CN106546211A - A kind of grab boat grab bucket attitude measurement system - Google Patents
A kind of grab boat grab bucket attitude measurement system Download PDFInfo
- Publication number
- CN106546211A CN106546211A CN201611247235.6A CN201611247235A CN106546211A CN 106546211 A CN106546211 A CN 106546211A CN 201611247235 A CN201611247235 A CN 201611247235A CN 106546211 A CN106546211 A CN 106546211A
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- Prior art keywords
- grab
- grab bucket
- sensor
- bucket
- boat
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/25—Integrating or interfacing systems involving database management systems
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/26—Visual data mining; Browsing structured data
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/28—Databases characterised by their database models, e.g. relational or object models
- G06F16/284—Relational databases
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- Engineering & Computer Science (AREA)
- Databases & Information Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Data Mining & Analysis (AREA)
- General Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The attitude measurement system the present invention relates to a kind of grab boat is grabbed bucket.The invention belongs to engineering ship technical field of automatic control.A kind of grab boat grab bucket attitude measurement system, GPS, compass, drauht sensor, arm obliquity sensor, grab claw angular sensor, grab bucket decentralization depth transducer and grab bucket opening degree sensor connect computer by data-interface, GPS, compass and grab claw angular sensor are used to measure grab bucket plane positioning, and drauht sensor, arm obliquity sensor, grab bucket decentralization depth transducer, grab bucket opening degree sensor are used to measure grab bucket depth, grab bucket opening degree.The present invention has monitoring grab bucket attitude accurate, attitude information shown in real time, the advantages of monitoring result is intuitively changed, can also by the process to attitude data of grabbing bucket, calculate, automatically controlling under different grab bucket mode of operations is realized, so as to realize precisely dredging and high efficient dredging.
Description
Technical field
The invention belongs to engineering ship technical field of automatic control, more particularly to a kind of grab boat grab bucket attitude
Measuring system.
Background technology
At present, the one kind of grab bucket dredger as dredging vessel, which has the unique advantage of high efficient and flexible.And grab claw
And grab bucket is used as the direct dredging plant of the type dredger, in the operation for needing precise control to dredge depth and position, its
The monitoring precision of attitude directly affects dredge precision and the efficiency of dredger.
Prior art is by band is being installed with the agate lattice that expression length is brushed on the cable wire being connected of grabbing bucket and on arm
Graduated angle indicates disk, observes agate lattice and instruction disk to determine the attitude of grab bucket by human eye, it is impossible to make operator
The working condition of grab bucket is accurately grasped, is made troubles to mud diging working, there is also the automatization's journey for being unfavorable for improving dredger
A series of problems, such as spending.
The content of the invention
The present invention provides a kind of grab boat grab bucket attitude measurement to solve technical problem present in known technology
System.
It is an object of the invention to provide a kind of have monitoring grab bucket attitude accurately, attitude information is shown in real time, monitoring result
Directly perceivedization, is capable of achieving automatically controlling under different grab bucket mode of operations, the features such as so as to realize precisely dredging and high efficient dredging
Grab boat grab bucket attitude measurement system.
The system is supervised to the grab bucket attitude in dredger operation process using technologies such as computer, network, sensors
Survey.
Plane positioning and digging deep measurement of the grab bucket attitude monitoring system for grab bucket, required bottom hardware equipment bag
Include：GPS, compass, drauht sensor, arm obliquity sensor, grab claw angular sensor, grab bucket decentralization depth are passed
Sensor, grab bucket opening degree sensor, computer etc..
Plane positioning is mainly according to ship in the positional information of construction area, the rotation angle information of grab claw and ship
Body dimensional parameters, are calculated the positional information grabbed bucket in construction area.The ship construction area positional information by GPS
There is provided with compass, grab claw rotation angle information is provided by grab claw angular sensor.
Drinking water information of the deep measurement of digging of grab bucket mainly according to ship, tidal level information, arm angle of inclination information, grab bucket
Decentralization depth information and grab bucket opening degree information be calculated.The drinking water information of the ship, tidal level information, arm are inclined
Angle, the decentralization depth information of grab bucket, grab bucket opening degree information are passed by drinking water sensor, remote-reporting instrument for tide, arm inclination angle respectively
Sensor, grab bucket decentralization depth transducer, grab bucket opening degree sensor are provided.
The measuring principle of grab bucket decentralization depth transducer and grab bucket opening degree sensor is the coding by installing on winch
Device measurement grab bucket decentralization rope capacity and grab bucket folding rope capacity.
Grab bucket attitude measurement system includes that a set of dredger digs deep instruction system, and digging is deep to indicate that system is realized revolving grab claw
The collection of the information such as gyration, arm angle of inclination, tidal level, grab bucket decentralization depth, opening degree, process, calculating.By what is arranged
Instrument will be dug deep data and be shown, while realizing man-machine interaction, grab bucket depth and grab claw attitude are corrected.
This monitoring system is realized in the form of C/S (client/server), i.e., is incited somebody to action by the capture program on server
Data, gps data and compass data after the deep instruction system acquisition process of described digging are stored in data base.In network
The attitude information of grab bucket is shown, ties monitoring by the data base in access server by client computer in real time
Fruit more directly perceivedization.
Grab boat grab bucket attitude measurement system of the present invention is adopted the technical scheme that：
A kind of grab boat grab bucket attitude measurement system, is characterized in：Grab boat grab bucket attitude measurement system bag
Include GPS, compass, grab claw angular sensor, drauht sensor, arm obliquity sensor, grab bucket decentralization depth to pass
Sensor, grab bucket opening degree sensor and computer, GPS, compass, drauht sensor, arm obliquity sensor, grab claw rotation
Angle of revolution sensor, grab bucket decentralization depth transducer and grab bucket opening degree sensor by data-interface connection computer, GPS,
Compass and grab claw angular sensor are used to measuring grab bucket plane positioning, drauht sensor, arm obliquity sensor,
Grab bucket decentralization depth transducer, grab bucket opening degree sensor are used to measure grab bucket depth, grab bucket opening degree.
The grab bucket attitude information of Grab mainly includes plan-position coordinate, grab bucket decentralization depth, grab bucket opening degree.According to
Ship is calculated grab bucket and exists in the positional information of construction area, the rotation angle information of grab claw and hull size parameter
The positional information of construction area.Drinking water information, tidal level information, arm angle of inclination information, the decentralization depth of grab bucket according to ship
Degree information and grab bucket opening degree information are calculated.
Grab boat grab bucket attitude measurement system of the present invention can also be adopted the following technical scheme that：
Described grab boat grab bucket attitude measurement system, is characterized in：The transmission of grab claw angular sensor is hung
Pivoting angle data information of the arm relative to hull, luffing angle of the arm luffing angle sensor transmissions arm relative to hull
Data message.
Described grab boat grab bucket attitude measurement system, is characterized in：Grab bucket decentralization depth transducer be installed in
Long measurement encoder on winch, measurement grab bucket decentralization rope capacity obtain data message.
Described grab boat grab bucket attitude measurement system, is characterized in：Grab bucket opening degree sensor is installed in strand
Long measurement encoder on car, measurement grab bucket folding rope capacity obtain data message.
Described grab boat grab bucket attitude measurement system, is characterized in：Computer includes server and operator's end
End, server are equipped with monitoring system, receive, process grab bucket attitude measurement information, carry out grab boat by operator's terminal
Grab bucket Gesture operation and display, realize full bucket it is thick dig, depthkeeping excavate or horizontal excacation pattern under grab bucket automatically controls.
The present invention has the advantages and positive effects that：
Grab boat grabs bucket attitude measurement system as a result of the brand-new technical scheme of the present invention, with prior art phase
Than present invention grab bucket attitude monitoring system fully utilizes the technologies such as computer, network, sensor, makes the attitude of grab bucket more
Accurately.The attitude information of grab bucket is shown by host computer and instrument, monitoring result is intuitively changed.The system can also be led to
Cross the process to attitude data of grabbing bucket, calculate, the different grab bucket mode of operations of realization (full bucket slightly digs, depthkeeping is excavated, level is excavated)
Under automatically control, substantially increase dredging efficiency.
Description of the drawings
Fig. 1 is that the present invention digs deep instruction system principle diagram；
Fig. 2 is grab boat grab bucket attitude measurement system theory diagram.
Specific embodiment
For the content of the invention, feature and effect of the present invention can be further appreciated that, following examples are hereby enumerated, and coordinates accompanying drawing
Describe in detail as follows：
Refering to accompanying drawing 1 and Fig. 2.
Embodiment 1
A kind of grab boat grab bucket attitude measurement system, its GPS, compass, drauht sensor, arm inclination angle sensing
Device, grab claw angular sensor, grab bucket decentralization depth transducer and grab bucket opening degree sensor are connected by data-interface
Computer, GPS, compass and grab claw angular sensor are used to measure grab bucket plane positioning, drauht sensor, arm
Obliquity sensor, grab bucket decentralization depth transducer, grab bucket opening degree sensor are used to measure grab bucket depth, grab bucket opening degree.
Grab claw angular sensor transmits pivoting angle data information of the arm relative to hull, arm luffing angle
Luffing angle data message of the sensor transmissions arm relative to hull.Grab bucket decentralization depth transducer is on winch
Long measurement encoder, measurement grab bucket decentralization rope capacity obtain data message.Grab bucket opening degree sensor is installed in strand
Long measurement encoder on car, measurement grab bucket folding rope capacity obtain data message.Computer includes server and operation
Person's terminal, server are equipped with monitoring system, receive, process grab bucket attitude measurement information, carry out grab bucket digging by operator's terminal
Mud ship grab bucket Gesture operation and display, the automatic control grabbed bucket under the thick digging of the full bucket of realization, depthkeeping excavation or horizontal excacation pattern
System.
The present embodiment specific implementation process：
Refering to Fig. 1, deep instruction system is dug by the dredger and will collect grab bucket decentralization sensor, grab bucket opening sensing
Device, grab claw angular transducer, the signal transmission of reset signal sensor carry out calculating process to central processing unit, so as to obtain
Count tidal level grab bucket depth, grab bucket to balance staff X distances and grab bucket to the Y distances of balance staff, the coordinate of the coordinate axess is former
At the water surface at balance staff center, X-axis is perpendicularly oriented to starboard to point, and Y-axis points to ship stern parallel to hull center line, and Z axis point to the earth's core.It is multiple
Position signal transducer mainly provides the reset signal of the grab claw anglec of rotation, for the zero correction of the grab claw anglec of rotation, carries
High measurement accuracy.The system also has good in interactive function, can be input into, correct hull parameters, it is also possible to will by output interface
Data transfer after process realizes data sharing to network.
Refering to Fig. 2, this monitoring system is realized in the form of C/S (client/server).System is first by service
Data acquisition program collection whole system desired data information on device, then, data acquisition program will gather the data come up
Store in SQL2000 data bases, be distributed in bridge both sides and plotting table on computer as client access server
On data base, and in real time show newly gather the data come up, with this realize grab bucket attitude data real-time display
Upper computer software by grab bucket attitude data intuitively shown, make operator preferably grasp the work of grab bucket
State, enables grab bucket more accurately to transfer to specified location and depth.
The present embodiment has described monitoring grab bucket attitude accurately, and attitude information is shown in real time, monitoring result directly perceivedization etc.
Good effect；Can also be by the process to attitude data of grabbing bucket, calculating, (full bucket slightly dig, determines for the different mode of operations of grabbing bucket of realization
Deep-cut pick, level excavate) under automatically control, substantially increase dredging efficiency.
Claims (5)
1. a kind of grab boat grab bucket attitude measurement system, is characterized in that：Grab boat grab bucket attitude measurement system includes
GPS, compass, grab claw angular sensor, drauht sensor, arm obliquity sensor, grab bucket decentralization depth sensing
Device, grab bucket opening degree sensor and computer, GPS, compass, drauht sensor, arm obliquity sensor, grab claw rotation
Angular transducer, grab bucket decentralization depth transducer and grab bucket opening degree sensor connect computer, GPS, sieve by data-interface
Jing and grab claw angular sensor are used to measuring grab bucket plane positioning, drauht sensor, arm obliquity sensor, grab
Bucket decentralization depth transducer, grab bucket opening degree sensor are used to measure grab bucket depth, grab bucket opening degree.
2. grab boat grab bucket attitude measurement system according to claim 1, is characterized in that：The grab claw anglec of rotation is passed
Sensor transmits pivoting angle data information of the arm relative to hull, and arm luffing angle sensor transmissions arm is relative to hull
Luffing angle data message.
3. grab boat grab bucket attitude measurement system according to claim 1, is characterized in that：Grab bucket decentralization depth sensing
Device is the long measurement encoder on winch, and measurement grab bucket decentralization rope capacity obtains data message.
4. grab boat grab bucket attitude measurement system according to claim 1, is characterized in that：Grab bucket opening degree sensor
It is the long measurement encoder on winch, measurement grab bucket folding rope capacity obtains data message.
5. the grab boat grab bucket attitude measurement system according to claim 1,2,3 or 4, is characterized in that：Computer bag
Server and operator's terminal are included, server is equipped with monitoring system, receive, process grab bucket attitude measurement information, by operator
Terminal carries out grab boat grab bucket Gesture operation and display, realizes that full bucket slightly digs, depthkeeping is excavated or horizontal excacation pattern
Lower grab bucket is automatically controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611247235.6A CN106546211A (en) | 2016-12-29 | 2016-12-29 | A kind of grab boat grab bucket attitude measurement system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611247235.6A CN106546211A (en) | 2016-12-29 | 2016-12-29 | A kind of grab boat grab bucket attitude measurement system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106546211A true CN106546211A (en) | 2017-03-29 |
Family
ID=58396362
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611247235.6A Pending CN106546211A (en) | 2016-12-29 | 2016-12-29 | A kind of grab boat grab bucket attitude measurement system |
Country Status (1)
| Country | Link |
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| CN (1) | CN106546211A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107326956A (en) * | 2017-06-21 | 2017-11-07 | 中交广州航道局有限公司 | A kind of grab bucket of dredger is flat to dig control method and its system |
| CN109138018A (en) * | 2018-09-07 | 2019-01-04 | 中交广州航道局有限公司 | Control method of grabbing bucket and system, computer equipment, computer storage medium |
| CN110717680A (en) * | 2019-10-14 | 2020-01-21 | 集美大学 | Monitoring method and system for dredging operation of dredging ship |
| CN113044721A (en) * | 2019-12-26 | 2021-06-29 | 天津港焦炭码头有限公司 | Portal crane operation attitude control system and method |
| CN114150724A (en) * | 2021-11-08 | 2022-03-08 | 中交疏浚技术装备国家工程研究中心有限公司 | Fine excavation control method of grab dredger based on Newton iteration method |
| WO2024037120A1 (en) * | 2022-08-19 | 2024-02-22 | 中交广州航道局有限公司 | Precise positioning system for hydraulic impact hammer |
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| CN104030167A (en) * | 2013-03-04 | 2014-09-10 | 宁夏嘉翔自控技术有限公司 | Electric control system for bridge grabbing crane |
| CN204788241U (en) * | 2015-06-26 | 2015-11-18 | 长江重庆航道工程局 | Dredger grab bucket monitoring system |
| CN205187698U (en) * | 2015-11-24 | 2016-04-27 | 杭州华新机电工程有限公司 | Ship unloaders overheadhoist |
| CN206362327U (en) * | 2016-12-29 | 2017-07-28 | 中交天津港航勘察设计研究院有限公司 | Grab boat grab bucket attitude measurement system |
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Patent Citations (6)
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| CN201489359U (en) * | 2009-08-07 | 2010-05-26 | 上海达华测绘有限公司 | Monitoring platform of grab dredger |
| CN202414811U (en) * | 2011-12-09 | 2012-09-05 | 冯涛 | Anti-shaking assembling and disassembling bridge for grab bucket |
| CN104030167A (en) * | 2013-03-04 | 2014-09-10 | 宁夏嘉翔自控技术有限公司 | Electric control system for bridge grabbing crane |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107326956A (en) * | 2017-06-21 | 2017-11-07 | 中交广州航道局有限公司 | A kind of grab bucket of dredger is flat to dig control method and its system |
| CN107326956B (en) * | 2017-06-21 | 2020-11-20 | 中交广州航道局有限公司 | Grab bucket horizontal excavation control method and system of dredger |
| CN109138018A (en) * | 2018-09-07 | 2019-01-04 | 中交广州航道局有限公司 | Control method of grabbing bucket and system, computer equipment, computer storage medium |
| CN109138018B (en) * | 2018-09-07 | 2021-08-20 | 中交广州航道局有限公司 | Grab bucket control method and system, computer equipment and computer storage medium |
| CN110717680A (en) * | 2019-10-14 | 2020-01-21 | 集美大学 | Monitoring method and system for dredging operation of dredging ship |
| CN113044721A (en) * | 2019-12-26 | 2021-06-29 | 天津港焦炭码头有限公司 | Portal crane operation attitude control system and method |
| CN113044721B (en) * | 2019-12-26 | 2024-05-24 | 天津港焦炭码头有限公司 | Portal crane operation attitude control system and method |
| CN114150724A (en) * | 2021-11-08 | 2022-03-08 | 中交疏浚技术装备国家工程研究中心有限公司 | Fine excavation control method of grab dredger based on Newton iteration method |
| WO2024037120A1 (en) * | 2022-08-19 | 2024-02-22 | 中交广州航道局有限公司 | Precise positioning system for hydraulic impact hammer |
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Application publication date: 20170329 |