US3826380A - Arrangement in cranes to determine the deviation of the hoisting device of the crane from a defined vertical line - Google Patents

Arrangement in cranes to determine the deviation of the hoisting device of the crane from a defined vertical line Download PDF

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Publication number
US3826380A
US3826380A US00350623A US35062373A US3826380A US 3826380 A US3826380 A US 3826380A US 00350623 A US00350623 A US 00350623A US 35062373 A US35062373 A US 35062373A US 3826380 A US3826380 A US 3826380A
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United States
Prior art keywords
light
hoisting device
crane
vertical line
deviation
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Expired - Lifetime
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US00350623A
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English (en)
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B Lenander
B Ling
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ABB Norden Holding AB
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ASEA AB
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    • 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

Definitions

  • the present invention relates to an arrangement for cranes to determine the deviation of the hoisting device of the crane from a defined vertical line.
  • the object of the present invention is to provide a means, with the help of which parameters of a described oscillating sequence can be measured and which can be utilized to control a system for reducing such oscillations.
  • the arrangement according to the invention' is characterized in the fact that the crane carries an arrangement for emitting downwardly a light beam of considerable width, within the field of which lies an upwardly reflecting device carried by the gripping device or hook.
  • the crane also has a detector unit composed of a lens and a light sensitive member in the path of the upwardly reflected light and responsive to changes in the direction of light to indicate deviation from the vertical line.
  • FIG. 1 shows a crane with trolley and hoisting device on which the device according .to the invention is placed
  • FIG. 2 shows in detail the ray path of the detector unit included in the device according to the invention
  • FIGS. 3a and 3b show the principle of a retroreflector
  • FIG. 4 is a diagram of the light-sensitive surface of the photo-detector and FIG. 5 shows an example of an evaluation device included in the device according to the invention.
  • FIG. 1 shows atrolley l2 movable in the directions 11 on a crane beam 10.
  • a hoisting device 14 is suspended from the trolley 12 by means of cables 13.
  • a load may be applied on the hoisting device 14, to be hoisted and transported.
  • the device according to the invention comprises an active unit 15 arranged on the lower side of the trolley 12, and a passive unit in the form of a retroreflector 16 arranged on the upper side of the hoisting device 14.
  • the main parts of the active unit 15 constitute a light emitter 17, a collecting lens 18 and a detector 19, as can be seen in FIG. 2.
  • a retroreflector 16 consists of three similar reflecting surfaces 20, 21 and 22, in the same configuration as the corners of a cube.
  • a light ray 24 reflected by the retroreflector is always parallel to the light ray 23 falling on the retroreflector 16 and the reflected light ray 24 leaves the retroreflector 16 at a point diagonally opposite the point of entry.
  • the retroreflector 16 can be rotated about arbitrarily directed axes of totation through its point without altering the distance between the approaching and reflected light rays.
  • the light emitter 17 has preferably such divergence that it covers the area within which the retroreflector 16 is expected to move and the diameter of the lens 18 is preferably twice as'large, or even more, than that of the retroreflector 16 so that all light which comes into contact with the retroreflector 16 will be thrown back through the lens 18 and projected on the detector 19
  • the light emitter 17 preferably consists of a light diode which is fed by pulses from an oscillator 30. Pulsing is used in order to easily distinguish between light received by the detector 19 from the retroreflector 16 and other irrelevant light.
  • the detector 19 preferably consists of a linear photodetector having two axes with the ability to sense the focal point of the projected light, thus making good focus'singof the light on the detector 19 unnecessary.
  • UDT SC/25 produced by United Detector Technology, Inc., US.
  • the mentioned photo-detector UDT SC/25 has a light-sensitive surface 27, as can be seen in FIG. 4. On this surface 27 two axes 28, 29 are marked, to one of which output signals obtained from the photo-detector are related.
  • the retroreflector 16 that is, the hoisting device 14
  • the focal point of the light projected by the lens 18 onto the light-sensitive surface 27 of the detector 19 becomes displaced.
  • the line length S is measured continuously by a potentiometer unit, for example, (not shown) arranged on the trolley 12.
  • Signals 31 and 32 obtained from the detector 19 are conveyed to filters 33 and 34, respectively and amplifiers 35 and 36, respectively, after which the pure signals U, and U, are obtained. Both the signals U, and U, are supplied to an amplifier 37 and added to give the signal U, U This latter signal, together with one of the signals U, or U,, in this case U,, is supplied to a di- 4 vider 38, thus producing the signal It, U,/(U, U,,) where k, is a constant dependent on the divider. The signal k, U,/(U, U is supplied, together with a signal U,,,, to an amplifier 39. The signal U now has the value k, l/2, that is, it represents the signal k, U,/ (U, U when U, U
  • Y is obtained from the summator 39 where Y is the deviation of the focal point of the light falling on the detector 19 from the mid-point of the detector 19 and k, is a constant.
  • Signal k Y is supplied to a multiplicator 40, together with the momentary value of the line length, whereupon'a signal It, S Y is obtained.
  • a signal is thus obtained which directly carries information concerning the deviation of the hoisting device 14 from the vertical line 25, and which can be supplied to a member controlling the relative movement between trolley 12 and hoisting device 14.
  • the summation signal U, U is preferably used for other purposes also.
  • the signal U, -.l- U can also be used to control the output intensity of the light emitter 17, that is the light diode, when conditions such as variation in line length and weather cause the signals U, U to differ on different occasions.
  • the signal U, U is fed together with a reference signal U to an amplifier 41, the output signal of which constitutes the difference between said signals.
  • This difference together with the pulse train from the oscillator 30, controls the output capacity of the light diode.
  • the summation signal U, +U is alsoused to detect whether the necessary light strength is being obtained on the surface 27 of the detector 19 by supplying the signal U, U, to a level indicator 42 which in turn may be connected to a signal or indicating device 43, thus preventing false output signals from the device caused by mishaps such as temporary blocking of the retroreflector 16 by dirt or the like.
  • the light emitter may comprise a light diode, in which case HAFO lA65 is extremely suitable.
  • Amplifiers may suitably be SL 8018.
  • the multiplicator and divider may be Nexus 4552, for example and the level detector ASEA QDGU 105.
  • the light emitter (17) including means to direct diverging light (26) towards the hoisting device (14) so that the light covers a presumed area of movement for the hoisting device (14)
  • the reflector (16) including means to refleet light falling upon it towards the detector unit (18, 19, 31-43), and the detector unit (18, 19, 31-43) including means responsive to such light falling upon it to detect deviations of the hoisting device (14) from said vertical line and to detect the direction of 4.
  • the light reflector (16) comprising a retroreflector.
  • the lens system (18) having a horizontal aperture which is at least twice as large as the horizontal extension of the light reflector (16).
  • the photo-detector (19) having a light-sensitive surface includes means to emit signals (31, 32) which constitute a gauge of the deviation of the focal point of the light converging on the light-sensitive surface (27) from a defined axis (28) on the light-sensitive surface (27 7.
  • the axis (28) defined on the light-sensitive surface (27) of the photodetector (19) constituting the normal for said vertical line (25).
  • a crane having a hoisting device suspended therefrom, means to determine the deviation of the hoisting device (14) from a defined vertical line (25), which comprises a light emitter (17) on the crane, a light reflector (16) on the hoisting device (14) and a detector unit (18, 19, 31-43) on the crane, the light emitter (17) including means to direct diverging light (26) towards the hoisting device (14) so that the light covers a predetermined area of movement of the housing device (14), the reflector (16) including means to reflect light falling upon it towards the detector unit (18, 19, 31-43), means for measuring the length of lines (13) running between the crane and said hoisting device, said detector unit (18, 19, 31-43) comprising an evaluating device (31-43) arranged to emit an output signal proportional to the deviation of the hoisting device from said vertical line (25) and proportional to the direction of said deviation.
  • a crane having a hoisting device suspended therefrom, means to determine the deviation of the hoisting device (14) from a defined vertical line (25), which comprises a light emitter (17) on the crane, a light reflector (16) on the hoisting device (14) and a detector unit (18, 19, 31-43) on the crane, the light emitter (17) including means to direct diverging light (26) towards the hoisting device (14) so that the light covers a predetermined area of movement for the hoisting device (14), the reflector (16) including means to reflect light falling upon it towards the detector unit (18, 19, 31-43), said detector unit (18, 19, 31-43) comprising an evaluating device (31-37, 41) arranted to produce output signals for controlling the output intensity of said light emitter (17).

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Load-Engaging Elements For Cranes (AREA)
US00350623A 1972-04-14 1973-04-12 Arrangement in cranes to determine the deviation of the hoisting device of the crane from a defined vertical line Expired - Lifetime US3826380A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE04859/72A SE361869B (de) 1972-04-14 1972-04-14

Publications (1)

Publication Number Publication Date
US3826380A true US3826380A (en) 1974-07-30

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US00350623A Expired - Lifetime US3826380A (en) 1972-04-14 1973-04-12 Arrangement in cranes to determine the deviation of the hoisting device of the crane from a defined vertical line

Country Status (6)

Country Link
US (1) US3826380A (de)
JP (1) JPS4916153A (de)
DE (1) DE2316810A1 (de)
GB (1) GB1422013A (de)
NL (1) NL7305071A (de)
SE (1) SE361869B (de)

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4273243A (en) * 1979-04-18 1981-06-16 Locher Frank S Lift centering device
US4358020A (en) * 1980-12-31 1982-11-09 J. I. Case Company Apparatus for aligning trolleys
US4471877A (en) * 1982-09-01 1984-09-18 Whitley Charles C Crane sensor to detect out of plumb lift cable
US4883184A (en) * 1986-05-23 1989-11-28 Albus James S Cable arrangement and lifting platform for stabilized load lifting
US5048703A (en) * 1988-05-18 1991-09-17 Tax Ingenieurgesellschaft Mbh Container crane installation
US5152408A (en) * 1988-05-18 1992-10-06 Hans Tax Container crane installation
EP0596330A1 (de) * 1992-11-03 1994-05-11 Siemens Aktiengesellschaft Anordnung zum messtechnischen Erfassen von Lastpendelungen bei Kranen
EP0611211A1 (de) * 1993-02-12 1994-08-17 Caillard Kontroll- und Steuersystem für die Geschwindigkeit einer bewegten, pendelnden Ladung und Hebevorrichtung mit einem solchen System
US5408407A (en) * 1993-03-15 1995-04-18 Pentek, Inc. System and method for positioning a work point
US5440476A (en) * 1993-03-15 1995-08-08 Pentek, Inc. System for positioning a work point in three dimensional space
US5729339A (en) * 1993-09-02 1998-03-17 Korea Atomic Energy Research Institute Swing angle measuring apparatus for swing free operation of crane
US5823511A (en) * 1995-10-12 1998-10-20 Her Majesty The Queen In Right Of Canada, As Represented By Minister Of National Defence Of Her Majesty's Canadian Government Force generation device for simulation of shoulder-supported rocket launching
US5898746A (en) * 1996-05-10 1999-04-27 Abb Atom Ab Method and a device for movement correction and positioning
US6256553B1 (en) 1995-11-14 2001-07-03 Sime Oy Method and device to pick up, transport and put down a load
US20050247656A1 (en) * 2002-07-25 2005-11-10 Siemens Aktiengesellschaft Crane installation, in particular container crane
US20110272376A1 (en) * 2010-05-10 2011-11-10 Korea Advanced Institute Of Science And Technology Trolley assembly for a crane and a crane therewith
ITMI20102279A1 (it) * 2010-12-14 2012-06-15 Vinati Service Di Vinati Felice & C S A S Dispositivo per la localizzazione dei carichi in impianti di sollevamento
US20160031682A1 (en) * 2014-07-31 2016-02-04 Par Systems, Inc. Crane motion control
CN107324211A (zh) * 2017-06-12 2017-11-07 芜湖天航科技（集团）股份有限公司 用于行车吊绳的止挡装置
US10519008B1 (en) * 2018-06-19 2019-12-31 Jim Riley Crane load centering assembly
US11268807B2 (en) * 2013-03-15 2022-03-08 Goodrich Corporation Hoist and winch cable angle sensor

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5321347U (de) * 1976-08-03 1978-02-23
JPS58144090A (ja) * 1982-02-22 1983-08-27 日立機電工業株式会社 クレ−ンの荷振れ防止装置
DE3320163A1 (de) * 1983-06-03 1984-12-13 Prüftechnik Dieter Busch + Partner GmbH & Co, 8045 Ismaning Vorrichtung zum feststellen von fluchtungsfehlern hintereinander angeordneter wellen
DE3419059A1 (de) * 1984-05-22 1985-11-28 Prüftechnik KG Dieter Busch + Partner GmbH & Co, 8045 Ismaning Vorrichtung zum feststellen von aenderungen der gegenseitigen position gesondert montierter maschinen
GB2162634B (en) * 1984-08-01 1988-03-30 Hamar M R System for measuring position of incidence of laser beam on a continuous cell target with respect to a given point
JPS61148980U (de) * 1985-03-08 1986-09-13
GB8609500D0 (en) * 1986-04-18 1986-05-21 Gec Elliott Mech Handling Material handling systems
FR2664885B1 (fr) * 1990-07-18 1995-08-04 Caillard Procede de controle de deplacement d'une charge pendulaire et dispositif pour sa mise en óoeuvre.
US5314082A (en) * 1993-02-05 1994-05-24 Harnischfeger Corporation Sensing device for indicating improper orientation of a hoist lifting line
DE4325946C2 (de) * 1993-08-02 1998-04-09 Fraunhofer Ges Forschung Dämpfungs- und Positioniereinrichtung zur aktiven Dämpfung der Pendelung von an Kranen aufgehängten Lasten
EP0668236B1 (de) * 1994-02-18 1999-05-19 Siemens Aktiengesellschaft Anordnung zur Lastpositionierung bei Kranen
DE4405683A1 (de) * 1994-02-22 1995-08-24 Siemens Ag Verfahren zur Förderung einer Last mittels eines Krans
DE202016008626U1 (de) * 2016-11-15 2018-09-14 Josef Morosin Anordnung mit einem Kran
CN107572373B (zh) * 2017-08-31 2019-08-23 武汉理工大学 基于机器视觉的新型起重机主动防斜拉控制系统及其控制方法
DE102019109448B4 (de) 2019-04-10 2022-09-08 Josef Morosin Anordnung mit einem Kran
CN113428780B (zh) * 2021-06-24 2022-06-28 中南大学 起重机吊钩或吊物的旋角检测方法、误差消除方法及系统

Citations (4)

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US2948890A (en) * 1956-04-26 1960-08-09 Dell Brothers O Position meter
US3517830A (en) * 1967-10-10 1970-06-30 Vilkko Antero Virkkala Cranes
US3544988A (en) * 1966-12-22 1970-12-01 Barnes Eng Co Picture motion detection system
US3750130A (en) * 1971-11-17 1973-07-31 L Lute Electrical indicator

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2948890A (en) * 1956-04-26 1960-08-09 Dell Brothers O Position meter
US3544988A (en) * 1966-12-22 1970-12-01 Barnes Eng Co Picture motion detection system
US3517830A (en) * 1967-10-10 1970-06-30 Vilkko Antero Virkkala Cranes
US3750130A (en) * 1971-11-17 1973-07-31 L Lute Electrical indicator

Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4273243A (en) * 1979-04-18 1981-06-16 Locher Frank S Lift centering device
US4358020A (en) * 1980-12-31 1982-11-09 J. I. Case Company Apparatus for aligning trolleys
US4471877A (en) * 1982-09-01 1984-09-18 Whitley Charles C Crane sensor to detect out of plumb lift cable
US4883184A (en) * 1986-05-23 1989-11-28 Albus James S Cable arrangement and lifting platform for stabilized load lifting
US5048703A (en) * 1988-05-18 1991-09-17 Tax Ingenieurgesellschaft Mbh Container crane installation
US5152408A (en) * 1988-05-18 1992-10-06 Hans Tax Container crane installation
EP0596330A1 (de) * 1992-11-03 1994-05-11 Siemens Aktiengesellschaft Anordnung zum messtechnischen Erfassen von Lastpendelungen bei Kranen
US5491549A (en) * 1992-11-03 1996-02-13 Siemens Aktiengesellschaft Apparatus for acquiring pendulum oscillations of crane loads using measurement techniques
EP0611211A1 (de) * 1993-02-12 1994-08-17 Caillard Kontroll- und Steuersystem für die Geschwindigkeit einer bewegten, pendelnden Ladung und Hebevorrichtung mit einem solchen System
FR2701467A1 (fr) * 1993-02-12 1994-08-19 Caillard Système de contrôle de commande de la vitesse de déplacement d'une charge pendulaire et appareil de levage comprenant un tel système.
US5408407A (en) * 1993-03-15 1995-04-18 Pentek, Inc. System and method for positioning a work point
US5440476A (en) * 1993-03-15 1995-08-08 Pentek, Inc. System for positioning a work point in three dimensional space
US5729339A (en) * 1993-09-02 1998-03-17 Korea Atomic Energy Research Institute Swing angle measuring apparatus for swing free operation of crane
US5823511A (en) * 1995-10-12 1998-10-20 Her Majesty The Queen In Right Of Canada, As Represented By Minister Of National Defence Of Her Majesty's Canadian Government Force generation device for simulation of shoulder-supported rocket launching
US6256553B1 (en) 1995-11-14 2001-07-03 Sime Oy Method and device to pick up, transport and put down a load
US5898746A (en) * 1996-05-10 1999-04-27 Abb Atom Ab Method and a device for movement correction and positioning
US20050247656A1 (en) * 2002-07-25 2005-11-10 Siemens Aktiengesellschaft Crane installation, in particular container crane
US7308337B2 (en) * 2002-07-25 2007-12-11 Siemens Aktiengesellschaft Crane installation, in particular container crane
US20110272376A1 (en) * 2010-05-10 2011-11-10 Korea Advanced Institute Of Science And Technology Trolley assembly for a crane and a crane therewith
ITMI20102279A1 (it) * 2010-12-14 2012-06-15 Vinati Service Di Vinati Felice & C S A S Dispositivo per la localizzazione dei carichi in impianti di sollevamento
US11268807B2 (en) * 2013-03-15 2022-03-08 Goodrich Corporation Hoist and winch cable angle sensor
US20220155061A1 (en) * 2013-03-15 2022-05-19 Goodrich Corporation Hoist and winch cable angle sensor
US20160031682A1 (en) * 2014-07-31 2016-02-04 Par Systems, Inc. Crane motion control
US9776838B2 (en) * 2014-07-31 2017-10-03 Par Systems, Inc. Crane motion control
CN107324211A (zh) * 2017-06-12 2017-11-07 芜湖天航科技（集团）股份有限公司 用于行车吊绳的止挡装置
US10519008B1 (en) * 2018-06-19 2019-12-31 Jim Riley Crane load centering assembly

Also Published As

Publication number Publication date
JPS4916153A (de) 1974-02-13
NL7305071A (de) 1973-10-16
SE361869B (de) 1973-11-19
DE2316810A1 (de) 1973-10-18
GB1422013A (en) 1976-01-21

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