CN214570194U - Automatic positioning and closed-loop anti-swing control system of bridge crane - Google Patents
Automatic positioning and closed-loop anti-swing control system of bridge crane Download PDFInfo
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- CN214570194U CN214570194U CN202120326955.1U CN202120326955U CN214570194U CN 214570194 U CN214570194 U CN 214570194U CN 202120326955 U CN202120326955 U CN 202120326955U CN 214570194 U CN214570194 U CN 214570194U
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Abstract
The utility model relates to a crane span structure type hoist automatic positioning and closed loop prevent putting control system and method utilizes dolly position sensor, cart position sensor and lift position sensor, and the pivot angle of lifting hook side detects the target position detector on sensor and the dolly bottom surface, and the output has dolly, cart and the lifting hook lift starting velocity of motion instruction of preventing the pendulum effect, realizes the crane span structure type hoist of arbitrary initial lifting hook pivot angle circumstances and disappears and put the control.
Description
Technical Field
The utility model relates to a hoist motion control field specifically is a crane span structure type hoist automatic positioning and closed loop prevent pendulum control system.
Background
The crane is a hoisting engineering device widely used in the fields of production and manufacturing, storage logistics, building construction and the like. Due to the under-actuated characteristic of the bridge crane, production safety accidents easily occur due to the problems of inaccurate positioning, poor swinging prevention and the like in operation.
The existing bridge crane for lifting loads to reach a target position and parking and positioning mainly depends on experience of operators, and the method has poor accuracy and low operation efficiency; the existing anti-swing control method is based on open-loop control, no load swing angle feedback signal is detected, the method is effective only when the initial hook swing angle is 0, but the load often swings and vibrates during initial movement in the actual operation process of the crane, and the open-loop control method cannot completely meet the anti-swing control requirement of the bridge crane.
SUMMERY OF THE UTILITY MODEL
In order to solve at least one technical problem that exists among the above-mentioned background art, the utility model provides a crane span structure type hoist automatic positioning and closed loop prevent putting control system utilizes dolly position sensor, cart position sensor and lift position sensor, and the pivot angle of lifting hook side detects the target position detector on sensor and the dolly bottom surface, and dolly, cart and the lift start movement speed instruction that the output reachs through preventing swinging algorithm calculation realize the crane span structure type hoist of arbitrary initial lifting hook pivot angle condition and disappear and put the control.
The utility model discloses a first aspect provides an automatic positioning and closed-loop anti-swing control system of a bridge crane, which comprises a central controller connected with a PLC, wherein the PLC is respectively connected with a trolley frequency converter, a cart frequency converter and a lifting frequency converter; the central controller is respectively connected with the trolley position sensor, the cart position sensor, the lifting position sensor, the swing angle detection sensor and the target position detector.
The trolley position sensor, the cart position sensor and the lifting position sensor are respectively arranged at the tail ends of rotating shafts of the trolley motor, the cart motor and the lifting motor, namely the trolley position sensor is arranged at the tail end of the rotating shaft of the trolley motor, the cart position sensor is arranged at the tail end of the rotating shaft of the cart motor, and the lifting position sensor is arranged at the tail end of the rotating shaft of the lifting motor.
The swing angle detection sensor is arranged on the side surface of the lifting hook.
The target position detector is arranged on the bottom surface of the trolley and is parallel to the operation surface.
The input end of the PLC is in communication connection with the output end of the central controller;
the output end of the PLC is in communication connection with the input ends of the trolley frequency converter, the cart frequency converter and the lifting frequency converter.
The input ends of the trolley position sensor, the trolley position sensor and the lifting position sensor are respectively connected with the trolley motor, the trolley motor and the lifting motor;
the output ends of the trolley position sensor, the trolley position sensor and the lifting position sensor are in communication connection with the central controller.
The trolley motor, the cart motor and the lifting motor are respectively provided with a frequency converter, namely a trolley frequency converter, a cart frequency converter and a lifting frequency converter.
The swing angle detection sensor is connected with the central controller through LORA wireless communication.
The target position detector is in communication with the central controller via an ethernet network.
The operating handle is connected with the central controller through LORA wireless communication.
The above one or more technical solutions have the following beneficial effects:
1. the method comprises the steps of collecting information of a trolley position, a lifting position and a lifting hook space swing angle in real time, feeding the information back to a central controller in a closed loop mode, outputting a trolley, a trolley and lifting starting movement speed instruction with an anti-swing effect, realizing anti-swing control of the bridge crane under the condition of any initial lifting hook swing angle, and having strong robustness.
2. The target position detector identifies AprilTag code icons at a target displacement point of an operation surface based on a machine vision target detection positioning principle, transmits the AprilTag code icons to the central controller, accurately calculates the parking positions and the parking instruction time of the cart and the trolley, and outputs the anti-swing motion speed instructions of the trolley, the cart and the lifting parking, so that the lifting load of the lifting hook can be automatically and accurately positioned at the target position point, and the method has high rapidity and accuracy.
Drawings
The accompanying drawings, which form a part of the specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without unduly limiting the scope of the invention.
Fig. 1 is a schematic diagram of a system according to one or more embodiments of the present invention;
in the figure; 1. a central controller; 2. a PLC; 3. a trolley frequency converter; 4. a cart frequency converter; 5. a lifting frequency converter; 31. a trolley motor; 32. a trolley position sensor; 41. a cart motor; 42. a cart position sensor; 51. a lifting motor; 52. a lifting position sensor; 6. a cart; 7. a trolley; 8. a hook; 81. a swing angle detection sensor; 9. a target position detector; 10. an operating handle; 11. aprilatag code icon.
Detailed Description
The following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. 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 invention belongs.
The first embodiment is as follows:
as shown in fig. 1, the automatic positioning and closed-loop anti-swing control system for the bridge crane comprises a PLC2 connected with a central controller 1, wherein a PLC2 is respectively connected with a trolley frequency converter 3, a cart frequency converter 4 and a lifting frequency converter 5; the central controller 1 is connected to the cart position sensor 32, the cart position sensor 42, the elevation position sensor 52, the pivot angle detection sensor 81, and the target position detector 9, respectively.
For example, a PLC (programmable logic controller) 2 is selected, and the input end of the PLC2 is in communication connection with the output end of the central controller 1 through the Ethernet; the input ends of the trolley frequency converter 3, the trolley frequency converter 4 and the lifting frequency converter 5 are in communication connection with the output end of the PLC2 through the Ethernet; the input ends of the trolley motor 31, the trolley motor 41 and the lifting motor 51 are respectively connected with the trolley frequency converter 3, the trolley frequency converter 4 and the lifting frequency converter 5 through Ethernet; the input ends of the trolley position sensor 32, the trolley position sensor 42 and the lifting position sensor 52 are respectively connected with the output ends of the trolley motor 31, the trolley motor 41 and the lifting motor 51, and the output ends are in communication connection with the central controller 1 through Ethernet; the swing angle detection sensor 81 is connected with the central controller 1 through LORA wireless communication; the target position detector 9 is in communication connection with the central controller 1 through the Ethernet; the operating handle 10 is connected to the central controller 1 by LORA wireless communication.
The central controller 1 may employ an industrial computer.
The trolley position sensor 32, the trolley position sensor 42 and the lifting position sensor 52 can adopt photoelectric angle encoders and are arranged at the tail ends of the rotating shafts of the trolley motor 31, the trolley motor 41 and the lifting motor 51.
The swing angle detection sensor 81 may be a gyroscope and is mounted on the side of the hook 8.
The target position detector 9, which may be an industrial camera, is mounted on the bottom surface of the cart 7 parallel to the work surface where the aprilat code icon 11 is placed.
When the bridge crane is started, a bridge crane driver uses the operating handle 10 to set the lifting motion direction and the motion speed of the cart 6, the trolley 7 and the lifting hook 8, a command signal is transmitted to the central controller 1 through the PLC2, the central controller 1 obtains the lifting real-time positions of the trolley 7, the cart 6 and the lifting hook 8 through Ethernet feedback transmission according to the trolley position sensor 32, the cart position sensor 42 and the lifting position sensor 52, simultaneously the central controller 1 obtains the real-time space swing angle of the swing angle detection sensor 81 relative to the lifting hook 8 through LORA wireless communication, the central processor calculates the adjustment data of the lifting speeds of the cart 6, the trolley 7 and the lifting hook 8 by designing a swing elimination function algorithm according to the initial operating command of the operating arms, the lifting real-time positions of the trolley 7, the cart 6 and the lifting hook 8 and the real-time space swing angle information of the lifting hook 8, and transmits the data to the PLC2 in real time, the PLC2 drives the trolley frequency converter 3, the cart frequency converter 4 and the lifting frequency converter 5 to control the speed of the trolley motor 31, the cart motor 41 and the lifting motor 51 to be zero accelerated to a constant speed, and the swing angle of the lifting hook 8 in the acceleration process is eliminated in time.
In the movement process of the bridge crane, the trolley motor 31, the cart motor 41 and the lifting motor 51 keep constant-speed movement, and at the moment, the lifting hook 8 is stable and has no swing angle; if the lifting running states (speed and direction) of the crane trolley 7, the crane trolley 6 and the lifting hook 8 need to be adjusted, a bridge crane driver sets a new lifting running direction and a new lifting running speed of the crane trolley 6, the crane trolley 7 and the lifting hook 8 by using the operating handle 10, an instruction signal is transmitted to the central controller 1 through the PLC2, the central controller 1 obtains the lifting real-time positions of the crane trolley 6, the crane trolley 7 and the lifting hook 8 through Ethernet feedback transmission according to the trolley position sensor 32, the crane position sensor 42 and the lifting position sensor 52, meanwhile, the central controller 1 obtains the real-time spatial swing angle of the swing angle detection sensor 81 relative to the lifting hook 8 through LORA wireless communication, the central processor comprehensively operates the new operating instructions of the arms, the lifting real-time positions of the crane trolley 6, the crane trolley 7 and the lifting hook 8 and the real-time spatial swing angle information of the lifting hook 8 to design the crane trolley 6, the lifting hook 8 and the crane trolley 6, the crane trolley 7 and the lifting hook 8 with the swing elimination function, The lifting speed instructions of the trolley 7 and the lifting hook 8 are transmitted to the PLC2, the PLC2 drives the trolley frequency converter 3, the trolley frequency converter 4 and the lifting frequency converter 5 to control the speed changes of the trolley motor 31, the trolley motor 41 and the lifting motor 51, and the swing angle of the lifting hook 8 in the speed change process is eliminated in time.
When the movement of the bridge crane stops, the cart 6, the trolley 7 and the lifting hook 8 lift loads to be close to a target point, a target position detector 9 collects image information of a working face in real time and transmits the image information to the central controller 1 through industrial Ethernet, the central controller 1 detects and identifies an AprilTag code icon 11 of the image of the working face by applying a machine vision detection identification principle, accurately calculates the parking target displacement of the cart 6 and the trolley 7, the central processor synthesizes a new operation instruction of an operation arm, the real-time positions of the cart 6, the trolley 7 and the lifting hook 8 and the real-time space swing angle information of the lifting hook 8, designs adjusting data with a swing eliminating algorithm to calculate the lifting speeds of the cart 6, the trolley 7 and the lifting hook 8, and transmits the data to a PLC2 in real time, the PLC2 drives the trolley frequency converter 3, the cart frequency converter 4 and the lifting frequency converter 5 to control the speed reduction of the cart motor 31, the cart motor 41 and the lifting motor 51, the swing angle of the lifting hook 8 in the deceleration process is eliminated in time, and the load is accurately lifted to a target displacement point.
The control system can acquire the information of the position of the trolley 7, the position of the cart 6, the lifting position of the lifting hook 8 and the spatial swing angle in real time, feed back the information to the central controller 1 in a closed loop manner, output the instructions of the movement speed of the trolley 7, the cart 6 and the lifting starting with the anti-swing effect, realize the anti-swing control of the bridge crane under the condition of any initial swing angle of the lifting hook 8 and have stronger robustness; the target position detector 9 can identify an AprilTag code icon 11 at a target displacement point of a working face based on a machine vision target detection positioning principle, transmits the AprilTag code icon 11 to the central controller 1 through the Ethernet, accurately calculates the parking positions of the cart 6 and the trolley 7 and the parking instruction time, outputs an anti-swing-effect lifting and parking speed instruction of the cart 6, the trolley 7 and the lifting hook 8, realizes accurate positioning of a lifting load of the lifting hook 8 at the target position automatically, and has high rapidity and accuracy.
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 utility model provides a crane span structure type hoist automatic positioning and closed loop prevent pendulum control system which characterized in that: the PLC is connected with a central controller and is respectively connected with a trolley frequency converter, a cart frequency converter and a lifting frequency converter; the central controller is respectively connected with a trolley position sensor, a cart position sensor, a lifting position sensor, a swing angle detection sensor and a target position detector; the trolley position sensor, the cart position sensor and the lifting position sensor are respectively arranged at the tail ends of rotating shafts of the trolley motor, the cart motor and the lifting motor.
2. The automatic positioning and closed-loop anti-swing control system of the bridge crane as claimed in claim 1, wherein: and the input end of the PLC is in communication connection with the output end of the central controller.
3. The automatic positioning and closed-loop anti-swing control system of the bridge crane as claimed in claim 1, wherein: and the output end of the PLC is respectively in communication connection with the input ends of the trolley frequency converter, the cart frequency converter and the lifting frequency converter.
4. The automatic positioning and closed-loop anti-swing control system of the bridge crane as claimed in claim 1, wherein: the input ends of the trolley position sensor, the cart position sensor and the lifting position sensor are respectively connected with the trolley motor, the cart motor and the lifting motor.
5. The automatic positioning and closed-loop anti-swing control system of the bridge crane as claimed in claim 1, wherein: and the output ends of the trolley position sensor, the trolley position sensor and the lifting position sensor are in communication connection with the central controller.
6. The automatic positioning and closed-loop anti-swing control system of the bridge crane as claimed in claim 1, wherein: the trolley frequency converter, the cart frequency converter and the lifting frequency converter are respectively connected with the trolley motor, the cart motor and the lifting motor.
7. The automatic positioning and closed-loop anti-swing control system of the bridge crane as claimed in claim 1, wherein: the swing angle detection sensor is connected with the central controller through LORA wireless communication.
8. The automatic positioning and closed-loop anti-swing control system of the bridge crane as claimed in claim 1, wherein: the target position detector is in communication connection with the central controller through the Ethernet.
9. The automatic positioning and closed-loop anti-swing control system of the bridge crane as claimed in claim 1, wherein: the swing angle detection sensor is arranged on the side surface of the lifting hook, and the target position detector is arranged on the bottom surface of the trolley and is parallel to the operation surface.
10. The automatic positioning and closed-loop anti-swing control system of the bridge crane as claimed in claim 1, wherein: the remote control system is also provided with an operating handle, and the operating handle is in wireless communication connection with the central controller through the LORA.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120326955.1U CN214570194U (en) | 2021-02-04 | 2021-02-04 | Automatic positioning and closed-loop anti-swing control system of bridge crane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120326955.1U CN214570194U (en) | 2021-02-04 | 2021-02-04 | Automatic positioning and closed-loop anti-swing control system of bridge crane |
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| CN214570194U true CN214570194U (en) | 2021-11-02 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117699663A (en) * | 2024-01-12 | 2024-03-15 | 南开大学 | Crane control method and system based on operation intention recognition |
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- 2021-02-04 CN CN202120326955.1U patent/CN214570194U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117699663A (en) * | 2024-01-12 | 2024-03-15 | 南开大学 | Crane control method and system based on operation intention recognition |
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