CN109502484B - Control method and system for crane operation area - Google Patents
Control method and system for crane operation area Download PDFInfo
- Publication number
- CN109502484B CN109502484B CN201811348679.8A CN201811348679A CN109502484B CN 109502484 B CN109502484 B CN 109502484B CN 201811348679 A CN201811348679 A CN 201811348679A CN 109502484 B CN109502484 B CN 109502484B
- Authority
- CN
- China
- Prior art keywords
- crane
- sensing device
- area
- trolley
- working area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—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
- B66C13/18—Control systems or devices
- B66C13/50—Applications of limit circuits or of limit-switch arrangements
Abstract
The invention provides a control method and a control system for a crane operation area, which are used for solving the problem that a lifting hook on a trolley is easy to pull equipment or goods stacked on the ground in the operation process of a crane, and comprise the following steps: acquiring position area data of a deposit in a crane working area, and dividing the crane working area into a first working area and a second working area according to the position area data of the deposit; judging whether a cart mechanism of the crane is located in a first working area, if so, generating a limit signal to control the cart mechanism to stop running when the cart mechanism of the crane reaches a preset first position point of the first working area; and judging whether the trolley mechanism of the crane is positioned in the second working area, if so, generating a limit signal to control the trolley mechanism to stop running when the trolley mechanism of the crane reaches a preset second position point. The operation area range of the crane is controlled by limiting the cart and the trolley of the crane.
Description
Technical Field
The invention relates to the technical field of crane control, in particular to a method and a system for controlling a crane operation area.
Background
The crane is a lifting mechanical device which does cyclic and intermittent motion, and comprises three working mechanisms of a cart, a trolley and a lifting hook, wherein the lifting hook moves up and down, the trolley moves left and right, the cart moves front and back, the trolley is generally arranged on a beam of the cart, a track for the trolley to move left and right is arranged on the beam of the cart, and the cart is provided with a fixed track to move front and back.
The goods in the workshop are unloaded through the movement of the cart, the trolley and the lifting hook, but the workshop generally has some large-scale equipment, stocked goods and the like besides the goods, such as a distribution room, if the crane is operated improperly, when the lifting hook on the trolley enters the area of the distribution room, the equipment can be overturned, and the safety of the equipment and personnel is caused.
How to control the crane and prevent the crane from entering an equipment area is an important safety problem, for example, chinese patent with application number CN201810311569 discloses an automatic control method for operation of a full-automatic bridge type storage crane, which comprises the steps of determining a space coordinate of an operation target point, utilizing a control system to realize automatic positioning of a cart, a trolley and a lifting mechanism, clamping and holding a cargo by a clamp, utilizing a proximity sensor to perform reliable clamping and holding detection, lifting and putting down the cargo, automatically lifting the clamp to the highest point by the lifting mechanism, and feeding back an operation completion signal to an upper storage management information system by a crane control system. The method mainly aims at controlling automatic operation of the crane, and lacks corresponding description on how to avoid factory building equipment and the like.
Also, for example, chinese patent with application number CN201810418073 discloses a safety protection and operation auxiliary system for a gantry crane, which includes a system controller, and a laser scanner, a trailer passing indicator light, and an operation auxiliary display, which are respectively connected to the system controller; the system controller utilizes basic working condition parameters of a crane, a trailer and a storage yard, real-time working condition parameters obtained from a crane control system and real-time scanning data obtained from the laser scanner to complete calculation of composite working condition parameters and operation auxiliary data and judgment of operation dangerous situations, sends out dangerous situation avoiding operation instructions to the crane control system and the trailer release indicator lamp, and simultaneously sends the operation auxiliary data to the operation auxiliary display for display. In the patent document, it is mentioned that in the left-right walking process of a cart, due to the fact that the sight of a driver is blocked or the visibility of the surrounding environment affects, the cart collides with an obstacle when walking, a corresponding evading mode is provided in the scheme and is emergency braking of the cart, the evading mode is completed by depending on a scanner, namely when the scanner scans the obstacle within a certain distance, a braking instruction is given, the emergency braking is performed, and the method is greatly different from the method that a limiting block brakes, so that the specific technical means of the cart and the limiting block are greatly different.
Disclosure of Invention
The invention aims to provide a control method and a control system for an operation area of a crane, which are used for solving the problem that equipment and personnel are unsafe due to the fact that equipment in the operation area is easily overturned in the operation process of the existing crane.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a control method of a crane operation area comprises the following steps:
acquiring position area data of a deposit in a crane working area, and dividing the crane working area into a first working area, a second working area and a third working area according to the position area data of the deposit;
judging whether a cart mechanism of the crane is located in the first working area, if so, generating a limit signal to control the cart mechanism to stop running when the cart mechanism of the crane reaches a preset first position point of the first working area;
and judging whether the trolley mechanism of the crane is positioned in the second working area, if so, generating a limit signal to control the trolley mechanism to stop running when the trolley mechanism of the crane reaches a preset second position point.
Further, the generating of the limit signal specifically includes the steps of:
arranging a first limiting block at the preset first position point, wherein the first limiting block is positioned on a running track of the trolley mechanism;
a second limiting block is arranged at the preset second position point and is positioned on the running track of the cart mechanism;
the trolley mechanism is provided with a first sensing device, the trolley mechanism is provided with a second sensing device, and when the first sensing device collides with the first limiting block and/or the second sensing device collides with the second limiting block, the limiting signals are generated.
Further, the collision between the second sensing device and the second limiting block specifically further comprises the following steps:
dividing the second sensing device into a front sensing device, a middle sensing device and a rear sensing device;
when the front end sensing device and/or the rear end sensing device collide with the second limiting block, a deceleration signal is generated to decelerate the cart mechanism, and when the middle sensing device collides with the second limiting block, a limiting signal is generated to control the cart mechanism to stop running.
Further, the first working area is a longitudinal running area of the trolley mechanism, and the second working area is a transverse running area of the cart mechanism.
Further, the step of judging whether the trolley mechanism of the crane is located in the second working area specifically comprises the steps of:
a third limiting block is arranged on the running track of the trolley mechanism, and a third sensing device is arranged on the trolley;
and judging whether the first sensing device and/or the third sensing device are/is positioned between the first limiting block and the third limiting block, if so, the trolley mechanism is positioned in the second working area.
A control system for an operating area of a crane, comprising:
a region division module: the system comprises a storage area, a control area and a control area, wherein the storage area is used for acquiring position area data of a deposit in a crane working area and dividing the crane working area into a first working area, a second working area and a third working area according to the position area data of the deposit;
the trolley limiting judgment module: the system is used for judging whether a cart mechanism of the crane is positioned in the first working area, if so, generating a limit signal to control the cart mechanism to stop running when the cart mechanism of the crane reaches a preset first position point of the first working area;
the cart limit judgment module: and the limiting signal is generated to control the cart mechanism to stop running when the cart mechanism of the crane reaches a preset second position point if the trolley mechanism of the crane is positioned in the second working area.
Further, the system comprises:
first stopper sets up the unit: the first limiting block is arranged at the preset first position point and is positioned on the running track of the trolley mechanism;
the second limiting block is provided with a unit: the second limiting block is arranged at the preset second position point and is positioned on the running track of the departure mechanism;
a limit signal generating unit: the limiting device is used for arranging a first sensing device on the trolley mechanism, arranging a second sensing device on the trolley mechanism, and generating the limiting signal when the first sensing device collides with the first limiting block and/or the second sensing device collides with the second limiting block.
Further, the system specifically further includes:
the induction device is divided into units: the second induction device is divided into a front end induction device, a middle induction device and a rear end induction device;
a cart control unit: and the speed reduction device is used for generating a speed reduction signal to reduce the speed of the cart mechanism when the front end sensing device and/or the rear end sensing device collides with the second limiting block, and generating a limiting signal to control the cart mechanism to stop running when the middle sensing device collides with the second limiting block.
Further, the first working area is a longitudinal running area of the trolley mechanism, and the second working area is a transverse running area of the cart mechanism.
Further, the system specifically further includes:
a third stopper setting unit: the trolley mechanism is used for arranging a third limiting block on a running track of the trolley mechanism, and a third sensing device is arranged on the trolley;
an area determination unit: and the trolley mechanism is used for judging whether the first sensing device and/or the third sensing device is/are positioned between the first limiting block and the third limiting block, and if so, the trolley mechanism is positioned in the second working area.
By adopting the invention, the running working areas of the cart mechanism and the trolley mechanism are respectively limited by setting different working areas, so that the safety risk is reduced, the trolley mechanism and the cart mechanism are respectively controlled more flexibly, and meanwhile, the position of the cart mechanism and the trolley mechanism can be quickly and accurately positioned by adopting the limit signals generated by the collision between the limit blocks and the sensing device so as to control the running states of the cart mechanism and the trolley mechanism.
Drawings
FIG. 1 is a flow chart of a method for controlling an operating area of a crane according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for generating a limit signal according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method for controlling the operation of a crane cart mechanism according to an embodiment of the present invention;
FIG. 4 is a flowchart of a method for determining a location area of a cart mechanism according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a crane operating mode according to an embodiment of the present invention;
FIG. 6 is a schematic view of a crane operating area provided by one embodiment of the present invention;
fig. 7 is a structural diagram of a control system of a crane operating area according to an embodiment of the present invention.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
Example one
As shown in fig. 1, the present embodiment provides a method for controlling an operating area of a crane, including the steps of:
acquiring position area data of a deposit in a crane working area, and dividing the crane working area into a first working area, a second working area and a third working area according to the position area data of the deposit;
judging whether a cart mechanism of the crane is located in the first working area, if so, generating a limit signal to control the cart mechanism to stop running when the cart mechanism of the crane reaches a preset first position point of the first working area;
and judging whether the trolley mechanism of the crane is positioned in the second working area, if so, generating a limit signal to control the trolley mechanism to stop running when the trolley mechanism of the crane reaches a preset second position point.
The crane is generally arranged in a factory building, the crane mainly comprises three mechanisms of a lifting hook, a cart and a trolley, the cart can transversely run on a cart track on the ground, and the trolley is arranged on a running track on a cart beam and can longitudinally run.
The specific operation direction of each mechanism of the crane can refer to fig. 5, fig. 5 is a schematic view of the operation mode of the cart and trolley mechanisms of the crane, and it should be noted that the drawing does not show a hook mechanism, and the hook is installed on the trolley mechanism and can be lifted and lowered to hook the goods or the equipment.
In this embodiment, the crane is a bridge type double-beam crane.
The crane is generally required to carry goods in a factory or a workshop, but the working area of the crane may be provided with deposits, such as equipment or stocked goods, which have a certain height, and when the trolley and the hook of the crane run to the area above the equipment and the goods, the equipment and the goods are pulled over, which causes safety accidents.
When the working area of the crane is divided, the area of the crane is divided into a first working area, a second working area and a third working area according to the condition of the deposit.
Reference is made to fig. 6, which shows 1, a first working area, 2, a second working area, 3, a third working area, 4, a distribution room area, 5, a deposit area.
The cart mechanism can run in the first working area, but the running of the trolley mechanism can be influenced by the stacking area 5, the position of the trolley needs to be considered for the running of the cart mechanism in the second working area, if the trolley mechanism is in the second working area, the cart mechanism cannot run due to the limitation of the stacking, and the third working area indicates that the cart mechanism and the trolley mechanism are not limited and can run freely.
The cubicle area in FIG. 6 is the equipment area where the cart is not accessible.
The preset first position point is arranged on the running track of the trolley mechanism, and can refer to a point B in fig. 5, namely the preset first position point, the point B in fig. 5 is mapped to a dotted line in fig. 6, and one end point of the dotted line is a point B in fig. 6.
When the cart mechanism is located in the first area, the cart mechanism needs to stop running after reaching the position below the dotted line of the point B, and cannot continue to run upwards, otherwise, the cart mechanism collides with deposits, and safety faults are generated.
The preset second position point is a point a in fig. 5, and the point a is mapped to a dotted line in fig. 6 on the running track of the cart mechanism, and the dotted line has a point a.
If the trolley is located in the second working area, the trolley cannot exceed the dotted line with the point A in the graph 6 when moving from front to back, otherwise the trolley enters the deposit area 5, and a hook on the trolley pulls and turns over the deposit.
The longitudinal running area of the trolley and the transverse running area of the cart are limited, so that the cart and the trolley are prevented from entering a deposit area, and the running safety of the crane is guaranteed.
Example two
Referring to fig. 2, the present embodiment provides a method for generating a limit signal in combination with an embodiment, including the steps of:
arranging a first limiting block at the preset first position point, wherein the first limiting block is positioned on a running track of the trolley mechanism;
a second limiting block is arranged at the preset second position point and is positioned on the running track of the cart mechanism;
the trolley mechanism is provided with a first sensing device, the trolley mechanism is provided with a second sensing device, and when the first sensing device collides with the first limiting block and/or the second sensing device collides with the second limiting block, the limiting signals are generated.
The first sensing device and the second sensing device are both limiting equipment, and the limiting equipment in the embodiment is cross limiting equipment.
The limiting signal is generated by adopting a mode that the sensing device collides with the limiting block, so that the precision and the accuracy can be ensured, the position is relatively concealed, other spaces cannot be occupied, and the interference of the external environment cannot be caused.
EXAMPLE III
Referring to fig. 3, in this embodiment, in combination with the first embodiment and the second embodiment, a method for controlling the operation of a cart mechanism is provided, which includes the steps of:
dividing the second sensing device into a front sensing device, a middle sensing device and a rear sensing device;
when the front end sensing device and/or the rear end sensing device collide with the second limiting block, a deceleration signal is generated to decelerate the cart mechanism, and when the middle sensing device collides with the second limiting block, a limiting signal is generated to control the cart mechanism to stop running.
The second induction system specifically includes three limiting devices, the front end induction system corresponds to the front end limiting device, the middle induction system corresponds to the middle limiting device, and the rear end induction system corresponds to the rear end limiting device.
Through setting up front end induction system, middle part induction system and rear end induction system, can have abundant time to come the cart to control, make its stop operation, reduce influences such as the produced inertia of emergency braking, lead to the goods of hoist delivery etc. to take place to tumble.
Example four
Referring to fig. 4, in this embodiment, in combination with the first embodiment, the second embodiment and the third embodiment, a method for determining a position area of a cart mechanism is provided, which includes the steps of:
a third limiting block is arranged on the running track of the trolley mechanism, and a third sensing device is arranged on the trolley;
and judging whether the first sensing device and/or the third sensing device are/is positioned between the first limiting block and the third limiting block, if so, the trolley mechanism is positioned in the second working area.
Fig. 5 shows the position of the third limiting block, the third limiting block is installed at point C, in the figure, point b is located on the running track on one side of the trolley, point C is located on the running track on the other side of the trolley, the trolley runs on two tracks, a running distance difference exists between point C and point b, point C is mapped to fig. 6 and is a dotted line, and point C is located on the dotted line.
Adopt stopper and induction system to collide with each other, whether detection that can be accurate the dolly is located the work area that corresponds in to can carry out quick judgement, ensure the accuracy of judged result.
EXAMPLE five
Referring to fig. 7, the present embodiment provides a control system for an operating area of a crane, including:
a region division module: the system comprises a storage area, a control area and a control area, wherein the storage area is used for acquiring position area data of a deposit in a crane working area and dividing the crane working area into a first working area, a second working area and a third working area according to the position area data of the deposit;
the trolley limiting judgment module: the system is used for judging whether a cart mechanism of the crane is positioned in the first working area, if so, generating a limit signal to control the cart mechanism to stop running when the cart mechanism of the crane reaches a preset first position point of the first working area;
the cart limit judgment module: and the limiting signal is generated to control the cart mechanism to stop running when the cart mechanism of the crane reaches a preset second position point if the trolley mechanism of the crane is positioned in the second working area.
In this embodiment, the cart mechanism and the cart mechanism are controlled by a PLC program, and the PLC program controls the cart mechanism or the cart mechanism to stop operating according to the generated limit signal.
The system further comprises:
first stopper sets up the unit: and a first limiting block is arranged at the preset first position point and is positioned on the running track of the trolley mechanism.
The second limiting block is provided with a unit: and a second limiting block is arranged at the preset second position point and is positioned on the running track of the departure mechanism.
A limit signal generating unit: the limiting device is used for arranging a first sensing device on the trolley mechanism, arranging a second sensing device on the trolley mechanism, and generating the limiting signal when the first sensing device collides with the first limiting block and/or the second sensing device collides with the second limiting block.
The induction device is divided into units: the second sensing device is divided into a front sensing device, a middle sensing device and a rear sensing device.
A cart control unit: and the speed reduction device is used for generating a speed reduction signal to reduce the speed of the cart mechanism when the front end sensing device and/or the rear end sensing device collides with the second limiting block, and generating a limiting signal to control the cart mechanism to stop running when the middle sensing device collides with the second limiting block.
A third stopper setting unit: the trolley mechanism is characterized in that a third limiting block is arranged on a running track of the trolley mechanism, and a third sensing device is arranged on the trolley.
An area determination unit: and the trolley mechanism is used for judging whether the first sensing device and/or the third sensing device is/are positioned between the first limiting block and the third limiting block, and if so, the trolley mechanism is positioned in the second working area.
Through setting up different work areas, restrict the operation work area of cart mechanism and dolly mechanism respectively, reduced the safety risk, dolly mechanism and cart mechanism are controlled respectively, and is more nimble, adopts the spacing signal of bump production between stopper and the induction system simultaneously, and the position of location cart mechanism and dolly mechanism that can be quick accurate to control cart mechanism and dolly mechanism's running state.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (6)
1. A method for controlling an operating area of a crane, comprising the steps of:
acquiring position area data of a deposit in a crane working area, and dividing the crane working area into a first working area, a second working area and a third working area according to the position area data of the deposit;
judging whether a cart mechanism of the crane is located in the first working area, if so, generating a limit signal to control the cart mechanism to stop running when the cart mechanism of the crane reaches a preset first position point of the first working area;
judging whether the trolley mechanism of the crane is positioned in the second working area, if so, generating a limit signal to control the trolley mechanism to stop running when the trolley mechanism of the crane reaches a preset second position point;
the generating of the limit signal specifically comprises the steps of:
arranging a first limiting block at the preset first position point, wherein the first limiting block is positioned on a running track of the trolley mechanism;
a second limiting block is arranged at the preset second position point and is positioned on the running track of the cart mechanism;
a first sensing device is arranged on the trolley mechanism, a second sensing device is arranged on the trolley mechanism, and when the first sensing device collides with the first limiting block and/or the second sensing device collides with the second limiting block, the limiting signal is generated;
the collision of the second sensing device and the second limiting block specifically comprises the following steps:
dividing the second sensing device into a front sensing device, a middle sensing device and a rear sensing device;
when the front end sensing device and/or the rear end sensing device collide with the second limiting block, a deceleration signal is generated to decelerate the cart mechanism, and when the middle sensing device collides with the second limiting block, a limiting signal is generated to control the cart mechanism to stop running.
2. The method as claimed in claim 1, wherein the first working area is a longitudinal running area of the trolley mechanism, and the second working area is a transverse running area of the trolley mechanism.
3. The method for controlling the operating area of the crane according to claim 1, wherein the step of determining whether the trolley mechanism of the crane is located in the second operating area further comprises the steps of:
a third limiting block is arranged on the running track of the trolley mechanism, and a third sensing device is arranged on the trolley;
and judging whether the first sensing device and/or the third sensing device are/is positioned between the first limiting block and the third limiting block, if so, the trolley mechanism is positioned in the second working area.
4. A control system for an operating area of a crane, comprising:
a region division module: the system comprises a storage area, a control area and a control area, wherein the storage area is used for acquiring position area data of a deposit in a crane working area and dividing the crane working area into a first working area, a second working area and a third working area according to the position area data of the deposit;
the trolley limiting judgment module: the system is used for judging whether a cart mechanism of the crane is positioned in the first working area, if so, generating a limit signal to control the cart mechanism to stop running when the cart mechanism of the crane reaches a preset first position point of the first working area;
the cart limit judgment module: the system is used for judging whether the trolley mechanism of the crane is positioned in the second working area, if so, generating a limit signal to control the trolley mechanism to stop running when the trolley mechanism of the crane reaches a preset second position point;
the system comprises:
first stopper sets up the unit: the first limiting block is arranged at the preset first position point and is positioned on the running track of the trolley mechanism;
the second limiting block is provided with a unit: the second limiting block is arranged at the preset second position point and is positioned on the running track of the departure mechanism;
a limit signal generating unit: the device comprises a trolley mechanism, a trolley mechanism and a trolley mechanism, wherein the trolley mechanism is provided with a first sensing device, the trolley mechanism is provided with a second sensing device, and when the first sensing device collides with a first limit block and/or the second sensing device collides with a second limit block, a limit signal is generated;
the system specifically further comprises:
the induction device is divided into units: the second induction device is divided into a front end induction device, a middle induction device and a rear end induction device;
a cart control unit: and the speed reduction device is used for generating a speed reduction signal to reduce the speed of the cart mechanism when the front end sensing device and/or the rear end sensing device collides with the second limiting block, and generating a limiting signal to control the cart mechanism to stop running when the middle sensing device collides with the second limiting block.
5. The control system of claim 4, wherein the first working area is a longitudinal running area of the trolley mechanism, and the second working area is a transverse running area of the trolley mechanism.
6. The control system of the crane operating area according to claim 4, wherein the system further comprises:
a third stopper setting unit: the trolley mechanism is used for arranging a third limiting block on a running track of the trolley mechanism, and a third sensing device is arranged on the trolley;
an area determination unit: and the trolley mechanism is used for judging whether the first sensing device and/or the third sensing device is/are positioned between the first limiting block and the third limiting block, and if so, the trolley mechanism is positioned in the second working area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811348679.8A CN109502484B (en) | 2018-11-13 | 2018-11-13 | Control method and system for crane operation area |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811348679.8A CN109502484B (en) | 2018-11-13 | 2018-11-13 | Control method and system for crane operation area |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109502484A CN109502484A (en) | 2019-03-22 |
| CN109502484B true CN109502484B (en) | 2020-08-18 |
Family
ID=65748368
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811348679.8A Active CN109502484B (en) | 2018-11-13 | 2018-11-13 | Control method and system for crane operation area |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109502484B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111302223A (en) * | 2020-02-26 | 2020-06-19 | 西南交通大学 | Method, device and system for aligning container by using lifting appliance |
| CN113788406B (en) * | 2021-08-23 | 2024-01-12 | 北京宸控科技有限公司 | Method for identifying slag ladle position state in slow cooling field |
| CN114348511B (en) * | 2021-12-27 | 2023-11-17 | 科捷智能科技股份有限公司 | In-place detection and control method for conveying device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008076500A2 (en) * | 2006-10-24 | 2008-06-26 | 3M Innovative Properties Company | Stock roll direct load system |
| CN102515022A (en) * | 2011-12-31 | 2012-06-27 | 中联重科股份有限公司 | Method and device for fixing location of crane |
| CN102897674A (en) * | 2012-10-11 | 2013-01-30 | 中联重科股份有限公司 | Method and device for determining hoisting path |
| CN204281099U (en) * | 2014-11-05 | 2015-04-22 | 天津德仕达起重输送设备有限公司 | The locality protection control system of overhead traveling crane |
| CN204917736U (en) * | 2015-08-22 | 2015-12-30 | 莱德沃起重机械（上海）有限公司 | Regional collision avoidance system |
-
2018
- 2018-11-13 CN CN201811348679.8A patent/CN109502484B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008076500A2 (en) * | 2006-10-24 | 2008-06-26 | 3M Innovative Properties Company | Stock roll direct load system |
| CN102515022A (en) * | 2011-12-31 | 2012-06-27 | 中联重科股份有限公司 | Method and device for fixing location of crane |
| CN102897674A (en) * | 2012-10-11 | 2013-01-30 | 中联重科股份有限公司 | Method and device for determining hoisting path |
| CN204281099U (en) * | 2014-11-05 | 2015-04-22 | 天津德仕达起重输送设备有限公司 | The locality protection control system of overhead traveling crane |
| CN204917736U (en) * | 2015-08-22 | 2015-12-30 | 莱德沃起重机械（上海）有限公司 | Regional collision avoidance system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109502484A (en) | 2019-03-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109502484B (en) | Control method and system for crane operation area | |
| WO2020177288A1 (en) | Automatic container terminal stock yard landside automatic operation system and control method thereof | |
| CN104507847A (en) | Crane and related method of operation | |
| WO2013182676A1 (en) | Crane and related method of operation | |
| CN209161405U (en) | A kind of SLAM navigation AGV fork truck | |
| CN109179213A (en) | Container pier storage yard automated system | |
| CN108706469A (en) | Crane intelligent anti-collision system based on millimetre-wave radar | |
| CN109179212A (en) | Container terminal automates straddle type two-way traffic detection identification and stockyard automation control method in track bridge | |
| CN105511383A (en) | Automatic aligning device for dam crest gate machine | |
| CN109879174A (en) | Gantry crane anti-collision system and method | |
| CN104635733B (en) | Automatic guided vehicle and its control method | |
| CN113682965A (en) | Automatic safety control system and control method for crane operation | |
| CN110777874A (en) | Anti-collision control system of loader | |
| KR20150110884A (en) | crane | |
| KR20130117219A (en) | Accident protect device of overhead crane | |
| US20130245818A1 (en) | Logistics installation for a rack storage sysyem | |
| CN210103319U (en) | Gantry crane collision avoidance system | |
| CN111583591B (en) | Safety alarm method and device for hoisting machinery | |
| KR102170469B1 (en) | A system for preventing collision between tower cranes using relative velocity and absolute velocity and a method of preventing collision between tower cranes using the same | |
| CN110817700A (en) | Anti-collision control system of container front crane | |
| CN2663387Y (en) | Full-automatic controlling system of crane | |
| CN204178197U (en) | A kind of Transformation Plan of Gantry Crane automatic contraposition device | |
| CN1613747A (en) | Automatic controlling system of crane | |
| CN110182692B (en) | Gantry crane cross anti-collision safety monitoring system and method | |
| CN111970477A (en) | Foreign matter monitoring system for field bridge track |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |