CN111994796A - Intelligent crane auxiliary positioning system and positioning method - Google Patents
Intelligent crane auxiliary positioning system and positioning method Download PDFInfo
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- CN111994796A CN111994796A CN202010941864.9A CN202010941864A CN111994796A CN 111994796 A CN111994796 A CN 111994796A CN 202010941864 A CN202010941864 A CN 202010941864A CN 111994796 A CN111994796 A CN 111994796A
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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
- 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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses an intelligent crane auxiliary positioning system, which belongs to the technical field of crane electric control systems and comprises a positioning coding scale I and a positioning coding scale II, wherein the positioning coding scales I and the positioning coding scale II are respectively used for calibrating the real-time positions of a cart and a trolley; reading and analyzing the physical address of the positioning coding scale I to obtain a positioning code reader I and a positioning code reader II of the real-time positions of the cart and the trolley; the gyroscope is used for recording the deflection angles of the horizontal planes of the crane cart and the crane trolley; the laser ranging sensor I and the laser ranging sensor II are used for respectively carrying out real-time distance detection on the 1# side of the cart track and the 1# side of the trolley track of the cart and the trolley; the PLC control system controls the central point of the lifting appliance to be mapped to the actual position in the coding scale coordinate system, and the central point of the lifting appliance is positioned; the device has the characteristics of low cost and convenient equipment installation; the problem of the intelligent crane can't eliminate the positioning accuracy that error and skew that arouse because of the wheel clearance lead to low is solved.
Description
Technical Field
The invention relates to the technical field of crane electric control systems, in particular to an intelligent crane auxiliary positioning system and a positioning method.
Background
In the current detection system of the intelligent crane on the horizontal plane, a set of positioning detection elements (the detection elements can be bar codes, absolute value encoders, encoding scales, encoding cables, gray buses or laser distance measurement linear detection elements) are respectively arranged on a large trolley, as shown in fig. 1, the system comprises a cart positioning code scale (a bar code, an absolute value encoder, a code scale, a code cable, a gray bus or a laser distance and other linear detection elements), a cart positioning code reader, a cart positioning scale (a bar code, an absolute value encoder, a code scale, a code cable, a gray bus or a laser distance and other linear detection elements), a cart positioning code reader and a PLC control system, wherein the positioning code reader transmits measured data into the PLC system and respectively converts the measured data into distance data of a hanger distance from a set zero point, and the data is calibrated to hanger coordinates (X1, Y1). However, in actual operation, due to the large span of the crane, the actual position deviation caused by the gap between the wheel and the horizontal wheel and the rail is inevitable, as shown by the dotted line in fig. 1, and the real coordinates of the spreader at this time are (X, Y). Therefore, the position of the lifting appliance needs to be overlapped with the gap between the wheel rim and the wheel besides the error of the detection element, and the maximum deviation error from the horizontal wheel cannot meet the requirement of unmanned operation.
The positioning system and the positioning method provided by the technology have the advantages that a set of crane ranging sensors and a reflecting plate which are identical to the original design are added on the basis of the traditional positioning system, so that the effect of eliminating the influence of errors caused by gaps among trolley wheels, horizontal wheels and tracks on the positioning precision can be achieved, but the requirements on the measurement precision and the repeatability precision of a newly added set of ranging sensors are very high due to the long running distance of a large crane, and the cost is also very high.
The technology relates to a crane sling positioning and anti-swing device (CN20473625U), and the positioning precision of the crane sling is improved on a mechanical structure.
Along with the development of the artificial intelligence technology in China, the demand on an intelligent crane in the market is more and more, the control precision requirement on the intelligent crane is higher and higher, the position detection of the traditional technology leads to low precision due to the fact that the error caused by wheel clearance cannot be eliminated, and the requirement of the intelligent crane on the control precision cannot be met.
Disclosure of Invention
According to the problems existing in the prior art, the invention discloses an intelligent crane auxiliary positioning system, which comprises: the positioning coding scale I is arranged near the side, close to the cart track, of the crane bearing beam and used for calibrating the real-time position of the cart;
the positioning code reader I is arranged on a crane cart, is close to the cart positioning coding scale and is used for reading and analyzing the physical address of the positioning coding scale I to obtain the real-time position of the cart;
a positioning coding scale II which is arranged on the crane girder and close to the side of the trolley track and is used for calibrating the real-time position of the travelling of the trolley;
the positioning code reader II is arranged on the crane trolley and is close to the trolley positioning coding scale and used for reading and analyzing the physical address of the positioning coding scale II to obtain the real-time position of the trolley;
the gyroscope is used for recording the deflection angles of the horizontal planes of the crane cart and the crane trolley;
the laser ranging sensor I is arranged at the position, close to the cart track 1#, of the crane main beam, close to the cart track 1#, and perpendicular to the track to measure the real-time distance between the whole cart and the cart track 1# side;
the laser ranging sensor II is arranged at the position, close to the trolley track 1#, of the crane main beam, close to the trolley track 1#, and perpendicular to the track to measure the real-time distance between the whole trolley and the trolley track 1 #;
the PLC control system is used for receiving the real-time position of the cart transmitted by the positioning code reader I, the real-time position of the trolley transmitted by the positioning code reader II, the deflection angle of the horizontal plane of the crane cart and the trolley transmitted by the gyroscope, the real-time distance from the whole cart transmitted by the laser ranging sensor I to the 1# side of the cart track and the real-time distance from the whole trolley transmitted by the laser ranging sensor II to the 1# side of the trolley track; the PLC control system controls the central point of the lifting appliance to be mapped to the actual position in the coding scale coordinate system, and the central point of the lifting appliance is positioned.
Furthermore, the system also comprises a network switch which transmits the real-time position of the cart transmitted by the positioning code reader I, the real-time position of the trolley transmitted by the positioning code reader II, the deflection angle of the horizontal planes of the crane cart and the crane trolley transmitted by the gyroscope, the real-time distance between the whole cart transmitted by the laser ranging sensor I and the track side of the cart, and the real-time distance between the whole trolley transmitted by the laser ranging sensor II and the track side of the trolley to the PLC control system.
Further, the gyroscope is arranged on a cart or a trolley.
A positioning method of an intelligent crane auxiliary positioning system comprises the following steps:
s1, setting the cart direction to position the cart track center on the I side of the coding ruler as the Y axis; setting the direction of the trolley, taking the center of a trolley track at the side of the positioning coding scale II as an X axis to form a coding scale coordinate system, and taking the lower left corner of the coding scale coordinate system as a coordinate zero point;
s2: during the working and running of the crane cart, the gyroscope measures the real-time deflection angle alpha of the horizontal plane; the actual moving distance of the cart is measured to be Y1 by the positioning code reader I; the positioning code reader II obtains the actual distance X1 of the trolley; the real-time distance from the whole cart to the 1# side of the cart track is measured by the laser ranging sensor I to be Xp 1; the real-time distance between the trolley and the 1# side of the trolley track measured by the laser ranging sensor II is Yp 1;
the Xp0 is defined as the actual distance from the whole cart to the 1# side of the cart track is measured by a first laser ranging sensor I before the crane is installed and debugged and normally runs, and the Xp0 is the standard origin distance;
before the Yp 0-bit crane is installed and debugged to normally run, the actual distance from the whole trolley to the 1# side of the trolley track is measured by a first laser ranging sensor II, and Yp0 is the standard origin distance;
defining delta Xp as the gap offset between the wheel rim and the wheel of the cart and the X coordinate of the crane; defining delta Yp as the gap offset between the wheel rim and the wheel of the trolley and the Y coordinate of the crane;
defining L as the distance length from the zero point of the positioning coding scale II to the bottom edge of an isosceles triangle formed by the center point of the original lifting appliance and the center point of the deflection lifting appliance;
defining delta Xz, wherein delta Yz is X coordinate offset and Y coordinate offset of the crane caused by a walking deflection angle;
the real-time numerical coordinates of the central point of the lifting appliance are obtained as follows.
Due to the adoption of the technical scheme, the intelligent crane auxiliary positioning system and the positioning method provided by the invention can accurately position the actual position of the lifting appliance, and have the characteristics of low cost and convenience in equipment installation; the technical problem that an intelligent crane in the prior art cannot eliminate errors and offset caused by wheel clearances, so that the positioning precision is low is solved; on the basis of a traditional positioning system, a gyroscope is arranged at the intersection of the cross section center of the cart track on one side of the crane cart and the cart central line parallel to the cart main beam, and the gyroscope has sensitive measurement angle and high measurement precision, so that the error caused by the whole crane system and the track clearance can be eliminated, the actual position of the lifting appliance can be accurately positioned, and the positioning system has the characteristics of low cost and convenience in installation; in addition, two sets of crane ranging sensors are added on the basis of the traditional positioning system, the real-time distances between the whole cart and the whole trolley and the respective track sides are measured and compared with the original point distances initially measured by the cart and the trolley, the offset is obtained, errors caused by gaps between wheels and horizontal wheels and tracks can be eliminated, the system error of the whole machine can be eliminated, and therefore the actual positioning accuracy is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a detection system of a prior art intelligent crane on a horizontal plane;
FIG. 2 is a block diagram of the present invention;
FIG. 3 is a block diagram of the present invention;
FIG. 4 is a layout view of the crane measuring rotational misalignment of the present invention;
FIG. 5 is a layout diagram of a crane measuring the rail deviation of a car body according to the present invention;
FIG. 6 is a schematic view of the crane of the present invention measuring the rotation angle;
FIG. 7(a) is a schematic diagram of the measured rotation angle deviation calculation of the present invention;
FIG. 7(b) is a schematic diagram of the calculation of the track deviation of the cart for measuring the overall distance of the cart according to the present invention;
FIG. 7(c) is a schematic diagram of the calculation of the deviation of the entire measuring trolley from the trolley track according to the present invention.
In the figure: 1. location code scale I, 2, location code reader I, 3, location code scale II, 4, location code reader II, 5, PLC control system, 6, gyroscope, 7, laser rangefinder sensor I, 8, laser rangefinder sensor II, 9, network switch.
Detailed Description
In order to make the technical solutions and advantages of the present invention clearer, the following describes the technical solutions in the embodiments of the present invention clearly and completely with reference to the drawings in the embodiments of the present invention:
FIG. 2 is a block diagram of the present invention, and FIG. 3 is a block diagram of the present invention; an intelligent crane auxiliary positioning system comprises a positioning coding scale I1, a positioning code reader I2, a positioning coding scale II 3, a positioning code reader II 4, a PLC control system 5, a gyroscope 6, a laser ranging sensor I7, a laser ranging sensor II 8 and a network switch 9;
the positioning coding scale I1 is used for calibrating the real-time position of the cart and is arranged near the bearing beam of the crane and the side close to the track of the cart;
the positioning coding scale II 3 is used for calibrating the real-time position of the walking of the trolley, is arranged on a crane girder and is close to the side of a trolley track;
the positioning coding scale I1 and the positioning coding scale II 3 are identical in structure, and the positioning coding scale I1 comprises linear detection elements such as a bar code, an absolute value encoder, a coding scale, a coding cable, a Gray bus or laser distance measurement and the like;
along with the change of the moving position of the cart, the positioning code reader I2 is used for reading and analyzing the physical address of the positioning coding scale I1 to obtain the real-time position of the cart, is arranged on the crane cart and is close to the cart positioning coding scale;
along with the change of the moving position of the trolley, the positioning code reader II 4 is used for reading and analyzing the physical address of the positioning coding scale II 3 to obtain the real-time position of the trolley, is arranged on the crane trolley and is close to the position of the trolley positioning coding scale;
FIG. 4 is a layout view of the crane measuring rotational misalignment of the present invention; the gyroscope 6 can be arranged at any position on the crane cart and records the deflection angles of the horizontal planes of the crane cart and the crane trolley; recording the angle alpha of the first installation position measurement0And define the angle alpha0Detecting the angle alpha of the crane cart in real time as an initial angle1The actual deflection angle is α, α ═ α1-α0. The gyroscope measures the angle precision theta, the theta is more than or equal to 0 and less than or equal to 1 and is in unit degree;
FIG. 5 is a layout diagram of a crane measuring the rail deviation of a car body according to the present invention; laser range finding sensor I7 carries out the whole distance Xp1 of cart side real-time measurement apart from cart track 1#, laser range finding sensor I7 arranges that the hoist girder is close to cart track 1# department, is close cart track 1# and perpendicular to orbital, and the precision of laser range finding sensor I7 is betaa，0≤βaLess than or equal to 1, unit mm;
the laser ranging sensor II 8 is used for measuring the distance Yp1 from the whole trolley to the trolley track 1# side in real time, and the laser ranging sensor II 8 is arranged at the position, close to the trolley track 1#, of the crane main beam and is perpendicular to the track, and the distance Yp1 is measured by the laser ranging sensor II 8; the precision of the laser ranging sensor II 8 is betab，0≤βbLess than or equal to 1, unit mm;
the laser ranging sensor I7 can be arranged at the position, close to the cart track 2#, of the crane main beam, close to the cart track 2#, and perpendicular to the track, and the laser ranging sensor II 8 can also be arranged at the position, close to the cart track 2#, of the crane main beam, close to the cart track 2#, and perpendicular to the track;
the network switch 9 transmits the real-time position of the cart transmitted by the positioning code reader I2, the real-time position of the trolley transmitted by the positioning code reader II 4, the deflection angle of the horizontal planes of the crane cart and the crane trolley transmitted by the gyroscope 6, the distance from the whole cart transmitted by the laser ranging sensor I7 to the cart track 1# side, and the distance from the whole trolley transmitted by the laser ranging sensor II 8 to the trolley track 1# side to the PLC control system 5; the PLC control system 5 controls the central point of the lifting appliance to be mapped to the actual position in the coding scale coordinate system, and the central point of the lifting appliance is positioned.
FIG. 6 is a schematic view of the crane of the present invention measuring the rotation angle; FIG. 7(a) is a schematic diagram of the measured rotation angle deviation calculation of the present invention; FIG. 7(b) is a schematic diagram of the calculation of the track deviation of the cart for measuring the overall distance of the cart according to the present invention; FIG. 7(c) is a schematic view of the calculation of the overall distance between the measuring carriage and the carriage rail deviation according to the present invention; a positioning method of an intelligent crane auxiliary positioning system comprises the following steps:
s1: setting the cart direction, and taking the center of the cart track 1# on the side of the positioning coding scale I1 as a Y axis; setting the direction of the trolley, and taking the center of a trolley track 1# on the side of a positioning coding scale II 3 as an X axis to form a Cartesian coordinate system (a coding scale coordinate system), wherein the lower left corner of the Cartesian coordinate system is a coordinate zero point;
s2: during the working and running of the crane cart, the gyroscope 6 measures the real-time deflection angle alpha of the horizontal plane; the actual distance of the cart measured by the positioning code reader I2 is Y1; the positioning code reader II 4 obtains the actual distance X1 of the trolley; the laser ranging sensor I7 measures that the real-time distance from the whole cart to the 1# side of the cart track is Xp 1; the real-time distance between the trolley and the 1# side of the trolley track measured by the laser ranging sensor II 8 is Yp 1;
the Xp0 is defined as the actual distance from the whole cart to the 1# side of the cart track is measured by a first laser ranging sensor I before the crane is installed and debugged and normally runs, and the Xp0 is the standard origin distance;
before the Yp 0-bit crane is installed and debugged to normally run, the actual distance from the whole trolley to the 1# side of the trolley track is measured by a first laser ranging sensor II, and Yp0 is the standard origin distance;
defining delta Xp as the gap offset between the wheel rim and the wheel of the cart and the X coordinate of the crane; defining delta Yp as the gap offset between the wheel rim and the wheel of the trolley and the Y coordinate of the crane;
defining L as the distance length from the zero point of the positioning coding scale II 3 to the bottom edge of an isosceles triangle formed by the center point of the original lifting appliance and the center point of the deflection lifting appliance;
defining delta Xz, wherein delta Yz is X coordinate offset and Y coordinate offset of the crane caused by a walking deflection angle;
obtaining the real-time numerical coordinates (X, Y) of the central point of the lifting appliance as follows:
through the method, the positioning precision deviation caused by errors caused by wheel clearance deflection and large and small wheel offset of the crane cart can be solved, and similarly, the gyroscope 6 can be added on the trolley according to the method, so that the actual positioning precision of the intelligent crane is integrally improved.
When the large and small crane mechanisms of the crane are controlled to operate, a precision standard value K is set, wherein K is more than or equal to-500 and less than or equal to 500, and the unit is mm.
When the delta X is less than K, the trolley stops moving;
when Y is less than K, the cart stops moving.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (4)
1. The utility model provides an intelligence hoist auxiliary positioning system which characterized in that: the positioning and coding scale I is arranged on a bearing beam of the crane, is close to the side of a cart track and is used for calibrating the real-time position of the cart;
the positioning code reader I is arranged on a crane cart, is close to the cart positioning coding scale and is used for reading and analyzing the physical address of the positioning coding scale I to obtain the real-time position of the cart;
a positioning coding scale II which is arranged on the crane girder and close to the side of the trolley track and is used for calibrating the real-time position of the travelling of the trolley;
the positioning code reader II is arranged on the crane trolley and is close to the trolley positioning coding scale and used for reading and analyzing the physical address of the positioning coding scale II to obtain the real-time position of the trolley;
the gyroscope is used for recording the deflection angles of the horizontal planes of the crane cart and the crane trolley;
the laser ranging sensor I is arranged at the position, close to the cart track 1#, of the crane main beam, close to the cart track 1#, and perpendicular to the track to measure the real-time distance between the whole cart and the cart track 1# side;
the laser ranging sensor II is arranged at the position, close to the trolley track 1#, of the crane main beam, close to the trolley track 1#, and perpendicular to the track to measure the real-time distance between the whole trolley and the trolley track 1 #;
the PLC control system is used for receiving the real-time position of the cart transmitted by the positioning code reader I, the real-time position of the trolley transmitted by the positioning code reader II, the deflection angle of the horizontal plane of the crane cart and the trolley transmitted by the gyroscope, the real-time distance from the whole cart transmitted by the laser ranging sensor I to the 1# side of the cart track and the real-time distance from the whole trolley transmitted by the laser ranging sensor II to the 1# side of the trolley track; the PLC control system controls the central point of the lifting appliance to be mapped to the actual position in the coding scale coordinate system, and the central point of the lifting appliance is positioned.
2. The intelligent crane auxiliary positioning system as claimed in claim 1, wherein: the system further comprises a network switch which transmits the real-time position of the cart transmitted by the positioning code reader I, the real-time position of the trolley transmitted by the positioning code reader II, the deflection angle of the horizontal plane of the crane cart and the crane trolley transmitted by the gyroscope, the real-time distance between the whole cart transmitted by the laser ranging sensor I and the rail side of the cart, and the real-time distance between the whole trolley transmitted by the laser ranging sensor II and the rail side of the trolley to the PLC control system.
3. The intelligent crane auxiliary positioning system as claimed in claim 1, wherein: the gyroscope is arranged on a cart or a trolley.
4. The positioning method of the intelligent crane auxiliary positioning system as claimed in claim 1, wherein: the method comprises the following steps:
s1, setting the cart direction to position the cart track center on the I side of the coding ruler as the Y axis; setting the direction of the trolley, taking the center of a trolley track at the side of the positioning coding scale II as an X axis to form a coding scale coordinate system, and taking the lower left corner of the coding scale coordinate system as a coordinate zero point;
s2: during the working and running of the crane cart, the gyroscope measures the real-time deflection angle alpha of the horizontal plane; the actual moving distance of the cart is measured to be Y1 by the positioning code reader I; the positioning code reader II obtains the actual distance X1 of the trolley; the real-time distance from the whole cart to the 1# side of the cart track is measured by the laser ranging sensor I to be Xp 1; the real-time distance between the trolley and the 1# side of the trolley track measured by the laser ranging sensor II is Yp 1;
the Xp0 is defined as the actual distance from the whole cart to the 1# side of the cart track is measured by a first laser ranging sensor I before the crane is installed and debugged and normally runs, and the Xp0 is the standard origin distance;
before the Yp 0-bit crane is installed and debugged to normally run, the actual distance from the whole trolley to the 1# side of the trolley track is measured by a first laser ranging sensor II, and Yp0 is the standard origin distance;
defining delta Xp as the gap offset between the wheel rim and the wheel of the cart and the X coordinate of the crane; defining delta Yp as the gap offset between the wheel rim and the wheel of the trolley and the Y coordinate of the crane;
defining L as the distance length from the zero point of the positioning coding scale II to the bottom edge of an isosceles triangle formed by the center point of the original lifting appliance and the center point of the deflection lifting appliance;
defining delta Xz, wherein delta Yz is X coordinate offset and Y coordinate offset of the crane caused by a walking deflection angle;
the real-time numerical coordinates of the central point of the lifting appliance are obtained as follows.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113184708A (en) * | 2021-04-14 | 2021-07-30 | 武汉港迪智能技术有限公司 | Crane trolley positioning calibration method |
| CN113682965A (en) * | 2021-09-03 | 2021-11-23 | 浙江硕实机械有限公司 | Automatic safety control system and control method for crane operation |
| CN113788283A (en) * | 2021-08-20 | 2021-12-14 | 海南核电有限公司 | Method for adjusting deviation of cart of loading and unloading machine |
| CN113830677A (en) * | 2021-10-20 | 2021-12-24 | 芜湖新兴铸管有限责任公司 | Traveling crane sling coordinate monitoring system |
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