CN111003640A - Port crane cart track on-line measuring system - Google Patents
Port crane cart track on-line measuring system Download PDFInfo
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- CN111003640A CN111003640A CN201911003894.9A CN201911003894A CN111003640A CN 111003640 A CN111003640 A CN 111003640A CN 201911003894 A CN201911003894 A CN 201911003894A CN 111003640 A CN111003640 A CN 111003640A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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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
- B66C15/00—Safety gear
Abstract
The invention discloses an on-line detection system for a port crane cart track, which comprises a remote control station, an embedded controller, a detection beam, a three-dimensional laser scanning sensor, a laser ranging sensor and a two-dimensional inclination angle sensor, wherein the detection system is arranged on a crane cart travelling mechanism and travels along with a cart, the embedded controller collects various data measured by the sensors in real time and rapidly transmits the data to the remote control station through a wireless WIFI communication module, the wear, gap, fracture and deformation conditions of the cart track can be clearly observed by reconstructing the three-dimensional data at the control station, and meanwhile, the parameters of the cart such as travelling displacement, cart track gauge, track straightness, height difference, levelness and the like can be analyzed and compared with national standards so as to evaluate the running state of the cart track. The system is superior to the traditional geometric measurement mode, can measure the track parameter data on line in a non-stop state, and has high efficiency and small error.
Description
The technical field is as follows:
the invention relates to a device and a method for detecting a port crane cart track, in particular to a device and a method for detecting track geometric parameters in an online mode.
Background art:
the port crane is a special device for loading and unloading goods, and the production and installation of a cart traveling track of the port crane are required to strictly meet the tolerance requirements of the national standard GBT 10183.1-2010.
The track can be deformed, fatigued, worn, notched, broken and the like under the influence of long-term loading and unloading operation, production and installation processes and ground settlement of the crane. Especially, the change of parameters such as track gauge, height difference, straightness and the like of the track is main parameters influencing the safe operation of the crane, if the intervention is not carried out by necessary means, the stress condition of the whole crane can be changed, the service life of the whole crane and the track is shortened, the phenomena of rail gnawing and even derailment can often occur, and the safe production of a port is seriously influenced. Therefore, the detection of the cart track is necessary to ensure the safe operation of the cart track.
For a long time, due to the lack of a proper detection means, a detection unit can only use a traditional geometric measurement mode to measure orbit data by using a total station or a theodolite. In the measuring process, the crane must be stopped and moved out of the station, the whole measuring work consumes a great deal of time, and the port production operation is seriously influenced. In addition, as the crane moves out of the station, the rail does not bear external load any more, so that the parameters of the rail such as the track gauge, the straightness, the height difference and the like are inconsistent with the actual running state, and the rail parameters in the actual operation state cannot be accurately obtained.
The invention content is as follows:
the invention aims to solve the technical problem of providing an online state detection system for a port crane cart track, which overcomes the defects that the existing measurement mode needs long-time halt and the track has no running load, and can accurately and efficiently acquire the state parameters of the track in real time.
The detection beam is arranged on the cart travelling mechanism, the various sensors are arranged on the detection beam and the cart travelling mechanism, the three-dimensional model data of the travelling track and the track of the cart are measured, the measurement parameter data are provided, the three-dimensional data reconstruction is carried out on the track, the allowable threshold value of the track is pre-warned, and the maintenance and the repair of the track are facilitated for technicians.
The invention provides a cart track detection system and a cart track detection method, wherein the technical scheme of the detection system is as follows:
the utility model provides a crane cart track detecting system, includes remote control station, embedded controller, detects roof beam, three-dimensional laser scanning sensor, laser rangefinder sensor, two-dimensional tilt sensor, wireless WIFI communication module and constitutes. The remote control station is arranged in the control room, and is used for locally storing and analyzing the received data, reconstructing the three-dimensional data of the track and extracting track parameters; the embedded controller receives a control instruction sent by a remote control station in a control room, selects an acquisition and analysis mode, acquires various sensor data through a data bus, packs the data and transmits the data to the remote control station through a wireless WIFI communication module; the detection beam is arranged on a lower cross beam between the sea side cart travelling mechanism and the land side cart travelling mechanism, so that a support function is provided for sensor installation, and the influence of the stress deformation of the crane supporting leg on measurement data is reduced; the three-dimensional laser scanning sensors are arranged on two sides of the detection beam, and the laser assemblies are aligned to the cart track; the laser ranging sensor is arranged on a walking mechanism of the land-side cart, and the matched reflector is arranged on a walking mechanism of the sea-side cart; the two-dimensional tilt angle sensor is arranged on the lower cross beam; the wireless WIFI communication module is installed at the tail part of the upper platform of the crane and used for establishing a wireless transmission channel between the embedded controller and the remote control station.
Preferably, the remote control station performs local storage and analysis on the received data, reconstructs three-dimensional data to clearly observe the abrasion, gap, fracture and deformation of the cart track, and the three-dimensional reconstructed data can also be used for extracting the walking displacement of the cart and the straightness and levelness parameters and the levelness parameters of the track.
Preferably, the three-dimensional laser scanning sensor is installed at two ends of the sea side detection beam and the land side detection beam, respectively scans three-dimensional models of the sea side and the land side cart tracks, is connected with the embedded controller through a communication cable, and transmits data to the remote controller through WIFI wireless communication.
Preferably, the laser ranging sensor is arranged on a walking mechanism of the land-side cart, the reflector is arranged on a walking mechanism of the sea-side cart, the laser ranging sensor can measure the track distance between tracks of the sea-side cart and the land-side cart, and the data of the laser ranging sensor is transmitted to the remote control station through the embedded controller.
Preferably, the tilt angle sensor is a two-dimensional tilt angle sensor arranged on the lower cross beam, and the two-dimensional tilt angle sensor is an x axis along the traveling direction of the cart and a y axis perpendicular to the traveling direction of the cart. The height fluctuation condition of the track in the traveling direction of the cart can be calculated according to the inclination angle and the wheel track data of the x axis; the y-axis inclination angle sensor measures the inclination angle of the sea and land side cart tracks, and the height difference data between the two tracks can be calculated by the y-axis inclination angle and the track spacing.
Has the advantages that:
according to the invention, by reasonably arranging various sensors, real-time online measurement of the track data of the crane in the actual operation state is realized through the embedded controller, the remote control station processes and analyzes the data by utilizing online monitoring software after obtaining the data, and carries out computer three-dimensional reconstruction on the track parameter data, so that various parameter indexes of the track are visually identified, technicians are guided to maintain the track, measurement can be carried out without stopping the machine, the production time is not occupied, and the production loss caused by stopping the machine is avoided.
Description of the drawings:
FIG. 1 is a block diagram of the system architecture of the present invention;
FIG. 2 is a mechanical block diagram of the system of the present invention;
FIG. 3 is a schematic diagram of the system of the present invention;
FIG. 4 is an online software flow diagram of the present invention.
The reference numbers are as follows: 101-land side detection beam; 102-sea side detection beam; 103-land side cart track; 104-sea side cart track; 105-a land-side cart running gear; 106-sea side cart running gear; 107-hoisting cargo; 108-sea level; 201-landside three-dimensional laser scanning sensor; 202-sea side three-dimensional laser scanning sensor; 203-landside laser ranging sensor; 204-sea side laser sensor reflector; 205-two-dimensional tilt sensor; 206-WIFI communication module; 301-embedded controller (inside the control box).
The specific implementation mode is as follows:
the crane cart track online detection system disclosed by the invention comprises a remote control station, an embedded controller, a sea side three-dimensional laser scanning sensor, a land side three-dimensional laser scanning sensor, a laser ranging sensor, a two-dimensional inclination angle sensor and a wireless communication module, wherein the embedded controller is connected with the remote control station. The embedded controller is connected with the remote control station through a wireless communication module and is connected with the various sensors through a data communication bus.
As shown in fig. 2, the embedded controller 301 is installed in the upper beam control box; the detection beams 101 and 102 are arranged on the lower surface of a lower cross beam between a sea side cart travelling mechanism and a land side cart travelling mechanism; the three-dimensional laser scanning sensor 201 is installed on the land side detection beam 101, the three-dimensional laser scanning sensor 202 is installed on the sea side detection beam 102, and the laser head assembly is aligned to a cart walking track; the laser ranging sensor 203 is arranged on the land side cart travelling mechanism 105, and the reflector 204 is arranged on the sea side cart travelling mechanism 106; two-dimensional tilt angle sensor 205 installs on the bottom end rail, and wireless WIFI communication module 206 installs at hoist upper mounting plate afterbody. The various sensors are connected with the embedded controller 301 in a control box; the embedded controller 301 is connected with a remote control station through the WIFI communication module 206.
The three-dimensional laser scanning sensors 201 and 202 are arranged on the land side detection beam 101 and used for measuring three-dimensional point cloud data of the outer surface of the land detection track 103; a three-dimensional laser scanning sensor 202 is mounted on the sea side detection beam 102 to measure three-dimensional point cloud data of the sea side track 104. The three-dimensional laser scanning sensors 201 and 202 are connected with the embedded controller 301 through a data transmission cable, and the embedded controller 301 analyzes and arranges the data of the three-dimensional laser scanning sensors. The embedded controller 301 relays the data to the remote control station.
The laser ranging sensor 203 is characterized in that the laser ranging sensor 203 is arranged on the land side travelling mechanism 103, the sea side travelling mechanism 104 is provided with a laser sensor reflecting plate 204, the laser ranging sensor 203 can measure the distance between the sea track 104 and the land track 103, and the data of the laser ranging sensor is transmitted to the remote control station through the embedded controller.
The two-dimensional tilt angle sensor 205 is provided with a two-axis tilt angle sensor 205 in the middle of the crane, wherein the x axis is along the cart traveling direction, and the y axis is perpendicular to the cart traveling direction. The x-axis inclination angle sensor measures the track height angle in the cart traveling direction, the x-axis inclination angle and the wheel track, and can measure the height fluctuation conditions of the land cart track 103 and the sea cart track 104; the y-axis inclination angle sensor measures the height angles of the land side cart track and the sea side cart track, and the height difference between the land side cart track and the sea side cart track can be obtained through calculation of the y-axis inclination angle and the track spacing.
As shown in fig. 3, in the crane cart track on-line detection system of the present invention, the embedded controller receives a control command sent from the remote control station, the embedded controller selects a corresponding acquisition mode according to the control command, acquires sensor data, and wirelessly transmits the data to the remote control station after the sensor data is processed. And the remote controller performs local storage and three-dimensional calculation reconstruction on the received sensor data. The reconstructed three-dimensional model can calculate the real-time displacement of the cart, the track gauge of the track, the straightness, the levelness and the height difference, and provide a detection report.
As shown in fig. 4, the remote station online software reads and stores the three-dimensional point cloud data of the sea-land side orbit section, and the three-dimensional reconstruction of the orbit model is realized by using a three-dimensional point cloud data registration algorithm, feature point extraction, adjacent feature point search, motion estimation, three-dimensional construction and back-end optimization. And according to the track gauge data and the two-dimensional angle data, a discrete time sequence track section combination can be obtained, and the geometric relationship between the track of the land-side cart and the track of the sea-side cart can be visually seen. Through the fusion of the data of each sensor, the straightness, levelness and displacement parameters of each track, the track distance between the tracks and the height difference parameters can be calculated, and then curves of the parameters about a time axis are made.
The online detection system for the crane track has the working mode that:
the remote control station transmits a control instruction to the embedded controller 301 through a wireless network, so that the crane track detection system enters a working mode, then the embedded controller 301 controls each sensor to collect data, the laser ranging sensor 203 emits laser and receives signals reflected by the laser sensor reflector 204, and track gauge data between the land-side cart track 103 and the sea-side cart track 104 can be obtained in real time; the three-dimensional laser scanning sensors 201 and 202 can measure section point cloud data of a land side cart track and a sea side cart track; the two-dimensional tilt sensor 205 can measure x-axis angle data along the cart traveling direction and y-axis angle data in a direction perpendicular to the cart traveling direction. The embedded controller 301 analyzes the acquired data of each sensor, and transmits the data to the remote control station for analysis and storage through wireless network transmission in real time.
Claims (5)
1. The port crane cart track online detection system is characterized by comprising a remote control station, an embedded controller, a detection beam, a three-dimensional laser scanning sensor, a laser ranging sensor, a two-dimensional inclination angle sensor and a wireless WIFI communication module, wherein the remote control station is arranged in a control room, and is used for locally storing and analyzing received data and reconstructing track three-dimensional data; the embedded controller is arranged in a control box of a lower cross beam of the crane, acquires various sensor data through a data bus, and communicates with a remote control station through a wireless WIFI communication module; the detection beam is arranged on a lower cross beam between the sea side cart travelling mechanism and the land side cart travelling mechanism, so that a support function is provided for sensor installation, and the influence of the stress deformation of the crane supporting leg on measurement data is reduced; the three-dimensional laser scanning sensors are arranged on two sides of the detection beam, and the laser assemblies are aligned to the cart track; the laser ranging sensor is arranged on a walking mechanism of the land-side cart, and the matched reflector is arranged on a walking mechanism of the sea-side cart; the two-dimensional tilt angle sensor is arranged on the lower cross beam; the wireless WIFI communication module is installed at the tail part of the upper platform of the crane and used for establishing a wireless transmission channel between the embedded controller and the remote control station.
2. The port crane cart track online detection system as claimed in claim 1, wherein the remote control station performs local storage and analysis on the received data, reconstructs three-dimensional data to clearly observe the wear, gap, fracture and deformation of the cart track, and the three-dimensional reconstructed data can also be used for extracting the parameters of the traveling displacement of the cart, the straightness and the levelness of the track.
3. The port crane cart track on-line detection system of claim 1, wherein said three-dimensional laser scanning sensor is mounted on the land side detection beam to scan the three-dimensional model of the land side cart track; and a three-dimensional laser scanning sensor is arranged on the sea side detection beam to scan the three-dimensional model of the sea side cart track.
4. The crane cart track detection system of claim 1, wherein the laser ranging sensor is mounted on the land side cart running mechanism, and the reflector is mounted on the sea side cart running mechanism, and the laser ranging sensor can measure the track gauge between the sea side cart track and the land side cart track.
5. The crane cart track detection system according to claim 1, wherein the tilt sensor is a two-dimensional tilt sensor mounted on the lower cross beam, the x-axis is along the cart traveling direction, the y-axis is perpendicular to the cart traveling direction, and the pitch and track data of the x-axis can calculate the up-and-down state of the track in the cart traveling direction; the y-axis inclination angle sensor measures the inclination angle of the sea and land side cart tracks, and the height difference data between the two tracks can be calculated by the y-axis inclination angle and the track spacing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911003894.9A CN111003640A (en) | 2019-10-22 | 2019-10-22 | Port crane cart track on-line measuring system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911003894.9A CN111003640A (en) | 2019-10-22 | 2019-10-22 | Port crane cart track on-line measuring system |
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| CN111003640A true CN111003640A (en) | 2020-04-14 |
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| CN201911003894.9A Pending CN111003640A (en) | 2019-10-22 | 2019-10-22 | Port crane cart track on-line measuring system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114065555A (en) * | 2022-01-13 | 2022-02-18 | 聚时领臻科技(浙江)有限公司 | Deviation correction compensation method for identifying target in quayside crane road |
| CN114228779A (en) * | 2021-12-28 | 2022-03-25 | 中国铁道科学研究院集团有限公司 | Track alignment monitoring system and method based on wireless sensing |
| CN114332212A (en) * | 2022-03-11 | 2022-04-12 | 中国铁路设计集团有限公司 | Track superelevation and front-back height detection method based on vehicle-mounted mobile laser point cloud |
| WO2023005481A1 (en) * | 2021-07-28 | 2023-02-02 | 中联重科股份有限公司 | Communication method for lifting hook inclination angle measurement apparatus and lifting hook inclination angle measurement apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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Application publication date: 20200414 |
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