DE19749125B4 - Position detection device for a trolley camera of a crane - Google Patents

Abstract

Position detection device for a trolley camera of a crane (1) with a trolley (8) which can be moved along a support (6), the trolley camera being installed on the trolley (8) and with the trolley (8) being mounted on feet, and with wheels for moving on a rail (3), the position detection device having a foot target (14) which moves together with the crane (1) at a position a predetermined distance Yg from the center of the rail (3),
the carrier being provided with a carrier camera (12) for measuring an inclination angle θ _cg between the camera center line and the foot target,
the carrier camera (12) having an inclination measuring device (13) for measuring an inclination angle θ _kg ,
where an initial value δ _{g0 of} a horizontal position Y _{0 of} a carrier base point from the center of the rail determined by a measuring instrument is given, and a constant value δ _{0 of} the horizontal displacement using initial inclination angles θ _{cg 0} , θ _{k g0} according to the formula δ 0 = ...

Description

The present invention relates to a position detection device for a trolley camera Crane.

From the DE 3445830 A1 a conveyor system with a positioning device is known.

From Patent Abstracts of Japan, JP 08020489 A a positional deviation detecting device for a moving body is known.

From Patent Abstracts of Japan, JP 07144877 A a device for correcting a stopping position of a frosted crane is known.

Usually a container crane etc. are used when loads are on of the earth piled up, loaded onto a ship along a pier or loads are unloaded on a ship and on the Earth to be piled up. With such a handling of Loads The load is controlled in such a way that the load vibrates is lowered, and the raised load is surely at a target position using a landing control device which will be described later landed exactly.

With the usual landing control device is a load with a lifting wire over an elevator accessory or a Lifting device suspended, the crane becomes the target position along the rails in this state the carriage is moved to the target position along the carrier, the vibration strength of the subsequently lifted load is detected by a sensor (the vibration intensity is as an angle of inclination with respect the vertical line by photographing a target on the elevator accessory with a camera installed on the cart) and detects the movement of the wagon is checked based on this detection value or controlled, which makes the swing of the lifted load as small as possible and the lifted load is landed when the Vibration severity is within a permitted range.

For the one mentioned above Landing control device for Elevator accessories will the carriage on the carrier first is then correctly stopped at a predetermined position the vibration strength of the elevator accessories using a vibration sensor, and the vibration stop control is detected based on this detection value, whereby the load on the Target position is landed. The position of the car camera (or trolley camera) on the wagon (or on the trolley) is successively through Detection of the travel path from a reference point which on the carrier is provided using an encoder (not shown) detected.

However, if the distraction of the stand or the carrier changed or a shift between the crane wheel and the rail because of the Movement of the carriage on the carrier or the change in weight of the raised load occurs, there will be a shift in the reference point on the carrier generated by the resulting horizontal travel distance, which creates a measurement error, so the detection accuracy the car position or car camera position gets worse. from that as a result, the landing accuracy is also reduced.

The present invention has been made in view of this Situation created, and accordingly there is a task of it in the provision of a position detection device, at which can accurately detect the position of an elevator accessory, thereby the accuracy of the landing position control can be increased.

According to the invention, this object is achieved by solved in claim 1 position detection device.

In the car camera position detecting device according to the present invention, the inclination angle θ _cg between the camera center line and the foot target at the lower part of a foot is measured by the carrier camera, the inclination angle wel θ _{kg of} the inclinometer with respect to the vertical is measured by the inclinometer on the carrier If the horizontal travel distance δ _g is measured by a transit or a straightening instrument (measuring instrument etc.) due to the inclination of the crane foot on the rails, the constant value with respect to the horizontal travel distance becomes δ ₀ = δ _g0 - H _g (θ _cg0 - θ _kg0 ) calculated using the initial values, the inclination angles θ _cg and θ _{kg are} measured at all times during load handling operation (during control), the horizontal travel distance of the reference point on the carrier δ _g = δ ₀ + H _g (θ _cg - θ _{k g} ) using these measured values θ _cg and θ _kg and the constant value δ ₀ and the position (distance) is calculated 6 corrected using the δ _g thus calculated.

As described above, the car camera position detecting device according to the present invention is configured such that the carrier camera is installed on the carrier, that the inclinometer is installed on the carrier camera, that the constant value with respect to the horizontal travel distance of the carrier reference point is used in advance whose output values are calculated and that, on the other hand, the horizontal travel distance is calculated using the output values of the carrier camera and the inclinometer, which are measured every moment, and the constant value and that the position of the car camera with the rail center as a reference is corrected using this horizontal travel distance. Therefore, the position of the elevator accessories can be accurately detected, whereby the accuracy of the landing position control of the elevator accessories can be increased.

The following is the present Invention based on a preferred embodiment with reference explained in more detail on the accompanying drawings.

Show it:

1 4 is a schematic view of a car camera position detection device in accordance with the embodiment of the present invention;

2 is a schematic view showing the entirety of a container crane, which is equipped with the truck camera position detection device according to this embodiment;

3 a schematic view showing a storage unit and an arithmetic unit, which are provided with respect to the car camera position detection device of this embodiment; and

4 a flowchart showing a working procedure for detecting the position of the car camera according to this embodiment.

The present invention is detailed in accordance described with an embodiment shown in the drawings.

1 to 4 Figure 10 shows an embodiment of a car camera position sensing device in accordance with the present invention. The truck camera position detection device according to this embodiment is for a container crane 1 who in 2 shown is used.

As in 1 and 2 has shown the container crane 1 which is a machine for loading loads (containers 2 ) piled up on the earth G, on a ship S along a pier or for unloading loads 2 on the ship S to the earth G, a pedestal 5 , which is set up in such a way that it is able to run on a pair of rails laid on the ground G via wheels 4 to run a carrier 6 which is on the top of the stand 5 is provided and is horizontal perpendicular to the base 5 extends, as well as a carriage 8th which is installed on the carrier so that it is suspended from an elevator accessory 7 is movable on it.

With such a container crane 1 becomes a burden 2 with a lifting wire 9 who on the car 8th is attached via the elevator accessories 7 raised and the carriage moves in this state 8th along the beam 6 or the stand is running 5 along the rails 3 by driving the wheels 4 at the lower part of the stand 5 , This will lift the load 2 transported to a predetermined position and landed at that position for loading / unloading.

On the other hand is a car camera 10 for measuring the vibration severity of the elevator accessories 7 above the car 8th of the container crane 1 provided as in 1 and 2 shown. This car camera 10 becomes a photograph of a target 11 used that on the top surface of the elevator accessories 7 is provided, and for detecting the vibration strength by processing the image. When this detected value is sent to an arithmetic unit (not shown), a manipulated variable is calculated by the arithmetic unit and becomes the carriage 8th controlled by the resulting manipulated variable, reducing the load 2 is landed after swinging the load 2 has subsided.

The position of the car 8th on the carrier 6 or the position of the car camera 10 is detected by an encoder (not shown) by a distance from a reference point O ₁ that is on the carrier 6 is fixed, is taken to a camera center line D as a horizontal travel distance Y ₀ . In the present invention, the position (distance) of the car camera 10 corrected by detecting a horizontal travel distance δ _{g of} the reference point O ₁ with a rail center C as a reference, which is caused by a change in the inclination of the base 5 , a shift between the rails 3 and the wheel 4 and the like is caused.

There is also a carrier camera 12 installed for photographing a foot target described later, which by the carrier 6 hangs. This carrier camera 12 is located at a position Y _c from the reference point O ₁ . On the side of the carrier camera 12 there is an inclinometer 13 to measure the angle of inclination horizontally. At the bottom of the pillar 5 is under the carrier camera 12 a foot target (for example, a laser target) located at a height H _g 14 that protrudes horizontally. This foot target 14 is located at a position Y _g away from the rail center C.

The symbols in 1 have the following meanings:
Y ₀ : Distance from the reference point on the carrier to the center line of the car camera
Y _g : distance from the rail center to the foot target
Y _c : distance from the rail center to the carrier camera
a: Intersection of the vertical line that runs through the center of the rail and the beam
δ _g : horizontal travel distance from the rail center to the reference point on the carrier
H _g : height from the target to the base camera θ _kg : output value (rad) of the inclinometer of the base camera
θ _{c g} : output value (rad) of the carrier camera
θ _xg : _ (θ _{k g} - θ _cg ) - θ _yg (rad)
θ _yg : angle difference (rad) between the center line of the carrier camera and the inclinometer
δ: true car camera distance

A constant value δ0 and the measured value of the height Hg are sent to a storage unit 15 sent and stored there and then to an arithmetic unit 16 sent as in 3 shown. The measured value of the distance Y ₀ and the output values θ _cg and θ _{kg are also sent} to the arithmetic unit 16 Posted. The true distance δ of the car camera 10 is calculated based on these values, which are sent to the arithmetic unit 16 be sent.

For the car camera position detecting device according to this embodiment, the true position (distance) δ of the car camera 10 through the in 4 shown working procedure detected.

First, the tilt angle θ _cg between the camera center line E and the foot target 14 is measured, and the inclination angle (installation angle) θ _{k g} with respect to the vertical is measured using the inclinometer 13 measured.

In 1 applies: H G θ xg = Y c - Y G - δ G (1) θ xg = (θk G - θ cg ) - θ yg (2)

Multiplying both sides of equation (2) by H _g gives H G θ xg = H G (θ kg - θ cg ) - H G θ yg (3) From equations (1) and (3) it follows: δ G = H G (θ cg - θ kg ) + H G θ yg - Y G + Y c (4)

Here, θ _{yg is} constant because it is the angle difference between the camera center line E, the carrier camera 12 and the inclination angle of the inclinometer 13 , Y _{g is} constant because it is the distance between the rail center C, the rail 3 and the foot target 14 Y _c is and is also constant since it is the distance between the reference point O ₁ and the camera center line E of the carrier camera 12 is.

Therefore, equation (4) shows that the horizontal travel distance δ _g by the output θ _{cg of} the carrier camera 12 and the output θ _{kg of} the inclinometer 13 is predictable.

If the size (constant value: H _g θ _yg - Y _g + Y _c ) is taken as δ ₀ regardless of the change in the horizontal travel distance, the horizontal travel distance can be expressed as δ G = δ 0 + H G (θ cg - θ kg ). (5) Thus, by substituting the respective initial values θ _cg0 , θ _kg0 and δ _{g0 of} the aforementioned θ _cg , θ _kg and δ _g , which are measured under the same load lifting condition, the constant value δ ₀ can be calculated in equation (5) δ 0 = δ g0 - H G (θ CG0 - θ KG0 ). (6)

Thereupon the output θ _{cg of} the carrier camera 12 and the output θ _{k g of} the inclinometer 13 measured at all moments during load handling operation (during control), the horizontal travel distance δ _{g of} the reference point O _{1 is} successively calculated by substituting these measured values and the initial value δ ₀ in equation (5), the true distance δ (δ = Y ₀ + δ _g ) of the car camera 10 through the arithmetic unit 16 using the calculated value δ _g and the distance Y ₀ and the position of the car camera is calculated 10 corrected. If the position is corrected in this way, the accuracy of the landing position control of the elevator accessories can 7 be improved.

The above is a description of one embodiment the complete invention. The present invention is not based on the embodiment described above limited and various modifications and changes can be made based on the technical Concept of the present invention.

For example, the initial value δ _{g0 of} the horizontal travel _distance of the reference point on the carrier with respect to the rail center C in the prescribed embodiment can be measured by a measuring device such as a transit that is near the base of the pillar 5 is provided. Likewise, if the angle difference θ _yg between the camera and the inclinometer can be measured by a method, the constant value δ ₀ can be determined directly together with further measured distances H _g , Y _g and Y _c .

Claims (4)

Position detection device for a trolley camera of a crane ( 1 ) with a trolley ( 8th ) along a beam ( 6 ) is movable, the trolley camera on the trolley ( 8th ) is installed and the trolley ( 8th ) is mounted on feet and with wheels for moving on a rail ( 3 ), the position detection device being a foot target ( 14 ), which together with the crane ( 1 ) moved at a position a predetermined distance Yg from the center of the rail ( 3 ), the carrier with a carrier camera ( 12 ) for measuring an inclination angle θ _cg between the camera center line and the foot target, the carrier camera ( 12 ) an inclinometer ( 13 ) for measuring an inclination angle θ _kg where an initial value δ _{g0 of} a horizontal position Y _{0 of} a carrier base point from the center of the rail determined by a measuring instrument is predetermined, and a constant value δ _{0 of} the horizontal displacement using an initial inclination angle θ _{cg 0} , θ _{k g0} according to the formula δ 0 = δ g0 - H G (θ CG0 - θk g0 ) Hg is a height from the foot target to the carrier camera (12), with a changing horizontal displacement δ _{g of} the carrier base point with respect to the center of the rail using the measured values θ _cg and θ _kg during loading and using the constant value δ ₀ after of the formula δ G = δ 0 + H G (θ cg - θ kg ) can be calculated, the position of the trolley camera can be corrected on the basis of the center of the rail using the horizontal displacement δ _{g of} the carrier, and a corresponding computing device is provided for calculating the values δ _g and δ ₀ . Position detection device according to claim 1, characterized in that the line connecting the trolley camera and the foot target forms at most a small angle θ _xg with the vertical, so that sinθ _{xg is} approximately equal to θ _xg . Position detection device according to claim 1 or 2, characterized in that the constant value δ ₀ with respect to the horizontal displacement, the measured value of the height H _g , the measured value of the distance Y ₀ from the carrier base point on the carrier to the trolley camera center line and the measured values of the inclination angle θ _cg and θ _{kg can be sent} to the computing device. Position detection device according to claim 3, characterized in that the constant value δ ₀ with respect to the horizontal displacement and the measured value of the height H _g can be stored before being sent to the computing device.