CN110626952A - Anti-collision control system of crane - Google Patents
Anti-collision control system of crane Download PDFInfo
- Publication number
- CN110626952A CN110626952A CN201911034916.8A CN201911034916A CN110626952A CN 110626952 A CN110626952 A CN 110626952A CN 201911034916 A CN201911034916 A CN 201911034916A CN 110626952 A CN110626952 A CN 110626952A
- Authority
- CN
- China
- Prior art keywords
- crane
- control module
- speed
- control system
- detector
- 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.)
- Withdrawn
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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
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- 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
- B66C15/00—Safety gear
- B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
- B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Jib Cranes (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses an anti-collision control system of a crane, which can detect static objects and moving objects, can continuously monitor the safety of a man-machine-environment of a construction site, and can take appropriate measures in time when necessary to avoid accidents so as to improve the safety. The invention discloses an anti-collision control system of a crane, which comprises a detection module, a control module and an execution mechanism, wherein the execution mechanism comprises a hoisting mechanism, a slewing mechanism, a crane boom and a luffing cylinder; according to a preset crane safety state threshold value F, when F > is F, the control module outputs an execution signal and controls the crane to reduce the operation speed until the actual operation speed v1 is lower than the maximum allowable operation speed Vmax; the maximum allowable work speed Vmax is a function of F, and when F > F, Vmax decreases as F increases.
Description
Technical Field
The invention belongs to the field of crane safety protection, and particularly relates to an anti-collision control system for a crane.
Background
The crane is widely applied to various fields of engineering construction, and has the advantages of high operation efficiency, high construction speed and the like.
With the development of society, the construction safety of the crane becomes more and more important, and one of the technical development routes of the crane is the safety of the operation of the crane. Among them, preventing the crane from colliding with personnel, buildings and other cranes in the work site is always an important safety index of the crane.
In order to ensure that the crane does not collide with other objects, the prior art of cranes takes many technical measures, including:
1. collecting a video of a visual blind area of a driver by using a camera;
2. measuring the distance from the vehicle to the obstacle by using a ranging radar;
3. reminding a driver in a sound and light alarm mode;
the above prior art does not cover all the unsafe factors of the construction site, and therefore it does not ensure the safety of the crane in other emergency situations, even without technical measures for possible dangers. These missed risk factors include:
1. insufficient detection of moving objects;
2. the attention of the driver is not totally in the blind area but in the operation area, which may cause careless omission;
3. lack of emergency detection and automatic handling measures;
disclosure of Invention
The scheme provides a crane anti-collision control system which can detect static objects and moving objects, can continuously monitor the safety of a man-machine-environment of a construction site, and can timely take appropriate measures when necessary to avoid accidents and further improve the safety. The technical scheme of the invention is as follows:
an anti-collision control system of a crane comprises a detection module, a control module and an actuating mechanism, wherein the detection module is connected with the control module, and a signal detected by the detection module is input into the control module; the control module is connected with the executing mechanism and sends an executing signal to the executing mechanism for operating and controlling the crane;
the actuating mechanism comprises a lifting mechanism, a slewing mechanism, a crane boom and a luffing cylinder;
the detection module comprises a distance detector, a video monitor and an operation speed detector;
the distance detector is arranged on the crane and used for detecting the distance D between the crane and the peripheral object; the operation speed detector is arranged on the crane and used for detecting the movement speed v1 of the crane relative to the ground, the video detector is arranged at the rear part of the crane, the control module processes the video signal of the video monitor and calculates to obtain the movement speed v2 of the peripheral object;
the control module calculates the safety state value f of the crane in real time,
wherein a, b and k are preset coefficients;
according to a preset crane safety state threshold value F, when F > is F, the control module outputs an execution signal and controls the crane to reduce the operation speed until the actual operation speed v1 is lower than the maximum allowable operation speed Vmax;
further, the maximum allowable work speed Vmax is a function of F, and when F > F, Vmax decreases as F increases.
Because the crane needs to run with load in the operation process, the gravity center of the crane is higher, and the tipping stability is reduced, the crane cannot brake violently in the operation process, and only a relatively soft braking mode can be adopted to reduce the operation speed of the crane. Therefore, the temperature of the molten metal is controlled,
further, maximum allowable working speedc is a predetermined coefficient
The principle of the invention is as follows:
1. system composition and connection relationships
The crane is provided with a detection module, and the detection module comprises a distance detector, a video monitor and part or all of an operation speed detector. The detection module is used for detecting signals such as video images around the crane, the distance of an object, the operation speed and the like.
The detection module is connected with a control module of the crane, and a signal detected by the detection module is input into the control module.
The crane is provided with a control module for receiving the detection signal sent by the detection module.
In order to realize the safety protection of the crane, the control module outputs an execution signal for the control module to operate and control the crane, so that the safety of the crane and a construction site is improved.
2. Working principle of safety protection system in scheme
The detection module detects the environment around the crane in real time, the main detection area comprises a driver vision blind area and a crane operation range area, the traveling speed of the crane, the condition of peripheral objects and the moving speed of the peripheral objects are mainly detected, and the detection data are input into the control module.
After the real-time data of the detection module is input into the control module, the control module carries out local real-time operation on the environment data to obtain a safety state value of the crane in the driving direction, the safety state value is compared with a preset safety state threshold value, and according to a comparison result, an execution signal is output to intervene the operation speed.
The control module outputs an execution signal, and the execution signal is sent to the corresponding execution mechanism and used for controlling the crane to reduce the speed, so that the danger is avoided, and the safety of the crane is improved.
3. Control method adopted in working process of scheme
The distance detector is arranged on the crane and used for detecting the distance D between the crane and the peripheral object; the operation speed detector is arranged on the crane and used for detecting the movement speed v1 of the crane relative to the ground, and the video detector is arranged at the rear part of the crane and used for detecting the video information around the crane and identifying and measuring the speed of objects around the crane.
The control module calculates the safety state value of the crane according to a specific algorithm according to the data D of the distance detector, the v1 of the operation speed detector and the measured object moving speed v 2:
wherein a, b and k are preset coefficients;
a crane safety state threshold value F is preset, and when a real-time safety state value F > calculated by the control module is equal to F, the control module outputs an execution signal to control the crane to reduce the operation speed until the actual operation speed v1 is lower than the maximum allowable operation speed Vmax.
Vmax is a function of F, and when F > F, Vmax decreases as F increases.
Further, in the above-mentioned case,c is a preset coefficient.
Drawings
FIG. 1 is a schematic diagram of the connection relationship between modules of the present invention
FIG. 2 is a flow chart of a control method of the present invention
Detailed Description
The technical solution of the present invention is further illustrated by the following specific embodiments:
1. system composition and connection relationships
The crane is provided with a distance detector, a video monitor and an operation speed detector, and the distance detector, the video monitor and the operation speed detector are used for detecting signals such as video images around the crane, the distance of an object, the operation speed and the like.
The crane is provided with a controller which is connected with the distance detector, the video monitor and the operation speed detector.
In order to realize the safety protection of the crane, the controller outputs an execution signal to the execution mechanism for limiting the speed of the crane so as to improve the safety of the crane and a construction site; the actuating mechanism comprises a lifting mechanism, a slewing mechanism, a crane boom and a luffing cylinder; the connection relationship of the modules is shown in fig. 1.
2. Working principle of safety protection system in scheme
The working speed detector detects the traveling speed v1 of the crane, the distance detector detects the distance D between the peripheral object and the crane, the video monitor captures the video around the crane and identifies the type and the traveling speed v2 of the peripheral object, and the detection data are input into the controller.
After the detected real-time data are input into the controller, the controller carries out real-time operation on the data to obtain a safety state value F of the crane in the driving direction, the safety state value F is compared with a preset safety state threshold value F, and according to a comparison result, an execution signal is output to intervene the operation speed.
The control module outputs an execution signal, and the execution signal is sent to the corresponding execution mechanism and used for controlling the crane to reduce the speed, so that the danger is avoided, and the safety of the crane is improved.
3. Control method adopted in working process of scheme
The control method flow chart of the scheme is shown in fig. 2, and the distance detector is installed on the crane and used for detecting the distance D between the crane and the peripheral object; the operation speed detector is arranged on the crane and used for detecting the movement speed v1 of the crane relative to the ground, and the video detector is arranged at the rear part of the crane and used for detecting the video information around the crane and identifying and measuring the speed of objects around the crane.
The control module calculates the safety state value of the crane according to a specific algorithm according to the data D of the distance detector, the v1 of the operation speed detector and the measured object moving speed v 2:
in the present embodiment, a is 1, b is 1, and k is 1.
And when the real-time safety state value F > calculated by the control module is equal to F, the control module outputs an execution signal to control the crane to reduce the operation speed until the actual operation speed v1 is lower than the maximum allowable operation speed Vmax.
Vmax is a function of F, and when F > F, Vmax decreases as F increases. In this embodiment, the functional relationship between Vmax and f is:
the invention has been described in an illustrative manner, and it is to be understood that the invention is not limited to the above-described embodiments, and that various modifications may be made without departing from the spirit and scope of the invention.
Claims (4)
1. The crane anti-collision control system is characterized by comprising a detection module, a control module and an execution mechanism, wherein the detection module is connected with the control module, and a signal detected by the detection module is input into the control module; the control module is connected with the executing mechanism and sends an executing signal to the executing mechanism for operating and controlling the crane;
the actuating mechanism comprises a lifting mechanism, a slewing mechanism, a crane boom and a luffing cylinder;
the detection module comprises a distance detector, a video monitor and an operation speed detector;
the distance detector is arranged on the crane and used for detecting the distance D between the crane and the peripheral object; the operation speed detector is arranged on the crane and used for detecting the movement speed v1 of the crane relative to the ground, the video detector is arranged at the rear part of the crane, the control module processes the video signal of the video monitor and calculates to obtain the movement speed v2 of the peripheral object;
the control module calculates the safety state value f of the crane in real time,
wherein a, b and k are preset coefficients;
and according to a preset crane safety state threshold value F, when F > is F, the control module outputs an execution signal and controls the crane to reduce the working speed until the actual working speed v1 is lower than the maximum allowable working speed Vmax.
2. A crane crash control system as claimed in claim 1 wherein the maximum allowable operating speed Vmax is a function of F, and when F > F, Vmax decreases as F increases.
3. A crane crash control system as claimed in claim 2 wherein the maximum allowable operating speedc is a preset coefficient.
4. The excavator impact control system of claim 3 wherein the predetermined coefficient c is 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911034916.8A CN110626952A (en) | 2019-10-29 | 2019-10-29 | Anti-collision control system of crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911034916.8A CN110626952A (en) | 2019-10-29 | 2019-10-29 | Anti-collision control system of crane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110626952A true CN110626952A (en) | 2019-12-31 |
Family
ID=68978004
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911034916.8A Withdrawn CN110626952A (en) | 2019-10-29 | 2019-10-29 | Anti-collision control system of crane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110626952A (en) |
-
2019
- 2019-10-29 CN CN201911034916.8A patent/CN110626952A/en not_active Withdrawn
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20191231 |
|
| WW01 | Invention patent application withdrawn after publication |