance S1 at crown block hook centre-to-centre spacing aluminum bag suspension ring center and crown block hook center extends to the horizontal oblique line distance S of Factory Building wall through aluminum bag suspension ring center, and measurement result is inputted single-chip microcomputer；By keyboard infrared probe correction factor d(referred to the distance at infrared probe deviation crown block hook center simultaneously), aluminum bag height h, aluminum bag radius R, aluminum bag suspension ring radius r input single-chip microcomputer；Automatically crown block hook center lateral separation X1 and fore-and-aft distance Y1 to aluminum bag suspension ring center is calculated by single-chip microcomputer；And guided crown block hook center to move to aluminum bag suspension ring center by single-chip microcomputer.
Described single-chip microcomputer is by the display screen display data of input through keyboard and position fixing process and operation result.Single-chip microcomputer is by voice module prompting key in data and position fixing process and operation result.Described single-chip microcomputer guides crown block hook center to move to aluminum bag suspension ring center to be the screen display by being connected with single-chip microcomputer and crown block hook center is moved to aluminum bag suspension ring center by voice message overhead traveling crane operator.
When described vertical infrared probe measures the vertical dimension Z at crown block hook centre distance aluminum bag suspension ring center, as it is shown on figure 3, with ground for measuring basis, first record the infrared probe height H from ground, then pass through single-chip microcomputer by formulaCalculate the vertical dimension Z at crown block hook centre-to-centre spacing aluminum bag suspension ring center；Represent during result of calculation Z > 0 that rings center is higher than suspension ring center, during Z < 0, represent that rings center is lower than suspension ring center.
The described measurement rings center horizontal linear distance S1 from aluminum bag suspension ring center as shown in Figure 4, is that crown block hook drops to aluminum bag middle height, measures crown block hook center to the distance D of aluminum bag outer wall by the horizontal infrared probe of non-directional, presses formula by single-chip microcomputerCalculate the value of the rings center horizontal linear distance S1 from aluminum bag suspension ring center.
The calculating of described lateral separation X1 and fore-and-aft distance Y1 is first by formula by single-chip microcomputerAngle, θ value between computed range X and distance S；Formula is pressed by single-chip microcomputer again through distance S1 and angle, θWithCalculate rings center lateral separation X1 and fore-and-aft distance Y1 to suspension ring center.
By the device that preceding method is constituted, as shown in Figure 1.Including single-chip microcomputer 1, the signal input part of single-chip microcomputer 1 is connected with the infrared distance measurement device being arranged on crown block hook 2, and the data input pin of single-chip microcomputer 1 is connected with keyboard 3, and the signal output part of single-chip microcomputer 1 is connected with display screen 4 and voice module 5.Described infrared distance measurement device includes vertical infrared probe 6, X to the horizontal infrared probe 8 of horizontal infrared probe 7 and non-directional.
The work process of the present invention and principle
As shown in Figure 5.After assembly of the invention starts, the vertical infrared probe 6 being arranged on crown block hook 2 starts to detect its height H from ground, the calculating parameter (including correction factor d, aluminum bag height h, aluminum bag radius R and aluminum bag suspension ring radius r) that some are fixing is inputted single-chip microcomputer 1 by keyboard 3 by operator simultaneously, and single-chip microcomputer calculates the crown block hook center vertical dimension Z to aluminum bag suspension ring center automatically according to the preset parameter of the height H recorded and input.Single-chip microcomputer, according to result of calculation, guides crown block hook down or up by voice module 5 and display screen 4, makes crown block hook center move to the horizontal plane at place, aluminum bag suspension ring center.
After overhead traveling crane rings center moves to the horizontal plane at place, aluminum bag suspension ring 10 center, X starts to measure the horizontal vertical line distance X of crown block hook centre-to-centre spacing aluminum bag side Factory Building wall to horizontal infrared probe 7, and the horizontal infrared probe of non-directional 8 can also be measured crown block hook center and extend to the horizontal oblique line distance S of Factory Building wall through aluminum bag suspension ring center.But according to distance X and distance S and still cannot calculate crown block hook by the calculating parameter of input through keyboard and move required lateral separation X1 and fore-and-aft distance Y1, therefore also need to record the horizontal linear distance S1 at crown block hook centre-to-centre spacing aluminum bag suspension ring center.The measurement of distance S1 is under the state concordant with aluminum bag suspension ring 10 center of crown block hook center, continue crown block hook to be displaced downwardly to aluminum bag medium position, the crown block hook center minimum distance D to aluminum bag 9 outer wall is recorded by the horizontal infrared probe 8 of non-directional, single-chip microcomputer will be inputted apart from D, single-chip microcomputer press formulaCalculate the horizontal linear distance S1 at crown block hook centre-to-centre spacing aluminum bag suspension ring center.The horizontal infrared probe of non-directional 8 returns crown block hook center state concordant with aluminum bag suspension ring 10 center after having surveyed distance D.Single-chip microcomputer can calculate crown block hook according to distance X, distance S and distance D and move required lateral separation X1 and fore-and-aft distance Y1.Operator can complete crown block hook center and the pinpoint operation in aluminum bag suspension ring center according to display screen and voice message.
The supplementary notes of the present invention
Described single-chip microcomputer 1 is the main control unit constituted for core with single-chip microcomputer, has been used for the inspection of measurement data, has analyzed and calculate, the function such as the output of data and display.Wherein, single-chip microcomputer can also Add-In bin, be used for storing system hardware program.
Described keyboard 3, display screen 4 and voice module 5 constitute man-machine interaction unit, and keyboard can adopt 4X4 keyboard as the input of single chip control unit, the setting of completion system parameter；Display screen 4 can adopt the output collectively as single chip control unit of LED LCD screen and voice module, the display of completion system data and report.
Described infrared probe is based on the infrared distance sensor of infrared signal, there is a pair emitting diode and reception diode, utilize infrared external reflection principle to measure barrier from the distance of sensor, after inter-process, export distance signal by digital sensor to processor.Infrared probe, all with laser beam, is installed on crown block hook place.
Non-elaborated part of the present invention belongs to the known technology of those skilled in the art.
Claims (10)
1. an overhead traveling crane accurate positioning method, it is characterized in that: the method is to install a vertical infrared probe and two horizontal infrared probes on the suspension hook of overhead traveling crane, first passes through vertical infrared probe and measures the vertical dimension Z at crown block hook centre-to-centre spacing aluminum bag suspension ring center and make crown block hook center drop to the equal height at aluminum bag suspension ring center；Then measure the horizontal vertical line distance X of crown block hook centre-to-centre spacing aluminum bag side Factory Building wall to horizontal infrared probe again through X, horizontal linear distance S1 and the crown block hook center at non-directional horizontal infrared probe measurement crown block hook centre-to-centre spacing aluminum bag suspension ring center extend to the horizontal oblique line distance S of Factory Building wall through aluminum bag suspension ring center, and measurement result is inputted single-chip microcomputer；By keyboard, infrared probe correction factor d, aluminum bag height h, aluminum bag radius R, aluminum bag suspension ring radius r are inputted single-chip microcomputer simultaneously；Automatically crown block hook center lateral separation X1 and fore-and-aft distance Y1 to aluminum bag suspension ring center is calculated by single-chip microcomputer；And guided crown block hook center to move to aluminum bag suspension ring center by single-chip microcomputer.
2. method according to claim 1, it is characterised in that: described infrared probe correction factor d refers to the distance at infrared probe deviation crown block hook center.
3. method according to claim 2, it is characterised in that: described single-chip microcomputer is by the data of display screen display input through keyboard and position fixing process and operation result.
4. method according to claim 3, it is characterised in that: described single-chip microcomputer is by voice module prompting key in data and position fixing process and operation result.
5. method according to claim 4, it is characterised in that: described single-chip microcomputer guides crown block hook center to move to aluminum bag suspension ring center to be the screen display by being connected with single-chip microcomputer and crown block hook center is moved to aluminum bag suspension ring center by voice message overhead traveling crane operator.
6. method according to claim 5, it is characterized in that: when described vertical infrared probe measures the vertical dimension Z at crown block hook centre distance aluminum bag suspension ring center, with ground for measuring basis, first record the infrared probe height H from ground, then pass through single-chip microcomputer by formulaCalculate the vertical dimension Z at crown block hook centre-to-centre spacing aluminum bag suspension ring center；Represent during result of calculation Z > 0 that rings center is higher than suspension ring center, during Z < 0, represent that rings center is lower than suspension ring center.
7. method according to claim 6, it is characterized in that: crown block hook is dropped to aluminum bag middle height by the described measurement rings center horizontal linear distance S1 from aluminum bag suspension ring center, measure crown block hook center to the distance D of aluminum bag outer wall by the horizontal infrared probe of non-directional, press formula by single-chip microcomputerCalculate the value of the rings center horizontal linear distance S1 from aluminum bag suspension ring center.
8. method according to claim 7, it is characterised in that: the calculating of described lateral separation X1 and fore-and-aft distance Y1 is first by formula by single-chip microcomputerAngle, θ value between computed range X and distance S；Formula is pressed by single-chip microcomputer again through distance S1 and angle, θWithCalculate rings center lateral separation X1 and fore-and-aft distance Y1 to suspension ring center.
9. device used by method described in claim 1-8 any claim, it is characterized in that: include single-chip microcomputer (1), the signal input part of single-chip microcomputer (1) is connected with the infrared distance measurement device being arranged on crown block hook (2), the data input pin of single-chip microcomputer (1) is connected with keyboard (3), and the signal output part of single-chip microcomputer (1) is connected with display screen (4) and voice module (5).
10. device according to claim 9, it is characterised in that: described infrared distance measurement device includes vertical infrared probe (6), X to horizontal infrared probe (7) and the horizontal infrared probe of non-directional (8).
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| CN104803289B (en) * | 2015-05-18 | 2016-11-30 | 上海海事大学 | Two-electron atom bridge crane rope growth device and method are measured in a kind of employing infrared double-waveband list station |
| CN107032249A (en) * | 2017-06-01 | 2017-08-11 | 中曼石油天然气集团股份有限公司 | A kind of electronics anti-collision guard method of oil-well rig tourist bus lifting device and system |
| CN107161859A (en) * | 2017-07-26 | 2017-09-15 | 合肥新坞岩机械科技有限公司 | One kind plays thing alignment system with goods factory building with boat car |
| CN114000432B (en) * | 2021-11-02 | 2023-11-07 | 郑州新大方重工科技有限公司 | Bridge girder erection machine positioning method, positioning system and bridge girder erection machine control system |
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| KR20090113988A (en) * | 2008-04-29 | 2009-11-03 | 조성곤 | Positioning device and method of crane using laser sensor |
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2012
- 2012-12-04 CN CN201210511932.3A patent/CN103848344B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5634565A (en) * | 1994-01-24 | 1997-06-03 | Sollac | Method for anticollision method and apparatus for cranes movable on a common path |
| JPH112508A (en) * | 1997-06-13 | 1999-01-06 | Sumitomo Heavy Ind Ltd | Position detecting device for lifting load |
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