CN112963767B

CN112963767B - Crane for realizing night operation control and operation control method thereof

Info

Publication number: CN112963767B
Application number: CN202110546991.3A
Authority: CN
Inventors: 王玥; 曹敏
Original assignee: Xinxiang Vocational and Technical College
Current assignee: Xinxiang Vocational and Technical College
Priority date: 2021-05-19
Filing date: 2021-05-19
Publication date: 2021-07-23
Anticipated expiration: 2041-05-19
Also published as: CN112963767A

Abstract

The invention discloses a crane for realizing night operation control, which comprises a trolley, a swing shaft, a swing cylinder, a sling, a lighting device and a roller device. Through the lighting system that can mechanical automatic tracking cable, realize the automatic tracking illumination to the cable to can clearly see the position of cable night, avoid unexpected collision to take place. Simultaneously, set up astigmatic subassembly through fixed interval in the cable, can be more clear, directly perceived carry out the snap judgments to hoist cable length, position.

Description

Crane for realizing night operation control and operation control method thereof

Technical Field

The invention relates to the field of cranes, in particular to the field of cranes capable of working at night.

Background

Night work is a scene often encountered when a crane works. Since the visual condition is not good at night, safety accidents such as collision are often easy to happen. For this reason, in the prior art, warning is often implemented by using a light lamp arranged on the crane jib, but this method can only be applied to large fixed parts of the crane, such as the jib. The light-emitting lamp cannot be additionally arranged on the movable part such as a pull rope. In addition, the prior art has a radar-based solution, but this approach is costly and does not provide the operator with the most intuitive view of the information. In addition, infrared imaging is also used in the prior art, but this is also costly. In addition, in any of the above manners, the collision prevention of the fixed objects such as the crane boom, the cart, the trolley and the container is generally realized, and the collision prevention manner of the movable elements such as the guy cable is not mentioned.

Therefore, a crane capable of working at night and avoiding collision is urgently needed, and particularly, a control system capable of visually giving visual information to an operator for a thin guy cable, avoiding collision of the guy cable and realizing low cost and full coverage for preventing collision can be provided. Therefore, automatic safe operation at night can be realized, and the operation time is prolonged.

Disclosure of Invention

In order to solve the above problems and the problems mentioned in the following embodiments, the present invention proposes the following solutions:

the utility model provides a realize hoist of night work control which characterized in that: comprises a trolley, a swing shaft, a swing cylinder, a sling, a lighting device and a roller device;

the trolley is provided with a circular groove which is matched with the swinging shaft, so that the swinging shaft can swing freely in the groove; the swing cylinder is connected below the swing shaft and swings left and right along with the swing shaft, and the swing shaft and the swing cylinder are hollow and communicated with each other;

one end of the sling is connected with the power device, penetrates into the swinging shaft and extends out of the lower end of the swinging cylinder;

the roller device is arranged in the lower end of the swing cylinder, and the sling is in contact with the roller device during movement, so that the friction force between the sling and the inner wall of the swing cylinder is reduced;

the lighting device is positioned outside the lower end of the swinging cylinder and used for providing lighting light for the sling, so that the sling is bright and visible at night; the lighting device comprises a light source, a first curved reflector, a second curved reflector, a first lens and a second lens; the light emitted by the light source over a 180 ° range in a vertical plane is divided into four parts: the first part is a 0-10 degree light direct incidence detector used for monitoring the luminous intensity of the light source; the light with the angle of 10-115 degrees of the second part is reflected by the first curved surface reflector to become quasi-parallel light with the divergence angle of 5 degrees, and the quasi-parallel light is used for illuminating the lower end part of the sling; the third part is that after light of 115-165 degrees passes through the second curved surface reflector, the light passes through a hole at the lower end of the swinging cylinder and illuminates the upper end part of the sling; the light with the angle of 165-180 degrees in the fourth part sequentially passes through the first lens and the second lens to form a light beam with the divergence angle of 11 degrees, and the light beam is used for illuminating the middle end part of the sling;

the sling consists of iron rings, light reflecting units are arranged at intervals of fixed length and are of a solid structure with the same size as the iron rings.

The light reflecting unit is provided with grooves at two sides, and each groove is internally provided with a light diffusing plate for diffusing light irradiated on the light reflecting unit, so that the light reflecting unit can be clearly seen at night.

The light-diffusing plate is a concave curved surface, and is provided with a trapezoidal microstructure array, wherein the bottom surface of the trapezoidal microstructure is arranged on the light-diffusing plate, and the lengths of two trapezoidal waists are different.

A night operation control method of a crane comprises the following steps:

starting the crane trolley, starting the lighting system, and controlling the angle of the first curved surface reflector at the moment to enable the first curved surface reflector to irradiate the bottom surface position right below the swing cylinder, so that the container to be lifted can be illuminated; when the trolley moves to the position above the container, the camera is used for collecting images of four light spots, when the four light spots are positioned on four connecting buckles of the container, the trolley moves in place, and then the sling is slowly released;

when the sling begins to be lowered, the angle of the second curved surface reflector is controlled, so that the position of the sling extending out of the swinging cylinder can be illuminated, and when the first astigmatism point is observed, the normal lowering of the sling can be known; observing the position of the first scattered light point so as to judge the lowering position of the lifting hook; meanwhile, the astigmatism points which appear subsequently are counted, and the lowering length of the sling at the moment can be estimated. Controlling the angle of the second curved surface reflector according to the lowering length of the sling, so that the second curved surface reflector can always illuminate the sling within the range of 3 meters; when the sling extends out of more than 3 meters, the fourth part of light is responsible for lighting; when the sling extends beyond 10 meters, a second part of light is responsible for lighting; judging whether the hook can be fixed on the container connecting buckle or not according to the position of the hook and the lowering length; after the slings are put down in place, the four slings are respectively fixed on the connecting buckles of the container;

after the sling is fixedly connected with the container, the sling is recovered; and the vanishing astigmatism points are counted to estimate the container elevation height.

Invention and technical effects

1. Through the lighting system that can mechanical automatic tracking cable, realize the automatic tracking illumination to the cable to can clearly see the position of cable night, avoid unexpected collision to take place.

2. Through the cooperation of a plurality of parabolic reflectors, lens, realized using single light source also can illuminate the cable of arbitrary length to make the cable all be clear visual in whole operation process.

3. Through set up astigmatic subassembly at fixed interval in the cable for even lighting system luminance is lower, also can clearly see the luminous part of interval on the cable, thereby to reducing lighting system's power requirement. And the length and the position of the inhaul cable can be intuitively inferred according to the fixed-interval astigmatic points, so that the inhaul cable is more suitable for being rapidly operated and processed on site.

The present invention includes, but is not limited to, the technical contents described in the embodiments.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:

FIG. 1 is a schematic view of a crane

FIG. 2 is a schematic view of the swinging cylinder of the crane

FIG. 3 is a schematic view of a crane lighting system

FIG. 4 is a schematic view of the illumination range of the crane

FIG. 5 is a schematic view of a light reflecting unit

Fig. 6 is a schematic view of a light diffusion sheet.

Detailed Description

Integral structure of crane

As shown in fig. 1, the crane comprises a trolley 1, a swing shaft 2, a swing drum 3, a sling 4, a pulley 5, a lighting device 6 and a roller device 7.

The trolley 1 is provided with a circular groove which is matched with the swinging shaft 2, so that the swinging shaft 2 can swing freely in the groove; the swing cylinder 3 is connected below the swing shaft 2 and swings left and right along with the swing shaft.

One end of a sling 4 is connected with a power device, passes through the swinging shaft 2 after bypassing the pulley 5, and extends out of the lower end of the swinging cylinder 3. Therefore, the swing shaft 2 and the swing cylinder 3 are hollow inside and communicate with each other. The roller device 7 is arranged in the lower end of the swing barrel 3, and the sling 4 is contacted with the roller device 7 when in motion, thereby reducing the friction force between the sling 4 and the inner wall of the swing barrel 3.

Illuminating devices 6 are respectively provided outside the lower ends of the swing cylinders 3 for providing illumination light to the slings 4 so that the slings 4 are brightly visible at night.

When the sling 4 swings by external force, the sling contacts with the roller device 7 to drive the swing drum 3 to swing, and at the moment, the swing drum 3 and the swing shaft 2 synchronously rotate to adapt to the swing of the sling 4. In the process, the lighting system always synchronously rotates along with the swinging barrel 3, so that the lighting system is stable to the lighting light of the sling 4, and the sling 4 can be always clearly seen.

The illumination device 6 comprises a light source 6-1, a first curved reflector 6-4, a second curved reflector 6-5, a first lens 6-2 and a second lens 6-3. The first curved reflector 6-4 is positioned above the light source 6-1 in an inclined manner, and the second curved reflector 6-5 is positioned below the first curved reflector 6-4; the first lens 6-2 is positioned directly below the light source 6-1, and the second lens 6-3 is positioned directly below the first lens 6-2. Thus, the light emitted from the light source 6-1 in a range of 180 ° in the vertical plane (0 ° in the vertical upward direction and 180 ° in the vertical downward direction) is divided into four parts: the first part is a 0-10 degree light direct incidence detector used for monitoring the luminous intensity of the light source 6-1; the light with the angle of 10-70 degrees of the second part is reflected by the first curved surface reflector 6-4 to become quasi-parallel light with the divergence angle of 5 degrees, and is used for illuminating the lower end part (the range of about 10-20 meters, namely the region C) of the sling 4; the third part is that light with the angle of 70-170 degrees passes through a second curved surface reflector 6-5, then passes through a hole 6-7 at the lower end of the swinging cylinder 3, and illuminates the upper end part of the sling 4 (the range of about 0-3 m, namely an area A); the light with the fourth part of 170-180 degrees sequentially passes through the first lens 6-2 and the second lens 6-3 to form a light beam with the divergence angle of 11 degrees, and is used for illuminating the middle end part (the range of about 3-10 meters, namely the area B) of the sling 4. Those skilled in the art will appreciate that the angle distribution of the light source 6-1 can be performed according to the requirements of different models of cranes, for example, the second part of light is 10-115 degrees, the third part of light is 115-165 degrees, and the fourth part of light is 165-180 degrees. Meanwhile, the angle between the first curved surface reflector 6-4 and the second curved surface reflector 6-5 is adjustable.

The sling 4 is composed of iron rings, and light reflecting units 4-1 are arranged at intervals of 1 meter. The light reflecting unit is of a solid structure with the same size as the iron ring, grooves 4-1-1 are formed in two sides of the light reflecting unit, and a light diffusing plate 4-1-2 is arranged in each groove and used for diffusing light irradiated on the groove, so that the light reflecting unit can be clearly seen at night, and the position of the whole iron chain is clearer. The grooves on two sides are arranged in a staggered mode, namely the grooves on one side are arranged on the upper side, and the grooves on the other side are arranged on the lower side, so that the mechanical property of the light reflecting unit is better, the bearing capacity of the light reflecting unit is improved, and damage is avoided. The upper end of the light reflecting unit is connected with the iron ring positioned above the light reflecting unit, and the lower end of the light reflecting unit is connected with the iron ring positioned below the light reflecting unit, so that a connection mode of the iron ring, the light reflecting unit and the iron ring is formed. And because the outline of the light reflecting unit is similar to that of the iron ring, the trolley 1 is not additionally hindered when being retracted.

The light scattering plate is a concave curved surface, and a trapezoidal microstructure 4-1-3 is arranged on the light scattering plate. Wherein the bottom surface of the trapezoidal microstructure is arranged on the light diffusion plate. Although the light-diffusing plate is a concave curved surface, the trapezoidal bottom surface thereof is substantially closely combined with the light-diffusing plate because the concave curvature radius is large and the size of the microstructure is very small. The two waist lengths of the trapezoid are different. Thus, for incident light, the light incident from the waist on the upper side of the trapezoid is transmitted into the microstructure, part of the light is emitted from the top surface of the trapezoid, and part of the light is emitted from the other waist of the trapezoid; and one part of the light emitted from the other waist is directly emitted to the periphery, and the other part of the light is incident on the waist on the upper side of the next trapezoid structure and is transmitted again or reflected. After transmitting part of light incident from the trapezoidal top surface into the trapezoidal structure, the light is respectively emitted from the top surface and the lower side waist, and the other part of the light is directly reflected by the top surface; the light emitted from the lower waist is also directly emitted, or is incident on the upper waist of the next trapezoid structure, and is transmitted again or reflected. Thus, due to the presence of the microstructures, a complex transmission scattering process occurs for light incident thereon. And since the light-diffusing plate is concave, the incident angle of light incident on each of the trapezoidal microstructures is different even for parallel light, which further leads to a complication of light scattering. Finally, the light-diffusing plate can scatter light incident thereon in all directions, thereby facilitating observation by an operator.

The lighting means 6 are thus able to illuminate the entire sling 4, while due to the presence of the reflecting elements, the entire sling 4 is made to produce a brighter spot every other section, which is more convenient for the operator to operate. And the current length of the sling 4 can be visually observed according to the number of the light spots.

Crane night operation control method

The crane is started, and the trolley 1 moves in place

The crane trolley 1 is started, and the lighting system is started. The angle of the first curved mirror 6-4 is now controlled to illuminate the position of the floor directly below the swing drum 3, so that the container to be lifted can be illuminated. When the trolley 1 moves to the upper part of the container, the camera is used for collecting images of four light spots, when the four light spots are positioned on four connecting buckles of the container, the trolley 1 moves in place, and the sling 4 is slowly lowered.

(II) lowering the sling 4 and fixing the container

At the beginning of lowering the sling 4, the angle of the second curved mirror 6-5 is controlled so that it illuminates the position where the sling 4 extends out of the swing drum 3. When the first astigmatism point is observed, the sling 4 can be normally lowered. And observing the position of the first scattered light point so as to judge the lowering position of the lifting hook. Meanwhile, the astigmatism points which appear subsequently are counted, and the lowering length of the sling 4 at the moment can be estimated. And controlling the angle of the second curved surface reflector 6-5 according to the lowering length of the sling 4 so that the second curved surface reflector can always illuminate the sling 4 within the range of 3 meters. When the sling 4 extends for more than 3 meters, the fourth part of light is responsible for lighting; when the sling 4 extends beyond 10 metres, the second portion of light is responsible for illumination. According to the position of the lifting hook and the lowering length, whether the lifting hook can be fixed on the container connecting buckle or not is judged. After the slings 4 are put down in place, the four slings 4 are respectively fixed on the connecting buckles of the container.

(III) recovery sling 4

After the sling 4 is fixedly connected with the container, the sling 4 is recovered. And the vanishing astigmatism points are counted to estimate the container elevation height.

In the above process, if the suspension cable 4 inclines due to the action of external force, for example, a container is blown by strong wind, the suspension cable 4 applies swing force to the swing cylinder 3, so that the swing cylinder 3 drives the swing shaft 2 to rotate, and the swing cylinder 3 and the suspension cable 4 are basically coaxially arranged in parallel. Therefore, the lighting light can always keep the lighting of the sling 4 without obstacles, and is convenient for an operator to observe.

The above control method may be performed by a processor.

Training method for crane operation control at night

Normally, the crane is lifted at a constant speed, which makes it very easy for the operator to estimate the length and position of the suspension cable 4 from the uniform appearance of the flood spots. However, in the actual operation process, the situation of non-uniform speed also occurs, and if the situation is not trained, the operator cannot adapt to the speed change in a short time and cannot quickly and accurately calculate the length of the sling 4. For this reason, night operation adaptation training should be performed on the operator before performing night operation. Namely, before each night operation, the crane and the operator carry out overall adaptive inspection. The method comprises the following specific steps:

the crane sling 4 is transferred at a constant speed, and an operator observes the positions and the quantity of the astigmatic points so as to judge the length and the position of the sling 4. After the container is lifted, the container moves at the speed that the sling 4 is recovered at the speed that the sling is recovered at, so that different positions can be guaranteed, different speeds can be adapted to inspection training, and the container is more comprehensive. The operator judges the length and the position of the sling 4 according to the condition and the position of the astigmatism point, and completes the adaptability detection and training of the night system.

Y=2*(sin(1.5*x)+0.18*x² -0.01x³+0.1^（x+1）)

Wherein Y is the distance between the container and the ground, x is time, and x is more than or equal to 0 and less than or equal to 15 s.

According to the method, the constant speed and the variable speed can be widely detected and trained before night work, and meanwhile, scenes which need to suddenly descend after rising under special conditions can be simulated, so that the safety of night work is ensured, and the method is also one of the invention points.

The above control method may be performed by a processor.

It is to be understood that the present invention includes, in addition to the above, conventional structures and conventional methods, which are well known and will not be described in detail. It is not intended that such structures and methods be present in the present invention.

It will be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been shown and described in detail herein, many other variations or modifications can be made, which are consistent with the principles of this invention, and which are directly determined or derived from the disclosure herein, without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.

Claims

1. The utility model provides a realize hoist of night work control which characterized in that: comprises a trolley, a swing shaft, a swing cylinder, a sling, a lighting device and a roller device;

2. The crane for realizing night work control as claimed in claim 1, wherein: the light reflecting unit is provided with grooves at two sides, and each groove is internally provided with a light diffusing plate for diffusing light irradiated on the light reflecting unit, so that the light reflecting unit can be clearly seen at night.

3. The crane for realizing night work control as claimed in claim 2, wherein: the light-diffusing plate is a concave curved surface, and is provided with a trapezoidal microstructure array, wherein the bottom surface of the trapezoidal microstructure is arranged on the light-diffusing plate, and the lengths of two trapezoidal waists are different.

4. A night work control method of a crane according to any one of claims 1 to 3, characterized by comprising:

starting the crane trolley, starting the lighting system, and controlling the angle of the first curved surface reflector at the moment to enable the first curved surface reflector to irradiate the bottom surface position right below the swing cylinder, so that a container to be lifted can be illuminated; when the trolley moves to the position above the container, the camera is used for collecting images of four light spots, when the four light spots are positioned on four connecting buckles of the container, the trolley moves in place, and then the sling is slowly released;

when the sling starts to be lowered, the angle of the second curved surface reflector is controlled, so that the position of the sling extending out of the swinging cylinder can be illuminated, and when a first astigmatism point is observed, the normal lowering of the sling can be known; observing the position of the first scattered light point so as to judge the lowering position of the lifting hook; meanwhile, the subsequent astigmatism points are counted, the lowering length of the sling at the moment can be estimated, and the angle of the second curved reflector is controlled according to the lowering length of the sling, so that the second curved reflector can illuminate the sling within a range of 3 meters all the time; when the sling extends out of more than 3 meters, the fourth part of light is responsible for lighting; when the sling extends beyond 10 meters, a second part of light is responsible for lighting; judging whether the hook can be fixed on the container connecting buckle or not according to the position of the hook and the lowering length; after the slings are put down in place, the four slings are respectively fixed on the connecting buckles of the container;