CN108382999A - Integrate the gantry crane driver driving technology assessment system and appraisal procedure of software and hardware - Google Patents
Integrate the gantry crane driver driving technology assessment system and appraisal procedure of software and hardware Download PDFInfo
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- CN108382999A CN108382999A CN201810346340.8A CN201810346340A CN108382999A CN 108382999 A CN108382999 A CN 108382999A CN 201810346340 A CN201810346340 A CN 201810346340A CN 108382999 A CN108382999 A CN 108382999A
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- suspender
- axis
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- driving
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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
- B66C13/16—Applications of indicating, registering, or weighing devices
Abstract
The invention discloses a kind of set software and hardwares in the gantry crane driver driving technology assessment system of one, including main control module, attitude transducer module, obliquity sensor module, wireless communication module, display module, driving technology assessment system.Main control module is connect with attitude transducer module, obliquity sensor module by TTL serial ports, main control module is connect with wireless communication module by TTL serial ports, hard ware measure components of system as directed, including main control module, attitude transducer module, obliquity sensor module, wireless communication module, pass through wireless network and drivers' cab display system part, including wireless communication module, display module, communicated.The present invention can accurately assess the driving technology of gantry crane driver, and can propose reasonable proposal to the driving habit of gantry crane driver and behavior, and gantry crane driver is facilitated to improve the driving technology of itself.
Description
Technical field：
The present invention relates to a kind of gantry crane driver driving technology assessment system integrating software and hardware, can be used in assessing bank
The quality of bridge driver driving technology simultaneously proposes to improve its driving technology suggestion.
Background technology：
Can present harbour service heavy workload, gantry crane safely and efficiently work and directly affect the effect of harbour service
Rate, and the operation of gantry crane driver is horizontal inferior uneven, when operating small rail car, the startup or brake of excessive velocities/too quickly
Container will be made to rock, and be possible to collide other mechanical equipments, during lifting, case is not accurately positioned
When, it may result in container and fall, harbour machinery can be damaged when serious or causes personnel safety accident, and if driver grasps
Make it is unskilled, transport one shipping time excessive cycle will influence production efficiency, drag the slow harbour progress of work.At present still
There is no a kind of device systems of mature and feasible that can rationally be assessed the driving technology of gantry crane driver, and the present invention can lead to
The operating status for crossing monitoring gantry crane suspender carrys out the driving ability of objective reaction gantry crane driver, and provides good suggestion to help bank
Bridge driver is safer, more efficient operation gantry crane operation.
Invention content：
The present invention includes main control module, attitude transducer module, obliquity sensor module, wireless communication module, display mould
Block, driving technology assessment system.Core processing unit of the main control module as system, including microprocessor, reset circuit, power supply
Indicating circuit, crystal oscillating circuit, voltage conversion circuit, I/O interface circuitry.Three axis that attitude transducer module is used for obtaining suspender add
Speed data；Obliquity sensor module is used for obtaining two axial rake data of suspender.Main control module and attitude transducer module are inclined
Angle transducer module is connected by TTL serial ports, and main control module is connect with wireless communication module by TTL serial ports, hard ware measure system
Unite part, including main control module, attitude transducer module, obliquity sensor module, wireless communication module, by wireless network with
Drivers' cab display system part, including wireless communication module, display module, are communicated.Hard ware measure components of system as directed is mounted on
On the suspender of gantry crane, drivers' cab display system be partially installed on drivers' cab, the wireless communication module of drivers' cab sends enabled instruction
Hard ware measure components of system as directed, hard ware measure components of system as directed is given to start to work, the X-axis, Y-axis, Z axis that sensor assembly measures suspender add
The exercise data of speed and around X-axis, the exercise data at inclination angle about the z axis, then analyze the exercise data of trolley, cart, master control
Module matches corresponding evaluation criterion according to exercise data, and the driving technology for analyzing driver is horizontal, and module by radio communication
Assessment result is sent to display module, and provides the suggestion for helping driver to improve driving technology.
Description of the drawings：
Fig. 1 is the relational graph of each function module in this system；
Fig. 2 is the coordinate system schematic diagram that this system is established；
Fig. 3 is the estimation flow figure of this system；
Fig. 4 is the main control module microcontroller circuit figure of this system.
Reference numeral is as follows：1- obliquity sensor modules；2- main control modules；3- attitude transducer modules；4- is wirelessly communicated
Module；5- display modules；6- reset circuits；7- power indicating circuits；8- crystal oscillating circuits；9- voltage conversion circuits；10- microprocessors
Device；11-IO interface circuits；12-TTL serial ports；13-TTL serial ports；14-TTL serial ports.
Specific embodiment：
The function module of the present invention includes obliquity sensor module 1, main control module 2, attitude transducer module as shown in Figure 1
3, wireless communication module 4, display module 5, core processing unit of the main control module 2 as system, attitude transducer module 3 are used for
Obtain the 3-axis acceleration data of suspender；Obliquity sensor module 1 is used for obtaining two axial rake data of suspender, radio communication mold
Block 4 is used for carrying out the wireless communication between main control module 2 and display module 5, and display module 5 is used for showing assessment result.
In view of cost performance, the microprocessor unit in the main control module 2 that the present invention selects possesses 3 TTL serial communications
Interface and powerful data-handling capacity, it is ensured that various functions of the invention.As shown in figure 4, main control module 2 includes micro-
Processor 10, reset circuit 6, power indicating circuit 7, crystal oscillating circuit 8, voltage conversion circuit 9, I/O interface circuitry 11, master control mould
Block 2 is connect with attitude transducer module 3 by TTL serial ports 12, obliquity sensor module 1 is connected by TTL serial ports 13, master control mould
Block 2 is connect with wireless communication module 4 by TTL serial ports 14.
By the hard ware measure components of system as directed of the present invention, including main control module 2, attitude transducer module 3, obliquity sensor mould
Block 1, wireless communication module 4 are mounted on the suspender of harbour gantry crane, the sensor assembly installation direction of hard ware measure components of system as directed
It is determined according to coordinate system as shown in Figure 2, drivers' cab display system part includes wireless communication module 4, display module 5 mounted on department
Machine room, driver sends enabled instruction by display module 5 and gantry crane load condition gives hard ware measure components of system as directed, hard ware measure system
System part enters data sampling link, and then hard ware measure components of system as directed passes through attitude transducer module 3 and obliquity sensor mould
Block 1 obtains the motion state data of suspender, sensor 50 groups of data of sampling per second.Main control module 2 puts down data progress software
Sliding filtering, analyzes the motion state of gantry crane.
As shown in figure 3, the specific evaluation process of this system：
Step 1：Establish coordinate system as shown in Figure 2.X-axis corresponds to trolley travelling direction, and Y-axis corresponds to suspender raising direction, Z
Axis corresponds to cart traffic direction.
Step 2：To X, Y, the acceleration signal numerical values recited of Z axis, suspender Acceleration and deceleration time and suspender around X-axis, Z axis
Dip angle signal numerical values recited is analyzed, and is judged.Whenever X-axis, Y-axis are passed through twice by decelerating phase twice and obliquity sensor
The fluctuation stage just gives a mark to driver driving technology.
X-axis, Y-axis, acceleration range and time range on Z axis and around X-axis, the inclination angle range of Z axis corresponds to different drive
Custom and behavior are sailed, gantry crane driver driving can be accustomed to and behavior evaluation is divided into following five links：
Step 21：Trolley driving habit and behavior evaluation
In general, the mode of speed regulation of trolley travelling is the variable voltage control under base speed, it is only related with given voltage, and and rated value
Load below is unrelated.Especially in terms of mechanism angle, rolling frictional resistance square and moment of wind resistance caused by vertical load
It is compared with horizontal inertial torque, accounts for a seldom part.Therefore, gantry crane trolley band carry with without load the speed of service be essentially identical
's.It is less than -0.8 (m/s when there is acceleration in X-axis2) when, driver exists when driving trolley travelling to bring to a halt behavior, when there is X-axis
Upper acceleration is more than 0.8 (m/s2) when, driver exist when driving trolley travelling it is anxious start behavior, when there is acceleration in X-axis small
In 0 and be more than -0.5 (m/s2) when, driver be accustomed to brake at a slow speed, when in X-axis acceleration greatly with 0 and be less than 0.5 (m/s2) when,
Driver is accustomed to that, with slow start, startup/braking strength can be increased.When the trolley plus/minus fast time being less than 4.5s, trolley adds/
Deceleration time is too short, is prone to accidents.When the trolley plus/minus fast time being more than 8s, trolley plus/minus speed overlong time influences
Working efficiency.
Table is assessed in 1 trolley driving behavior of table
Step 22：Sling lifting driving habit and behavior evaluation
Acceleration range and time range correspond to behavior as shown in table in Y-axis, different places be suspender to divide it is unloaded/
Loading condition.
When suspender zero load, there is acceleration in Y-axis to be less than -1.2 (m/s2) when, there are emergency brake garages when driving suspender by driver
To be more than 1.2 (m/s when there is acceleration in Y-axis2) when, there is anxious startup behavior when driving suspender in driver, add in Y-axis when having
Speed is less than 0 and is more than -0.6 (m/s2) when, driver is accustomed to brake at a slow speed, is more than 0 and less than 0.6 when there is acceleration in Y-axis
(m/s2) when, driver is accustomed to that, with slow start, startup/braking strength can be increased, and is less than 2.5s when the suspender plus/minus fast time
When, the suspender plus/minus fast time is too short, is prone to accidents.When the suspender plus/minus fast time being more than 4s, suspender acceleration time mistake
It is long, influence working efficiency.
When suspender load, there is acceleration in Y-axis to be less than -0.8 (m/s2) when, there are emergency brake garages when driving suspender by driver
To be more than 0.8 (m/s when there is acceleration in Y-axis2) when, there is anxious startup behavior when driving suspender in driver, add in Y-axis when having
Speed is less than 0 and is more than -0.5 (m/s2) when, driver is accustomed to brake at a slow speed, is more than 0 and less than 0.5 when there is acceleration in Y-axis
(m/s2) when, driver is accustomed to that, with slow start, startup/braking strength can be increased.It is less than 1.25s when the suspender plus/minus fast time
When, the suspender plus/minus fast time is too short, is prone to accidents.When the suspender plus/minus fast time being more than 2s, the suspender plus/minus fast time
It is long, influence working efficiency.
Table is assessed in sling lifting driving behavior when table 2 is unloaded
Table is assessed in sling lifting driving behavior when table 3 loads
Step 23：Suspender lifts by crane driving behavior assessment
Suspender when loading container, left and right inclination angle i.e. around X-axis deflection angle should be less than ± 1.5 ° it is no, front and back inclination angle is
Deflection angle should be less than ± 3 ° about the z axis, when the left and right inclination angle of suspender and front and back inclination angle angular speed are more than 0.1 °/s, then at suspender
In positioning to the case stage, and its angular speed maximum must not exceed 1 °/s, and safety accident otherwise may occur.When suspender inclination angle speed
When degree is less than 0.1 °/s, positioning is completed to case in suspender.Detect the stage that suspender inclination angle speed adjacent twice is less than 0.1 °/s
Relative angle deviation may be accurately positioned when then suspender is to case when more than 0.2 °.Detection suspender inclination angle speed is more than
The duration in the stage of 0.1 °/s can then influence working efficiency more than 10s.
4 suspender of table lifts by crane driving behavior and assesses table
Step 24：Cart driving behavior is assessed
Since traveling mechanism of the larger traveller is non-operating mechanism, therefore the cart speed of service is generally 45~50m/min, Ge Bieyong
Family requires to reach 60m/min.Similar with trolley travelling, cart operation power mainly overcomes wind resistance and plays/brake inertia resistance,
The rolling frictional resistance caused by gantry crane main screw lift only accounts for the 25%~30% of cart operation drag overall, and lifted load causes
Cart running resistance only account for cart operation drag overall 1.5%~2%, proportion is very small.Therefore, the cart speed of service
It is the same speed when fully loaded and unloaded.
Cart operation acceleration should not be too large, and the startup time is generally recommended as 6~10s, most cannot be less than 5s soon.When there is Z
Acceleration is less than -0.15 (m/s on axis2) when, there is behavior of bringing to a halt in driver, when driving cart operation when acceleration on Z axis
More than 0.15 (m/s2) when, there is anxious startup behavior when driving cart operation in driver, when the plus/minus speed time is less than 5s on cart
When, the cart plus/minus fast time is too short, is prone to accidents, when the cart plus/minus fast time being more than 10s, when cart plus/minus speed
Between it is long, influence working efficiency.
Table is assessed in 5 cart driving behavior of table
Step 25：General work efficiency is assessed
Statistics driver completes a work period the time it takes, and (work period corresponds to X-axis, Y-axis by twice
Decelerating phase and obliquity sensor passed through for two secondary undulation stages) a container the time it takes has been transported, to driver's
Working efficiency is given a mark, and is outstanding less than 75s, is good between 75s to 90s, is common between 90s to 105s, is surpassed
It crosses 105s then to fail, itself driving technology level should be promoted.
6 general work efficiency of table assesses table
Step 3：According to above-mentioned flow chart and table, all driving links of a work period, trolley driving habit and
Behavior, sling lifting driving habit and behavior, suspender lift by crane driving behavior, cart driving behavior, five rings of general work efficiency
Section.Marking assessment is carried out to five driving links of gantry crane chauffeur, then module 4 sends assessment result by radio communication
To display module 5, and the data in main control module 2 are emptied, display module 5 identifies assessment result, while providing and bad steering
Custom and the matched suggestion of behavior.
This system has following advantageous effect：
(1) it is directed to gantry crane this special transport facility, has invented and a set of has integrated software and hardware driver driving technology
Assessment system can evaluate the driving technology of driver according to the motion state of gantry crane.
(2) system carries out classification to the entire working link of driving, and provides the specific quantization parameter of each link,
Main control unit matches corresponding evaluation criteria according to measurement data, and provides assessment result.In addition, system can be to driver not
Good driving habit and behavior propose recommendation on improvement, the driving ability of fast lifting driver.
(3) system can also send out sound-light alarm prompt, remind driver's specification to barbarous operation of driver during hanging box
Operation behavior ensures operational safety.
(4) hard ware measure part integrates each function module, and system power dissipation is low, high certainty of measurement；Overall structure letter
Single, small volume is easily installed and safeguards.Sensing measurement part uses digital data transmission mode, has good anti-interference
Property.
(5) hard ware measure components of system as directed can be carried out wireless communication with drivers' cab display system part, obtain gantry crane in real time
Motion state avoids the laying of excessive transmission cable.
Claims (2)
1. it is a kind of set software and hardware in one gantry crane driver driving technology assessment system, it is characterised in that including main control module,
Attitude transducer module, obliquity sensor module, wireless communication module, display module, driving technology assessment system, main control module
As the core processing unit of system, including microprocessor, reset circuit, power indicating circuit, crystal oscillating circuit, voltage conversion electricity
Road, I/O interface circuitry, attitude transducer module are used for obtaining the 3-axis acceleration data of suspender；Obliquity sensor module is used for obtaining
Take two axial rake data of suspender, the main control module and attitude transducer module, obliquity sensor module of hard ware measure system logical
The connection of TTL serial ports is crossed, main control module is connect with wireless communication module by TTL serial ports, hard ware measure components of system as directed, including master control
Module, attitude transducer module, obliquity sensor module, wireless communication module, pass through wireless network and drivers' cab display system
Part, including wireless communication module, display module, are communicated, and hard ware measure components of system as directed is mounted on the suspender of gantry crane, takes charge of
Machine room display system is partially installed on drivers' cab, and the wireless communication module of drivers' cab sends enabled instruction and gives hard ware measure Account Dept
Point, hard ware measure components of system as directed is started to work, and sensor assembly obtains inclination data, the exercise data of suspender, then analyzes
Go out the exercise data of trolley, cart, main control module matches corresponding evaluation criterion according to exercise data, analyzes the driving skill of driver
Art is horizontal, and assessment result is sent to display module by module by radio communication, and provides and driver is helped to improve driving technology
Suggestion.
2. a kind of gantry crane driver driving technology evaluation method, uses gantry crane driver driving technology evaluation as described in claim 1
System, it is characterised in that include the following steps：
Step 1：Assessment system coordinate system is established, X-axis corresponds to trolley travelling direction, and Y-axis corresponds to suspender raising direction, and Z axis corresponds to
Cart traffic direction；
Step 2：To the acceleration signal numerical values recited of X, Y, Z axis, suspender Acceleration and deceleration time and suspender are around X-axis, the inclination angle of Z axis
Signal numerical values recited is analyzed, and is judged, whenever X-axis, Y-axis pass through two secondary undulations by decelerating phase twice and obliquity sensor
Stage just gives a mark to driver driving technology；X-axis, Y-axis, the acceleration range on Z axis and time range and around X-axis, Z axis
Inclination angle range corresponds to different driving habits and behavior, can be accustomed to gantry crane driver driving and behavior evaluation is divided into following five
A link：
Step 21：Trolley driving habit and behavior evaluation are less than -0.8 (m/s when there is acceleration in X-axis2) when, driver is small in driving
There is behavior of bringing to a halt when vehicle is run, is more than 0.8 (m/s when there is acceleration in X-axis2) when, driver deposits when driving trolley travelling
Suddenly start behavior, is less than 0 and more than -0.5 (m/s when there is acceleration in X-axis2) when, driver is accustomed to, to brake at a slow speed, working as X-axis
Upper acceleration is greatly with 0 and less than 0.5 (m/s2) when, driver is accustomed to, with slow start, startup/braking strength being increased, when small
When the vehicle plus/minus fast time is less than 4.5s, the trolley plus/minus fast time is too short, is prone to accidents, big when the trolley plus/minus fast time
When 8s, trolley plus/minus speed overlong time influences working efficiency；
Step 22：Sling lifting driving habit and behavior evaluation have acceleration in Y-axis to be less than -1.2 (m/s when suspender zero load2)
When, there is behavior of bringing to a halt when driving suspender in driver, be more than 1.2 (m/s when there is acceleration in Y-axis2) when, driver hangs in driving
There is anxious startup behavior when tool, is less than 0 and more than -0.6 (m/s when there is acceleration in Y-axis2) when, driver is accustomed to brake at a slow speed,
It is more than 0 and less than 0.6 (m/s when there is acceleration in Y-axis2) when, driver is accustomed to that, with slow start, startup/brake weight can be increased
Degree, when the suspender plus/minus fast time being less than 2.5s, the suspender plus/minus fast time is too short, is prone to accidents, when suspender plus/minus speed
When time is more than 4s, the suspender acceleration time is long, influences working efficiency；When suspender load, there is acceleration in Y-axis to be less than -0.8
(m/s2) when, there is behavior of bringing to a halt when driving suspender in driver, be more than 0.8 (m/s when there is acceleration in Y-axis2) when, Si Ji
There is anxious startup behavior when driving suspender, is less than 0 and more than -0.5 (m/s when there is acceleration in Y-axis2) when, driver is accustomed to slow
Speed brake is more than 0 and less than 0.5 (m/s when there is acceleration in Y-axis2) when, driver's custom with slow start, can increase startup/
Braking strength, when the suspender plus/minus fast time being less than 1.25s, the suspender plus/minus fast time is too short, is prone to accidents, works as suspender
When the plus/minus speed time is more than 2s, suspender plus/minus speed overlong time influences working efficiency；
Step 23：Suspender lifts by crane driving behavior assessment, and for suspender when loading container, left and right inclination angle is i.e. around X-axis deflection angle
± 1.5 ° are should be less than, front and back inclination angle should be less than ± 3 °, when the left and right inclination angle of suspender and front and back inclination angle angular speed are more than 0.1 °/s,
Then suspender is in positioning to the case stage, and its angular speed maximum must not exceed 1 °/s, and safety accident otherwise may occur, when hanging
When having inclination angle speed and being less than 0.1 °/s, positioning is completed to case in suspender, detection suspender inclination angle speed adjacent twice be less than 0.1 °/
The relative angle deviation in the stage of s may not be accurately positioned when more than 0.2 ° when then suspender is to case, detection suspender inclination angle speed
The duration in stage of the degree more than 0.1 °/s, it can then influence working efficiency more than 10s；
Step 24：Cart driving behavior is assessed, and is less than -0.15 (m/s when there is acceleration on Z axis2) when, driver is driving cart fortune
There is behavior of bringing to a halt when row, when acceleration is more than 0.15 (m/s on Z axis2) when, there is anxious open when driving cart operation in driver
Dynamic behavior, when the plus/minus speed time is less than 5s on cart, the cart plus/minus fast time is too short, is prone to accidents, when cart plus/
When deceleration time is more than 10s, cart plus/minus speed overlong time influences working efficiency；
Step 25：General work efficiency is assessed, and statistics driver completes a work period the time it takes, a work period
Corresponding X-axis, Y-axis passed through for two secondary undulation stages by decelerating phase twice and obliquity sensor, that is, had transported a container institute
The time of cost gives a mark to the working efficiency of driver, is outstanding less than 75s, is good between 75s to 90s, in 90s
It to being common between 105s, then fails more than 105s, itself driving technology level should be promoted；
Step 3：All driving links of one work period include trolley driving habit and behavior, and sling lifting, which drives, to be practised
Used and behavior, suspender lift by crane driving behavior, cart driving behavior, five links of general work efficiency, to gantry crane chauffeur's
Five drive link and carry out marking assessment, then assessment result is sent to display module by wireless module, and empty master control mould
Data in the block, display module identify assessment result, while providing and bad steering custom and the matched suggestion of behavior.
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| CN113401802A (en) * | 2021-05-18 | 2021-09-17 | 中联重科股份有限公司 | Method and device for estimating operation safety level of tower crane |
| JP2022012413A (en) * | 2020-07-01 | 2022-01-17 | 株式会社日立産機システム | Crane device and operation management system of crane device |
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| Publication number | Publication date |
|---|---|
| CN108382999B (en) | 2019-06-18 |
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