EP0869096A2 - Détecteur de mouvement de va-et-vient de la charge - Google Patents

Détecteur de mouvement de va-et-vient de la charge Download PDF

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Publication number
EP0869096A2
EP0869096A2 EP97308302A EP97308302A EP0869096A2 EP 0869096 A2 EP0869096 A2 EP 0869096A2 EP 97308302 A EP97308302 A EP 97308302A EP 97308302 A EP97308302 A EP 97308302A EP 0869096 A2 EP0869096 A2 EP 0869096A2
Authority
EP
European Patent Office
Prior art keywords
displacement
suspended load
upper structure
measured value
swing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP97308302A
Other languages
German (de)
English (en)
Other versions
EP0869096B1 (fr
EP0869096A3 (fr
Inventor
Takashi Mitsubishi Heavy Ind. Ltd. Toyohara
Susumu Mitsubishi Heavy Ind. Ltd. Kouno
Hiromitsu Mitsubishi Heavy Ind. Ltd. Hoshina
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Heavy Industries Ltd
Original Assignee
Mitsubishi Heavy Industries Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Heavy Industries Ltd filed Critical Mitsubishi Heavy Industries Ltd
Publication of EP0869096A2 publication Critical patent/EP0869096A2/fr
Publication of EP0869096A3 publication Critical patent/EP0869096A3/fr
Application granted granted Critical
Publication of EP0869096B1 publication Critical patent/EP0869096B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices

Definitions

  • This invention relates to a swing displacement detector for measuring the swing displacement of a suspended load in a crane.
  • FIG. 3 The structure of a conventional crane is shown in Fig. 3.
  • a crane upper structure 1 is supported on the ground via legs 2.
  • Rails 3 are installed on the upper structure 1, and a trolley 4 is borne movably on the rails 3.
  • a marker 11 is put on the suspended load 6. This marker 11 is shot with a camera 12 mounted on the trolley 4 vertically downwards. A picture of the marker 11 taken is entered into a suspended load displacement detector 15 which performs image processing of the picture to detect the displacement x1 of the marker 11.
  • the measured value xl of swing displacement based on the camera 12 mounted on the trolley 4 presents a signal comprising the long periodic wave component, the vibrations of the rope 5, superimposed by a short periodic wave component with a period of about 2 seconds, as illustrated in Fig. 4.
  • the vibration is designated as displacement x2).
  • the trolley 4 and the camera 12 mounted on the trolley 4 also vibrate in the horizontal direction.
  • the displacement x2 from the vibrations of the crane upper structure 1 is detected at the same time.
  • Control for steadying of the suspended load 6 is aimed at stopping the long periodic vibrations of the rope 5.
  • Such a short periodic component acts as a disturbance in the feedback signal for control, thus constituting a factor for lowering the control performance.
  • a swing displacement detector which comprises a crane upper structure displacement detector for measuring the displacement of a crane upper structure; and an arithmetic means for performing processing of a difference between the measured value of a suspended load swing displacement detector and the measured value of the crane upper structure displacement detector; and which corrects the measured value of the suspended load swing displacement detector.
  • This embodiment has the upper structure displacement detector for measuring the displacement of the crane upper structure, and based on its measured value, corrects the measured value of the suspended load swing displacement detector.
  • the detector can eliminate the vibrational component of the crane upper structure from the measured value of swing of the suspended load, thereby detecting the swing component of the suspended load highly accurately.
  • FIG. 1 A structural view of a swing displacement detector in accordance with an embodiment of the present invention is shown in Fig. 1.
  • the same parts as in the aforementioned earlier technology are assigned the same numerals and symbols, and explanations for them are omitted.
  • a marker 13 is fixed on the ground, and a ground surface marker camera 14 is attached onto a crane upper structure 1.
  • the ground surface marker camera 14 shoots the marker 13, and sends its image signal to an upper structure displacement detector 16.
  • the upper structure displacement detector 16 performs image processing of the signal to determine the displacement of the marker 13, that is, relative displacement between the upper structure 1 and the ground.
  • a suspended load displacement, x1, detected by a suspended load displacement detector 15, and an upper structure displacement, x2, detected by the upper structure displacement detector 17 are each sent to an arithmetic unit 17.
  • the arithmetic unit 17 calculates the difference between the suspended load displacement x1 and the upper structure displacement x2.
  • the measured value xl of suspended load displacement by the suspended load displacement detector 15 is a value comprising the swing displacement of the suspended load superimposed by the displacement of the upper structure 1, as shown in Fig. 2.
  • the upper structure displacement detector 16 measures the relative displacement between the marker 13 and the upper structure, namely, the vibrational displacement of the upper structure relative to the ground surface.
  • the difference between the suspended Load displacement xl and the upper structure displacement x2 is sequentially calculated by the arithmetic unit 17, whereby a corrected value, x3, of suspended load displacement unaffected by the vibrations of the upper structure 1 can be obtained as shown in Fig. 2.
  • the means of detecting the displacement of the crane upper structure 1 may be a method using the image processing system disclosed in the instant embodiment, or a method of integrating, twice, the output of an accelerometer attached in the direction in which displacement is measured.
  • the present invention eliminates the vibrational component of the crane upper structure from the measured value of swing of the suspended load.
  • it can constitute a highly accurate suspended load swing displacement detector even for a crane having a vibrational component in the crane structure.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)
  • Length Measuring Devices By Optical Means (AREA)
EP97308302A 1996-11-07 1997-10-20 Détecteur de mouvement de va-et-vient de la charge Expired - Lifetime EP0869096B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP29489796 1996-11-07
JP294897/96 1996-11-07
JP8294897A JPH10139367A (ja) 1996-11-07 1996-11-07 吊荷の振れ変位検出装置

Publications (3)

Publication Number Publication Date
EP0869096A2 true EP0869096A2 (fr) 1998-10-07
EP0869096A3 EP0869096A3 (fr) 2000-01-19
EP0869096B1 EP0869096B1 (fr) 2004-09-29

Family

ID=17813671

Family Applications (1)

Application Number Title Priority Date Filing Date
EP97308302A Expired - Lifetime EP0869096B1 (fr) 1996-11-07 1997-10-20 Détecteur de mouvement de va-et-vient de la charge

Country Status (8)

Country Link
EP (1) EP0869096B1 (fr)
JP (1) JPH10139367A (fr)
KR (1) KR100237151B1 (fr)
DE (1) DE69730943T2 (fr)
HK (1) HK1010528A1 (fr)
MY (1) MY121653A (fr)
SG (1) SG67436A1 (fr)
TW (1) TW379200B (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19918449C2 (de) * 1999-04-23 2001-09-13 Noell Stahl Und Maschb Gmbh Lasthebesystem zur Feinpositionierung und aktiven Schwingungsdämpfung
WO2002000543A2 (fr) * 2000-06-28 2002-01-03 Sandia Corporation Systeme et procede de commande destines a commander une charge utile dans une grue a plateforme mobile
WO2002059034A1 (fr) * 2001-01-27 2002-08-01 Noell Crane Systems Gmbh Systeme d'entrainement commande en vitesse de rotation
WO2010109075A1 (fr) * 2009-03-27 2010-09-30 Sime Oy Procédé de commande d'une charge suspendue
CZ303589B6 (cs) * 2012-01-04 2012-12-27 Zat, A.S. Regulátor pohybu bodového tahu
EP2546185A1 (fr) * 2011-07-14 2013-01-16 Siemens Aktiengesellschaft Amortisseur d'oscillations
US11603204B1 (en) 2015-09-28 2023-03-14 Amazon Technologies, Inc. Delivery drop rate modulation

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101519546B1 (ko) * 2014-11-05 2015-05-13 (주)케이지에스테크 정준점 설정 시스템
US9969494B1 (en) * 2015-09-28 2018-05-15 Amazon Technologies, Inc. Delivery drop platforms, tethers, and stabilization

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3445830A1 (de) * 1984-12-15 1986-06-19 Dürr Anlagenbau GmbH, 7000 Stuttgart Foerderanlage mit positioniervorrichtung
EP0578280A2 (fr) * 1990-07-18 1994-01-12 Caillard Procédé de contrôle de déplacement d'une charge pendulaire et dispositif pour sa mise en oeuvre
EP0596330A1 (fr) * 1992-11-03 1994-05-11 Siemens Aktiengesellschaft Arrangement pour mesurer les oscillations d'une charge de grue
GB2300177A (en) * 1995-04-24 1996-10-30 Mitsubishi Heavy Ind Ltd Preventing Load Vibration

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3445830A1 (de) * 1984-12-15 1986-06-19 Dürr Anlagenbau GmbH, 7000 Stuttgart Foerderanlage mit positioniervorrichtung
EP0578280A2 (fr) * 1990-07-18 1994-01-12 Caillard Procédé de contrôle de déplacement d'une charge pendulaire et dispositif pour sa mise en oeuvre
EP0596330A1 (fr) * 1992-11-03 1994-05-11 Siemens Aktiengesellschaft Arrangement pour mesurer les oscillations d'une charge de grue
GB2300177A (en) * 1995-04-24 1996-10-30 Mitsubishi Heavy Ind Ltd Preventing Load Vibration

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19918449C2 (de) * 1999-04-23 2001-09-13 Noell Stahl Und Maschb Gmbh Lasthebesystem zur Feinpositionierung und aktiven Schwingungsdämpfung
WO2002000543A2 (fr) * 2000-06-28 2002-01-03 Sandia Corporation Systeme et procede de commande destines a commander une charge utile dans une grue a plateforme mobile
WO2002000543A3 (fr) * 2000-06-28 2002-06-06 Sandia Corp Systeme et procede de commande destines a commander une charge utile dans une grue a plateforme mobile
WO2002059034A1 (fr) * 2001-01-27 2002-08-01 Noell Crane Systems Gmbh Systeme d'entrainement commande en vitesse de rotation
WO2010109075A1 (fr) * 2009-03-27 2010-09-30 Sime Oy Procédé de commande d'une charge suspendue
EP2546185A1 (fr) * 2011-07-14 2013-01-16 Siemens Aktiengesellschaft Amortisseur d'oscillations
CZ303589B6 (cs) * 2012-01-04 2012-12-27 Zat, A.S. Regulátor pohybu bodového tahu
US11603204B1 (en) 2015-09-28 2023-03-14 Amazon Technologies, Inc. Delivery drop rate modulation

Also Published As

Publication number Publication date
JPH10139367A (ja) 1998-05-26
HK1010528A1 (en) 1999-06-25
KR19980042183A (ko) 1998-08-17
SG67436A1 (en) 1999-09-21
TW379200B (en) 2000-01-11
DE69730943T2 (de) 2005-03-10
KR100237151B1 (ko) 2000-03-02
MY121653A (en) 2006-02-28
EP0869096B1 (fr) 2004-09-29
EP0869096A3 (fr) 2000-01-19
DE69730943D1 (de) 2004-11-04

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