CN106564815B - Control device of gantry crane - Google Patents
Control device of gantry crane Download PDFInfo
- Publication number
- CN106564815B CN106564815B CN201610942551.9A CN201610942551A CN106564815B CN 106564815 B CN106564815 B CN 106564815B CN 201610942551 A CN201610942551 A CN 201610942551A CN 106564815 B CN106564815 B CN 106564815B
- Authority
- CN
- China
- Prior art keywords
- speed
- adjusting
- real
- module
- time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
Abstract
The invention provides a control device of a gantry crane, which is characterized in that a position acquisition module is used for acquiring the real-time position of the gantry crane, and then a processing module is used for determining a first adjusting speed according to the real-time position, the maximum speed and a first target position, so that a speed adjusting module is used for adjusting the real-time speed according to the first adjusting speed to obtain a first correcting speed. In the whole process, the position is obtained in real time, so that the adjustment is correspondingly made, and the movement of the portal crane can be efficiently carried out by the whole adjustment.
Description
Technical Field
The invention relates to the field of mechanical control, in particular to a control device of a gantry crane.
Background
In contrast to the demand for high efficiency of cargo distribution, which is becoming more and more urgent along with the high-speed integration of global trade, the demand for efficient cargo transportation of portal cranes used in freight hubs such as harbors is becoming a problem to be solved in the art.
Although a set of implementation modes for controlling the driving mechanism to accelerate and decelerate is provided in the control mechanism of the existing portal crane, the driving mechanism is often controlled by dividing the operation into an acceleration stage, a uniform speed stage and a deceleration stage in the scheme, wherein once the driving mechanism is triggered to decelerate, the driving mechanism starts to decelerate so as to ensure the safe operation of the portal crane. However, this stepwise control increases the overall transportation time and reduces the transportation efficiency.
Disclosure of Invention
The invention provides a control device of a gantry crane, which is used for improving the carrying efficiency.
A first aspect of the invention provides a control device for a portal crane, the portal crane including: actuating mechanism, get thing mechanism, hawser, cantilever crane, slewing mechanism and control room include: the device comprises a position acquisition module, a processing module and a speed adjustment module;
the position acquisition module and the speed adjustment module are respectively connected with the processing module, and the speed adjustment module is respectively connected with the driving mechanism and the rotating mechanism;
the position acquisition module is used for acquiring the real-time position of the portal crane;
the processing module is used for determining a first adjusting speed according to the real-time position, the maximum speed and a first target position, wherein the maximum speed is the maximum speed which can be allowed to move by the portal crane;
and the speed adjusting module adjusts the real-time speed to a first correction speed according to the first adjusting speed.
Optionally, the position obtaining module includes: the positioning chip and the first processing unit;
the positioning chip is used for acquiring the real-time position and the first target position;
the first processing unit is used for obtaining a real-time distance according to the real-time position and the first target position;
optionally, the method further comprises: an angle acquisition module;
the angle acquisition module is arranged on the fetching mechanism and is connected with the processing module;
the angle acquisition module is used for acquiring an inclination angle of the fetching mechanism, wherein the inclination angle is an included angle between a cable connecting the fetching mechanism and the gravity direction;
the processing module is further used for generating a second adjusting speed if the inclination angle is larger than or equal to a preset angle;
the speed adjusting module is further configured to adjust the first correction speed to a second correction speed according to the second adjustment speed.
Optionally, the processing module is further configured to: acquiring a preset moving path of the fetching mechanism; the predetermined moving path comprises a predetermined moving path of a first plane and a predetermined moving path of a second plane;
the first plane is a plane perpendicular to the ground plane; the second plane is a plane parallel to the ground plane;
when it is determined that an obstacle exists on a predetermined moving path of the first plane, determining a touching time period with the obstacle;
generating a third adjusting speed according to the duration and the real-time speed;
the speed adjusting module is further configured to adjust the first correction speed to a third correction speed according to the third adjustment speed.
Optionally, the processing module is further configured to generate a fourth adjustment speed and/or a first rotation speed;
the speed adjusting module is further used for lifting the fetching mechanism to a first height at the fourth adjusting speed; and/or rotating the rotating mechanism to a first position at the first rotational speed.
Optionally, the method further comprises: a motor control module connected to the cable;
the motor control module is used for limiting the height position of the fetching mechanism to a second height by controlling the cable when the real-time position is determined to be changed; and/or the processing module is further used for setting the rotating mechanism to be in a closed state when the real-time position is determined to be changed.
Optionally, the processing module is further configured to set the rotating mechanism to a standby state when the real-time position is not changed within the first time period.
Optionally, the method further comprises: a communication port;
the communication port is connected with an operation table in the control room, and the communication port is also connected with the processing module;
the communication port is used for receiving a speed adjusting message generated by an operation console, and the speed adjusting message comprises a manual adjusting speed;
and the processing module is also used for adjusting the real-time speed to a fourth correction speed according to the manual adjusting speed.
Optionally, the position obtaining module is further configured to obtain a second destination position;
the processing module is further configured to determine a fifth adjustment speed according to the real-time position, the maximum speed, and the second destination position when the first destination position is changed to the second destination position;
and the speed adjusting module is also used for adjusting the real-time speed to a fifth correction speed according to the fifth adjusting speed.
According to the control device of the portal crane provided by the embodiment of the invention, the position acquisition module is used for acquiring the real-time position of the portal crane, and then the processing module is used for determining the first adjusting speed according to the real-time position, the maximum speed and the first target position, so that the speed adjusting module is used for adjusting the real-time speed according to the first adjusting speed to obtain the first correcting speed. In the whole process, the position is obtained in real time, so that the adjustment is correspondingly made, and the movement of the portal crane can be efficiently carried out by the whole adjustment.
Drawings
Fig. 1A is a schematic structural diagram of a gantry crane according to an embodiment of the present invention;
fig. 1B is a schematic diagram of a moving path of a fetching mechanism according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a control device of a gantry crane according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of another control device of a gantry crane according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of another control device of a gantry crane according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of another control device of a gantry crane according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of another control device of a gantry crane according to an embodiment of the present invention.
Detailed Description
Fig. 1A is a schematic structural diagram of a gantry crane according to an embodiment of the present invention, and fig. 1B is a schematic moving path diagram of a fetching mechanism according to an embodiment of the present invention; referring to fig. 1A, the gantry crane includes: the device comprises a driving mechanism, a fetching mechanism, a cable, an arm support, a rotating mechanism and a control room; wherein the driving mechanism moves on the fixed track; the driving mechanism is connected with the rotating mechanism;
the rotating mechanism is used for rotating on an axis vertical to the contact surface of the driving mechanism; the rotating mechanism is provided with a control room and an arm support;
the control room is provided with an operation desk, processing equipment and communication equipment for the relevant control of operators; the control device of the portal crane provided by the embodiment of the invention can be controlled by the processing equipment;
the arm support is connected with the fetching mechanism through a cable; the arm support is provided with a motor for stretching the cable, so that the height control of the fetching mechanism is realized; meanwhile, the arm support can be inclined at a certain angle, so that extension distances of different distances are obtained.
Referring to fig. 1B, when the driving mechanism moves along the ground track, the rotation mechanism and the cable can move simultaneously, so that the fetching mechanism can move on two planes. The fetching mechanism has a preset moving path, namely the preset moving path of the fetching mechanism on a first plane; and a predetermined moving path of the fetching mechanism on the second plane; wherein, the first plane is a plane vertical to the ground plane; the second plane is a plane parallel to the ground plane. In order to avoid collision between the fetching mechanism and the obstacle during transportation, the embodiment of the invention also provides a mechanism for avoiding the obstacle, which will be discussed in detail below.
The control device of the portal crane according to the embodiment of the present invention is realized based on the portal crane, and the control device will be described below.
Fig. 2 is a schematic structural diagram of a control device of a gantry crane according to an embodiment of the present invention, and referring to fig. 2, the control device includes: the device comprises a position acquisition module, a processing module and a speed adjustment module;
the position acquisition module and the speed adjustment module are respectively connected with the processing module, and the speed adjustment module is respectively connected with the driving mechanism and the rotating mechanism;
the position acquisition module is used for acquiring the real-time position of the portal crane;
the processing module is used for determining a first adjusting speed according to the real-time position, the maximum speed and a first target position, wherein the maximum speed is the maximum speed which can be allowed to move by the portal crane;
and the speed adjusting module adjusts the real-time speed to a first correction speed according to the first adjusting speed.
According to the control device of the portal crane provided by the embodiment of the invention, the position acquisition module is used for acquiring the real-time position of the portal crane, and then the processing module is used for determining the first adjusting speed according to the real-time position, the maximum speed and the first target position, so that the speed adjusting module is used for adjusting the real-time speed according to the first adjusting speed to obtain the first correcting speed. In the whole process, the position is obtained in real time, so that the adjustment is correspondingly made, and the movement of the portal crane can be efficiently carried out by the whole adjustment.
For example, when the deceleration is performed, the embodiment of the present invention does not perform the deceleration immediately as the related art receives the deceleration indication. Because some scene high pedestal jib cranes do not reach the highest speed per hour or trigger the speed per hour that slows down, consequently the speed reduction mode of prior art often can prolong the transport time, reduce efficiency. The method provided by the embodiment can determine the specific deceleration value according to the real-time distance, and reduce the speed of the portal crane to a reasonable speed through the deceleration value. The transportation efficiency is improved while the transportation safety is ensured.
Further, on the basis of fig. 2, fig. 3 is a schematic structural diagram of a control device of another portal jib crane according to an embodiment of the present invention, and referring to fig. 3, the position acquisition module further includes: the positioning chip and the first processing unit;
the positioning chip is used for acquiring the real-time position and the first target position;
the first processing unit is used for obtaining a real-time distance according to the real-time position and the first target position;
because the fetching mechanism can move together in the moving process of the portal crane, the fetching mechanism can carry goods, and the goods can incline to a certain extent in the moving process, the embodiment of the invention provides a guarantee mechanism in order to ensure the transportation safety of the goods. Specifically, on the basis of fig. 3, fig. 4 is a schematic structural diagram of another control device of a portal crane according to an embodiment of the present invention, and referring to fig. 4, the control device further includes: an angle acquisition module;
the angle acquisition module is arranged on the fetching mechanism and is connected with the processing module;
the angle acquisition module is used for acquiring an inclination angle of the fetching mechanism, wherein the inclination angle is an included angle between a cable connecting the fetching mechanism and the gravity direction;
the processing module is further used for generating a second adjusting speed if the inclination angle is larger than or equal to a preset angle;
the speed adjusting module is further configured to adjust the first correction speed to a second correction speed according to the second adjustment speed.
The embodiment of the present invention further provides a mechanism for avoiding an obstacle, and optionally, the processing module is further configured to:
acquiring a preset moving path of the fetching mechanism; the predetermined moving path comprises a predetermined moving path of a first plane and a predetermined moving path of a second plane;
when it is determined that an obstacle exists on a predetermined moving path of the first plane, determining a touching time period with the obstacle;
generating a third adjusting speed according to the duration and the real-time speed;
the speed adjusting module is further configured to adjust the first correction speed to a third correction speed according to the third adjustment speed.
Specifically, how to obtain whether an obstacle exists on the predetermined moving path may be achieved through various methods, such as a distance sensor, an image recognition technology, a sonar technology, and the like, and the specific implementation is not limited herein.
Further, in order to avoid the obstacle more accurately, optionally, the processing module is further configured to generate a fourth adjustment speed and/or a first rotation speed;
the speed adjusting module is further used for lifting the fetching mechanism to a first height at the fourth adjusting speed; and/or rotating the rotating mechanism to a first position at the first rotational speed.
Optionally, for some scenarios, when the gantry crane moves, the fetching mechanism should be prevented from moving as much as possible to ensure the safety of cargo transportation, and therefore, the relative position between the fetching mechanism and the main body of the gantry crane needs to be defined, for this reason, an embodiment of the present invention provides a mechanism for limiting the fetching mechanism, and specifically, on the basis of fig. 2, fig. 5 is a schematic structural diagram of another control device of the gantry crane provided by the embodiment of the present invention, and referring to fig. 5, the device further includes: a motor control module connected to the cable;
the motor control module is used for limiting the height position of the fetching mechanism to a second height by controlling the cable when the real-time position is determined to be changed; and/or the presence of a gas in the gas,
and the processing module is also used for setting the rotating mechanism to be in a closed state when the real-time position is determined to be changed.
Further, if the gantry crane does not displace within a certain time, it can be determined that the gantry crane is fixed in position, and at this time, the rotating mechanism can be allowed to rotate, that is, the processing module is further configured to set the rotating mechanism to a standby state when the real-time position does not change within a first time period.
Optionally, for the control device provided in this embodiment, a set of human control mechanism may be further added, so that in an emergency, an operator directly controls the portal crane through the console, specifically, on the basis of fig. 2, fig. 6 is a schematic structural diagram of another portal crane control device provided in this embodiment of the present invention, and referring to fig. 6, the device further includes: a communication port;
the communication port is connected with an operation table in the control room, and the communication port is also connected with the processing module;
the communication port is used for receiving a speed adjusting message generated by an operation console, and the speed adjusting message comprises a manual adjusting speed;
and the processing module is also used for adjusting the real-time speed to a fourth correction speed according to the manual adjusting speed.
Further, the first destination position described in the above embodiment may be changed, and when the destination position is changed, the corresponding speed adjustment value is affected, so the embodiment of the present invention further provides an adjustment mechanism, specifically:
when the first destination position is changed into a second destination position, determining a fifth adjusting speed according to the real-time position, the maximum speed and the second destination position;
and adjusting the real-time speed to a fifth correction speed according to the fifth adjustment speed.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (3)
1. A control device of a gantry crane, the gantry crane comprising: actuating mechanism, get thing mechanism, hawser, cantilever crane, slewing mechanism and control room, its characterized in that includes: the device comprises a position acquisition module, a processing module and a speed adjustment module;
the position acquisition module and the speed adjustment module are respectively connected with the processing module, and the speed adjustment module is respectively connected with the driving mechanism and the rotating mechanism;
the position acquisition module is used for acquiring the real-time position of the portal crane;
the processing module is used for determining a first adjusting speed according to the real-time position, the maximum speed and a first target position, wherein the maximum speed is the maximum speed which can be allowed to move by the portal crane;
the speed adjusting module adjusts the real-time speed to a first correction speed according to the first adjusting speed;
the position acquisition module includes: the positioning chip and the first processing unit;
the positioning chip is used for acquiring the real-time position and the first target position;
the first processing unit is used for obtaining a real-time distance according to the real-time position and the first target position; the processing module is further configured to:
acquiring a preset moving path of the fetching mechanism; the predetermined moving path comprises a predetermined moving path of a first plane and a predetermined moving path of a second plane;
the first plane is a plane perpendicular to the ground plane; the second plane is a plane parallel to the ground plane; when it is determined that an obstacle exists on a predetermined moving path of the first plane, determining a touching time period with the obstacle;
generating a third adjusting speed according to the duration and the real-time speed;
the speed adjusting module is further configured to adjust the first correction speed to a third correction speed according to the third adjustment speed;
the processing module is further used for generating a fourth adjusting speed and a first rotating speed;
the speed adjusting module is further used for lifting the fetching mechanism to a first height at the fourth adjusting speed and rotating the rotating mechanism to a first position at the first rotating speed;
the cable is connected with the motor control module;
the motor control module is used for limiting the height position of the fetching mechanism to a second height by controlling the cable when the real-time position is determined to be changed, and the processing module is also used for setting the rotating mechanism to be in a closed state when the real-time position is determined to be changed;
the processing module is further used for setting the rotating mechanism to be in a standby state when the real-time position is not changed within a first time length.
2. The apparatus of claim 1, further comprising: a communication port;
the communication port is connected with an operation table in the control room, and the communication port is also connected with the processing module;
the communication port is used for receiving a speed adjusting message generated by an operation console, and the speed adjusting message comprises a manual adjusting speed;
and the processing module is also used for adjusting the real-time speed to a fourth correction speed according to the manual adjusting speed.
3. The apparatus of claim 2, wherein the location obtaining module is further configured to obtain a second destination location;
the processing module is further configured to determine a fifth adjustment speed according to the real-time position, the maximum speed, and the second destination position when the first destination position is changed to the second destination position;
and the speed adjusting module is also used for adjusting the real-time speed to a fifth correction speed according to the fifth adjusting speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610942551.9A CN106564815B (en) | 2016-10-26 | 2016-10-26 | Control device of gantry crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610942551.9A CN106564815B (en) | 2016-10-26 | 2016-10-26 | Control device of gantry crane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106564815A CN106564815A (en) | 2017-04-19 |
| CN106564815B true CN106564815B (en) | 2020-02-07 |
Family
ID=58534796
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610942551.9A Active CN106564815B (en) | 2016-10-26 | 2016-10-26 | Control device of gantry crane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106564815B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111285263A (en) * | 2018-12-06 | 2020-06-16 | 西华大学 | Precise positioning method for monorail crane |
| CN111689395A (en) * | 2020-05-14 | 2020-09-22 | 河北雷萨重型工程机械有限责任公司 | Crane, control system and method for vertical and horizontal movement of lifting hook of crane and vehicle |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101659379B (en) * | 2009-08-27 | 2012-02-08 | 三一汽车制造有限公司 | Method, system and device for controlling deviation of hanging hook |
| CN101665216B (en) * | 2009-09-29 | 2012-02-08 | 三一集团有限公司 | Control method of move track of container crane, system and device |
| CN103145040B (en) * | 2013-03-11 | 2015-02-11 | 中联重科股份有限公司 | Crane and lifting hook lifting control method, lifting hook lifting control device and lifting hook lifting control system thereof |
| CN103241658B (en) * | 2013-04-27 | 2015-09-23 | 广州市特种机电设备检测研究院 | Based on vibrative mechanism health monitoring and the safety pre-warning system of Internet of Things |
| CN103466452B (en) * | 2013-08-23 | 2014-12-17 | 苏州汇川技术有限公司 | Crane operation control method and system |
| CN103496635B (en) * | 2013-09-26 | 2015-08-05 | 尤洛卡矿业安全工程股份有限公司 | A kind of monorail crane locomotive hill start control setup and method |
| CN103979422B (en) * | 2014-05-26 | 2015-11-18 | 中联重科股份有限公司 | The control system of crane safety running region, method, device and hoisting crane |
| KR20160063503A (en) * | 2014-11-26 | 2016-06-07 | 현대중공업 주식회사 | Apparatus for measuring crane axial crack and method for measuring crane axial crack using the same |
| CN206266098U (en) * | 2016-10-26 | 2017-06-20 | 泰富重工制造有限公司 | A kind of control device of high pedestal jib crane |
-
2016
- 2016-10-26 CN CN201610942551.9A patent/CN106564815B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106564815A (en) | 2017-04-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11225275B2 (en) | Method, system and apparatus for self-driving vehicle obstacle avoidance | |
| US20160261798A1 (en) | Blurless image capturing system | |
| CN106564815B (en) | Control device of gantry crane | |
| US20160016763A1 (en) | Control device using image tracking technology for controlling overhead crane system | |
| JP2886981B2 (en) | Cargo transfer and positioning by container crane | |
| JP2019156609A (en) | Crane and control method of crane | |
| JP2016189660A (en) | Inspection apparatus and inspection method | |
| CN109356614B (en) | Tunnel injection machine control equipment and method and tunnel injection machine | |
| CN114684717B (en) | Automatic gantry crane grab bucket control method, system, equipment and storage medium | |
| CN111422739A (en) | Electronic anti-swing method of bridge crane based on vision technology | |
| KR101072841B1 (en) | The jib crane control apparatus | |
| WO2019138616A1 (en) | Hoisting machine | |
| CN108068697A (en) | Camera system, method and automobile based on automobile | |
| CN206266098U (en) | A kind of control device of high pedestal jib crane | |
| KR20150110884A (en) | crane | |
| CN109322513B (en) | Emergency supporting mechanism for universal vehicle platform | |
| CN107986163A (en) | A kind of control method of crane | |
| JP2023113608A (en) | flying object | |
| KR101362421B1 (en) | Apparatus and Method for Controlling Mevement of Crane | |
| JP2019199357A (en) | Anti-sway control guidance system for load, method and program therefor | |
| CN112830279B (en) | Automatic rotating device and method for loading and unloading materials | |
| TWI554463B (en) | Adaptive fuzzy slide image tracking control device for 3d trolley system | |
| JP2019048681A (en) | Cargo conveying system, cargo conveying device and cargo conveying method | |
| CN107370879A (en) | Control transverse screen and method, apparatus, head and the storage medium of vertical screen mode switching | |
| JP2022131380A (en) | Deck crane system, control device of deck crane, and control method of deck crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |