CN108706459A - Two-electron atom bridge crane panning angle measuring device based on light intensity sensor and measurement method - Google Patents
Two-electron atom bridge crane panning angle measuring device based on light intensity sensor and measurement method Download PDFInfo
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- CN108706459A CN108706459A CN201810426864.8A CN201810426864A CN108706459A CN 108706459 A CN108706459 A CN 108706459A CN 201810426864 A CN201810426864 A CN 201810426864A CN 108706459 A CN108706459 A CN 108706459A
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- pivot angle
- angle
- light intensity
- bridge crane
- intensity sensor
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Classifications
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
Abstract
The present invention proposes a kind of two-electron atom bridge crane panning angle measuring device and method based on light intensity sensor.Can be sensitive to the variation of luminous intensity according to light intensity sensor, and then this characteristic is utilized, the variation of luminous intensity is accurately detected using contactless observation and control technology, and the size of pivot angle is obtained according to the variation of luminous intensity.Detection device includes light intensity sensor, the quick photoelectric sensor of color, LED luminescent screens, lightweight rocker, the other end of lightweight rocker is connected to lightweight barn door, and barn door is swung with the swing of lightweight rocker, and the light source information of the LED luminescent screens received is converted into electric signal by two sensors, it is then passed to signal processing apparatus, obtains the pivot angle information of two suspenders load.The present invention has simple in structure, accuracy height, the advantages that convenience.
Description
Technical field：
Two-electron atom bridge crane pivot angle detection technique field of the present invention, it is especially a kind of double based on light intensity sensor
Sling bridge crane panning angle measuring and its method.
Background technology：
Two-electron atom overhead crane is a kind of novel harbour container place lifting equipment, it has there are two raising suspender,
The container that two 40 feet or four 20 feet can once be sling, compared with traditional single appliance bridge crane, substantially
The efficiency of loading and unloading for improving container of degree, but since the double hoisting dual-hanger bridge cranes of this large span are complicated, work side
Formula is various and there are couplings, along with the movement for adding trolley in actual environment there is wind-force can make lifting rope generation shake
Pendulum, this brings prodigious difficulty to the detection of suspender pivot angle.
One of the critical issue of crane anti-swing control is exactly the detection to pivot angle, and existing bridge crane panning angle measuring device is big
It is all directed to single appliance bridge crane to design, these measuring devices can largely be divided into contact and non-contact measurement.Existing one
Kind contact deflection angle measurement device is to drive a code-disc rotation with lightweight rocker, and such measurement method accuracy is not high,
The effect measured is influenced, and detecting element is easy to wear, it is inconvenient to safeguard；Contactless deflection angle measurement device is often used laser angle
Instrument, this quasi-instrument angle is higher to operating environment requirements, expensive, then there is edge effect using capacitor and inductor detector, real
Stability is poor during border uses, and resolution ratio is not high, is easily disturbed.Meanwhile existing overhead crane operator sees often through naked eyes
It examines suspender and load swings situation to obtain it, accuracy is low and there are security risks, influences working efficiency and work quality.
Invention content：
The light intensity sensor characteristic sensitive to light variation is utilized in deflection angle measurement device of the present invention, solves double
Detection, pivot angle information processing and the display problem of elevator double-sling bridge type crane swing angle direction and size.
In order to achieve the above object, technical scheme is as follows：
A kind of two-electron atom bridge crane panning angle measuring device based on light intensity sensor, the device are arranged on vehicle structure,
The trolley body is arranged on big mechanism of car, and the big mechanism of car includes bridge crane driver's cabin, on the trolley body
Equipped with a pair of of hoisting motor, each hoisting motor includes shaft, and shaft connects suspender by lifting rope, its main feature is that, arrange base
In the two-electron atom bridge crane swing angle detection device of light intensity sensor and the quick photoelectric sensor of color；Described swing angle detection device packet
Contain：A pair of of signal processing apparatus is symmetricly set on the top of the trolley body；One pivot angle composite calulation machine, setting exist
In driver's cabin, it is connect with a pair of of signal processing apparatus；
The main body of described swing angle detection device is flight data recorder, and flight data recorder is interior to block fixation including a black barn door
In the luminous LED screen of chest inner wall, a quick photoelectric sensor of color, a light intensity sensor, LED screen, the sensing
Device is connected by conducting wire with signal processing apparatus.
The light intensity sensor processing unit includes voltage amplifier, rectifier filter, A/D converter, and voltage is put
The input terminal of big device is connected with light intensity sensor and color sensitive sensor, and the output end of voltage amplifier is sequentially connected rectifying and wave-filtering
Device, A/D converter export give pivot angle composite calulation machine later.
A kind of two-electron atom bridge crane panning angle measuring method based on light intensity sensor, includes the following steps：
Step 1：To all parts into the setting of line home position, using this as initial reference position, setting process is such as
Under：Two suspenders of two-electron atom bridge crane are first allowed to naturally droop, lifting rope is appointed without any pivot angle, lightweight rocker, barn door nothing at this time
What is rotated, and LED luminescent screens are completely superposed with barn door at this time.What the signal that two groups of swing angle detection devices obtain was calculated as pivot angle
Initial reference value shows that current pivot angle is 0；
Step 2：Driver's cabin sends out bridge crane operating instruction, and bridge crane controls corresponding suspender according to different operating instructions and transports
Row, the lifting rope that suspender respectively connects are swung；
Step 3：The swing of lifting rope can drive the rotation of barn door and then leak out the area of part LED light, luminous intensity sensing
Device obtains the luminous intensity size, and the quick photoelectric sensor of color obtains the color of the light, and obtained optical signal becomes electric signal and sends to
Signal processing apparatus；
Step 4：The electric signal that signal processor receives on x, the directions y is pocessed, and is amplified into crossing, filtering, A/
Pivot angle composite calulation machine is sent to by serial ports of computers after D conversions and carries out pivot angle synthesis processing, obtains corresponding pivot angle value.
Step 5：The work that another set suspender is done is same as described above, obtains another group of pivot angle value；Two groups of pivot angles are believed
Breath is sent to for driver's reference operation, pivot angle information being sent to synchronization/swing-proof control system on the display screen of driver's cabin, to provide
Feedback information.
The present invention compared with prior art, remarkable advantage：
The present invention is based on the two-electron atom bridge crane panning angle measuring devices of light intensity sensor to utilize light intensity according to photoelectric effect
Sensitive characteristic of the sensor to light is spent, optical sensor operational module is devised, shaft rotation is driven when lifting rope is swung, is passed through
The strain electric signal that detection light working sensor module generates calculates pivot angle value.
Next with description of the drawings technical essential.
Description of the drawings：
Fig. 1 is that the present invention is based on the signals of the double-lifting double-lifting-applibridge bridge crane tilt angle measuring device overall structure of light intensity sensor
Figure.
Fig. 2 is that the present invention is based on the double-lifting double-lifting-applibridge bridge crane tilt angle measuring device swing angle detection devices of light intensity sensor
Structure chart.
Fig. 3 is that the present invention is based on the double-lifting double-lifting-applibridge bridge crane tilt angle measuring device swing angle detection devices of light intensity sensor
Middle flight data recorder partial enlarged view.
Fig. 4 is the present invention is based on the double-lifting double-lifting-applibridge bridge crane tilt angle measuring device x of light intensity sensor, and y-axis pivot angle is surveyed
It measures apparatus structure and synthesizes schematic diagram.
Fig. 5 is that the present invention is based on the double-lifting double-lifting-applibridge bridge crane tilt angle measuring device swing angle detection devices of light intensity sensor
Left view when middle barn door movement.
Fig. 6 is that the present invention is based on the synthesis of the double-lifting double-lifting-applibridge bridge crane tilt angle measuring device bridge crane pivot angle of light intensity sensor
Figure.
Fig. 7 is that the present invention is based on the double-lifting double-lifting-applibridge bridge crane tilt angle measuring device pivot angle testing processes of light intensity sensor
Figure.
Reference numeral is as follows：1- trolley bodies；The driving mechanism of 2- trolleies；3- carts, the driving mechanism of 4- carts；5- is hung
Has hoisting motor；First suspender of 7- two-electron atom bridges, the second suspender of 8- two-electron atom bridges；9- pivot angle composite calulation machines；10- bridge cranes
Cockpit；11- swing angle detection devices；The lifting rope of 12- overhead cranes；13- signal processing apparatus；14- conducting wires；15- suspender raisings
Machine shaft；16- lightweight rockers；17- flight data recorders；18- black baffles；The semicircle LED luminescent screens of each half of 19- red and blue LED lamps；
20- light intensity sensors；The quick photoelectric sensor of 21- colors.
Specific implementation mode：
In Fig. 1, trolley body 1 is deflection angle measurement device and the carrying platform of hoisting motor.Suspender hoisting motor 5 is negative
The elevating movement of suspender and load is blamed, the first suspender 7 of two-electron atom bridge crane, the second suspender 8 of two-electron atom bridge, they can both may be used
To interlock work jointly, can also independently work.Novel double hoisting dual-hanger bridge cranes can once load and unload two 40 simultaneously
Foot or four 20 feet of container.
When lifting rope 12 is swung, 16 rotary oscillation of lightweight rocker can be driven, as shown in Figure 2；Black baffle 18, with 16
It is connected, and is rotated with 16 rotation；Semicircle LED luminescent screens 19 (are divided into each half of red and blue LED lamp), are tightly attached to black box
On sub- wall, area and 18 area it is just the same big；Light intensity sensor 20, the quick photoelectric sensor portion of color 21 are fixed on flight data recorder
Inside 17；It is connected by conducting wire 14 with signal processing apparatus 13 and transmits measurement data signals, letter to signal processing apparatus 13
Number processing unit 13 puts signal before menstruation to be sent pivot angle composite calulation machine 9 to after big, A/D conversions and carries out subsequent analysis processing.
Fig. 3 is that flight data recorder in detection device 17 is carried out partial enlargement, and LED luminescent screens 19 are connected to 17 inner wall of flight data recorder,
Barn door 18 is connected to lightweight rocker, is swung with the swing of rocker, and barn door 18 shelters from LED luminescent screens completely when static
19, quick 21 external power supply of photoelectric sensor of LED screen 19, light intensity sensor 20, color, light intensity sensor 20 receives the variation of light
Intensity, the quick photoelectric sensor 21 of color receive the color that light source is determined after light.
A kind of two-electron atom bridge crane panning angle measuring device specific work process based on light intensity sensor of the present invention is as follows：
Two-electron atom swing angle detection device 11 when mounted, needs to carry out initial position setting to all parts, in this, as
Initial reference position, setting process are as follows：Two suspenders of two-electron atom bridge crane are first allowed to naturally droop, lifting rope is without any pendulum at this time
Angle, lightweight rocker 16, barn door 18 are without any rotation, and LED luminescent screens 19 are completely superposed with barn door 18 at this time.Two groups of pivot angles
The initial reference value that the signal that detection device obtains is calculated as pivot angle, at this time sensor do not receive light, show current axial direction
Pivot angle is 0 on direction.
Driver's cabin 10 sends out operating instruction to two-electron atom bridge crane, and bridge crane controls 7 He of the first suspender according to different operating instructions
Second suspender operation (work independently or interlocking work), the respective lifting rope of suspender 12 are swung.
In Fig. 4, each group of suspender swing angle detection device is made of 2 groups of lightweight rockers, 2 groups of semi-circular lightweight rocker difference
It is mutually perpendicular to install along x-axis, y-axis direction, when lifting rope 12 is swung, two lightweight rockers 16 can be driven to rotate together with pendulum
It is dynamic, and then suspender and the conversion of the pivot angle of load are decomposed into the rotation of the respective axial direction of x-axis, y-axis.
When lifting rope is only when y-axis direction is swung, (the directions y at this time when lifting rope is swung from original vertical position to y positive directions
Lightweight rocker remains stationary as), the swing of rocker drives barn door 18 to rotate, the light variation for causing optical sensor plate to receive, and color is quick
The color that photoelectric sensor 21 obtains light is red；Similarly, when lifting rope is swung to y negative directions, drive x lightweights rocker to y losing sides
To swing, and then barn door 18 is driven to rotate, obtained light source is blue, and at the same time light intensity sensor 20 obtains light source
Area；The pivot angle value of y-axis axial direction can be calculated.
When lifting rope is when x-axis direction is swung, when lifting rope is swung from original vertical position to positive direction of the x-axis, lifting rope drives y
Lightweight rocker swings (the lightweight rocker in the directions x remains stationary as at this time) to positive direction of the x-axis, and the swing of rocker drives 18 turns of barn door
The dynamic variation for causing luminous intensity, so that the information that light intensity sensor 20 and Se Min photoelectric sensors 21 obtain light source is red
Color；Similarly, when lifting rope is swung to x negative directions, y lightweights rocker is driven to be swung to x negative directions, and then cause light intensity sensor 20
Blue light is obtained with the quick photoelectric sensor of color 21；And then the pivot angle value of x-axis axial direction can be calculated.
Since luminous intensity inductor can calculate the area S of LED according to intensity of illumination1, and calculate the face come
The long-pending area S for accounting for entire barn door can obtain the rotational angle θ of shaft 16x=((S1/S)*π)。
The similarly rotational angle theta in the measurable directions yy。
When lifting rope is swung in any direction, the swing of lifting rope can drive x-axis, the lightweight rocker production on y-axis direction simultaneously
Raw oscillating quantity, the rotation that will take respective barn door to of x-axis, y-axis direction, by x-axis, y-axis to the respective direction of motion into
Row synthesis is the direction of motion of suspender pivot angle, by the pivot angle value θ in x-axis, y-axis respectively componentx、θyIt is synthesizedThe as pivot angle value of suspender.
In Figure 5, the LED luminescent screens 19 leaked out according to the rotation of barn door 18 and then the intensity of illumination generated, luminous intensity
Inductor 20 incudes the intensity of light extraction and then obtains 19 area of leakage, while differentiating light extraction according to the quick photoelectric sensor 21 of color
The color in source.The position that can obtain detecting 19 in real time by 13 signal processing apparatus, when the quick photoelectric sensor of color 21 induces
When red, then it be to be moved to the positive direction of x-axis at this time, be blue when the quick photoelectric sensor of color 21 induces, then is to the negative of x-axis
It moves in direction.
In figure 6, θx、θyThe pivot angle axial movement component obtained for survey calculation.
It can be obtained from the figure that：
By formulaIt can be calculated pivot angle value.
Fig. 7 is two-electron atom bridge crane panning angle measuring flow chart.When two-electron atom bridge crane works, work is sent out by driver's cabin 10 first
Command signal, trolley body 1 receive operation order, and bridge crane the first suspender 7 and the second suspender 8 bring into operation, and suspender brings into operation
When, when lifting rope is swung, the swing of lightweight rocker 16 can be driven, and then lead to the swing of barn door 18, light intensity sensor 20
The optical signal sent out for receiving LED light, obtains luminous area, while the quick photoelectric sensor of color 21 obtains the face of the light source
Color, the two is synchronized is transmitted to swing angle detection device 11 by obtained signal by conducting wire 14, and then sends signal processing to
13,13 pairs of signals of device carry out the processing such as preposition amplification, A/D conversions, and then are transferred into pivot angle composite calulation machine 9 and are counted
It calculates, respectively obtains the first suspender 7,8 respective pivot angle value θ of the second suspender1、θ2.The pivot angle value quilt of first suspender 7 and the second suspender 8
The bridge crane display being transmitted in driver's cabin 10 provides reference for the operation of bridge crane driver, while being supplied to crane anti-swing/same
The feedback information that step controller is controlled as bridge crane.
The pivot angle of two-electron atom detects the information that two lifting ropes are detected on the basis of above-mentioned, and every two sets of lifting rope needs are identical
Structure includes a light intensity sensor 20, the quick photoelectric sensor 21 of a color, a barn door 19, a LED per nested structure
Luminescent screen 19, a flight data recorder 17.Angle for detecting one of direction.Then needed as four sets the case where two-electron atom
Structure, invention can analogize the pivot angle problem for detecting three suspenders or even more suspenders.
(3) while driver's cabin 10 sends out bridge crane operating instruction, signal processing apparatus 13 receives optical sensor 20 and Se Min
X-axis that photoelectric sensor 21 is sent, y-axis two-way are axially moved signal, and signal is passed through computer after amplification, A/D conversions
Serial ports is sent into pivot angle composite calulation machine 9 and is handled, and carries out calculating position and the size that can detect pivot angle in real time by 9.
The slewing area of barn door is identical as the rotational angle of lightweight pivot angle, the light source area obtained by LED luminescent screens 19
S1, and the area of entire LED luminescent screens 19 is S, and the angle, θ of the rotation of lightweight rocker 16 can be calculatedx=(S1/ S) * π, θy
Can similarly obtain, so obtain lifting rope 12 axial movement pivot angle value.
After the pivot angle component of axial movement further synthesis, pivot angle value is obtained
(4) another set suspender is worked identical, obtains another group of suspender pivot angle value.By the pivot angle information of two groups of suspenders
It is sent on the display of driver's cabin 10 and is referred to for bridge crane driver, or be sent into as feedback information and prevent shaking/sync control device
In.In the actual condition of double hoisting dual-hanger bridge cranes, the first suspender 7 and the second suspender 8 both can work independently or interlockable same
Walk work.In independent working mode, two suspender pivot angles are independent of each other, and respectively obtain two angle values；In interlocking Working mould
When formula, the pivot angle value of two suspenders of 9 calculation processings theoretically should be identical, if it is different, can pass through similarities and differences signal again
Pivot angle composite calulation machine 9 carries out respective handling, so that two-way pivot angle value is mutually compareed and is revised, to ensure preferably synchronous effect
Fruit.
The concrete condition of above-mentioned critical piece is as follows：
Swing angle detection device 11：Be made of lightweight rocker and flight data recorder, in flight data recorder 17, by light intensity sensor 20,
The quick photoelectric sensor 21 of color, barn door 18,19 4 part of LED luminescent screens are constituted.Light intensity sensor be it is a kind of induction light it is strong
It is weak and shown；The spectral wavelength of the quick 19 utilization rate different colours of photoelectric sensor of color does not obtain the color of light source etc..Two
Obtained signal is transmitted to signal processing apparatus 13 by conducting wire 14 and carries out respective handling by sensor, is then transferred to pivot angle synthesis
Computer 9 carries out subsequent angle calculation.The operational module is due to being completed in intimate closed flight data recorder 17, so several
Situations such as other light are not interfered by outside, and output signal is finally scaled angle value, and there is no ratio, enhanced processings.
Signal processing apparatus 13：It is made of components such as CPU, memory, signal processing circuit and I/O interfaces, wherein CPU
It is connect with memory, signal processing circuit, I/O interface circuits are connect with signal processing circuit, and signal processing circuit can be simultaneously
Processing comes from x, y two paths of signals.X that it sends swing angle detection device 11, the corresponding two paths of signals of y-coordinate axis are (as one group
Signal) preposition amplification, shaping filter and A/D conversions are carried out respectively, and give transformed digital signal to pivot angle composite calulation
Machine 9 is further analyzed processing.Signal processing apparatus 13 can handle two groups of signals simultaneously in invention.
Pivot angle composite calulation machine 9：The digital signal transmitted from the respective signal processing apparatus of two suspenders 13 is received, and is pressed
Corresponding analyzing processing measuring and calculating is carried out to signal according to certain algorithm, obtains pivot angle information.The respective pivot angle information of two suspenders
It is different according to the serial ports of signal input signal that different serial communication interface access pivot angle composite calulation machines 9,9 is respectively adopted by 13
Judge which suspender is calculated pivot angle information particularly belong to, the bridge crane that gained pivot angle information is transmitted in driver's cabin 10 shown
Show device, the operation for bridge crane driver provides reference, can also feed back to crane anti-swing/isochronous controller as control with reference to letter
Breath.
Claims (2)
1. a kind of two-electron atom bridge crane panning angle measuring device based on light intensity sensor is arranged on trolley, the trolley body
It is arranged on big mechanism of car, the big mechanism of car is equipped with bridge crane driver's cabin, and the trolley body is equipped with a pair of of hoisting motor,
Each hoisting motor includes a shaft, and the shaft of each hoisting motor connects a suspender, which is characterized in that the pendulum by lifting rope
Angle measuring device includes：A pair of of signal processing apparatus, pivot angle composite calulation machine, a pair of of swing angle detection device；Signal processing apparatus
It is symmetricly set at the top of the trolley body, the signal processing apparatus includes voltage amplifier, rectifier filter, A/D
The input terminal of converter, voltage amplifier is connected with light intensity sensor and Se Min photoelectric sensors, the output of voltage amplifier
End is sequentially connected rectifier filter, A/D converter, exports give pivot angle composite calulation machine later；Pivot angle composite calulation machine, setting exist
The top of the trolley body is located between two signal processing apparatus, is connect respectively with a pair of of signal processing apparatus；A pair of pendulum
Angle detecting device is symmetricly set on the bottom of trolley, and each swing angle detection device is connected with corresponding signal processing apparatus,
Each lifting rope is connected across corresponding deflection angle measurement device with corresponding suspender；One for showing pivot angle information display module, if
It sets in bridge crane driver's cabin, is connect with pivot angle composite calulation machine；Include two lightweight rockers in the swing angle detection device, black
Box；Two lightweight rockers are respectively along x-axis and the orthogonal installation of y-axis, and two semicircle lightweight rockers are tangent；It is each light
Matter rocker be circumferentially equipped with it is smooth crack, lifting rope is successively passed through from the cracking of two lightweight rockers；Each lightweight pendulum
Barn door is all connected on frame；There are the quick photoelectric sensor of light intensity sensor, color, barn door, LED luminescent screens four in flight data recorder
Point；The semicircle LED luminescent screens that the LED luminescent screens are made of the red of quadrant and the LED light of blue, are fixed on
On the inner wall of flight data recorder；The barn door can be completely covered by as the area of LED luminescent screens, shape when static
LED light；Barn door is rotated with the rotation of lightweight rocker；Light intensity sensor and the quick photoelectric sensor of color and corresponding signal
Processing unit is electrical connected.
2. a kind of two-electron atom bridge crane panning angle measuring method based on light intensity sensor, using being based on as described in claim 1
The two-electron atom bridge crane panning angle measuring device of light intensity sensor, it is characterised in that include the following steps：
Step 1：To all parts into the setting of line home position, using this as initial reference position, setting process is as follows：
Two suspenders of two-electron atom bridge crane are first allowed to naturally droop, lifting rope is without any pivot angle at this time, and lightweight rocker, barn door are without any turn
Dynamic, LED luminescent screens are completely superposed with barn door at this time；The signal that two groups of swing angle detection devices obtain calculates initial as pivot angle
Reference value shows that pivot angle is 0 on current axial direction；
Step 2：Driver's cabin sends out bridge crane operating instruction, and bridge crane controls corresponding suspender according to different operating instructions and runs, hangs
Have the lifting rope respectively connected to swing；
Step 3：The swing of lifting rope can drive the rotation of barn door and then leak out the area of part LED light, and light intensity sensor obtains
To the luminous intensity size, the quick photoelectric sensor of color obtains the color of the light, and obtained optical signal becomes electric signal and sends signal to
Processing unit；
Step 4：The electric signal that signal processor receives on x, the directions y is pocessed, and is amplified into crossing, and filtering, A/D turns
Pivot angle composite calulation machine is sent to by serial ports of computers after changing and carries out pivot angle synthesis processing, the light source colour of obtained leakage differentiates
The direction of movement it is positive and negative, light source area S is determined according to obtained signal1, and the area of entire LED luminescent screens is S, can be with
Angle, θ=(S of the lightweight rocker rotation on a direction is calculated1/ S) the same methods of * π obtain on another direction
Angle, and then the angle in both direction is synthesized, obtain the pivot angle value of swing rope
Step 5：The work that another set suspender is done is same as described above, obtains another group of pivot angle value；Two groups of pivot angle information are sent
For driver's reference operation on to the display screen of driver's cabin, pivot angle information is sent to synchronization/swing-proof control system, to provide feedback
Information.
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| CN201810426864.8A CN108706459B (en) | 2018-05-07 | 2018-05-07 | Double-hanger bridge crane swing angle measuring device and measuring method based on light intensity sensor |
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| CN201810426864.8A CN108706459B (en) | 2018-05-07 | 2018-05-07 | Double-hanger bridge crane swing angle measuring device and measuring method based on light intensity sensor |
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Cited By (6)
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| CN110304548A (en) * | 2019-07-12 | 2019-10-08 | 上海海事大学 | The detection device and its detection method of double lifting bridge crane lifting rope swing angles and rope length |
| CN112960548A (en) * | 2021-03-09 | 2021-06-15 | 上海海事大学 | Swing angle detection device for lifting appliance of bridge crane |
| CN113003420A (en) * | 2021-04-01 | 2021-06-22 | 上海海事大学 | Lifting appliance swinging angle measuring device and system based on polaroid |
| CN113003430A (en) * | 2021-03-12 | 2021-06-22 | 上海海事大学 | Bridge crane lifting rope swing angle measuring device and using method |
| CN113023573A (en) * | 2021-03-23 | 2021-06-25 | 上海海事大学 | Double-lifting-tool bridge crane swing angle detection device and method based on photoresistor |
| CN113602967A (en) * | 2021-08-18 | 2021-11-05 | 宁波意宁码头经营有限公司 | Integrated bridge crane system |
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| CN110304548A (en) * | 2019-07-12 | 2019-10-08 | 上海海事大学 | The detection device and its detection method of double lifting bridge crane lifting rope swing angles and rope length |
| CN110304548B (en) * | 2019-07-12 | 2020-06-09 | 上海海事大学 | Detection device and detection method for swing angle and rope length of lifting rope of double-lifting bridge crane |
| CN112960548A (en) * | 2021-03-09 | 2021-06-15 | 上海海事大学 | Swing angle detection device for lifting appliance of bridge crane |
| CN112960548B (en) * | 2021-03-09 | 2022-09-30 | 上海海事大学 | Swing angle detection device for bridge crane lifting appliance |
| CN113003430A (en) * | 2021-03-12 | 2021-06-22 | 上海海事大学 | Bridge crane lifting rope swing angle measuring device and using method |
| CN113003430B (en) * | 2021-03-12 | 2022-11-08 | 上海海事大学 | Bridge crane lifting rope swing angle measuring device and using method |
| CN113023573A (en) * | 2021-03-23 | 2021-06-25 | 上海海事大学 | Double-lifting-tool bridge crane swing angle detection device and method based on photoresistor |
| CN113003420A (en) * | 2021-04-01 | 2021-06-22 | 上海海事大学 | Lifting appliance swinging angle measuring device and system based on polaroid |
| CN113602967A (en) * | 2021-08-18 | 2021-11-05 | 宁波意宁码头经营有限公司 | Integrated bridge crane system |
| CN113602967B (en) * | 2021-08-18 | 2023-12-08 | 宁波意宁码头经营有限公司 | Integrated bridge crane system |
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