CN113998593A - A two-way positioning method of magnetic nails for steel plate stacking in shipyards - Google Patents
A two-way positioning method of magnetic nails for steel plate stacking in shipyards 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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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 33
- 239000010959 steel Substances 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000004891 communication Methods 0.000 claims description 13
- 230000002457 bidirectional effect Effects 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 4
- 230000003287 optical effect Effects 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 34
- 230000000007 visual effect Effects 0.000 description 7
- 239000002994 raw material Substances 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
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- 230000004075 alteration Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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Classifications
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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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- 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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Abstract
本发明公开了一种用于船厂钢板堆行车磁钉双向定位方法，所述用于船厂钢板堆行车磁钉双向定位方法包括：测量行车跨度，在行车轨道上设置磁钉，给小车设置固定磁开关，用作基准位置点，在上位机中设定每个磁钉的精确位置；行车移动，绝对值编码器开始计数并将传输至PLC，PLC记录并上传至上位机，上位机生成行车位置信息;当行车经过磁钉位置，绝对值编码器计数恢复初始值，同时上位机接收PLC传输的计数值，上位机根据磁钉坐标和精确位置数据自动对行车位置数据进行调整；当行车行驶至预定位置时，PLC开始采集小车磁开关状态传输至上位机，上位机生成小车位置数据；当吊装停止时，所有位置数据清零；具有结构简单、预处理后的水质高等优点。
The invention discloses a two-way positioning method for magnetic nails used for steel plate stacking driving in shipyards. The two-way positioning method for magnetic nails used for steel plate stacking driving in shipyards includes: measuring the driving span, arranging magnetic nails on the driving track, and arranging fixed magnetic nails for the trolley. The switch is used as a reference position point to set the precise position of each magnetic nail in the host computer; when the vehicle moves, the absolute value encoder starts counting and transmits it to the PLC, and the PLC records and uploads it to the host computer, and the host computer generates the driving position Information; when the vehicle passes the position of the magnetic nail, the absolute value encoder count returns to the initial value, and the upper computer receives the count value transmitted by the PLC, and the upper computer automatically adjusts the driving position data according to the coordinates of the magnetic nail and the precise position data; At the predetermined position, the PLC starts to collect the magnetic switch status of the trolley and transmit it to the upper computer, and the upper computer generates the position data of the trolley; when the hoisting stops, all position data is cleared; it has the advantages of simple structure and high water quality after pretreatment.
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.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111303841.6A CN113998593A (en) | 2021-11-05 | 2021-11-05 | A two-way positioning method of magnetic nails for steel plate stacking in shipyards |
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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 | A two-way positioning method of magnetic nails for steel plate stacking in shipyards |
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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 adjustment 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 | A magnetic nail-based automatic rail crane positioning control system and method |
-
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 adjustment 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 | A magnetic nail-based automatic rail crane positioning control system and method |
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Application publication date: 20220201 |