CN219341497U - Lifting appliance positioning system, crown block control system and crown block - Google Patents
Lifting appliance positioning system, crown block control system and crown block Download PDFInfo
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- CN219341497U CN219341497U CN202320186383.0U CN202320186383U CN219341497U CN 219341497 U CN219341497 U CN 219341497U CN 202320186383 U CN202320186383 U CN 202320186383U CN 219341497 U CN219341497 U CN 219341497U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/72—Electric energy management in electromobility
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Abstract
The embodiment of the utility model discloses a lifting appliance positioning system, a crown block control system and a crown block. This hoist positioning system is applied to overhead traveling crane, includes: an image transmitting device, an image presenting device and an image collecting device; the image transmitting device and the image acquisition device are arranged in opposite directions; the image presenting device is arranged between the image transmitting device and the image acquisition device; the image transmitting device is arranged on one of a lifting appliance and a trolley of the crown block, and the image acquisition device is arranged on the other one of the lifting appliance and the trolley; the image transmitting device transmits a preset image towards the image presenting device; the image acquisition device acquires a preset image in the image presentation device and is used for positioning a lifting appliance. According to the scheme, the definition of the preset image acquired by the image acquisition device is improved.
Description
Technical Field
The embodiment of the utility model relates to the technical field of crane automatic control, in particular to a lifting appliance positioning system, a crown block control system and a crown block.
Background
In the process of using the crown block, the condition of swinging of the lifting appliance can occur due to the speed change of the large trolley and the small trolley. The moving speed of the large trolley and the moving speed of the small trolley can be determined according to the position coordinates of the large trolley and the position coordinates of the lifting appliance, so that the operation of the crown block is controlled, and the lifting appliance is prevented from swinging.
In the prior art, the position coordinates of the lifting appliance can be determined by acquiring preset images of markers (such as two-dimensional codes posted on the lifting appliance, models carved on the lifting appliance, objects or marks with certain characteristics arranged on the lifting appliance and the like) on the lifting appliance through an image acquisition device. According to the method, when the markers arranged on the lifting appliance or the markers of the lifting appliance are influenced by external factors (such as environment), and the markers are blurred (such as faded), the preset images acquired by the image acquisition device are not clear enough.
Disclosure of Invention
The utility model provides a lifting appliance positioning system, a crown block control system and a crown block, which are used for improving the definition of a preset image acquired by an image acquisition device.
According to an aspect of the present utility model, there is provided a spreader positioning system for use with a crown block, comprising: an image transmitting device, an image presenting device and an image collecting device;
the image transmitting device and the image acquisition device are arranged in opposite directions; the image presenting device is arranged between the image transmitting device and the image acquisition device;
the image transmitting device is arranged on one of a lifting appliance and a trolley of the crown block, and the image acquisition device is arranged on the other one of the lifting appliance and the trolley;
the image transmitting device transmits a preset image towards the image presenting device; the image acquisition device acquires a preset image in the image presentation device and is used for positioning a lifting appliance.
Further, the image transmitting device is arranged in the lifting appliance; the image acquisition device is arranged in the trolley.
Further, the number of the image transmitting devices is at least two.
Further, the image presenting device is disposed close to the image acquisition device.
Further, the image presentation device is horizontally disposed.
Further, the image transmitting device is a laser transmitter, the image collecting device is a camera, and/or the image presenting device is a reflecting plate.
According to another aspect of the utility model, there is provided a crown block control system comprising a trolley positioning system, a crown block travel control system and any one of the spreader positioning systems provided by the utility model;
the cart positioning system is used for determining cart position information of a cart in the crown block;
the trolley positioning system is used for determining trolley position information of the trolley in the crown block;
and the traveling control system of the crown block is used for respectively carrying out traveling control on the crown block and the trolley in the crown block according to the position information of the crown block, the position information of the trolley and the positioning result of the lifting appliance.
Further, the crown block driving control system comprises a remote control prevention controller and a motor;
the anti-swing controller is used for respectively determining motor control parameters of the cart and the trolley in the overhead travelling crane according to the cart position information, the trolley position information and the lifting appliance positioning result;
and the motor is used for respectively carrying out running control on the cart and the trolley according to corresponding motor control parameters.
Further, the anti-shake controller comprises a data processing device and a motor control device;
the data processing device is used for respectively determining the traveling speeds of the cart and the trolley in the crown block according to the cart position information, the trolley position information and the lifting appliance positioning result;
and the motor control device is used for respectively determining motor control parameters of the cart and the trolley according to the corresponding running speed.
According to another aspect of the utility model, there is provided a crown block in which any one of the crown block control systems provided by the utility model is provided.
According to the scheme, the preset image transmitted by the image transmitting device is displayed to the image acquisition device through the image display device, the image acquisition device acquires the preset image in the image display device, the situation that the acquired preset image is blurred due to the influence of external factors (such as environment) when the image acquisition device directly acquires the preset image according to the marker posted on the lifting appliance or the existing marker of the lifting appliance is avoided, and the definition of the preset image acquired by the image acquisition device is improved; in addition, the lifting appliance positioning can be realized through the image transmitting device, the image presenting device and the image collecting device, the device is simple, the operability of the lifting appliance positioning system is improved, and the lifting appliance positioning system is convenient to install and debug.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the utility model or to delineate the scope of the utility model. Other features of the present utility model will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a lifting appliance positioning system according to an embodiment of the present utility model;
fig. 2 is a schematic structural diagram of a lifting appliance positioning system according to an embodiment of the present utility model;
fig. 3 is a schematic structural diagram of a lifting appliance positioning system according to an embodiment of the present utility model;
fig. 4 is a schematic structural diagram of a lifting appliance positioning system according to an embodiment of the present utility model;
fig. 5 is a schematic structural diagram of a lifting appliance positioning system according to an embodiment of the present utility model;
fig. 6 is a schematic structural diagram of an overhead travelling crane control system according to an embodiment of the present utility model;
fig. 7 is a schematic structural diagram of an overhead travelling crane control system according to an embodiment of the present utility model;
fig. 8 is a schematic structural diagram of an overhead travelling crane control system according to an embodiment of the present utility model;
fig. 9 is a schematic structural diagram of an overhead travelling crane according to an embodiment of the present utility model.
Detailed Description
The utility model is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present utility model are shown in the drawings.
Examples
The embodiment is applicable to the case of determining the spreader position.
The spreader positioning system 10 is applied to a crown block, comprising: an image transmitting means 11, an image presenting means 12, and an image capturing means 13; the image transmitting device 11 is arranged opposite to the image acquisition device 13; the image presenting device 12 is arranged between the image transmitting device 11 and the image acquisition device 13; the image transmitting device 11 is arranged on one of a lifting appliance and a trolley of the crown block, and the image acquisition device 13 is arranged on the other one of the lifting appliance and the trolley; the image transmitting means 11 transmits a preset image toward the image presenting means 12; the image acquisition device 13 acquires a preset image in the image presentation device 12 for sling positioning.
The image transmitting device 11 is a device that can transmit a preset image. The present utility model is not limited in kind to the image emitting device 11, and may be set by a skilled person according to experience or need. The utility model does not limit the type and/or size of the preset image, and the preset image can be set by a technician according to experience or needs. It should be noted that, the preset image corresponds to the image emitting device 11, and if the image emitting device 11 is a laser emitter, the preset image is a spot image.
The image presenting device 12 is a device that can present a preset image. The present utility model is not limited in kind to the image presenting apparatus 12, and may be set by a skilled person according to experience or need.
In the embodiment of the present utility model, the image presentation device 12 is horizontally disposed.
It can be understood that the image presentation device is horizontally arranged, so that the preset image emitted by the image emission device can be presented on the image presentation device, the presented preset image is clearer, and the positioning result of the subsequent lifting appliance is more accurate.
The image capturing device 13 is a device that can capture a preset image. The kind and/or number of the image pickup devices 13 are not limited in the present utility model, and may be set by a skilled person according to experience or need.
Specifically, the portion of the image transmitting device 11 that can transmit the preset image corresponds to the portion of the image capturing device 13 that can capture the preset image, and the image presenting device 12 is disposed between the image transmitting device 11 and the image capturing device 13. The image transmitting device 11 transmits the preset image to the image presenting device 12, the image presenting device 12 presents the preset image to the image collecting device 13, and the image collecting device 13 collects the preset image presented by the image presenting device 12.
According to the scheme, the preset image transmitted by the image transmitting device is displayed to the image acquisition device through the image display device, the image acquisition device acquires the preset image in the image display device, the situation that the acquired preset image is blurred due to the influence of external factors (such as environment) when the image acquisition device directly acquires the preset image according to the marker posted on the lifting appliance or the existing marker of the lifting appliance is avoided, and the definition of the preset image acquired by the image acquisition device is improved; in addition, the lifting appliance positioning can be realized through the image transmitting device, the image presenting device and the image collecting device, the device is simple, the operability of the lifting appliance positioning system is improved, and the lifting appliance positioning system is convenient to install and debug.
The embodiment of the utility model does not limit which of the image emitting device 11 and the image collecting device 13 is arranged on the trolley and which is arranged on the lifting appliance, and can be set by a technician according to experience. In an alternative embodiment, as shown in fig. 1, the image emitting device 11 is provided in a cart; the image acquisition device 13 is arranged in the lifting appliance, the image presentation device 12 is arranged in the lifting appliance, and the image presentation device 12 is arranged between the image acquisition device 13 and the image emission device 11.
In another alternative embodiment, as shown in fig. 2, the image emitting device 11 is provided in a spreader; the image pickup device 13 is provided in a cart, the image presentation device 12 is provided in the cart, and the image presentation device 12 is provided in the middle of the image pickup device 13 and the image emission device 11.
It can be understood that the image transmitting device is arranged in the lifting appliance, the image acquisition device is arranged in the trolley, so that the situation that the preset image acquired by the image acquisition device is unclear due to too large shaking of the lifting appliance is avoided, and the definition of the preset image acquired by the image acquisition device is improved; in addition, in the working process of the lifting appliance, the lifting appliance is prevented from vibrating due to collision with other objects, so that the image acquisition device is damaged, the safety of the image acquisition device is improved, and unnecessary cost is prevented from increasing.
The number of the image emitting devices 11 is not limited in any way in the embodiment of the present utility model, and may be set by a skilled person according to experience or need. In an alternative embodiment, the number of image emitting devices 11 may be 1.
In the embodiment of the utility model, when the number of the image emitting devices 11 is 1, the preset image collected by the image collecting device 13 can only describe whether the position of the lifting appliance in the horizontal direction changes, but cannot describe whether the lifting appliance rotates; that is, when the number of the image emitting devices 11 is 1, the preset image acquired by the image acquisition device 13 cannot accurately describe the change in the position of the spreader. In order to enable the preset images to accurately describe the change in spreader position, in a further alternative embodiment the number of image emitting devices 11 is at least two.
For example, referring to fig. 3, the image pickup device 13 and the image presentation device 12 are provided in a cart, the image presentation device 12 is provided in the middle of the image pickup device 13 and the image emission device 11, and the two image emission devices 11 are provided in a hanger. At this time, the preset image acquired by the image acquisition device 13 is determined by the two image emission devices 11 together, and the preset image can accurately describe the change of the position of the lifting appliance, that is, whether the lifting appliance moves horizontally and/or whether the lifting appliance rotates.
It can be understood that by arranging at least two image transmitting devices, the preset images generated by the at least two image transmitting devices can provide accurate and comprehensive description for the change condition of the position of the lifting appliance, so that the situation that whether the lifting appliance rotates or not can not be described according to the preset image generated by one image transmitting device is avoided, and the accuracy of the preset images is improved.
The embodiment of the present utility model sets the image presenting device 12 between the image transmitting device 11 and the image collecting device 13, and the present utility model does not limit the specific position where the image presenting device 12 is set, and may be set by a technician according to experience. In an alternative embodiment, the image rendering device 12 may be arranged close to the image emitting device 11.
In the embodiment of the present utility model, when the image presenting device 12 is disposed close to the image transmitting device 11, the preset image acquired by the image acquiring device 13 may be not clear enough due to the distance between the image presenting device 12 and the image acquiring device 13. In order to improve the sharpness of the preset image acquired by the image acquisition means 13, in a further alternative embodiment the image rendering means 12 is arranged close to the image acquisition means 13. For example, referring to fig. 4, two image emitting devices 11 are provided in a spreader, an image pickup device 13 and an image presenting device 12 are provided in a dolly, and the image presenting device 12 is provided close to the image pickup device 13.
It can be understood that when the image presenting device is arranged close to the image collecting device, the image collecting device does not need to repeatedly adjust parameters because the distance between the image collecting device and the image presenting device is relatively short and the position is fixed, and only the fixed parameters are selected, so that a clear preset image can be collected, the time for collecting the preset image is increased due to the repeated adjustment of the parameters of the image collecting device, and the collection efficiency of the preset image is improved; meanwhile, the image presentation device is arranged close to the image acquisition device, so that the definition of a preset image acquired by the image acquisition device is improved, the image acquisition device with higher precision is not required to be used, or the distance between the lifting appliance and the image acquisition device is reduced, the hardware cost of the image acquisition device is reduced, the limitation of the lifting appliance in height adjustment is avoided, and the applicability of the lifting appliance positioning system is improved.
In an alternative embodiment, the image emitting means 11 may be a laser emitter, the image capturing means 13 may be a camera, and/or the image presenting means 12 may be a reflector. For example, see fig. 5. Wherein, camera and reflector panel set up on the dolly, and the reflector panel is close to the camera setting, and two laser emitter set up on the hoist.
It can be understood that by using the laser emitter, the camera and the reflector, the lifting appliance positioning system is constructed, the hardware cost of each component part in the lifting appliance positioning system is reduced, and the economical practicability of the lifting appliance positioning system is improved.
Fig. 6 is a schematic structural diagram of an overhead travelling crane control system 100 according to an embodiment of the present utility model, where the embodiment is applicable to controlling travelling of an overhead travelling crane.
As shown in fig. 6, the overhead traveling crane control system 100 includes a cart positioning system 20, a trolley positioning system 40, an overhead traveling crane travel control system 30, and a spreader positioning system 10; the cart positioning system 20 is used for determining cart position information of a cart in the crown block; a trolley positioning system 40 for determining trolley position information of a trolley in the crown block; and the crown block running control system 30 is used for respectively controlling the running of the crown block and the trolley in the crown block according to the position information of the crown block, the position information of the trolley and the positioning result of the lifting appliance.
The large vehicle position information refers to position coordinates of a large vehicle in the crown block. The type and/or number of cart positioning systems 20 are not limited in this embodiment, and may be configured empirically by a technician. The three-dimensional coordinate system of the cart can be constructed in advance through at least one positioning mode such as a coding ruler, a Graham line and the like, and then the position information of the cart can be determined through a positioning sensor.
The trolley position information refers to position coordinates of the trolley in the crown block. The type and/or number of the cart positioning systems 40 are not limited in this embodiment, and may be set empirically by a skilled person.
The lifting appliance positioning result refers to lifting appliance position information of the lifting appliance in the overhead travelling crane. The position information of the lifting appliance refers to the position coordinates of the lifting appliance in the overhead travelling crane.
Specifically, the cart positioning system 20, the trolley positioning system 40 and the lifting appliance positioning system 10 are respectively in communication connection with the crown block running control system 30; the trolley positioning system 20 sends the trolley position information to the crown block running control system 30, the trolley positioning system 40 sends the trolley position information to the crown block running control system 30, and the lifting appliance positioning system 10 sends the preset image to the crown block running control system 30; the overhead traveling crane travel control system 30 determines a positioning result of the lifting appliance according to a preset image, and performs travel control on the trolley and the large trolley in the overhead traveling crane according to the positioning result of the lifting appliance, the position information of the trolley and the position information of the large trolley. The embodiment of the utility model does not limit the communication connection mode, and can be set by a technician according to experience or needs.
According to the scheme, the traveling control system of the crown block carries out traveling control on the crown block and the trolley in the crown block according to the position information of the crown block, the position information of the trolley and the positioning result of the lifting appliance, so that the differential control on the crown block and the trolley in the crown block is realized, the accuracy of the traveling control on the crown block and the trolley in the crown block is improved, the control on the swing amplitude of the lifting appliance in the crown block is realized, and the stability in the operation process of the crown block is improved.
In an alternative embodiment, shown in FIG. 7, crown block travel control system 30 includes anti-roll controller 31 and motor 32; the anti-shake controller 31 is used for respectively determining motor control parameters of the cart and the trolley in the overhead travelling crane according to the cart position information, the trolley position information and the lifting appliance positioning result; and a motor 32 for respectively controlling the traveling of the cart and the trolley according to the corresponding motor control parameters.
The motor control parameter refers to a parameter that can control the motor 32. The cart motor controls the cart, and the motor control parameters of the cart motor and the cart motor can be the same or different.
Specifically, the anti-shaking controller 31 establishes communication connection with the cart positioning system 20, the cart positioning system 40 and the lifting appliance positioning system 10 respectively, and acquires cart position information sent by the cart positioning system 20, cart position information sent by the cart positioning system 40 and a preset image sent by the lifting appliance positioning system 10; the anti-swing controller 31 obtains a positioning result of the lifting appliance based on a preset image; the anti-remote controller 31 determines motor control parameters of the cart and the trolley in the crown block according to the cart position information, the trolley position information and the lifting appliance positioning result. The embodiment of the utility model does not limit the communication connection mode, and can be set by a technician according to experience or needs.
Illustratively, in embodiments of the present utility model, the anti-roll controller 31 may implement control of the motor 32 by establishing a communication connection with the frequency converter. Specifically, the anti-shake controller 31 sends motor control parameters to the frequency converter, and then controls the motor 32 to run through the frequency converter, so as to realize the running control of the cart and the trolley. The cart motor corresponds to the cart frequency converter, and the cart motor corresponds to the cart frequency converter. The embodiment of the utility model does not limit the communication connection mode, and can be set by a technician according to experience or needs.
It can be understood that the motor control parameters of the cart and the trolley are obtained respectively by arranging the anti-shake controller, and the control of the cart motor and the trolley motor is realized respectively according to the motor control parameters of the cart and the motor control parameters of the trolley, so that the running control of the cart and the trolley is realized, the running accuracy of the cart and the trolley is improved, and the anti-shake control of the lifting appliance is realized.
In an alternative embodiment, as shown in fig. 8, the anti-shake controller 31 includes a data processing device 311 and a motor control device 312; the data processing device 311 is used for respectively determining the traveling speeds of the cart and the trolley in the crown block according to the cart position information, the trolley position information and the lifting appliance positioning result; and the motor control device 312 is used for respectively determining motor control parameters of the cart and the trolley according to the corresponding running speed.
The data processing device 311 is a device that can be used to process the vehicle position information, the carriage position information, and the preset image. The kind of the data processing device 311 according to the embodiment of the present utility model is not limited, and may be set by a technician according to experience. The motor control device 312 is a device that can be used to determine motor control parameters and control the operation of the motor according to the motor control parameters. The kind of the motor control device 312 according to the embodiment of the present utility model is not limited, and may be set by a technician according to experience. Illustratively, the motor control device 312 may be a PLC (Programmable Logic Controller ).
Specifically, the data processing device 311 establishes communication connection with the cart positioning system 20, the trolley positioning system 40 and the lifting appliance positioning system 10 respectively; the data processing device 311 receives the cart position information sent by the cart positioning system 20, the cart position information sent by the cart positioning system 40 and the preset image sent by the sling positioning system 10; the data processing device 311 processes the preset image to obtain a lifting appliance positioning result; the data processing device 311 respectively determines the traveling speeds of the cart and the trolley in the crown block according to the cart position information, the trolley position information and the lifting appliance positioning result. It should be noted that, the data processing device 311 may acquire the cart position information, and the preset image in real time or periodically, which is not limited in the embodiment of the present utility model. The embodiment of the utility model does not limit the communication connection mode, and can be set by a technician according to experience or needs.
The data processing device 311 may include a position closed-loop controller, a spreader closed-loop controller, and a shaper. The position closed-loop controller can process the position information of the cart and the position information of the trolley. The closed loop controller of the lifting appliance can process the positioning result of the lifting appliance. The shaper can shape the reference running speeds of the cart and the trolley, namely, judge whether the reference running speeds of the cart and the trolley are proper or not. Specifically, the shaper stores the cart travel speed section and the cart travel speed section in advance, and determines whether the reference travel speeds of the cart and the cart calculated by the data processing device 311 are appropriate according to the cart travel speed section and the cart travel speed section. For example, if the reference travel speed of the cart exceeds the upper limit value of the cart travel speed section, the upper limit value of the cart travel speed section is taken as the travel speed of the cart; if the reference running speed of the cart is lower than the lower limit value of the cart running speed section, taking the lower limit value of the cart running speed section as the running speed of the cart; if the reference running speed of the cart is in the cart running speed section, the reference running speed of the cart is directly taken as the running speed of the cart. Similarly, if the reference running speed of the trolley exceeds the upper limit value of the running speed section of the trolley, the upper limit value of the running speed section of the trolley is taken as the running speed of the trolley; if the reference running speed of the trolley is lower than the lower limit value of the running speed section of the trolley, taking the lower limit value of the running speed section of the trolley as the running speed of the trolley; if the reference running speed of the trolley is in the trolley running speed section, the reference running speed of the trolley is directly taken as the running speed of the trolley. The reference running speed of the cart refers to the running speed of the cart which needs to be determined. The reference travel speed of the cart refers to the travel speed of the cart that needs to be determined. The embodiment of the utility model does not limit the size of the large car running speed interval and the small car running speed interval, and can be set by technicians according to experience.
Further, the motor control device 312 establishes a communication connection with the data processing device 311; the motor control device 312 determines the motor control parameters of the cart and the motor control parameters of the cart, respectively, based on the traveling speeds of the cart and the cart transmitted from the data processing device 311. The embodiment of the utility model does not limit the communication connection mode, and can be set by a technician according to experience or needs.
It should be noted that, in the embodiment of the present utility model, the data processing device 311 may be disposed inside the anti-remote controller 31, and the data processing device 311 may also be disposed outside the anti-remote controller 31. By way of example, the data processing means 311 may be a removable device, such as a computer, configured with corresponding algorithms.
In the embodiment of the utility model, the motor control device 312 can be in communication connection with the lifting appliance positioning system 10 so as to control the opening and closing of the image transmitting device 11 and the image acquisition device 13 in the lifting appliance positioning system 10; or the image transmitting device 11 and the image acquisition device 13 can control the opening or closing of the device by the switch buttons of the device. The motor control device 312 may also establish communication connection with the cart positioning system 20 and the cart positioning system 40, and acquire cart position information sent by the cart positioning system 20 and cart position information sent by the cart positioning system 40, so that the data processing device 311 may acquire the cart position information and the cart position information from the motor control device 312. The frequency of acquiring the cart position information and the cart position information from the motor control device 312 by the data processing device 311 according to the embodiment of the present utility model is not limited, and may be acquired in real time or may be acquired according to a preset period. The embodiment of the utility model does not limit the size of the preset period, and can be set by a technician according to experience. The embodiment of the utility model does not limit the communication connection mode, and can be set by a technician according to experience or needs.
It should be noted that, the motor control device 312 may also control the data processing device 311 to be turned on or off.
It can be understood that the running speeds of the large vehicle and the small vehicle in the crown block are respectively determined by arranging the data processing device, so that the accuracy of the running speed determination results of the large vehicle and the small vehicle in the crown block is improved; and the motor control device is arranged, and the motor control parameters of the large car and the small car are respectively determined according to the running speeds of the large car and the small car in the crown block, so that the accuracy of the determined motor control parameters is improved.
Fig. 9 is a schematic structural diagram of an overhead travelling crane 1000 according to an embodiment of the present utility model. The overhead traveling crane 1000 includes an overhead traveling crane control system 100. The embodiment of the present utility model does not limit the type of the crown block 1000.
In this scheme, the cart positioning system 20 in the crown block 1000 may determine cart position information of a cart in the crown block 1000; the trolley positioning system 40 in the crown block 1000 can determine trolley position information of the trolley in the crown block 1000; the spreader positioning system 10 in the overhead travelling crane 1000 may provide a preset image for positioning the spreader; the crane travel control system 30 in the crane 1000 receives and processes the crane position information, the trolley position information and the preset image, so as to realize travel control of the crane and the trolley in the crane 1000, and further realize remote control prevention of the lifting appliance in the crane 1000.
Specifically, when the lifting appliance in the overhead travelling crane 1000 is at rest or in motion, the image transmitting device 11 transmits a preset image to the image presenting device 12 in real time; the image presenting device 12 presents a preset image for the image acquisition device 13; the image acquisition device 13 acquires the preset image presented by the image presentation device 12 in real time or periodically; the image acquisition device 13 sends the preset image to the data processing device 311; meanwhile, the cart positioning system 20 sends the cart position information to the data processing device 311, and the cart positioning system 40 sends the cart position information to the data processing device 311; the data processing device 311 processes the preset image to obtain a lifting appliance positioning result; the data processing device 311 obtains the running speeds of the cart and the trolley according to the cart position information, the trolley position information and the lifting appliance positioning result; the data processing device 311 sends the traveling speeds of the cart and the dolly to the motor control device 312; the motor control device 312 determines motor control parameters of the cart according to the traveling speed of the cart, and the motor control device 312 determines motor control parameters of the cart according to the traveling speed of the cart; the motor control device 312 controls the motor of the cart in the motors 32 according to the motor control parameters of the cart, and the motor control device 312 controls the motor of the cart in the motors 32 according to the motor control parameters of the cart; the motor of the cart controls the cart in the crown block 1000 to travel, and the motor of the cart controls the cart in the crown block 1000 to travel.
It should be noted that, the data processing device 311 may also obtain the traveling speeds of the cart and the trolley according to at least two of the cart position information, the trolley position information and the positioning result of the lifting appliance according to the actual situation.
In this scheme, through being applied to the overhead traveling crane with overhead traveling crane control system in, can realize carrying out automatic anti-shake control to hoist in the overhead traveling crane for the overhead traveling crane can steadily remove to the destination, has reduced the cost of labor, has improved handling precision, has reduced the potential safety hazard, and has avoided appearing damaging in the goods of carrying on the hoist.
On the basis of the technical scheme, the scheme also provides a crown block control method.
Specifically, the image transmitting device 11 continuously transmits the preset image to the image presenting device 12; when the lifting appliance is in a static state, the image acquisition device 13 acquires a reference preset image displayed on the image display device 12 and sends the reference preset image to the data processing device 311; the data processing device 311 determines a reference lifting appliance positioning result of the lifting appliance according to the reference preset image, and takes the reference lifting appliance positioning result as a position coordinate origin of the lifting appliance; when the lifting appliance moves, the image acquisition device 13 acquires the current preset image presented on the image presentation device 12 in real time or periodically and sends the current preset image to the data processing device 311; the data processing device 311 determines the current lifting appliance positioning result of the lifting appliance according to the current preset image and the reference lifting appliance positioning result, namely, the position coordinate of the lifting appliance at the current moment. For example, the data processing device 311 may construct a marker model in advance and train the marker model through a deep learning algorithm; the data processing device 311 uses the trained marker model to determine the current spreader positioning result and the reference spreader positioning result of the spreader. The data processing device 311 may pre-store the target cart position information of the crown block, and acquire the current cart position information sent by the cart positioning system 20 in real time or periodically during the movement process of the crown block. The data processing device 311 respectively determines the target running speeds of the cart and the trolley according to the reference lifting tool positioning result, the current lifting tool positioning result, the target cart position information and the current cart position information. The motor control device 312 determines motor control parameters of the cart and the trolley according to the corresponding target running speeds, controls the cart motor and the trolley motor to run, and realizes the running control of the crown block.
Wherein the reference preset image refers to an image emitted by the image emitting device 11 when the spreader is in a stationary state. The positioning result of the reference lifting appliance refers to the position information of the lifting appliance in a static state. The current preset image is an image transmitted by the image transmitting device 11 when the spreader moves at the current moment. The current lifting appliance positioning result refers to the position information of the lifting appliance at the current moment. The target cart location information refers to destination location information of the cart. The current cart position information refers to the position information of the cart at the current moment.
For example, if the position closed-loop controller and the spreader closed-loop controller are disposed in the data processing device 311, the data processing device 311 may determine the cart travel speed and the trolley travel speed respectively by the following formulas:
d_Vx＝[Kp x ×x(t)+Kd x ×x(t)']-[kp x ×cx(t)+kd x ×cx(t)']；
d_Vy＝[Kp y ×y(t)+Kd y ×y(t)']-[kp y ×cy(t)+kd y ×cy(t)']；
wherein d_vx represents the traveling speed of the cart; kp x A position scaling factor in the horizontal axis direction; x (t) represents the difference between the abscissa in the target cart position information and the abscissa in the current cart position information; kd x A position differential coefficient in the horizontal axis direction; x (t)' represents the derivative of the difference between the abscissa in the target cart position information and the abscissa in the current cart position information; kp (kP) x An angular scaling factor in the direction of the horizontal axis; cx (t) represents the difference between the abscissa in the reference spreader positioning result and the abscissa of the current spreader positioning result; kd (kd) x An angular differentiation coefficient in the horizontal axis direction; cx (t)' represents the derivative of the difference between the abscissa in the reference spreader positioning result and the abscissa of the current spreader positioning result; d_vy represents the trolley travel speed; kp y Representing a position scaling factor in the direction of the vertical axis; y (t) represents the difference between the ordinate in the target cart position information and the ordinate in the current cart position information; kd y Representing the position differential coefficient in the direction of the vertical axis; y (t)' represents a derivative of a difference value between the ordinate in the target cart position information and the ordinate in the current cart position information; kp (kP) y An angular scaling factor in the direction of the longitudinal axis; cy (t) represents the difference between the ordinate in the positioning result of the reference lifting appliance and the ordinate of the positioning result of the current lifting appliance; kd (kd) y An angular differentiation coefficient in the longitudinal axis direction; cy (t)' represents the derivative of the difference between the ordinate in the reference spreader positioning result and the ordinate of the current spreader positioning result.
Further, the target travel speed of the cart and the target travel speed of the cart are determined by a shaper in the data processing device 311.
In this scheme, through determining the travel speed of cart and the travel speed of dolly respectively, control cart motor and dolly motor operation have avoided the overhead traveling crane in the course of the work, because hoist rocking range is too big, appear the safety problem, have reduced the security risk.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present utility model may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present utility model are achieved, and the present utility model is not limited herein.
The above embodiments do not limit the scope of the present utility model. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included in the scope of the present utility model.
Claims (10)
1. A spreader positioning system for use with a crown block, comprising: an image transmitting device, an image presenting device and an image collecting device;
the image transmitting device and the image acquisition device are arranged in opposite directions; the image presenting device is arranged between the image transmitting device and the image acquisition device;
the image transmitting device is arranged on one of a lifting appliance and a trolley of the crown block, and the image acquisition device is arranged on the other one of the lifting appliance and the trolley;
the image transmitting device transmits a preset image towards the image presenting device; the image acquisition device acquires a preset image in the image presentation device and is used for positioning a lifting appliance.
2. The system of claim 1, wherein the image emitting device is disposed in the spreader; the image acquisition device is arranged in the trolley.
3. The system of claim 1, wherein the number of image emitting devices is at least two.
4. The system of claim 1, wherein the image rendering device is disposed proximate to the image acquisition device.
5. The system of claim 1, wherein the image rendering device is horizontally disposed.
6. The system of any one of claims 1-5, wherein the image emitting device is a laser emitter, the image capturing device is a camera, and/or the image presenting device is a reflector.
7. A crown block control system comprising a trolley positioning system, a crown block travel control system and the spreader positioning system of any one of claims 1-6;
the cart positioning system is used for determining cart position information of a cart in the crown block;
the trolley positioning system is used for determining trolley position information of the trolley in the crown block;
and the traveling control system of the crown block is used for respectively carrying out traveling control on the crown block and the trolley in the crown block according to the position information of the crown block, the position information of the trolley and the positioning result of the lifting appliance.
8. The system of claim 7, wherein the crown block travel control system comprises an anti-roll controller and a motor;
the anti-swing controller is used for respectively determining motor control parameters of the cart and the trolley in the overhead travelling crane according to the cart position information, the trolley position information and the lifting appliance positioning result;
and the motor is used for respectively carrying out running control on the cart and the trolley according to corresponding motor control parameters.
9. The system of claim 8, wherein the anti-roll controller comprises a data processing device and a motor control device;
the data processing device is used for respectively determining the traveling speeds of the cart and the trolley in the crown block according to the cart position information, the trolley position information and the lifting appliance positioning result;
and the motor control device is used for respectively determining motor control parameters of the cart and the trolley according to the corresponding running speed.
10. A crown block, characterized in that the crown block is provided with a crown block control system according to any one of claims 7-9.
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