CN107176541B - A kind of industrial intelligent lifting overhead traveling crane feed bin, which disappears, shakes control method - Google Patents
A kind of industrial intelligent lifting overhead traveling crane feed bin, which disappears, shakes control method Download PDFInfo
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- CN107176541B CN107176541B CN201710534542.0A CN201710534542A CN107176541B CN 107176541 B CN107176541 B CN 107176541B CN 201710534542 A CN201710534542 A CN 201710534542A CN 107176541 B CN107176541 B CN 107176541B
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- alignment sensor
- angle
- oscillation
- traveling crane
- overhead traveling
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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
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
Abstract
Disappear the invention discloses a kind of industrial intelligent lifting overhead traveling crane feed bin and shake control method, is related to industrial overhead traveling crane field, the method includes：First, the first alignment sensor, the second alignment sensor and the third alignment sensor being set on crossbeam that continuous acquisition is set in overhead traveling crane lifting rope axial direction, the position relationship of the 4th alignment sensor between any two, and according to position relationship, the angle of oscillation θ of overhead traveling crane lifting rope described in continuous solvingi；Then, judge whether the angle of oscillation exceeds threshold value, if the angle of oscillation exceeds threshold value, according to position relationship is stated, solve the horizontal displacement distance L for disappearing and shaking needed for overhead traveling crane described in operation；Finally, according to the horizontal displacement distance L, the overhead traveling crane movement is controlled.The present invention is obtained the angle of oscillation of overhead traveling crane feed bin, and carry out mobile control to overhead traveling crane according to angle of oscillation, is realized the rolling that disappears, effectively reduce feed bin and stop the stand-by period shaking naturally, effectively improve the efficiency of material loading and unloading by the distance between alignment sensor relationship.
Description
Technical field
The present invention relates to industrial overhead traveling crane fields, disappear more particularly to a kind of industrial intelligent lifting overhead traveling crane feed bin and shake controlling party
Method.
Background technology
In the industrial production, lifting overhead traveling crane is usually used in transport production material, finished product, is the important equipment of industrialized production.
In the prior art, when feeding intake or loading article, the feed bin of overhead traveling crane can rock, and influence the handing-over efficiency of material.
Invention content
In view of the drawbacks described above of the prior art, technical problem to be solved by the invention is to provide a kind of industrial intelligents to hang
Dress overhead traveling crane feed bin, which disappears, shakes control method, it is intended to carry out the rolling that disappears to feed bin.
To achieve the above object, disappear the present invention provides a kind of industrial intelligent lifting overhead traveling crane feed bin and shake control method, it is special
Sign is, the method includes：
S1, continuous acquisition are set to the first alignment sensor, the second alignment sensor and setting in overhead traveling crane lifting rope axial direction
In third alignment sensor, the position relationship of the 4th alignment sensor between any two on crossbeam；
S2, determined according to first alignment sensor, the second alignment sensor, third alignment sensor and the described 4th
The position relationship between level sensor, the angle of oscillation θ of overhead traveling crane lifting rope described in continuous solvingi；Wherein, the i meets 1≤i
≤ I, the i are positive integer, and the I is this angle of oscillation number for shaking and operating and solving obtain recently that disappears；
S3, judge whether the angle of oscillation exceeds threshold value, if the angle of oscillation is less than threshold value, then follow the steps S4；
S4, determined according to first alignment sensor, the second alignment sensor, third alignment sensor and the described 4th
The position relationship between level sensor solves the horizontal displacement distance L for disappearing and shaking needed for overhead traveling crane described in operation；
S5, according to the horizontal displacement distance L, control the overhead traveling crane movement.
In the technical scheme, by the position relationship between alignment sensor, the angle of oscillation of overhead traveling crane feed bin, and root are obtained
Mobile control is carried out to overhead traveling crane according to angle of oscillation, the rolling that disappears is realized, effectively reduces feed bin and stop the stand-by period shaking naturally, effectively carry
High material loads and the efficiency of unloading.
Furthermore, the step S2 further includes：
Obtain the first triangle that first alignment sensor, third alignment sensor, the 4th alignment sensor are constituted
Area SΔ1iAnd the second gore that second alignment sensor, third alignment sensor, the 4th alignment sensor are constituted
Product SΔ2i；
Solve the angle of oscillation θ of the overhead traveling crane lifting ropei, describedWherein, described A, B, C, D
The position of respectively described first alignment sensor, the second alignment sensor, third alignment sensor, the 4th alignment sensor,
The lABFor the distance of first alignment sensor, the second alignment sensor, the lCDFor the third alignment sensor,
The distance of 4th alignment sensor.
In the technical scheme, pass through the first triangle area SΔ1i, the second triangle area SΔ2i, the first orientation sensing
The distance l of device and the second alignment sensorAB, third alignment sensor, the 4th alignment sensor distance lCD, solve and shaken
Pivot angle θi, the acquisition precision and efficiency of angle of oscillation are effectively improved using the technical solution, raising, which disappears, shakes manipulation accuracy.
In one embodiment, the step S2 further includes：
According to first alignment sensor, the second alignment sensor, third alignment sensor, the 4th alignment sensor it
Between position relationship, solve the first triangle area SΔ1iWith the second triangle area SΔ2i；Wherein,
It is described
It is described
The pACDFor the first triangle area SΔ1iSemi-perimeter, the pBCDFor second triangle area
SΔ2iSemi-perimeter；
The lAC、lAD、lCD、lBC、lBDRespectively described first alignment sensor, the second alignment sensor, third positioning
The distance between sensor, the 4th alignment sensor.
In the technical scheme, by using the first alignment sensor, the second alignment sensor, third alignment sensor,
The distance between 4th alignment sensor lAC、lAD、lCD、lBC、lBD, solve and obtain the first triangle area SΔ1i, the second triangle
Area SΔ2i。
In one embodiment, the step S3 further includes：
From the I angle of oscillation θiIn, choose angle of oscillation maximum value θmax；
By the angle of oscillation maximum value θmaxWith first threshold θth1Compare, if the angle of oscillation maximum value θmaxLess than described
First threshold θth1, then follow the steps S4.It in the technical scheme, only need to be by choosing angle of oscillation maximum value θmax, and with first
Threshold θth1Compare, solving speed is fast.
In one embodiment, the step S3 further includes：
To the I angle of oscillation θiIt is ranked up by size, obtains first and wave sequence { θn}；The n meets 1≤n
≤I；
Sequence { θ is waved from described firstnIn choose before k angle of oscillation higher value { θk}；The k meets 1≤k ＜ n；
Obtain the very big mean value of angle of oscillationIt is described
By the very big mean value of the angle of oscillationWith second threshold θth2Compare, if the very big mean value of the angle of oscillationMore than institute
State second threshold θth2, then follow the steps S4.
In the technical scheme, by choosing several higher angle of oscillation, and its average value is taken, effectively improves acquisition
The uniformity and stability of angle of oscillation maximum, raising, which disappears, shakes performance accuracy.
In one embodiment, the step S4 further includes：
According to the angle of oscillation θi, obtain and wave peak angle θtop；
Peak angle θ is waved according to describedtop, obtain the horizontal displacement distance L, the L=rcos θtop, the r is to shake
Put radius.
In one embodiment, first locator is arranged on waving the center of circle, and the second locator is arranged in overhead traveling crane
Feed bin position of centre of gravity, the r=lAB.In the technical scheme, it reduces by a measured value, lowers system cost.
In one embodiment, the step S5 further includes：
The angle of oscillation θ is acquired in real timei, to the angle of oscillation θiNumerical values recited judged with trend, if described wave
Angle θiIn increase tendency and the θi≥αθmax, then according to the horizontal displacement distance L, the overhead traveling crane movement is controlled；Described 0
α≤1 ＜.
In the technical scheme, by angle of oscillation θjWhen in increase tendency, mobile overhead crane realizes the rolling that disappears, and improves the rolling that disappears
Precision.
In one embodiment, in the step S1, the position relationship includes：
First alignment sensor, the second alignment sensor, third alignment sensor and the 4th alignment sensor two
The distance between two；
Or the first triangle that first alignment sensor, third alignment sensor, the 4th alignment sensor are constituted
The second triangle area that area and second alignment sensor, third alignment sensor, the 4th alignment sensor are constituted.
The beneficial effects of the invention are as follows：In the present invention, by the position relationship between alignment sensor, overhead traveling crane material is obtained
The angle of oscillation in storehouse, and mobile control is carried out to overhead traveling crane according to angle of oscillation, it realizes the rolling that disappears, effectively reduces feed bin and stop shaking naturally
Stand-by period effectively improves the efficiency that material is loaded and unloaded.
Description of the drawings
Fig. 1 be the embodiment of the invention provide a kind of industrial intelligent lifting overhead traveling crane feed bin disappear shake control method
Flow diagram；
Fig. 2 is a kind of structural schematic diagram for industrial intelligent lifting Overhead travelling crane system that the embodiment of the invention provides；
Fig. 3 be the overhead traveling crane of the embodiment of the invention disappear shake angle of oscillation solve geometrical model figure.
Specific implementation mode
The invention will be further described with reference to the accompanying drawings and examples：
First, necessary explanation is done to industrial intelligent lifting Overhead travelling crane system.As shown in Fig. 2, lifting overhead traveling crane 101 is set to crossbeam
On 104, overhead traveling crane 101 is connect with suspension hook by lifting rope 103, and feed bin 102 has been hung below suspension hook.
It is as follows, it describes a kind of industrial intelligent lifting overhead traveling crane feed bin provided in this embodiment emphatically and disappears to shake control method.
As shown in Figs. 1-3, in the first embodiment of the invention, a kind of industrial intelligent lifting overhead traveling crane feed bin is provided disappears and shake control
Method, which is characterized in that the method includes：
S1, continuous acquisition are set to the first alignment sensor 105, the second alignment sensor 106 in overhead traveling crane lifting rope axial direction
With third alignment sensor 107, the position relationship of the 4th alignment sensor 108 between any two being set on crossbeam；
It is noted that overhead traveling crane lifting rope refer to axially by the setting of the first alignment sensor 105 with rock steel wire and wave
In the identical Overhead travelling crane system in angle；For example, being arranged the first alignment sensor 105 on steel wire, the second alignment sensor 106 is set
It sets in the material bin in the overhead traveling crane lifting rope axial direction below overhead traveling crane drag hook, though at this point, the second no longer overhead traveling crane of alignment sensor 106 is hung
On rope, but still in overhead traveling crane lifting rope axial direction；In addition, being solved in error range rocking result, the second alignment sensor 106
There can be offset capacity in overhead traveling crane lifting rope axial direction.In Fig. 2, two kinds of settings of the second alignment sensor 106 are set forth
Position B ' and B ".
S2, according to first alignment sensor 105, the second alignment sensor 106, third alignment sensor 107 and
The position relationship between 4th alignment sensor 108, the angle of oscillation θ of overhead traveling crane lifting rope described in continuous solvingi；Wherein,
The i meets 1≤i≤I, and the i is positive integer, and the I is this angle of oscillation number for shaking and operating and solving obtain recently that disappears；
In the present embodiment, this disappear shake operation refer to it is upper it is primary disappear shake mobile overhead crane after disappearing shake data acquisition with
Solve operation；In order to which data acquire and solve accurately, it is preferred that choose nearest I groups data and be acquired and solve.
In the present embodiment, what the angle of oscillation was used to characterize overhead traveling crane carry object waves degree；In the present embodiment, with
The first straight line and the positioning of third alignment sensor the 107, the 4th that one alignment sensor 105, the second alignment sensor 106 are constituted pass
Angle between the second straight line that sensor 108 is constituted characterizes angle of oscillation, passes through the geometry of four alignment sensors between any two
Relationship can effectively obtain angle of oscillation.
It is noted that in step sl, the position relationship before continuous acquisition alignment sensor refers in sensor
Under the frequency acquisition precision that can be realized, the position relationship is acquired, wherein the frequency of acquisition can be fixed,
Uniformly, can also be non-homogeneous.Corresponding continuous solving angle of oscillation can be in the case where considering solution ability, to shaking
Pivot angle data are solved.Since industrial overhead traveling crane is when taking fortune material or other articles, can rock, the position between alignment sensor
It sets relationship also therewith to change, the corresponding angle of oscillation that rocks that overhead traveling crane carries material also changes therewith, needs to orientation sensing
Device position relationship and angle of oscillation acquire and solve in real time.
S3, judge whether the angle of oscillation exceeds threshold value, if the angle of oscillation is less than threshold value, then follow the steps S4；If institute
Angle of oscillation is stated without departing from threshold value, then the overhead traveling crane is without adjustment, that is, it is smaller to rock degree, without carrying out the rolling operation that disappears；
S4, according to first alignment sensor 105, the second alignment sensor 106, third alignment sensor 107 and
The position relationship between 4th alignment sensor 108 solves the horizontal displacement for disappearing and shaking needed for overhead traveling crane described in operation
Distance L；In the present embodiment, by the position relationship between alignment sensor, overhead traveling crane feed bin rocking tendency is solved, and determine day
Horizontal displacement distance L needed for vehicle is to realize the rolling that disappears.
S5, according to the horizontal displacement distance L, control the overhead traveling crane movement.
In the present embodiment, 107 and the 4th alignment sensor 108 of the third alignment sensor is arranged in lifting cross beam
On, the first alignment sensor 105, the second alignment sensor 106 are located at third alignment sensor 107, the 4th orientation sensing at this time
108 downside of device.
In the present embodiment, the step S2 further includes：
Obtain first alignment sensor 105, third alignment sensor 107, the 4th alignment sensor 108 are constituted the
One triangle area SΔ1iAnd second alignment sensor 106, third alignment sensor 107, the 4th alignment sensor 108
The the second triangle area S constitutedΔ2i；
Solve the angle of oscillation θ of the overhead traveling crane lifting ropei, describedWherein, described A, B, C, D
Respectively described first alignment sensor 105, the second alignment sensor 106, third alignment sensor 107, the 4th orientation sensing
The position of device 108, the lABFor the distance of first alignment sensor 105, the second alignment sensor 106, the lCDFor institute
State the distance of third alignment sensor 107, the 4th alignment sensor 108.
L is had no effect on due to wavingAB、lCDSize, so lAB、lCDGenerally fixed value；Optional lAB、lCDIt is default
Value；Optional lAB、lCDFor measured value；
In the present embodiment, the step S2 further includes：
It is fixed according to first alignment sensor 105, the second alignment sensor 106, third alignment sensor the 107, the 4th
Position relationship between level sensor 108 solves the first triangle area SΔ1iWith the second triangle area SΔ2i；Wherein,
It is described
It is described
The pACDFor the first triangle area SΔ1iSemi-perimeter, the pBCDFor second triangle area
SΔ2iSemi-perimeter；It is describedIt is described
The lAC、lAD、lCD、lBC、lBDRespectively described first alignment sensor 105, the second alignment sensor 106,
The distance between three alignment sensors 107, the 4th alignment sensor 108.
Preferably, in the present embodiment, first alignment sensor 105, second is solved by UWB location technologies to position
Sensor 106, third alignment sensor 107, the distance of the 4th alignment sensor 108 between any two；
In an optional embodiment, the step S3 further includes：
From the I angle of oscillation θiIn, choose angle of oscillation maximum value θmax；The θmax=MAX (θi)；
By the angle of oscillation maximum value θmaxWith first threshold θth1Compare, if the angle of oscillation maximum value θmaxLess than described
First threshold θth1, then follow the steps S4.
In another optional embodiment, the step S3 further includes：
To the I angle of oscillation θiIt is ranked up by size, obtains first and wave sequence { θn}；The n meets 1≤n
≤I；
Sequence { θ is waved from described firstnIn choose before k angle of oscillation higher value { θk}；The k meets 1≤k ＜ n；
Obtain the very big mean value of angle of oscillationIt is described
By the very big mean value of the angle of oscillationWith second threshold θth2Compare, if the very big mean value of the angle of oscillationMore than institute
State second threshold θth2, then follow the steps S4.
In the present embodiment, the step S4 further includes：
According to the angle of oscillation θi, obtain and wave peak angle θtop；
Peak angle θ is waved according to describedtop, obtain the horizontal displacement distance L, the L=rcos θtop, the r is to shake
Put radius.
Optionally, peak angle θ is wavedtopθ can be solved according to preamble two waysmax、It obtains, and respectively with θmax、
As θtop。
In the present embodiment, first locator is arranged on waving the center of circle, and the second locator is arranged in overhead traveling crane feed bin
Position of centre of gravity, the r=lAB。
In the present embodiment, the step S5 further includes：
The angle of oscillation θ is acquired in real timei, to the angle of oscillation θiNumerical values recited judged with trend, if described wave
Angle θiIn increase tendency and the θi≥αθmax, then according to the horizontal displacement distance L, the overhead traveling crane movement is controlled；Described 0
α≤1 ＜.The α is preset value.
The angle of oscillation θjIt is that this rolling operation acquisition that disappears disappears rolling horizontal displacement after, acquisition solves the angle of oscillation of acquisition
θj, the j is natural number.
Optional α=0.9；By setting compared with high alpha-value, raising, which disappears, shakes efficiency and precision.It is noted that α values
Bigger, the speed that overhead traveling crane need to move is also bigger, at this point, the rolling operation that disappears is also more effective.It is assumed that the waved radius of overhead traveling crane Pendulum Model
For 4m, overhead traveling crane rocks angle at 5 °, and unilateral horizontal pan displacement is about 0.35m, and it is apparent to rock sense sense.It is apparent to rock sense, and position
Shifting value is for overhead traveling crane movement velocity, and horizontal pan displacement is simultaneously little, and overhead traveling crane movement velocity can be met the requirements.It is assumed that θmax
It=5 °, when rocking angle and reaching 4.5 °, carries out overhead traveling crane movement and realizes to disappear rolling.
Optionally, judge angle of oscillation θjWhether it is in increase tendency, is by least two angle of oscillation θ before and after judgementjIt is big
If small relationship judges angle of oscillation θ larger in rear collected angle of oscillationjIn increase tendency.
In the present embodiment, in the step S1, the position relationship includes：
First alignment sensor 105, the second alignment sensor 106, third alignment sensor 107 and the 4th position
The distance of sensor 108 between any two；
Or first alignment sensor 105, third alignment sensor 107, the 4th alignment sensor 108 constitute the
One triangle area and second alignment sensor 106, third alignment sensor 107, the 4th alignment sensor 108 are constituted
Second triangle area.
It is noted that the distance between alignment sensor can be acquired, and waved by the solution of these distance relations
Angle；Angle of oscillation can also be solved by the first triangle area, the conversion of the second triangle area.
Here, in step S1, the position relationship of four alignment sensors of continuous acquisition between any two, necessary theory
It is bright.In four alignment sensors, the distance between 105 and second alignment sensor 106 of general first alignment sensor is solid
Definite value, and the distance between third alignment sensor 107 and the 4th alignment sensor 108 are fixed value, it is preferred that it is fixed to four
The other position relationships between any two of level sensor are not necessarily to continuously adopt by the way of acquiring two-by-two to above-mentioned two distance
Collection.In addition, when overhead traveling crane loading angle of oscillation is larger, the rolling that can quickly disappear is operated to smaller angle of oscillation by disappearing to shake, and is worked as and shaken
(it is less than 5 °) when pivot angle is smaller, obeys Pendulum Model, harmonic moving can be equivalent to, rolling period is fixed；It need to be by gathered data
Frequency is set higher than rolling period, ensures sampling precision, it is preferable that sample frequency is set as the 10 of rolling period empirical value
Times.
It is noted that in a wheel disappears rolling operation, including the rolling that disappears repeatedly recycled operates；Behaviour is shaken by repeatedly disappearing
Make, realizes the rolling that disappears.
To sum up, in the present embodiment, by the distance between alignment sensor relationship, the angle of oscillation of overhead traveling crane feed bin is obtained,
And mobile control is carried out to overhead traveling crane according to angle of oscillation, realize the rolling that disappears.The present embodiment effectively reduce feed bin stop naturally shake etc.
It waits for the time, effectively improves the efficiency that material is loaded and unloaded, meanwhile, also avoid the material leakage caused by shake.Further, since adopting
With alignment sensor, data acquisition is accurate, convenient for accurately controlling.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be in the protection domain being defined in the patent claims.
Claims (9)
1. a kind of industrial intelligent lifting overhead traveling crane feed bin, which disappears, shakes control method, which is characterized in that the method includes：
The first alignment sensor that S1, continuous acquisition are set in overhead traveling crane lifting rope axial direction, the second alignment sensor and it is set to cross
Third alignment sensor, the position relationship of the 4th alignment sensor between any two on beam；
S2, it is passed according to first alignment sensor, the second alignment sensor, third alignment sensor and the 4th positioning
The position relationship between sensor, the angle of oscillation θ of overhead traveling crane lifting rope described in continuous solvingi；Wherein, the i meets 1≤i≤I,
The i is positive integer, and the I is this angle of oscillation number for shaking and operating and solving obtain recently that disappears；
S3, judge whether the angle of oscillation exceeds threshold value, if the angle of oscillation is less than threshold value, then follow the steps S4；
S4, it is passed according to first alignment sensor, the second alignment sensor, third alignment sensor and the 4th positioning
The position relationship between sensor solves the horizontal displacement distance L for disappearing and shaking needed for overhead traveling crane described in operation；
S5, according to the horizontal displacement distance L, control the overhead traveling crane movement.
2. a kind of industrial intelligent lifting overhead traveling crane feed bin as described in claim 1, which disappears, shakes control method, which is characterized in that the step
Suddenly S2 further includes：
Obtain the first triangle area that first alignment sensor, third alignment sensor, the 4th alignment sensor are constituted
SΔ1iAnd the second triangle area that second alignment sensor, third alignment sensor, the 4th alignment sensor are constituted
SΔ2i；
Solve the angle of oscillation θ of the overhead traveling crane lifting ropei, describedWherein, A, B, C, D difference
It is described for the position of first alignment sensor, the second alignment sensor, third alignment sensor, the 4th alignment sensor
lABFor the distance of first alignment sensor, the second alignment sensor, the lCDFor the third alignment sensor, the 4th
The distance of alignment sensor.
3. a kind of industrial intelligent lifting overhead traveling crane feed bin as claimed in claim 2, which disappears, shakes control method, which is characterized in that the step
Suddenly S2 further includes：
According between first alignment sensor, the second alignment sensor, third alignment sensor, the 4th alignment sensor
Position relationship solves the first triangle area SΔ1iWith the second triangle area SΔ2i；Wherein,
It is described
It is described
The pACDFor the first triangle area SΔ1iSemi-perimeter, the pBCDFor the second triangle area SΔ2iHalf
Perimeter；
The lAC、lAD、lCD、lBC、lBDRespectively described first alignment sensor, the second alignment sensor, third orientation sensing
The distance between device, the 4th alignment sensor.
4. a kind of industrial intelligent lifting overhead traveling crane feed bin as described in claim 1, which disappears, shakes control method, which is characterized in that the step
Suddenly S3 further includes：
From the I angle of oscillation θiIn, choose angle of oscillation maximum value θmax；
By the angle of oscillation maximum value θmaxWith first threshold θth1Compare, if the angle of oscillation maximum value θmaxLess than described first
Threshold θth1, then follow the steps S4.
5. a kind of industrial intelligent lifting overhead traveling crane feed bin as described in claim 1, which disappears, shakes control method, which is characterized in that the step
Suddenly S3 further includes：
To the I angle of oscillation θiIt is ranked up by size, obtains first and wave sequence { θn}；The n meets 1≤n≤I；
Sequence { θ is waved from described firstnIn choose before k angle of oscillation higher value { θk}；The k meets 1≤k ＜ n；
Obtain the very big mean value of angle of oscillationIt is described
By the very big mean value of the angle of oscillationWith second threshold θth2Compare, if the very big mean value of the angle of oscillationMore than described
Two threshold θsth2, then follow the steps S4.
6. a kind of industrial intelligent lifting overhead traveling crane feed bin as described in claim 1, which disappears, shakes control method, which is characterized in that the step
Suddenly S4 further includes：
According to the angle of oscillation θi, obtain and wave peak angle θtop；
Peak angle θ is waved according to describedtop, obtain the horizontal displacement distance L, the L=rcos θtop, the r is to wave half
Diameter.
7. a kind of industrial intelligent lifting overhead traveling crane feed bin as claimed in claim 6, which disappears, shakes control method, which is characterized in that described the
One locator is arranged on waving the center of circle, and the second locator is arranged in overhead traveling crane feed bin position of centre of gravity, the r=lAB。
8. a kind of industrial intelligent lifting overhead traveling crane feed bin as claimed in claim 4, which disappears, shakes control method, which is characterized in that the step
Suddenly S5 further includes：
The angle of oscillation θ is acquired in real timei, to the angle of oscillation θiNumerical values recited judged with trend, if the angle of oscillation θi
In increase tendency and the θi≥αθmax, then according to the horizontal displacement distance L, the overhead traveling crane movement is controlled；The 0 ＜ α
≤1。
9. a kind of industrial intelligent lifting overhead traveling crane feed bin as described in claim 1, which disappears, shakes control method, which is characterized in that described
In step S1, the position relationship includes：
First alignment sensor, the second alignment sensor, third alignment sensor and the 4th alignment sensor two-by-two it
Between distance；
Or the first triangle area that first alignment sensor, third alignment sensor, the 4th alignment sensor are constituted
The second triangle area constituted with second alignment sensor, third alignment sensor, the 4th alignment sensor.
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| DE19631623C2 (en) * | 1996-08-05 | 1999-01-14 | Siemens Ag | Device for determining the position of a load pick-up in hoists |
| JP3153849B2 (en) * | 1996-11-06 | 2001-04-09 | 三菱重工業株式会社 | Trolley camera position detection device |
| US6588610B2 (en) * | 2001-03-05 | 2003-07-08 | National University Of Singapore | Anti-sway control of a crane under operator's command |
| DE102011078310A1 (en) * | 2011-06-29 | 2013-01-03 | Krones Ag | System for moving a load |
| ITMI20131958A1 (en) * | 2013-11-25 | 2015-05-26 | Milano Politecnico | DEVICE AND PROCEDURE FOR CHECKING THE PENDULUM OF A LOAD SUSPENDED BY A LIFTING EQUIPMENT |
| EP2878565B1 (en) * | 2013-11-28 | 2017-09-27 | Siemens Aktiengesellschaft | Method for determining at least one pendulum angle and/or angle of rotation of a load attached to a crane with at least one rope-based fastening and method for damping the pendular movements and/or rotary movements of the load |
| US9718650B2 (en) * | 2014-07-16 | 2017-08-01 | Institute of Nuclear Energy Research, Atomic Energy Council, Executive Yuan, R.O.C. | Control device using image tracking technology for controlling overhead crane system |
| CN105016208B (en) * | 2015-07-24 | 2017-12-29 | 上海海事大学 | A kind of two-electron atom bridge crane panning angle measuring devices and methods therefor |
| CN105776018A (en) * | 2016-04-27 | 2016-07-20 | 上海海事大学 | Positioning device and method for slings of double-lifting and double-sling bridge crane |
| CN106865417B (en) * | 2017-03-02 | 2018-06-22 | 五邑大学 | A kind of crane pivot angle computational methods based on trace ball and Multi-encoder |
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Address after: 364000 3, level 2, science and Technology Pioneer Park, 15, Qu Tan Road, Xinluo Town, Xinluo, Longyan. Applicant after: Longyan Huixiang Technology Co., Ltd. Address before: 362100 601 room 24, Keshan garden, southeast town, Huian Town, Huian, Quanzhou. Applicant before: Huian Hui Xiang Technology Co., Ltd. |
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