CN111634801A - Synchronous detection system and method for double-hook smelting crane hook - Google Patents
Synchronous detection system and method for double-hook smelting crane hook Download PDFInfo
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- CN111634801A CN111634801A CN202010361717.4A CN202010361717A CN111634801A CN 111634801 A CN111634801 A CN 111634801A CN 202010361717 A CN202010361717 A CN 202010361717A CN 111634801 A CN111634801 A CN 111634801A
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- detection
- hook
- posture detection
- posture
- attitude
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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
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
- B66C1/34—Crane hooks
- B66C1/40—Crane hooks formed or fitted with load measuring or indicating 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
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a synchronous detection system and a method for a double-hook smelting crane hook, wherein the system comprises the following components: the attitude detection system comprises a first attitude detection slave machine, a second attitude detection slave machine and an attitude detection host machine, wherein the first attitude detection slave machine and the second attitude detection slave machine are respectively in communication connection with the attitude detection host machine; the first posture detection slave is arranged on the first lifting hook and used for detecting the position information of the first lifting hook and sending the position information to the posture detection host; the second posture detection slave is arranged on the second lifting hook and used for detecting the position information of the second lifting hook and sending the position information to the posture detection host; the gesture detection host is used for receiving the position information of the first lifting hook and the position information of the second lifting hook and carrying out synchronism detection. The synchronous detection system and method for the double-hook smelting crane hook can acquire the synchronism of the hook in real time and improve the safety of the ladle transportation process.
Description
Technical Field
The invention relates to the technical field of ladle transportation equipment, in particular to a synchronous detection system and method for a double-hook smelting crane hook.
Background
In the smelting industry, the hoisting and transportation of the ladle is an important link in the production flow of a steel mill. The ladle hoisting has the characteristics of high strength and high frequency; the ladle lifting accident is low in terms of quantitative determination of the accident occurrence frequency (accident number/lifting number), but is a major and malignant accident in terms of accident nature.
When a double-hook smelting crane is used for hoisting a ladle, the synchronism of the double hooks is one of important factors for ensuring the hoisting safety. The method provides a serious challenge for the working condition identification accuracy, the system reliability, the system usability and the like of the ladle hoisting detection system.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides a synchronous detection system and method for a double-hook smelting crane hook. The specific technical scheme is as follows:
in a first aspect, a synchronous detection system for hooks of a double-hook smelting crane is provided, the system comprises: the attitude detection system comprises a first attitude detection slave machine, a second attitude detection slave machine and an attitude detection host machine, wherein the first attitude detection slave machine and the second attitude detection slave machine are respectively in communication connection with the attitude detection host machine; the first posture detection slave is arranged on a first lifting hook and used for detecting the position information of the first lifting hook and sending the position information to the posture detection host; the second posture detection slave is arranged on a second lifting hook and used for detecting the position information of the second lifting hook and sending the position information to the posture detection host; the gesture detection host is used for receiving the position information of the first lifting hook and the position information of the second lifting hook and carrying out synchronism detection.
In one possible design, the first attitude detection slave and the second attitude detection slave are communicatively connected; and after the second posture slave machine monitors that the first posture detection slave machine uploads data to the posture detection host machine, the second posture slave machine uploads the data to the posture detection host machine.
In one possible design, the posture detection host comprises a data processing unit and an expansion board control unit; and the data processing unit is used for receiving the position information of the first lifting hook and the position information of the second lifting hook and carrying out synchronism detection.
In one possible design, the expansion board control unit is respectively in communication connection with the first posture detection slave and the second posture detection slave, and is configured to check a timer error in the first posture detection slave and the second posture detection slave.
In one possible design, a self-checking module is provided in the first posture detection slave and the second posture detection slave, and is used for self-checking the positions of the first posture detection slave and the second posture detection slave.
In one possible design, the first posture detection slave and the second posture detection slave are respectively provided with a posture detection sensor, and the first posture detection slave and the second posture detection slave are respectively provided with a correction module for correcting the posture detection sensors.
In one possible embodiment, the attitude detection master is disposed in a crane cab, and the first attitude detection slave, the second attitude detection slave, and the attitude detection master are wirelessly connected.
In a second aspect, a synchronous detection method for hooks of a double-hook smelting crane is provided, and the method comprises the following steps:
the first posture detection slave machine detects the position information of the first lifting hook and sends the position information to the posture detection host machine;
the second posture detection slave machine detects the position information of the second lifting hook and sends the position information to the posture detection host machine;
and the attitude detection host receives the position information of the first lifting hook and the position information of the second lifting hook and carries out synchronism detection.
In one possible design, the first attitude detection slave machine collects the original electric potential of the attitude sensor, performs noise elimination and filtering processing on the original electric potential, and sequentially collects a plurality of original electric potentials and takes an average value as true value data of the attitude detection sensor; the second attitude detection slave machine collects the original electric potential of the attitude sensor, performs noise elimination and filtering processing on the original electric potential, and sequentially collects a plurality of original electric potentials and takes the average value as true value data of the attitude detection sensor.
In one possible design, after the first posture detection slave machine collects a preset number of truth value data, the truth value data with the timestamp is used as one frame of data to be sent to the posture detection host machine; after the second posture detection slave machine monitors the data sent by the first posture detection slave machine, the second posture detection slave machine sends true value data with a timestamp to the posture detection host machine
The technical scheme of the invention has the following main advantages:
according to the synchronous detection system and method for the double-hook smelting crane hook, the first posture detection slave machine and the second posture detection slave machine are respectively arranged on the first hook and the second hook to detect the position information of the hooks, and the posture detection host machine judges whether the hooks are synchronous or not according to the position information of the hooks, so that the synchronism of the hooks can be known in real time, and the safety of a steel ladle transportation process is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is an architecture diagram of a double-hook smelting crane hook synchronous detection system provided in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The technical scheme provided by the embodiment of the invention is described in detail below with reference to the accompanying drawings.
In a first aspect, an embodiment of the present invention provides a synchronous detection system for hooks of a double-hook smelting crane, as shown in fig. 1, the system includes: the attitude detection system comprises a first attitude detection slave machine, a second attitude detection slave machine and an attitude detection host machine, wherein the first attitude detection slave machine and the second attitude detection slave machine are respectively in communication connection with the attitude detection host machine; the first posture detection slave is arranged on the first lifting hook and used for detecting the position information of the first lifting hook and sending the position information to the posture detection host; the second posture detection slave is arranged on the second lifting hook and used for detecting the position information of the second lifting hook and sending the position information to the posture detection host; the gesture detection host is used for receiving the position information of the first lifting hook and the position information of the second lifting hook and carrying out synchronism detection.
The working principle of the double-hook smelting crane hook synchronous detection system provided by the embodiment of the invention is explained as follows:
the first posture detection slave is arranged on the first lifting hook, detects the position information of the first lifting hook and sends the position information to the posture detection host. The second posture detection slave is arranged on the second lifting hook, detects the position information of the second lifting hook and sends the position information to the posture detection host; and the attitude detection host receives the position information of the first lifting hook and the position information of the second lifting hook and performs synchronism detection.
Therefore, according to the hook synchronous detection system of the double-hook smelting crane provided by the embodiment of the invention, the first posture detection slave machine and the second posture detection slave machine are respectively arranged on the first hook and the second hook to detect the hook position information, and the posture detection host machine judges whether the hooks are synchronous or not according to the hook position information, so that the synchronism of the hooks can be known in real time, and the safety of a ladle transportation process is improved.
The attitude detection host is arranged in a crane cab, and the first attitude detection slave, the second attitude detection slave and the attitude detection host are in wireless connection. Further, can be provided with the data display screen who detects the host computer with the gesture in the driver's cabin and be connected, the position and the synchronism that show the lifting hook on data display screen detect the result, and the operating personnel of being convenient for learns lifting hook synchronization state fast. Or, can be provided with the alarm device that the gesture detected the host computer electricity and connect in the driver's cabin, when the gesture detected the host computer and detected first lifting hook and second lifting hook asynchronous, can send alarm information through alarm device, remind operating personnel.
During the application, after the asynchronous information of first lifting hook and second lifting hook is learnt through the gesture detection host computer to operating personnel, can first lifting hook and second lifting hook of manual operation adjustment to presetting the position and making it synchronous. Or a lifting hook driving control unit connected with the attitude detection host is further arranged, and the lifting hook driving control unit automatically adjusts the position of the lifting hook according to the detection information, so that the synchronous automation of the lifting hook is realized.
It can be understood that, in order to complete the synchronization detection of the first hook and the second hook, the position information of the first hook uploaded by the first posture detection slave and the position information of the second hook uploaded by the second posture detection slave should be the position information of the same time period, and in order to ensure the synchronization of the uploaded information, in the hook synchronization detection system provided by the embodiment of the invention, the first posture detection slave and the second posture detection slave are in communication connection; and the second posture slave machine uploads the data to the posture detection host machine after monitoring that the first posture detection slave machine uploads the data to the posture detection host machine.
Optionally, in the embodiment of the present invention, the posture detection host includes a data processing unit and an expansion board control unit; the data processing unit is used for receiving the position information of the first lifting hook and the position information of the second lifting hook and carrying out synchronism detection.
The expansion board control unit is in communication connection with the first posture detection slave machine and the second posture detection slave machine respectively and used for checking timer errors in the first posture detection slave machine and the second posture detection slave machine so as to guarantee timeliness of uploaded hook position information and improve detection accuracy. For example, in actual use, the timers in the first posture detection slave and the second posture detection slave can be checked once every half hour, and the timer error is guaranteed to be within 10 milliseconds.
Optionally, in the embodiment of the present invention, the first posture detection slave and the second posture detection slave are respectively provided with a posture detection sensor, and position information of the first hook and the second hook is detected by the posture detection sensors. As an example, the attitude detection sensor may be a 16-bit high-precision AD acquisition attitude detection sensor. For example, the attitude detection sensors may include a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer.
And the first posture detection slave machine and the second posture detection slave machine are respectively provided with a correction module for correcting the posture detection sensor, so that errors in the use process are avoided, and the detection precision is improved.
As an example, the correction module includes a processor and a temperature sensor, in order to prevent the first posture detection slave and the second posture detection slave from being affected by the heat radiation of the ladle, the temperature sensor is used to measure the temperature of the external environment where the posture detection sensor is located in the first posture detection slave and the second posture detection slave, and the processor performs temperature compensation according to the temperature value measured by the temperature sensor and the temperature error compensation model of the posture detection sensor, so as to improve the measurement accuracy of the posture detection sensor.
Further, the first posture detection slave machine and the second posture detection slave machine may be provided therein with a self-checking module for self-checking the positions of the first posture detection slave machine and the second posture detection slave machine. By arranging the self-checking module, when the power supply is recovered under the condition of power failure, the self-checking module detects the specific positions of the first posture detection slave machine and the second posture detection slave machine, so that the normal work of the detection system is ensured.
As one example, the self-test module includes an analog-to-digital converter and a processor. During self-checking, firstly, the analog quantity measured by the attitude sensor is converted into digital quantity, then the digital quantity is transmitted to the processor, and finally the processor processes the digital quantity through a Kalman filtering algorithm and a quaternion algorithm, so that the position information of the first attitude detection slave machine and the second attitude detection slave machine is obtained. When the attitude detection sensor may include a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer, the analog measured by the attitude sensor includes acceleration information measured by the three-axis accelerometer, inclination information measured by the three-axis gyroscope, and a magnetic field strength measured by the three-axis magnetometer.
In a second aspect, the embodiment of the invention provides a synchronous detection method for hooks of a double-hook smelting crane, which comprises the following steps:
the first posture detection slave machine detects the position information of the first lifting hook and sends the position information to the posture detection host machine;
the second posture detection slave machine detects the position information of the second lifting hook and sends the position information to the posture detection host machine;
and the attitude detection host receives the position information of the first lifting hook and the position information of the second lifting hook and performs synchronism detection.
According to the hook synchronous detection amplification of the double-hook smelting crane provided by the embodiment of the invention, the first posture detection slave machine and the second posture detection slave machine are respectively arranged on the first hook and the second hook to detect the hook position information, and the posture detection host machine judges whether the hooks are synchronous or not according to the hook position information, so that the synchronism of the hooks can be known in real time, and the safety of a ladle transportation process is improved.
Specifically, the first attitude detection slave machine collects the original potential of the attitude sensor, performs noise elimination and filtering processing on the original potential, and sequentially collects a plurality of original potentials and takes the average value as the true value data of the attitude detection sensor. The second attitude detection slave machine collects the original electric potential of the attitude sensor, performs noise elimination and filtering processing on the original electric potential, and sequentially collects a plurality of original electric potentials and takes the average value as true value data of the attitude detection sensor. A truth data may correspond to an acquisition time period, or may correspond to a middle time of the acquisition time period.
Through noise elimination and filtering processing, stable and accurate data at a moment can be obtained, then the average value of the original potentials at a plurality of moments in sequence is taken as true value data, the true value data can reflect the hook position at a certain moment or time period more accurately, and detection errors are avoided.
After the first posture detection slave machine collects a preset number of truth value data, the truth value data with the timestamp are sent to the posture detection host machine as one frame of data; after the second posture detection slave machine monitors the data sent by the first posture detection slave machine, the second posture detection slave machine sends true value data with a timestamp to the posture detection host machine, and the posture detection host machine processes the data according to the time carried by the data, so that the data synchronism is ensured.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. In addition, "front", "rear", "left", "right", "upper" and "lower" in this document are referred to the placement states shown in the drawings.
Finally, it should be noted that: the above examples are only for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides a double hook smelts hoist lifting hook synchronous detection system which characterized in that, the system includes: the attitude detection system comprises a first attitude detection slave machine, a second attitude detection slave machine and an attitude detection host machine, wherein the first attitude detection slave machine and the second attitude detection slave machine are respectively in communication connection with the attitude detection host machine;
the first posture detection slave is arranged on a first lifting hook and used for detecting the position information of the first lifting hook and sending the position information to the posture detection host;
the second posture detection slave is arranged on a second lifting hook and used for detecting the position information of the second lifting hook and sending the position information to the posture detection host;
the gesture detection host is used for receiving the position information of the first lifting hook and the position information of the second lifting hook and carrying out synchronism detection.
2. The synchronous detection system for the lifting hooks of the double-lifting-hook smelting crane according to claim 1, wherein the first posture detection slave and the second posture detection slave are in communication connection;
and after the second posture slave machine monitors that the first posture detection slave machine uploads data to the posture detection host machine, the second posture slave machine uploads the data to the posture detection host machine.
3. The synchronous detection system for the double-hook smelting crane hook according to claim 1, wherein the attitude detection host comprises a data processing unit and an expansion board control unit;
and the data processing unit is used for receiving the position information of the first lifting hook and the position information of the second lifting hook and carrying out synchronism detection.
4. The synchronous detection system for the lifting hook of the double-lifting-hook smelting crane according to claim 3, wherein the expansion board control unit is respectively in communication connection with the first posture detection slave and the second posture detection slave for checking timer errors in the first posture detection slave and the second posture detection slave.
5. The synchronous detection system for the double-hook smelting crane hook according to the claims 1 to 4, characterized in that the first posture detection slave machine and the second posture detection slave machine are respectively provided with a posture detection sensor;
and the first posture detection slave machine and the second posture detection slave machine are respectively provided with a correction module for correcting the posture detection sensor.
6. The synchronous detection system for the lifting hook of the double-lifting-hook smelting crane according to any one of claim 5, wherein self-checking modules are arranged in the first posture detection slave machine and the second posture detection slave machine and used for self-checking the positions of the first posture detection slave machine and the second posture detection slave machine.
7. The crane hook synchronous detection method according to claim 1, wherein the attitude detection master is disposed in a crane cab, and the first attitude detection slave, the second attitude detection slave and the attitude detection master are wirelessly connected.
8. A synchronous detection method for a double-hook smelting crane hook is characterized by comprising the following steps:
the first posture detection slave machine detects the position information of the first lifting hook and sends the position information to the posture detection host machine;
the second posture detection slave machine detects the position information of the second lifting hook and sends the position information to the posture detection host machine;
and the attitude detection host receives the position information of the first lifting hook and the position information of the second lifting hook and carries out synchronism detection.
9. The synchronous detection method for the lifting hook of the double-lifting-hook smelting crane according to claim 8, wherein the first attitude detection slave machine collects the original potentials of the attitude sensor, performs noise elimination and filtering on the original potentials, and sequentially collects the mean value of a plurality of original potentials as the true value data of the attitude detection sensor;
the second attitude detection slave machine collects the original electric potential of the attitude sensor, performs noise elimination and filtering processing on the original electric potential, and sequentially collects a plurality of original electric potentials and takes the average value as true value data of the attitude detection sensor.
10. The synchronous detection method for the lifting hooks of the double-lifting-hook smelting crane according to claim 9, wherein after a preset number of true value data are collected by the first attitude detection slave machine, the true value data with a time stamp are sent to the attitude detection master machine as one frame of data;
and after the second posture detection slave machine monitors the data sent by the first posture detection slave machine, the second posture detection slave machine sends true value data with a timestamp to the posture detection host machine.
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| CN202010361717.4A CN111634801A (en) | 2020-04-30 | 2020-04-30 | Synchronous detection system and method for double-hook smelting crane hook |
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| CN202010361717.4A CN111634801A (en) | 2020-04-30 | 2020-04-30 | Synchronous detection system and method for double-hook smelting crane hook |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112850469A (en) * | 2021-01-04 | 2021-05-28 | 大连理工大学 | Attitude angle data acquisition system and method for double lifting hooks of crane |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3111634A1 (en) * | 1981-03-25 | 1982-10-21 | Peri-Werk Artur Schwörer GmbH & Co KG, 7912 Weißenhorn | Crane hook |
| CN110885005A (en) * | 2019-11-25 | 2020-03-17 | 大连理工大学 | Safe hoisting monitoring system and monitoring method of double-hook smelting crane |
-
2020
- 2020-04-30 CN CN202010361717.4A patent/CN111634801A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3111634A1 (en) * | 1981-03-25 | 1982-10-21 | Peri-Werk Artur Schwörer GmbH & Co KG, 7912 Weißenhorn | Crane hook |
| CN110885005A (en) * | 2019-11-25 | 2020-03-17 | 大连理工大学 | Safe hoisting monitoring system and monitoring method of double-hook smelting crane |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112850469A (en) * | 2021-01-04 | 2021-05-28 | 大连理工大学 | Attitude angle data acquisition system and method for double lifting hooks of crane |
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Application publication date: 20200908 |