CN111646365A - Unmanned overhead traveling crane control system - Google Patents

Unmanned overhead traveling crane control system Download PDF

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Publication number
CN111646365A
CN111646365A CN202010548984.2A CN202010548984A CN111646365A CN 111646365 A CN111646365 A CN 111646365A CN 202010548984 A CN202010548984 A CN 202010548984A CN 111646365 A CN111646365 A CN 111646365A
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Prior art keywords
cart
trolley
lifting
module
control system
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Inventor
陈全坤
谢家荣
饶来财
张体富
叶钟林
伏彦雄
余小吕
段亚明
钱宏森
范兴寿
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Yimen Copper Co ltd
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Yimen Copper Co ltd
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Priority to CN202010548984.2A priority Critical patent/CN111646365A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/16Applications of indicating, registering, or weighing devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/04Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/18Control systems or devices
    • B66C13/46Position indicators for suspended loads or for crane elements
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/18Control systems or devices
    • B66C13/48Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00Safety gear
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00Safety gear
    • B66C15/04Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
    • B66C15/045Safety 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)
  • Control And Safety Of Cranes (AREA)

Abstract

The invention discloses an unmanned overhead traveling crane control system, which comprises a master control system, a video monitoring system and a safety protection system, wherein the master control system is connected with the video monitoring system through a network; the method comprises the following steps that a master control system obtains operation information of a trolley, a cart and a hoisting mechanism, calculates operation control parameters of the trolley, the cart and the hoisting mechanism through a dynamic model, and drives the trolley, the cart and the hoisting mechanism to operate according to the operation control parameters; the video monitoring system collects and displays the running information of the cart, the trolley and the hoisting mechanism in real time, and collects and displays the temperature information in real time; the safety protection system protects the cart and the lifting mechanism through the distance measuring device and the limiting device. The system can realize accurate, intelligent and safe dispatching and management of the unmanned overhead travelling crane.

Description

Unmanned overhead traveling crane control system
Technical Field
The invention relates to the field of metallurgy automatic control, in particular to an unmanned overhead traveling crane control system.
Background
The bridge crane is a bridge crane, also called overhead traveling crane, in which a bridge runs on an overhead rail. The bridge frame of the bridge crane runs longitudinally along the rails laid on the elevated frames at two sides, and the trolley runs transversely along the rails laid on the bridge frame to form a rectangular working range, so that the space below the bridge frame can be fully utilized to hoist materials, and the bridge frame is not hindered by ground equipment.
The crown block can be divided into three types of common crown blocks, simple beam crown blocks and special crown blocks for metallurgy. The special crown block for metallurgy can participate in specific process operation in the steel production process, the basic structure of the special crown block is similar to that of a common crown block, and a special working mechanism or device is also arranged on the lifting trolley. The crane has the working characteristics of frequent use, severe conditions and higher working level.
At present, crown blocks in the metallurgical industry are basically manually operated and manually recorded, and the operation process needs manual positioning. The reciprocating periodic operation of the material mixing crown block, the hoisting operation of hoisting heavy objects and the carrying, entering and recycling of the slag ladle of the gantry crane all need the cooperation of ground personnel, and the temperature of the slag ladle is also measured manually. Useful information such as slag ladle information, cooling state, hoisting equipment state, water cooling equipment parameters and the like cannot be timely and accurately transmitted to each link of the system. According to the practical application condition, the crown block required by the existing casting area is frequently operated, the ladle temperature is high, the operating environment is severe, and the copper ingot casting is easy to mix up. In addition, the crown block needs to be provided with a full-time operator during running, the operator has long operation time, high labor intensity, boring operation machinery, low production efficiency and high running cost; operators need to frequently get on and off overhead travelling crane equipment, and potential safety hazards exist; when the device is used for operation, the device needs to be matched with a ground commander for operation, and the human interference is large. Moreover, no accurate operation field, steamed stuffed bun and slag ladle data exist, and dynamic monitoring and material information tracking cannot be achieved; the manual interaction among all the devices is difficult to manage, and once the device faults cannot be found in time, the service life of the device is short.
Disclosure of Invention
Based on the control method, the invention provides the unmanned overhead traveling crane control system, and the accurate, intelligent and safe unmanned overhead traveling crane scheduling and management are realized.
The technical scheme adopted by the invention is as follows: an unmanned overhead traveling crane control system comprises a master control system, a video monitoring system and a safety protection system, wherein the master control system acquires the operation information of a trolley, a cart and a lifting mechanism, calculates the operation control parameters of the trolley, the cart and the lifting mechanism through a dynamic model, and drives the trolley, the cart and the lifting mechanism to operate according to the operation control parameters; the video monitoring system collects and displays the running information of the cart, the trolley and the hoisting mechanism in real time, and collects and displays the temperature information in real time; the safety protection system protects the cart and the lifting mechanism through the distance measuring device and the limiting device.
Furthermore, the master control system comprises a processor, a Profinet network interface, a trolley module, a cart module, a lifting module and an anti-swing module; the trolley module, the cart module, the lifting module and the anti-shaking module are all connected with the processor through a Profinet network interface; the processor receives an operation instruction from the control end and controls the crown block to automatically operate to a target position through the trolley module, the cart module and the lifting module.
Further, the operation information includes start position information, end position information, speed information, traction force information, and acceleration information; the operation control parameters comprise a speed parameter and a displacement parameter; the processor comprises an algorithm unit, and the algorithm unit obtains an optimal speed curve and an optimal displacement curve through calculation of a dynamic model under the constraint of an operation starting point, an operation ending point, a speed and a traction force by taking the shortest operation time as a target.
Further, the trolley module comprises a trolley positioning unit and a trolley driving unit; the trolley positioning unit comprises a laser range finder, the trolley positioning unit acquires the position coordinates of the trolley through the laser range finder and sends the position coordinates to the processor, an algorithm unit of the processor calculates the optimal speed curve and the optimal displacement curve of the trolley according to the position coordinates and the target position of the trolley and sends the optimal speed curve and the optimal displacement curve to the trolley driving unit, and the trolley driving unit drives the trolley to move to the target position according to the optimal speed curve and the optimal displacement curve.
Further, the cart module comprises a cart positioning unit and a cart driving unit; the cart positioning unit comprises a coding ruler, the cart positioning unit acquires the position coordinate of the cart through the coding ruler and sends the position coordinate to the processor, the algorithm unit of the processor calculates the optimal speed curve and the optimal displacement curve of the cart according to the position coordinate and the target position of the cart and sends the optimal speed curve and the optimal displacement curve to the cart driving unit, and the cart driving unit drives the cart to move to the target position according to the optimal speed curve and the optimal displacement curve.
Further, the lifting module comprises a lifting positioning unit and a lifting driving unit; the lifting positioning unit comprises an absolute value encoder, the lifting positioning unit acquires the position coordinate of the lifting mechanism through the absolute value encoder and sends the position coordinate to the processor, an algorithm unit of the processor calculates the optimal speed curve and the optimal displacement curve of the lifting mechanism according to the position coordinate of the lifting mechanism and the target position and sends the optimal speed curve and the optimal displacement curve to the lifting driving unit, and the lifting driving unit drives the lifting mechanism to move to the target position according to the optimal speed curve and the optimal displacement curve.
Further, the anti-shaking module comprises a correction unit; the correction unit calculates the lifting height through a pulse signal of the absolute value encoder, corrects the lifting height of the heavy object according to the shape of the heavy object, defines a swaying time parameter by the corrected lifting height and sends the swaying time parameter to the processor; and the calculating unit of the processor calculates the speed and the acceleration of the cart, the trolley and the lifting mechanism and respectively sends the speed and the acceleration to the cart driving unit, the trolley driving unit and the lifting driving unit.
Further, the video monitoring system comprises a monitoring end and a management end; the monitoring end collects the running information of the cart, the trolley and the hoisting mechanism in real time and collects the temperature information of the fixed point in real time; and the management end displays the running information of the cart, the trolley and the lifting mechanism in real time and displays the temperature information of the fixed point in real time.
Furthermore, the monitoring end comprises a video monitor and an information collector; the video monitor is arranged in an equipment working area, a slag area storing and taking area and a key station area, and the information collector is arranged on a cart, a trolley, a lifting mechanism and a fixed point.
Further, the safety protection system comprises a cart protection module and a hoisting mechanism protection module; the cart protection module comprises a laser anti-collision protection device, a distance measuring device and a mechanical limiting device; the lifting mechanism protection module comprises an absolute value encoder, a lifting limiting device and a heavy hammer limiting device.
The invention has the following beneficial effects:
1. the intelligent upgrading and transformation are carried out on the crown block in the existing metallurgical industry, so that the hoisting equipment can automatically complete the tasks of storing and taking issued by the control end, automatic accurate positioning is realized in the automatic operation process of the hoisting equipment, the safety protection system ensures the safe completion of the tasks of storing and taking in real time, and basic support and cost reduction are provided for unattended operation and intelligent scheduling.
2. The unmanned overhead traveling crane control system provided by the invention covers functional modules of equipment management, intelligent scheduling, process monitoring and the like, can respectively realize the automatic and intelligent control of the cart, the trolley and the hoisting mechanism, can also realize the comprehensive optimal control of the cart, the trolley and the hoisting mechanism, meets the intelligent production requirements of enterprises, fills the intelligent blank, and improves the labor productivity.
3. According to the invention, a video monitoring system is established, and the operation of equipment, the access of a slag area and the real-time images of key stations are displayed in real time through a monitoring screen of a central control room, so that a manager can master the working state of a slag yard in real time, find problems in time, reduce artificial faults and industrial accidents, and ensure that an enterprise can carry out safe and efficient production; meanwhile, the running information of the cart, the trolley and the hoisting mechanism is displayed in real time, so that the command, the dispatching and the exhibition visiting are facilitated, and a manager can master the whole production state in real time.
Drawings
FIG. 1 is a block diagram of the system architecture of the present invention.
Fig. 2a and 2b are an optimal velocity curve and an optimal displacement curve in a simulation state.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. Other embodiments, which can be derived by one of ordinary skill in the art from the embodiments given herein without any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a block diagram showing the system structure of the present invention. The invention provides an unmanned overhead traveling crane control system which comprises a master control system, a video monitoring system and a safety protection system, wherein all subsystems adopt a wireless communication mode.
The method comprises the following steps that a master control system obtains operation information of a trolley, a cart and a hoisting mechanism, calculates operation control parameters of the trolley, the cart and the hoisting mechanism through a dynamic model, and drives the trolley, the cart and the hoisting mechanism to operate according to the operation control parameters; the video monitoring system collects and displays the running information of the cart, the trolley and the hoisting mechanism in real time, and collects and displays the temperature information in real time; the safety protection system protects the cart and the lifting mechanism through the distance measuring device and the limiting device.
The general control system comprises a processor, a Profinet network interface, a trolley module, a cart module, a lifting module and an anti-swing module; the trolley module, the cart module, the lifting module and the anti-shaking module are all connected with the processor through the Profinet network interface.
Profinet is an open-form, vendor-independent industrial ethernet standard for production automation and process automation. Profinet uses TCP/IP and IT standards to achieve consistent communication from a supervisor level to a network to a field level network, provides scalable real-time communication including isochronous motion control, integrates security techniques to protect personnel, equipment, and the environment (functional security), protects equipment from unauthorized access (information security), allows seamless integration of all field buses, provides detailed and meaningful diagnostic information, and when using field devices that integrate multiport switches, allows for flexible topologies such as star and bus types, supports multiple transmission media, e.g., copper, fiber, wireless, etc. The total control system of the invention adopts a Profinet network interface, which can meet all the requirements of using Ethernet in industrial automation.
In addition, Profinet communication has good real-time performance, and the transmitted Ethernet message frames are sorted according to priority, so that absolute certainty of message transmission can be ensured. When the upper computer is adopted for configuration, all equipment parameter settings are stored in an equipment description (GSD) file, the file is compiled by using an XML language, and the parameter setting process can be further simplified by using the XML.
The processor comprises an algorithm unit, and the algorithm unit obtains an optimal speed curve and an optimal displacement curve through calculation of a dynamic model under the constraint of an operation starting point, an operation ending point, a speed and a traction force by taking the shortest operation time as a target.
Figure BDA0002541764210000041
(optimization goal: shortest running time)
(x & (t) ═ f (x (t)) + u (t)) (dynamic model of the vehicle)
(iii) x (t0) ═ x1(t0), x2(t0) ] (origin constraint)
(iv) x (tf) ═ x1(tf), x2(tf) (end point constraint)
V is not more than Vmax (t) is not more than Vmax (speed upper and lower limit constraint)
Sixthly, u is not less than Umax (t) is not less than Umax (constraint of traction force upper and lower limits)
Seventhly, Amax is less than or equal to a, (t) Amax is less than or equal to (acceleration constraint, sudden change of speed is avoided, impact is reduced, and running stability is improved)
Where tf is the ending time, t0 is the initial time, J is the running time, x (t) is the displacement function with time t as the variable, u (t) is the traction function with time t as the variable, v (t) is the speed function with time t as the variable, a (t) is the acceleration function with time t as the variable, Vmax is the maximum speed, Umax is the maximum traction, Amax is the maximum acceleration. x & (t) represents the velocity profile as a parameter of time t, and f (x (t) + u (t)) represents a function as a parameter of displacement x (t) and tractive effort u (t). In the formula I, the integral formula from the initial time to the end time is used for deriving the primitive function to calculate the shortest running time. The above equation (u), (t) is a traction function formula, fitting is performed according to driving forward traction data, fitting is performed according to driving forward displacement, and a driving dynamics model function x & (t) ═ f (x (t) + u (t)) is obtained through calculation of the two functions. Calculating the displacement of the error by using the constraint time of the two starting points and the end point; the starting point is that the program gives an instruction to start the travelling crane, and the end point constraint is that the travelling crane trigger acts in advance to reserve a braking distance and prevent collision; and calculating the time from the running command to the command ending action, substituting the time into a displacement function formula to calculate the error displacement of the starting point and the ending point, and corresponding to the running motion and the stopping. The speed constraint is the speed constraint from the starting speed to the maximum direction reverse speed when the driving command is given to advance. And in the above formula, the traction force constraint is the state when the steamed stuffed bun is hoisted by a travelling crane, wherein the traction force of the full-load steamed stuffed bun is different from that of the empty steamed stuffed bun. And the acceleration is restrained to stabilize the increase and decrease of the speed and reduce the impact.
Fig. 2a and 2b show the optimal velocity curve and the optimal displacement curve in the simulation state. According to the distance between the current position and the target position of the travelling crane, the optimal control of the speed distance is realized through the set parameters such as speed constraint, traction force constraint and acceleration constraint. As shown in fig. 2a, representing a long distance, the velocity reaches a maximum; as shown in fig. 2b, the speed does not reach the maximum at a short distance.
The operation information comprises starting point position information, end point position information, speed information, traction force information and acceleration information; the operation control parameters include a speed parameter and a displacement parameter.
The master control system comprises a trolley module, a cart module and a lifting module so as to respectively control the trolley, the cart and the lifting mechanism.
The trolley module comprises a trolley positioning unit and a trolley driving unit; the trolley positioning unit comprises a laser range finder, the position coordinate of the trolley is obtained through the laser range finder and sent to the processor, the algorithm unit of the processor calculates the optimal speed curve and the optimal displacement curve of the trolley according to the position coordinate of the trolley and the target position and sends the optimal speed curve and the optimal displacement curve to the trolley driving unit, and the trolley driving unit drives the trolley to move to the target position according to the optimal speed curve and the optimal displacement curve.
The cart module comprises a cart positioning unit and a cart driving unit; the cart positioning unit comprises a coding ruler, the position coordinate of the cart is obtained through the coding ruler and sent to the processor, the algorithm unit of the processor calculates the optimal speed curve and the optimal displacement curve of the cart according to the position coordinate of the cart and the target position and sends the optimal speed curve and the optimal displacement curve to the cart driving unit, and the cart driving unit drives the cart to move to the target position according to the optimal speed curve and the optimal displacement curve.
The lifting module comprises a lifting positioning unit and a lifting driving unit; the lifting positioning unit comprises an absolute value encoder, the position coordinate of the lifting mechanism is obtained through the absolute value encoder and is sent to the processor, the algorithm unit of the processor calculates the optimal speed curve and the optimal displacement curve of the lifting mechanism according to the position coordinate of the lifting mechanism and the target position and sends the optimal speed curve and the optimal displacement curve to the lifting driving unit, and the lifting driving unit drives the lifting mechanism to move to the target position according to the optimal speed curve and the optimal displacement curve.
The anti-shaking module comprises a correction unit; the correction unit calculates the lifting height through a pulse signal of the absolute value encoder, corrects the lifting height of the heavy object according to the shape of the heavy object, defines a swaying time parameter by the corrected lifting height and sends the swaying time parameter to the processor; and a calculating unit of the processor calculates the speed and the acceleration of the cart, the trolley and the lifting mechanism and respectively sends the speed and the acceleration to the cart driving unit, the trolley driving unit and the lifting driving unit.
The unmanned overhead traveling crane control system can respectively realize the automatic and intelligent control of the cart, the trolley and the hoisting mechanism, and can also realize the comprehensive optimal control of the cart, the trolley and the hoisting mechanism by combining the correction unit of the anti-swing module.
The video monitoring system comprises a monitoring end and a management end; the monitoring end comprises a video monitor and an information collector. In one embodiment, the video monitor is installed in the equipment workspace. In other embodiments, the video monitor may also be installed in the slag area access area as well as the key station area.
The information collector is arranged on a cart, a trolley, a lifting mechanism and a fixed point; the information collector comprises an encoder, a coding scale, a distance meter, a speed meter and the like at the equipment end, and further comprises a temperature sensor arranged at a fixed point. Running information of the cart, the trolley and the hoisting mechanism is collected in real time through an encoder, a coding scale, a distance meter, a speed meter and the like and is displayed on a display screen of a management end in real time; and acquiring the temperature information of the fixed point in real time through the temperature sensor, and displaying the temperature information on a display screen of the management end in real time. In a specific application scenario of the invention, 5 sets of temperature measuring devices are added to each car according to 5 rows of bag positions, each set of temperature measuring device controls one row and measures the temperature of the fixed point of each row of slag bag bodies in real time through a temperature sensor along with the walking of the cart.
The safety protection system comprises a cart protection module and a hoisting mechanism protection module. Wherein, cart protection module includes laser anti-collision protection device, range unit and mechanical stop device. The laser anti-collision protection device starts alarming and emergency braking when the distance measuring distance is less than a preset distance by utilizing the characteristics of good coherence and directivity of laser and by utilizing the principle of laser emission distance measuring and positioning, so that collision between the trucks and other objects is prevented; the distance measuring device adopts radar distance measurement or infrared distance measurement to detect the distance between the trucks and other objects in real time, so as to control the speed reduction of the trucks. The lifting mechanism protection module comprises an absolute value encoder, a lifting limiting device and a heavy hammer limiting device. The absolute encoder is used for determining the encoding according to the mechanical position, is irrelevant to an electrical control system, does not need to be memorized and find a reference point, and can realize the accurate measurement of the position of the hoisting mechanism by arranging the absolute value encoder on the hoisting mechanism; the limiting device is a necessary safety device for protecting the lifting mechanism and is used for limiting the lifting height of the lifting appliance, when the lifting height of the lifting appliance reaches a limit position, the limiting device can automatically cut off a power supply to prevent the lifting appliance from continuously lifting, and the lifting limiting device can ensure that the lifting mechanism is not excessively lifted; the heavy hammer limiting device acts on a main power supply contactor, generally serves as secondary protection of ascending limiting of a lifting mechanism, and prevents top rushing accidents caused by the fact that protection is lost in case of failure of the first-stage limiting or the fact that the ascending contactor is not released.
The foregoing is merely an exemplary embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The utility model provides an unmanned overhead traveling crane control system, includes total control system, video monitoring system and safety protection system, its characterized in that:
the master control system acquires the running information of the trolley, the cart and the hoisting mechanism, calculates the running control parameters of the trolley, the cart and the hoisting mechanism through a dynamic model, and drives the trolley, the cart and the hoisting mechanism to run according to the running control parameters;
the video monitoring system collects and displays the running information of the cart, the trolley and the hoisting mechanism in real time, and collects and displays the temperature information in real time;
the safety protection system protects the cart and the lifting mechanism through the distance measuring device and the limiting device.
2. The unmanned overhead traveling crane control system according to claim 1, wherein: the master control system comprises a processor, a Profinet network interface, a trolley module, a cart module, a lifting module and an anti-swing module; the trolley module, the cart module, the lifting module and the anti-shaking module are all connected with the processor through a Profinet network interface; the processor receives an operation instruction from the control end and controls the crown block to automatically operate to a target position through the trolley module, the cart module and the lifting module.
3. The unmanned overhead traveling crane control system according to claim 2, wherein: the operation information comprises starting point position information, end point position information, speed information, traction force information and acceleration information; the operation control parameters comprise a speed parameter and a displacement parameter; the processor comprises an algorithm unit, and the algorithm unit obtains an optimal speed curve and an optimal displacement curve through calculation of a dynamic model under the constraint of an operation starting point, an operation ending point, a speed and a traction force by taking the shortest operation time as a target.
4. The unmanned overhead traveling crane control system according to claim 3, wherein: the trolley module comprises a trolley positioning unit and a trolley driving unit; the trolley positioning unit comprises a laser range finder, the trolley positioning unit acquires the position coordinates of the trolley through the laser range finder and sends the position coordinates to the processor, an algorithm unit of the processor calculates the optimal speed curve and the optimal displacement curve of the trolley according to the position coordinates and the target position of the trolley and sends the optimal speed curve and the optimal displacement curve to the trolley driving unit, and the trolley driving unit drives the trolley to move to the target position according to the optimal speed curve and the optimal displacement curve.
5. The unmanned overhead traveling crane control system according to claim 3, wherein: the cart module comprises a cart positioning unit and a cart driving unit; the cart positioning unit comprises a coding ruler, the cart positioning unit acquires the position coordinate of the cart through the coding ruler and sends the position coordinate to the processor, the algorithm unit of the processor calculates the optimal speed curve and the optimal displacement curve of the cart according to the position coordinate and the target position of the cart and sends the optimal speed curve and the optimal displacement curve to the cart driving unit, and the cart driving unit drives the cart to move to the target position according to the optimal speed curve and the optimal displacement curve.
6. The unmanned overhead traveling crane control system according to claim 3, wherein: the lifting module comprises a lifting positioning unit and a lifting driving unit; the lifting positioning unit comprises an absolute value encoder, the lifting positioning unit acquires the position coordinate of the lifting mechanism through the absolute value encoder and sends the position coordinate to the processor, an algorithm unit of the processor calculates the optimal speed curve and the optimal displacement curve of the lifting mechanism according to the position coordinate of the lifting mechanism and the target position and sends the optimal speed curve and the optimal displacement curve to the lifting driving unit, and the lifting driving unit drives the lifting mechanism to move to the target position according to the optimal speed curve and the optimal displacement curve.
7. The unmanned overhead traveling crane control system according to claim 3, wherein: the anti-shaking module comprises a correction unit; the correction unit calculates the lifting height through a pulse signal of the absolute value encoder, corrects the lifting height of the heavy object according to the shape of the heavy object, defines a swaying time parameter by the corrected lifting height and sends the swaying time parameter to the processor; and the calculating unit of the processor calculates the speed and the acceleration of the cart, the trolley and the lifting mechanism and respectively sends the speed and the acceleration to the cart driving unit, the trolley driving unit and the lifting driving unit.
8. The unmanned overhead traveling crane control system according to claim 1, wherein: the video monitoring system comprises a monitoring end and a management end; the monitoring end collects the running information of the cart, the trolley and the hoisting mechanism in real time and collects the temperature information of the fixed point in real time; and the management end displays the running information of the cart, the trolley and the lifting mechanism in real time and displays the temperature information of the fixed point in real time.
9. The unmanned overhead traveling crane control system according to claim 8, wherein: the monitoring end comprises a video monitor and an information collector; the video monitor is arranged in an equipment working area, a slag area storing and taking area and a key station area, and the information collector is arranged on a cart, a trolley, a lifting mechanism and a fixed point.
10. The unmanned overhead traveling crane control system according to claim 1, wherein: the safety protection system comprises a cart protection module and a hoisting mechanism protection module; the cart protection module comprises a laser anti-collision protection device, a distance measuring device and a mechanical limiting device; the lifting mechanism protection module comprises an absolute value encoder, a lifting limiting device and a heavy hammer limiting device.
CN202010548984.2A 2020-06-16 2020-06-16 Unmanned overhead traveling crane control system Pending CN111646365A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112645219A (en) * 2020-12-28 2021-04-13 上海振华重工电气有限公司 Intelligent driving control system and method
CN113353803A (en) * 2021-06-30 2021-09-07 日照钢铁控股集团有限公司 Automatic accurate and rapid positioning control method for cyclone well travelling crane
CN113443557A (en) * 2021-07-30 2021-09-28 上海振华重工(集团)股份有限公司 Automatic control method and system for cantilever crane
CN114200898A (en) * 2021-11-09 2022-03-18 新疆农六师碳素有限公司 Intelligent control system of overhead traveling crane

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CN112645219A (en) * 2020-12-28 2021-04-13 上海振华重工电气有限公司 Intelligent driving control system and method
CN113353803A (en) * 2021-06-30 2021-09-07 日照钢铁控股集团有限公司 Automatic accurate and rapid positioning control method for cyclone well travelling crane
CN113443557A (en) * 2021-07-30 2021-09-28 上海振华重工(集团)股份有限公司 Automatic control method and system for cantilever crane
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CN114200898A (en) * 2021-11-09 2022-03-18 新疆农六师碳素有限公司 Intelligent control system of overhead traveling crane

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