CN106006417A - Crane hook swing monitoring system and method - Google Patents
Crane hook swing monitoring system and method Download PDFInfo
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- CN106006417A CN106006417A CN201610679199.4A CN201610679199A CN106006417A CN 106006417 A CN106006417 A CN 106006417A CN 201610679199 A CN201610679199 A CN 201610679199A CN 106006417 A CN106006417 A CN 106006417A
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- suspension hook
- angle
- display
- controller
- speed
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Classifications
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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
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/84—Slewing gear
- B66C23/86—Slewing gear hydraulically actuated
-
- 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
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Jib Cranes (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention belongs to the field of crane control systems, and particularly relates to a crane hook swing monitoring system and method. A controller reads a rotation angle signal detected by a rotation encoder in real time, the current rotation speed and accelerated speed are calculated, the hook swing angle and range are calculated by combining the current rotation speed and accelerated speed with the current crane body attitude parameter and sent to a displayer, and the displayer displays the hook swing angle and range to a human-computer interface; a controller reads lifting weight information sent by a moment limiter, the arm rest lateral loading force caused by hook swing is calculated in real time through the lifting weight information in cooperation with the hook swing angle, the hook swing range and rope length information and sent to the displayer to be displayed. Dynamic data relevant to a hook swing system is displayed in a visualized mode on the human-computer interactive interface, an alarm is intelligently given when swing angle and arm rest lateral force are too large, the handle operation speed is intelligently evaluated and reminded, and an operator is guided for safety operation.
Description
Technical field
The invention belongs to crane control system field, be specifically related to monitoring system and side that a kind of crane hook swings
Method.
Background technology
The demand promoted along with the development of technology, crane intelligent level and security performance is more and more stronger.?
In craning weight of same operation process, due to the existence of inertia, the motion that can cause crane boom head and lifted weight thing is asynchronous, leads
Cause suspension hook dancing to occur.Suspension hook dancing can increase product operation difficulty, reduce transport efficacy, and it is lateral that swing causes
Power Hydraulic Elements, frame for movement are had the most serious infringement, even suspension hook dancing can cause transporting work be difficult to control to,
Increase the danger tumbled, so the ride comfort that the suspension hook that weight is in transport process swings degree and action is undoubtedly properties of product
Embodiment.
In crane hanging component operation process, when occurring that suspension hook swings, veteran hoistman can be defeated according to vision
Entering to utilize has had experience to carry out steady hook operation, but in order to improve lifting efficiency, hoistman can be ignored in subjective understanding less
Dancing, and the manipulation to handle is not controlled by, thus cause the deterioration of suspension hook dancing, amplitude of fluctuation aggravation, even
Occur that collision, the phenomenon of damage surrounding objects occur.It addition, along with lift heavy amount, the increase of pivot angle, suspension hook dancing is to jib
Lateral force the biggest, if not in time suspension hook dancing is controlled by, it will reduce structural member life-span, even go out
Existing jib fractures, the danger of slide-out.
For monitoring and the early warning of crane hook oscillation system, prior art has two kinds of solutions:
A, on crane hook setting angle sensor or photographic head, be used for suspension hook pendulum when measuring or analyze crane movements
Dynamic angle, thus realize monitoring and the early warning of suspension hook pendulum angle data；
B, lateral load moment when calculating crane work according to the pressure differential of rotary motor oil inlet and outlet and other parameters,
Realize the monitoring to side load forces and control.
Corresponding both the above prior art, its shortcoming respectively:
A, realized the monitoring to suspension hook pendulum angle by setting angle sensor or photographic head on suspension hook, need extra increasing
Add detection device, improve entire vehicle design cost, and due to the difference of installation site, the difficulty of data parsing can be increased；
B, calculate side load forces square according to the pressure differential of rotary motor oil inlet and outlet, need to increase oil-in and the pressure of oil-out
Force transducer, additionally increases cost.
Summary of the invention
In order to overcome drawbacks described above, it is an object of the invention to provide monitoring system and side that a kind of crane hook swings
The data that suspension hook oscillation system is relevant are monitored during lifting operation by method in real time, when lateral suffered by suspension hook pivot angle or jib
Carry out intelligent alarm prompting when power is bigger, simultaneously to operator input signal Intelligent Evaluation, carry out intelligence when operator operates too fast
Can remind, instruct operator's safety work, thus improve the efficiency of crane job, security performance and intelligent level.
To achieve these goals, the technical solution used in the present invention is: the monitoring side that a kind of crane hook swings
Method, it is characterised in that: controller read in real time rotary encoder detection angle of revolution signal, calculate current speed of gyration and
Acceleration, calculates suspension hook pendulum angle, amplitude of fluctuation in conjunction with current body gesture parameter；By rope tall sensor detection arm
Rope is long, hangs weight information by limiter of moment detection, and is sent to controller；Current body gesture parameter includes arm amplitude
Ra, the long L of arm rope, arm angle of revolution Rw；
It is long that controller hangs weight information, arm rope by reading, in conjunction with suspension hook pendulum angle, calculates suspension hook in real time and swings and cause
Jib side load forces, and be sent to display and show, make operator that the data of suspension hook oscillation system are carried out reality
Time monitoring.
The suspension hook pendulum angle calculated, jib side load forces are made comparisons by controller respectively with preset alarm threshold value,
If during actual suspension hook pendulum angle proximity sensing threshold value, sending the excessive alarm signal of pivot angle to display, display receives report
In man machine interface, carry out optics warning after alert signal, and remind operator's deceleration-operation；If jib side load forces is close
During alarm threshold value, display carries out the excessive optics of jib lateral force and reports to the police, and reminds operator to stop current action.
Controller reads control crank operation signal in real time, is carried out control crank operation signal by Intelligent Evaluation module
Analyze and judge, export following two result: speed of operation is normal and speed of operation is too fast；In conjunction with suspension hook pendulum angle and jib side
Judge to loading force informix, make suspension hook pendulum angle increase or make jib side load forces increase if the operation of handle has
During trend, send alarm signal to display, remind operator's deceleration-operation.Intelligent Evaluation module is according to the behaviour of control crank
The operation making speed and direction discernment operator is intended to, and whether this operation of intelligent decision can make suspension hook pivot angle increase or make jib side
Increase to stress, the most then the optics early warning of output function excessive velocities, and remind operator's deceleration-operation；If it is not, it is the most defeated
Go out speed of operation regular prompt or do not point out.
Control control crank to use operation handle AD value J, the vehicle operating parameter of speed of operation V；Controller is real-time
Calculating handle speed of operation: V=f (J, t)；And by speed of operation and preset alarm threshold ratio relatively, by alarm signal when exceeding threshold value
Number it is sent to display and carries out " handle speed of operation is too fast " early warning, otherwise, point out " handle speed of operation is normal ".Behaviour
Making handle AD value J is that control crank promotes how many physical quantitys, and t is the manipulation time.
The monitoring system that a kind of crane hook swings, is made up of vehicular control unit and man-machine interaction unit, its feature
It is: vehicular control unit includes Vehicle Controller, limiter of moment, rotary encoder, rope tall sensor, handle, man-machine friendship
Unit includes display mutually；The calculating of suspension hook pendulum angle and amplitude, jib side load forces is completed by car body controller, vehicle-mounted
Controller is all connected with limiter of moment, rotary encoder, rope tall sensor, control crank, display respectively.Controller is real-time
Read the angle of revolution signal of rotary encoder detection, calculate current speed of gyration and acceleration, in conjunction with current body gesture
Parameter calculates suspension hook pendulum angle, amplitude of fluctuation；Long by rope tall sensor detection arm rope, detected by limiter of moment
Hang weight information, and be sent to controller；Current body gesture parameter includes arm amplitude Ra, the long L of arm rope, arm angle of revolution
Degree Rw；
It is long that controller hangs weight information, arm rope by reading, in conjunction with suspension hook pendulum angle, calculates suspension hook in real time and swings and cause
Jib side load forces, and be sent to display and show, make operator that the data of suspension hook oscillation system are carried out reality
Time monitoring.
The suspension hook pendulum angle calculated, jib side load forces are made comparisons by controller respectively with preset alarm threshold value,
If during actual suspension hook pendulum angle proximity sensing threshold value, sending the excessive alarm signal of pivot angle to display, display receives report
In man machine interface, carry out optics warning after alert signal, and remind operator's deceleration-operation；If jib side load forces is close
During alarm threshold value, display carries out the excessive optics of jib lateral force and reports to the police, and reminds operator to stop current action.
The key problem in technology point of the present invention is:
1. the control function whether activating suspension hook oscillation system can be manually selected by operator；
2. pair suspension hook pivot angle, the trichroism graph block of jib lateral force data application are monitored, and reduce the cognitive difficult of operator
Degree；
3. pair handle operation signal carries out Intelligent Evaluation, it is judged that remind in man machine interface when speed of operation is too fast.
Relative to prior art, the present invention mainly has the advantage that
1., by existing controller, limiter of moment, display and vehicle body sensor, the prison to suspension hook oscillation system can be realized
Control, low cost, it is simple to realize；
2., during lifting operation, when suspension hook pendulum angle is excessive or jib lateral force is excessive, operator can pass through observer
Warning reminding on machine interface, carries out steady hook operation or deceleration-operation, the life-span of extending structure part in time, improves crane job
Security performance；
3., by the evaluation of handle speed of operation speed and prompting, operator can revise speed of operation in time, press down in advance
The aggravation of suspension hook dancing processed, reduces steady hook and the time of the pendulum that disappears, improves transport efficacy and the intelligent level of crane.
Accompanying drawing explanation
Fig. 1 system hardware composition diagram；
Fig. 2 message processing flow figure；
Fig. 3 suspension hook swings monitoring interface schematic diagram；
Fig. 4 and Fig. 5 is the relevant parameter schematic diagram that suspension hook swings monitoring system.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings.Following example are only used for clearly illustrating the present invention
Technical scheme, and can not limit the scope of the invention with this.
This programme system is made up of vehicular control unit and man-machine interaction unit, and wherein vehicular control unit includes controlling
Device, limiter of moment, man-machine interaction unit is included display, is connected by CAN between each equipment.System block diagram such as Fig. 1
Shown in, wherein 1 is vehicular control unit, and 2 is man-machine interaction unit.
1. the calculating of suspension hook oscillation system data and monitoring
Controller 14 reads the angle of revolution signal of rotary encoder 13 detection in real time, calculates current speed of gyration and acceleration
Degree, calculates suspension hook pendulum angle, amplitude in conjunction with current body gesture parameter, is sent to display 21 by CAN, display
Suspension hook pendulum angle, amplitude are shown in man machine interface by device；
Controller is by reading the arm rope long letter hanging weight information and rope tall sensor 15 collection that limiter of moment 11 sends
Breath, in conjunction with the suspension hook pendulum angle of above-mentioned calculating, calculates suspension hook in real time and swings the jib side load forces caused, and pass through
CAN is sent to display and shows, makes operator monitor the data of suspension hook oscillation system in real time；
2. suspension hook pendulum angle is excessive or the excessive warning of jib lateral force
The suspension hook pendulum angle calculated, jib side load forces are made comparisons by controller respectively with preset alarm threshold value, if real
During the suspension hook pendulum angle proximity sensing threshold value of border, sending the excessive alarm signal of pivot angle to display, display receives alarm signal
In man machine interface, carry out optics warning after number, and remind operator's deceleration-operation；If jib side load forces proximity sensing
During threshold value, display carries out the excessive optics of jib lateral force and reports to the police, and reminds operator to stop current action.
3. handle operation Intelligent Evaluation
Controller reads control crank 12 in real time and operates signal, is analyzed judging to operation signal by Intelligent Evaluation module,
Output following two result: speed of operation is normal and speed of operation is too fast.In conjunction with the above-mentioned suspension hook pendulum angle calculated and arm
Frame lateral force informix judges, if the operation of control crank 12 makes suspension hook pendulum angle increase or make jib lateral force
During the trend increased, send alarm signal to display, remind operator's deceleration-operation.
The message processing flow of the present invention and alarm method are as shown in Figure 2.
See Fig. 4 and Fig. 5, body gesture parameter: arm amplitude Ra, the long L of arm rope, arm angle of revolution Rw；Rope is long to be referred to
Lifting hook pulley group switching centre is to the distance at arm head assembly pulley center.The arm amplitude Ra index arm head subpoint on ground turns round to vehicle
The distance at center.Arm angle of revolution refers to the angle of jib upright projection on the ground and headstock direction；
Car load parameter: lift heavy amount T, jib side load forces F；
Vehicle operating parameter: operation handle AD value J, speed of operation V；
Suspension hook oscillation system relevant parameter: suspension hook pendulum angle α, suspension hook amplitude of fluctuation Rh；Suspension hook pendulum angle α refer to suspension hook with
The straight line that arm head is linked to be and arm head are to the angle of the vertical line on ground.Suspension hook amplitude of fluctuation Rh is that suspension hook distance arm head is to ground perpendicular
Horizontal range.If a length of L of arm rope, suspension hook pendulum angle is α, and suspension hook amplitude of fluctuation is Rh, then the relation between three is:
Rh = L · sinα。
Time parameter: time t
The calculating of suspension hook wobble data:
Suspension hook pendulum angle: α=f (Ra, L, Rw, t)；
Suspension hook amplitude of fluctuation: Rh=f (α, L)；
Jib side load forces: F=f (T, L, α)；
The monitoring of suspension hook wobble data and early warning:
The above-mentioned parameter calculated is sent to display by Vehicle Controller, shows on display interfaces；
Vehicle Controller or display are by suspension hook pendulum angle α, the currency of jib side load forces and preset alarm threshold value phase
Relatively, if beyond threshold value, carrying out early warning in the display and point out user deceleration-operation
Handle speed of operation is reminded and early warning:
Vehicle Controller calculate in real time handle speed of operation: V=f (J, t)；And by speed of operation with preset alarm threshold ratio relatively,
When exceeding threshold value, alarm signal is sent to display and carries out " handle speed of operation is too fast " early warning, otherwise, point out " handle
Speed of operation is normal "
System monitoring interface schematic diagram is illustrated in fig. 3 shown below: wherein, and suspension hook pendulum angle and jib lateral load force data use
Green, yellow, red trichromatism graph block shows, green represents safety, and yellow represents reminds operator to operate with caution, and redness represents numerical value
Relatively big, it is in unsafe condition.
To suspension hook pendulum angle, the judgement of jib lateral load force value and to handle speed of operation in the technical program
Judgement is carried out in the controller, it is also possible to process in the display.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.The technical staff of the industry should
Understanding, the present invention is not restricted to the described embodiments, and the simply explanation present invention's described in above-described embodiment and description is former
Reason, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, these changes and improvements
Both fall within scope of the claimed invention.Claimed scope is by appending claims and equivalent circle thereof
Fixed.
Claims (7)
1. the monitoring method that a crane hook swings, it is characterised in that: controller reads rotary encoder detection in real time
Angle of revolution signal, calculates current speed of gyration and acceleration, calculates suspension hook angle of oscillation in conjunction with current body gesture parameter
Degree, amplitude of fluctuation；Long by rope tall sensor detection arm rope, hang weight information by limiter of moment detection, and be sent to
Controller；Current body gesture parameter includes arm amplitude Ra, the long L of arm rope, arm angle of revolution Rw；
It is long that controller hangs weight information, arm rope by reading, in conjunction with suspension hook pendulum angle, calculates suspension hook in real time and swings and cause
Jib side load forces, and be sent to display and show, make operator that the data of suspension hook oscillation system are carried out reality
Time monitoring.
The monitoring method that a kind of crane hook the most according to claim 1 swings, it is characterised in that: controller will calculate
The suspension hook pendulum angle, the jib side load forces that go out are made comparisons with preset alarm threshold value respectively, if actual suspension hook pendulum angle connects
During nearly alarm threshold value, sending the excessive alarm signal of pivot angle to display, display receives after alarm signal in man machine interface
Carry out optics warning, and remind operator's deceleration-operation；If during jib side load forces proximity sensing threshold value, display is carried out
The excessive optics of jib lateral force is reported to the police, and reminds operator to stop current action.
The monitoring method that a kind of crane hook the most according to claim 2 swings, it is characterised in that: controller is read in real time
Take control crank operation signal, be analyzed judging to control crank operation signal by Intelligent Evaluation module, output following two
Plant result: speed of operation is normal and speed of operation is too fast；Sentence in conjunction with suspension hook pendulum angle and jib side load forces informix
Disconnected, if the operation of handle has when making suspension hook pendulum angle increase or make trend that jib side load forces increases, send out to display
Send alarm signal, remind operator's deceleration-operation.
The monitoring method that a kind of crane hook the most according to claim 2 swings, it is characterised in that: to control crank
Control use operation handle AD value J, the vehicle operating parameter of speed of operation V；Controller calculates handle speed of operation: V in real time
=f (J, t)；And by speed of operation with preset alarm threshold ratio relatively, when exceeding threshold value, alarm signal is sent to display and carries out
" handle speed of operation is too fast " early warning, otherwise, points out " handle speed of operation is normal ".
5. the monitoring system that crane hook swings, is made up of vehicular control unit and man-machine interaction unit, and its feature exists
In: vehicular control unit includes Vehicle Controller, limiter of moment, rotary encoder, rope tall sensor, handle, man-machine interaction
Unit includes display；The calculating of suspension hook pendulum angle and amplitude, jib side load forces is completed by car body controller, vehicle-mounted control
Device processed is all connected with limiter of moment, rotary encoder, rope tall sensor, control crank, display respectively.
The monitoring system that a kind of crane hook the most according to claim 5 swings, it is characterised in that: controller is read in real time
Take the angle of revolution signal of rotary encoder detection, calculate current speed of gyration and acceleration, join in conjunction with current body gesture
Number calculates suspension hook pendulum angle, amplitude of fluctuation；Long by rope tall sensor detection arm rope, hung by limiter of moment detection
Weight information, and it is sent to controller；Current body gesture parameter includes arm amplitude Ra, the long L of arm rope, arm angle of revolution
Rw；
It is long that controller hangs weight information, arm rope by reading, in conjunction with suspension hook pendulum angle, calculates suspension hook in real time and swings and cause
Jib side load forces, and be sent to display and show, make operator that the data of suspension hook oscillation system are carried out reality
Time monitoring.
The monitoring system that a kind of crane hook the most according to claim 5 swings, it is characterised in that: controller will calculate
The suspension hook pendulum angle, the jib side load forces that go out are made comparisons with preset alarm threshold value respectively, if actual suspension hook pendulum angle connects
During nearly alarm threshold value, sending the excessive alarm signal of pivot angle to display, display receives after alarm signal in man machine interface
Carry out optics warning, and remind operator's deceleration-operation；If during jib side load forces proximity sensing threshold value, display is carried out
The excessive optics of jib lateral force is reported to the police, and reminds operator to stop current action.
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| CN201610679199.4A CN106006417B (en) | 2016-08-17 | 2016-08-17 | A kind of monitoring system and method that crane hook is swung |
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| CN201610679199.4A CN106006417B (en) | 2016-08-17 | 2016-08-17 | A kind of monitoring system and method that crane hook is swung |
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| CN106006417B CN106006417B (en) | 2019-03-19 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107641992A (en) * | 2017-10-27 | 2018-01-30 | 青岛华凯海洋科技有限公司 | A kind of intelligent cable |
| CN111137789A (en) * | 2019-12-27 | 2020-05-12 | 宁波国际投资咨询有限公司 | Safety control system and method for construction crane |
| CN112141897A (en) * | 2020-08-21 | 2020-12-29 | 南京工程学院 | High-altitude hoisting anti-tipping control method |
| CN112551374A (en) * | 2020-12-03 | 2021-03-26 | 东南大学 | Rotary anti-swing control method of movable hoisting equipment |
| CN112607596A (en) * | 2020-12-16 | 2021-04-06 | 长沙中联恒通机械有限公司 | Method and device for inhibiting swinging of lifting hook of automobile crane |
| CN115092838A (en) * | 2022-06-21 | 2022-09-23 | 张家港市申联建设机械有限公司 | Tower crane operation parameter control method, system, device and storage medium |
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| JP7411514B2 (en) | 2020-07-06 | 2024-01-11 | 株式会社三井E&S | Crane operation system and crane operation instruction method |
| CN112141897A (en) * | 2020-08-21 | 2020-12-29 | 南京工程学院 | High-altitude hoisting anti-tipping control method |
| CN112141897B (en) * | 2020-08-21 | 2022-12-06 | 南京工程学院 | High-altitude hoisting anti-tipping control method |
| CN112551374A (en) * | 2020-12-03 | 2021-03-26 | 东南大学 | Rotary anti-swing control method of movable hoisting equipment |
| CN112607596A (en) * | 2020-12-16 | 2021-04-06 | 长沙中联恒通机械有限公司 | Method and device for inhibiting swinging of lifting hook of automobile crane |
| CN115092838A (en) * | 2022-06-21 | 2022-09-23 | 张家港市申联建设机械有限公司 | Tower crane operation parameter control method, system, device and storage medium |
| CN115092838B (en) * | 2022-06-21 | 2023-09-15 | 张家港市申联建设机械有限公司 | Tower crane operation parameter control method, system, device and storage medium |
| CN116161570A (en) * | 2023-04-26 | 2023-05-26 | 广东电网有限责任公司东莞供电局 | Automatic early warning device and system for crane boom ground clearance |
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