CN103922228A - Anti-collision system for crane operation - Google Patents
Anti-collision system for crane operation Download PDFInfo
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- CN103922228A CN103922228A CN201410175019.XA CN201410175019A CN103922228A CN 103922228 A CN103922228 A CN 103922228A CN 201410175019 A CN201410175019 A CN 201410175019A CN 103922228 A CN103922228 A CN 103922228A
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Abstract
The invention discloses an anti-collision system for crane operation, belonging to the technical field of automatic control of cranes. The anti-collision system for crane operation is characterized by comprising a controller (1), an alarm module (2), a power supply module (3), an ultrasonic distance measuring module (4), an infrared sensing module (5), a display module (6) and a break control module (7), wherein the controller (1) is electrically connected with the alarm module (2), the ultrasonic distance measuring module (4), the infrared sensing module (5), the display module (6) and the break control module (7). Compared with the prior art, the anti-collision system for crane operation has the characteristics of achieving intelligent control among cranes on a working site and fundamentally preventing collision accidents and the like.
Description
Technical field
The invention belongs to hoisting crane automatic control technology field, in particular, belong to a kind of crane job collision avoidance system.
Background technology
In prior art, crane in bridge type and transfer crane are used in the environment such as goods yard and factory building conventionally, in its site work environment, conventionally have some crane in bridge type or transfer crane on a track, to work, the platform crane in bridge type on same track or transfer crane should keep rational trouble free service distance each other conventionally simultaneously.Operation driver on each crane in bridge type or transfer crane, its common hig diligence are by the operation element of hoisting object, and trouble free service distance between the adjacent hoisting crane of general easy ignorance has so just caused happen occasionally the each other accident of collision of platform crane in bridge type on same track or transfer crane.In prior art in order to solve collision case between hoisting crane or the collision case between hoisting crane and track termination, platform crane in bridge type or transfer crane all will be installed collision avoidance system conventionally, these collision avoidance systems are all mechanical structure form conventionally, can only alleviate the impulsive force while colliding between hoisting crane, fundamentally solving collision problem.How to avoid the collision problem between hoisting crane, be a great problem of restriction the art always.
Summary of the invention
The present invention, in order effectively to solve above technical matters, has provided a kind of crane job collision avoidance system.
A kind of crane job collision avoidance system of the present invention, is characterized in that, comprises controller, alarm module, power module, ultrasonic distance measuring module, infra-ray sensing module, display module, control module opens circuit; Wherein:
Described controller respectively with described alarm module, described ultrasonic distance measuring module, described infra-ray sensing module, described display module, described in the control module that opens circuit be electrical connected;
Described ultrasonic distance measuring module comprises super sonic radiating portion, super sonic receiving unit, and described super sonic radiating portion and described super sonic receiving unit are arranged on abreast on hoisting crane body and with hoisting crane sense of motion and are consistent;
Described infra-ray sensing module comprises the first infrared probe, the second infrared probe, and described the first infrared probe and described the second infrared probe arrange symmetrically; Wherein: the infra-red detection amplitude angle A of described the first infrared probe is identical with the infra-red detection amplitude angle B of described the second infrared probe; The infra-red detection region S of described the first infrared probe
3infra-red detection region S with described the second infrared probe
4form an infrared ray blind area region S
1an and infrared ray overlap-add region S
2, described infrared ray overlap-add region S
2angle C, the distance between described the first infrared probe and described the second infrared probe is H
1, described infrared ray blind area region S
1with infrared ray overlap-add region S
2coaxial line, described infrared ray blind area region S
1with infrared ray overlap-add region S
2axis and hoisting crane sense of motion direction be consistent.
According to above-described crane job collision avoidance system, preferably, described alarm module is sound light alarming circuit.
According to above-described crane job collision avoidance system, preferably, described display module is LCD Panel.
According to above-described crane job collision avoidance system, preferably, described controller can be dsp controller.
According to above-described crane job collision avoidance system, preferably, described controller can be ARM controller.
According to above-described crane job collision avoidance system, preferably, described super sonic radiating portion, described super sonic receiving unit are arranged between described the first infrared probe and described the second infrared probe.
According to above-described crane job collision avoidance system, preferably, described infrared ray overlap-add region S
2angle C scope be 10 °-30 °.
According to above-described crane job collision avoidance system, preferably, the distance H between described the first infrared probe and described the second infrared probe
1for 6-10cm.
The present invention compared with prior art has can realize in working scene Based Intelligent Control between hoisting crane, fundamentally stop the features such as collision case generation.
Accompanying drawing explanation
Accompanying drawing 1 is the structural representation of crane job collision avoidance system of the present invention;
Accompanying drawing 2 is schematic diagrams of crane job collision avoidance system infrared detection of the present invention;
Accompanying drawing 3 is electrical block diagrams of super sonic radiating portion of the present invention;
Accompanying drawing 4 is electrical block diagrams of super sonic receiving unit of the present invention;
Accompanying drawing 5 is that schematic diagram is used at the scene of crane job collision avoidance system of the present invention.
The specific embodiment
Preferred implementation 1
Fig. 1 is the structural representation of crane job collision avoidance system of the present invention; Crane job collision avoidance system of the present invention comprises controller 1, alarm module 2, power module 3, ultrasonic distance measuring module 4, infra-ray sensing module 5, display module 6, control module 7 opens circuit; Wherein: controller 1 is electrical connected with alarm module 2, ultrasonic distance measuring module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 respectively, power module 3 is electrical connected with controller 1, alarm module 2, ultrasonic distance measuring module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 respectively, and power module 3 can be directly for controller 1, alarm module 2, ultrasonic distance measuring module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 provide power supply; Power module 3 also can provide power supply for alarm module 2, ultrasonic distance measuring module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 by controller 1.Alarm module 2 is sound light alarming circuit, and display module 6 is LCD Panel.Alarm module 2 and display module 6 are all arranged in operation driver's driver's cab, facilitate driver to see in time and hear the information of distance between hoisting crane.If judging the place ahead by ultrasonic distance measuring module 4 and infra-ray sensing module 5, controller 1 have hoisting crane to stop, to alarm module 2 and display module 6, send corresponding signal, and when hoisting crane is about to approach the place ahead hoisting crane, control power supply that the control module 7 that opens circuit cuts off hoisting crane running motors to prevent the generation that crashes.Controller 1 can be dsp controller.
Ultrasonic distance measuring module 4 comprises super sonic radiating portion 401, super sonic receiving unit 402, and super sonic radiating portion 401 and super sonic receiving unit 402 are arranged on abreast on hoisting crane body and with hoisting crane sense of motion and are consistent; Infra-ray sensing module 5 comprises that the first infrared probe 501, the second infrared probe 502, the first infrared probes 501 and the second infrared probe 502 arrange symmetrically; Wherein: the infra-red detection amplitude angle A of the first infrared probe 501 is identical with the infra-red detection amplitude angle B of the second infrared probe 502; The infra-red detection region S of the first infrared probe 501
3infra-red detection region S with the second infrared probe 502
4form an infrared ray blind area region S
1an and infrared ray overlap-add region S
2, infrared ray overlap-add region S
2angle C, the distance between the first infrared probe 501 and the second infrared probe 502 is H
1, infrared ray blind area region S
1with infrared ray overlap-add region S
2coaxial line, infrared ray blind area region S
1with infrared ray overlap-add region S
2axis and hoisting crane sense of motion direction be consistent.Infrared ray overlap-add region S
2angle C scope be 10 °-30 °.Distance H between the first infrared probe 501 and the second infrared probe 502
1for 6-10cm.Super sonic radiating portion 401, super sonic receiving unit 402 are arranged between the first infrared probe 501 and the second infrared probe 502.Whether controller 1 is effectively analyzed by the signal that ultrasonic distance measuring module 4 and infra-ray sensing module 5 are detected, and can judge whether the place ahead has hoisting crane, determined to report to the police and stopped to prevent the generation of collision case.
Fig. 2 is the schematic diagram that crane job collision avoidance system middle infrared (Mid-IR) of the present invention detects; When the first infrared probe 501 and the second infrared probe 502 are set together symmetrically as can be seen from Figure, can obtain extraordinary prevention monitoring effect.The infra-red detection amplitude angle of the first infrared probe 501 is A, and the infra-red detection amplitude angle of the second infrared probe 502 is B, and the distance between the first infrared probe 501 and the second infrared probe 502 is H
1, H
1scope can be 6-10cm; Distance H between the first infrared probe 501 and the second infrared probe 502
1preferred 8cm.The infra-red detection amplitude S of the first infrared probe 501
3infra-red detection amplitude S with the second infrared probe 502
4there is region, a blind area S
1, the infra-red detection amplitude S of the first infrared probe 501
3infra-red detection amplitude S with the second infrared probe 502
4there is an overlapping infrared ray overlap-add region S
2, region, blind area S wherein
1axis active distance be H
2, infrared ray overlap-add region S
2axis active distance be H
3, region, blind area S
1with with infrared ray overlap-add region S
2coaxial line, be H
2and H
3coaxial line, region, blind area S
1with with infrared ray overlap-add region S
2axis and the dead ahead of hoisting crane walking vehicle body be consistent, be H
2and H
3be consistent with the dead ahead of hoisting crane walking vehicle body.
The first infrared probe 501 and the second infrared probe 502 all can adopt the pyroelectric infrared sensor place of the detection infrared signal of institute's radiation in the infrared signal of the radiation that human body radiates of operating personal or machine movement in hoisting crane above, and the detector front end forming at the first infrared probe 501 and the second infrared probe 502 forms blind area region S
1with an infrared ray overlap-add region S
2, S
2angle C scope be 10-30 degree, S
2angle C preferably 20 degree.When having people or mobile object before the probe of the first infrared probe 501 and the second infrared probe 502 is housed, from the lens of pyroelectric infrared sensor, walk out-of-dately, the infrared ray that human body or mobile apparatus object send just constantly alternately changes enters infrared ray overlap-add region S
2, so just obtained infrared signal with dynamic pulse.The infrared ray centre wavelength of human body radiation is 9～10um, on sensor top, offered a window that filter glass is housed, this filter can be 7～10um by light wavelength scope, just in time be suitable for the detection of human body or mobile apparatus object infrared radiation, and the infrared ray of other wavelength is absorbed by filter.
Infra-ray sensing module 5 is electrical connected with the first infrared probe 501, the second infrared probe 502 respectively, and the first infrared probe 501 and the second infrared probe 502 are arranged on the sighting device body of hoisting crane body symmetrically; The infra-red detection amplitude angle A of the first infrared probe 501 is identical with the infra-red detection amplitude angle B of the second infrared probe 502; The infra-red detection region S of the first infrared probe 501
3infra-red detection region S with the second infrared probe 502
4form region, a blind area S
1an and infrared ray overlap-add region S
2, region, blind area S
1apart from hoisting crane body, there is certain distance, but this region, blind area S
1conventionally can and then can not exert an influence to aiming at detection effect over several meters.Ultrasonic distance measuring module 4 is electrical connected with super sonic radiating portion 401, super sonic receiving unit 402 respectively, and super sonic radiating portion 401 and super sonic receiving unit 402 are arranged on the probe body that is arranged on hoisting crane and with hoisting crane motion working direction and are consistent.
The first infrared probe 501 of infra-ray sensing module 5, the second infrared probe 502 are arranged in closer distance range with super sonic radiating portion 401, the super sonic receiving unit 402 of ultrasonic distance measuring module 4 as far as possible, and super sonic radiating portion 401, the super sonic receiving unit 402 of the first infrared probe 501, the second infrared probe 502 and the ultrasonic distance measuring module 4 of infra-ray sensing module 5 are all arranged on the front end of probe body.
Fig. 3 is the electrical block diagram of super sonic radiating portion of the present invention; Super sonic emission sensor LS1 and and door U8 between have phase inverter U3, phase inverter U4, phase inverter U5, phase inverter U6, phase inverter U7, phase inverter U4 and phase inverter U5 parallel connection, phase inverter U6 and phase inverter U7 are in parallel, be connected with two self-oscillation circuit respectively with two input ends of door U8, two Schmidt trigger U1 of difference and U2 in two self-oscillation circuit.
Fig. 4 is the electrical block diagram of super sonic receiving unit of the present invention; 5V direct current (DC) through the resistance to stream wire fuse F1 that is 500mA and diode D1, and form 5V digital voltage source VDD through two-stage capacitor filtering C1 and C2, digital voltage source VDD provides power supply for 2 NE5532P power amplifiers.Super sonic receiving sensor LS1 10K resistance R 3 in parallel changes the ultrasonic signal receiving into incoming signal, and incoming signal is input to ultrasonic distance measuring module 4 after first order amplifier NE5532P amplification, second stage amplifier NE5532P amplification, incoming signal has amplified altogether 400 times after two-stage is amplified.
Fig. 5 is that schematic diagram is used at the scene of crane job collision avoidance system of the present invention, on two crane in bridge type in figure, two collision avoidance systems is all set respectively, according to concrete service condition, also a collision avoidance system can be only set on each hoisting crane.Collision avoidance system on each hoisting crane as shown in FIG., the detected position of the hoisting crane of answering in contrast does not have collision avoidance system, can obtain so very failure-free and detect effect.
Preferred implementation 2
Fig. 1 is the structural representation of crane job collision avoidance system of the present invention; Crane job collision avoidance system of the present invention comprises controller 1, alarm module 2, power module 3, ultrasonic distance measuring module 4, infra-ray sensing module 5, display module 6, control module 7 opens circuit; Wherein: controller 1 is electrical connected with alarm module 2, ultrasonic distance measuring module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 respectively, power module 3 is electrical connected with controller 1, alarm module 2, ultrasonic distance measuring module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 respectively, and power module 3 can be directly for controller 1, alarm module 2, ultrasonic distance measuring module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 provide power supply; Power module 3 also can provide power supply for alarm module 2, ultrasonic distance measuring module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 by controller 1.Alarm module 2 is sound light alarming circuit, and display module 6 is LCD Panel.Alarm module 2 and display module 6 are all arranged in operation driver's driver's cab, facilitate driver to see in time relevant information.If judging the place ahead by ultrasonic distance measuring module 4 and infra-ray sensing module 5, controller 1 have hoisting crane to stop, to alarm module 2 and display module 6, send corresponding signal, and when hoisting crane is about to approach the place ahead hoisting crane, control power supply that the control module 7 that opens circuit cuts off hoisting crane running motors to prevent the generation that crashes.Controller 1 can be ARM controller.
Ultrasonic distance measuring module 4 comprises super sonic radiating portion 401, super sonic receiving unit 402, and super sonic radiating portion 401 and super sonic receiving unit 402 are arranged on abreast on hoisting crane body and with hoisting crane sense of motion and are consistent; Infra-ray sensing module 5 comprises that the first infrared probe 501, the second infrared probe 502, the first infrared probes 501 and the second infrared probe 502 arrange symmetrically; Wherein: the infra-red detection amplitude angle A of the first infrared probe 501 is identical with the infra-red detection amplitude angle B of the second infrared probe 502; The infra-red detection region S of the first infrared probe 501
3infra-red detection region S with the second infrared probe 502
4form an infrared ray blind area region S
1an and infrared ray overlap-add region S
2, infrared ray overlap-add region S
2angle C, the distance between the first infrared probe 501 and the second infrared probe 502 is H
1, infrared ray blind area region S
1with infrared ray overlap-add region S
2coaxial line, infrared ray blind area region S
1with infrared ray overlap-add region S
2axis and hoisting crane sense of motion direction be consistent.Infrared ray overlap-add region S
2angle C scope be 10 °-30 °.Distance H between the first infrared probe 501 and the second infrared probe 502
1for 6-10cm.Super sonic radiating portion 401, super sonic receiving unit 402 are arranged between the first infrared probe 501 and the second infrared probe 502.Whether controller 1 is effectively analyzed by the signal that ultrasonic distance measuring module 4 and infra-ray sensing module 5 are detected, and can judge whether the place ahead has hoisting crane, determined to report to the police and stopped to prevent the generation of collision case.
Fig. 2 is the schematic diagram that crane job collision avoidance system middle infrared (Mid-IR) of the present invention detects; When the first infrared probe 501 and the second infrared probe 502 are set together symmetrically as can be seen from Figure, can obtain extraordinary prevention monitoring effect.The infra-red detection amplitude angle of the first infrared probe 501 is A, and the infra-red detection amplitude angle of the second infrared probe 502 is B, and the distance between the first infrared probe 501 and the second infrared probe 502 is H
1, H
1scope can be 6-10cm; Distance H between the first infrared probe 501 and the second infrared probe 502
1preferred 8cm.The infra-red detection amplitude S of the first infrared probe 501
3infra-red detection amplitude S with the second infrared probe 502
4there is region, a blind area S
1, the infra-red detection amplitude S of the first infrared probe 501
3infra-red detection amplitude S with the second infrared probe 502
4there is an overlapping infrared ray overlap-add region S
2, region, blind area S wherein
1axis active distance be H
2, infrared ray overlap-add region S
2axis active distance be H
3, region, blind area S
1with with infrared ray overlap-add region S
2coaxial line, be H
2and H
3coaxial line, region, blind area S
1with with infrared ray overlap-add region S
2axis and the dead ahead of hoisting crane walking vehicle body be consistent, be H
2and H
3be consistent with the dead ahead of hoisting crane walking vehicle body.
The first infrared probe 501 and the second infrared probe 502 all can adopt the pyroelectric infrared sensor place of the detection infrared signal of institute's radiation in the infrared signal of the radiation that human body radiates of operating personal or machine movement in hoisting crane above, and the detector front end forming at the first infrared probe 501 and the second infrared probe 502 forms blind area region S
1with an infrared ray overlap-add region S
2, S
2angle C scope be 10-30 degree, S
2angle C preferably 20 degree.When having people or mobile object before the probe of the first infrared probe 501 and the second infrared probe 502 is housed, from the lens of pyroelectric infrared sensor, walk out-of-dately, the infrared ray that human body or mobile apparatus object send just constantly alternately changes enters infrared ray overlap-add region S
2, so just obtained infrared signal with dynamic pulse.The infrared ray centre wavelength of human body radiation is 9～10um, on sensor top, offered a window that filter glass is housed, this filter can be 7～10um by light wavelength scope, just in time be suitable for the detection of human body or mobile apparatus object infrared radiation, and the infrared ray of other wavelength is absorbed by filter.
Infra-ray sensing module 5 is electrical connected with the first infrared probe 501, the second infrared probe 502 respectively, and the first infrared probe 501 and the second infrared probe 502 are arranged on the sighting device body of hoisting crane body symmetrically; The infra-red detection amplitude angle A of the first infrared probe 501 is identical with the infra-red detection amplitude angle B of the second infrared probe 502; The infra-red detection region S of the first infrared probe 501
3infra-red detection region S with the second infrared probe 502
4form region, a blind area S
1an and infrared ray overlap-add region S
2, region, blind area S
1apart from hoisting crane body, there is certain distance, but this region, blind area S
1conventionally can and then can not exert an influence to aiming at detection effect over several meters.Ultrasonic distance measuring module 4 is electrical connected with super sonic radiating portion 401, super sonic receiving unit 402 respectively, and super sonic radiating portion 401 and super sonic receiving unit 402 are arranged on the probe body that is arranged on hoisting crane and with hoisting crane motion working direction and are consistent.
The first infrared probe 501 of infra-ray sensing module 5, the second infrared probe 502 are arranged in closer distance range with super sonic radiating portion 401, the super sonic receiving unit 402 of ultrasonic distance measuring module 4 as far as possible, and super sonic radiating portion 401, the super sonic receiving unit 402 of the first infrared probe 501, the second infrared probe 502 and the ultrasonic distance measuring module 4 of infra-ray sensing module 5 are all arranged on the front end of probe body.
Fig. 3 is the electrical block diagram of super sonic radiating portion of the present invention; Super sonic emission sensor LS1 and and door U8 between have phase inverter U3, phase inverter U4, phase inverter U5, phase inverter U6, phase inverter U7, phase inverter U4 and phase inverter U5 parallel connection, phase inverter U6 and phase inverter U7 are in parallel, be connected with two self-oscillation circuit respectively with two input ends of door U8, two Schmidt trigger U1 of difference and U2 in two self-oscillation circuit.
Fig. 4 is the electrical block diagram of super sonic receiving unit of the present invention; 5V direct current (DC) through the resistance to stream wire fuse F1 that is 500mA and diode D1, and form 5V digital voltage source VDD through two-stage capacitor filtering C1 and C2, digital voltage source VDD provides power supply for 2 NE5532P power amplifiers.Super sonic receiving sensor LS1 10K resistance R 3 in parallel changes the ultrasonic signal receiving into incoming signal, and incoming signal is input to ultrasonic distance measuring module 4 after first order amplifier NE5532P amplification, second stage amplifier NE5532P amplification, incoming signal has amplified altogether 400 times after two-stage is amplified.
Fig. 5 is that schematic diagram is used at the scene of crane job collision avoidance system of the present invention, on two crane in bridge type in figure, two collision avoidance systems is all set respectively, according to concrete service condition, also a collision avoidance system can be only set on each hoisting crane.Collision avoidance system on each hoisting crane as shown in FIG., the detected position of the hoisting crane of answering in contrast does not have collision avoidance system, can obtain so very failure-free and detect effect.
Preferred implementation 3
Fig. 1 is the structural representation of crane job collision avoidance system of the present invention; Crane job collision avoidance system of the present invention comprises controller 1, alarm module 2, power module 3, ultrasonic distance measuring module 4, infra-ray sensing module 5, display module 6, control module 7 opens circuit; Wherein: controller 1 is electrical connected with alarm module 2, ultrasonic distance measuring module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 respectively, power module 3 is electrical connected with controller 1, alarm module 2, ultrasonic distance measuring module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 respectively, and power module 3 can be directly for controller 1, alarm module 2, ultrasonic distance measuring module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 provide power supply; Power module 3 also can provide power supply for alarm module 2, ultrasonic distance measuring module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 by controller 1.Alarm module 2 is sound light alarming circuit, and display module 6 is LCD Panel.Alarm module 2 and display module 6 are all arranged in operation driver's driver's cab, facilitate driver to see in time relevant information.If judging the place ahead by ultrasonic distance measuring module 4 and infra-ray sensing module 5, controller 1 have hoisting crane to stop, to alarm module 2 and display module 6, send corresponding signal, and when hoisting crane is about to approach the place ahead hoisting crane, control power supply that the control module 7 that opens circuit cuts off hoisting crane running motors to prevent the generation that crashes.Controller 1 can be AVR controller.
Ultrasonic distance measuring module 4 comprises super sonic radiating portion 401, super sonic receiving unit 402, and super sonic radiating portion 401 and super sonic receiving unit 402 are arranged on abreast on hoisting crane body and with hoisting crane sense of motion and are consistent; Infra-ray sensing module 5 comprises that the first infrared probe 501, the second infrared probe 502, the first infrared probes 501 and the second infrared probe 502 arrange symmetrically; Wherein: the infra-red detection amplitude angle A of the first infrared probe 501 is identical with the infra-red detection amplitude angle B of the second infrared probe 502; The infra-red detection region S of the first infrared probe 501
3infra-red detection region S with the second infrared probe 502
4form an infrared ray blind area region S
1an and infrared ray overlap-add region S
2, infrared ray overlap-add region S
2angle C, the distance between the first infrared probe 501 and the second infrared probe 502 is H
1, infrared ray blind area region S
1with infrared ray overlap-add region S
2coaxial line, infrared ray blind area region S
1with infrared ray overlap-add region S
2axis and hoisting crane sense of motion direction be consistent.Infrared ray overlap-add region S
2angle C scope be 10 °-30 °.Distance H between the first infrared probe 501 and the second infrared probe 502
1for 6-10cm.Super sonic radiating portion 401, super sonic receiving unit 402 are arranged between the first infrared probe 501 and the second infrared probe 502.Whether controller 1 is effectively analyzed by the signal that ultrasonic distance measuring module 4 and infra-ray sensing module 5 are detected, and can judge whether the place ahead has hoisting crane, determined to report to the police and stopped to prevent the generation of collision case.
Fig. 2 is the schematic diagram that crane job collision avoidance system middle infrared (Mid-IR) of the present invention detects; When the first infrared probe 501 and the second infrared probe 502 are set together symmetrically as can be seen from Figure, can obtain extraordinary prevention monitoring effect.The infra-red detection amplitude angle of the first infrared probe 501 is A, and the infra-red detection amplitude angle of the second infrared probe 502 is B, and the distance between the first infrared probe 501 and the second infrared probe 502 is H
1, H
1scope can be 6-10cm; Distance H between the first infrared probe 501 and the second infrared probe 502
1preferred 8cm.The infra-red detection amplitude S of the first infrared probe 501
3infra-red detection amplitude S with the second infrared probe 502
4there is region, a blind area S
1, the infra-red detection amplitude S of the first infrared probe 501
3infra-red detection amplitude S with the second infrared probe 502
4there is an overlapping infrared ray overlap-add region S
2, region, blind area S wherein
1axis active distance be H
2, infrared ray overlap-add region S
2axis active distance be H
3, region, blind area S
1with with infrared ray overlap-add region S
2coaxial line, be H
2and H
3coaxial line, region, blind area S
1with with infrared ray overlap-add region S
2axis and the dead ahead of hoisting crane walking vehicle body be consistent, be H
2and H
3be consistent with the dead ahead of hoisting crane walking vehicle body.
The first infrared probe 501 and the second infrared probe 502 all can adopt the pyroelectric infrared sensor place of the detection infrared signal of institute's radiation in the infrared signal of the radiation that human body radiates of operating personal or machine movement in hoisting crane above, and the detector front end forming at the first infrared probe 501 and the second infrared probe 502 forms blind area region S
1with an infrared ray overlap-add region S
2, S
2angle C scope be 10-30 degree, S
2angle C preferably 20 degree.When having people or mobile object before the probe of the first infrared probe 501 and the second infrared probe 502 is housed, from the lens of pyroelectric infrared sensor, walk out-of-dately, the infrared ray that human body or mobile apparatus object send just constantly alternately changes enters infrared ray overlap-add region S
2, so just obtained infrared signal with dynamic pulse.The infrared ray centre wavelength of human body radiation is 9～10um, on sensor top, offered a window that filter glass is housed, this filter can be 7～10um by light wavelength scope, just in time be suitable for the detection of human body or mobile apparatus object infrared radiation, and the infrared ray of other wavelength is absorbed by filter.
Infra-ray sensing module 5 is electrical connected with the first infrared probe 501, the second infrared probe 502 respectively, and the first infrared probe 501 and the second infrared probe 502 are arranged on the sighting device body of hoisting crane body symmetrically; The infra-red detection amplitude angle A of the first infrared probe 501 is identical with the infra-red detection amplitude angle B of the second infrared probe 502; The infra-red detection region S of the first infrared probe 501
3infra-red detection region S with the second infrared probe 502
4form region, a blind area S
1an and infrared ray overlap-add region S
2, region, blind area S
1apart from hoisting crane body, there is certain distance, but this region, blind area S
1conventionally can and then can not exert an influence to aiming at detection effect over several meters.Ultrasonic distance measuring module 4 is electrical connected with super sonic radiating portion 401, super sonic receiving unit 402 respectively, and super sonic radiating portion 401 and super sonic receiving unit 402 are arranged on the probe body that is arranged on hoisting crane and with hoisting crane motion working direction and are consistent.
The first infrared probe 501 of infra-ray sensing module 5, the second infrared probe 502 are arranged in closer distance range with super sonic radiating portion 401, the super sonic receiving unit 402 of ultrasonic distance measuring module 4 as far as possible, and super sonic radiating portion 401, the super sonic receiving unit 402 of the first infrared probe 501, the second infrared probe 502 and the ultrasonic distance measuring module 4 of infra-ray sensing module 5 are all arranged on the front end of probe body.
Fig. 3 is the electrical block diagram of super sonic radiating portion of the present invention; Super sonic emission sensor LS1 and and door U8 between have phase inverter U3, phase inverter U4, phase inverter U5, phase inverter U6, phase inverter U7, phase inverter U4 and phase inverter U5 parallel connection, phase inverter U6 and phase inverter U7 are in parallel, be connected with two self-oscillation circuit respectively with two input ends of door U8, two Schmidt trigger U1 of difference and U2 in two self-oscillation circuit.
Fig. 4 is the electrical block diagram of super sonic receiving unit of the present invention; 5V direct current (DC) through the resistance to stream wire fuse F1 that is 500mA and diode D1, and form 5V digital voltage source VDD through two-stage capacitor filtering C1 and C2, digital voltage source VDD provides power supply for 2 NE5532P power amplifiers.Super sonic receiving sensor LS1 10K resistance R 3 in parallel changes the ultrasonic signal receiving into incoming signal, and incoming signal is input to ultrasonic distance measuring module 4 after first order amplifier NE5532P amplification, second stage amplifier NE5532P amplification, incoming signal has amplified altogether 400 times after two-stage is amplified.
Fig. 5 is that schematic diagram is used at the scene of crane job collision avoidance system of the present invention, on two crane in bridge type in figure, two collision avoidance systems is all set respectively, according to concrete service condition, also a collision avoidance system can be only set on each hoisting crane.Collision avoidance system on each hoisting crane as shown in FIG., the detected position of the hoisting crane of answering in contrast does not have collision avoidance system, can obtain so very failure-free and detect effect.
Preferred implementation 4
Fig. 1 is the structural representation of crane job collision avoidance system of the present invention; Crane job collision avoidance system of the present invention comprises controller 1, alarm module 2, power module 3, ultrasonic distance measuring module 4, infra-ray sensing module 5, display module 6, control module 7 opens circuit; Wherein: controller 1 is electrical connected with alarm module 2, ultrasonic distance measuring module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 respectively, power module 3 is electrical connected with controller 1, alarm module 2, ultrasonic distance measuring module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 respectively, and power module 3 can be directly for controller 1, alarm module 2, ultrasonic distance measuring module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 provide power supply; Power module 3 also can provide power supply for alarm module 2, ultrasonic distance measuring module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 by controller 1.Alarm module 2 is sound light alarming circuit, and display module 6 is LCD Panel.Alarm module 2 and display module 6 are all arranged in operation driver's driver's cab, facilitate driver to see in time relevant information.If judging the place ahead by ultrasonic distance measuring module 4 and infra-ray sensing module 5, controller 1 have hoisting crane to stop, to alarm module 2 and display module 6, send corresponding signal, and when hoisting crane is about to approach the place ahead hoisting crane, control power supply that the control module 7 that opens circuit cuts off hoisting crane running motors to prevent the generation that crashes.Controller 1 can be 51 singlechip controllers.
Ultrasonic distance measuring module 4 comprises super sonic radiating portion 401, super sonic receiving unit 402, and super sonic radiating portion 401 and super sonic receiving unit 402 are arranged on abreast on hoisting crane body and with hoisting crane sense of motion and are consistent; Infra-ray sensing module 5 comprises that the first infrared probe 501, the second infrared probe 502, the first infrared probes 501 and the second infrared probe 502 arrange symmetrically; Wherein: the infra-red detection amplitude angle A of the first infrared probe 501 is identical with the infra-red detection amplitude angle B of the second infrared probe 502; The infra-red detection region S of the first infrared probe 501
3infra-red detection region S with the second infrared probe 502
4form an infrared ray blind area region S
1an and infrared ray overlap-add region S
2, infrared ray overlap-add region S
2angle C, the distance between the first infrared probe 501 and the second infrared probe 502 is H
1, infrared ray blind area region S
1with infrared ray overlap-add region S
2coaxial line, infrared ray blind area region S
1with infrared ray overlap-add region S
2axis and hoisting crane sense of motion direction be consistent.Infrared ray overlap-add region S
2angle C scope be 10 °-30 °.Distance H between the first infrared probe 501 and the second infrared probe 502
1for 6-10cm.Super sonic radiating portion 401, super sonic receiving unit 402 are arranged between the first infrared probe 501 and the second infrared probe 502.Whether controller 1 is effectively analyzed by the signal that ultrasonic distance measuring module 4 and infra-ray sensing module 5 are detected, and can judge whether the place ahead has hoisting crane, determined to report to the police and stopped to prevent the generation of collision case.
Fig. 2 is the schematic diagram that crane job collision avoidance system middle infrared (Mid-IR) of the present invention detects; When the first infrared probe 501 and the second infrared probe 502 are set together symmetrically as can be seen from Figure, can obtain extraordinary prevention monitoring effect.The infra-red detection amplitude angle of the first infrared probe 501 is A, and the infra-red detection amplitude angle of the second infrared probe 502 is B, and the distance between the first infrared probe 501 and the second infrared probe 502 is H
1, H
1scope can be 6-10cm; Distance H between the first infrared probe 501 and the second infrared probe 502
1preferred 8cm.The infra-red detection amplitude S of the first infrared probe 501
3infra-red detection amplitude S with the second infrared probe 502
4there is region, a blind area S
1, the infra-red detection amplitude S of the first infrared probe 501
3infra-red detection amplitude S with the second infrared probe 502
4there is an overlapping infrared ray overlap-add region S
2, region, blind area S wherein
1axis active distance be H
2, infrared ray overlap-add region S
2axis active distance be H
3, region, blind area S
1with with infrared ray overlap-add region S
2coaxial line, be H
2and H
3coaxial line, region, blind area S
1with with infrared ray overlap-add region S
2axis and the dead ahead of hoisting crane walking vehicle body be consistent, be H
2and H
3be consistent with the dead ahead of hoisting crane walking vehicle body.
The first infrared probe 501 and the second infrared probe 502 all can adopt the pyroelectric infrared sensor place of the detection infrared signal of institute's radiation in the infrared signal of the radiation that human body radiates of operating personal or machine movement in hoisting crane above, and the detector front end forming at the first infrared probe 501 and the second infrared probe 502 forms blind area region S
1with an infrared ray overlap-add region S
2, S
2angle C scope be 10-30 degree, S
2angle C preferably 20 degree.When having people or mobile object before the probe of the first infrared probe 501 and the second infrared probe 502 is housed, from the lens of pyroelectric infrared sensor, walk out-of-dately, the infrared ray that human body or mobile apparatus object send just constantly alternately changes enters infrared ray overlap-add region S
2, so just obtained infrared signal with dynamic pulse.The infrared ray centre wavelength of human body radiation is 9～10um, on sensor top, offered a window that filter glass is housed, this filter can be 7～10um by light wavelength scope, just in time be suitable for the detection of human body or mobile apparatus object infrared radiation, and the infrared ray of other wavelength is absorbed by filter.
Infra-ray sensing module 5 is electrical connected with the first infrared probe 501, the second infrared probe 502 respectively, and the first infrared probe 501 and the second infrared probe 502 are arranged on the sighting device body of hoisting crane body symmetrically; The infra-red detection amplitude angle A of the first infrared probe 501 is identical with the infra-red detection amplitude angle B of the second infrared probe 502; The infra-red detection region S of the first infrared probe 501
3infra-red detection region S with the second infrared probe 502
4form region, a blind area S
1an and infrared ray overlap-add region S
2, region, blind area S
1apart from hoisting crane body, there is certain distance, but this region, blind area S
1conventionally can and then can not exert an influence to aiming at detection effect over several meters.Ultrasonic distance measuring module 4 is electrical connected with super sonic radiating portion 401, super sonic receiving unit 402 respectively, and super sonic radiating portion 401 and super sonic receiving unit 402 are arranged on the probe body that is arranged on hoisting crane and with hoisting crane motion working direction and are consistent.
The first infrared probe 501 of infra-ray sensing module 5, the second infrared probe 502 are arranged in closer distance range with super sonic radiating portion 401, the super sonic receiving unit 402 of ultrasonic distance measuring module 4 as far as possible, and super sonic radiating portion 401, the super sonic receiving unit 402 of the first infrared probe 501, the second infrared probe 502 and the ultrasonic distance measuring module 4 of infra-ray sensing module 5 are all arranged on the front end of probe body.
Fig. 3 is the electrical block diagram of super sonic radiating portion of the present invention; Super sonic emission sensor LS1 and and door U8 between have phase inverter U3, phase inverter U4, phase inverter U5, phase inverter U6, phase inverter U7, phase inverter U4 and phase inverter U5 parallel connection, phase inverter U6 and phase inverter U7 are in parallel, be connected with two self-oscillation circuit respectively with two input ends of door U8, two Schmidt trigger U1 of difference and U2 in two self-oscillation circuit.
Fig. 4 is the electrical block diagram of super sonic receiving unit of the present invention; 5V direct current (DC) through the resistance to stream wire fuse F1 that is 500mA and diode D1, and form 5V digital voltage source VDD through two-stage capacitor filtering C1 and C2, digital voltage source VDD provides power supply for 2 NE5532P power amplifiers.Super sonic receiving sensor LS1 10K resistance R 3 in parallel changes the ultrasonic signal receiving into incoming signal, and incoming signal is input to ultrasonic distance measuring module 4 after first order amplifier NE5532P amplification, second stage amplifier NE5532P amplification, incoming signal has amplified altogether 400 times after two-stage is amplified.
Fig. 5 is that schematic diagram is used at the scene of crane job collision avoidance system of the present invention, on two crane in bridge type in figure, two collision avoidance systems is all set respectively, according to concrete service condition, also a collision avoidance system can be only set on each hoisting crane.Collision avoidance system on each hoisting crane as shown in FIG., the detected position of the hoisting crane of answering in contrast does not have collision avoidance system, can obtain so very failure-free and detect effect.
Claims (8)
1. a crane job collision avoidance system, it is characterized in that, comprise controller (1), alarm module (2), power module (3), ultrasonic distance measuring module (4), infra-ray sensing module (5), display module (6), the control module that opens circuit (7); Wherein:
Described controller (1) respectively with described alarm module (2), described ultrasonic distance measuring module (4), described infra-ray sensing module (5), described display module (6), described in the control module (7) that opens circuit be electrical connected;
Described ultrasonic distance measuring module (4) comprises super sonic radiating portion (401), super sonic receiving unit (402), and described super sonic radiating portion (401) and described super sonic receiving unit (402) are arranged on abreast on hoisting crane body and with hoisting crane sense of motion and are consistent;
Described infra-ray sensing module (5) comprises the first infrared probe (501), the second infrared probe (502), and described the first infrared probe (501) and described the second infrared probe (502) arrange symmetrically; Wherein: the infra-red detection amplitude angle A of described the first infrared probe (501) is identical with the infra-red detection amplitude angle B of described the second infrared probe (502); The infra-red detection region S of described the first infrared probe (501)
3infra-red detection region S with described the second infrared probe (502)
4form an infrared ray blind area region S
1an and infrared ray overlap-add region S
2, described infrared ray overlap-add region S
2angle C, the distance between described the first infrared probe (501) and described the second infrared probe (502) is H
1, described infrared ray blind area region S
1with infrared ray overlap-add region S
2coaxial line, described infrared ray blind area region S
1with infrared ray overlap-add region S
2axis and hoisting crane sense of motion direction be consistent.
2. crane job collision avoidance system according to claim 1, is characterized in that, described alarm module (2) is sound light alarming circuit.
3. crane job collision avoidance system according to claim 1, is characterized in that, described display module (6) is LCD Panel.
4. crane job collision avoidance system according to claim 1, is characterized in that, described controller (1) can be dsp controller.
5. crane job collision avoidance system according to claim 1, is characterized in that, described controller (1) can be ARM controller.
6. crane job collision avoidance system according to claim 1, it is characterized in that, described super sonic radiating portion (401), described super sonic receiving unit (402) are arranged between described the first infrared probe (501) and described the second infrared probe (502).
7. crane job collision avoidance system according to claim 1, is characterized in that, described infrared ray overlap-add region S
2angle C scope be 10 °-30 °.
8. crane job collision avoidance system according to claim 1, is characterized in that, the distance H between described the first infrared probe (501) and described the second infrared probe (502)
1for 6-10cm.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510731299.2A CN105347197A (en) | 2014-04-28 | 2014-04-28 | Anti-collision system for crane operation |
| CN201410175019.XA CN103922228B (en) | 2014-04-28 | 2014-04-28 | Crane job collision avoidance system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410175019.XA CN103922228B (en) | 2014-04-28 | 2014-04-28 | Crane job collision avoidance system |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510731299.2A Division CN105347197A (en) | 2014-04-28 | 2014-04-28 | Anti-collision system for crane operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103922228A true CN103922228A (en) | 2014-07-16 |
| CN103922228B CN103922228B (en) | 2015-12-09 |
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|---|---|---|---|
| CN201510731299.2A Pending CN105347197A (en) | 2014-04-28 | 2014-04-28 | Anti-collision system for crane operation |
| CN201410175019.XA Active CN103922228B (en) | 2014-04-28 | 2014-04-28 | Crane job collision avoidance system |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510731299.2A Pending CN105347197A (en) | 2014-04-28 | 2014-04-28 | Anti-collision system for crane operation |
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| CN (2) | CN105347197A (en) |
Cited By (3)
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| CN105967069A (en) * | 2016-07-29 | 2016-09-28 | 河南省矿山起重机有限公司 | Crane anti-collision control system |
| CN106986273A (en) * | 2017-06-02 | 2017-07-28 | 中船第九设计研究院工程有限公司 | A kind of large-sized gantry crane walking ultrasonic anti-collision system |
| CN108706469A (en) * | 2018-06-11 | 2018-10-26 | 武汉理工大学 | Crane intelligent anti-collision system based on millimetre-wave radar |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN105347197A (en) | 2016-02-24 |
| CN103922228B (en) | 2015-12-09 |
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