CN106495005B - A kind of crane collision resistant detecting and controlling system - Google Patents
A kind of crane collision resistant detecting and controlling system Download PDFInfo
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- CN106495005B CN106495005B CN201611213410.XA CN201611213410A CN106495005B CN 106495005 B CN106495005 B CN 106495005B CN 201611213410 A CN201611213410 A CN 201611213410A CN 106495005 B CN106495005 B CN 106495005B
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- machine
- bridge
- door machine
- laser scanner
- bridge machine
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
- B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
-
- 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
- B66C13/50—Applications of limit circuits or of limit-switch arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
- B66C2700/084—Protection measures
Abstract
The invention discloses a kind of crane collision resistant detecting and controlling system, the detecting system is used to detect the bridge machine for being installed on high aerial someone's manipulation and rest on the ground the course of work that the door machine of unattended automatic running is worked in coordination, upper layer bridge machine operates crane for someone, and the operation of bridge machine is controlled by the random transfer of ground maneuvers person.The system uses the interaction of laser scanner, car safety limit switch and multiple PLC control units, early warning deceleration and collision-proof alarm profile using the Programing by outline setting scanning object of laser scanner scans operating area object, and chain upper-layer crane raising realizes that upper-layer crane active detecting, active anticollision control with car safety signal, passive anticollision is hidden or control out of service in the autonomous automatic running of lower floor's crane, the anticollision control of Central Control Room comprehensively monitoring urgent intervention, security higher, control method more meet site technique demand.
Description
Technical field
The present invention relates to technical field of crane control, more particularly to a kind of crane collision resistant detecting and controlling system.
Background technology
Layer arrangement is controlled by the overhead traveling crane for someone's operation that Job-Shop person transfers at random between steel mill's hot rolling grinding roller
Machine, lower layer arrangement are controlled by ground Central Control Room, according to the unattended of instruction automatic loading and unloading and the handling rolling mill roll of Central Control Room
Half crane, this two cranes have an overlapping activity region in space layout, in the presence of the risk mutually collided during operation.
Tradition avoids the measure of anticollision from being applicable in by two cranes of crane operator and Job-Shop person's coordinated scheduling
On unattended crane, and there are unpredictalbe, human factor risk of collision.To solve artificial anticollision not
Foot, it is necessary to which a kind of simple, practical, safe and reliable crane collision resistant detecting and controlling system of exploitation, realizes overlapping activity region
The intelligent anticollision Detection ＆ Controling of more interior lifting cranes.
Application No. 201220534249.7 discloses in the prior art《A kind of gantry crane intersects anticollision control system
System》This existing patent only with radar collision probe be used as detecting element, popped one's head in by radar collision, wireless transmission unit, prevent
Hit judging unit realize crane trolley partial intersection close to when two cranes obtain control signal, control two or more friendships
Pitch the start and stop of Operation Van and alarm to operating personnel.The not whole work to crane of the control system of the patent application publication
Process and obtain good monitoring and control with the real-time working of other control systems.
The content of the invention
According to problem existing in the prior art, the invention discloses a kind of crane collision resistant detecting and controlling system, the detection
System is used to detect the bridge machine for being installed on high aerial someone's manipulation and the door machine for resting on the ground unattended automatic running is mutual
The course of work of cooperation, it is characterised in that：Including：
It is separately mounted to bridge machine left field and right side area output switching value is slowed down and the laser of stop signal information is swept
Retouch instrument A1 and laser scanner A2；
Whether the trolley for detecting bridge machine is located at the car safety limit switch S1 and detection bridge machine of preceding line direction safety zone
Raising suspension hook whether the raising safety limit switch S2 more than the safe altitude positioned at setting；
Receive the laser scanner A1, laser scanner A2, car safety limit switch S1, raising safety limit switch
Data message that S2 is detected, control cart of upper layer bridge machine or so to slow down and bridge machine out of service after being handled by program
PLC control unit；
Receive the bridge machine wireless access point E1 of the control instruction information of the bridge machine PLC control unit transmission, the bridge machine
Wireless access point E1 and door machine wireless client E2 wireless data communication；
The system further includes the door machine encoder for the positional information that door machine real time execution is detected on door machine；
Receive the door machine PLC control unit of the data message of the door machine encoder transmission, the door machine PLC control unit
It is connected with door machine wireless client E2；
The system further includes and unit is controlled in Central Control Room wireless access point E3 and ground, and the Central Control Room wireless access point E3 is real
When receive control signal and bridge machine wireless access point E1 that upper layer bridge machine and lower floor's door machine send and door machine wireless client E2 without
Line data communication；The control sent on bridge machine and door machine that unit receives Central Control Room wireless access point E3 transmission is controlled in the ground
Command information signal processed, monitor anti-collision system status information and alarm signal output, in case of emergency to bridge machine and door
Machine sends the operation of control signal, control bridge machine and door machine.
The laser scanner A1 and laser scanner A2 are installed on position on bridge main beam, height, angle is according to upper
The range of operation of the difference in height of lower floor's crane, overall width and door machine determines, laser scanner A1 and swashs in overlapping activity space
Photoscanner A2 carries out Scanning Detction in working space to the door machine of lower floor.
Bridge machine and each machine of door machine when lifting mechanism suspension hook rises to more than the height of car safety limit switch S1 settings
From the limitation of anti-collision system, which is scanned detection by the region of setting for the operation of structure.
By adopting the above-described technical solution, crane collision resistant detecting and controlling system provided by the invention, is swept using laser
The interaction of instrument, car safety limit switch and multiple PLC control units is retouched, using laser scanner scans operating area thing
The early warning deceleration of the Programing by outline setting scanning object of body and collision-proof alarm profile, and chain upper-layer crane raising is pacified with trolley
Full signal realizes that upper-layer crane active detecting, active anticollision control, and passively anticollision is hided in the autonomous automatic running of lower floor's crane
Keep away or control out of service, the anticollision of Central Control Room comprehensively monitoring urgent intervention control, security higher, control method more meet existing
Field process requirements, while there is anti-collision system the control of wireless telecommunications detection error protection, detecting element normally to protect control, anticollision
System bypass function, Central Control Room monitoring control function.
Brief description of the drawings
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments described in application, for those of ordinary skill in the art, without creative efforts,
Other attached drawings can also be obtained according to these attached drawings.
Fig. 1 is the structure diagram of heavy-duty machine anticollision detecting and controlling system of the present invention；
Fig. 2 is the schematic diagram of the system embodiment；
Fig. 3 is the generation of the signal of crane collision resistant detecting and controlling system of the present invention with gathering signal transmission with dealing with relationship
Schematic diagram.
In figure：1st, bridge machine PLC control unit；2nd, laser scanner A1；3rd, laser scanner A2；4th, car safety is spacing opens
Close S1；5th, raising safety limit switch S2；6th, bridge machine wireless access point E1；7th, door machine wireless client E2；8th, door machine PLC is controlled
Unit；9th, door machine encoder；10th, Central Control Room wireless access point E3；11st, unit is controlled in ground；
In embodiment Fig. 2：12nd, bridge machine 13, door machine.
Embodiment
To make technical scheme and advantage clearer, with reference to the attached drawing in the embodiment of the present invention, to this
Technical solution in inventive embodiments is clearly completely described：
A kind of crane collision resistant detecting and controlling system as shown in Figure 1, the detecting system are used to detect installed in high aerial
With resting on the ground the course of work that the door machine of unattended automatic running is worked in coordination, upper layer bridge machine is the bridge machine of someone's manipulation
Someone operates crane, and the operation of bridge machine is controlled by the random transfer of ground maneuvers person.Lower floor's door machine is unattended automatic running
Crane, is controlled by ground Central Control Room, according to the instruction automatic loading and unloading of Central Control Room and handling rolling mill roll.The anti-collision system uses
Bridge machine active detecting, active anticollision control, in the autonomous automatic running of door machine passive anticollision hide or control out of service, Central Control Room
The control method of comprehensively monitoring urgent intervention.There are raising, cart and trolley in the travelling mechanism of its jackshaft machine, above and below bridge machine raising
Operation, cart or so operation, the front and rear operation of trolley.Door machine is an autonomous device, simply has in running space and bumps against with bridge machine
Possibility.
The control system includes：It is separately mounted to bridge machine left field and right side area output switching value is slowed down with stopping believing
The laser scanner A1 2 and laser scanner A2 3 of number information.
Whether the trolley for detecting bridge machine is located at the car safety limit switch S1 4 and detection bridge of preceding line direction safety zone
The raising suspension hook of machine whether the raising safety limit switch S2 5 more than the safe altitude of setting；
The laser scanner A1 2, laser scanner A2 3, car safety limit switch S1 4, raising is received to limit safely
Data message that bit switch S2 5 is detected, control cart of upper layer bridge machine or so to slow down and out of service after being handled by program
Bridge machine PLC control unit 1；
Receive the bridge machine wireless access point E1 6 for the control instruction information that the bridge machine PLC control unit 1 transmits, the bridge
Machine wireless access point E16 and 7 wireless data communication of door machine wireless client E2；
The system further includes the door machine encoder 9 for the positional information that door machine real time execution is detected on door machine；
The door machine PLC control unit 8 for the data message that the door machine encoder 9 transmits is received, the door machine PLC controls are single
Member 8 is connected with door machine wireless client E27.
The system further includes control unit 11, the Central Control Room wireless access in Central Control Room wireless access point E3 10 and ground
The control signal and bridge machine wireless access point E1 6 that 10 real-time reception upper layer bridge machines of point E3 and lower floor's door machine are sent are wireless with door machine
7 wireless data communication of client E2；Controlled in the ground unit 11 receive Central Control Room wireless access point E310 transmission on bridge
The control instruction information signal that machine and door machine are sent, monitors the output of the status information and alarm signal of anti-collision system, urgent
In the case of the operation of control signal, control bridge machine and door machine is sent to bridge machine and door machine.
As shown in Figure 2：Under working status：
Laser scanner A12, laser scanner A2 3, bridge machine car safety limit switch S1 4, bridge machine raising limit safely
Data message that bit switch S2 5 is detected, perform following control after being handled by program：
When trolley moves forward to place of safety the operation of bridge machine 12 and Men Ji13Ge mechanisms from anti-collision system limitation,
But anti-collision system is still scanned detection by the region of setting；
Bridge machine 12 and door machine 13 when lifting mechanism suspension hook rises to more than the height of raising safety limit switch S2 settings
The operation of each mechanism is from the limitation of anti-collision system, but anti-collision system is still scanned detection by the region of setting；
When 12 left lateral of bridge machine is close to door machine 13, when 2 left reduce-speed signs of bridge machine laser scanner A1 export, bridge machine 12 is left
Row decelerates to one grade of operation, and 12 operating personnel of bridge machine prompt operation lifting mechanism suspension hook to rise to raising safety according to reduce-speed sign
More than the height that limit switch S2 5 is set or trolley moves forward to place of safety and hides a machine 13 to transport with allowing 13 unperturbed of a machine
OK, continue to approach a machine 13 if bridge machine 12 is not carried out hiding, if door machine 13 runs its right lateral direction and decelerates to one grade of operation, extremely
Two cranes are out of service when anticollision detects stop zone, and Central Control Room can instruct bridge machine 12 away from a machine 13 at this time, leave anticollision area
13 automatic running of door machine is instructed behind domain, the output of 2 left stop signals of bridge machine laser scanner A1 makes bridge machine 12 stop transporting with door machine 13
12 gear of row rear axle machine instruction back to zero restarts behind position, and bridge machine cart can only be run to the right；
When 12 right lateral of bridge machine is close to door machine 13, when 3 right reduce-speed signs of laser scanner A2 export, 12 right lateral of bridge machine subtracts
Speed prompts operation lifting mechanism suspension hook to rise to raising safe spacing to one grade of operation, 12 operating personnel of bridge machine according to reduce-speed sign
More than the height that switch S2 5 is set or trolley moves forward to place of safety and hides a machine 13 to run with allowing 13 unperturbed of a machine, if
Bridge machine 12, which is not carried out hiding, to be continued to approach a machine 13, if door machine 13 runs its left lateral direction and decelerates to one grade of operation, to anticollision
Two cranes are out of service when detecting stop zone, control unit 11 in ground at this time and can instruct bridge machine 12 away from a machine 13, leave anti-
13 automatic running of door machine is instructed after hitting region, the output of 3 right stop signals of bridge machine laser scanner A2 makes bridge machine 12 stop with door machine 13
Restarted after only running 12 gear instruction back to zero position of rear axle machine, bridge machine cart can only be run to the left；Middle control in emergency situations
Room can emergent stopping bridge machine 12 and door machine 13 continue to run with.
Further, laser scanner A1 2, laser scanner A2 3 are that anti-collision system predominantly detects element.Laser is swept
Instrument A12, laser scanner A2 3 are retouched on 12 girder of upper layer bridge machine.Laser scanner A1 2, laser scanner A2 3
Installation site, height, angle are determined according to the difference in height of levels crane, overall width and 13 range of operation of door machine, it is ensured that in weight
Laser scanner A1 2, laser scanner A2 3 actively can carry out lower floor's door machine 13 nothing in working space in folded working space
Dead angle Scanning Detction.190 ° of laser scanner scans scope, it is 4m that anticollision, which stops scanning range, and early warning deceleration scanning range is
15m, detection range 50m.According to the Programing by outline of crane field operation region object set scanning object early warning slow down with
Collision-proof alarm profile.Wherein laser scanner is detected therein mistake, scanning window dustiness, detects normal rear output
Signal.Bridge machine cannot be run with door machine when laser scanner normal signal is without output.
Further, the bridge machine when lifting mechanism suspension hook rises to more than the height of car safety limit switch S14 settings
From the limitation of anti-collision system, which is scanned detection by the region of setting for operation with Men Jige mechanisms.
Further, the operation that trolley moves forward to bridge machine 12 during place of safety and Men Ji13Ge mechanisms is from anti-collision system
Limitation, but anti-collision system is still scanned detection by the region of setting.
As shown in Figure 3：The crane collision resistant detecting and controlling system is defined to the PLC logics of 11 system anticollision demands for control
Signal, the generation and the transmission of collection signal of signal include as shown in Figure 3 with dealing with relationship：M1 wireless telecommunications detection, M2 bridge machines
Start, M3 anti-collision system detects normal, the left deceleration of M4 bridge machine carts, the left stopping of M5 bridge machine carts, the right deceleration of M6 bridge machine carts, M7
The right stopping of bridge machine cart, M8 bridge machines car safety, M9 bridge machine raisings safety, M10 machines startups, M11 emergent stop signals.Bridge machine, door
Machine, ground Central Control Room mutually send M1 communication systems detection signal；Bridge machine sends M1 wireless telecommunications to door machine and ground Central Control Room
Detection, M2 bridges machine start, the detection of M3 anti-collision system is normal, M4 bridge machine carts it is left slow down, M5 bridge machine carts it is left stop, M6 bridge machines it is big
The right deceleration of car, the right stopping of M7 bridge machine carts, M8 bridge machines car safety, M9 bridge machines raising safety；Door machine is to bridge machine with being controlled in ground
Room sends M10 machines and starts；Ground Central Control Room sends M11 emergent stop signals to door machine and bridge machine.
Carried out between its jackshaft machine wireless access point E16, door machine wireless client E27, Central Control Room wireless access point E3 10
Receiving and transmitting signal carries out communication detection mutually in real time, and in communication failure, bridge machine cannot be run with door machine.
Under working status：When trolley is located in safety zone, bridge machine cart can arbitrarily be run with lifting mechanism.When small parking stall
In the operation in danger zone, limiting bridge machine cart and the falling head of chain limitation bridge machine lifting mechanism.
When raising suspension hook is more than safe altitude, cart can arbitrarily be run with trolley body.When raising suspension hook is in safety height
The operation of bridge machine cart and trolley is limited below degree.
The Bypass Control of anticollision detecting and controlling system
Door machine sets anti-collision system by-pass switch with bridge machine.When selecting to bypass, anti-collision system does not work, door machine and bridge
Machine can isolated operation.Anti-collision system bypass is only used for bypassing anti-collision system in door machine or the power-off maintenance of bridge machine, without influencing
The operation of non-maintenance crane.
Need to send between non-bypass state Xiamen machine and bridge machine and verify system communication normal signal, in system communication
When normally starting normal with door machine, bridge machine, two cranes can just be run, and otherwise two cranes cannot be run.
The cart operation control of upper layer bridge machine
When the left reduce-speed sign of bridge machine laser scanner exports, bridge machine left lateral decelerates to one grade of operation, bridge machine operating personnel's root
Hide a machine according to reduce-speed sign prompting to run with allowing a machine unperturbed, otherwise door machine right lateral decelerates to one grade of operation, to stop zone
When two cranes it is out of service；When the right reduce-speed sign of bridge machine laser scanner exports, bridge machine right lateral decelerates to one grade of operation, bridge machine
Operating personnel hide a machine to run with allowing a machine unperturbed according to reduce-speed sign prompting, and otherwise door machine left lateral decelerates to one grade of fortune
OK, it is out of service to two cranes during stop zone；When the left stop signal of bridge machine laser scanner exports, bridge machine stops transporting with door machine
OK, restarted behind bridge machine back to zero position, bridge machine cart can only be run to the right, and door machine can only be run to the left；Bridge machine laser scanner
During right stop signal output, bridge machine and door machine are out of service, and bridge machine back to zero restarts behind position, and bridge machine cart can only be transported to the left
OK, door machine can only be run to the right.
The function of unit 11 is controlled in ground：Ground level control room to the state of the communication state of anti-collision system, laser scanner,
M1-M12 signals are acquired with monitoring the work of anti-collision system, execution state after sequential operation, can be to bridge according to program setting
Machine sends emergent stop signal with door machine, and earthward automation equipment sends interlock control signal.
The application patent detecting element scans thing using the Programing by outline setting of laser scanner scans operating area object
The early warning deceleration of body and collision-proof alarm profile, and chain upper-layer crane raising realizes upper-layer crane master with car safety signal
Dynamic detection, active anticollision control, in the autonomous automatic running of lower floor's crane passive anticollision hide or control out of service, Central Control Room
The anticollision control of comprehensively monitoring urgent intervention, security higher, control method more meet site technique demand, while anti-collision system
Control, anti-collision system bypass functionality, Central Control Room monitoring are normally protected with the control of wireless telecommunications detection error protection, detecting element
Control function.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (1)
1. a kind of crane collision resistant detecting and controlling system, which is used to detect the bridge machine for being installed on high aerial someone's manipulation
The course of work that door machine with resting on the ground unattended automatic running is worked in coordination, it is characterised in that：Including：
It is separately mounted to bridge machine left field and right side area output switching value is slowed down and the laser scanner of stop signal information
A1 (2) and laser scanner A2 (3)；
Whether the trolley for detecting bridge machine is located at the car safety limit switch S1 (4) of preceding line direction safety zone and detects bridge machine
Raising suspension hook whether the raising safety limit switch S2 (5) more than the safe altitude positioned at setting；
Receive the laser scanner A1 (2), laser scanner A2 (3), car safety limit switch S1 (4), raising limit safely
Data message that bit switch S2 (5) is detected, control cart of upper layer bridge machine or so to slow down and stop fortune after being handled by program
Capable bridge machine PLC control unit (1)；
Receive the bridge machine wireless access point E1 (6) of the control instruction information of bridge machine PLC control unit (1) transmission, the bridge
Machine wireless access point E1 (6) and door machine wireless client E2 (7) wireless data communication；
The system further includes the door machine encoder (9) for the positional information that door machine real time execution is detected on door machine；
The door machine PLC control unit (8) of the data message of door machine encoder (9) transmission is received, the door machine PLC controls are single
First (8) are connected with door machine wireless client E2 (7)；
The system, which further includes, controls unit (11), the Central Control Room wireless access point in Central Control Room wireless access point E3 (10) and ground
The control signal and bridge machine wireless access point E1 (6) and door machine that E3 (10) real-time reception upper layer bridge machine and lower floor's door machine are sent are wireless
Client E2 (7) wireless data communication；Unit (11) is controlled in the ground and receives Central Control Room wireless access point E3 (10) transmission
The output of the control instruction information signal, the status information and alarm signal of monitoring anti-collision system that are sent on bridge machine and door machine,
The operation of control signal, control bridge machine and door machine is in case of emergency sent to bridge machine and door machine；
The laser scanner A1 (2) and laser scanner A2 (3) be installed on position on bridge main beam, height, angle according to
The range of operation of the difference in height of levels crane, overall width and door machine determines, laser scanner A1 (2) in overlapping activity space
Scanning Detction in working space is carried out to the door machine of lower floor with laser scanner A2 (3)；
Bridge machine and Men Jige mechanisms when lifting mechanism suspension hook rises to more than the height of car safety limit switch S1 (4) settings
Operation from the limitation of anti-collision system, which is scanned detection by the region of setting.
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| CN201611213410.XA CN106495005B (en) | 2016-12-23 | 2016-12-23 | A kind of crane collision resistant detecting and controlling system |
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| CN201611213410.XA CN106495005B (en) | 2016-12-23 | 2016-12-23 | A kind of crane collision resistant detecting and controlling system |
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| CN108750952A (en) * | 2017-12-20 | 2018-11-06 | 江苏耐维思通科技股份有限公司 | A kind of remote control intelligent collision driving of automatic running |
| CN108341341B (en) * | 2018-02-05 | 2019-09-24 | 法兰泰克重工股份有限公司 | Layer region anticollision protection system and method above and below more cranes |
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| CN108706469A (en) * | 2018-06-11 | 2018-10-26 | 武汉理工大学 | Crane intelligent anti-collision system based on millimetre-wave radar |
| CN109455235B (en) * | 2018-11-16 | 2020-11-06 | 河南工学院 | Hatch door safety arrangement for hoisting machinery |
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| CN110294421A (en) * | 2019-06-05 | 2019-10-01 | 广东博智林机器人有限公司 | Construction system and control method |
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| CN112225076A (en) * | 2020-10-10 | 2021-01-15 | 湖南天桥嘉成智能科技有限公司 | Positioning control method of unmanned crane |
| CN112649813B (en) * | 2020-12-15 | 2022-02-08 | 北京星天地信息科技有限公司 | Method for indoor safety inspection of important place, inspection equipment, robot and terminal |
| CN113682965A (en) * | 2021-09-03 | 2021-11-23 | 浙江硕实机械有限公司 | Automatic safety control system and control method for crane operation |
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| CN201864484U (en) * | 2010-10-28 | 2011-06-15 | 武汉钢铁(集团)公司 | Programmable logic controller (PLC) automatic deviation correction system for linkage control on two electromagnetic lifters |
| CN202880695U (en) * | 2012-10-18 | 2013-04-17 | 河南卫华重型机械股份有限公司 | Portal crane crossed anti-collision control system |
| CN203295064U (en) * | 2013-05-28 | 2013-11-20 | 金鹰重型工程机械有限公司 | Anti-collision control system for double gantry cranes of railway |
| CN104085797A (en) * | 2014-07-22 | 2014-10-08 | 中船第九设计研究院工程有限公司 | Multi-crane anti-collision monitoring system based on optical encoding and wireless networks |
| CN204211382U (en) * | 2014-09-23 | 2015-03-18 | 苏州安至上机电科技有限公司 | A kind of crane in bridge type collision avoidance system |
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| CN106495005A (en) | 2017-03-15 |
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