CN113998593A - Magnetic nail bidirectional positioning method for steel plate stacking crane in shipyard - Google Patents
Magnetic nail bidirectional positioning method for steel plate stacking crane in shipyard Download PDFInfo
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- CN113998593A CN113998593A CN202111303841.6A CN202111303841A CN113998593A CN 113998593 A CN113998593 A CN 113998593A CN 202111303841 A CN202111303841 A CN 202111303841A CN 113998593 A CN113998593 A CN 113998593A
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- magnetic
- crane
- upper computer
- magnetic nail
- shipyard
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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
-
- 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
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a magnetic nail bidirectional positioning method for a steel plate stacking travelling crane in a shipyard, which comprises the following steps: measuring the driving span, arranging magnetic nails on a driving track, arranging a fixed magnetic switch for the trolley to be used as a reference position point, and setting the accurate position of each magnetic nail in an upper computer; when the travelling crane passes through the position of the magnetic nail, the absolute value encoder counts and restores an initial value, and meanwhile, the upper computer receives a counting value transmitted by the PLC and automatically adjusts the travelling crane position data according to the magnetic nail coordinate and the accurate position data; when the traveling crane runs to a preset position, the PLC starts to acquire the magnetic switch state of the trolley and transmits the magnetic switch state to the upper computer, and the upper computer generates trolley position data; when the hoisting is stopped, clearing all position data; has the advantages of simple structure, high water quality after pretreatment and the like.
Description
Technical Field
The invention relates to the technical field of hoisting of steel plate storage yards, in particular to a magnetic nail bidirectional positioning method for a steel plate stacking crane in a shipyard.
Background
The steel plate is a main raw material of a ship product, and the purchasing cost of a ship product is usually 30% -40% of the purchasing cost of the ship product, wherein a few ships can be thousands of tons, and many ships can be tens of thousands of tons. The types of the steel plate mainly comprise medium-thickness steel plates, flat steel, flat-bulb steel, equilateral angle steel, non-equilateral angle steel, round steel and the like.
Because the overall level of logistics supply in China is not high at present, a steel plate storage yard becomes an indispensable part in the production link of a shipyard, is a site for feeding, sorting, stacking, keeping and supplying steel raw materials of the whole shipyard, and is a source of logistics and information flow of a whole general assembly production system. In order to ensure the use of raw materials of the steel plates, the steel plates are purchased in advance and stored in a steel plate storage yard in a shipyard.
The existing technology adopted by the steel plate yard is generally the traditional encoder technology, the laser positioning technology, the GPRS positioning technology and the visual positioning technology, the traditional encoder technology has the problem of inaccurate positioning, and the new technologies such as the laser positioning technology, the GPRS positioning technology and the visual positioning technology are not suitable for improving the original hoisting equipment and only can replace the original old hoisting equipment.
Therefore, the magnetic nail bidirectional positioning method for the steel plate stacking crane in the shipyard is provided, and the problems can be solved.
Disclosure of Invention
The technical problem to be solved by the invention is that the technology adopted by the existing steel plate yard is generally the traditional encoder technology, the laser positioning technology, the GPRS positioning technology and the visual positioning technology, the traditional encoder technology has the problem of inaccurate positioning, and the new technologies such as the laser positioning technology, the GPRS positioning technology and the visual positioning technology are not suitable for improving the original hoisting equipment, and only can replace the original old hoisting equipment, so that the magnetic nail bidirectional positioning method for the steel plate piling crane in the shipyard is provided, which comprises the following steps:
the multi-span traveling crane is provided with a transversely moving trolley in cooperation with each span traveling crane, the traveling crane is provided with an absolute value encoder, a calibration magnet is fixedly arranged on the trolley, the absolute value encoder and the calibration magnet are electrically connected with a PLC (programmable logic controller), and the PLC is electrically connected with an upper computer, and the magnetic nail bidirectional positioning method for the steel plate stacking traveling crane of the shipyard comprises the following steps:
measuring the driving span, arranging magnetic nails on a driving track, arranging a fixed magnetic switch at a common position for the trolley, using the fixed magnetic switch as a reference position point, and setting the coordinate and the accurate position of each magnetic nail in an upper computer;
the travelling crane moves, the absolute value encoder starts counting and transmits a count value to the PLC processor, the PLC processor records the numerical value and uploads the numerical value to the upper computer, and the upper computer generates travelling crane position information;
when the travelling crane passes through the position of the magnetic nail, the absolute value encoder counts and restores the initial value, and meanwhile, the upper computer receives the count value transmitted by the PLC processor and automatically adjusts the travelling crane position data according to the magnetic nail coordinate and the accurate position data;
when the traveling crane runs to a preset position, the PLC starts to acquire the magnetic switch state of the trolley and transmits the magnetic switch state to the upper computer, and the upper computer generates trolley position data;
and when the hoisting is stopped, clearing all the position data.
Further, the vehicle runs in the span every span.
Further, still include the switch, the PLC treater pass through the switch with the host computer with absolute value encoder electricity is connected.
Further, the absolute value encoder is fixedly installed on the driven wheel of the traveling crane.
Furthermore, the verification magnet is fixedly arranged on a cross beam of the trolley.
Further, the measured driving span is as follows:
the driving span is measured by a Leica optical level.
Furthermore, the PLC processor also comprises a free communication port, and the communication protocol of the free communication port is the communication protocol of Modbus-RTU.
The implementation of the invention has the following beneficial effects:
1. the invention can add the magnetic nail and the magnetic switch on the original hoisting travelling crane, effectively reduces the influence of mechanical slip on the positioning of the travelling crane by using the magnetic nail, improves the positioning precision of the trolley between spans by using the magnetic switch, has simple and easy structure and low cost and improves the positioning resolution precision.
Drawings
FIG. 1 is a flow chart of the present invention;
fig. 2 is a partial electrical connection diagram of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
Referring to the attached drawings 1-2 of the specification, the technical problem to be solved in this embodiment is that the existing technology adopted by the steel plate yard is generally the traditional encoder technology, the laser positioning technology, the GPRS positioning technology and the visual positioning technology, the traditional encoder technology has the problem of inaccurate positioning, and the new technologies such as the laser positioning technology, the GPRS positioning technology and the visual positioning technology are not suitable for improving the original hoisting equipment, and only can be used for replacing the original old hoisting equipment, so that the method for bidirectionally positioning the magnetic nail of the steel plate piling car in the shipyard is provided, and comprises the following steps:
the multi-span travelling crane is provided with a transversely moving trolley in cooperation with each span travelling crane, the travelling crane is provided with an absolute value encoder, a calibration magnet is fixedly arranged on the trolley, the absolute value encoder and the calibration magnet are electrically connected with a PLC (programmable logic controller) processor, and the PLC processor is electrically connected with an upper computer and is used for the magnetic nail bidirectional positioning method of the steel plate stacking travelling crane in a shipyard, which comprises the following steps:
measuring the driving span, arranging magnetic nails on a driving track, arranging a fixed magnetic switch at a common position for the trolley, using the fixed magnetic switch as a reference position point, and setting the coordinate and the accurate position of each magnetic nail in an upper computer;
the travelling crane moves, the absolute value encoder starts counting and transmits a count value to the PLC processor, the PLC processor records the numerical value and uploads the numerical value to the upper computer, and the upper computer generates travelling crane position information;
when the travelling crane passes through the position of the magnetic nail, the absolute value encoder counts and restores the initial value, and meanwhile, the upper computer receives the count value transmitted by the PLC processor and automatically adjusts the travelling crane position data according to the magnetic nail coordinate and the accurate position data;
when the traveling crane runs to a preset position, the PLC starts to acquire the magnetic switch state of the trolley and transmits the magnetic switch state to the upper computer, and the upper computer generates trolley position data;
and when the hoisting is stopped, clearing all the position data.
The vehicle of each span runs in the span.
Still include the switch, the PLC treater passes through the switch and is connected with host computer and absolute value encoder electricity.
The absolute value encoder is fixedly arranged on a driven wheel of the travelling crane.
The calibration magnet is fixedly arranged on the cross beam of the trolley.
The measured driving span is:
the driving span is measured by a Leica optical level.
The PLC is used for processing of position data. The PLC is provided with a standard Profinet interface and a free communication port, the Profinet is used as a main station and used for reading and writing data of the encoder, and after processing, the current position of the cart is generated and sent to the upper computer.
A location data redundancy handling mechanism. The free port communication is currently defined as a communication protocol of Modbus-RTU, and is used as a redundancy scheme for sending data to an upper computer in another communication mode.
The resolution precision of the method is mm-cm grade, the reaction time is ms grade, the magnetic nail is resistant to high-temperature and high-humidity environment, and the influence of mechanical slippage can be effectively reduced through correction of the magnetic nail. The positioning effect is superior to the traditional encoder technology, the laser positioning technology, the GPRS positioning technology and the visual positioning technology. The method has low cost investment, and provides an effective way for the transformation of the positioning of old traveling vehicles.
In the description of the present invention, it is to be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "other end", "upper", "one side", "top", "inner", "front", "center", "both ends", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "disposed," "connected," "secured," "screwed" and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; the terms may be directly connected or indirectly connected through an intermediate, and may be communication between two elements or interaction relationship between two elements, unless otherwise specifically limited, and the specific meaning of the terms in the present invention will be understood by those skilled in the art according to specific situations.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The utility model provides a two-way location method of driving magnetic nail for shipyard steel sheet pile, includes many strides driving, cooperates every driving of striding to be provided with a lateral shifting's dolly, the driving is provided with the absolute value encoder, the fixed calibration magnet that is provided with of dolly, the absolute value encoder with calibration magnet all is connected with the PLC treater electricity, the PLC treater is connected with host computer electricity, its characterized in that includes:
measuring the driving span, arranging magnetic nails on a driving track, arranging a fixed magnetic switch at a common position for the trolley, using the fixed magnetic switch as a reference position point, and setting the coordinate and the accurate position of each magnetic nail in an upper computer;
the travelling crane moves, the absolute value encoder starts counting and transmits a count value to the PLC processor, the PLC processor records the numerical value and uploads the numerical value to the upper computer, and the upper computer generates travelling crane position information;
when the travelling crane passes through the position of the magnetic nail, the absolute value encoder counts and restores the initial value, and meanwhile, the upper computer receives the count value transmitted by the PLC processor and automatically adjusts the travelling crane position data according to the magnetic nail coordinate and the accurate position data;
when the traveling crane runs to a preset position, the PLC starts to acquire the magnetic switch state of the trolley and transmits the magnetic switch state to the upper computer, and the upper computer generates trolley position data;
and when the hoisting is stopped, clearing all the position data.
2. The method for bidirectionally positioning the magnetic nail of the steel plate stacking crane in the shipyard according to claim 1, wherein each span of the crane runs in the span.
3. The magnetic nail bidirectional positioning method for the steel plate stacking crane in the shipyard of claim 1, further comprising a switch, wherein the PLC processor is electrically connected with the upper computer and the absolute value encoder through the switch.
4. The method as claimed in claim 1, wherein the absolute value encoder is fixedly mounted on the driven wheel of the crane.
5. The method for bidirectionally positioning the magnetic nail of the steel plate stacking crane in the shipyard according to claim 1, wherein the calibration magnet is fixedly installed on a cross beam of the trolley.
6. The magnetic nail bidirectional positioning method for the steel plate stacking crane in the shipyard according to claim 1, wherein the measured crane span is:
the driving span is measured by a Leica optical level.
7. The method for the bidirectional positioning of the magnetic nail of the steel plate pile driving crane in the shipyard of claim 1, wherein the PLC processor further comprises a free communication port, and the communication protocol of the free communication port is a communication protocol of Modbus-RTU.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111303841.6A CN113998593A (en) | 2021-11-05 | 2021-11-05 | Magnetic nail bidirectional positioning method for steel plate stacking crane in shipyard |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111303841.6A CN113998593A (en) | 2021-11-05 | 2021-11-05 | Magnetic nail bidirectional positioning method for steel plate stacking crane in shipyard |
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| CN113998593A true CN113998593A (en) | 2022-02-01 |
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| CN202111303841.6A Pending CN113998593A (en) | 2021-11-05 | 2021-11-05 | Magnetic nail bidirectional positioning method for steel plate stacking crane in shipyard |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000322691A (en) * | 1999-05-12 | 2000-11-24 | Sumitomo Electric Ind Ltd | Position adjusting device for magnetic sensor |
| CN108151766A (en) * | 2017-12-27 | 2018-06-12 | 广东嘉腾机器人自动化有限公司 | Localization method, magnetic nail positioning navigation error correcting method and the positioning device of magnetic nail |
| CN208916638U (en) * | 2018-08-21 | 2019-05-31 | 上海老港废弃物处置有限公司 | A kind of trolley automatic positioning equipment of bridge-type container crane |
| CN110255384A (en) * | 2019-07-17 | 2019-09-20 | 招商局邮轮制造有限公司 | A kind of interior dock anti-collision system |
| CN110956232A (en) * | 2019-10-23 | 2020-04-03 | 中船第九设计研究院工程有限公司 | Shipbuilding crane positioning system based on wireless radio frequency technology |
| CN111591896A (en) * | 2020-05-29 | 2020-08-28 | 上海工程技术大学 | Automatic rail crane cart positioning control system and method based on magnetic nails |
-
2021
- 2021-11-05 CN CN202111303841.6A patent/CN113998593A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000322691A (en) * | 1999-05-12 | 2000-11-24 | Sumitomo Electric Ind Ltd | Position adjusting device for magnetic sensor |
| CN108151766A (en) * | 2017-12-27 | 2018-06-12 | 广东嘉腾机器人自动化有限公司 | Localization method, magnetic nail positioning navigation error correcting method and the positioning device of magnetic nail |
| CN208916638U (en) * | 2018-08-21 | 2019-05-31 | 上海老港废弃物处置有限公司 | A kind of trolley automatic positioning equipment of bridge-type container crane |
| CN110255384A (en) * | 2019-07-17 | 2019-09-20 | 招商局邮轮制造有限公司 | A kind of interior dock anti-collision system |
| CN110956232A (en) * | 2019-10-23 | 2020-04-03 | 中船第九设计研究院工程有限公司 | Shipbuilding crane positioning system based on wireless radio frequency technology |
| CN111591896A (en) * | 2020-05-29 | 2020-08-28 | 上海工程技术大学 | Automatic rail crane cart positioning control system and method based on magnetic nails |
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