CN105366548A - System and method for monitoring lifting hook deflection of portal crane - Google Patents
System and method for monitoring lifting hook deflection of portal crane Download PDFInfo
- Publication number
- CN105366548A CN105366548A CN201510898139.7A CN201510898139A CN105366548A CN 105366548 A CN105366548 A CN 105366548A CN 201510898139 A CN201510898139 A CN 201510898139A CN 105366548 A CN105366548 A CN 105366548A
- Authority
- CN
- China
- Prior art keywords
- suspension hook
- dynamic
- cloud server
- data
- internet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The invention relates to a system for monitoring lifting hook deflection of a portal crane. The system comprises a lifting hook posture detection device, an Internet-of-Things communication device, a cloud server, a terminal, a PLC control system device and an alarm, wherein the Internet-of-Things communication device is in communication connection with the lifting hook posture detection device, the PLC control system device and the cloud server respectively, so as to realize data transmission among the cloud server, the lifting hook posture detection device and the PLC control system device; the terminal is in communication connection with the cloud server, so as to obtain data in the cloud server; and the alarm is connected with the terminal, and used for carrying out alarming working according to a lifting hook deflection angle of the terminal. The invention further relates to a method for monitoring lifting hook deflection of a portal crane. Through the method, a lifting hook posture and a dynamic track can be drawn into images, and the images are transmitted into the terminal, so that driving operation personnel conveniently and rapidly obtain the posture of a lifting hook in real time, and then adjustment for the posture of the lifting hook is specifically operated, thus the safety working of the portal crane is effectively ensured.
Description
Technical field
The present invention relates to crane hanging component technical field, particularly a kind of suspension hook deflection monitoring system of high pedestal jib crane, also relate to a kind of suspension hook deflection monitoring method of high pedestal jib crane.
Background technology
High pedestal jib crane is the one wherein instrument that port and pier generally uses.Between the navigating mate of high pedestal jib crane and a weight, there is certain distance, whether keep vertical being difficult to judge jib root twisted point with the line of the lifting point of weight.But in view of particular job principle of high pedestal jib crane, when particularly weight starts to lift by crane, if the line out of plumb between the lifting point of lift heavy thing and jib root twisted point, then can cause damage to hoisting crane self steel mechanism, simultaneously under the lifting point of lift heavy thing and the line off plumb situation of jib root twisted point, the moment that weight is departing from ground can wave, and causes serious safety misadventure most probably, there is potential safety hazard.Therefore, in high pedestal jib crane handling process, monitoring is carried out to the deflection situation of suspension hook extremely important.
Authorization Notice No. is the Chinese utility model patent " control device for hook position " of CN201089701Y (application number is 200720027082.4), control setup disclosed in it can position control to lift hook position, to meet the control overflow to lift hook position angle, but the signal that this control device for hook position detects cannot feed back to operating personal, cannot instruct efficiently and effectively the operation of operating personal.
Summary of the invention
First technical matters to be solved by this invention provides a kind of for above-mentioned prior art can realize the suspension hook deflection monitoring system of information interaction for the high pedestal jib crane of operating personal Real-time Obtaining suspension hook deflection situation.
Second technical matters to be solved by this invention provides a kind of high pedestal jib crane working data that can realize to carry out Wireless transceiver, can calculate the angle excursion of suspension hook and the angle excursion of suspension hook can be conveyed in real time the suspension hook deflection monitoring method of the high pedestal jib crane of operating personal for above-mentioned prior art.
The present invention solves the technical scheme that above-mentioned first technical matters adopt: a kind of suspension hook deflection monitoring system of high pedestal jib crane, is characterized in that comprising:
Suspension hook gesture detection means, is arranged on the suspension hook of high pedestal jib crane, and the dynamics data for the dynamic posture of described suspension hook detects and transmits;
Internet of Things communicator, is arranged in the electric panel room of high pedestal jib crane, for realizing the Internet Transmission of data;
Cloud Server, is connected with the communication of described Internet of Things communicator, and described Cloud Server has a data computation module and calculates for the comparison at suspension hook angle of inclination;
Terminating machine, is arranged on the operator's compartment of high pedestal jib crane, is connected with described Cloud Server communication, for obtaining the data that Cloud Server transmits;
Described suspension hook gesture detection means includes:
Sensor group, includes at least one motion sensor, for gathering the dynamic postural cue of suspension hook;
Filter, be connected with each motion sensor in described sensor group, the dynamic postural cue for the suspension hook to the collection of sensor group carries out filtering process;
Microprocessor, is connected with described filter, for the dynamic postural cue computing of described suspension hook to obtain the dynamics data including the dynamic posture of suspension hook at suspension hook angle of inclination;
GPS locating module, for gathering the position data of described suspension hook;
Wireless communication module, is connected with GPS locating module with described microprocessor, and this wireless communication module can also be connected with the communication of described Internet of Things communicator, for the dynamics data of the dynamic posture of Wireless transceiver suspension hook and the position data of suspension hook.
The conveniently angle of inclination situation of displaying suspension hook of image, described Cloud Server has the image processing module that the position data of the dynamics data of dynamic for suspension hook posture and suspension hook can be carried out image conversion process.
Conveniently show image, described terminating machine has a telltale.
Preferably, also be provided with the PLC control system device of the weighing information that at least can gather high pedestal jib crane, the information that hoists, jib rotation information in the electric panel room of described high pedestal jib crane, described PLC control system device is connected with described Internet of Things communicator the transmission realizing the Information Monitoring of PLC control system device.
Preferably, described sensor group include for detect suspension hook accelerate information 3-axis acceleration sensor, for detecting the three-axis gyroscope sensor of suspension hook rotating speed data and the geomagnetic sensor for detecting suspension hook moving direction.
In order to ensure that in dynamic environment, the dynamic postural cue of suspension hook accurately exports, the described filter of suspension hook is Kalman filter.
Easily, be also provided with annunciator in the operator's compartment of described high pedestal jib crane, described annunciator is connected with described terminating machine.
The present invention solves the technical scheme that above-mentioned second technical matters adopt: a kind of suspension hook deflection monitoring method of high pedestal jib crane, is characterized in that comprising the following steps:
Step one, in Cloud Server setting can ensure the suspension hook angle of inclination threshold value of trouble free service;
Step 2, suspension hook are articulated on weight, apply lift power upwards to tighten the steel rope for lifting weight to suspension hook;
Step 3, suspension hook gesture detection means startup work, in suspension hook gesture detection means, each sensor of sensor group works the dynamic postural cue gathering suspension hook respectively, is sent in microprocessor after the filtering process of dynamic postural cue device after filtering; Microprocessor carries out these dynamic postural cues processing the dynamics data calculating and include the dynamic posture of suspension hook of suspension hook angle of inclination data with acquisition, and then is sent in Internet of Things communicator by the dynamics data of dynamic for suspension hook posture by wireless communication module;
Meanwhile, GPS locating module gathers the position data of suspension hook and is sent in Internet of Things communicator by the position data of suspension hook by wireless communication module;
Dynamic for the suspension hook dynamics data of posture and the position data of suspension hook are sent in Cloud Server by step 4, Internet of Things communicator;
Step 5, Cloud Server are according to the dynamics data of the dynamic posture of suspension hook received and the position data of suspension hook, by image processing module, the dynamic location information of suspension hook is plotted as the dynamic trajectory image of suspension hook, thus this dynamic trajectory image is sent to terminating machine by Cloud Server, to show on the telltale of terminating machine;
Cloud Server utilizes data computation module that the suspension hook angle of inclination data in the dynamics data of dynamic for suspension hook posture and suspension hook angle of inclination threshold value are compared calculating simultaneously, if the angle of inclination data of suspension hook exceed the angle of inclination threshold value of suspension hook, then in terminating machine, send alerting signal, terminating machine controls annunciator and reports to the police;
Step 6, operating personal carry out adjustment operation according to the alerting signal that the dynamic trajectory image of the suspension hook that terminating machine shows and terminating machine receive.
As improvement, the dynamics data of Cloud Server according to the dynamic posture of suspension hook and the position data of suspension hook, by image processing module, the dynamic location information of suspension hook is plotted as the dynamic trajectory image of suspension hook, thus this dynamic trajectory image is sent to terminating machine by Cloud Server, to show on the telltale of terminating machine;
The drawing process of image processing module to the dynamic trajectory image of suspension hook is: in Cloud Server, data computation module calculates suspension hook position data corresponding under desirable plumbness according to the position data of the dynamics data of the dynamic posture of suspension hook received and suspension hook, and by image processing module, position corresponding for this position data definition is plotted as center-point, be take center-point as the circle in the center of circle by the suspension hook angle of inclination threshold rendering of setting, region in corresponding circle is then the security standpoint region that suspension hook tilts to all directions, thus forms the dynamic base map of suspension hook; In Cloud Server, data computation module draws the real-time dynamic trajectory image of suspension hook on the dynamic base map of suspension hook by image processing module according to the dynamics data of the dynamic posture of the suspension hook of real-time reception;
The real-time dynamic trajectory image of the dynamic base map of suspension hook and suspension hook is sent in terminating machine by Cloud Server;
The bowlder that the suspension hook angle of inclination threshold value exceeded on dynamic base map when the dynamic trajectory of suspension hook is corresponding, then annunciator is reported to the police; If the dynamic trajectory of suspension hook does not exceed bowlder corresponding to suspension hook angle of inclination threshold value on dynamic base map, be then considered as safety.
As improvement, when PLC control system device collect suspension hook weighing-up wave or hoist signal time, the rotating signal of the jib of collection is sent in Internet of Things communicator by PLC control system device, the weighing-up wave of this suspension hook, the signal that hoists are sent in Cloud Server by Internet of Things communicator again, Cloud Server sends the control command starting suspension hook gesture detection means, the control command of this startup suspension hook gesture detection means through Internet of Things communicator Internet Transmission thus be sent in suspension hook gesture detection means, thus suspension hook gesture detection means startup work;
When the rotation of jib, PLC control system device gathers the rotating signal of jib, and the rotating signal of the jib of collection is sent in Internet of Things communicator, the rotating signal of this jib is sent to server by Internet of Things communicator, and the data computation module of Cloud Server and image processing module quit work until PLC control system device collects the weighing-up wave of suspension hook or the signal that hoists.
Compared with prior art, the invention has the advantages that: the suspension hook deflection monitoring system of this high pedestal jib crane and method of inspection can be transmitted by the dynamics data of wireless communication technique by dynamic for the suspension hook of collection posture, the dynamics data of the dynamic posture of image conversion suspension hook and the position data of suspension hook simultaneously, and then be sent to operator's compartment in real time, driver behavior personnel can be allowed real-time, conveniently obtain the information in image, and then shoot the arrow at the target suspension hook posture is adjusted of handled easily personnel, operation purpose definitely, it is more convenient to operate, the trouble free service of high pedestal jib crane can be ensured by actv..
Accompanying drawing explanation
Fig. 1 is the suspension hook deflection monitoring system structured flowchart of high pedestal jib crane in the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing embodiment, the present invention is described in further detail.
As shown in Figure 1, the suspension hook deflection monitoring system of a kind of high pedestal jib crane in the present embodiment, comprises suspension hook gesture detection means 1, Internet of Things communicator 2, Cloud Server 3, terminating machine 4, PLC control system device 5, annunciator 6.Internet of Things communicator 2 is connected with suspension hook gesture detection means 1, PLC control system device 5 and Cloud Server 3 communication respectively, to realize the data transmission of Cloud Server 3 respectively and between suspension hook gesture detection means 1 and PLC control system device 5.Terminating machine 4 is connected with Cloud Server 3 communication with the data obtained in Cloud Server 3.Annunciator 6 is connected with terminating machine 4, carries out alert operation according to the suspension hook angle excursion that terminating machine 4 obtains.
Wherein suspension hook gesture detection means 1 is arranged on the suspension hook of high pedestal jib crane, and the dynamics data for the dynamic posture of suspension hook detects and transmits.Concrete, can when high pedestal jib crane suspension hook be naturally vertical, the correct position on suspension hook installs an outdoor enclosure, and this suspension hook gesture detection means 1 can be arranged in this connection box.
This suspension hook gesture detection means 1 comprises sensor group 11, filter 12, microprocessor 13, GPS locating module 14 and wireless communication module 15.
Sensor group 11 includes at least one motion sensor, for gathering the dynamic postural cue of suspension hook.Sensor group 11 in the present embodiment include for detect suspension hook accelerate information 3-axis acceleration sensor, for detecting the three-axis gyroscope sensor of suspension hook rotating speed data and the geomagnetic sensor for detecting suspension hook moving direction.The dynamic postural cue of suspension hook is obtained by these three kinds of motion sensor collections.
In filter 12 sensor group 11, each motion sensor is connected, and the dynamic postural cue for the suspension hook gathered sensor group 11 carries out filtering process.In the present embodiment, filter 12 adopts Kalman filter, and the signal utilizing Kalman filter can gather under dynamic environment each motion sensor carries out actv. filtering process, guarantees the accurate output of the dynamic postural cue of suspension hook under dynamic environment.
Microprocessor 13, is connected with filter 12, for the dynamic postural cue computing of suspension hook to obtain the dynamics data of the dynamic posture of suspension hook.Existing micro-chip processor selected by this microprocessor 13, adopt existing dynam to settle accounts algorithm to the data procedures of signal, the dynamics data such as angle of deviation, the amplitude of oscillation, oscillation period, the anglec of rotation, spin velocity, lifting altitude of suspension hook after the dynamic postural cue of microprocessor 13 pairs of suspension hooks carries out computing, can be obtained accordingly.
GPS locating module 14 is for gathering the position data of described suspension hook, and GPS locating module 14 can be selected as required in existing GPS positioning chip.
Wireless communication module 15 is connected with GPS locating module 14 with microprocessor 13 respectively, microprocessor 13 and GPS locating module 14 carry out communication by this wireless communication module 15 with Internet of Things communicator 2 and are connected, thus the dynamics data of the dynamic posture of Wireless transceiver suspension hook and the position data of suspension hook are to Internet of Things communicator 2.Wireless communication module 15 can be arranged according to the communication protocol adaptation of Internet of Things communicator 2, and in the present embodiment, wireless communication module 15 and Internet of Things communicator 2 adopt 3G network to carry out communication.
Internet of Things communicator 2 is arranged in the electric panel room of high pedestal jib crane, for realizing the Internet Transmission of data.Internet of Things communicator 2 in the present embodiment is a 3G Internet of Things communicator 2, can be realized respectively and the communicating of suspension hook gesture detection means 1 and Cloud Server 3 by 3G network.
Cloud Server 3 has a data computation module 31, the suspension hook angle of inclination threshold value that the data at the suspension hook angle of inclination that this data computation module 31 can be received and Qi Nei are arranged compares calculating, thus judge whether the real-time angle of inclination of suspension hook exceeds safe tilt angle ranges, and then can realize reporting to the police.Also have the image processing module 32 that the position data of the dynamics data of dynamic for suspension hook posture and suspension hook can be carried out image conversion process by Cloud Server 3, visualizing data is showed operator by image processing module 32, and handled easily person judge.
Terminating machine 4 is arranged on the operator's compartment of high pedestal jib crane, the suspension hook dynamic trajectory image that the image processing module 32 that can obtain the dynamics data of dynamic posture of its suspension hook, the position data of suspension hook and Cloud Server 3 after terminating machine 4 is connected with Cloud Server 3 communication in Cloud Server 3 is drawn.
Terminating machine 4 in the present embodiment can have the communication facilitiess such as telltale 41 for mobile phone, notebook PC, panel computer etc.User can select as required.Suspension hook dynamic trajectory image then can show on the telltale 41 of terminating machine 4.Terminating machine 4 also connects an annunciator 6, this annunciator 6 can be reported to the police when the angle of inclination of suspension hook exceedes safe rain threshold value.
PLC control system device 5 can adopt PLC control system device 5 general on high pedestal jib crane, this PLC control system device 5 can gather the various working datas in high pedestal jib crane work, wherein PLC control system device 5 can gather the weighing information of high pedestal jib crane, the information that hoists, jib rotation information, this PLC control system device 5 is connected to be sent in Internet of Things communicator 2 by PLC control system device 5 Information Monitoring with Internet of Things communicator 2, using the reference signal worked as suspension hook gesture detection means 1.
The monitoring method of the suspension hook deflection monitoring system of aforesaid high pedestal jib crane, comprises the following steps:
Step one, in the data computation module 31 of Cloud Server 3 setting can ensure the suspension hook angle of inclination threshold value of trouble free service, be 5 ° as safe suspension hook angle of inclination threshold value can be set;
Step 2, suspension hook are articulated on weight, apply lift power upwards to tighten the steel rope for lifting weight to suspension hook;
Step 3, suspension hook gesture detection means 1 start work, in suspension hook gesture detection means 1, each sensor of sensor group 11 works the dynamic postural cue gathering suspension hook respectively, is sent in microprocessor 13 after the filtering process of dynamic postural cue device 12 after filtering; Microprocessor 13 carries out process to these dynamic postural cues and calculates with the dynamics data obtaining the dynamic postures of suspension hook such as angle of deviation, the amplitude of oscillation, oscillation period, the anglec of rotation, spin velocity, lifting altitude, and then is sent in Internet of Things communicator 2 by the dynamics data of dynamic for suspension hook posture by wireless communication module 15;
Meanwhile, GPS locating module 14 gathers the position data of suspension hook and is sent in Internet of Things communicator 2 by the position data of suspension hook by wireless communication module 15;
Dynamic for the suspension hook dynamics data of posture and the position data of suspension hook are sent in Cloud Server 3 by step 4, Internet of Things communicator 2;
Step 5, Cloud Server 3 are according to the dynamics data of the dynamic posture of suspension hook received and the position data of suspension hook, by image processing module 32, the dynamic location information of suspension hook is plotted as the dynamic trajectory image of suspension hook, thus this dynamic trajectory image is sent to terminating machine 4 by Cloud Server 3, to show on the telltale 41 of terminating machine 4;
The drawing process of the dynamic trajectory image of image processing module 32 pairs of suspension hooks is: in Cloud Server 3, data computation module 31 calculates suspension hook position data corresponding under desirable plumbness according to the position data of the dynamics data of the dynamic posture of suspension hook received and suspension hook, and by image processing module 32, position corresponding for this position data definition is plotted as center-point, be take center-point as the circle in the center of circle by the suspension hook angle of inclination threshold rendering of setting, region in corresponding circle is then the security standpoint region that suspension hook tilts to all directions, thus form the dynamic base map of suspension hook, in Cloud Server 3, data computation module 31 draws the real-time dynamic trajectory image of suspension hook on the dynamic base map of suspension hook by image processing module 32 according to the dynamics data of the dynamic posture of the suspension hook of real-time reception,
Cloud Server 3 utilizes data computation module 31 that the suspension hook angle of inclination data in the dynamics data of dynamic for suspension hook posture and suspension hook angle of inclination threshold value are compared calculating simultaneously, if the angle of inclination data of suspension hook exceed the angle of inclination threshold value of suspension hook, then in terminating machine 4, send alerting signal, terminating machine 4 controls annunciator 6 and reports to the police;
Correspondingly, the inclination information of the display suspension hook of the dynamic trajectory image of suspension hook, namely the bowlder that the suspension hook angle of inclination threshold value exceeded on dynamic base map when the dynamic trajectory of suspension hook is corresponding, then the angle of inclination of suspension hook exceedes safe suspension hook angle of inclination threshold value 5 °, then annunciator 6 is reported to the police; If the dynamic trajectory of suspension hook does not exceed bowlder corresponding to suspension hook angle of inclination threshold value on dynamic base map, namely the angle of inclination of suspension hook does not exceed safe suspension hook angle of inclination threshold value 5 °, be then considered as safety.
Step 6, operating personal carry out adjustment operation according to the alerting signal that the dynamic trajectory image of the suspension hook of display on terminating machine 4 and terminating machine 4 receive.
In addition, in order to prevent high pedestal jib crane in rotary course, there is the situation of flase alarm in annunciator 6.When PLC control system device 5 collect suspension hook weighing-up wave or hoist signal time, the rotating signal of the jib of collection is sent in Internet of Things communicator 2 by PLC control system device 5, the weighing-up wave of this suspension hook, the signal that hoists are sent in Cloud Server 3 by Internet of Things communicator 2 again, Cloud Server 3 sends the control command starting suspension hook gesture detection means 1, the control command of this startup suspension hook gesture detection means 1 through Internet of Things communicator 2 Internet Transmission thus be sent in suspension hook gesture detection means 1, thus suspension hook gesture detection means 1 starts work;
When the rotation of jib, PLC control system device 5 gathers the rotating signal of jib, and the rotating signal of the jib of collection is sent in Internet of Things communicator 2, the rotating signal of this jib is sent to server by Internet of Things communicator 2, and the data computation module 31 of Cloud Server 3 and image processing module 32 quit work until PLC control system device 5 collects the weighing-up wave of suspension hook or the signal that hoists.
Claims (10)
1. a suspension hook deflection monitoring system for high pedestal jib crane, is characterized in that comprising:
Suspension hook gesture detection means (1), is arranged on the suspension hook of high pedestal jib crane, and the dynamics data for the dynamic posture of described suspension hook detects and transmits;
Internet of Things communicator (2), is arranged in the electric panel room of high pedestal jib crane, for realizing the Internet Transmission of data;
Cloud Server (3), is connected with the communication of described Internet of Things communicator (2), and described Cloud Server (3) has a data computation module (31) and calculates for the comparison at suspension hook angle of inclination;
Terminating machine (4), is arranged on the operator's compartment of high pedestal jib crane, is connected with described Cloud Server (3) communication, for obtaining the data that Cloud Server (3) transmits;
Described suspension hook gesture detection means (1) includes:
Sensor group (11), includes at least one motion sensor, for gathering the dynamic postural cue of suspension hook;
Filter (12), be connected with each motion sensor in described sensor group (11), the dynamic postural cue for the suspension hook gathered sensor group (11) carries out filtering process;
Microprocessor (13), is connected with described filter (12), for the dynamic postural cue computing of described suspension hook to obtain the dynamics data including the dynamic posture of suspension hook at suspension hook angle of inclination;
GPS locating module (14), for gathering the position data of described suspension hook;
Wireless communication module (15), be connected with GPS locating module (14) with described microprocessor (13), this wireless communication module (15) can also be connected with the communication of described Internet of Things communicator (2), for the dynamics data of the dynamic posture of Wireless transceiver suspension hook and the position data of suspension hook.
2. the suspension hook deflection monitoring system of high pedestal jib crane according to claim 1, is characterized in that: described Cloud Server (3) has the image processing module (32) that the position data of the dynamics data of dynamic for suspension hook posture and suspension hook can be carried out image conversion process.
3. the suspension hook deflection monitoring system of high pedestal jib crane according to claim 2, is characterized in that: described terminating machine (4) has a telltale (41).
4. the suspension hook deflection monitoring system of high pedestal jib crane according to claim 1, it is characterized in that: the PLC control system device (5) being also provided with the weighing information that at least can gather high pedestal jib crane, the information that hoists, jib rotation information in the electric panel room of described high pedestal jib crane, described PLC control system device (5) is connected with described Internet of Things communicator (2) transmission realizing PLC control system device (5) Information Monitoring.
5. the suspension hook deflection monitoring system of the high pedestal jib crane according to the arbitrary claim of Claims 1 to 4, is characterized in that: described sensor group (11) include for detect suspension hook accelerate information 3-axis acceleration sensor, for detecting the three-axis gyroscope sensor of suspension hook rotating speed data and the geomagnetic sensor for detecting suspension hook moving direction.
6. the suspension hook deflection monitoring system of high pedestal jib crane according to claim 1, is characterized in that: described filter (12) is Kalman filter.
7. the suspension hook deflection monitoring system of high pedestal jib crane according to claim 1, it is characterized in that: be also provided with annunciator (6) in the operator's compartment of described high pedestal jib crane, described annunciator (6) is connected with described terminating machine (4).
8. a suspension hook deflection monitoring method for high pedestal jib crane, is characterized in that comprising the following steps:
Step one, in the Cloud Server (3) setting can ensure the suspension hook angle of inclination threshold value of trouble free service;
Step 2, suspension hook are articulated on weight, apply lift power upwards to tighten the steel rope for lifting weight to suspension hook;
Step 3, suspension hook gesture detection means (1) start work, each sensor of sensor group (11) works the dynamic postural cue gathering suspension hook respectively in suspension hook gesture detection means (1), is sent in microprocessor (13) after the filtering process of dynamic postural cue device (12) after filtering; Microprocessor (13) carries out these dynamic postural cues processing the dynamics data calculating and include the dynamic posture of suspension hook of suspension hook angle of inclination data with acquisition, and then is sent in Internet of Things communicator (2) by the dynamics data of dynamic for suspension hook posture by wireless communication module (15);
Meanwhile, GPS locating module (14) gathers the position data of suspension hook and is sent in Internet of Things communicator (2) by the position data of suspension hook by wireless communication module (15);
Dynamic for the suspension hook dynamics data of posture and the position data of suspension hook are sent in Cloud Server (3) by step 4, Internet of Things communicator (2);
Step 5, Cloud Server (3) are according to the dynamics data of the dynamic posture of suspension hook received and the position data of suspension hook, by image processing module (32), the dynamic location information of suspension hook is plotted as the dynamic trajectory image of suspension hook, thus this dynamic trajectory image is sent to terminating machine (4) by Cloud Server (3), to show on the telltale (41) of terminating machine (4);
Cloud Server (3) utilizes data computation module (31) that the suspension hook angle of inclination data in the dynamics data of dynamic for suspension hook posture and suspension hook angle of inclination threshold value are compared calculating simultaneously, if the angle of inclination data of suspension hook exceed the angle of inclination threshold value of suspension hook, then in terminating machine (4), send alerting signal, terminating machine (4) controls annunciator (6) and reports to the police;
Step 6, operating personal carry out adjustment operation according to the dynamic trajectory image of the suspension hook of the upper display of terminating machine (4) and the upper alerting signal received of terminating machine (4).
9. the suspension hook deflection monitoring method of high pedestal jib crane according to claim 8, it is characterized in that: the dynamics data of Cloud Server (3) according to the dynamic posture of suspension hook and the position data of suspension hook, by image processing module (32), the dynamic location information of suspension hook is plotted as the dynamic trajectory image of suspension hook, thus this dynamic trajectory image is sent to terminating machine (4) by Cloud Server (3), to show on the telltale (41) of terminating machine (4);
The drawing process of image processing module (32) to the dynamic trajectory image of suspension hook is: in Cloud Server (3), image processing module (32) calculates suspension hook position data corresponding under desirable plumbness according to the position data of the dynamics data of the dynamic posture of suspension hook received and suspension hook, and position corresponding for this position data definition is plotted as center-point, be take center-point as the circle in the center of circle by the suspension hook angle of inclination threshold rendering of setting, region in corresponding circle is then the security standpoint region that suspension hook tilts to all directions, thus form the dynamic base map of suspension hook, Cloud Server (3) draws the real-time dynamic trajectory image of suspension hook on the dynamic base map of suspension hook by image processing module (32) according to the dynamics data of the dynamic posture of the suspension hook of real-time reception,
The real-time dynamic trajectory image of the dynamic base map of suspension hook and suspension hook is sent in terminating machine (4) by Cloud Server (3);
The bowlder that the suspension hook angle of inclination threshold value exceeded on dynamic base map when the dynamic trajectory of suspension hook is corresponding, then annunciator (6) is reported to the police; If the dynamic trajectory of suspension hook does not exceed bowlder corresponding to suspension hook angle of inclination threshold value on dynamic base map, be then considered as safety.
10. the suspension hook deflection monitoring method of high pedestal jib crane according to claim 8 or claim 9, is characterized in that:
When PLC control system device (5) collect suspension hook weighing-up wave or hoist signal time, the rotating signal of the jib of collection is sent in Internet of Things communicator (2) by PLC control system device (5), Internet of Things communicator (2) is again by the weighing-up wave of this suspension hook, the signal that hoists is sent in Cloud Server (3), Cloud Server (3) sends the control command starting suspension hook gesture detection means (1), the control command of this startup suspension hook gesture detection means (1) through Internet of Things communicator (2) Internet Transmission thus be sent in suspension hook gesture detection means (1), thus suspension hook gesture detection means (1) starts work,
When the rotation of jib, PLC control system device (5) gathers the rotating signal of jib, and the rotating signal of the jib of collection is sent in Internet of Things communicator (2), the rotating signal of this jib is sent to server by Internet of Things communicator (2), and the data computation module (31) of Cloud Server (3) and image processing module (32) quit work until PLC control system device (5) collects the weighing-up wave of suspension hook or the signal that hoists.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510898139.7A CN105366548B (en) | 2015-12-08 | 2015-12-08 | System and method for monitoring lifting hook deflection of portal crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510898139.7A CN105366548B (en) | 2015-12-08 | 2015-12-08 | System and method for monitoring lifting hook deflection of portal crane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105366548A true CN105366548A (en) | 2016-03-02 |
| CN105366548B CN105366548B (en) | 2017-05-17 |
Family
ID=55369274
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510898139.7A Active CN105366548B (en) | 2015-12-08 | 2015-12-08 | System and method for monitoring lifting hook deflection of portal crane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105366548B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107601283A (en) * | 2017-09-30 | 2018-01-19 | 安徽联智创新软件有限公司 | Gantry crane and its remote control system based on Internet of Things |
| CN108383002A (en) * | 2018-05-25 | 2018-08-10 | 菏泽学院 | A kind of high pedestal jib crane cluster manipulation monitor system |
| CN109343454A (en) * | 2018-11-05 | 2019-02-15 | 徐州路马力电控科技有限公司 | A kind of programmable controller of Behavior-based control detection |
| CN109552997A (en) * | 2018-11-30 | 2019-04-02 | 中交第三航务工程局有限公司 | Underwater barrier board preparation, locating mounting method and its installation system |
| CN112279095A (en) * | 2020-11-15 | 2021-01-29 | 信华智能装备(江苏)有限公司 | Crane capable of alarming in automatic inclination and synchronously retracting and releasing |
| CN113716469A (en) * | 2021-09-15 | 2021-11-30 | 中远海运特种运输股份有限公司 | Whole set of hoist and mount inclination shows and alarm system in real time |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103998367A (en) * | 2011-09-20 | 2014-08-20 | 科恩起重机有限公司 | Crane control |
| CN104876127A (en) * | 2015-05-29 | 2015-09-02 | 上海简奇数码科技有限公司 | Device and method for monitoring running position and posture of big and small bridge and door type cranes |
| CN204625005U (en) * | 2015-05-29 | 2015-09-09 | 上海简奇数码科技有限公司 | Stroke and deflection monitoring device is run based on accelerometer and gyrostatic hoisting crane |
| WO2015154508A1 (en) * | 2014-04-11 | 2015-10-15 | 中联重科股份有限公司 | Tower crane video monitoring control apparatus, method, system, and tower crane |
| CN205328472U (en) * | 2015-12-08 | 2016-06-22 | 宁波正鼎电子科技有限公司 | Lifting hook incline monitoring system of high pedestal jib crane |
-
2015
- 2015-12-08 CN CN201510898139.7A patent/CN105366548B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103998367A (en) * | 2011-09-20 | 2014-08-20 | 科恩起重机有限公司 | Crane control |
| WO2015154508A1 (en) * | 2014-04-11 | 2015-10-15 | 中联重科股份有限公司 | Tower crane video monitoring control apparatus, method, system, and tower crane |
| CN104876127A (en) * | 2015-05-29 | 2015-09-02 | 上海简奇数码科技有限公司 | Device and method for monitoring running position and posture of big and small bridge and door type cranes |
| CN204625005U (en) * | 2015-05-29 | 2015-09-09 | 上海简奇数码科技有限公司 | Stroke and deflection monitoring device is run based on accelerometer and gyrostatic hoisting crane |
| CN205328472U (en) * | 2015-12-08 | 2016-06-22 | 宁波正鼎电子科技有限公司 | Lifting hook incline monitoring system of high pedestal jib crane |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107601283A (en) * | 2017-09-30 | 2018-01-19 | 安徽联智创新软件有限公司 | Gantry crane and its remote control system based on Internet of Things |
| CN108383002A (en) * | 2018-05-25 | 2018-08-10 | 菏泽学院 | A kind of high pedestal jib crane cluster manipulation monitor system |
| CN109343454A (en) * | 2018-11-05 | 2019-02-15 | 徐州路马力电控科技有限公司 | A kind of programmable controller of Behavior-based control detection |
| CN109552997A (en) * | 2018-11-30 | 2019-04-02 | 中交第三航务工程局有限公司 | Underwater barrier board preparation, locating mounting method and its installation system |
| CN112279095A (en) * | 2020-11-15 | 2021-01-29 | 信华智能装备(江苏)有限公司 | Crane capable of alarming in automatic inclination and synchronously retracting and releasing |
| CN113716469A (en) * | 2021-09-15 | 2021-11-30 | 中远海运特种运输股份有限公司 | Whole set of hoist and mount inclination shows and alarm system in real time |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105366548B (en) | 2017-05-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105366548A (en) | System and method for monitoring lifting hook deflection of portal crane | |
| CN103613014B (en) | Tower crane anti-collision system, method, device and tower crane | |
| US9481554B2 (en) | Monitoring apparatus and control method of crane hoisting vertical deviation angle | |
| CN110182696B (en) | Control method of unmanned tower crane and intelligent system of unmanned tower crane | |
| US8627575B2 (en) | Hook pose detecting equipment and crane | |
| CN106185627B (en) | Lifting hook deflection angle monitoring device, vertical hoisting monitoring device and mobile crane | |
| WO2018220614A1 (en) | Method and apparatus for load handling | |
| CN107215792B (en) | group tower anti-collision control method and control device | |
| US11932517B2 (en) | Crane and device for controlling same | |
| CN110271965B (en) | Tower crane robot | |
| CN109160419B (en) | Anti-collision central processing device for building construction tower crane group | |
| CN106219416B (en) | A kind of double lifting rope section construction crane machines using GNSS technologies | |
| CN207390860U (en) | Building tower crane intelligent assistance system | |
| CN109993935A (en) | A kind of device and method of construction machinery positioning and its safety zone monitoring | |
| CN103395694A (en) | Integral monitoring system for tower crane | |
| CN104843585A (en) | Intelligent tower crane control system | |
| JP2011102167A (en) | Hanging load position monitoring system for crane, and hanging tool | |
| CN102815614A (en) | Detecting and monitoring device for displaying real-time lifting hook declination angle | |
| CN111196561B (en) | Tower crane warning method, device and system | |
| CN114604761A (en) | Intelligent tower crane-assisted operation and control safety warning system and method | |
| EP3960688A1 (en) | Crane inspection system and crane | |
| CN112607602A (en) | Video tracking device for tower crane hook | |
| CN111170184B (en) | Real-time monitoring and early warning system and method for tower crane | |
| CN207078937U (en) | Safe construction early warning system applied to tower crane | |
| CN205328472U (en) | Lifting hook incline monitoring system of high pedestal jib crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |