JPH0569065U - Signal processor for crane runout angle detection - Google Patents

Abstract

(57) [Summary] [Purpose] When measuring the deflection angle of a suspended load of a crane, remove the horizontal acceleration component and disturbance, and measure the precise deflection angle. [Structure] A sensor for detecting an inclination angle of a suspended load, a sensor for detecting acceleration, and two transmission lines 3 having a stranded wire structure in which a signal from each of the sensors has a disturbance noise as an in-phase component with respect to the signal. A buffer amplifier 1 transmitted via each of them, differential amplifiers 5 and 7 for differentially amplifying the signals from each sensor individually and applying them simultaneously, and a high-pass filter 8 and a low-pass filter 9 for removing various vibrations and noises. And a differentiating circuit 10 that differentiates the shake angular velocity signal into a shake angle signal.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention is a signal to detect the accurate swing angle of a lifting device by removing the vibration and disturbance noise of the crane in a crane that suspends a suspended load with wire rope etc. and transports it to the destination. The present invention relates to a processing device.

[0002]

[Prior Art]

 In a crane that hangs a suspended load with a wire rope and transports it, the lifting equipment that supports the suspended load shakes when the crane runs or stops. If the deflection angle of this suspended load exceeds the allowable limit, there is a risk of unloading, etc. Therefore, when the crane is traveling, the deflection angle of this suspension tool is always detected to control the traveling of the crane. To detect the deflection angle of this suspension tool, the outputs of the inclinometer and accelerometer are sensitivity-corrected, then passed through a low-pass filter, and then the two signals are added. In addition, the shake angle is obtained by calculating the A / D converted signal.

[0003]

[Problems to be solved by the device]

 However, in the conventional equipment, the circuit becomes complicated and noise caused by the vibration of the crane, the effect of the vibration of the crane girder, the effect of the camber of the girder, the effect of external noise on the signal transmission line, and other disturbance noise. However, it was not possible to accurately detect the swing angle of the suspension.

An object of the present invention is to measure an accurate deflection angle by removing a horizontal acceleration component and disturbance in the deflection angle measurement of a suspended load of a crane.

[0005]

[Means for Solving the Problems]

 The present invention has been made in order to achieve the above-mentioned object. The sensor for detecting the inclination angle of the suspended load, the sensor for detecting the acceleration, and the signals from these sensors are used as the in-phase component of the disturbance noise with respect to the signal. And a buffer amplifier that transmits each via two transmission lines with a twisted line structure, a differential amplifier that individually differentially amplifies the signals from each sensor, and applies this simultaneously, and various vibrations and noises. The gist is that it consists of a high-pass filter / low-pass filter to be removed and a differentiating circuit that differentiates the shake angular velocity signal into a shake angle signal.

[0006]

[Action]

 With the inclinometer linked to the crane's suspended load, the factors that cause disturbance when measuring the deflection angle are the natural vibration of the girder, the steady inclination of the camber, low-frequency vibration caused by passing through the camber, and running. There is vibration that occurs and there is noise that is superimposed on the tilt angle and the wiring of the crane controller. However, in the present invention, since these are removed by the filter and the differential amplifier, it is possible to accurately measure the deflection angle detection signal.

[0007]

【Example】

 Hereinafter, a signal processing device for detecting a swing angle of a crane of the present invention will be described with reference to the illustrated embodiment. In the figure, S1 and S2 are sensors, S1 is a sensor that detects an inclination angle of a suspended load, S2 is a sensor that detects an acceleration, and an inclination signal E1 of the suspended load is obtained by the sensor S1 and an acceleration signal by a sensor S2. E2 is detected, and both of them obtain a linear analog output corresponding to the tilt angle and the acceleration. The signal E1 is input to the differential amplifiers 5 and 6 via the buffer amplifier 1 and the signal E2 via the buffer amplifier 2 and the transmission lines 3 and 4, respectively.

On the transmission lines 3 and 4, various disturbance noises including noise of the AC power source of the crane are superposed by induction. These transmission lines 3 and 4 have two electric wires as a stranded wire so that disturbance noise is in-phase with the signal. The noise of the in-phase component is canceled by the differential amplifiers 5 and 6, and only the tilt angle signal and acceleration of the differential component are input to the differential amplifier 7.

The signal E1 from the inclinometer is a signal E3 that has passed through the buffer amplifier 1, the transmission line 3 and the differential amplifier 5, and is a combination of the deflection angle signal and the horizontal acceleration signal. This signal E3 and the accelerometer By inputting the signal E4 passed through the single differential amplifier 6 to the differential amplifier 7, the acceleration component is canceled and a shake component signal E5 is obtained. Then, the signal E5 is sent to the high-pass filter 8 and the low-pass filter 9.

In addition to the acceleration component, the differential amplifier 7 can also remove the vibration / disturbance applied in phase to the two sensors for inclination and acceleration.

The frequency f of the swing of the suspended load is approximately 0.1 Hz ≦ f ≦ 0.3 Hz. In addition, since the frequency component of acceleration / deceleration of the crane is about 0.05 Hz, various vibrations and noises are removed by passing between 0.05 Hz and 0.3 Hz with the low pass filter 9 and the high pass filter 8. , The true deflection angle signal can be detected.

The shake angular velocity signal E7 is obtained by differentiating the shake angle signal E6 with respect to time by the differentiating circuit 10. The characteristics of the above low-pass filter and high-pass filter are such that the maximum phase flatness characteristic is obtained within the pass band.

[0013]

[Effect of the device]

 Since the signal processing device for detecting the swing angle of the crane of the present invention removes the horizontal acceleration component and disturbance by the differential amplifier, the high-pass filter and the low-pass filter in the swing angle measurement of the suspended load of the crane, It has the advantage of being able to accurately measure the true deflection angle.

[Brief description of drawings]

FIG. 1 is a block diagram of a signal processing device for detecting a swing angle of a lifting device of a crane according to the present invention.

FIG. 2 is a graph of each signal of the crane.

[Explanation of symbols]

 1 Buffer Amplifier 3 Transmission Line 5 Differential Amplifier 7 Differential Amplifier 8 High Pass Filter 9 Low Pass Filter 10 Differentiation Circuit

Claims (1)

[Scope of utility model registration request] 1. A sensor for detecting an inclination angle of a suspended load, a sensor for detecting acceleration, and a signal from each of the sensors has a stranded wire structure in which disturbance noise is a component in phase with the signal.
Buffer amplifiers that are transmitted via each transmission line, a differential amplifier that individually differentially amplifies the signals from each sensor, and apply them simultaneously, and a high-pass filter / low-pass filter that removes various vibrations / noise A signal processing device for detecting the swing angle of a crane lifting device, which comprises a differentiating circuit that differentiates the swing angular velocity signal into a swing angle signal.