WO2012159504A1

WO2012159504A1 - Three-dimensional moment limiter of crane and crane comprising same

Info

Publication number: WO2012159504A1
Application number: PCT/CN2012/073744
Authority: WO
Inventors: 唐毅; 马闯; 章云徽
Original assignee: 上海三一科技有限公司
Priority date: 2011-05-23
Filing date: 2012-04-10
Publication date: 2012-11-29
Also published as: CN102267662A

Abstract

Disclosed is a three-dimensional moment limiter of a crane, comprising a display module (1), a storage module (2), a calculation control module (3) and a detection module (4) that are connected to each other. The calculation control module invokes pre-stored current main components of a crane to perform three-dimensional modeling based on Direct3D and OpenGL technologies, and assembles, according to detected current setting parameters of the crane, a three-dimensional model identical to the crane of the actual scenario, then simulates, according to the product model, work condition, operating parameters and working environment of the crane, a three-dimensional scene of the working environment in real time. Also disclosed is a crane comprising the three-dimensional moment limiter. The three-dimensional moment limiter of the present invention not only has the function of a general moment limiter, but also has the function of displaying the working state of a crane in an all-round and three-dimensional way as well as in real time. Such a human-centered design enables an operator to observe the current working state of the crane more intuitively, thereby improving operating efficiency.

Description

The three-dimensional torque limiter of the crane and the crane including the same. This application claims to be submitted to the Chinese Patent Office on May 23, 2011, the application number is 201110133610.5, the invention name is "the three-dimensional torque limiter of the crane and includes the torque limiter" The priority of the Chinese Patent Application, which is incorporated herein by reference.

Technical field

The present invention relates to the field of crane safety technology, and in particular to a torque limiter for three-dimensional display of a crane, and a crane including the torque limiter.

Background technique

Cranes often work in complex and harsh environments. In order to prevent tilting, folding arms and other accidents caused by mishandling and overloading of crawler cranes, cranes must be equipped with torque limiters to ensure safe operation and as a safety protection. The torque limiter of the device must have a 4 艮 high reliability, stability and detection accuracy.

The torque limiter is an independent and completely computer-controlled safety operating system. It is usually composed of a display, a single-chip computing control box, an angle sensor, a length sensor, a pressure (pull) force sensor and a hydraulic pressure sensor. It can automatically detect the crane. The quality of the lifting and the angle of the boom, and can show its rated load and actual load, working radius, angle of the boom, mainly used for real-time monitoring and detection of crane conditions, with its own diagnosis Features, fast hazard alarms and safety controls. It also has a black box function, which is to automatically record dangerous conditions during operation, and provide a basis for accident analysis and processing. However, almost all torque limiters are now two-dimensional interfaces. The user can only observe the current working status of the crane through a picture, and cannot understand the overall working state of the crane.

Summary of the invention

In order to solve the above technical problems, an object of the present invention is to provide a crane torque limiter having a three-dimensional interface, providing a three-dimensional user interface, giving the crane operator a new experience, and another object of the present invention is to provide A crane comprising the above three-dimensional torque limiter.

The object of the invention is achieved by the following technical solutions:

A three-dimensional torque limiter for a crane includes a display module, a storage module, a calculation control module and a detection module connected to each other, and the detection module includes an angle sensor, a hydraulic pressure sensor, and a tension force a sensor, wherein the calculation control module performs three-dimensional modeling based on the main components of the current crane pre-stored in the storage module based on the Direct3D and OpenGL technologies, and assembles and actualizes according to the current setting parameters of the crane detected by the detection module. a three-dimensional model of the crane in the scene, and real-time simulation of the three-dimensional scene of the working environment according to the current crane product model, usage conditions, operating parameters, and working environment, and the three-dimensional model and the three-dimensional scene are displayed in real time in the display The interface of the module is displayed, and when the crane is in motion, the three-dimensional model on the interface of the display module performs a corresponding action.

The three-dimensional torque limiter of the above crane, further comprising a monitoring alarm module, connected to the computer control module, and displaying the corresponding fault position of the three-dimensional model on the display module by monitoring the working condition of the crane in the actual scene The impending fault, and sound and light alarm, promptly remind the operator to make a correct judgment.

The three-dimensional torque limiter of the above crane, wherein the main components of the current crane are derived from a three-dimensional design software, such as Pro/Engineer, UG, SolidWorks, 3D Studio Max.

The three-dimensional torque limiter of the above crane, wherein the display module displays on the interface includes grounding specific pressure of the crane and real-time center of gravity information.

The three-dimensional torque limiter of the above crane, wherein the three-dimensional scene comprises a three-dimensional crane, a three-dimensional sky and ground, a three-dimensional obstacle model, and three-dimensional crane labeling information.

The three-dimensional torque limiter of the above crane, wherein the three-dimensional scene can be observed through the camera in all directions, and the current three-dimensional scene is translated, rotated and scaled by the camera.

The three-dimensional torque limiter of the above crane, wherein the operating parameters include a swing angle and a boom angle.

The three-dimensional torque limiter of the above crane, wherein the three-dimensional model supports movement or rotation. The three-dimensional torque limiter of the above-mentioned crane, wherein the storage module further stores a three-dimensional scene library. When the scene is replaced, the computer control module retrieves a model from the scene library to construct a working scene equivalent to the actual scene. And use the scene management function to implement the replacement, save and delete of the model in the scene.

A crane comprising a main platform, a cab, a boom with a pull plate, and an anti-backlash cylinder, wherein the three-dimensional torque limiter according to any one of claims 1 to 8 is included, in the three-dimensional torque limiter The angle sensor is located on the boom, and the oil pressure sensor is located at the arm On the rear tilt cylinder, the tension sensor is mounted on the pull plate, the display module is disposed in the cab, and the calculation control module is disposed in the electronic control rejection on the main platform.

Compared with the prior art, the beneficial effects of the invention are as follows: In addition to the function of the general torque limiter, the three-dimensional torque limiter has the functions of omnidirectional, three-dimensional and real-time display of the working state of the crane, and the humanized design. It allows the staff to more intuitively observe the current working state of the crane and improve the efficiency of the work.

DRAWINGS

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a schematic block diagram showing the structure of a three-dimensional torque limiter for a crane of the present invention.

detailed description

The present invention will be further described below in conjunction with the schematic diagrams and specific operational examples.

As shown in FIG. 1 , the three-dimensional torque limiter of the crane of the present invention specifically comprises a display module 1 , a storage module 2 , a calculation control module 3 and a detection module 4 connected to each other. The detection module 4 includes an angle sensor, a hydraulic pressure sensor, a tension sensor, and the like. . The calculation control module 3 performs three-dimensional modeling on the main components of the current crane pre-stored in the storage module 2 based on the Direct3D and OpenGL technologies. The main components of the current crane can be three-dimensional models from Pro/Engineer, UG, SolidWorks, 3D Studio Max, etc. Exported in the design software, assembled into the same three-dimensional model as the crane in the actual scene according to the current setting parameters of the crane detected by the detection module 4, and simulated the work in real time according to the current crane product model, operating conditions, operating parameters, and working environment. The three-dimensional scene of the environment, the running parameters include the angle of rotation and the angle of the boom, etc., and then the three-dimensional model and the three-dimensional scene are displayed on the interface of the display module 1 in real time. The display module 1 also displays the grounding pressure and real-time center of gravity information of the crane on the interface. When the crane is running, the three-dimensional model on the interface of the display module 1 performs corresponding actions.

In order to simulate the scene more realistic, the storage module 2 stores a three-dimensional scene library, which contains some common scene models, such as sky, ground, trees, buildings, vehicles, etc., and also includes three-dimensional cranes, three-dimensional obstacles. Model and three-dimensional crane labeling information, etc., users can freely add models close to the real scene from the scene library, and move the model to the corresponding position by moving or rotating, simulate the real crane operating environment, and then pass Create a scene management class to manage all the models in the current scene. This scene library can be imported or updated in real time according to customer needs. When the scene is changed, the computer control module 3 retrieves the model from the scene library to build a work scene equivalent to the actual scene, and uses the scene management function to Replace, save, and delete models in the current scene. 3D models support moving or rotating, through

Direct3D or OpenGL creates a camera class that encapsulates all the functions of this camera. The 3D scene can be viewed through the camera in all directions, and the camera can be used to pan, rotate and zoom the current 3D scene, from which the operator can Observe the entire working state of the crane from different angles.

The three-dimensional torque limiter of the crane of the invention further comprises a monitoring alarm module 5, which is connected with the computer control module 3 for monitoring the working condition of the crane in the actual scene. The three-dimensional model is exactly the same as the real crane, when the monitoring alarm module 5 detects When the crane model generates faults such as limit, interference, collision, etc., this means that the same failure will occur in the real crane. The impending fault is displayed by the corresponding fault position of the 3D model on the display module 1, and the sound and light are emitted. Alarm, promptly remind the operator to make a correct judgment.

The present invention also discloses a crane having the above three-dimensional torque limiter. Since other structures of the crane are basically the same as those of the prior art, those skilled in the art can grasp the other parts of the crane having the three-dimensional torque limiter in combination with the prior art. Structure, will not be described here.

The angle sensor in the three-dimensional torque limiter of the crane of the invention is located on the boom of the crane, the oil pressure sensor is located on the anti-backlash cylinder of the crane, the tension sensor is mounted on the pull plate of the crane, and the display module 1 is driven by the crane. The room is for the operator to watch, and the calculation control module 3 is integrated in the electronic control rejection on the main platform of the crane.

In summary, the three-dimensional torque limiter of the crane of the present invention and the crane including the torque limiter can display the working state of the crane in an all-round, three-dimensional and real-time manner, and the humanized design enables the worker to observe more intuitively. Going to the current working state of the crane provides a new operating experience and improves work efficiency.

The specific embodiments of the present invention have been described in detail above, but the invention is not limited to the specific embodiments described above. It is within the scope of the invention for any person skilled in the art to make any equivalent modifications and substitutions to the three-dimensional torque limiter of the crane and the crane including the torque limiter. Accordingly, equivalent changes and modifications may be made without departing from the spirit and scope of the invention.

Claims

Rights request

A three-dimensional torque limiter for a crane, comprising a display module, a storage module, a calculation control module and a detection module connected to each other, the detection module comprising an angle sensor, a hydraulic pressure sensor and a tension sensor, wherein the calculation control module The three-dimensional modeling of the main components of the current crane pre-stored in the storage module is performed based on the Direct3D and OpenGL technologies, and the three-dimensional model of the crane in the actual scene is assembled according to the current setting parameters of the crane detected by the detection module. And real-time simulation of the three-dimensional scene of the working environment according to the current model of the crane, the working condition, the operating parameter, and the working environment, and displaying the three-dimensional model and the three-dimensional scene on the interface of the display module in real time, when the crane When the action is performed, the three-dimensional model on the display module interface performs a corresponding action.

2. The three-dimensional torque limiter of a crane according to claim 1, further comprising a monitoring alarm module connected to said computer control module, wherein said display module is monitored by monitoring a working condition of a crane in an actual scene The corresponding fault location on the three-dimensional model displays an impending fault, and an audible and visual alarm is issued to prompt the operator to make a correct judgment.

3. A three-dimensional torque limiter for a crane according to claim 1 wherein said main components of said current crane are derived from three-dimensional design software, said three-dimensional design software comprising

Pro/Engineer, UG, SolidWorks, 3D Studio Max.

4. The three-dimensional torque limiter of a crane according to claim 1, wherein the content displayed on the interface by the display module comprises grounding specific pressure of the crane and real-time center of gravity information.

The three-dimensional torque limiter for a crane according to claim 1, wherein the three-dimensional scene comprises a three-dimensional crane, a three-dimensional sky and ground, a three-dimensional obstacle model, and three-dimensional crane marking information.

A three-dimensional torque limiter for a crane according to claim 1, wherein said three-dimensional scene can be observed through the camera in all directions, and the current three-dimensional scene is translated, rotated and scaled by said camera.

A three-dimensional torque limiter for a crane according to claim 1, wherein said operating parameters include a swivel angle and a boom angle.

A three-dimensional torque limiter for a crane according to claim 1, wherein said three-dimensional model supports movement or rotation.

9. The three-dimensional torque limiter of a crane according to claim 1, wherein The storage module further stores a three-dimensional scene library. When the scene is replaced, the computer control module retrieves a model from the scene library to construct a working scene corresponding to the actual scene, and implements the scene by using the scene management function. Model replacement, saving and deletion.

A crane comprising a main platform, a cab, a boom with a pull plate, and an anti-backlash cylinder, characterized by comprising the three-dimensional torque limiter according to any one of claims 1 to 9, the three-dimensional The angle sensor in the torque limiter is located on the boom, the oil pressure sensor is located on the anti-backlash cylinder, the tension sensor is mounted on the pull plate, and the display module is disposed on the In the cab, the calculation control module is disposed within the electronic control rejection on the main platform.