CN105366548B - 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
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- CN105366548B CN105366548B CN201510898139.7A CN201510898139A CN105366548B CN 105366548 B CN105366548 B CN 105366548B CN 201510898139 A CN201510898139 A CN 201510898139A CN 105366548 B CN105366548 B CN 105366548B
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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, the suspension hook deflection monitoring system of more particularly to a kind of high pedestal jib crane
System, further relates to a kind of suspension hook deflection monitoring method of high pedestal jib crane.
Background technology
High pedestal jib crane is one kind wherein instrument that port and pier are commonly used.The human pilot of high pedestal jib crane and
Rise weight between have a certain distance span, whether arm support root twisted point and the line of the lifting of weight point are kept it is vertical very
Difficulty is judged.But in view of particular job principle of high pedestal jib crane, particularly weight start lifting when, if lift heavy thing
Lifting point and arm support root twisted point between line out of plumb, then can to crane itself steel mechanism cause damage, while
In the case of the lifting point of lift heavy thing and the line off plumb of arm support root twisted point, weight can shake in the moment for departing from ground
Pendulum, most probably causes serious security incident, there is potential safety hazard.Therefore, to suspension hook in high pedestal jib crane cargo handling process
Deflection situation be monitored it is extremely important.
Authorization Notice No. is the Chinese utility model patent of CN201089701Y (Application No. 200720027082.4)《Hang
Hook position control》, wherein disclosed control device can carry out location control to lift hook position, to meet to lift hook position
The control of angle is required, but the signal of the control device for hook position detection cannot feed back to operator, to operator
Operation cannot efficiently and effectively be instructed.
The content of the invention
First technical problem to be solved by this invention is to provide one kind for above-mentioned prior art to realize information
Interaction obtains in real time the suspension hook deflection monitoring system of the high pedestal jib crane of suspension hook deflection situation for operator.
Second technical problem to be solved by this invention is to provide one kind for above-mentioned prior art to realize gate seat
Formula crane operational data carry out Wireless transceiver, suspension hook can be calculated angle excursion and the angle excursion of suspension hook can in real time be passed
Reach the suspension hook deflection monitoring method of the high pedestal jib crane of operator.
The present invention solve technical scheme that above-mentioned first technical problem adopted for：A kind of suspension hook of high pedestal jib crane
Deflection monitoring system, it is characterised in that include：
Suspension hook gesture detection means, are arranged on the suspension hook of high pedestal jib crane, for the dynamic of suspension hook dynamic posture
Mechanical Data is detected and transmitted；
Internet of Things communicator, is arranged on the electric interior of high pedestal jib crane, for realizing the network transmission of data；
Cloud Server, is connected with Internet of Things communicator communication, and the Cloud Server has a data computation module
Comparison for suspension hook angle of inclination is calculated；
Terminating machine, is arranged on the driver's cabin of high pedestal jib crane, is connected with Cloud Server communication, for obtaining cloud clothes
The data of business device transmission；
The suspension hook gesture detection means are included：
Sensor group, includes at least one motion sensor, for gathering the dynamic postural cue of suspension hook；
Wave filter, is connected with each motion sensor in the sensor group, for the suspension hook that gathers to sensor group
Dynamic postural cue is filtered process；
Microprocessor, is connected with the wave filter, processes to obtain for calculating the dynamic postural cue of the suspension hook
Take the dynamics data of the suspension hook dynamic posture for including suspension hook angle of inclination；
D GPS locating module, for gathering the position data of the suspension hook；
Wireless communication module, is connected with the microprocessor and d GPS locating module, and the wireless communication module can also be with
The Internet of Things communicator communication connection, for the dynamics data and the positional number of suspension hook of Wireless transceiver suspension hook dynamic posture
According to.
The angle of inclination situation of displaying suspension hook vivid for convenience, the Cloud Server has can be by suspension hook dynamic appearance
The dynamics data of gesture and the position data of suspension hook carry out the image processing module of image conversion process.
Display image for convenience, the terminating machine has a display.
Preferably, the electric interior of the high pedestal jib crane is additionally provided with the title that can at least gather high pedestal jib crane
Weight information, raising information, the PLC control system device of arm support rotation information, the PLC control system device and the Internet of Things
Communicator is connected to realize that PLC control system device gathers the transmission of information.
Preferably, the sensor group is included for detecting that suspension hook accelerates the 3-axis acceleration sensor of information, is used for
The three-axis gyroscope sensor and the geomagnetic sensor for detecting suspension hook moving direction of detection suspension hook rotating speed data.
The dynamic postural cue of suspension hook is accurately exported in order to ensure dynamic environment, and the described wave filter of suspension hook is karr
Graceful wave filter.
Easily, the driving interior of the high pedestal jib crane is additionally provided with alarm, the alarm and the terminal
Machine is connected.
The present invention solve technical scheme that above-mentioned second technical problem adopted for：A kind of suspension hook of high pedestal jib crane
Deflection monitoring method, it is characterised in that comprise the following steps：
Step one, in Cloud Server setting ensure that the suspension hook angle of inclination threshold value of trouble free service；
Step 2, suspension hook are articulated on weight, and lifting power upwards is applied to suspension hook to tighten the steel for lifting weight
Cord；
Step 3, suspension hook gesture detection means startup work, each sensing of sensor group in suspension hook gesture detection means
Device works to gather the dynamic postural cue of suspension hook respectively, and dynamic postural cue is sent to after the Filtering Processing of device after filtering micro-
In processor；Microprocessor is carried out processing calculating and includes suspension hook angle of inclination data to obtain to these dynamic postural cues
The dynamics data of suspension hook dynamic posture, and then the dynamics data of suspension hook dynamic posture is sent to by wireless communication module
In Internet of Things communicator；
Meanwhile, the position data of suspension hook is simultaneously passed through wireless communication module by the position data of d GPS locating module collection suspension hook
In being sent to Internet of Things communicator；
Step 4, Internet of Things communicator are sent to the suspension hook dynamic dynamics data of posture and the position data of suspension hook
In Cloud Server；
Step 5, Cloud Server lead to according to the dynamics data and the position data of suspension hook of the suspension hook dynamic posture for receiving
The dynamic trajectory image that the dynamic location information of suspension hook is plotted as image processing module suspension hook is crossed, so as to Cloud Server moves this
State trace image is sent to terminating machine, to be shown on the display of terminating machine；
Simultaneously Cloud Server utilizes data computation module by the suspension hook inclination angle in the dynamics data of suspension hook dynamic posture
Degrees of data is compared calculating with suspension hook angle of inclination threshold value, if the angle of inclination data of suspension hook exceed the angle of inclination of suspension hook
Threshold value, then send alarm signal in terminating machine, and terminating machine control alarm is reported to the police；
Step 6, operator are according to reception on the dynamic trajectory image and terminating machine of the suspension hook shown on terminating machine
Alarm signal is adjusted operation.
As improvement, Cloud Server according to the dynamics data and the position data of suspension hook of suspension hook dynamic posture, by figure
As the dynamic location information of suspension hook is plotted as processing module the dynamic trajectory image of suspension hook, so as to Cloud Server is by the dynamic rail
Mark image is sent to terminating machine, to be shown on the display of terminating machine；
Image processing module is to the drawing process of the dynamic trajectory image of suspension hook：Data computation module root in Cloud Server
Suspension hook correspondence under preferable plumbness is calculated according to the dynamics data of suspension hook dynamic posture and the position data of suspension hook that receive
Position data, and the definition of the position data corresponding position is plotted as by central point by image processing module, by what is arranged
Suspension hook angle of inclination threshold rendering is the circle with central point as the center of circle, and the region in corresponding circle is then inclined for suspension hook to all directions
Oblique security standpoint region, so as to form the dynamic base map of suspension hook；Data computation module is according to real-time reception in Cloud Server
The dynamics data of suspension hook dynamic posture draws the Real-time and Dynamic of suspension hook by image processing module on the dynamic base map of suspension hook
Trace image；
Cloud Server is sent to the Real-time and Dynamic trace image of the dynamic base map of suspension hook and suspension hook in terminating machine；
When the dynamic trajectory of suspension hook exceedes the corresponding bowlder of suspension hook angle of inclination threshold value on dynamic base map, then alarm enters
Row is reported to the police；If the dynamic trajectory of suspension hook is considered as not less than the corresponding bowlder of suspension hook angle of inclination threshold value on dynamic base map
Safety.
As improvement, when PLC control system device collects the weighing-up wave of suspension hook or raising signal, PLC controls system
Bulk cargo is put and the rotating signal of the arm support of collection is sent in Internet of Things communicator, and Internet of Things communicator is again by the suspension hook
Weighing-up wave, raising signal are sent in Cloud Server, and Cloud Server sends the control command for starting suspension hook gesture detection means,
The control command of the startup suspension hook gesture detection means is through the network transmission of Internet of Things communicator so as to being sent to suspension hook appearance
In gesture detection means, so as to suspension hook gesture detection means startup work；
In the rotation of arm support, PLC control system device gather arm support rotating signal, and by collection arm support rotation
Signal is sent in Internet of Things communicator, and the rotating signal of the arm support is sent to server, cloud clothes by Internet of Things communicator
The data computation module and image processing module of business device quits work until PLC control system device collects the letter of weighing of suspension hook
Number or raising signal.
Compared with prior art, it is an advantage of the current invention that：The suspension hook deflection monitoring system of the high pedestal jib crane and inspection
Survey method can be transmitted the dynamics data of the suspension hook dynamic posture of collection by wireless communication technique, while image conversion
The dynamics data and the position data of suspension hook of suspension hook dynamic posture, and then is sent in real time driver's cabin, can allow driver behavior
Personnel in real time, conveniently obtain the information in image, and then facilitate what operator shot the arrow at the target to enter to suspension hook posture
Row adjustment, definitely, it is more convenient to operate, and can effectively ensure that the trouble free service of high pedestal jib crane for operation purposiveness.
Description of the drawings
Fig. 1 is the suspension hook deflection monitoring system structured flowchart of high pedestal jib crane in the embodiment of the present invention.
Specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing embodiment.
As shown in figure 1, a kind of suspension hook deflection monitoring system of the high pedestal jib crane in the present embodiment, including suspension hook posture
Detection means 1, Internet of Things communicator 2, Cloud Server 3, terminating machine 4, PLC control system device 5, alarm 6.Internet of Things Netcom
T unit 2 is connected respectively with the communication of suspension hook gesture detection means 1, PLC control system device 5 and Cloud Server 3, to realize cloud
Server 3 is transmitted respectively with the data between suspension hook gesture detection means 1 and PLC control system device 5.Terminating machine 4 takes with cloud
Business device 3 communicates the data in connecting to obtain Cloud Server 3.Alarm 6 is connected with terminating machine 4, is obtained according to terminating machine 4
Suspension hook angle excursion carries out alert operation.
Wherein suspension hook gesture detection means 1 are arranged on the suspension hook of high pedestal jib crane, for the dynamic of suspension hook dynamic posture
Mechanical Data is detected and transmitted.Specifically, can be when high pedestal jib crane suspension hook be naturally vertical, the correct position on suspension hook
One outdoor enclosure is installed, the suspension hook gesture detection means 1 then may be installed in the rosette.
The suspension hook gesture detection means 1 include sensor group 11, wave filter 12, microprocessor 13, the and of d GPS locating module 14
Wireless communication module 15.
Sensor group 11 includes at least one motion sensor, for gathering the dynamic postural cue of suspension hook.This enforcement
Sensor group 11 in example is included for detecting the 3-axis acceleration sensor of suspension hook acceleration information, for detecting that suspension hook rotates
The three-axis gyroscope sensor of velocity information and the geomagnetic sensor for detecting suspension hook moving direction.By these three motions
Sensor acquisition obtains the dynamic postural cue of suspension hook.
Each motion sensor is connected in the sensor group 11 of wave filter 12, for the dynamic of the suspension hook that gathers to sensor group 11
State postural cue is filtered process.In the present embodiment, wave filter 12 adopts Kalman filter, using Kalman filter energy
It is enough that effective Filtering Processing is carried out to the signal that each motion sensor is gathered under dynamic environment, it is ensured that suspension hook under dynamic environment
Dynamic postural cue accurate output.
Microprocessor 13, is connected with wave filter 12, is hung with obtaining for calculating the dynamic postural cue of suspension hook to process
The dynamics data of hook dynamic posture.The microprocessor 13 selects existing micro-chip processor, the data procedures to signal
Algorithm is settled accounts using existing kinetics, microprocessor 13 is carried out after calculating process to the dynamic postural cue of suspension hook can be with
The kinetics numbers such as corresponding angle of deviation, the amplitude of oscillation, hunting period, the anglec of rotation, angular velocity of rotation, the lifting altitude for obtaining suspension hook
According to.
D GPS locating module 14 is used to gather the position data of the suspension hook, and d GPS locating module 14 can as needed existing
Selected in some GPS location chips.
Wireless communication module 15 is connected respectively with microprocessor 13 and d GPS locating module 14, and microprocessor 13 and GPS are fixed
Position module 14 then carries out communication and is connected by the wireless communication module 15 with Internet of Things communicator 2, so as to Wireless transceiver suspension hook
The dynamics data of dynamic posture and the position data of suspension hook are to Internet of Things communicator 2.Wireless communication module 15 can basis
The communication protocol adaptation of Internet of Things communicator 2 is arranged, and wireless communication module 15 and Internet of Things communicator 2 are adopted in the present embodiment
Communicated with 3G network.
Internet of Things communicator 2 is arranged on the electric interior of high pedestal jib crane, for realizing the network transmission of data.This
Internet of Things communicator 2 in embodiment is a 3G Internet of Things communicator 2, can respectively be realized and suspension hook appearance by 3G network
The communication of gesture detection means 1 and Cloud Server 3.
Cloud Server 3 has a data computation module 31, and the suspension hook that the data computation module 31 can be received is inclined
The suspension hook angle of inclination threshold value that the data of angle and Qi Nei are arranged is compared calculating, so as to judge the real-time angle of inclination of suspension hook
Whether beyond safe tilt angle ranges, and then can realize reporting to the police.Can also be by suspension hook dynamic appearance with one in Cloud Server 3
The dynamics data of gesture and the position data of suspension hook carry out the image processing module 32 of image conversion process, and image processing module 32 will
Visualizing data shows operator, facilitates the operator to be judged.
Terminating machine 4 is arranged on the driver's cabin of high pedestal jib crane, and terminating machine 4 can be certainly after being connected with the communication of Cloud Server 3
The image of the dynamics data of dynamic posture, the position data of suspension hook and Cloud Server 3 of its suspension hook is obtained in Cloud Server 3
The suspension hook dynamic trajectory image that processing module 32 is drawn.
Terminating machine 4 in the present embodiment can have the communication such as display 41 for mobile phone, notebook computer, panel computer etc.
Equipment.User can be selected as needed.Suspension hook dynamic trajectory image then can be enterprising in the display 41 of terminating machine 4
Row shows.An alarm 6 is also connected with terminating machine 4, the alarm 6 can be when the angle of inclination of suspension hook exceedes safe rain threshold value
Reported to the police.
PLC control system device 5 can adopt PLC control system device 5 general on high pedestal jib crane, the PLC controls
System and device processed 5 can gather the various operational datas in high pedestal jib crane work, and wherein PLC control system device 5 can
Weighing information, raising information, the arm support rotation information of collection high pedestal jib crane, the PLC control system device 5 and Internet of Things Netcom
T unit 2 is connected for PLC control system device 5 to gather information transmission into Internet of Things communicator 2, using as suspension hook appearance
The reference signal of the work of 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 ensure that the suspension hook inclination angle of trouble free service
Degree threshold value, can such as set safe suspension hook angle of inclination threshold value as 5 °；
Step 2, suspension hook are articulated on weight, and lifting power upwards is applied to suspension hook to tighten the steel for lifting weight
Cord；
Step 3, suspension hook gesture detection means 1 start work, in suspension hook gesture detection means 1 sensor group 11 each
Sensor works to gather the dynamic postural cue of suspension hook respectively, and dynamic postural cue is passed after the Filtering Processing of device 12 after filtering
In delivering to microprocessor 13；Microprocessor 13 is carried out processing and calculated to obtain angle of deviation, the amplitude of oscillation, pendulum to these dynamic postural cues
The dynamics data of the suspension hooks such as dynamic cycle, the anglec of rotation, angular velocity of rotation, lifting altitude dynamic posture, so suspension hook is dynamic
The dynamics data of posture is sent in Internet of Things communicator 2 by wireless communication module 15；
Meanwhile, the position data of suspension hook is simultaneously passed through radio communication mold by the position data of the collection suspension hook of d GPS locating module 14
Block 15 is sent in Internet of Things communicator 2；
Step 4, Internet of Things communicator 2 transmit the position data of the dynamics data of suspension hook dynamic posture and suspension hook
Into Cloud Server 3；
Step 5, Cloud Server 3 lead to according to the dynamics data and the position data of suspension hook of the suspension hook dynamic posture for receiving
The dynamic trajectory image that the dynamic location information of suspension hook is plotted as image processing module 32 suspension hook is crossed, so as to Cloud Server 3 will
The dynamic trajectory image is sent to terminating machine 4, to be shown on the display 41 of terminating machine 4；
Image processing module 32 is to the drawing process of the dynamic trajectory image of suspension hook：Data calculate mould in Cloud Server 3
Block 31 calculates suspension hook in preferable plumbness according to the dynamics data of suspension hook dynamic posture and the position data of suspension hook that receive
Under corresponding position data, and the definition of the position data corresponding position is plotted as by central point by image processing module 32,
It is the circle with central point as the center of circle by the suspension hook angle of inclination threshold rendering of setting, the region in corresponding circle is then suspension hook to each
The inclined security standpoint region in individual direction, so as to form the dynamic base map of suspension hook；The basis of data computation module 31 in Cloud Server 3
The dynamics data of the suspension hook dynamic posture of real-time reception is drawn on the dynamic base map of suspension hook by image processing module 32 and is hung
The Real-time and Dynamic trace image of hook；
Simultaneously Cloud Server 3 is inclined on the suspension hook in the dynamics data of suspension hook dynamic posture using data computation module 31
Angle-data is compared calculating with suspension hook angle of inclination threshold value, if the angle of inclination data of suspension hook exceed the inclination angle of suspension hook
Degree threshold value, then send alarm signal in terminating machine 4, and the control alarm 6 of terminating machine 4 is reported to the police；
Correspondingly, the inclination information of the display suspension hook of the dynamic trajectory image of suspension hook, i.e., when the dynamic trajectory of suspension hook exceedes
The corresponding bowlder of suspension hook angle of inclination threshold value on dynamic base map, then the angle of inclination of suspension hook is more than safe suspension hook angle of inclination
5 ° of threshold value, then alarm 6 reported to the police；If the dynamic trajectory of suspension hook is not less than the suspension hook angle of inclination threshold value on dynamic base map
The angle of inclination of corresponding bowlder, i.e. suspension hook is then considered as safety not less than 5 ° of the suspension hook angle of inclination threshold value of safety.
Step 6, operator are according to reception on the dynamic trajectory image and terminating machine 4 of the suspension hook shown on terminating machine 4
Alarm signal be adjusted operation.
In addition, in order to prevent high pedestal jib crane in rotary course, there is the situation of false alarm in alarm 6.When PLC controls
When system and device processed 5 collects the weighing-up wave of suspension hook or raising signal, PLC control system device 5 by gather arm support rotation
Rotaring signal is sent in Internet of Things communicator 2, and Internet of Things communicator 2 again passes the weighing-up wave of the suspension hook, raising signal
In delivering to Cloud Server 3, Cloud Server 3 sends the control command for starting suspension hook gesture detection means 1, the startup suspension hook posture inspection
Survey device 1 control command in the network transmission of Internet of Things communicator 2 is so as to be sent to suspension hook gesture detection means 1,
So as to suspension hook gesture detection means 1 start work；
In the rotation of arm support, PLC control system device 5 gather arm support rotating signal, and by collection arm support rotation
Rotaring signal is sent in Internet of Things communicator 2, and the rotating signal of the arm support is sent to server by Internet of Things communicator 2,
The data computation module 31 and image processing module 32 of Cloud Server 3 quits work until PLC control system device 5 is collected and hung
The weighing-up wave or raising signal of hook.
Claims (10)
1. the suspension hook deflection monitoring system of a kind of high pedestal jib crane, it is characterised in that include：
Suspension hook gesture detection means (1), are arranged on the suspension hook of high pedestal jib crane, for the power of suspension hook dynamic posture
Learn Data Detection and transmission；
Internet of Things communicator (2), is arranged on the electric interior of high pedestal jib crane, for realizing the network transmission of data；
Cloud Server (3), is connected with the Internet of Things communicator (2) communication, and the Cloud Server (3) calculates with a data
Module (31) is calculated for the comparison at suspension hook angle of inclination；
Terminating machine (4), is arranged on the driver's cabin of high pedestal jib crane, is connected with the Cloud Server (3) communication, for obtaining cloud
The data of server (3) transmission；
The suspension hook gesture detection means (1) include：
Sensor group (11), includes at least one motion sensor, for gathering the dynamic postural cue of suspension hook；
Wave filter (12), is connected with each motion sensor in the sensor group (11), for gathering to sensor group (11)
The dynamic postural cue of suspension hook be filtered process；
Microprocessor (13), is connected with the wave filter (12), for processing the dynamic postural cue calculating of the suspension hook
To obtain the dynamics data of the suspension hook for including suspension hook angle of inclination dynamic posture；
D GPS locating module (14), for gathering the position data of the suspension hook；
Wireless communication module (15), is connected with the microprocessor (13) and d GPS locating module (14), the wireless communication module
(15) can also be connected with the Internet of Things communicator (2) communication, for the kinetics number of Wireless transceiver suspension hook dynamic posture
According to the position data with suspension hook.
2. the suspension hook deflection monitoring system of high pedestal jib crane according to claim 1, it is characterised in that：The cloud service
Device (3) with can by suspension hook dynamic the dynamics data of posture and the position data of suspension hook carry out at the image of image conversion process
Reason module (32).
3. the suspension hook deflection monitoring system of high pedestal jib crane according to claim 2, it is characterised in that：The terminating machine
(4) with a display (41).
4. the suspension hook deflection monitoring system of high pedestal jib crane according to claim 1, it is characterised in that：The seat type
The electric interior of crane is additionally provided with weighing information, raising information, the arm support rotation that can at least gather high pedestal jib crane
The PLC control system device (5) of information, the PLC control system device (5) is connected with the Internet of Things communicator (2)
To realize that PLC control system device (5) gathers the transmission of information.
5. the suspension hook deflection monitoring system of the high pedestal jib crane according to Claims 1 to 4 any claim, its feature
It is：The sensor group (11) include for detect suspension hook accelerate information 3-axis acceleration sensor, for detection hang
The three-axis gyroscope sensor of 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, it is characterised in that：Described filtering
Device (12) is Kalman filter.
7. the suspension hook deflection monitoring system of high pedestal jib crane according to claim 1, it is characterised in that：The seat type
The driving interior of crane is additionally provided with alarm (6), and the alarm (6) is connected with the terminating machine (4).
8. the suspension hook deflection monitoring method of a kind of high pedestal jib crane, it is characterised in that comprise the following steps：
Step one, the suspension hook angle of inclination threshold value that trouble free service is ensure that in the middle setting of Cloud Server (3)；
Step 2, suspension hook are articulated on weight, and lifting power upwards is applied to suspension hook to tighten the steel wire rope for lifting weight；
Step 3, suspension hook gesture detection means (1) start work, and sensor group (11) is each in suspension hook gesture detection means (1)
Individual sensor works to gather the dynamic postural cue of suspension hook respectively, the Filtering Processing of dynamic postural cue device (12) after filtering
After be sent in microprocessor (13)；Microprocessor (13) is carried out processing calculating and included with obtaining to these dynamic postural cues
The dynamics data of the suspension hook dynamic posture of suspension hook angle of inclination data, and then the dynamics data of suspension hook dynamic posture is passed through
Wireless communication module (15) is sent in Internet of Things communicator (2)；
Meanwhile, the position data of suspension hook is simultaneously passed through wireless communication module by the position data of d GPS locating module (14) collection suspension hook
(15) in being sent to Internet of Things communicator (2)；
Step 4, Internet of Things communicator (2) are sent to the suspension hook dynamic dynamics data of posture and the position data of suspension hook
In Cloud Server (3)；
Step 5, Cloud Server (3) pass through according to the dynamics data and the position data of suspension hook of the suspension hook dynamic posture for receiving
The dynamic location information of suspension hook is plotted as image processing module (32) the dynamic trajectory image of suspension hook, so as to Cloud Server (3)
The dynamic trajectory image is sent to into terminating machine (4), to be shown on the display of terminating machine (4) (41)；
Simultaneously Cloud Server (3) is inclined on the suspension hook in the dynamics data of suspension hook dynamic posture using data computation module (31)
Angle-data is compared calculating with suspension hook angle of inclination threshold value, if the angle of inclination data of suspension hook exceed the inclination angle of suspension hook
Degree threshold value, then send alarm signal in terminating machine (4), and terminating machine (4) control alarm (6) is reported to the police；
Step 6, operator are according to reception on the dynamic trajectory image and terminating machine (4) of the suspension hook shown on terminating machine (4)
Alarm signal be adjusted operation.
9. the suspension hook deflection monitoring method of high pedestal jib crane according to claim 8, it is characterised in that：Cloud Server
(3) according to the dynamics data and the position data of suspension hook of suspension hook dynamic posture, by image processing module (32) by suspension hook
Dynamic location information is plotted as the dynamic trajectory image of suspension hook, so as to the dynamic trajectory image is sent to end by Cloud Server (3)
Terminal (4), to be shown on the display of terminating machine (4) (41)；
Image processing module (32) is to the drawing process of the dynamic trajectory image of suspension hook：Image procossing mould in Cloud Server (3)
Block (32) calculates suspension hook in preferable vertical configuration according to the dynamics data of suspension hook dynamic posture and the position data of suspension hook that receive
Corresponding position data under state, and the corresponding position definition of the position data is plotted as into central point, the suspension hook for arranging is inclined
Angle threshold is plotted as the circle with central point as the center of circle, and the region in corresponding circle is then suspension hook to the inclined safety of all directions
Angular regions, so as to form the dynamic base map of suspension hook；Kinetics of the Cloud Server (3) according to the suspension hook dynamic posture of real-time reception
Data draw the Real-time and Dynamic trace image of suspension hook by image processing module (32) on the dynamic base map of suspension hook；
Cloud Server (3) is sent to the Real-time and Dynamic trace image of the dynamic base map of suspension hook and suspension hook in terminating machine (4)；
When the dynamic trajectory of suspension hook exceedes the corresponding bowlder of suspension hook angle of inclination threshold value on dynamic base map, then alarm (6) enters
Row is reported to the police；If the dynamic trajectory of suspension hook is considered as not less than the corresponding bowlder of suspension hook angle of inclination threshold value on dynamic base map
Safety.
10. the suspension hook deflection monitoring method of high pedestal jib crane according to claim 8 or claim 9, it is characterised in that：
When PLC control system device (5) collects the weighing-up wave or raising signal of suspension hook, PLC control system device (5) will
The rotating signal of the arm support of collection is sent in Internet of Things communicator (2), and Internet of Things communicator (2) is again by the title of the suspension hook
Weight signal, raising signal are sent in Cloud Server (3), and Cloud Server (3) sends the control for starting suspension hook gesture detection means (1)
System order, the control command of startup suspension hook gesture detection means (1) through Internet of Things communicator (2) network transmission so as to
In being sent to suspension hook gesture detection means (1), so as to suspension hook gesture detection means (1) start work；
In the rotation of arm support, PLC control system device (5) gather arm support rotating signal, and by collection arm support rotation
Signal is sent in Internet of Things communicator (2), and the rotating signal of the arm support is sent to service by Internet of Things communicator (2)
Device, the data computation module (31) and image processing module (32) of Cloud Server (3) quit work until PLC control system device
(5) weighing-up wave or raising signal of suspension hook are collected.
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 CN105366548A (en) | 2016-03-02 |
| CN105366548B true CN105366548B (en) | 2017-05-17 |
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ID=55369274
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| 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 |
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| CN107601283B (en) * | 2017-09-30 | 2019-04-30 | 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 |
| CN109552997B (en) * | 2018-11-30 | 2020-01-10 | 中交第三航务工程局有限公司 | Method for preparing, positioning and installing underwater fence plate and installation system thereof |
| 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 |
| CN115303944A (en) * | 2022-08-05 | 2022-11-08 | 安徽江河智能装备集团有限公司 | Automatic crane cargo falling prevention control method |
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| CN104003307B (en) * | 2014-04-11 | 2016-02-03 | 湖南中联重科智能技术有限公司 | Tower crane video monitoring control equipment, method and system and tower crane |
| CN104876127B (en) * | 2015-05-29 | 2017-03-15 | 上海简奇数码科技有限公司 | The big dolly operating position appearance monitoring device of a kind of bridge, gantry crane and method |
| 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 |
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