CN109019347A - A kind of bridge crane automatic control system - Google Patents
A kind of bridge crane automatic control system Download PDFInfo
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- CN109019347A CN109019347A CN201811214174.2A CN201811214174A CN109019347A CN 109019347 A CN109019347 A CN 109019347A CN 201811214174 A CN201811214174 A CN 201811214174A CN 109019347 A CN109019347 A CN 109019347A
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- cargo
- suspender
- trolley
- cart
- lifted
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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
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
-
- 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 present invention relates to a kind of bridge crane automatic control systems；It include: the first image capture module, the second image capture module, range finder module, main control unit and display operation module；Display operation module is for showing image, so that operator carries out cargo location label to be lifted on the image；Main control unit is used to receive the location information of cargo location to be lifted label, the first positioning image, the second positioning image, cart, trolley and suspender, and the control instruction that driving cart is moved along longitudinally disposed cart track, trolley is transferred or promoted along the trolley track operation being laterally arranged and suspender is sent, so that suspender drives cargo to be lifted to reach designated position；The present invention is applied to the accurate positioning of cargo hoisting position, saves cost of labor, greatly improves the efficiency of lifting cargo；In addition, the configuration of the present invention is simple, safety are good, high reliablity and the lifting easy to maintain that can be widely applied for various cargos.
Description
Technical field
The present invention relates to crane automatic running control fields, and the present invention relates to bridge crane automatic control systems.
Background technique
In the field that economic construction and the people's livelihood such as develop at the various aspects, crane suffer from its irreplaceable role,
The continuous improvement of the especially adjoint rapid development of Chinese national economy and living standards of the people in recent years, lifting cargo facility,
Multiple construction fields such as a variety of materials especially freight container all produce increasingly stronger dependence to crane.However, China is whole
Crane automatically controls still not universal enough on body, and related technical personnel are not clear enough to automation cognition, with other countries' phase
Than also there is a big difference.In standardization workshop, mostly used greatly when being operated with crane to freight container manually, it is time-consuming more,
And it needs accurately to operate, it is more demanding to operator's proficiency, even skilled driver is also required to hang several times to adjust
Tool；In addition, operation inevitably has maloperation, and freight container run-of-the-mill is larger, and adverse consequences caused by maloperation is also very
Seriously.Therefore, need to develop a kind of crane system of auto-controll operation.
Summary of the invention
(1) technical problems to be solved
In order to solve the above problem of the prior art, the present invention provides a kind of bridge crane automatic control system, one kind
The control method of bridge crane automatic control system, and a kind of overhead traveling crane based on bridge crane automatic control system
Machine.
(2) technical solution
In order to achieve the above object, the main technical schemes that the present invention uses include:
First image capture module, the second image capture module, range finder module, main control unit and display operation module；
First image capture module be arranged in bridge crane below cart track, for obtaining cargo region
First positioning image；Second image capture module is arranged in below the trolley of bridge crane, for obtaining cargo location
The second positioning image in domain；Display operation module is for showing image, so that operator carries out cargo to be lifted on the image
Position mark；Range finder module is used to obtain the location information of cart, trolley and suspender；
Main control unit is for receiving cargo location to be lifted label, the first positioning image, the second positioning image, cart, small
The location information of vehicle and suspender, and send driving cart is moved along longitudinally disposed cart track, trolley is along lateral setting
Trolley track operation and suspender decentralization or promoted control instruction so that suspender decentralization or promoted after reach cargo institute to be lifted
In region, and/or make suspender that cargo to be lifted be driven to reach designated position.
Optionally, the first image capture module includes: at least one set of binocular camera；
The setting of binocular camera interval, and each group of binocular camera is symmetricly set below the cart track of two sides；
Wherein, each group of binocular camera of the first image capture module passes through demarcates in advance, and utilizes spatial point weight
Method is built so that two images and physical location of the acquisition of each group of binocular camera form mapping relations.
Optionally, range finder module includes: the first distance measuring unit, the second distance measuring unit and third distance measuring unit；
First distance measuring unit is arranged on cart, for measuring longitudinal position information of the cart relative to cart track；
Second distance measuring unit is arranged on trolley, for measuring horizontal location information of the trolley relative to trolley track；
Third distance measuring unit is arranged below suspender, for measuring location information of the suspender relative to cargo to be lifted；
Wherein, the first distance measuring unit and the second distance measuring unit are infrared range-measurement system, and third distance measuring unit is ultrasound
Distance meter.
Optionally, main control unit and the first distance measuring unit, the second distance measuring unit, third distance measuring unit and display operation module
It is all made of wireless communication mode and receives or sends information.
A kind of bridge crane autocontrol method, comprising the following steps:
101, at least a pair first that main control unit obtains the first image capture module positions image；
102, the cargo to be lifted in the first positioning image that operator shows display operation module is carried out wait lift
Cargo location label；
103, main control unit is marked according to cargo location to be lifted and the first bitmap image identifies the position of cargo to be lifted
Confidence breath, the location information of cart, trolley is obtained according to the information of the first distance measuring unit and the second distance measuring unit respectively；Using to
The location information of the location information and cart, trolley that lift cargo sends respective control instruction to cart and trolley respectively, with
The top for making cart that trolley be driven to reach cargo to be lifted；
104, main control unit obtain the second image capture module second positioning image, according to second positioning image obtain to
The precise position information for lifting cargo, obtains cart, trolley according to the information of the first distance measuring unit and the second distance measuring unit respectively
Location information；It is sent using the location information of the precise position information and cart of cargo to be lifted, trolley to cart and trolley
Respective control instruction, so that suspender precisely aligns cargo to be lifted；
105, main control unit is transferred or is promoted according to the wire that the information of third distance measuring unit controls suspension hook, and is controlled big
Vehicle, trolley are moved each along row or long rails, so that suspender drives cargo to be lifted to reach designated position.
Optionally, step 104 further include:
Whether the precise position information of second positioning image automatic identification cargo to be lifted, operator judge automatic identification
Accurately, if it is not, then operator passes through the specified precise position information of display operation module.
Optionally, at step 104 further include:
Judge whether suspender and the horizontal and vertical position deviation of cargo to be lifted are less than preset value, if it is not, then repeating
Step 104 is executed until the position of suspender is opposite and cargo to be lifted in horizontal and vertical deviation meets preset value, accurately to adjust
Position of the whole suspender relative to cargo to be lifted.
Optionally, in step 105 further include:
Main control unit obtains the current value of suspender motor before step 105；
Main control unit is according to the current value of suspender motor and/or the wire of the information control suspension hook of third distance measuring unit
Decentralization or the speed promoted；
Before suspender is loaded wait lift cargo, determine suspender relative to wait lift according to the information that third distance measuring unit measures
When the distance of cargo is less than preset value, then the speed of the wire decentralization of suspender is reduced；
It is loaded after lifting cargo in suspender, main control unit judges the weight and tune of cargo according to the current value of suspender motor
Whole speed wire decentralization or promoted.
Optionally,
Operator inputs the designated position that cargo to be lifted needs to be sent to by display operation module.
A kind of bridge crane, comprising: bus, storage unit, communication unit, cart, trolley, cart track, small track
Road, suspender, control room and above-mentioned bridge crane automatic control system；
Main control unit, bus, storage unit and communication unit integrate composition control case, and the control cabinet is arranged in cart
On；
Control room setting is in workshop, display operation module is arranged in control room where cargo；
The multiple groups binocular camera interval of first image capture module is arranged, and each group of binocular camera is symmetricly set on two
The lower section of side cart track；
The end of trolley track is arranged in cart, and the cart drives trolley track and the first distance measuring unit to transport along longitudinal direction
It is dynamic；
Suspender is located on trolley, and trolley drives suspender and the second distance measuring unit transversely to move, the second image capture module
Side on trolley close to suspender is set.
(3) beneficial effect
The beneficial effects of the present invention are: present system be applied to the accurate positioning of cargo hoisting position, save manually at
This, greatly improves the efficiency of lifting cargo；In addition, the configuration of the present invention is simple, safety are good, high reliablity and energy easy to maintain
Enough it is widely used in the lifting of various cargos.
Detailed description of the invention
Fig. 1 is the bridge crane automatic control system structural schematic diagram that one embodiment of the invention provides
Fig. 2 is that the mechanisms of OTC based on bridge crane automatic control system that one embodiment of the invention provides shows
It is intended to.
Specific embodiment
In order to preferably explain the present invention, in order to understand, with reference to the accompanying drawing, by specific embodiment, to this hair
It is bright to be described in detail.
Embodiment one
As shown in Figure 1, present embodiments providing a kind of bridge crane automatic control system, comprising:
First image capture module, the second image capture module, range finder module, main control unit and display operation module；
First image capture module be arranged in bridge crane below cart track, for obtaining cargo region
First positioning image；
For example, the first image capture module includes: at least one set of binocular camera；
The setting of binocular camera interval, and each group of binocular camera is symmetricly set below the cart track of two sides；
Wherein, each group of binocular camera of the first image capture module passes through demarcates in advance, and utilizes spatial point weight
Method is built so that two images and physical location of the acquisition of each group of binocular camera form mapping relations.
Second image capture module is arranged in below the trolley of bridge crane, for obtaining the second of cargo region
Position image；
For example, the second image capture module is camera, wherein the pixel of the first positioning image is 2,000,000, second
The camera pixel for positioning image module is 3,000,000；
Display operation module is for showing image, so that operator carries out cargo location label to be lifted on the image；
Range finder module is used to obtain the location information of cart, trolley and suspender；
For example, range finder module includes: the first distance measuring unit, the second distance measuring unit and third distance measuring unit；
First distance measuring unit is arranged on cart, for measuring longitudinal position information of the cart relative to cart track；
Second distance measuring unit is arranged on trolley, for measuring horizontal location information of the trolley relative to trolley track；
Third distance measuring unit is arranged below suspender, for measuring location information of the suspender relative to cargo to be lifted；
Wherein, the first distance measuring unit and the second distance measuring unit are infrared range-measurement system, and third distance measuring unit is ultrasound
Distance meter.
Main control unit is for receiving cargo location to be lifted label, the first positioning image, the second positioning image, cart, small
The location information of vehicle and suspender, and send driving cart is moved along longitudinally disposed cart track, trolley is along lateral setting
Trolley track operation and suspender decentralization or promoted control instruction so that suspender decentralization or promoted after reach cargo institute to be lifted
In region, and/or make suspender that cargo to be lifted be driven to reach designated position.
In the present embodiment, main control module and image recording module, main control unit and position range finder module, main control unit and aobvious
Show that operation module is all made of wireless communication mode and receives or sends information.
Embodiment two
A kind of bridge crane autocontrol method based on embodiment one, comprising the following steps:
101, at least a pair first that main control unit obtains the first image capture module positions image；
For example, in the present embodiment, the CPU of main control unit is ARMCortex-A8, and kernel is AM5338 processor,
Main control unit develops environment using Linux, and transplanting OpenCV builds embedded environment to image procossing；
102, the cargo to be lifted in the first positioning image that operator shows display operation module is carried out wait lift
Cargo location label, for example, multiple groups of images are shown in display operation module；
Further, operator is using clicking recognition methods, by display operation module operator from whole first
It selects a pair first in positioning image to position image and mark goods to be lifted, to obtain cargo location label to be lifted；Citing comes
It says, main control unit identifies cargo location label to be lifted, and cargo to be lifted is highlighted and is confirmed for operator.
103, main control unit is marked according to cargo location to be lifted and the first bitmap image identifies the position of cargo to be lifted
Confidence breath, the location information of cart, trolley is obtained according to the information of the first distance measuring unit and the second distance measuring unit respectively；Using to
The location information of the location information and cart, trolley that lift cargo sends respective control instruction to cart and trolley respectively, with
The top for making cart that trolley be driven to reach cargo to be lifted；
For example, according to the first selected positioning image, figure is used using the intrinsic parameter of binocular camera and outer parameter
Shape matching and spatial point reconstruction method determine the location information of cargo to be lifted；I.e. imaging is distinguished in binocular camera in space arbitrary point
When, coordinate of this o'clock on two images is obtained, in intrinsic parameter and the outer parameter of known binocular camera, by establishing with this
The world coordinates of point is four linear equations of unknown number, and solves to obtain the world coordinates of the point using least square method, into
And obtain the location information of the point；
104, main control unit obtain the second image capture module second positioning image, according to second positioning image obtain to
The precise position information for lifting cargo, obtains cart, trolley according to the information of the first distance measuring unit and the second distance measuring unit respectively
Location information；It is sent using the location information of the precise position information and cart of cargo to be lifted, trolley to cart and trolley
Respective control instruction, so that suspender precisely aligns cargo to be lifted；
Further, step 104 further include:
Whether the precise position information of second positioning image automatic identification cargo to be lifted, operator judge automatic identification
Accurately, if it is not, then operator passes through the specified precise position information of display operation module；
In the specific implementation process, the second positioning image being capable of automatic identification cargo centre position to be lifted and with the center
Position formed closed figure to indicate identification as a result, if operator judges that recognition result is incorrect, i.e. the closed figure
It is not to cross operator when hanged cargo and provided correctly precisely by clicking knowledge method for distinguishing in display operation module
Position.
Further, at step 104 further include:
Judge whether suspender and the horizontal and vertical position deviation of cargo to be lifted are less than preset value, if it is not, then repeating
Step 104 is executed until the position of suspender is opposite and cargo to be lifted in horizontal and vertical deviation meets preset value, accurately to adjust
Position of the whole suspender relative to cargo to be lifted.
105, main control unit is transferred or is promoted according to the wire that the information of third distance measuring unit controls suspension hook, and is controlled big
Vehicle, trolley are moved each along row or long rails, so that suspender drives cargo to be lifted to reach designated position.
In the specific implementation process, main control unit controls cart according to the first distance measuring unit information and transports along long rails
It is dynamic, according to the second distance measuring unit information control trolley move along cross track so that suspender drive cargo to pre-entering or
Selected position.
For example, before step 105 main control unit obtain suspender motor current value；
Main control unit is according to the current value of suspender motor and/or the wire of the information control suspension hook of third distance measuring unit
Decentralization or the speed promoted；
Before suspender is loaded wait lift cargo, determine suspender relative to wait lift according to the information that third distance measuring unit measures
When the distance of cargo is less than preset value, then the speed of the wire decentralization of suspender is reduced；
It is loaded after lifting cargo in suspender, main control unit judges the weight and tune of cargo according to the current value of suspender motor
Whole speed wire decentralization or promoted.
In the present embodiment, operator inputs the specific bit that cargo to be lifted needs to be sent to by display operation module
It sets.
Embodiment three
This implementation provides a kind of bridge crane, comprising:
The second image capture module that the first image capture module, a camera for multiple groups binocular camera composition forms
Second range finder module of the first range finder module and infrared ambulator composition that displacement detection module, infrared ambulator form,
The display operation module and main control unit group that third range finder module, touch screen and the key of ultrasonic detector composition form
At；Gantry body includes: cart, trolley, suspender, cart track and trolley track；
For example, in the present embodiment as shown in Figure 2 first image capture module include three groups of binocular cameras, each group
Binocular camera is symmetrically mounted on the lower section of cart track, for acquiring the image of cargo in workshop, the image of camera shooting
It is sent to the position of main control unit freight container for identification；In the specific implementation process, according to the adjustment of the reasonable quantity of workshop
The quantity of binocular camera；
First distance measuring unit is mounted on cart ontology；Second distance measuring unit is mounted in trolley body；Third ranging list
Member is mounted on the wire end of suspender.
Second image capture module is that one piece of camera is mounted below trolley, positions cargo to be lifted for accurately knowing
Center.
Main control unit is mounted on cart ontology or in control cabinet, and for example main control unit can be calculated and be stored and lead to
It is integrated to cross bus interface.
For example, the course of work of the bridge crane is as follows:
201, after equipment starting operation, the first image capture module records freight container situation in workshop in real time, by operator
The freight container for needing to lift by crane is clicked on the touchscreen；Operator is highlighted automatically by system after the completion of clicking and waits behaviour
Work person's confirmation, the computing unit of main control unit carries out screenshot to video from storage element at this time, intercepts current related cargo
Picture is simultaneously handled.
202, position identifies and runs to lifting point: first according to the first nearest Image Acquisition where selected freight container
Module, calculating position section, since binocular camera is pairs of, use binocular accurate positioning positioning freight container position.
The integral position that target freight container can be accurately determined according to the framing of the first image capture module, in cart track and small
The plane xy coordinate that track road is constituted；And the position of suspender is recorded by ultrasonic range finder always, by being mounted on cart and small
Infrared ambulator on vehicle calculates the absolute position of suspender, i.e. plane xy coordinate；Calculation Plane coordinate difference obtains cart
Need the direction that runs and distance with trolley, while giving crane translation instruction, at the same it is horizontal and vertical on infrared distance measurement
Instrument records moved distance in real time, stops trolley and cart operation when distance reaches the instruction of input, has been moved at this time
Target position.
203, suspender is transferred: being placed with two parts under process control suspender.First part's decentralization, let-down speed at this time compared with
Fastly, when ultrasonic detector detects that suspender reaches certain threshold value apart from lower section freight container distance control suspender draw off gear into
The decentralization of row second part, lowering velocity at this time is more slow, until the collected range information of ultrasound examination module reaches
Preset lifting distance threshold.Lowering velocity in two parts, which can according to need, to be set.
Suspender is further connected to freight container；For example, pawl is hung in setting on suspender, is hung pawl and is at least 4.In mesh
Marking freight container top-side has groove structure.The step uses automatic mode, automatic after the completion of suspender decentralization to shrink,
Then control suspender slowly rises, and after rising to certain distance, when the distance between suspender and freight container are constant, then confirms
The automatic connection for completing suspender, otherwise repeats this process.Manual operation can be used in the appropriate case, when using manual operation,
Each groove hung on pawl and freight container is embedded in by site operation personnel.
204, suspender lifting truck is run to terminal: clicking final position on the touchscreen by operator, this step can also
To be completed in 201.If after the completion of clicking freight container lowered position be ground can on the screen with red dot display position central point,
If being stacked to above freight container then to be highlighted target freight container.It can be quasi- also according to the positioning of the first image capture module
Determine the integral position of target setting point, i.e. plane xy coordinate.Then it is calculated according to the difference of current location and target position
The distance for needing to run and direction send instructions to crane gear controller.Since freight container weight is not of uniform size, Ke Yigen
Judge that weight carries to control the ground jack speed of service according to current of electric.
Suspender decentralization: main control unit control suspender decentralization is also divided into two parts, and first part adopts when freight container in the first image
When collecting in the module visual field and being greater than certain threshold value with lower section ground or freight container distance, transferred with fast speed.When freight container exists
Outside the first image capture module visual field or with lower section ground or freight container distance be less than certain threshold value when enter second stage with compared with
Slow speed is transferred, until cargo completes decentralization, suspender unclamps and packs up rising.
For example, in the present embodiment, main control unit application (SuSE) Linux OS, system hardware composition in, ARM
Processor is the core of hardware platform and whole system, and the effect of camera is exactly to acquire video image, and range finder module is then
Obtain the precise displacement of crane.It further include the bus interface and memory for connecting the transmission of equipment and progress data.
The major function of (SuSE) Linux OS be for camera, storage, etc. driving be provided support, while as core
Processor, (SuSE) Linux OS are also responsible for distribution management, the management interrupted, Image Acquisition and the pipe for handling task of memory
The tasks such as reason.After whole system starting, the driving of system first can initialize the relevant hardware of system, and then system is just
It can be the acquisition tasks storage allocation of image, in the buffer by collected video image storage, the image letter in buffer area
Breath exports processing result also for applying procedure operation and processing.
The part that functional development designs when application program, is designed according to the needs of system and relies on hardware and software platform
It is handled.This designing user wants the acquisition and processing for the mainly image realized, application program is to open image to adopt first
Collect equipment, image is acquired, collected data are stored in the buffer area of system, then passes through user program junction
Adjustment method carries out operation processing to data, and then targetedly carries out the field adjustable under different situations.
Present system is applied to the accurate positioning of cargo hoisting position, saves cost of labor, greatly improves lifting goods
The efficiency of object；In addition, the configuration of the present invention is simple, safety are good, high reliablity and easy to maintain can be widely applied for various cargos
Lifting.
Finally, it should be noted that above-described embodiments are merely to illustrate the technical scheme, rather than to it
Limitation；Although the present invention is described in detail referring to the foregoing embodiments, those skilled in the art should understand that:
It can still modify to technical solution documented by previous embodiment, or to part of or all technical features into
Row equivalent replacement；And these modifications or substitutions, it does not separate the essence of the corresponding technical solution various embodiments of the present invention technical side
The range of case.
Claims (10)
1. a kind of bridge crane automatic control system characterized by comprising
First image capture module, the second image capture module, range finder module, main control unit and display operation module；
First image capture module be arranged in bridge crane below cart track, for obtaining the of cargo region
Certain bit image；Second image capture module is arranged in below the trolley of bridge crane, for obtaining cargo region
Second positioning image；Display operation module is for showing image, so that operator carries out cargo location to be lifted on the image
Label；Range finder module is used to obtain the location information of cart, trolley and suspender；
Main control unit for receive cargo location to be lifted label, the first positioning image, the second positioning image, cart, trolley and
The location information of suspender, and send driving cart moved along longitudinally disposed cart track, trolley it is small along what is be laterally arranged
The control instruction of the operation of track road and suspender decentralization or promotion, so that suspender transfers or reaches cargo location to be lifted after being promoted
Domain, and/or make suspender that cargo to be lifted be driven to reach designated position.
2. the system as claimed in claim 1, which is characterized in that the first image capture module includes: at least one set of binocular camera shooting
Head；
The setting of binocular camera interval, and each group of binocular camera is symmetricly set below the cart track of two sides；
Wherein, each group of binocular camera of the first image capture module passes through demarcates in advance, and utilizes spatial point reconstruction method
So that two images and physical location of the acquisition of each group of binocular camera form mapping relations.
3. system as claimed in claim 2, which is characterized in that range finder module include: the first distance measuring unit, the second distance measuring unit and
Third distance measuring unit；
First distance measuring unit is arranged on cart, for measuring longitudinal position information of the cart relative to cart track；
Second distance measuring unit is arranged on trolley, for measuring horizontal location information of the trolley relative to trolley track；
Third distance measuring unit is arranged below suspender, for measuring location information of the suspender relative to cargo to be lifted；
Wherein, the first distance measuring unit and the second distance measuring unit are infrared range-measurement system, and third distance measuring unit is ultrasonic range finder.
4. system as claimed in claim 3, which is characterized in that
Main control unit and the first distance measuring unit, the second distance measuring unit, third distance measuring unit and display operation module are all made of wirelessly
Communication modes receive or send information.
5. a kind of bridge crane autocontrol method based on any system of Claims 1-4, which is characterized in that packet
Include following steps:
101, at least a pair first that main control unit obtains the first image capture module positions image；
102, the cargo to be lifted in the first positioning image that operator shows display operation module carries out cargo to be lifted
Position mark；
103, main control unit is marked according to cargo location to be lifted and the first bitmap image identifies the position letter of cargo to be lifted
Breath, the location information of cart, trolley is obtained according to the information of the first distance measuring unit and the second distance measuring unit respectively；Using wait lift
The location information and cart of cargo, the location information of trolley send respective control instruction to cart and trolley respectively, so that greatly
Vehicle drive trolley reaches the top of cargo to be lifted；
104, main control unit obtains the second positioning image of the second image capture module, is obtained according to the second positioning image wait lift
The precise position information of cargo obtains the position of cart, trolley according to the information of the first distance measuring unit and the second distance measuring unit respectively
Confidence breath；It is sent respectively using the location information of the precise position information and cart of cargo to be lifted, trolley to cart and trolley
Control instruction so that suspender precisely aligns cargo to be lifted；
105, main control unit according to the information of third distance measuring unit control suspension hook wire transfer or promoted, and control cart,
Trolley is moved each along row or long rails, so that suspender drives cargo to be lifted to reach designated position.
6. method as claimed in claim 5, which is characterized in that step 104 further include:
The precise position information of second positioning image automatic identification cargo to be lifted, operator judge whether automatic identification is quasi-
Really, if it is not, then operator passes through the specified precise position information of display operation module.
7. method as claimed in claim 6, which is characterized in that at step 104 further include:
Judge whether suspender and the horizontal and vertical position deviation of cargo to be lifted are less than preset value, if it is not, then repeating
Step 104 is hung with accurate adjustment until the position of suspender is opposite and cargo to be lifted in horizontal and vertical deviation meets preset value
Has the position relative to cargo to be lifted.
8. the method for claim 7, which is characterized in that in step 105 further include:
Main control unit obtains the current value of suspender motor before step 105；
Main control unit is transferred according to the wire of the current value of suspender motor and/or the information control suspension hook of third distance measuring unit
Or the speed promoted；
Before suspender is loaded wait lift cargo, determine suspender relative to cargo to be lifted according to the information that third distance measuring unit measures
Distance be less than preset value when, then reduce suspender wire decentralization speed；
It is loaded after lifting cargo in suspender, main control unit judges the weight of cargo according to the current value of suspender motor and adjusts steel
Speed silk thread decentralization or promoted.
9. according to right want 8 described in method, which is characterized in that
Operator inputs the designated position that cargo to be lifted needs to be sent to by display operation module.
10. a kind of bridge crane characterized by comprising
Bus, storage unit, communication unit, cart, trolley, cart track, trolley track, suspender, control room and above-mentioned bridge-type
Crane automatic control system；
Main control unit, bus, storage unit and communication unit integrate composition control case, and the control cabinet is arranged on cart；
Control room setting is in workshop, display operation module is arranged in control room where cargo；
The multiple groups binocular camera interval of first image capture module is arranged, and it is big that each group of binocular camera is symmetricly set on two sides
The lower section in track road；
The end of trolley track is arranged in cart, and the cart drives trolley track and the first distance measuring unit to move along longitudinal direction；
Suspender is located on trolley, and trolley drives suspender and the second distance measuring unit transversely to move, the setting of the second image capture module
Close to the side of suspender on trolley.
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| CN201811214174.2A CN109019347A (en) | 2018-10-18 | 2018-10-18 | A kind of bridge crane automatic control system |
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| CN201811214174.2A CN109019347A (en) | 2018-10-18 | 2018-10-18 | A kind of bridge crane automatic control system |
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| CN201811214174.2A Pending CN109019347A (en) | 2018-10-18 | 2018-10-18 | A kind of bridge crane automatic control system |
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| CN110436351A (en) * | 2019-07-29 | 2019-11-12 | 新疆中泰矿冶有限公司 | Bridge crane automatic control device |
| CN111410018A (en) * | 2019-01-05 | 2020-07-14 | 东北林业大学 | Movable discharging device for chain type small-diameter timber conveyor |
| CN111552249A (en) * | 2020-05-12 | 2020-08-18 | 三一重机有限公司 | Operation control system, operation control method and engineering machinery |
| CN113086847A (en) * | 2021-03-22 | 2021-07-09 | 中国铁路广州局集团有限公司 | Method and device for determining state information of gantry crane equipment |
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