WO2001057553A1 - Dispositif de mesure de distance au laser pour systemes anti-collision - Google Patents

Dispositif de mesure de distance au laser pour systemes anti-collision Download PDF

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Publication number
WO2001057553A1
WO2001057553A1 PCT/EP2000/006145 EP0006145W WO0157553A1 WO 2001057553 A1 WO2001057553 A1 WO 2001057553A1 EP 0006145 W EP0006145 W EP 0006145W WO 0157553 A1 WO0157553 A1 WO 0157553A1
Authority
WO
WIPO (PCT)
Prior art keywords
range finder
distance
track
sensor arrangement
markings
Prior art date
Application number
PCT/EP2000/006145
Other languages
German (de)
English (en)
Inventor
Joachim Tiedecke
Egbert Ronald Ivo Casimir Visscher
Original Assignee
Idm Gmbh Infrarot Sensoren
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 Idm Gmbh Infrarot Sensoren filed Critical Idm Gmbh Infrarot Sensoren
Priority to EP00943957A priority Critical patent/EP1315982A1/fr
Priority to AU58228/00A priority patent/AU5822800A/en
Publication of WO2001057553A1 publication Critical patent/WO2001057553A1/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • 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
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
    • B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications

Definitions

  • the present invention relates to a sensor arrangement with the features of the preamble of claim 1 and a method for operation along a track device.
  • Generic sensor arrangements are known, for example, as distance sensors for cranes from the prior art.
  • Distance sensors are used to determine the distance of the crane from the end point of a crane runway or the distance of the crane from a second crane traveling on the same crane runway in overhead cranes or trolleys and to influence the motor control of the crane in such a way that the travel speed of the crane falls below a minimum distance Crane lowered or the crane is finally stopped completely.
  • the known sensor arrangements work Usually with a light beam in the infrared range, the transit time of which is measured to a reflector attached to the opposite object, which gives the distance directly.
  • a sensor arrangement with the features of claim 1. Because, in addition to the range finder for the absolute distance to an adjacent object, a second range finder is provided on the basis of the travel time, which detects a position of the device relative to markings arranged on the track, at the start of a measurement via the travel time sensor, this can initially be done with the inherent accuracy Sensor position can be determined. The exact position with an accuracy in the range of a few millimeters can then be detected via the incremental sensor. If the visibility conditions deteriorate during operation, the incremental sensor can continuously track and determine the position by counting up or down the path markings, even if the transit time sensor is interrupted.
  • the incremental sensor can work in a particularly simple manner with individual markings along the path and does not require any coding, since the initial information is transmitted by the runtime sensor.
  • the second sensor is preferably an incremental sensor, which has a position-resolving detector means and optics for projecting the markings onto the detector means. With these features, relatively inexpensive sensors can be implemented, which nevertheless achieve an accuracy in the range of 1 mm. Updating the location when the transit time sensor is interrupted is particularly easy if the markings are arranged at regular intervals, for example m intervals of one meter each.
  • the markings can be assigned to specific objects along the track and, if necessary, be arranged at irregular distances if the absolute value from the end point is not the value to be determined, but a relative position to the marked object is to be approached.
  • Such a requirement exists, for example, for elevators that have to move to a defined position with respect to a floor level of a building.
  • the evaluation means is set up to compare those of the first and the second rangefinder and possibly the third rangefinder and the absolute position, speed and / or acceleration of the device on the track and possibly the distance to an adjacent one to calculate moving object.
  • the complete movement variables of the movable device are determined, and knowing the applicable constants, the maximum dynamics of the system can be fully exploited in any state.
  • steps a) and b) are preferably carried out synchronously, which avoids following errors which would lead to differences in the measurement result if the steps were carried out sequentially without compensation.
  • the absolute position of the device is determined from the combination of the results of steps a) and b) and a known position of the markings, then the absolute value of the distance between the device and a fixed reference point, for example the end the crane runway or an elevator shaft, can be clearly determined with high accuracy. If, in addition, the determination of the complete movement data (location, speed, acceleration) of the device is provided, the full speed and acceleration or braking potential can be exhausted when the device is moved.
  • the movement data of the neighboring device in a calculation of the possible movements in terms of speed, acceleration and braking. In this way, even if the two devices move towards each other, the full speed potential available can be used.
  • FIG 1 A single overhead crane with two
  • Rangefinders on a transit time or incremental basis
  • Figure 3 a crane system with a total of three
  • the crane itself carries a first range finder 6, which determines the distance to the reflector 3 by emitting a pulsed measuring beam 7 along a measuring section. Furthermore, a second range finder 8 is provided, which determines the position relative to the closest marking 4 by emitting a continuous measuring beam 9. Furthermore, the first range finder 6 and the second range finder 8 are connected via connection lines 10 to a common control 11, which in turn also contains the motor control (not shown) of the overhead crane 1.
  • the distance of the crane 1 from the reflector 3 is determined via the first range finder 6 by emitting the measuring beam 7 and its transit time to the reflector 3 and back. This distance is determined with an accuracy that is better than half the distance between the two markings 4.
  • the second range finder 8 sends the, for example, continuous measuring beam 9 to the markings, which in turn are formed by line-shaped retroreflectors.
  • the next marker 4 reflects the light of the measuring beam 9 and is imaged via optics, for example on a CCD line, the resolution of which with 256 pixels enables an accuracy of 1 mm if the markers are at a distance of one meter from one another.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

Système capteur pour des engins (1) se déplaçant de manière essentiellement linéaire sur une voie (2), qui comporte au moins un premier dispositif de mesure de distance (6) mesurant la distance dans le sens de la voie (2). Ce dispositif de mesure détermine la distance par rapport à un objet voisin (3) sur la base du temps de propagation d'une impulsion émise le long d'un faisceau de mesure (7). Ledit système capteur comporte un second dispositif de mesure de distance (8) qui détermine une position de l'engin (1) par rapport à des repères (4) associés à la voie.
PCT/EP2000/006145 2000-01-31 2000-07-01 Dispositif de mesure de distance au laser pour systemes anti-collision WO2001057553A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP00943957A EP1315982A1 (fr) 2000-01-31 2000-07-01 Dispositif de mesure de distance au laser pour systemes anti-collision
AU58228/00A AU5822800A (en) 2000-01-31 2000-07-01 Laser distance meter for use in an anti-collision systems

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10004010.1 2000-01-31
DE10004010A DE10004010A1 (de) 2000-01-31 2000-01-31 Laser-Entfernungsmesser für Antikollisionsanwendungen

Publications (1)

Publication Number Publication Date
WO2001057553A1 true WO2001057553A1 (fr) 2001-08-09

Family

ID=7629237

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2000/006145 WO2001057553A1 (fr) 2000-01-31 2000-07-01 Dispositif de mesure de distance au laser pour systemes anti-collision

Country Status (4)

Country Link
EP (1) EP1315982A1 (fr)
AU (1) AU5822800A (fr)
DE (1) DE10004010A1 (fr)
WO (1) WO2001057553A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014005692A3 (fr) * 2012-07-05 2014-09-04 Abb Ag Système et procédé de détection et de modification ultérieure de la position d'au moins un appareil d'entreposage déplaçant un produit en vrac

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10309219A1 (de) * 2003-02-28 2004-09-16 Gottwald Port Technology Gmbh Sicherheitsschaltung zur Fahrwegbegrenzung von Kranen
DE102006036320B4 (de) * 2006-08-03 2012-12-20 Pepperl + Fuchs Gmbh Vorrichtung und Verfahren zum berührungslosen Bestimmen der Position eines sich bewegenden Zielobjektes
CN110673081B (zh) * 2019-10-18 2021-10-29 国网福建省电力有限公司 基于边缘计算的智能电表误差在线估计方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1156955B (de) * 1960-04-06 1963-11-07 Lothar Franke Elektrooptische Sicherheitseinrichtung fuer industrielle Schienenfahrzeuge gegen Zusammenstossen, insbesondere fuer Krananlagen
DE1157363B (de) * 1960-04-06 1963-11-14 Lothar Franke Elektrooptische Sicherheitseinrichtung fuer auf gleicher Bahn befindliche industrielle Fahrzeuge, insbesondere Laufkrane
DE1204374B (de) * 1964-06-20 1965-11-04 Deutschland A G Maschf Kollisionsschutzeinrichtung fuer Kraene oder aehnliche Fahrzeuge untereinander
DE3623423A1 (de) * 1986-07-11 1988-01-28 Krupp Gmbh Sensorsystem zum positionieren einer laufkatze oder eines schienengefuehrten krans
US5023434A (en) * 1988-07-23 1991-06-11 R. Stahl Fordertechnik Gmbh Position indicating apparatus for transporters on tracks

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2841269C2 (de) * 1978-09-22 1980-08-14 Neumann Elektronik Gmbh, 4330 Muelheim Einrichtung mit Energiesende- und empfangs- sowie Kennungssende- und -empfangsvorrichtungen zur Positionsbestimmung und Abstandswarnung an einer Anlage mit Laufkränen auf dem gleichen Fahrstreckenabschnitt
DE3114123C2 (de) * 1981-04-08 1985-11-21 Gustav Schade Maschinenfabrik Gmbh & Co, 4600 Dortmund Einrichtung zur Standortbestimmung von fahrbaren Haldengeräten
DE59010364D1 (de) * 1990-12-13 1996-07-11 Abus Kransysteme Gmbh & Co Kg Sensor-System zur Überwachung von Kranen
FR2715391B1 (fr) * 1994-01-24 1996-03-22 Lorraine Laminage Dispositif et procédé d'anticollision pour un mobile.

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1156955B (de) * 1960-04-06 1963-11-07 Lothar Franke Elektrooptische Sicherheitseinrichtung fuer industrielle Schienenfahrzeuge gegen Zusammenstossen, insbesondere fuer Krananlagen
DE1157363B (de) * 1960-04-06 1963-11-14 Lothar Franke Elektrooptische Sicherheitseinrichtung fuer auf gleicher Bahn befindliche industrielle Fahrzeuge, insbesondere Laufkrane
DE1204374B (de) * 1964-06-20 1965-11-04 Deutschland A G Maschf Kollisionsschutzeinrichtung fuer Kraene oder aehnliche Fahrzeuge untereinander
DE3623423A1 (de) * 1986-07-11 1988-01-28 Krupp Gmbh Sensorsystem zum positionieren einer laufkatze oder eines schienengefuehrten krans
US5023434A (en) * 1988-07-23 1991-06-11 R. Stahl Fordertechnik Gmbh Position indicating apparatus for transporters on tracks

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP1315982A1 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014005692A3 (fr) * 2012-07-05 2014-09-04 Abb Ag Système et procédé de détection et de modification ultérieure de la position d'au moins un appareil d'entreposage déplaçant un produit en vrac
CN104685435A (zh) * 2012-07-05 2015-06-03 Abb股份公司 用于检测和进一步处理移动散装货物的至少一个储存场装置的位置的系统和方法
US9156634B2 (en) 2012-07-05 2015-10-13 Abb Ag System and method for detecting and further processing the position of at least one storage space device moving bulk material

Also Published As

Publication number Publication date
DE10004010A1 (de) 2001-08-23
AU5822800A (en) 2001-08-14
EP1315982A1 (fr) 2003-06-04

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