CN114735593A - Bridge crane cart operation data acquisition system and acquisition method - Google Patents

Abstract

The invention discloses a bridge crane cart operation data acquisition system which comprises an electric induction module, an electricity storage module and a cart control module, wherein the electric induction module is used for generating electric signals corresponding to cart operation, the electric induction module comprises a current monitoring module, a conductive coil and a permanent magnet group arranged on a cart travelling wheel of a bridge crane, the permanent magnet group is used for generating magnetic induction and can do circular motion along with the cart travelling wheel so as to enable the conductive coil to cut magnetic induction lines and generate corresponding electric signals, and the electricity storage module is used for storing electric energy generated by the conductive coil cutting the magnetic induction lines, is electrically connected with the control module and supplies power to the cart control module; the cart control module is electrically connected with the current monitoring module, and the rolling travel and/or the rolling speed and/or the forward and reverse rotation of the cart travelling wheels are calculated according to the electric signals fed back by the current monitoring module, so that the running distance and/or the running speed and/or the left and right running and/or stopping positions of the bridge crane cart are correspondingly obtained.

Description

Bridge crane cart operation data acquisition system and acquisition method

Technical Field

The invention belongs to the technical field of crane equipment, and particularly relates to a bridge crane cart operation data acquisition system and an acquisition method.

Background

In an electrolysis workshop, a bridge crane is an indispensable carrying machine, and the bridge crane often walks along a specific route according to different operation plans to accurately place a polar plate into an appointed electrolysis bath, so that the bridge crane has the advantages of small occupied area, time and labor saving, convenience, rapidness and large carrying capacity. With the increase of the production scale of enterprises and the expansion of electrolytic plants, how to more effectively carry out data acquisition, accurate positioning and monitoring operation on bridge crane trucks has been widely concerned in the industry.

Generally, when the bridge crane works in an electrolysis workshop, the traveling distance of a cart is large in variation range, the cart sometimes needs to travel for hundreds of meters, and the operation environment is severe, which brings difficulty to the position detection of the cart. At present, the commonly used position measurement technologies mainly include methods such as ultrasonic ranging, infrared ranging, laser ranging and the like. Ultrasonic ranging and infrared range finding range are limited, and the precision is not high, receive the interference easily to because workshop environment is complicated, often there is the acid mist cage cover, the phenomenon that dense fog group is detained appears even, laser ranging's accuracy also can greatly reduced, can not survey out cart positional information even completely, consequently, the actual behavior of a brand-new detecting system measurement bridge crane cart is urgently needed.

Disclosure of Invention

The invention provides a bridge crane cart operation data acquisition system and method, which can effectively acquire bridge crane cart operation data, are accurate in data and reliable in performance, and have high application value.

The invention can be realized by the following technical scheme:

a bridge crane cart operation data acquisition system comprises an electric induction module, an electric storage module and a cart control module, wherein the electric induction module is used for generating electric signals corresponding to the cart operation, the electric induction module comprises a current monitoring module, a conductive coil and a permanent magnet group arranged on a cart travelling wheel of a bridge crane, the permanent magnet group is used for generating magnetic induction and can move circularly along with the cart travelling wheel so that the conductive coil cuts a magnetic induction line to generate corresponding electric signals, the current monitoring module is used for acquiring the electric signals generated by the conductive coil,

the electric energy storage module is used for storing electric energy generated by cutting the magnetic induction wire by the conductive coil, is electrically connected with the control module and supplies power to the cart control module; the cart control module is electrically connected with the current monitoring module, and the rolling travel and/or the rolling speed and/or the forward and reverse rotation of the cart travelling wheels are calculated according to the electric signals fed back by the current monitoring module, so that the running distance and/or the running speed and/or the left and right running and/or stopping positions of the bridge crane cart are correspondingly obtained.

Further, the permanent magnet group comprises a first permanent magnet and a second permanent magnet which are arranged on the cart travelling wheel, the first permanent magnet and the second permanent magnet are oppositely arranged, the magnetic induction line is generated between the first permanent magnet and the second permanent magnet, and the conductive coil is arranged between the first permanent magnet and the second permanent magnet.

A method for acquiring the operation data acquisition system of the bridge crane cart based on the above description comprises the following steps:

step one, inputting basic information of a cart, including cart model, hoisting weight, initial position and target position information;

step two, establishing a parameter model of the normal running state of the cart:

under the condition of good operation environment, the speed measuring sensor is used for calculating and recording the operation parameter information of the cart under different operation tasks, including the uniform operation speed V₀Running acceleration a_AddingRunning deceleration a_ReducingAnd a running distance S; collecting electric signals and related time information generated by cutting the magnetic induction wire by the conductive coil under different operation tasks by combining a current monitoring module, and establishing a parameter model of the relation between the electric signals and the normal operation data of the cart;

step three, actual operation data acquisition:

the current monitoring module can collect electric signals generated by cutting the magnetic induction wire by the conductive coil in an actual state, and the actual operation data of the cart is obtained through calculation according to a parameter model of the relation between the electric signals and the normal operation data of the cart and is transmitted to the monitoring system.

Further, a parameter model for establishing the relationship between the electric signals and the normal operation data of the cart is as follows:

uniform velocity of operation V₀The collection: when the electric signal is constant, the cart control module judges that the cart is in a constant speed state, detects the speed in the state through the speed measuring sensor, and determines the detected speed as the running average speed V₀；

Running acceleration a_AddingThe collection: when the electric signal rises, the cart control module judges that the cart is in an acceleration state, and obtains the running acceleration a of the cart through an acceleration formula_{Add a}；

Running deceleration a_ReducingThe collection: when the electric signal is decreased, the cart control module judges that the cart is in a deceleration state, and obtains the running deceleration a of the cart through an acceleration formula_{Reducing the weight of}；

Collecting the running distance S: according to the running uniform velocity V₀Running acceleration a_AddingRunning deceleration a_ReducingAnd obtaining the running distance S of the cart by a displacement formula according to the running time T of the cart;

determination of left and right rows: when the cart runs left, the current monitoring module monitors the direction of the current in the electric signal and determines that the current flows in the forward direction at the moment, and when the cart runs right, the current monitoring module monitors the direction of the current in the electric signal and determines that the current flows in the reverse direction at the moment; in the daily operation of the cart, the cart control module judges whether the cart runs left or right according to the direction of current in the electric signal.

Determining the position of the cart: and the cart control module obtains the position of the cart according to the running distance S and the initial position of the cart.

The beneficial technical effects of the invention are as follows:

the permanent magnet group is arranged on the cart travelling wheel, when the cart travelling wheel rotates, the conductive coil cuts the magnetic induction line to generate a corresponding electric signal, and the cart control module analyzes and processes the electric signal to effectively acquire the running data such as the running distance, the running speed, the left-right running, the stopping position and the like of the cart.

In addition, the collection process can not be influenced by acid mist and can not be limited by a measuring range, and the accuracy and precision of detection are effectively guaranteed.

In addition, the operation data of the crane cart is connected with an external upper computer through a network communication module, so that a user can monitor the operation state of the cart in real time, and the use safety of the crane cart is effectively ensured.

Drawings

FIG. 1 is a schematic diagram of the circuit structure of the acquisition system of the present invention;

FIG. 2 is a schematic diagram of the overall structure of the acquisition system of the present invention;

FIG. 3 is a first schematic view of the installation of the electric induction module of the present invention;

FIG. 4 is a second schematic view of the installation of the electrical induction module of the present invention;

the system comprises a motor 1, a brake 2, a speed reducer 3, a cart travelling wheel 4, a heavy object 5, an end beam 6 and a trolley 7.

Detailed Description

The following detailed description of the preferred embodiments will be made with reference to the accompanying drawings.

Referring to the attached drawings 1 to 4, the invention provides a bridge crane cart operation data acquisition system, which comprises an electric induction module, an electric storage module and a cart control module, wherein the electric induction module is used for generating electric signals corresponding to cart operation, the electric induction module comprises a current monitoring module, a conductive coil and a permanent magnet group arranged on a cart travelling wheel of a bridge crane, the permanent magnet group is used for generating magnetic induction and can do circular motion along with the cart travelling wheel so that the conductive coil cuts the magnetic induction lines to generate corresponding electric signals, the current monitoring module is used for acquiring the electric signals generated by the conductive coil, the electric storage module is used for storing the electric energy generated by the conductive coil cutting the magnetic induction lines and is electrically connected with the control module to supply power to the cart control module; the cart control module is electrically connected with the current monitoring module, and the rolling travel and/or the rolling speed and/or the forward and reverse rotation of the cart travelling wheels are calculated according to the electric signals fed back by the current monitoring module, so that the running distance and/or the running speed and/or the left and right running and/or stopping positions of the bridge crane cart are correspondingly obtained. The acquisition system adopts a current induction type structure, can detect the position of the cart in real time, monitors the safe operation of the cart, comprises operation information such as operation direction, position information, operation speed and the like, and acquired operation data can be sent to an external upper computer through a background communication protocol to be read so as to control the cart to normally operate or take corresponding measures in time under abnormal/emergency conditions. The method comprises the following specific steps:

referring to the attached figure 2, the collecting system of the invention comprises a bridge crane trolley 7, a heavy object 5 and an end beam 6, wherein the crane trolley 7 transversely moves on the crane trolley and is connected with the heavy object 5 through a cable, the crane trolley longitudinally moves on the end beam 6 by virtue of a trolley travelling wheel 4, in the embodiment, the crane trolley moves left and right, the central shaft of the trolley travelling wheel 4 is connected with a driving mechanism, the driving mechanism comprises a motor 1, the output end of the motor is connected with a brake 2, and the motor is decelerated through a speed reducer 3 and is in transmission connection with the central shaft of the trolley travelling wheel 4 to drive the trolley to rotate; the electric induction module comprises a permanent magnet group used for generating magnetic induction lines 803, a conductive coil 804 used for cutting the magnetic induction lines to generate electric signals, and a current monitoring module 805 used for collecting the electric signals, wherein the conductive coil 804 is electrically connected with the current monitoring module 805; the permanent magnet group is arranged on the cart travelling wheel and rotates along with the rotation of the cart travelling wheel, so that the conductive coil cuts the magnetic induction line to generate a corresponding electric signal; the power storage module is used for storing electric energy generated by cutting the magnetic induction wire by the conductive coil, and the power storage module is electrically connected with the cart control module and supplies power to the cart control module; the cart control module is electrically connected with the current monitoring module 805, and calculates the rolling travel and/or the rolling speed and/or the forward and reverse rotation of the cart travelling wheels according to the electric signals fed back by the current monitoring module 805, so as to correspondingly obtain the running distance and/or the running speed and/or the left and right running and/or stopping positions of the bridge crane cart.

Referring to fig. 3, the permanent magnet group includes a first permanent magnet 801 and a second permanent magnet 802 corresponding to each other, the first permanent magnet 801 and the second permanent magnet 802 are respectively disposed on the cart travelling wheel 4, and an S pole on the first permanent magnet 801 and an N pole on the second permanent magnet 802 correspond to each other, so that a magnetic induction line 803 is generated between the first permanent magnet 801 and the second permanent magnet 802; the conductive coil 804 is disposed between the first permanent magnet 801 and the second permanent magnet 802; the two permanent magnets respectively rotate along with the rotation of the cart travelling wheel 4, namely the first permanent magnet 801 and the second permanent magnet 802 respectively do circular motion along the same circular track; the direction of the current generated on the conductive coil 804 when the cart travelling wheel 4 rotates forwards is different from the direction of the current generated on the conductive coil 804 when the cart travelling wheel rotates backwards, namely the positive and negative poles are changed, and the cart control module can judge that the cart travelling wheel rotates forwards or backwards according to the direction of the current, so that the left-going or right-going of the cart is effectively judged.

The cart control module is provided with a time recording module for recording the rolling time of the cart roller 4, and the running acceleration a of the cart can be calculated by recording the corresponding rolling time of the cart roller 4 through the time recording module_AddingRunning deceleration a_{Reducing the weight of}Uniform running speed V₀And the time recording module can also count the working time, the running time, the staying time and other time data of the cart.

The power storage module is used for storing electric energy generated by cutting the magnetic induction wire 803 by the conductive coil 804 and is electrically connected with the cart control module so as to supply power to the cart control module; the electric energy generated by cutting the magnetic induction line 803 can be used for assisting in acquiring the running data of the cart, and can also be stored for internal low-power electrical components.

The cart control module comprises a main control module for analyzing and processing the electric signals, a storage for storing related data and a control background. The current monitoring module 805 is connected with the main control module, and the current monitoring module 805 sends the acquired electric signals to the main control module, and the electric signals are analyzed and processed by the main control module and converted into corresponding cart running data; the main control module can be a programmable logic controller and is respectively connected with a storage and a control background, the storage is at least used for storing basic parameters of the cart and running data of the cart, the control background is connected with a network communication module and is in data transmission with an external upper computer, and the external upper computer comprises a computer, a flat panel or a cab console and the like.

The current induction bridge crane operation data acquisition system and the acquisition method thereof are as follows:

the method comprises the following steps of firstly, controlling a background to input basic information of a cart, including the information of the cart model, the hoisting weight, the initial position, the target position and the like.

Secondly, establishing a parameter model of the normal running state of the cart: under the condition of good operation environment, the speed measuring sensor is used for calculating and recording the operation parameter information of the cart under different operation tasks, such as the uniform operation speed V₀Running acceleration a_{Add a}Running deceleration a_ReducingThe speed measuring sensor selected in the embodiment is an existing object, and can be a laser velometer, a rotary encoder and the like; the current monitoring module 805 is combined to collect electric signals and related time information generated by the conductive coil cutting magnetic induction wire 803 under different work tasks, and a background is controlled to automatically establish a parameter model of the relationship between the electric signals and normal operation data of the cart;

uniform velocity of operation V₀The collection: when the electric signal is constant, the cart control module judges that the cart is in a constant speed state, detects the speed in the state through the speed measuring sensor, and determines the detected speed as the running average speed V₀(ii) a It should be noted that, when the electric signal is constant, the electric signal (current value and voltage value) is allowed to fluctuate within a certain range, as long as the fluctuation range does not exceed the extreme value; in order to increase the uniform speed V of collection operation₀The accuracy of the method can be realized by collecting the electric signal and the real-time speed at a plurality of time points and then averaging to obtain the constant value V of the electric signal and the constant value V of the uniform speed₀The constant value of the electric signal comprises a constant value of the current I_{Constant temperature}And constant value of voltage U_{Constant temperature}。

Running acceleration a_{Add a}The collection: when the electric signal rises, the cart control module judges that the cart is in an acceleration state, and obtains the running acceleration a of the cart through an acceleration formula_AddingI.e. a_Adding＝(V_{2 add}-V_{1 plus})/t_{Add a}Wherein V is_{2 add}To accelerate the end velocity, V_{1 plus}To accelerate the initial velocity, t_{Add a}The acceleration time is set; in order to increase the acquisition running acceleration a_AddingThe accuracy of the method is that the electric signal and the real-time speed are collected by a plurality of time points, and then the average value is taken to obtain the running acceleration a_Adding。

Running deceleration a_ReducingThe collection: when the electric signal is decreased, the cart control module judges that the cart is in a deceleration state, and obtains the running deceleration a of the cart through an acceleration formula_{Reducing the weight of}(ii) a Namely a_{Reducing the weight of}＝(V_{2 is reduced}-V_{1 is reduced})/t_ReducingWherein V is_{2 is reduced}To decelerate the final speed, V_{1 is reduced}For decelerating initial speed, t_ReducingIs the deceleration time; in order to increase the deceleration a of the collection operation_ReducingThe accuracy of the method is that the electric signal and the real-time speed are collected by a plurality of time points and then averaged to obtain the running deceleration a_Reducing。

Collecting the running distance S: according to the running uniform velocity V₀Running acceleration a_AddingRunning deceleration a_ReducingAnd obtaining the running distance S of the cart through a displacement formula according to the running time T of the cart.

In general, the crane cart needs to be accelerated, decelerated and uniform throughout the operation process, so the operation time T is Δ T_Adding+△T_{Uniform mixing}+△T_ReducingWherein, Δ T_AddingTime required for acceleration, DeltaT_{Uniform mixing}Time of constant speed operation, delta T_ReducingThe time required for deceleration, each time can be monitored by the time recording module,

distance of travel S ═ Δ S_Adding+△S_{Uniform mixing}+△S_ReducingWherein, Δ S_AddingDistance, Δ S, required for acceleration_EvenDistance of uniform running, Delta S_{Reducing the weight of}In order to reduce the distance required for the deceleration,

△S_{add a}＝V_{1 plus}·△T_Adding+ a plus. DELTA.T_{Add a} ²[ 2 ] since the vehicle generally starts to operate from a stop state, V is defined as_{1 is added with}Typically 0, i.e. Δ S_Adding＝a_Adding·△T_{Add a} ²/2

△S_{Uniform mixing}＝V₀·△T_{Uniform mixing}，

△S_Reducing＝V_{1 is reduced}·△T_{Reducing the weight of}+a_Reducing·△T_Reducing ²V2, the cart generally starts to decelerate from a constant speed state, so V_{1 is reduced}Is generally equal to V₀I.e. Δ S_Reducing＝V₀·△T_{Reducing the weight of}+a_Reducing·△T_Reducing ²/2；

In special cases, the cart has not yet accelerated to a uniform velocity V of travel₀Deceleration is required, so the operation time T is Δ T_Adding’+△T_Reducing', wherein Δ T_Adding' actual running time of acceleration section,. DELTA.T_Reducing' is the actual running time of the deceleration section,

distance of travel S ═ Δ S_{Add a}’+△S_Reducing', wherein Δ S_Adding' actual distance of travel, DeltaS, for acceleration section_{Reducing the weight of}' is the actual travel distance of the deceleration section,

△S_adding’＝V_{1 plus}·△T_Adding’+a_Adding·△T_{Add a}’²[ 2 ] since the vehicle generally starts to operate from a stop state, V is defined as_{1 is added with}Typically 0, i.e. Δ S_{Add a}’＝a_Adding·△T_{Add a}’²/2

△S_Reducing’＝V_{1 is reduced}·△T_Reducing’+a_{Reducing the weight of}·△T_{Reducing the weight of}’²/2, the cart generally starts decelerating from the final speed of the acceleration section, so V_{1 is reduced}＝V_{1 plus}I.e. V_{1 is reduced}＝V_{1 is added with}+a_Adding·△T_{Add a}’。

Determining left and right rows, when the cart is traveling left, the current monitoring module 805 monitors the direction of the current in the electrical signal and determines that the current is flowing in the forward direction at the time, and when the cart is traveling right, the current monitoring module 805 monitors the direction of the current in the electrical signal and determines that the current is flowing in the reverse direction at the time; in the daily operation of the cart, the cart control module judges whether the cart runs left or right according to the direction of current in the electric signal.

And determining the position of the cart, wherein the cart control module obtains the position of the cart according to the running distance S and the initial position of the cart.

Thirdly, actual operation data acquisition: the current monitoring module 805 can collect the electrical signal generated by the conductive coil cutting magnetic induction wire 803 in the actual state. And the control background can directly obtain each actual operation data of the cart according to the parameter model of the relation between the electric signal and the normal operation data of the cart.

Fourthly, monitoring the running state of the cart: and the control background transmits the running data to an external upper computer through network communication. The outside upper computer realizes the actual operation data acquisition of the cart by reading the operation data, and can monitor the operation state of the cart by comparing the actual operation data with the normal operation data so as to control the cart to operate normally or take corresponding measures in time under abnormal/emergency conditions.

Under the normal running state of the cart, the control background establishes a corresponding parameter model according to the relation between the electric signal and the normal running data of the cart, and the cart control module obtains the parameter value corresponding to each running data under the normal running of the cart according to the parameter model and takes the parameter value as a comparison standard; in daily use, real-time current, real-time voltage and real-time speed at different time points are respectively detected, the control background can detect the position information of the cart by comparing each real-time parameter value with a normal parameter value, and monitors whether the cart normally runs or not so as to take corresponding maintenance measures in time.

Although specific embodiments of the present invention have been described above, it will be appreciated by those skilled in the art that these embodiments are merely illustrative and that many variations or modifications may be made thereto without departing from the principles and spirit of the invention, the scope of which is therefore defined by the appended claims.

Claims (4)

1. The utility model provides a bridge crane cart operation data acquisition system which characterized in that: the electric induction module is used for generating electric signals corresponding to the running of a cart, and comprises a current monitoring module, a conductive coil and a permanent magnet group arranged on a cart travelling wheel of a bridge crane, wherein the permanent magnet group is used for generating magnetic induction and can do circular motion along with the cart travelling wheel so as to enable the conductive coil to cut the magnetic induction line and generate corresponding electric signals, the current monitoring module is used for collecting the electric signals generated by the conductive coil,

the electric energy storage module is used for storing electric energy generated by cutting the magnetic induction wire by the conductive coil, is electrically connected with the control module and supplies power to the cart control module; the cart control module is electrically connected with the current monitoring module, and the rolling travel and/or the rolling speed and/or the forward and reverse rotation of the cart travelling wheels are calculated according to the electric signals fed back by the current monitoring module, so that the running distance and/or the running speed and/or the left and right running and/or stopping positions of the bridge crane cart are correspondingly obtained.

2. The bridge crane cart operation data acquisition system of claim 1, wherein: the permanent magnet group comprises a first permanent magnet and a second permanent magnet which are arranged on the cart travelling wheel, the first permanent magnet and the second permanent magnet are oppositely arranged, the magnetic induction line is generated between the first permanent magnet and the second permanent magnet, and the conductive coil is arranged between the first permanent magnet and the second permanent magnet.

3. A collection method of an operation data collection system of a bridge crane cart based on claim 1 is characterized by comprising the following steps:

step one, inputting basic information of a cart, including cart model, hoisting weight, initial position and target position information;

step two, establishing a parameter model of the normal running state of the cart:

under the condition of good operation environment, the speed measuring sensor is used for calculating and recording the operation parameter information of the cart under different operation tasks, including the uniform operation speed V₀Running acceleration a_AddingRunning deceleration a_ReducingAnd a running distance S; the current monitoring module is combined to acquire electric signals and related time information generated by cutting the magnetic induction wire by the conductive coil under different operation tasks, and telecommunication is establishedA parametric model of the relationship between the number and the normal operation data of the cart;

step three, actual operation data acquisition:

the current monitoring module can collect electric signals generated by cutting the magnetic induction wire by the conductive coil in an actual state, and the actual operation data of the cart is obtained through calculation according to a parameter model of the relation between the electric signals and the normal operation data of the cart and is transmitted to the monitoring system.

4. The method for acquiring the data acquisition system of the crane truck of the bridge crane according to claim 3, wherein the parametric model for establishing the relationship between the electric signal and the normal operation data of the truck is as follows:

uniform velocity of operation V₀The collection: when the electric signal is constant, the cart control module judges that the cart is in a constant speed state, detects the speed in the state through the speed measuring sensor, and determines the detected speed as the running average speed V₀；

Running acceleration a_{Add a}Collecting: when the electric signal rises, the cart control module judges that the cart is in an acceleration state, and obtains the running acceleration a of the cart through an acceleration formula_Adding；

Running deceleration a_ReducingCollecting: when the electric signal is decreased, the cart control module judges that the cart is in a deceleration state, and obtains the running deceleration a of the cart through an acceleration formula_Reducing；

Collecting the running distance S: according to the running uniform speed V₀Running acceleration a_{Add a}Running deceleration a_ReducingAnd obtaining the running distance S of the cart by a displacement formula according to the running time T of the cart;

determination of left and right rows: when the cart runs left, the current monitoring module monitors the direction of the current in the electric signal and determines that the current flows in the forward direction at the moment, and when the cart runs right, the current monitoring module monitors the direction of the current in the electric signal and determines that the current flows in the reverse direction at the moment; in the daily operation of the cart, the cart control module judges whether the cart runs left or right according to the direction of current in the electric signal.

Determining the position of the cart: and the cart control module obtains the position of the cart according to the running distance S and the initial position of the cart.

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