CN110171779A - Front handling mobile crane lifts by crane safely control system and control method - Google Patents
Front handling mobile crane lifts by crane safely control system and control method Download PDFInfo
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- CN110171779A CN110171779A CN201910559997.7A CN201910559997A CN110171779A CN 110171779 A CN110171779 A CN 110171779A CN 201910559997 A CN201910559997 A CN 201910559997A CN 110171779 A CN110171779 A CN 110171779A
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000005259 measurement Methods 0.000 claims abstract description 30
- 230000005484 gravity Effects 0.000 claims abstract description 7
- 238000004891 communication Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 238000012790 confirmation Methods 0.000 claims description 3
- 238000011897 real-time detection Methods 0.000 claims description 3
- 230000006835 compression Effects 0.000 claims description 2
- 238000007906 compression Methods 0.000 claims description 2
- 230000002265 prevention Effects 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
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
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
- B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
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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
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
Abstract
The present invention proposes that a kind of front handling mobile crane lifts by crane safely control system and control method, and system includes identification module, measurement module, safety lifting module and anti-tipping module.The identification module carries out image recognition, judges whether it is train flatcar destuff operating condition by camera collection image；The measurement module passes through the length of laser range sensor real-time measurement telescopic oil cylinder and pitching oil cylinder, passes through the lifting force of four twist lock type pull pressure sensor real-time measurement containers on suspender；The safety lifting module judges relative position of the container raising in the process with flatcar floor according to the acquisition data of twist lock type pull pressure sensor, suspender lifting speed and direction are controlled based on the measurement module collected data, to realize, F-TR lock is smoothly detached from corner part for container and flatcar, avoids vehicle damage, derailing；Actual center gravity position of the anti-tipping module due to considering container, it is more accurate and reliable compared to existing front handling mobile crane rollover prevention system.
Description
Technical field
The present invention relates to front handling mobile crane control system technical fields more particularly to a kind of from destuff on train flatcar
Hang control system and control method.
Background technique
Railway goods yard often carries out container handling with front handling mobile crane and stacks operation.Existing front handling mobile crane has vertical raising and prevents
Tilt functions, but it is possible that cabinet bottom corner piece and flatcar F-TR lock the phenomenon that do not break off relations, very when destuff from flatcar
To causing flatcar to be lifted.The Chinese utility model of Patent No. CN201520132108.6 discloses a kind of safety lifting control
System processed is mounted with to approach switch between undercarriage on suspender, when certain corner occurs in upper undercarriage close to switch triggering to limit
System lifting can play the role of certain prevention train F-TR lock and accidentally lift by crane.But the patented technology not to raising process into
Row detects and controls, therefore is further improved in safety lifting control program.
Summary of the invention
In view of the shortcomings of the prior art, the present invention provides a kind of control system that can control front handling mobile crane lifting speed and direction
System and control method, because F-TR locks the accident for causing flatcar to be lifted that do not break off relations when preventing the destuff from flatcar, and
Prevent front handling mobile crane from tumbling.
In order to solve the above technical problems, present invention firstly provides a kind of front handling mobile cranes to lift by crane control system safely, comprising: identification
Module, measurement module, safety lift by crane module and anti-tipping module；
The identification module is carried out image recognition, is judged whether it is train flatcar and unload packaging by camera collection image
Case operating condition；
The measurement module, for passing through the length of laser range sensor real-time measurement telescopic oil cylinder and pitching oil cylinder,
Pass through the lifting force of four twist lock type pull pressure sensor real-time measurement containers on suspender；
The safety lifting module is smoothly detached from for controlling F-TR lock on corner part for container and flatcar；
The anti-tipping module, for being controlled based on the collected data of the measurement module to lifting speed and direction
System；
The identification module is connected with the safety lifting module, and the judging result of the identification module is inputted as parameter
To the safety lifting module；
The measurement module is connected with the safety lifting module, the anti-tipping module respectively, and the laser ranging passes
The collection value of sensor and the twist lock type pull pressure sensor is input to the safety lifting module and the anti-dumping as parameter
Overmolded block；
The safety lifting module is judged according to the acquisition data of twist lock type pull pressure sensor during container raising
With the relative position on flatcar floor, the safety lifting module and front handling mobile crane telescopic oil cylinder, pitching oil cylinder, lifting appliance moving oil cylinder
Corresponding oil pump is connected, control oil pump flow；
Anti-tipping module oil pump corresponding to front handling mobile crane telescopic oil cylinder, pitching oil cylinder is connected, control oil pump flow.
The identification module includes: that a camera is mounted in front handling mobile crane driver's cabin, and real time monitoring container handling is made
Industry operating condition；When the handling operation operating condition of image recognition is the destuff from flatcar, refer to the safety lifting module transmission
It enables, starts safety lifting program.
The measurement module includes:
First laser distance measuring sensor, second laser distance measuring sensor, two laser range sensors are separately mounted to arm
Frame bottom end and pitching oil cylinder bottom end, first baffle, second baffle are separately mounted to telescopic oil cylinder and pitching oil cylinder top
Head, the length of difference real-time measurement telescopic oil cylinder and pitching oil cylinder；
Four twist lock type pull pressure sensor measure the lifting force of four rotation locks of container respectively；
Data collector is inputted at least 4 road High Speed Analog amounts, for acquiring four twist lock type pull pressure sensor
Signal；
4 road twist lock type tension and compression force value are respectively transmitted to safety the lifting module, the anti-dumping overmolded by wireless communication device
Block.
A kind of front handling mobile crane lifts by crane safely the control method of control system, comprising the following steps:
Step i, when identification module confirmation operating condition is the destuff from flatcar, safety lifts by crane F- on module control flatcar
TR lock unlock is detached from F-TR lock on corner part for container and flatcar；
Step ii, safety lifting module limits telescopic oil cylinder and the oil pump of pitching oil cylinder is exported as small flow, keeps suspender slow
Slow raising；
Step iii, during lifting, four twist lock type pull pressure sensor of real-time detection, when four twist lock type pressures
The sum of force value of sensor is greater than threshold value F0When, front handling mobile crane stops raising, keeps hovering；Otherwise, v is entered step；
Step iv, after controlling telescopic oil cylinder, pitching oil cylinder, lifting appliance moving cylinder action, return step ii- step iii；
Step v, it is released after container raising set distance and the oil pump flow of telescopic oil cylinder and pitching oil cylinder is limited, fastly
Fast raising.
Optimal, in above-mentioned steps ii into step v, anti-tipping module calculates container with respect to front handling mobile crane front-wheel in real time
Turning torque MCollection,Wherein, L7For the distance of core wheel before container center of gravity to front handling mobile crane, F1, F2, F3, F4Point
Not Wei 4 twist lock type pull pressure sensor force value；
Work as MCollectionWhen reaching certain threshold value, the anti-tipping module stops the movement of each hydraulic cylinder, issues and tumbles to driver
Warning.
The present invention passes through the length of laser range sensor real-time measurement telescopic oil cylinder and pitching oil cylinder, passes through on suspender four
The lifting force of a twist lock type pull pressure sensor real-time measurement container, based on collected data to suspender lifting speed and side
To being controlled, to realize, F-TR lock is smoothly detached from corner part for container and flatcar, avoids vehicle damage, derailing.Also, this
The actual center gravity position that anti-tipping scheme considers container is invented, more accurately may be used compared to existing front handling mobile crane rollover prevention system
It leans on.
Detailed description of the invention
Technical solution of the present invention is further described in detail with reference to the accompanying drawings and detailed description.
Fig. 1 is the principle schematic diagram that front handling mobile crane of the present invention lifts by crane safely control system.
Fig. 2 is the control principle drawing that front handling mobile crane of the present invention lifts by crane safely control system.
Description of symbols:
1- front handling mobile crane；2- first laser distance measuring sensor；3- first baffle；4- cantilever crane；5- telescopic oil cylinder；6- suspender；7-
Twist lock type pull pressure sensor；8- second laser distance measuring sensor；9- second baffle；10- container；11- pitching oil cylinder；12-
Camera；13- data collector；14- wireless communication device.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
As shown in Fig. 2, identification module carries out image recognition, judges whether it is train flatcar by camera collection image
Destuff operating condition；Measurement module, for passing through the length of laser range sensor real-time measurement telescopic oil cylinder and pitching oil cylinder,
Pass through the lifting force of four twist lock type pull pressure sensor real-time measurement containers on suspender；Safety lifting module, for controlling
F-TR lock is smoothly detached from corner part for container and flatcar；Anti-tipping module, for being based on the collected data pair of measurement module
Lifting speed and direction are controlled；Identification module is connected with safety lifting module, the judging result conduct of the identification module
Parameter is input to the safety lifting module；Measurement module is connected with safety lifting module, anti-tipping module respectively, laser ranging
The collection value of sensor and the twist lock type pull pressure sensor is input to safety lifting module and described anti-tipping as parameter
Module；
As shown in Figure 1, identification module selects a wireless WIFI camera 12, it is mounted in front handling mobile crane driver's cabin, in real time
Monitoring containers handling operation operating condition, when image recognition algorithm determines that handling operation operating condition is the destuff from flatcar, to
The safety lifting module sends instruction, starts safety lifting program.
It is 30m that measurement module of the present invention, which selects two ranges, the first laser distance measuring sensor 2 of precision 1mm, the
Dual-laser distance measuring sensor 8, two laser range sensors are separately mounted to 4 bottom end of cantilever crane and 11 bottom end of pitching oil cylinder
Head, corresponding first baffle 3, second baffle 9 are separately mounted to telescopic oil cylinder 5 and pitching oil cylinder 11 comes directly towards, respectively real-time measurement
The length of telescopic oil cylinder 5 and pitching oil cylinder 11 determines the pitch angle β of cantilever crane 4 using cosine function formula,Selecting 4 ranges is the lifting force that 15t twist lock type pull pressure sensor 7 measures each rotation lock, number
It selects according to collector 13 and is inputted at least 4 road High Speed Analog amounts, and controlled convenient for twist lock type pull pressure sensor 7 and front handling mobile crane
The distributed data acquisition module dismantled between system, wireless communication device 14 are transmitted 4 tunnel force value using ZigBee wireless data sending network
Give front handling mobile crane control system.
Safety lifting module according to the acquisition data of twist lock type pull pressure sensor judge during container raising with put down
The relative position on vehicle floor, the safety lifting module are oily with front handling mobile crane telescopic oil cylinder 5, pitching oil cylinder 11, lifting appliance moving respectively
The corresponding oil pump of cylinder electricly connects, and controls the oil pump stream of front handling mobile crane telescopic oil cylinder 5, pitching oil cylinder 11, lifting appliance moving oil cylinder respectively
Amount.Oil pump corresponding to front handling mobile crane telescopic oil cylinder 5, pitching oil cylinder 11 electricly connects anti-tipping module respectively, and control front handling mobile crane is flexible
The oil pump flow of oil cylinder 5, pitching oil cylinder 11.
The control method that front handling mobile crane lifts by crane safely control system is described further below, comprising the following steps:
Step i, when identification module confirmation operating condition is the destuff from flatcar, safety lifts by crane F- on module control flatcar
TR lock unlock is detached from F-TR lock on corner part for container and flatcar；
Step ii, safety lifting module limits telescopic oil cylinder and the oil pump of pitching oil cylinder is exported as small flow, keeps suspender slow
Slow raising；
Step iii, during lifting, four twist lock type pull pressure sensor of real-time detection, when four twist lock type pressures
The sum of force value of sensor is greater than threshold value F0When, illustrate that corner part for container does not break off relations with flatcar F-TR lock, front handling mobile crane stops
It rises, keeps hovering, prevention 10 raising of container causes flat car car body to be dragged, and avoids vehicle damage, derailing, enters step iv；
Otherwise, v is entered step；
Step iv, telescopic oil cylinder, pitching oil cylinder, lifting appliance moving cylinder action are controlled, the position of suspender 6 and container 10 is adjusted
After appearance, return step ii- step iii；
Step v, it after container raising set distance, releases and the oil pump flow of telescopic oil cylinder and pitching oil cylinder is limited,
Fast lifting.The empirical value of set distance is 80mm -110mm.
In above-mentioned steps ii into step v, anti-tipping module calculates tilting force of the container with respect to front handling mobile crane front-wheel in real time
Square MCollection,Wherein, L7For the distance of core wheel before container center of gravity to front handling mobile crane, F1, F2, F3, F4Respectively 4
The force value of a twist lock type pull pressure sensor；
Work as MCollectionWhen reaching certain threshold value, the anti-tipping module stops the movement of each hydraulic cylinder, issues and tumbles to driver
Warning.
The space coordinate of 10 center of gravity G of container can be determining by 4 twist lock type pull pressure sensor 7, G to front handling mobile crane front-wheel
Horizontal distance L7, by 4 pitch angle β of cantilever crane, 5 length L of telescopic oil cylinder6, the force value F of 4 twist lock type pull pressure sensor 71, F2, F3,
F4It determines, L7=f (β, L6,F1,F2,F3,F4).Due to considering the actual center gravity position of container, the anti-dumping overmolded
Block is more accurate and reliable compared to the anti-tipping technology of existing front handling mobile crane.
It should be noted last that the above specific embodiment is only used to illustrate the technical scheme of the present invention and not to limit it,
Although being described the invention in detail referring to preferable example of implementing, those skilled in the art should understand that, it can be with
Modification or equivalent replacement of the technical solution of the present invention are made, without departing from the spirit and scope of the technical solution of the present invention,
It is intended to be within the scope of the claims of the invention.
Claims (5)
1. a kind of front handling mobile crane lifts by crane safely control system characterized by comprising identification module, measurement module, safety lift by crane mould
Block and anti-tipping module；
The identification module carries out image recognition, judges whether it is train flatcar destuff work by camera collection image
Condition；
The measurement module passes through for passing through the length of laser range sensor real-time measurement telescopic oil cylinder and pitching oil cylinder
The lifting force of four twist lock type pull pressure sensor real-time measurement containers on suspender；
The safety lifting module is smoothly detached from for controlling F-TR lock on corner part for container and flatcar；
The anti-tipping module, for being controlled based on the collected data of the measurement module lifting speed and direction；
The identification module is connected with the safety lifting module, and the judging result of the identification module is input to institute as parameter
State safety lifting module；
The measurement module is connected with the safety lifting module, the anti-tipping module respectively, the laser range sensor
The safety lifting module and the anti-dumping overmolded are input to as parameter with the collection value of the twist lock type pull pressure sensor
Block；
The safety lifting module according to the acquisition data of twist lock type pull pressure sensor judge during container raising with put down
The relative position on vehicle floor, safety lifting module and the front handling mobile crane telescopic oil cylinder, pitching oil cylinder, lifting appliance moving oil cylinder it is corresponding
Oil pump is connected, control oil pump flow；
Anti-tipping module oil pump corresponding to front handling mobile crane telescopic oil cylinder, pitching oil cylinder is connected, control oil pump flow.
2. front handling mobile crane according to claim 1 lifting control system safely, which is characterized in that the identification module includes:
One camera is mounted in front handling mobile crane driver's cabin, monitors container handling operation operating condition in real time；When the handling of image recognition are made
Industry operating condition is to send instruction from flatcar when destuff to the safety lifting module, start safety lifting program.
3. front handling mobile crane according to claim 1 lifting control system safely, which is characterized in that the measurement module includes:
First laser distance measuring sensor, second laser distance measuring sensor, two laser range sensors are separately mounted to cantilever crane bottom
Portion end and pitching oil cylinder bottom end, first baffle, second baffle are separately mounted to telescopic oil cylinder and pitching oil cylinder top, point
The length of other real-time measurement telescopic oil cylinder and pitching oil cylinder；
Four twist lock type pull pressure sensor measure the lifting force of four rotation locks of container respectively；
Data collector is inputted at least 4 road High Speed Analog amounts, for acquiring the signal of four twist lock type pull pressure sensor；
4 road twist lock type tension and compression force value are respectively transmitted to safety the lifting module, the anti-tipping module by wireless communication device.
4. the control method that a kind of front handling mobile crane described in claim 1 lifts by crane safely control system, which is characterized in that including following
Step:
Step i, when identification module confirmation operating condition is the destuff from flatcar, safety lifts by crane F-TR lock on module control flatcar
Unlock is detached from F-TR lock on corner part for container and flatcar；
Step ii, safety lifting module limits telescopic oil cylinder and the oil pump of pitching oil cylinder is exported as small flow, plays suspender slowly
It rises；
Step iii, during lifting, four twist lock type pull pressure sensor of real-time detection, when four twist lock type pressures sense
The sum of force value of device is greater than threshold value F0When, front handling mobile crane stops raising, keeps hovering；Otherwise, v is entered step；
Step iv, after controlling telescopic oil cylinder, pitching oil cylinder, lifting appliance moving cylinder action, return step ii- step iii；
Step v, it is released after container raising set distance and the oil pump flow of telescopic oil cylinder and pitching oil cylinder is limited, quickly risen
It rises.
5. the control method that front handling mobile crane according to claim 4 lifts by crane safely control system, which is characterized in that in above-mentioned step
For rapid ii into step v, anti-tipping module calculates turning torque M of the container with respect to front handling mobile crane front-wheel in real timeCollection,Wherein, L7For the distance of core wheel before container center of gravity to front handling mobile crane；F1, F2, F3, F4Respectively 4 rotation locks
The force value of formula pull pressure sensor；
Work as MCollectionWhen reaching certain threshold value, the anti-tipping module stops the movement of each hydraulic cylinder, issues warning of tumbling to driver.
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| CN201910559997.7A CN110171779A (en) | 2019-06-26 | 2019-06-26 | Front handling mobile crane lifts by crane safely control system and control method |
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| CN110790139A (en) * | 2019-09-05 | 2020-02-14 | 武汉港迪智能技术有限公司 | Train F-TR lock-unload container safety unlocking control method |
| CN111252672A (en) * | 2020-02-26 | 2020-06-09 | 西南交通大学 | Container hoisting method, device and system |
| CN111302226A (en) * | 2020-05-11 | 2020-06-19 | 上海驭矩信息科技有限公司 | Automatic container placing device based on expert system and control method thereof |
| CN114873469A (en) * | 2022-06-02 | 2022-08-09 | 宜昌精联电子科技有限公司 | FTR unhooking passive automatic detection system and method |
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| CN110790139A (en) * | 2019-09-05 | 2020-02-14 | 武汉港迪智能技术有限公司 | Train F-TR lock-unload container safety unlocking control method |
| CN111252672A (en) * | 2020-02-26 | 2020-06-09 | 西南交通大学 | Container hoisting method, device and system |
| CN111302226A (en) * | 2020-05-11 | 2020-06-19 | 上海驭矩信息科技有限公司 | Automatic container placing device based on expert system and control method thereof |
| WO2021227858A1 (en) * | 2020-05-11 | 2021-11-18 | 上海驭矩信息科技有限公司 | Automatic container landing device based on expert system and control method therefor |
| US11713218B2 (en) | 2020-05-11 | 2023-08-01 | Shanghai Master Matrix Information Technology | Automatic container landing device based on expert system and control method therefor |
| CN114873469A (en) * | 2022-06-02 | 2022-08-09 | 宜昌精联电子科技有限公司 | FTR unhooking passive automatic detection system and method |
| CN114873469B (en) * | 2022-06-02 | 2023-01-24 | 宜昌精联电子科技有限公司 | FTR unhooking passive automatic detection system and method |
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