CN104876127B - The big dolly operating position appearance monitoring device of a kind of bridge, gantry crane and method - Google Patents
The big dolly operating position appearance monitoring device of a kind of bridge, gantry crane and method Download PDFInfo
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- CN104876127B CN104876127B CN201510285022.1A CN201510285022A CN104876127B CN 104876127 B CN104876127 B CN 104876127B CN 201510285022 A CN201510285022 A CN 201510285022A CN 104876127 B CN104876127 B CN 104876127B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The present invention relates to crane technical field, there is provided the big dolly operating position appearance monitoring device of Yi Zhongqiao, gantry crane and method, including：MEMS and single-chip microcomputer, and MEMS is connected with single-chip microcomputer；MEMS includes that MEMS acceleration transducers, MEMS gyroscope, Signal-regulated kinase and analog-to-digital conversion module, Signal-regulated kinase are connected with MEMS acceleration transducers, MEMS gyroscope, analog-to-digital conversion module；Single-chip microcomputer includes that wave filter, movement processor MPU, wave filter are connected with analog-to-digital conversion module, movement processor MPU；MEMS acceleration transducers are 3-axis acceleration sensor, for gathering the linear acceleration signal of cart, dolly；MEMS gyroscope is three-axis gyroscope, for gathering the angular velocity signal of operation deflection.The present invention has wiring distance short, and signal transmission is interference-free, and small volume, lightweight, position are concentrated, and improve the characteristics of good, cheap low in energy consumption, durability, stable performance, it is ensured that the bearing capacity of crane, increase the service life.
Description
Technical field
The present invention relates to crane technical field, the big dolly operating position appearance monitoring of more particularly to a kind of bridge, gantry crane
Device and method.
Background technology
Crane is widely used in the material handling of all trades and professions, has highly important effect in the development of the national economy.
Hoisting machinery is the important component part of special equipment, accounts for the ratio of whole 8 big class special equipments more than 22%, product quality and
Safety in production is related to the life security of the people.Effective monitoring to crane job scope, is conducive to avoiding operation crane
And the collision between equipment, factory building and operation crane, improve the safety in production of crane.
Existing overhead and gantry cranes can be divided into by control mode：Programmable Logic Controller mode and master controller mode.Adopt
The crane controlled with Programmable Logic Controller mode generally adopts frequency control, as speed governing needs, in big running gear for trolley
Rotary encoder is installed for velocity feedback on motor axle, after the umber of pulse of Programmable Logic Controller calculation code device, can
The positional information in orbit to obtain crane.And the crane for adopting master controller mode to control then directly is driven by motor
Motor car wheel runs, and only installs limit switch at the two ends of operation track for crane, to avoid the collision of crane and factory building,
Crane accurate location in orbit cannot be determined.In actual production, misoperation causes limit switch often to damage, and stays
Potential safety hazard.Simultaneously as bridge, gantry crane span are big, generally using driving respectively, as both sides drive asynchronous causing
Cart runs deflection, causes girder additional stress, reduces the bearing capacity and service life of crane.
The GB GB/T 28264-2012 for promulgating for 2012《Hoisting machinery security monitoring management system》Bridge, gate-type are risen
Heavy-duty machine operation stroke and cart operation deflection incorporate monitoring parameter, and the crane for not meeting GB needs to be transformed to meet
Standard.At present, common modification measures are the design features according to crane, install have the records of distance by the log wheel and encoder realization operation additional
The monitoring of stroke.Its operation principle is to have the records of distance by the log to take turns to do pure rolling with cart running track or wheel by CONTACT WITH FRICTION, wheel of having the records of distance by the log
Drive encoder rotation, output direction of rotation and pulse counting signal；Direction of rotation and arteries and veins of the controller by calculation code device
Punching obtains crane position in orbit.As the device needs the protection, lubrication and the later stage that consider device in outside work
The factors such as maintenance；Again because installation site is located at crane left and right side cart driving mechanism and trolley driving mechanism, wiring respectively
Distance, signal transmission are easily disturbed.
Therefore, crane technical field is badly in need of one kind and can detect bridge, gantry crane pose detection run location and partially
Oblique device and method, signal transmission strong antijamming capability short with wiring distance, small volume, lightweight, easy for installation, work(
Consume the characteristics of good, cheap low, durability, stable performance, it is ensured that the bearing capacity of crane, extend the use longevity of crane
Life.
Content of the invention
The invention provides the big dolly operating position appearance monitoring device of a kind of bridge, gantry crane and method, technical scheme is such as
Under：
The big dolly operating position appearance monitoring device of a kind of bridge, gantry crane, including：MEMS and single-chip microcomputer, and
MEMS is connected with single-chip microcomputer；
MEMS, including MEMS acceleration transducers, MEMS gyroscope, Signal-regulated kinase and analog-to-digital conversion module,
And Signal-regulated kinase is connected with MEMS acceleration transducers, MEMS gyroscope, analog-to-digital conversion module；
Single-chip microcomputer, including wave filter, movement processor MPU, wave filter and analog-to-digital conversion module, movement processor MPU phases
Connection；
MEMS acceleration transducers, be 3-axis acceleration sensor, for gathering crane, trolley travelling direction
Linear acceleration signal；
MEMS gyroscope, is three-axis gyroscope, runs the angular velocity signal of deflection for gathering crane；
Signal-regulated kinase, for amplifying signal, for analog-to-digital conversion module process；
Analog-to-digital conversion module, for being converted into 12 by the analogue value that MEMS acceleration transducers and MEMS gyroscope are exported
Accuracy Figure value, for single-chip microcomputer process；
Wave filter, using Kalman filtering, is carried out filtering for the acceleration to collecting and angular speed numerical value, noise reduction,
Flash removed is removed, numerical optimization process is carried out；
Movement processor MPU, the data for collecting analog-to-digital conversion module change into corresponding displacement variable and
Magnitude of angular velocity.
Preferably, in a kind of above-mentioned bridge, the big dolly operating position appearance monitoring device of gantry crane, also include：Attitude solution
Device is calculated, and is connected with analog-to-digital conversion module, wave filter respectively, for computing being carried out to acceleration, angular speed numerical value, is drawn four
Coordinate or Eulerian coordinates.
Preferably, in a kind of above-mentioned bridge, the big dolly operating position appearance monitoring device of gantry crane, also include：Digital aobvious
Show device, be connected with the movement processor MPU of single-chip microcomputer.
Preferably, in a kind of above-mentioned bridge, the big dolly operating position appearance monitoring device of gantry crane, also include：Report to the police and fill
Put, be connected with the movement processor MPU of single-chip microcomputer.
Preferably, in a kind of above-mentioned bridge, the big dolly operating position appearance monitoring device of gantry crane, single-chip microcomputer is
C8051Fxxx series monolithics.
Preferably, in a kind of above-mentioned bridge, the big dolly operating position appearance monitoring device of gantry crane, motion process sensor
Model MPU6050 of MPU.
Preferably, in a kind of above-mentioned bridge, the big dolly operating position appearance monitoring device of gantry crane, single-chip microcomputer passes through
RS485 buses are connected with host computer.
The big dolly operating position appearance monitoring method of a kind of bridge, gantry crane, comprises the steps：
The bridge for assembling, the big dolly operating position appearance monitoring device of gantry crane are arranged on monkey by step one
In machine room, move with dolly, while the motion of cart and deflection also will change the pose of dolly and this monitoring device, MEMS
Acceleration transducer can detect dolly, the acceleration of cart traffic direction, and MEMS gyroscope collection cart operation deflection is caused
Around the angular speed that axle perpendicular to the ground is rotated, and the acceleration signal for collecting and rotary angle signal are all passed to signal condition
Module, is amplified signal transacting；
Step 2, the acceleration and angular velocity signal after amplification are delivered to analog-to-digital conversion module, by the analogue value of output
12 Accuracy Figure values are converted into, then digital value is passed to the wave filter in single-chip microcomputer；
Step 3, after wave filter receives acceleration and anglec of rotation digital value, is carried out filtering, is dropped to the numerical value for receiving
Make an uproar, remove flash removed, carry out numerical optimization process；
The data for receiving are changed into corresponding displacement variable and angular speed by step 4, motion process sensor MPU
Value, and stored and shown on nixie display.
Preferably, in a kind of above-mentioned bridge, the big dolly operating position appearance monitoring method of gantry crane, also include：Step 5,
The Angulation changes value of the position change value and cart that will be stored in cart and dolly in single-chip microcomputer passes to host computer, when
When the operation stroke of cart or dolly exceeds scope set in advance, single-chip microcomputer output alarm signal, to staff reminding.
Preferably in a kind of above-mentioned bridge, the big dolly operating position appearance monitoring method of gantry crane, also include：Step 6,
Bridge, the built-in system of gantry crane or host computer return zero signal to single-chip microcomputer transmitting, and single-chip microcomputer will be zeroed
Position signal transmission is to MEMS gyroscope, and then eliminates the accumulated error that MEMS gyroscope repeatedly measures angular speed so as under satisfaction
Secondary evaluation work.
The invention has the beneficial effects as follows：
1st, MEMS gyroscope itself easily produces cumulative departure, and after repeatedly accumulating, error increase, is opened by crane location
Close and which is zeroed out to single-chip microcomputer transmitting zero-bit playback signal, make the cart angle of deviation angle value for measuring more accurate.
2nd, the present invention passes through MEMS acceleration transducers and MEMS gyroscope by the acceleration signal for collecting and angular speed
Signal jitter is big, unstable, therefore by Kalman filtering, at the acceleration signal that collects and rotary angle signal
Reason, obtains the optimal estimation value of an acceleration and angular speed, reduces shake, more stable.
3rd, the present invention is integrated to acceleration signal, angular velocity signal by single-chip microcomputer, obtains position and angle, due to
Integration gained is a relative quantity, needs crane location switch to transmit to a zero signal, just can determine that cart, dolly
Absolute position, numerical computations are more complete, and usability and referential are higher.
4th, operation stroke and cart of the present invention compared to have the records of distance by the log wheel and the large and small car of pulse coder measurement of prior art
The mode of angle excursion, the utility model have wiring distance short, and signal transmission is interference-free, small volume, lightweight, position collection
In, improve the characteristics of good, cheap low in energy consumption, durability, stable performance, it is ensured that the bearing capacity of crane, extend and use
Life-span.
5th, the present invention is further arranged on all structure members in dolly machine room, solves protection question, need not
Lubrication, non-maintaining.
6th, single-chip microcomputer of the invention, using C8051Fxxx series monolithics, is 8 most fast in the world at present single-chip microcomputers,
The speed of service is fast, and instruction combines in that MSC-51 is compatible, can more quickly draw the position change value of cart and dolly and big
The Angulation changes value of car, reaction speed are sensitiveer.
Description of the drawings
With reference to the accompanying drawings and detailed description describing the present invention in detail：
Fig. 1 is a kind of bridge of the invention, the structured flowchart of the big dolly operating position appearance monitoring device embodiment 1 of gantry crane.
Fig. 2 is a kind of bridge of the invention, the structured flowchart of the big dolly operating position appearance monitoring device embodiment 2 of gantry crane.
Fig. 3 is a kind of bridge of the invention, the flow chart of the big dolly operating position appearance monitoring method of gantry crane.
Wherein, in Fig. 1-3 corresponding relation between reference and component names is：
MEMS 1, single-chip microcomputer 2, MEMS acceleration transducers 3, MEMS gyroscope 4, Signal-regulated kinase 5, modulus turn
Mold changing block 6, wave filter 7, movement processor MPU 8, attitude algorithm device 9, nixie display 10, warning device 11.
Specific embodiment
The core of the present invention is solved for providing a kind of bridge, the big dolly operating position appearance monitoring device of gantry crane and method
The bearing capacity of crane and service life are low, and position disperses, and wiring distance is long, problem that signal transmission is easily disturbed.
In order that measure, creation characteristic, reached purpose and effect that the technology of the present invention is realized are easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is expanded on further.
Embodiment 1：
Fig. 1 is a kind of bridge of the invention, the structured flowchart of the big dolly operating position appearance monitoring device embodiment 1 of gantry crane.
As shown in figure 1, the invention provides the big dolly operating position appearance monitoring device of a kind of bridge, gantry crane, including：
MEMS 1 and single-chip microcomputer 2, and MEMS 1 is connected with single-chip microcomputer 2；MEMS 1 includes MEMS acceleration transducers
3rd, MEMS gyroscope 4, Signal-regulated kinase 5 and analog-to-digital conversion module 6, and Signal-regulated kinase 5 and MEMS acceleration sensings
Device 3, MEMS gyroscope 4, analog-to-digital conversion module 6 are connected；Single-chip microcomputer 2 includes wave filter 7, movement processor MPU 8, wave filter
7 are connected with analog-to-digital conversion module 6, movement processor MPU 8；MEMS acceleration transducers 3 are 3-axis acceleration sensor, use
Linear acceleration signal in collection crane, trolley travelling direction；MEMS gyroscope 4 is three-axis gyroscope, for adopting
Collection crane runs the angular velocity signal of deflection；Signal-regulated kinase 5 is used for amplifying signal, processes for analog-to-digital conversion module 6；Mould
Number modular converter 6 is used for for the analogue value that MEMS acceleration transducers 3 and MEMS gyroscope 4 are exported being converted into 12 Accuracy Figures
Value, is processed for single-chip microcomputer 2；Wave filter 7 adopts Kalman filtering, carries out for the acceleration to collecting and angular speed numerical value
Filter, noise reduction, remove flash removed, carry out numerical optimization process；Movement processor MPU 8 is used for collecting analog-to-digital conversion module
Data change into corresponding displacement variable and magnitude of angular velocity.
Embodiment 2：
Fig. 2 is a kind of bridge of the invention, the structured flowchart of the big dolly operating position appearance monitoring device embodiment 2 of gantry crane.
As shown in Fig. 2 the invention provides the big dolly operating position appearance monitoring device of a kind of bridge, gantry crane, is implementing
On the basis of example 1, also include：Attitude algorithm device 9, is connected with analog-to-digital conversion module 6, wave filter 7 respectively, for accelerating
Degree, angular speed numerical value carry out computing, draw four coordinates or Eulerian coordinates；At the motion of nixie display 10 and single-chip microcomputer 2
Reason device MPU 8 is connected；Warning device 11, is connected with the movement processor MPU 8 of single-chip microcomputer.
In the present embodiment, single-chip microcomputer 2 be C8051Fxxx series monolithics, the model of motion process sensor MPU 8
MPU6050, single-chip microcomputer 2 are connected with host computer by RS485 buses.
Fig. 3 is a kind of bridge of the invention, the flow chart of the big dolly operating position appearance monitoring method of gantry crane.
As shown in figure 3, the big dolly operating position appearance monitoring method of a kind of bridge, gantry crane, comprises the steps：
The bridge for assembling, the big dolly operating position appearance monitoring device of gantry crane are arranged on monkey by step one
In machine room, move with dolly, while the motion of cart and deflection also will change the pose of dolly and this monitoring device, MEMS
Acceleration transducer can detect dolly, the acceleration of cart traffic direction, and MEMS gyroscope collection cart operation deflection is caused
Around the angular speed that axle perpendicular to the ground is rotated, and the acceleration signal for collecting and rotary angle signal are all passed to signal condition
Module, is amplified signal transacting；
Step 2, the acceleration and angular velocity signal after amplification are delivered to analog-to-digital conversion module, by the analogue value of output
12 Accuracy Figure values are converted into, then digital value is passed to the wave filter in single-chip microcomputer；
Step 3, after wave filter receives acceleration and anglec of rotation digital value, is carried out filtering, is dropped to the numerical value for receiving
Make an uproar, remove flash removed, carry out numerical optimization process；
The data for receiving are changed into corresponding displacement variable and angular speed by step 4, motion process sensor MPU
Value, and stored and shown on nixie display.
In this enforcement, also include：Step 5, will be stored in position change value and the cart of cart and dolly in single-chip microcomputer
Angulation changes value pass to host computer, when cart or dolly operation stroke exceed scope set in advance when, monolithic
Machine output alarm signal, to staff reminding.
In this enforcement, also include：Step 6, bridge, the built-in system of gantry crane or host computer are to single-chip microcomputer
Zero signal is returned in transmitting, and single-chip microcomputer will be zeroed position signal transmission to MEMS gyroscope, and then it is multiple to eliminate MEMS gyroscope
Measure the accumulated error of angular speed so as to meet next evaluation work.
The present invention represents cart traffic direction using X-axis, and Y-axis represents trolley travelling direction, turns about the Z axis direction and represents greatly
Car runs angle excursion；The crane speed of service be 10 ~ 30m/min, rise braking time be 2 seconds, acceleration be 0.15 ~
0.5m/s2, i.e. 0.015 ~ 0.05g, when g is acceleration of gravity, it is 1/ to run deflection by the calculated cart of single-chip microcomputer
1000, conversion is angled 0.057 °.
According to above parameter, embodiment 2 employs 6 axle motion process sensor MPU 6050, MPU 6050 can accurately with
Track is quick and action at a slow speed, acceleration sensing scope ± 2g, ± 4g, ± 8g and ± 16g programmables, angular speed sensing range
± 250, ± 500, ± 1000 and ± 2000 °/s, programmable, angle sensing range ± 180 °, acceleration stability
0.01g, 0.05 °/s of angular speed stability, 0.01 ° of attitude measurement stability can meet bridge, gantry crane operation stroke and big
Car runs the requirement of deflection.
MEMS gyroscope itself easily produces cumulative departure, and error increase after repeatedly accumulating, by crane to single-chip microcomputer
Transmitting zero-bit playback signal is zeroed out to which, makes the cart angle of deviation angle value for measuring more accurate.
The acceleration signal for collecting and angular speed are believed by the present invention by MEMS acceleration transducers and MEMS gyroscope
Number shake is big, unstable, therefore by Kalman filtering, at the acceleration signal that collects and rotary angle signal
Reason, obtains the optimal estimation value of an acceleration and angular speed, reduces shake, more stable.
The present invention is integrated to acceleration signal, angular velocity signal by single-chip microcomputer, obtains position and angle, due to product
It is a relative quantity to divide gained, needs crane to transmit to a zero signal, just can determine that the absolute position of cart, dolly
Put, numerical computations are more complete, usability and referential are higher.
The present invention is inclined with the operation stroke and cart of the large and small car of pulse coder measurement compared to the wheel of having the records of distance by the log of prior art
The mode of rake angle, the utility model have wiring distance short, and signal transmission is interference-free, small volume, lightweight, position collection
In, improve the characteristics of good, cheap low in energy consumption, durability, stable performance, it is ensured that the bearing capacity of crane, extend and use
Life-span.
The present invention is further arranged on all structure members in dolly machine room, solves protection question, without the need for profit
Sliding, non-maintaining.
The single-chip microcomputer of the present invention is 8 most fast in the world at present single-chip microcomputers, is transported using C8051Fxxx series monolithics
Scanning frequency degree is fast, and instruction combines in MSC-51 compatibilities, can more quickly draw position change value and the cart of cart and dolly
Angulation changes value, reaction speed is sensitiveer.
General principle, principal character and the advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel it should be appreciated that the present invention is not restricted to the described embodiments, simply explanation described in above-described embodiment and specification this
The principle of invention, without departing from the spirit and scope of the present invention the present invention also have various changes and modifications, these change
Change and improvement is both fallen within scope of the claimed invention.The claimed scope of the invention by appending claims and its
Equivalent is defined.
Claims (3)
1. the big dolly operating position appearance monitoring method of a kind of bridge, gantry crane, comprises the steps：
The bridge for assembling, the big dolly operating position appearance monitoring device of gantry crane are arranged on monkey machine room by step one
Interior, move with dolly, while the motion of cart and deflection will also change the pose of dolly and this monitoring device, MEMS accelerates
Degree sensor can detect dolly, the acceleration of cart traffic direction, MEMS gyroscope collection cart operation deflection cause around hanging down
The angular speed that straight ground axle is rotated, and the acceleration signal for collecting and rotary angle signal are all passed to signal condition mould
Block, is amplified signal transacting；
Step 2, the acceleration and angular velocity signal after amplification are delivered to analog-to-digital conversion module, by the analogue value conversion of output
Into 12 Accuracy Figure values, then digital value is passed to the wave filter in single-chip microcomputer；
Step 3, after wave filter receives acceleration and anglec of rotation digital value, is carried out filtering to the numerical value for receiving, noise reduction,
Flash removed is removed, numerical optimization process is carried out；
The data for receiving are changed into corresponding displacement variable and magnitude of angular velocity by step 4, motion process sensor MPU, and
Stored and shown on nixie display.
2. the big dolly operating position appearance monitoring method of a kind of bridge according to claim 1, gantry crane, also includes：Step
Five, the Angulation changes value of the position change value and cart that will be stored in cart and dolly in single-chip microcomputer passes to upper calculating
Machine, when cart or dolly operation stroke exceed scope set in advance when, single-chip microcomputer output alarm signal, to staff with
Remind.
3. the big dolly operating position appearance monitoring method of a kind of bridge according to claim 1, gantry crane, also includes：Step
Six, bridge, the built-in system of gantry crane or host computer return zero signal to single-chip microcomputer transmitting, and single-chip microcomputer will be returned
Zero signal passes to MEMS gyroscope, and then eliminates the accumulated error that MEMS gyroscope repeatedly measures angular speed so as to meet
Next evaluation work.
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| CN201510285022.1A CN104876127B (en) | 2015-05-29 | 2015-05-29 | The big dolly operating position appearance monitoring device of a kind of bridge, gantry crane and method |
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| CN201510285022.1A CN104876127B (en) | 2015-05-29 | 2015-05-29 | The big dolly operating position appearance monitoring device of a kind of bridge, gantry crane and method |
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| CN105366548B (en) * | 2015-12-08 | 2017-05-17 | 宁波正鼎电子科技有限公司 | System and method for monitoring lifting hook deflection of portal crane |
| CN106429845A (en) * | 2016-11-08 | 2017-02-22 | 泸州汉硕信息科技有限公司 | Crane jib angle detecting device based on gyroscope |
| CN108216211A (en) * | 2016-12-13 | 2018-06-29 | 核工业西南物理研究院 | Body gesture safety pre-warning system |
| CN108020224A (en) * | 2017-12-18 | 2018-05-11 | 武汉静磁栅机电制造有限公司 | A kind of autonomous type opening self-detective instrument and its measuring method |
| CN109368501B (en) * | 2018-12-11 | 2020-09-08 | 龙岩学院 | Crane control system based on nine sensors |
| CN113302144B (en) * | 2019-01-09 | 2022-11-25 | 三菱电机株式会社 | Motor control device |
| CN110567481A (en) * | 2019-09-05 | 2019-12-13 | 上海凌泽信息科技有限公司 | object displacement monitoring method |
| CN113324536A (en) * | 2020-01-27 | 2021-08-31 | 异起(上海)智能科技有限公司 | Method and device for calculating position offset |
| CN112429640B (en) * | 2020-06-29 | 2022-11-22 | 邯郸钢铁集团有限责任公司 | Method for controlling anti-swing of crown block |
| CN111994796B (en) * | 2020-09-09 | 2023-07-14 | 大连华锐重工起重机有限公司 | Intelligent crane auxiliary positioning system and positioning method |
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| US20090125196A1 (en) * | 2007-11-14 | 2009-05-14 | Honeywell International, Inc. | Apparatus and method for monitoring the stability of a construction machine |
| CN202229752U (en) * | 2011-08-19 | 2012-05-23 | 上海海事大学 | Double-hoisting double-sling bridge crane pivot angle measuring device adopting MEMS (Micro Electro Mechanical Systems) gyroscope |
| CN102923572B (en) * | 2012-09-24 | 2015-08-26 | 苏州市思玛特电力科技有限公司 | A kind of crane load space pivot angle detection technique and device |
| CN104176634B (en) * | 2013-05-21 | 2016-09-21 | 上海航鼎电子科技发展有限公司 | A kind of stacker crane body perpendicularity real-time detection method and device |
| CN103738851B (en) * | 2014-01-02 | 2015-10-07 | 上海大学 | A kind of Novel self-balanced crane system based on accelerometer and gyro sensor |
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