CN106006417B - A kind of monitoring system and method that crane hook is swung - Google Patents
A kind of monitoring system and method that crane hook is swung Download PDFInfo
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- CN106006417B CN106006417B CN201610679199.4A CN201610679199A CN106006417B CN 106006417 B CN106006417 B CN 106006417B CN 201610679199 A CN201610679199 A CN 201610679199A CN 106006417 B CN106006417 B CN 106006417B
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- suspension hook
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- amplitude
- swing angle
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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 crane control system fields, the monitoring system and method swung more particularly to a kind of crane hook, controller reads the angle of revolution signal of rotary encoder detection in real time, calculate current rotational speed and acceleration, suspension hook swing angle, amplitude are calculated in conjunction with current body gesture parameter, and it is sent to display, display shows suspension hook swing angle, amplitude in man-machine interface；Controller hangs weight information by what reading limiter of moment was sent, in conjunction with suspension hook swing angle, suspension hook amplitude of fluctuation, rope length information, calculates cantilever crane side load forces caused by suspension hook is swung in real time, and be sent to display and shown.The relevant dynamic data of suspension hook oscillation system is visualized displaying by the present invention on human-computer interaction interface, when pivot angle and excessive cantilever crane lateral force, carries out intelligent alarm prompting, is operated speed intelligent Evaluation to handle and is reminded, guides operator's safety work.
Description
Technical field
The invention belongs to crane control system fields, and in particular to the monitoring system and side that a kind of crane hook is swung
Method.
Background technique
With the continuous development of technology, the demand that crane intelligentization level and security performance are promoted is more more and more intense.?
In craning weight of same operation process, due to the presence of inertia, the movement of crane boom head and lifted weight object can be caused asynchronous, led
Suspension hook dancing is caused to occur.Suspension hook dancing will increase product operation difficulty, reduce transfer efficiency, lateral caused by swinging
Power to Hydraulic Elements, mechanical structure have damage very serious or even suspension hook dancing will lead to transhipment work be difficult to control,
Increase the danger tumbled, so suspension hook of the weight in transport process swings degree and the ride comfort of movement is undoubtedly properties of product
Embodiment.
In crane hanging component operation process, when there is suspension hook swing, veteran hoistman can be defeated according to vision
Enter using having there is experience to carry out steady hook operation, but in order to improve lifting efficiency, hoistman can be ignored lesser in subjective understanding
Dancing, and the manipulation of handle is not controlled, deteriorate so as to cause suspension hook dancing, amplitude of fluctuation aggravation, even
The phenomenon that collision, damage surrounding objects occur occurs.In addition, suspension hook dancing is to cantilever crane with hoist amount, the increase of pivot angle
Lateral force it is also bigger, if be controlled not in time to suspension hook dancing, it will reduce the service life of structural member, or even go out
Existing cantilever crane fractures, the danger of slide-out.
For the monitoring and early warning of crane hook oscillation system, there are two types of solutions in the prior art:
A, setting angle sensor or camera on crane hook, hanging when for measuring or analyze crane movements
Hook swing angle, to realize the monitoring and early warning of suspension hook swing angle data；
B, lateral load when crane work is calculated according to the pressure difference of rotary motor oil inlet and outlet and other parameters
Torque realizes monitoring and control to side load forces.
The corresponding both the above prior art, disadvantage is respectively:
A, it is realized by the setting angle sensor on suspension hook or camera to the monitoring of suspension hook swing angle, needs volume
Outer increase detection device improves entire vehicle design cost, and due to the difference of installation site, will increase the difficulty of data parsing；
B, side load forces square is calculated according to the pressure difference of rotary motor oil inlet and outlet, needs to increase oil inlet and oil outlet
Pressure sensor, additionally increase cost.
Summary of the invention
The monitoring system swung to overcome drawbacks described above the object of the present invention is to provide a kind of crane hook and side
Method monitors the relevant data of suspension hook oscillation system in real time during lifting operation, lateral suffered by the suspension hook pivot angle or cantilever crane
Intelligent alarm prompting is carried out when power is larger, while to operator input signal intelligent Evaluation, carrying out intelligence when operator's operation is too fast
It can remind, operator's safety work be instructed, to improve the efficiency of crane job, security performance and intelligent level.
To achieve the goals above, the technical solution used in the present invention is: the monitoring side that a kind of crane hook is swung
Method, it is characterised in that: controller read in real time rotary encoder detection angle of revolution signal, calculate current rotational speed and
Acceleration calculates suspension hook swing angle, amplitude of fluctuation in conjunction with current body gesture parameter；Boom is detected by rope length sensor
Rope length hangs weight information by limiter of moment detection, and is sent to controller；Current body gesture parameter includes boom amplitude
Ra, boom rope length L, boom angle of revolution Rw；
Controller hangs weight information, boom rope length by reading, and in conjunction with suspension hook swing angle, calculates suspension hook swing in real time
Caused cantilever crane side load forces, and be sent to display and shown, make operator to the data of suspension hook oscillation system into
Row real time monitoring.
Controller makes comparisons calculated suspension hook swing angle, cantilever crane side load forces with preset alarm threshold value respectively,
If when practical suspension hook swing angle proximity sensing threshold value, sending the excessive alarm signal of pivot angle to display, display receives report
Optics alarm is carried out in man-machine interface after alert signal, and reminds operator's deceleration-operation；If cantilever crane side load forces are close
When alarm threshold value, display carries out the excessive optics alarm of cantilever crane lateral force, and operator is reminded to stop current action.
Controller reads control crank operation signal in real time, is carried out by intelligent Evaluation module to control crank operation signal
It analyzes and determines, export following two result: service speed is normal and service speed is too fast；In conjunction with suspension hook swing angle and cantilever crane side
Judge to loading force informix, if the operation of handle, which has, to be increased suspension hook swing angle or increase cantilever crane side load forces
When trend, alarm signal is sent to display, reminds operator's deceleration-operation.Intelligent Evaluation module is according to the behaviour of control crank
The operation for 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 cantilever crane side
Increase to stress, if so, the optics early warning that output service speed is too fast, and remind operator's deceleration-operation；If it is not, then defeated
It service speed regular prompt or does not prompt out.
The vehicle operating parameter of operation handle AD value J, service speed V are used to the control of control crank；Controller is real-time
Calculate handle service speed: V=f (J, t)；And by service speed and preset alarm threshold value comparison, by alarm signal when being more than threshold value
It number is sent to display and carries out " handle service speed is too fast " early warning, otherwise, prompt " handle service speed is normal ".Behaviour
Making handle AD value J is that control crank pushes how many physical quantitys, and t is the manipulation time.
A kind of monitoring system that crane hook is swung, is made of, feature vehicular control unit and man-machine interaction unit
Be: vehicular control unit includes Vehicle Controller, limiter of moment, rotary encoder, rope length sensor, handle, man-machine friendship
Mutual unit includes display；The calculating of suspension hook swing angle and amplitude, cantilever crane side load forces is completed by car body controller, vehicle-mounted
Controller is connected with limiter of moment, rotary encoder, rope length sensor, control crank, display respectively.Controller is real-time
The angle of revolution signal for reading rotary encoder detection, calculates current rotational speed and acceleration, in conjunction with current body gesture
Parameter calculates suspension hook swing angle, amplitude of fluctuation；Boom rope length is detected by rope length sensor, is detected by limiter of moment
Weight information is hung, and is sent to controller；Current body gesture parameter includes boom amplitude Ra, boom rope length L, boom angle of revolution
Spend Rw；
Controller hangs weight information, boom rope length by reading, and in conjunction with suspension hook swing angle, calculates suspension hook swing in real time
Caused cantilever crane side load forces, and be sent to display and shown, make operator to the data of suspension hook oscillation system into
Row real time monitoring.
Controller makes comparisons calculated suspension hook swing angle, cantilever crane side load forces with preset alarm threshold value respectively,
If when practical suspension hook swing angle proximity sensing threshold value, sending the excessive alarm signal of pivot angle to display, display receives report
Optics alarm is carried out in man-machine interface after alert signal, and reminds operator's deceleration-operation；If cantilever crane side load forces are close
When alarm threshold value, display carries out the excessive optics alarm of cantilever crane lateral force, and operator is reminded to stop current action.
Key problem in technology point of the invention is:
1. the monitoring function for whether activating suspension hook oscillation system can be manually selected by operator；
2. pair suspension hook pivot angle, cantilever crane lateral force data application trichromatic diagram shape block are monitored, recognizing for operator is reduced
Know difficulty；
3. pair handle operation signal carries out intelligent Evaluation, judge to be reminded in man-machine interface when service speed is too fast.
Compared with the existing technology, the present invention mainly has the advantage that
1. by existing controller, limiter of moment, display and vehicle body sensor, it can be achieved that suspension hook oscillation system
Monitoring, it is at low cost, be easy to implement；
2. during lifting operation, operator can pass through sight when suspension hook swing angle is excessive or cantilever crane lateral force is excessive
The warning reminding in man-machine interface is examined, carries out steady hook operation or deceleration-operation in time, the service life of extending structure part improves crane
The security performance of operation；
3. by evaluation and prompting to handle service speed speed, operator can correct service speed in time, mention
The preceding aggravation for inhibiting suspension hook dancing, reduces the time of steady hook and the pendulum that disappears, and improves the transfer efficiency and intelligence water of crane
It is flat.
Detailed description of the invention
Fig. 1 system hardware composition figure；
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.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
This programme system is made of vehicular control unit and man-machine interaction unit, and wherein vehicular control unit includes control
Device, limiter of moment, man-machine interaction unit include display, are connected between each equipment by CAN bus.System block diagram such as Fig. 1
Shown, wherein 1 is vehicular control unit, 2 be man-machine interaction unit.
1. the calculating and monitoring of suspension hook oscillation system data
Controller 14 reads the angle of revolution signal that rotary encoder 13 detects in real time, calculates current rotational speed and adds
Speed calculates suspension hook swing angle, amplitude in conjunction with current body gesture parameter, is sent to display 21 by CAN bus, shows
Show that device shows suspension hook swing angle, amplitude in man-machine interface；
The boom rope for hanging weight information and rope length sensor 15 and acquiring that controller is sent by reading limiter of moment 11
Long message calculates cantilever crane side load forces caused by suspension hook is swung in conjunction with the suspension hook swing angle of above-mentioned calculating in real time, and leads to
It crosses CAN bus and is sent to display and shown, monitor operator to the data of suspension hook oscillation system in real time；
2. suspension hook swing angle is excessive or the excessive alarm of cantilever crane lateral force
Controller makes comparisons calculated suspension hook swing angle, cantilever crane side load forces with preset alarm threshold value respectively,
If when practical suspension hook swing angle proximity sensing threshold value, sending the excessive alarm signal of pivot angle to display, display receives report
Optics alarm is carried out in man-machine interface after alert signal, and reminds operator's deceleration-operation；If cantilever crane side load forces are close
When alarm threshold value, display carries out the excessive optics alarm of cantilever crane lateral force, and operator is reminded to stop current action.
3. handle operates intelligent Evaluation
Controller reads 12 operation signal of control crank in real time, carries out analysis to operation signal by intelligent Evaluation module and sentences
Disconnected, export following two result: service speed is normal and service speed is too fast.In conjunction with above-mentioned calculated suspension hook swing angle and
Cantilever crane lateral force informix judgement, if the operation of control crank 12 have make suspension hook swing angle increase or make cantilever crane laterally by
When the trend that power increases, alarm signal is sent to display, reminds operator's deceleration-operation.
Message processing flow and alarm method of the invention is as shown in Figure 2.
See Fig. 4 and Fig. 5, body gesture parameter: boom amplitude Ra, boom rope length L, boom angle of revolution Rw；Rope length refers to
Distance of the lifting hook pulley group center to arm head pulley blocks center.Subpoint of the boom amplitude Ra index arm head on ground is turned round to vehicle
The distance at center.Boom angle of revolution refers to the angle of cantilever crane upright projection on the ground and headstock direction；
Car load parameter: hoist amount T, cantilever crane side load forces F；
Vehicle operating parameter: operation handle AD value J, service speed V；
Suspension hook oscillation system relevant parameter: suspension hook swing angle α, suspension hook amplitude of fluctuation Rh；Suspension hook swing angle α, which refers to, to be hung
The angle of the straight line that hook and arm head are linked to be and the vertical line of arm head to ground.Suspension hook amplitude of fluctuation Rh is suspension hook apart from arm head to ground
The horizontal distance of vertical line.If boom rope length is L, suspension hook swing angle is α, and suspension hook amplitude of fluctuation is Rh, then the pass between three
System are as follows: Rh=L sin α.
Time parameter: time t
The calculating of suspension hook wobble data:
Suspension hook swing angle: α=f (Ra, L, Rw, t)；
Suspension hook amplitude of fluctuation: Rh=f (α, L)；
Cantilever crane side load forces: F=f (T, L, α)；
The monitoring and early warning of suspension hook wobble data:
Calculated above-mentioned parameter is sent to display by Vehicle Controller, is shown on display interfaces；
Vehicle Controller or display are by suspension hook swing angle α, the current value of cantilever crane side load forces and preset alarm threshold
Value compares, and carries out early warning in the display if beyond threshold value and prompts user's deceleration-operation
Handle service speed is reminded and early warning:
Vehicle Controller calculates handle service speed: V=f (J, t) in real time；And by service speed and preset alarm threshold value
Compare, alarm signal is sent to display when more than threshold value and carries out " handle service speed is too fast " early warning, otherwise, prompts
" handle service speed is normal "
System monitoring interface schematic diagram is illustrated in fig. 3 shown below: where suspension hook swing angle and cantilever crane lateral load force data make
It is shown with green, yellow, red trichromatism graph block, green represents safety, and yellow, which represents, reminds operator to operate with caution, and red represents number
Be worth it is larger, be in unsafe condition.
To the judgement of suspension hook swing angle, cantilever crane lateral load force value and to handle service speed in the technical program
Judgement carries out in the controller, can also be handled in the display.
Basic principles and main features and advantage of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe originals of the invention
Reason, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (6)
1. the monitoring method that a kind of crane hook is swung, it is characterised in that: controller reads rotary encoder detection in real time
Angle of revolution signal calculates current rotational speed and acceleration, calculates suspension hook angle of oscillation in conjunction with current body gesture parameter
Degree, amplitude of fluctuation；Boom rope length is detected by rope length sensor, weight information is hung by limiter of moment detection, and be sent to
Controller；Current body gesture parameter includes boom amplitude Ra, boom rope length L, boom angle of revolution Rw；
Controller hangs weight information, boom rope length by reading, and in conjunction with suspension hook swing angle, calculates suspension hook swing in real time and causes
Cantilever crane side load forces, and be sent to display and shown, carry out operator to the data of suspension hook oscillation system real
When monitor；
Body gesture parameter: boom amplitude Ra, boom rope length L, boom angle of revolution Rw；Rope length refers to that lifting hook pulley group center is arrived
The distance at arm head pulley blocks center；Boom amplitude Ra index arm head ground subpoint to the vehicle centre of gyration distance；Boom
Angle of revolution refers to the angle of cantilever crane upright projection on the ground and headstock direction；Suspension hook oscillation system relevant parameter: suspension hook
Swing angle α, suspension hook amplitude of fluctuation Rh；Suspension hook swing angle α refers to that the straight line that suspension hook and arm head are linked to be and arm head arrive ground
The angle of vertical line；Suspension hook amplitude of fluctuation Rh is horizontal distance of the suspension hook apart from arm head to ground perpendicular；Suspension hook swing angle: α=
F (Ra, L, Rw, t)；Suspension hook amplitude of fluctuation: Rh=f (α, L)；Cantilever crane side load forces: F=f (T, L, α).
2. the monitoring method that a kind of crane hook according to claim 1 is swung, it is characterised in that: controller will calculate
Suspension hook swing angle, cantilever crane side load forces out are made comparisons with preset alarm threshold value respectively, if practical suspension hook swing angle connects
When nearly alarm threshold value, the excessive alarm signal of pivot angle is sent to display, display receives after alarm signal in man-machine interface
Optics alarm is carried out, and reminds operator's deceleration-operation；If when cantilever crane side load forces proximity sensing threshold value, display is carried out
The excessive optics alarm of cantilever crane lateral force, and operator is reminded to stop current action.
3. the monitoring method that a kind of crane hook according to claim 2 is swung, it is characterised in that: controller is read in real time
Control crank operation signal is taken, control crank operation signal is analyzed and determined by intelligent Evaluation module, output following two
Kind result: service speed is normal and service speed is too fast；Sentence in conjunction with suspension hook swing angle and cantilever crane side load forces informix
It is disconnected, if the operation of handle has the tendency that increasing suspension hook swing angle or increasing cantilever crane side load forces, sent out to display
Alarm signal is sent, operator's deceleration-operation is reminded.
4. the monitoring method that a kind of crane hook according to claim 2 is swung, it is characterised in that: to control crank
Control uses the vehicle operating parameter of operation handle AD value J, service speed V；Controller calculates handle service speed in real time: V=
F (J, t)；And by service speed and preset alarm threshold value comparison, alarm signal is sent to display when more than threshold value and carries out " hand
Handle service speed is too fast " early warning, otherwise, prompt " handle service speed is normal ".
5. the monitoring system that a kind of crane hook is swung, is made of, feature exists vehicular control unit and man-machine interaction unit
In: vehicular control unit includes Vehicle Controller, limiter of moment, rotary encoder, rope length sensor, handle, human-computer interaction
Unit includes display；The calculating of suspension hook swing angle and amplitude, cantilever crane side load forces is completed by car body controller, vehicle-mounted control
Device processed is connected with limiter of moment, rotary encoder, rope length sensor, control crank, display respectively；
Controller reads the angle of revolution signal of rotary encoder detection in real time, calculates current rotational speed and acceleration, ties
It closes current body gesture parameter and calculates suspension hook swing angle, amplitude of fluctuation；Boom rope length is detected by rope length sensor, is passed through
Weight information is hung in limiter of moment detection, and is sent to controller；Current body gesture parameter includes boom amplitude Ra, boom rope
Long L, boom angle of revolution Rw；
Controller hangs weight information, boom rope length by reading, and in conjunction with suspension hook swing angle, calculates suspension hook swing in real time and causes
Cantilever crane side load forces, and be sent to display and shown, carry out operator to the data of suspension hook oscillation system real
When monitor；
Body gesture parameter: boom amplitude Ra, boom rope length L, boom angle of revolution Rw；Rope length refers to that lifting hook pulley group center is arrived
The distance at arm head pulley blocks center；Boom amplitude Ra index arm head ground subpoint to the vehicle centre of gyration distance；Boom
Angle of revolution refers to the angle of cantilever crane upright projection on the ground and headstock direction；Suspension hook oscillation system relevant parameter: suspension hook
Swing angle α, suspension hook amplitude of fluctuation Rh；Suspension hook swing angle α refers to that the straight line that suspension hook and arm head are linked to be and arm head arrive ground
The angle of vertical line；Suspension hook amplitude of fluctuation Rh is horizontal distance of the suspension hook apart from arm head to ground perpendicular；Suspension hook swing angle: α=
F (Ra, L, Rw, t)；Suspension hook amplitude of fluctuation: Rh=f (α, L)；Cantilever crane side load forces: F=f (T, L, α).
6. the monitoring system that a kind of crane hook according to claim 5 is swung, it is characterised in that: controller will calculate
Suspension hook swing angle, cantilever crane side load forces out are made comparisons with preset alarm threshold value respectively, if practical suspension hook swing angle connects
When nearly alarm threshold value, the excessive alarm signal of pivot angle is sent to display, display receives after alarm signal in man-machine interface
Optics alarm is carried out, and reminds operator's deceleration-operation；If when cantilever crane side load forces proximity sensing threshold value, display is carried out
The excessive optics alarm of cantilever crane lateral force, and operator is reminded 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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| CN111137789B (en) * | 2019-12-27 | 2021-08-06 | 宁波国际投资咨询有限公司 | Safety control system and method for construction crane |
| JP7411514B2 (en) * | 2020-07-06 | 2024-01-11 | 株式会社三井E&S | Crane operation system and crane operation instruction method |
| CN112141897B (en) * | 2020-08-21 | 2022-12-06 | 南京工程学院 | High-altitude hoisting anti-tipping control method |
| CN112551374B (en) * | 2020-12-03 | 2022-09-23 | 东南大学 | Rotary anti-swing control method of movable hoisting equipment |
| CN112607596B (en) * | 2020-12-16 | 2023-05-09 | 中联恒通机械有限公司 | Method and device for inhibiting swing of lifting hook of automobile crane |
| 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 |
| CN116161570B (en) * | 2023-04-26 | 2023-07-07 | 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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| CN106006417A (en) | 2016-10-12 |
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