CN114314351A - Intelligent positioning method based on traditional traveling crane - Google Patents
Intelligent positioning method based on traditional traveling crane Download PDFInfo
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- CN114314351A CN114314351A CN202111554224.3A CN202111554224A CN114314351A CN 114314351 A CN114314351 A CN 114314351A CN 202111554224 A CN202111554224 A CN 202111554224A CN 114314351 A CN114314351 A CN 114314351A
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Abstract
An intelligent positioning method based on a traditional traveling crane utilizes a laser positioning technology to realize high positioning precision of the traveling crane, and comprises the following steps: positioning is performed by using a laser range finder and positioning is performed by using a laser position sensor. The positioning scheme by using the laser range finder comprises the following steps: the laser ranging device has the advantages of being simple in structure, convenient to operate, low in cost, high in safety and the like. The positioning scheme by using the laser position sensor comprises the following steps: the method comprises the steps of setting a laser position sensor, connecting and protecting a laser sensor line, setting laser position sensor installation requirements and setting a dynamic magnetic sensor. The invention always keeps detection in the whole running process of big and small running vehicles, sends the data value change trend to the PLC in real time, takes the fed back running position data of the running vehicles as the basis for acceleration, uniform speed, deceleration and stop of the big and small running vehicles, realizes smooth linear speed change in the whole running process of the running vehicles, and prevents the hoisting gear from generating violent shake due to speed change.
Description
Technical Field
The invention belongs to the technical field of yard traveling crane positioning, and relates to an intelligent positioning method based on a traditional traveling crane.
Background
The steel plates are used as production raw materials of ship enterprises and are all stored in a steel plate storage yard, the steel plates need to be conveyed by means of traveling cranes when being moved, and whether the positioning of the traveling cranes is accurate or not directly influences the accuracy of traveling crane control or not. The not enough that traditional driving positioning method exists, traditional driving has equipment structure complicacy in the practical application process, positioning accuracy is not enough, high in production cost, driving operation safety, hang arrange and easily produce acutely because of the variable speed and rock the scheduling problem, serious ghost image influences the production efficiency of boats and ships enterprise and to the automated control of stock yard raw materials for production, this just needs to improve the orientation module of traditional driving, and involve driving orientation module's a small amount very in some current improvement scheme, the particularity of problem leads to some drive module's improvement scheme not general. The development of a new positioning method based on the traditional driving becomes an objective urgent need.
Disclosure of Invention
In view of the foregoing defects in the prior art, an object of the present invention is to provide an intelligent positioning method based on a conventional traveling crane to overcome the problem of inaccurate positioning during the operation of the traveling crane.
In order to achieve the purpose, the invention adopts the technical scheme that: the laser positioning technology is utilized to reform a positioning module of the traditional travelling crane, so that the high positioning precision of the travelling crane is realized.
The intelligent positioning technology adopted by the invention comprises two transformation schemes: positioning is performed by using a laser range finder and positioning is performed by using a laser position sensor.
The laser range finder positioning scheme comprises the steps of setting the laser range finder, connecting the laser range finder with the laser range finder, protecting the laser range finder, and installing the laser range finder.
The laser range finder positioning scheme laser range finder is arranged as follows:
(1) install laser range finder (the cart range finding distance is 0 to 200m, chooses for use laser range finder should guarantee sufficient precision in this range finding within range) at cart end beam side, to track top reflecting plate transmission range finding light beam, through the reflected light to PLC feedback data value.
(2) The laser range finder is installed at the side of the trolley rack (the distance of the trolley is 0-50 m, and the laser range finder is selected to guarantee sufficient precision in the range finding range), the distance measuring light beam is emitted to the reflecting plate at the top end of the track, and the data value is fed back to the PLC through the reflected light.
The laser range finder positioning scheme laser range finder has the following functions: the laser range finder always keeps detecting in the whole running process of big and small vehicles and sends the data value change trend to the PLC from time to time. The distance meter feeds back the running position data of the running vehicle as the basis for acceleration, uniform speed, deceleration and stop of the large running vehicle, so that smooth linear speed change in the whole running process of the running vehicle is realized, and the hanging row is prevented from generating severe shaking due to speed change. The invention has the defect of large swinging of a hanging row in the traditional traveling vehicle movement, and the laser range finder is combined with a PLC for real-time interaction to prevent severe swinging caused by variable speed.
The line connection and protection requirements of laser ranging in the laser range finder positioning scheme are as follows:
(1) for the waterproof setting of the laser range finder circuit: contain power and signal feedback circuit, with standard transposition connected mode during the connection, transposition connection department cover waterproof pyrocondensation pipe, the pyrocondensation pipe installation accords with standard wiring requirement with sealed length, and the outside uses waterproof sticky tape to carry out two-layer winding, and the single cable parcel of first layer, the whole strand of cable winding of second layer.
(2) For the lightning protection treatment of the laser distance meter: the wiring groove that has that whole circuit connection connector was laid after waterproof insulation handles has POE device lightning protection ground's wiring inslot, shields the electricity generation and the electromagnetic interference to the periphery behind the lightning stroke.
The installation requirements for the laser range finder in the positioning scheme of the laser range finder are as follows:
(1) in order to ensure the detection precision of the laser range finder, detection beams need to be prevented from being generated by meeting the sunlight, and a reflecting plate needs to be installed at the top end of the track;
(2) in order to prevent the laser range finder and the reflecting plate from being directly affected and damaged by strong light, high temperature, rainwater and the like, the upper parts of the laser range finder and the reflecting plate are required to be provided with sun shields, so that a proper working environment is provided for the laser range finder and the reflecting plate;
(3) in order to achieve the best ranging effect, the laser range finder should ensure the levelness of the laser range finder and the verticality of the reflecting plate, and repeatedly calibrate the relative verticality between the laser range finder and the reflecting plate.
(4) Three traveling vehicles are combined on the same track, so that three laser range finders installed on the side of the end beam must be vertically staggered, and mutual interference influence among three laser range finders in the same direction is avoided.
The laser position sensor positioning scheme comprises the following steps: the laser position sensor at the track side selects an opposite laser position sensor, and the optical signal triggers a receiving end to output a signal. The transmitting end of the laser position sensor is arranged on the moving end of the trolley body and the traveling crane cart, and the receiving end of the laser position sensor is arranged on the fixed end of the rail side of the trolley and the traveling crane cart. And installing a laser position sensor at the position of the longitudinal center line of the steel plate pile position corresponding to the side of the cart track so as to ensure that the longitudinal center line of the hanging row is superposed with the longitudinal center line of the steel plate pile position. And a laser position sensor is arranged at the side of the trolley track corresponding to the transverse center line of the steel plate pile position so as to ensure that the transverse center line of the hanging row is superposed with the transverse center line of the steel plate pile position. And a laser position sensor is respectively arranged at two sides of the trolley track side corresponding to the transverse center line of the steel plate pile position and is used as a trolley walking brake point.
The line connection and protection measures of the laser sensor in the positioning scheme of the laser position sensor are as follows:
(1) track side sensor connection circuit: contain power and signal feedback circuit, with standard transposition connected mode during the connection, transposition connection department cover waterproof pyrocondensation pipe, the pyrocondensation pipe installation accords with standard wiring requirement with sealed length, and the outside uses waterproof sticky tape to carry out two-layer winding, and the single cable parcel of first layer, the whole strand of cable winding of second layer.
(2) Lightning protection treatment: the whole line is divided into track side wiring groove lightning protection and track base station lightning protection. Setting up independent standard grounding piles by taking the track range covered by the track side middle base station cabinet as a block, and collecting the lightning grounding in the area to the grounding pile; the connecting wire head is taken into a wiring groove which is arranged along with the track and has lightning protection grounding after waterproof insulation treatment; for the track side provides power and signal feedback's basic station cabinet, the airtight waterproof cable exit of cabinet body uses waterproof clay to fill because the cabinet body itself has POE device, prevents that signal and power from anti-skewing.
The laser position sensor in the laser position sensor positioning scheme has the following installation requirements: the cart and the trolley body are provided with the transmitting end sensor in a welding mode, and the drooping ground plane of the support is parallel to the upper plane of the traveling crane girder. And the receiving end sensor is arranged on the track sides of the cart and the trolley in a welding mode by installing a bracket B, and the mounting surface of the bracket is vertical to the ground of the cart track or the upper plane of the traveling girder. The transmitting end and the receiving end sensor keep the axis horizontal, and the coaxiality of the sensor axis is required to be kept within a rated error range. When the laser sensors at the transmitting end and the receiving end are installed, the laser sensors at the transmitting end and the receiving end are adjusted in a one-to-one correspondence mode, the fixed end receiving sensor is installed by taking the sensor at the transmitting end at the moving end as a reference, and coaxiality is guaranteed to be within the specified requirement.
The dynamic sensor in the laser position sensor positioning scheme has the main functions that: the outer rings of the driving wheels of the crane cart and the driving wheels of the crane cart are equally divided, a magnetic sensor is selected to sense the operation of each sector, on-off signals are output once through the sensor when each sector is rotated, and a counter in the PLC counts. The internal counting value preset by the PLC is used as a trigger signal for reverse connection braking and secondary driving of the large and small vehicles.
Compared with other positioning technologies, the laser range finder has the advantages of better angular resolution, better real-time positioning function and stronger anti-interference performance, and the laser range finder is simple and convenient to install and use.
The invention discloses a multi-source data positioning module of a traveling crane, which is characterized in that a linear encoder is used for completing real-time position feedback of the traveling crane by combining comparison of common positioning technologies, but the cost of the linear encoder is too high, so that the multi-source data positioning module of the traveling crane is formed by matching a plurality of positioning sensors in a complementary mode. The cart and the trolley of the traveling crane both adopt a laser range finder plus an absolute value type rotary encoder plus a track calibration point to form a positioning module. The rotary encoder is an absolute value type rotary encoder, so that the distance measurement cost is reduced, and the cost performance of a scheme is improved.
In industrial production, especially in automated working equipment, safety is a first concern. When a plurality of traveling vehicles run simultaneously in the same track, the collision avoidance problem of the traveling vehicles must be considered. Collision avoidance in vehicles remains a problem of distance measurement and location, and in conventional vehicles, this task is completely left to the driver for visual inspection. When the traveling speed is not fast and a certain physical buffer device is provided, the purpose of preventing collision can be realized, and for automatic traveling, a dangerous distance alarm device is needed, in other words, PLCs of different traveling vehicles need to know the relative position between 2 traveling vehicles.
Because the travelling cranes are moving objects and have large strokes, the PLCs of different travelling cranes cannot communicate with each other, and therefore, even if each PLC knows the real-time position of the controlled travelling crane, the relative distance between the travelling cranes cannot be obtained.
To solve this problem, the present invention installs a distance laser sensor in an adjacent line shop. The sensor is still a laser sensor in nature, but only outputs a trigger signal at a certain set distance, so that the aim of warning the dangerous distance is fulfilled.
Drawings
FIG. 1 is a schematic diagram of a positioning scheme of the laser range finder of the present invention.
Fig. 2 is a schematic diagram of a positioning scheme of the laser position sensor according to the present invention.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments.
As used herein, the term "include" and its various variants are to be understood as open-ended terms, which mean "including, but not limited to. The term "based on" may be understood as "based at least in part on". The term "one embodiment" may be understood as "at least one embodiment". The term "another embodiment" may be understood as "at least one other embodiment".
The invention designs two transformation schemes in the intelligent transformation of the traditional travelling crane positioning module, wherein one scheme is to use a laser range finder for positioning, and the other scheme is to use a laser position sensor for positioning.
The cart and the trolley of the traveling crane both adopt a laser range finder plus an absolute value type rotary encoder plus a track calibration point to form a positioning module.
The laser range finder always keeps detecting in the running process of the vehicle and sends the result to the running PLC in real time. By improving the detection frequency of the laser range finder, the real-time performance of positioning can be improved. The travelling crane PLC can obtain the position, the running speed and the acceleration of the travelling crane by analyzing the continuous position change, and provides necessary basis for driving control.
As the detection error of the laser range finder increases along with the increase of the distance, the rotary encoder is used as another data source, and the overall positioning accuracy of the positioning module is improved by comparing the two data and adopting a statistical method. The absolute value type encoder has the advantages of high precision and no need of origin correction after power-off restart.
Considering that the rotary encoder has systematic accumulated errors, it is intended to correct it by arranging a series of calibration points on the track. The track calibration point uses ordinary magnetic sensor, and the sensor setting is close to orbital position in the driving outside, and calibration point on the track is a series of strong magnetism, and when the driving moved to the calibration point position, magnetic sensor sensed magnet to output calibration signal to PLC.
The large and small car rotary encoders are all mounted on the driving wheel shaft through the shaft couplings.
The cart track calibration points are arranged on the cart track at intervals of 50 meters; the trolley track calibration points are arranged at two ends of the trolley track.
As shown in fig. 1, the positioning with the laser range finder comprises the following steps:
the first step is the setting of the laser ranging device: for the side of the large vehicle track, a laser range finder LD301 is arranged on the side of the end beam of the large vehicle, a ranging light beam is emitted to a reflecting plate at the top end of the track, and a data value is fed back to the PLC through the reflected light. For the trolley track side, a laser distance meter LD41 is installed on the trolley rack side, a distance measuring beam is emitted to a track top end reflection plate, and a data value is fed back to the PLC through the reflected light.
And the second step of line connection and protection for laser ranging: for the laser range finder circuit waterproof treatment, the power supply and the signal feedback circuit are included, a standard twisted connection mode is used during connection, a waterproof heat-shrinkable tube is sleeved at the twisted connection part, the installation and sealing length of the heat-shrinkable tube meets the standard wiring requirement, the exterior is wound by two layers by using a waterproof adhesive tape, and a first layer of single cable is wrapped, and a second layer of whole-strand cable is wrapped; for the lightning protection treatment of the laser range finder, the integral line connection connector is subjected to waterproof insulation treatment and then is received into the arranged wiring groove with the wiring groove and POE device lightning protection grounding, so that the power generation and electromagnetic interference to the periphery after lightning striking are shielded;
the third step is the installation requirement of the laser range finder: in order to ensure the detection precision of the laser range finder, detection beams need to be prevented from being generated by meeting the sunlight, and a reflecting plate needs to be installed at the top end of the track; in order to prevent the laser range finder and the reflecting plate from being directly affected and damaged by strong light, high temperature, rainwater and the like, the upper parts of the laser range finder and the reflecting plate are required to be provided with sun shields, so that a proper working environment is provided for the laser range finder and the reflecting plate; in order to achieve the optimal ranging effect, the laser range finder ensures the levelness of the laser range finder and the verticality of the reflecting plate, and repeatedly calibrates the relative verticality between the laser range finder and the reflecting plate; three traveling vehicles are combined on the same track, so that three laser range finders installed on the side of the end beam must be vertically staggered, and mutual interference influence among three laser range finders in the same direction is avoided.
As shown in fig. 2, the positioning with the laser position sensor comprises the following steps:
the first step is the setting of the laser position sensor: the laser position sensor at the track side selects an opposite laser position sensor, and the optical signal triggers a receiving end to output a signal. The transmitting end of the laser position sensor is arranged on the moving end of the trolley body and the traveling crane cart, and the receiving end of the laser position sensor is arranged on the fixed end of the rail side of the trolley and the traveling crane cart. And installing a laser position sensor at the position of the longitudinal center line of the steel plate pile position corresponding to the side of the cart track so as to ensure that the longitudinal center line of the hanging row is superposed with the longitudinal center line of the steel plate pile position. And a laser position sensor is arranged at the side of the trolley track corresponding to the transverse center line of the steel plate pile position so as to ensure that the transverse center line of the hanging row is superposed with the transverse center line of the steel plate pile position. And a laser position sensor is respectively arranged at two sides of the trolley track side corresponding to the transverse center line of the steel plate pile position and is used as a trolley walking brake point.
The second step is to carry out the line connection and the protection of the laser sensor: for the track side sensor connecting circuit containing a power supply and a signal feedback circuit, a standard twisting connection mode is used during connection, a waterproof heat-shrinkable tube is sleeved at the twisting connection part, the installation and sealing length of the heat-shrinkable tube meets the standard wiring requirement, the exterior of the heat-shrinkable tube is wound by two layers by using a waterproof adhesive tape, and a first layer of single cable is wrapped and a second layer of whole strand cable is wound; lightning protection treatment: the whole line is divided into track side wiring groove lightning protection and track base station lightning protection. Setting up independent standard grounding piles by taking the track range covered by the track side middle base station cabinet as a block, and collecting the lightning grounding in the area to the grounding pile; the connecting wire head is taken into a wiring groove which is arranged along with the track and has lightning protection grounding after waterproof insulation treatment; for the track side provides power and signal feedback's basic station cabinet, the airtight waterproof cable exit of cabinet body uses waterproof clay to fill, because the cabinet body itself has the POE device, prevents that signal and power from anti-skewing.
The third step is that the laser position sensor is installed and required: the cart and the trolley body are provided with the transmitting end sensor in a welding mode, and the drooping ground plane of the support is parallel to the upper plane of the traveling crane girder. And the receiving end sensor is arranged on the track sides of the cart and the trolley in a welding mode by installing a bracket B, and the mounting surface of the bracket is vertical to the ground of the cart track or the upper plane of the traveling girder. The transmitting end and the receiving end sensor keep the axis horizontal, and the coaxiality of the sensor axis is required to be kept within a rated error range. When the laser sensors at the transmitting end and the receiving end are installed, the laser sensors at the transmitting end and the receiving end are adjusted in a one-to-one correspondence mode, the fixed end receiving sensor is installed by taking the sensor at the transmitting end at the moving end as a reference, and coaxiality is guaranteed to be within the specified requirement.
And step four, setting the dynamic magnetic sensor, wherein the main functions of the dynamic sensor are as follows: the outer rings of the driving wheels of the crane cart and the driving wheels of the crane cart are equally divided, a magnetic sensor is selected to sense the operation of each sector, on-off signals are output once through the sensor when each sector is rotated, and a counter in the PLC counts. The internal counting value preset by the PLC is used as a trigger signal for reverse connection braking and secondary driving of the large and small vehicles.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the embodiments described herein, and those skilled in the art should make improvements and modifications to the present invention based on the disclosure of the present invention within the protection scope of the present invention.
Claims (20)
1. The intelligent positioning method based on the traditional travelling crane is characterized in that the high positioning precision of the travelling crane is realized by utilizing a laser positioning technology, and comprises the following steps: positioning is performed by using a laser range finder and positioning is performed by using a laser position sensor.
2. The intelligent positioning method based on the traditional traveling crane according to claim 1, characterized in that: the positioning scheme by using the laser range finder comprises the following steps: the laser ranging device has the advantages of being simple in structure, convenient to operate, low in cost, high in safety and the like.
3. The intelligent positioning method based on the traditional traveling crane according to claim 2, wherein the laser ranging device is arranged on the side of the track of the cart as follows: installing a laser range finder at the side of the end beam of the cart, wherein the laser range finder has enough range finding precision in the range of 0-200 m, transmitting a range finding light beam to a reflecting plate at the top end of the track, and feeding back a data value to the PLC through reflected light;
the laser ranging device is arranged on the track side of the trolley as follows: installing a laser range finder on the side of the trolley rack, wherein the laser range finder has enough range finding precision in the range of 0-50 m, transmitting a range finding light beam to a reflecting plate at the top end of the track, and feeding back a data value to the PLC through reflected light;
the laser range finder has the functions that the laser range finder always keeps detecting in the whole running process of big and small vehicles and sends data value change trend to the PLC at any time; the distance meter feeds back the running position data of the running vehicle as the basis for acceleration, uniform speed, deceleration and stop of the large running vehicle, so that smooth linear speed change in the whole running process of the running vehicle is realized, and the hanging row is prevented from generating severe shaking due to speed change.
4. The intelligent positioning method based on the traditional travelling crane according to claim 2, wherein the line connection and protection of the laser ranging are waterproofed by a laser range finder as follows: the cable comprises a power supply and a signal feedback circuit, a standard twisted connection mode is used during connection, a waterproof heat-shrinkable tube is sleeved at a twisted connection part, the installation and sealing length of the heat-shrinkable tube meets the standard wiring requirement, the exterior of the heat-shrinkable tube is wound by two layers by using a waterproof adhesive tape, and a first layer of single cable is wrapped and a second layer of whole-strand cable is wound;
the laser range finder lightning protection treatment is as follows: the wiring groove that has that whole circuit connection connector was laid after waterproof insulation handles has POE device lightning protection ground's wiring inslot, shields the electricity generation and the electromagnetic interference to the periphery behind the lightning stroke.
5. The intelligent positioning method based on the traditional travelling crane according to claim 2, wherein the laser range finder has the following installation requirements: in order to ensure the detection precision of the laser range finder, detection beams need to be prevented from being generated by meeting the sunlight, and a reflecting plate needs to be installed at the top end of the track;
in order to prevent the laser range finder and the reflecting plate from being directly affected and damaged by strong light, high temperature or rainwater, the upper parts of the laser range finder and the reflecting plate are provided with the sun shield, so that a proper working environment is provided for the laser range finder and the reflecting plate;
ensuring the levelness of the laser range finder and the verticality of the reflecting plate, and repeatedly calibrating the relative verticality between the laser range finder and the reflecting plate;
three driving combination cabinets on the same track are arranged, and three laser range finders arranged on the side of the end beam are staggered up and down, so that mutual interference influence among three laser range finders in the same direction is avoided.
6. The intelligent positioning method based on the traditional traveling crane according to claim 1, wherein the positioning scheme using the laser position sensor comprises: the method comprises the steps of setting a laser position sensor, connecting and protecting a laser sensor line, setting laser position sensor installation requirements and setting a dynamic magnetic sensor.
7. The intelligent positioning method based on the traditional traveling crane according to claim 6, characterized in that: in the laser position sensor, a laser position sensor at the track side is selected from a correlation laser position sensor, and an optical signal triggers a receiving end to output a signal.
8. The intelligent positioning method based on the traditional traveling crane according to claim 6, characterized in that: the transmitting end of the laser position sensor is arranged at the moving end of the trolley body and the traveling crane cart, and the receiving end of the laser position sensor is arranged at the fixed end of the rail side of the trolley and the traveling crane cart.
9. The intelligent positioning method based on the traditional traveling crane according to claim 6, characterized in that: in the laser position sensor arrangement, a laser position sensor is arranged at the position of the longitudinal center line of the steel plate pile position corresponding to the side of the cart track so as to ensure that the longitudinal center line of the hanging row is superposed with the longitudinal center line of the steel plate pile position.
10. The intelligent positioning method based on the traditional traveling crane according to claim 6, characterized in that: in the laser position sensor arrangement, a laser position sensor is arranged at the position of the transverse center line of the steel plate pile position corresponding to the trolley track side, so that the superposition of the transverse center line of the hanging row and the transverse center line of the steel plate pile position is ensured.
11. The intelligent positioning method based on the traditional traveling crane according to claim 6, characterized in that: and in the laser position sensor arrangement, a laser position sensor is respectively arranged at two sides of the transverse center line of the steel plate pile position corresponding to the trolley track side and is used as a trolley walking brake point.
12. The intelligent positioning method based on the traditional traveling crane according to claim 6, characterized in that: track side sensor interconnecting link contains power and signal feedback circuit in laser sensor's line connection and protection, uses standard transposition connected mode during the connection, and transposition junction portion overlaps waterproof pyrocondensation pipe, and the pyrocondensation pipe installation accords with standard wiring requirement with the closed length, and the outside uses waterproof sticky tape to carry out two-layer winding, reaches the single cable parcel of first layer, the whole strand cable winding of second layer.
13. The intelligent positioning method based on the traditional traveling crane according to claim 6, characterized in that: the line connection and protection of the laser sensor are subjected to lightning protection treatment as follows: the whole line is divided into track side wiring groove lightning protection and track base station lightning protection; setting up independent standard grounding piles by taking the track range covered by the track side middle base station cabinet as a block, and collecting the lightning grounding in the area to the grounding pile; the connecting wire head is taken into a wiring groove which is arranged along with the track and has lightning protection grounding after waterproof insulation treatment; for the track side provides power and signal feedback's basic station cabinet, the airtight waterproof cable exit of cabinet body uses waterproof clay to fill because the cabinet body itself has POE device, prevents that signal and power from anti-skewing.
14. The intelligent positioning method based on the traditional traveling crane according to claim 6, characterized in that: the laser position sensor is installed by requiring the cart and the trolley body to install the transmitting end sensor in a welding mode of installing the support A, and the drooping ground plane of the support is parallel to the upper plane of the girder of the traveling crane.
15. The intelligent positioning method based on the traditional traveling crane according to claim 6, characterized in that: the laser position sensor installation requires that a receiving end sensor is installed on the rail sides of the cart and the trolley in a welding mode by installing a support B, and the support installation surface is perpendicular to the rail ground of the cart or the upper plane of a traveling girder.
16. The intelligent positioning method based on the traditional traveling crane according to claim 6, characterized in that: the laser position sensor is installed, the transmitting end and the receiving end sensor are required to keep the axis horizontal, and the coaxiality of the sensor axis is required to be kept within a rated error range.
17. The intelligent positioning method based on the traditional traveling crane according to claim 6, characterized in that: the laser position sensor is installed to require that the transmitting end and the receiving end are adjusted in a one-to-one correspondence mode when the laser position sensor is installed, the fixed end receiving sensor is installed by taking the moving end transmitting end sensor as a reference, and coaxiality is guaranteed to be within the specified requirement.
18. The intelligent positioning method based on the traditional traveling crane according to claim 6, characterized in that: the main functions of the dynamic sensor in the setting of the dynamic magnetic sensor are as follows: equally dividing the outer rings of a driving wheel of a crane cart and a driving wheel of a trolley, sensing the operation of each sector by a magnetic sensor, outputting an on-off signal once by the sensor when each sector rotates, and counting by a PLC internal counter; the internal counting value preset by the PLC is used as a trigger signal for reverse connection braking and secondary driving of the large and small vehicles.
19. The intelligent positioning method based on the traditional traveling crane according to claim 1, characterized in that:
a plurality of positioning sensors are matched and complemented to form a multi-source data positioning module of the travelling crane, and a cart and a trolley of the travelling crane form the positioning module by a laser range finder plus a rotary encoder plus a track calibration point.
20. The intelligent positioning method based on the traditional traveling crane according to claim 1, characterized in that: the rotary encoder is an absolute value rotary encoder.
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| CN105110193A (en) * | 2015-09-21 | 2015-12-02 | 株洲天桥起重机股份有限公司 | Precise positioning and automatic operating integrated system for electrolysis polar plate transport crown block |
| CN209038901U (en) * | 2018-09-19 | 2019-06-28 | 大连华锐重工起重机有限公司 | A kind of crane hanger positioning system |
| CN110161918A (en) * | 2019-05-29 | 2019-08-23 | 长沙长泰智能装备有限公司 | RGV and more conveying equipment interface position systems |
| CN210457226U (en) * | 2019-07-11 | 2020-05-05 | 佛山市砚青智能装备有限公司 | Crown block with accurate positioning |
| CN112125158A (en) * | 2020-08-29 | 2020-12-25 | 四川共享铸造有限公司 | Walking positioning method of trolley type single-beam crane |
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