CN214422133U - Lifting hook swing angle detection device and crane - Google Patents
Lifting hook swing angle detection device and crane Download PDFInfo
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- CN214422133U CN214422133U CN202120517734.2U CN202120517734U CN214422133U CN 214422133 U CN214422133 U CN 214422133U CN 202120517734 U CN202120517734 U CN 202120517734U CN 214422133 U CN214422133 U CN 214422133U
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Abstract
The utility model relates to a lifting hook pivot angle detection device and crane, including two cameras that set up on the crane trolley and set up the marking plate at the lifting hook, the camera symmetry sets up in the both sides of the lifting rope in the dolly, two cameras are used for shooting the marking plate below the dolly, the camera is connected with image processor signal, image processor can solve the pivot angle of the lifting hook through the marking plate image information that two cameras shoot; the lifting hook is characterized by also comprising an upper computer and an MEMS sensor measuring mechanism arranged at the lifting hook, wherein the MEMS sensor measuring mechanism can measure the swing angle of the lifting hook; the upper computer can output the calculated swing angle of the lifting hook and the swing angle of the lifting hook obtained by the MEMS sensor measuring mechanism to a control system of the crane.
Description
Technical Field
The utility model belongs to the technical field of hoisting equipment, concretely relates to lifting hook pivot angle detection device and hoist.
Background
The bridge crane is a common industrial hoisting and hoisting device, and is widely applied to hoisting of goods in factory workshops, warehouses, port docks and other places. However, the intersection angle of the track planes of the cart and the trolley of the bridge crane is large and can be interfered by external factors, so that the lifting hook and the load can swing in the front-back direction, the left-right direction and the like in the acceleration or deceleration process of the crane. When the bridge crane drops the hook and transports the load to a desired position for placement, the next operation can be performed after the suspension hook and the load stop swinging in order to avoid collision, which greatly affects the working efficiency of the bridge crane.
Although positioning and unloading can be achieved to some extent by means of crane operators with a great deal of operational experience, the training period for the operators is long, and the efficiency of manual operation is affected by the intensity and duration of work. There is therefore a strong need for an anti-sway strategy for bridge cranes to dampen the oscillations of the hook and the load. The anti-swing strategy is generally reverse controlled according to the state of the lifting hook, so that accurate swinging angle information of the lifting hook is required to be fed back.
In the 'device for detecting the deflection angle of the steel wire rope of the lifting hook of the bridge crane', the lifting rope drives the sleeve to swing, the conductor bar on the sleeve cuts the magnetic induction line, and the swinging angle of the lifting hook is solved through the signal processing device and the calculating device. In the swing angle measuring device for the double-lifting bridge crane, a Hall angle sensor arranged on a light swing frame is used for measuring the swing angle of a lifting rope. However, these detection devices have poor anti-electromagnetic interference capability, and when strong electromagnetic interference exists in a working environment, these detection devices cannot accurately measure the swing angle of the lifting hook.
The double-hanger bridge crane swing angle measuring device based on image detection mainly comprises a sealed box, a group of LED illuminating lamps and a CCD shadow measuring device are respectively arranged on opposite surfaces inside the box, a lifting rope is arranged in the middle of the box, and the obtained pulse signals are processed and calculated to obtain a swing angle through the two sets of illuminating devices and the CCD shadow measuring device. However, when the lifting rope is large, the light source is shielded, and the device cannot obtain accurate swing angle information.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming the not enough of above-mentioned prior art, provide a lifting hook pivot angle detection device, can solve one of above-mentioned technical problem at least.
In order to achieve the above object, one or more embodiments of the present invention provide a hook swing angle detection device, including two cameras disposed on a crane trolley and a sign board disposed at a hook, the cameras are symmetrically disposed at two sides of a lifting rope in the trolley, the two cameras are used for shooting the sign board below the trolley, the cameras are in signal connection with an image processor, and the image processor can resolve a swing angle of the hook through image information of the sign board shot by the two cameras; the lifting hook is characterized by also comprising an upper computer and an MEMS sensor measuring mechanism arranged at the lifting hook, wherein the MEMS sensor measuring mechanism can measure the swing angle of the lifting hook;
the upper computer can output the swing angle of the lifting hook calculated by the image processor and the swing angle of the lifting hook obtained by the MEMS sensor measuring mechanism to a control system of the crane.
As a further improvement, the MEMS sensor measuring mechanism comprises a triaxial gyroscope, a triaxial accelerometer and a first wireless sending module, and the first wireless sending module is used for sending data information of the triaxial gyroscope and the triaxial accelerometer to an upper computer.
As a further improvement, the image processor is in signal connection with a second wireless sending module, and the second wireless sending module is in signal connection with an upper computer.
As a further improvement, the second wireless transmission module is arranged in the middle of the upper surface of the trolley.
As a further improvement, the camera is in signal connection with the image processor through a data line.
As a further improvement, the sign board is fixed at the upper end of the lifting hook, and the lifting rope penetrates through a through hole in the middle of the sign board to be fixedly connected with the lifting hook.
As a further improvement, the position relationship of the sign board, the lifting rope and the lifting hook is set as follows: under the condition that the lifting rope is vertically arranged, the sign board is in a horizontal state.
As a further improvement, the upper computer is in signal connection with the wireless signal receiving device, and the wireless signal receiving device can receive information sent by the camera and the MEMS sensor measuring mechanism.
One or more embodiments of the utility model also provide a bridge crane, including foretell lifting hook pivot angle detection device.
The beneficial effects of one or more of the above technical solutions are as follows:
the utility model discloses measure two sets of lifting hook three-dimensional pivot angle data through MEMS sensor measuring mechanism and binocular vision mechanism respectively, during these two kinds of mechanism measured data, can not receive electromagnetic interference or the vision shelters from the problem that influences the measurement appearing simultaneously.
In the utility model, a binocular recognition system is formed by two cameras, an image processor and a mark plate, and the swing angle of the lifting hook can be independently measured; the MEMS sensor measuring mechanism can also measure the numerical value of the swing angle of the lifting hook independently, and the two sets of mechanisms are used simultaneously, so that the redundant design is realized, the problem that the crane anti-swing strategy cannot be used when one set of measuring mechanism fails is avoided, the accuracy is high, and the adaptability to the complex working environment is stronger.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
Fig. 1 is a schematic view of the overall structure of one or more embodiments of the present invention;
in the figure: 1. a trolley; 2. a hoisting motor; 3. a top beam; 4. a cart; 5. a sign board; 6. a MEMS sensor measurement mechanism; 7. a hook; 8. a first wireless transmission module; 9. an industrial camera; 10. and a second wireless transmission module.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Example 1
As shown in a partial structure in fig. 1, the embodiment provides a hook swing angle detection device, which includes two cameras 9 arranged on a crane trolley 1 and a sign board 5 arranged at a hook 7, the cameras 9 are symmetrically arranged at two sides of a lifting rope in the trolley 1, the two cameras 9 are used for shooting the sign board 5 below the trolley 1, the cameras 9 are in signal connection with an image processor, and the image processor can calculate the swing angle of the hook 7 through image information of the sign board 5 shot by the two cameras 9; the device also comprises an upper computer and an MEMS sensor measuring mechanism 6 arranged at the position of the lifting hook 7, wherein the MEMS sensor measuring mechanism 6 can measure the swing angle of the lifting hook 7;
the upper computer can output the calculated swing angle of the lifting hook 7 and the swing angle of the lifting hook 7 obtained by the MEMS sensor measuring mechanism 6 to a control system of the crane.
Specifically, the MEMS sensor measuring mechanism 6 includes a triaxial gyroscope, a triaxial accelerometer, and a first wireless transmission module 8, and the first wireless transmission module 8 is configured to transmit data information of the triaxial gyroscope and the triaxial accelerometer to the host computer.
Specifically, the image processor is in signal connection with the second wireless transmission module 10, and the second wireless transmission module 10 is in signal connection with the upper computer. The second wireless transmission module 10 is arranged in the middle of the upper surface of the trolley 1. The camera 9 is in signal connection with the image processor via a data line.
Specifically, the sign board 5 is fixed at the upper end of the lifting hook 7, and the lifting rope penetrates through a through hole in the middle of the sign board 5 and is fixedly connected with the lifting hook 7. The positional relationship of the sign board 5, the lifting rope and the lifting hook 7 is set as follows: in the case where the hoist rope is vertically arranged, the signboard 5 is in a horizontal state. The upper computer is in signal connection with the wireless signal receiving device, and the wireless signal receiving device can receive information sent by the camera 9 and the MEMS sensor measuring mechanism 6.
In the embodiment, the camera can adopt an industrial camera, the two industrial cameras, the sign board and the image processor are matched to form a binocular recognition system, and when the camera is installed, the conversion relation from a camera coordinate system to a lifting rope coordinate system needs to be obtained. And two industrial cameras acquire the image of the mark plate and perform distortion calibration. After calibration, the marker plate area is segmented, the features are extracted and the features are matched, so that the coordinates of the matching points of the marker plate on the two images are obtained. And then, converting the image coordinates into camera coordinates by utilizing triangulation to obtain the position of the mark plate in a camera coordinate system. And finally converting the position to the sling coordinate system. The inclination angle of the lifting rope in the space can be calculated through the real-time three-dimensional position of the tail end marking plate of the lifting rope.
It should be noted that the method for calculating the swing angle of the lifting rope by using the binocular recognition system in the present solution belongs to the prior art, for example, CN201210319313.4 — a real-time camera measurement method of the position and the swing angle of the crane hook, which is mentioned in detail herein, so that the present solution can be implemented by using the existing algorithm, and does not belong to the improvement of the computer program.
Specifically, before the measuring mechanism of the MEMS sensor is used, the MEMS sensor is initially aligned to obtain null shift data of the sensor. The instantaneous acceleration information of the hook can be obtained by using the acceleration measured by the three-axis accelerometer. The three-axis gyroscope can obtain angular velocity information of the hook. And establishing a quaternion pose resolving model by using a pose resolving method, and realizing pose resolving and real-time position, posture and speed information of the lifting hook by adopting a three-subsample algorithm. And the first wireless signal sending module sends the information to an upper computer.
It should be noted that the measuring mechanism of the MEMS sensor is an existing product, and the measuring principle and algorithm of the present solution are not improved.
The working principle is as follows: when the swing angle of the lifting hook needs to be measured, the binocular recognition system and the MEMS sensor measuring mechanism are matched for use, two groups of lifting hook swing angle data are obtained respectively, the upper computer judges the difference value of the two groups of data, and when the data difference value is within a set numerical range, the average value of the two groups of data is used as the output swing angle data.
When the data difference value is out of the set numerical range, the upper computer gives an alarm in time and notifies maintenance personnel of the upper computer to repair; or the upper computer judges the change process of each group of data so as to judge the data group with faults, and the data group with faults is supplied to the anti-swing strategy for use through another group of data.
Example 2
As shown in fig. 1, the present embodiment provides a bridge crane, including the swing angle detection device of the hook 7 of the bridge crane described in embodiment 1. Still include cart 4, running gear is installed to the bottom of cart 4, and the top of cart 4 has back timber 3, and 3 upper surfaces of back timber are provided with dolly 1, and dolly 1 is connected with the lifting rope, and the lower extreme of lifting rope is connected with lifting hook 7.
Specifically, the lifting rope in this embodiment has its upper end wound by a winding drum, which is driven by a lifting motor to rotate, so as to realize lifting control of the lifting hook.
Although the present invention has been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without inventive work are still within the scope of the present invention.
Claims (10)
1. The device for detecting the swing angle of the lifting hook is characterized by comprising two cameras arranged on a crane trolley and a mark plate arranged at the position of the lifting hook, wherein the cameras are symmetrically arranged on two sides of a lifting rope in the trolley, the two cameras are used for shooting the mark plate below the trolley, the cameras are in signal connection with an image processor, and the image processor can calculate the swing angle of the lifting hook through image information of the mark plate shot by the two cameras;
the lifting hook is characterized by also comprising an upper computer and an MEMS sensor measuring mechanism arranged at the lifting hook, wherein the MEMS sensor measuring mechanism can measure the swing angle of the lifting hook;
the upper computer can output the calculated swing angle of the lifting hook and the swing angle of the lifting hook obtained by the MEMS sensor measuring mechanism to a control system of the crane.
2. The device for detecting the swing angle of a lifting hook according to claim 1, wherein the MEMS sensor measuring mechanism comprises a three-axis gyroscope, a three-axis accelerometer and a first wireless transmitting module, and the first wireless transmitting module is configured to transmit data information of the three-axis gyroscope and the three-axis accelerometer to an upper computer.
3. The device for detecting the swing angle of a lifting hook as claimed in claim 1, wherein the image processor is in signal connection with a second wireless transmitting module, and the second wireless transmitting module is in signal connection with an upper computer.
4. The swing angle detection device of a lifting hook as claimed in claim 3, wherein the second wireless transmission module is arranged in the middle of the upper surface of the trolley.
5. The hook pivot angle detection device of claim 1 or 3, wherein the camera is in signal connection with an image processor via a data line.
6. The swing angle detection device of a lifting hook according to claim 1, wherein the sign board is fixed to the upper end of the lifting hook, and the lifting rope passes through a through hole in the middle of the sign board and is fixedly connected with the lifting hook.
7. The device for detecting the swing angle of a hook according to claim 6, wherein the positional relationship among the sign plate, the lifting rope, and the hook is set as follows: under the condition that the lifting rope is vertically arranged, the sign board is in a horizontal state.
8. The device for detecting the swing angle of the lifting hook according to claim 1, wherein the upper computer is in signal connection with a wireless signal receiving device, and the wireless signal receiving device can receive information sent by a camera and an MEMS sensor measuring mechanism.
9. A bridge crane comprising a hook pivot angle detection device according to any one of claims 1 to 8.
10. The bridge crane according to claim 9, comprising a cart, wherein the bottom end of the cart is provided with a traveling mechanism, the top of the cart is provided with a top beam, the upper surface of the top beam is provided with a trolley, the trolley is connected with a lifting rope, and the lower end of the lifting rope is connected with a lifting hook.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202120517734.2U CN214422133U (en) | 2021-03-11 | 2021-03-11 | Lifting hook swing angle detection device and crane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120517734.2U CN214422133U (en) | 2021-03-11 | 2021-03-11 | Lifting hook swing angle detection device and crane |
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| CN214422133U true CN214422133U (en) | 2021-10-19 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114152248A (en) * | 2021-12-08 | 2022-03-08 | 无锡凌云创兴智能技术有限公司 | Anti-swing device for travelling crane |
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2021
- 2021-03-11 CN CN202120517734.2U patent/CN214422133U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114152248A (en) * | 2021-12-08 | 2022-03-08 | 无锡凌云创兴智能技术有限公司 | Anti-swing device for travelling crane |
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