CN102145859A - Double-lifting-appliance bridge crane adopting ultrasonic sensor and positioning method thereof - Google Patents
Double-lifting-appliance bridge crane adopting ultrasonic sensor and positioning method thereof Download PDFInfo
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- CN102145859A CN102145859A CN 201110037847 CN201110037847A CN102145859A CN 102145859 A CN102145859 A CN 102145859A CN 201110037847 CN201110037847 CN 201110037847 CN 201110037847 A CN201110037847 A CN 201110037847A CN 102145859 A CN102145859 A CN 102145859A
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Abstract
The invention discloses a double-lifting-appliance bridge crane adopting an ultrasonic sensor and a positioning method thereof. The double-lifting-appliance bridge crane comprises a double-lifting-appliance bridge crane body and is characterized in that the double-lifting-appliance bridge crane also comprises two ultrasonic generators, four ultrasonic receivers, an ultrasonic signal processor and a control computer; the two ultrasonic generators are used for generating ultrasonic waves with different frequencies; the ultrasonic receivers are divided into two groups and are respectively used for detecting the oscillating conditions in the front-and-rear direction and in the left-and-right direction; the ultrasonic signal processor is used for the works of generation, identification, filter processing and the like of an ultrasonic signal; and the control computer is used for computing oscillating angles and oscillating directions of lifting appliances and carrying out anti-oscillating positioning control on the bridge crane by utilizing the oscillating angles and the oscillating directions of the lifting appliances. In the invention, an ultrasonic detection technology and a Doppler principle are adopted; the oscillating angles of the two lifting appliances can be conveniently obtained by detecting and analyzing the ultrasonic waves generated by the double-lifting-appliance ultrasonic generators so as to realize accurate positioning control on loads of the lifting appliances.
Description
Technical field
The present invention relates to a kind of pair of suspender bridge crane device and localization method thereof, specially refer to a kind of two suspender bridge crane devices and localization method thereof that adopts ultrasonic transduter.
Background technology
Two suspender bridge cranes (comprising Chang Qiao and An Qiao) are a kind of novel harbour container place weight-lifting equipments, because it has two suspenders that hoist, once can lift by crane two 40 feet or 4 20 forty equivalent unit 40s, significantly improved container handling efficient, but, the two two suspender bridge crane complex structures that hoist of this big span, mode of operation is various, brings very big difficulty for location control.Because this novel bridge crane has two suspenders that can independently hoist, traditional single suspender bridge crane controller is not suitable for the control of this pair of suspender bridge crane.
One of anti-key of shaking control of bridge crane is the detection to the suspender pivot angle.Existing single suspender bridge crane control system generally adopts the detecting instrument of more complicated to the detection of suspender pivot angle, has the cost height, safeguards shortcomings such as inconvenient, that environment for use is limited.
In sum, at the characteristics of prior art, need a kind of two suspender bridge crane devices and localization method thereof that adopts ultrasonic transduter especially, to solve above-mentioned problem.
Summary of the invention
The object of the present invention is to provide a kind of two suspender bridge crane devices and localization method thereof that adopts ultrasonic transduter, detect and analyze by the hypracoustic that two suspender ultrasonic generators are sent, can obtain the pivot angle of two suspenders easily, thereby realize accurate positioning control the suspender load.
Technical matters solved by the invention can realize by the following technical solutions:
A kind of two suspender bridge crane devices that adopt ultrasonic transduter comprise two suspender bridge crane device bodies, it is characterized in that it also comprises two ultrasonic generators, four ultrasonic receivers, a ultrasonic signal processor and control computer; Described two ultrasonic generators are installed on the lower end of suspender, send the super sonic of different frequency; Described ultrasonic receiver is divided into two groups, is installed on the upper end of suspender, is respectively applied for the swing situation that detects fore-and-aft direction and left and right directions; Described ultrasonic signal processor is installed on the top of two suspender bridge crane devices, is responsible for generation, identification, the Filtering Processing work of ultrasonic signal; Described control computer is installed on the top of two suspender bridge crane devices, is responsible for calculating the pivot angle of suspender and waves direction and use it for the anti-of bridge crane device and shake positioning control or be transferred to operator's compartment.
In one embodiment of the invention, described control computer has two kinds of patterns, is respectively two suspender patterns of control and the single suspender pattern of control.
A kind of localization method that adopts two suspender bridge cranes of ultrasonic transduter is characterized in that described method comprises the steps:
1) before device work, at first the initial position of two suspender bridge crane ultrasonic positioning systems is demarcated, and calculated the initial angle of waving of left and right directions under static state
α 0The initial angle of waving with fore-and-aft direction
β 0
2) when suspender begin because of the motion swing after, two ultrasonic transmitters are constantly launched the ultrasonic locating impulse singla of different frequency, in a sampling period, ultrasonic receiver is gathered these signals and is sent that ultrasonic signal processor is discerned, filtering to;
3) information after ultrasonic signal processor will be handled sends the bridge crane control computer to, the bridge crane control computer combines these information with other information (as the rope long letter breath of suspender) of suspender, calculate the anti-of angle [alpha], β and corresponding offset direction and this cycle of finishing that wave that the load of sampling instant bridge crane departs from static initial position and shake control or be transferred to operator's compartment, finish the bridge crane control task until the bridge crane computing machine.
The present invention has adopted ultrasonic detection technology and doppler principle, detects and analyzes by the hypracoustic that two suspender ultrasonic generators are sent, and can obtain the pivot angle of two suspenders easily, thereby realizes the accurate positioning control to the suspender load.Advantages such as the apparatus and method that the present invention relates to have simple in structure, and the accuracy height is easy to maintenance, and is cheap.
Description of drawings
Fig. 1 is the front elevation of two suspender bridge crane devices of employing ultrasonic transduter of the present invention;
Fig. 2 is the lateral plan of two suspender bridge crane devices of employing ultrasonic transduter of the present invention;
Fig. 3 is the position view of ultrasonic receiver of the present invention.
The specific embodiment
For technological means, creation characteristic that the present invention is realized, reach purpose and effect is easy to understand, below in conjunction with concrete diagram, further set forth the present invention.
A kind of two suspender bridge crane devices that adopt ultrasonic transduter of the present invention, comprise two suspender bridge crane device bodies, it comprises and it is characterized in that it also comprises two ultrasonic generators, four ultrasonic receivers, a ultrasonic signal processor and control computer.
As depicted in figs. 1 and 2,1 is freight container traffic truck (being commonly called as " truck "); 2 is container load; 3,4 is two ultrasonic transmitters on the suspender, is installed in the geometric centre of two suspenders respectively.Ultrasonic transmitter 3,4 frequency of ultrasonic of being sent on two suspenders are different, so that distinguish; 5 is lifting rope; 6,7,8,9 is ultrasonic receiver, and being divided into is two groups, and two every group, wherein 7 and 9 is one group, and 6 and 8 is one group, detects bridge crane load side-to-side movement direction respectively and the swing situation of the direction that seesaws; 10 is the multichannel ultrasonic signal processor, finishes the work such as emission, reception, discriminating, Filtering Processing of ultrasonic pulse signal; 11 is the bridge crane control computer, is responsible for receiving and handling the feedback information that ultrasonic signal processor obtains, and calculates suspender and waves angle; Receive and also to handle other bridge crane transducing signal, be responsible for the control of bridge crane operation and calculate, that finishes bridge crane trolley anti-ly shakes positioning control; 12 is the operator's compartment of bridge crane, is responsible for sending the bridge crane operational order; 13 is the big vehicle moving mechanism and the track of bridge crane.Suitably control the running velocity of cart, can suppress the pivot angle of suspender, the quick location of realizing bridge crane; 14 is the cart of bridge crane; 15 is bridge crane trolley travel mechanism and track; 16 is the quayside container crane suspender; 17 is the trolley body of two suspender bridge cranes.Two two suspender bridge cranes that hoist are controlled by the bridge crane control computer, and two suspenders can use together also and can use separately, once can load and unload two 40 forty equivalent unit 40s or 4 20 forty equivalent unit 40s simultaneously.
Fig. 3 is the installation site situation of the ultrasonic receiver that the present invention relates to, and 7,9,6,8 represent four ultrasonic receivers in left, right, front and rear respectively, and wherein, 6,8 is one group, is responsible for detecting the seesaw swing of direction of bridge crane load; 7,9 is one group, is responsible for detecting the swing of bridge crane load left and right directions.
The concrete working process of the bridge crane ultrasonic testing position fixing system that the present invention relates to is as follows:
Before the work of two suspender bridge crane, need demarcate two suspender ultrasonic positioning systems, the i.e. emission ultrasonic signal of ultrasonic transmitter 3,4 when suspender is static, two groups of ultrasonic signals that ultrasonic receiver 6,7,8,9 will record are sent to ultrasonic signal processor 10, and under static state left and right directions waves initial angle
a 0The initial angle of waving with fore-and-aft direction
b 0, wave the calculating of angle thereafter in the suspender operational process with initial angle
a 0With
b 0Be foundation, this work is the initialization procedure of super sonic sensing location.
When suspender 16 is swung along the moving of car direction, ultrasonic receiver is as broad as long to two signals that (6,8) receive, because waving of suspender make ultrasonic generator 3,4 will depart from the line of centers of dolly, so time difference D will occur between two ultrasonic signals that ultrasonic receiver receives (7,9)
t, ultrasonic signal processor 10 is by calculating, and the range difference that can obtain between suspender and two ultrasonic receivers is D
Tv s , wherein
v s Be the aerial propagation speed of super sonic, because the geometric distance between the ultrasonic receiver is known, the initial position of suspender load is known, if know lifting rope length
L, then in the triangle of ultrasonic receiver 7,9 and suspender load formation, utilize the cosine law just can accurately calculate the angle of waving that the load of sampling instant bridge crane departs from static initial position
aAnd corresponding offset direction, if do not know the precise length of lifting rope, then can estimate the degree D that the bridge crane load is waved
a, they be with
LRelevant constant, these observed readings of waving angle are all carried out pretreatment by ultrasonic signal processor 10, calculate by bridge crane control computer 11 then, and finish two suspender bridge cranes anti-ly shake positioning control.In like manner, if bridge crane moves along the cart direction, then the bridge crane load is along the angle of waving of cart direction
bCan detect (6,8) by ultrasonic receiver, send to ultrasonic signal processor 10 and carry out pretreatment, calculate by bridge crane control computer 11 then.In addition, as required, the bridge crane load pivot angle information that bridge crane control computer 11 calculates
aWith
bAlso can send to read-out on the operator's compartment, manually locate the operation reference for the bridge crane driver.
More than show and described groundwork of the present invention and principal character and advantage of the present invention.The technical personnel of the industry should be understood; the present invention is not restricted to the described embodiments; that describes in the foregoing description and the specification sheets just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications; these changes and improvements all fall in the claimed scope of the invention, and the claimed scope of the present invention is defined by appending claims and equivalent thereof
Claims (3)
1. the two suspender bridge crane devices that adopt ultrasonic transduter comprise two suspender bridge crane device bodies, it is characterized in that it also comprises two ultrasonic generators, four ultrasonic receivers, a ultrasonic signal processor and control computer; Described two ultrasonic generators are installed on the lower end of suspender, send the super sonic of different frequency; Described ultrasonic receiver is divided into two groups, is installed on the upper end of suspender, is respectively applied for the swing situation that detects fore-and-aft direction and left and right directions; Described ultrasonic signal processor is installed on the top of two suspender bridge crane devices, is responsible for generation, identification, the Filtering Processing work of ultrasonic signal; Described control computer is installed on the top of two suspender bridge crane devices, is responsible for calculating the pivot angle of suspender and waves direction and use it for the anti-of bridge crane device and shake positioning control or be transferred to operator's compartment.
2. two suspender bridge crane devices of employing ultrasonic transduter as claimed in claim 1 is characterized in that described control computer has two kinds of patterns, are respectively two suspender patterns of control and the single suspender pattern of control.
3. a localization method that adopts two suspender bridge cranes of ultrasonic transduter is characterized in that described method comprises the steps:
1) before device work, at first the initial position of two suspender bridge crane ultrasonic positioning systems is demarcated, and calculated the initial angle of waving of left and right directions under static state
α 0The initial angle of waving with fore-and-aft direction
β 0
2) when suspender begin because of the motion swing after, two ultrasonic transmitters are constantly launched the ultrasonic locating impulse singla of different frequency, in a sampling period, ultrasonic receiver gather these signals and send that ultrasonic signal processor is discerned to, filtration, filtering;
3) information after ultrasonic signal processor will be handled sends the bridge crane control computer to, and the bridge crane control computer is with the rope long letter breath of these information and suspender
LIn conjunction with, calculate the anti-of angle [alpha], β and corresponding offset direction and this cycle of finishing that wave that the load of sampling instant bridge crane departs from static initial position and shake control or be transferred to operator's compartment, finish the bridge crane control task until the bridge crane computing machine.
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| CN 201110037847 CN102145859B (en) | 2011-02-15 | 2011-02-15 | Double-lifting-appliance bridge crane adopting ultrasonic sensor and positioning method thereof |
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| CN 201110037847 CN102145859B (en) | 2011-02-15 | 2011-02-15 | Double-lifting-appliance bridge crane adopting ultrasonic sensor and positioning method thereof |
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| CN102145859B CN102145859B (en) | 2013-04-17 |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103145038A (en) * | 2013-03-15 | 2013-06-12 | 上海海事大学 | Double-lifting-appliance travelling bridge tilt angle measuring equipment based on position sensor and measuring method of measuring equipment |
| CN103257357A (en) * | 2013-04-18 | 2013-08-21 | 太原理工大学 | Simplified digital corresponding Doppler broadening spectrum machine |
| CN105110182A (en) * | 2015-09-01 | 2015-12-02 | 中国化学工程第六建设有限公司 | Lifting process for large equipment |
| CN105293086A (en) * | 2015-06-29 | 2016-02-03 | 天津东方海陆集装箱码头有限公司 | Container loading/unloading system employing double hoisting overhead traveling cranes capable of moving in parallel |
| CN105776018A (en) * | 2016-04-27 | 2016-07-20 | 上海海事大学 | Positioning device and method for slings of double-lifting and double-sling bridge crane |
| CN105967064A (en) * | 2016-04-27 | 2016-09-28 | 上海海事大学 | Hanging swing angle and rope length measurement device and method used for lifting appliance mechanism |
| CN107117533A (en) * | 2017-04-14 | 2017-09-01 | 上海海事大学 | A kind of two-electron atom bridge crane panning angle measuring devices and methods therefor based on passive RFID tags ranging |
| CN107140549A (en) * | 2017-06-29 | 2017-09-08 | 上海海事大学 | Two-electron atom bridge crane pivot angle and rope length detection means and its measuring method |
| CN107311042A (en) * | 2017-08-24 | 2017-11-03 | 黄瑾 | It is a kind of can precise positioning tower crane |
| CN107487719A (en) * | 2017-09-30 | 2017-12-19 | 南京中高知识产权股份有限公司 | Stereoscopic warehousing system and its method of work |
| CN108675136A (en) * | 2018-06-04 | 2018-10-19 | 上海海事大学 | A kind of pivot angle test device and its application suitable for suspender field bridge |
| CN114555511A (en) * | 2019-10-04 | 2022-05-27 | 承载技术芬兰有限公司 | Sling position control |
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| US6081292A (en) * | 1998-05-06 | 2000-06-27 | Mi-Jack Products, Inc. | Grappler guidance system for a gantry crane |
| CN2603058Y (en) * | 2002-09-12 | 2004-02-11 | 上海外高桥保税区港务公司 | Positioning device for container truck entering bridge type crane working area |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103145038A (en) * | 2013-03-15 | 2013-06-12 | 上海海事大学 | Double-lifting-appliance travelling bridge tilt angle measuring equipment based on position sensor and measuring method of measuring equipment |
| CN103257357A (en) * | 2013-04-18 | 2013-08-21 | 太原理工大学 | Simplified digital corresponding Doppler broadening spectrum machine |
| CN105293086A (en) * | 2015-06-29 | 2016-02-03 | 天津东方海陆集装箱码头有限公司 | Container loading/unloading system employing double hoisting overhead traveling cranes capable of moving in parallel |
| CN105110182A (en) * | 2015-09-01 | 2015-12-02 | 中国化学工程第六建设有限公司 | Lifting process for large equipment |
| CN105776018A (en) * | 2016-04-27 | 2016-07-20 | 上海海事大学 | Positioning device and method for slings of double-lifting and double-sling bridge crane |
| CN105967064A (en) * | 2016-04-27 | 2016-09-28 | 上海海事大学 | Hanging swing angle and rope length measurement device and method used for lifting appliance mechanism |
| CN107117533A (en) * | 2017-04-14 | 2017-09-01 | 上海海事大学 | A kind of two-electron atom bridge crane panning angle measuring devices and methods therefor based on passive RFID tags ranging |
| CN107140549A (en) * | 2017-06-29 | 2017-09-08 | 上海海事大学 | Two-electron atom bridge crane pivot angle and rope length detection means and its measuring method |
| CN107311042A (en) * | 2017-08-24 | 2017-11-03 | 黄瑾 | It is a kind of can precise positioning tower crane |
| CN107487719A (en) * | 2017-09-30 | 2017-12-19 | 南京中高知识产权股份有限公司 | Stereoscopic warehousing system and its method of work |
| CN108675136A (en) * | 2018-06-04 | 2018-10-19 | 上海海事大学 | A kind of pivot angle test device and its application suitable for suspender field bridge |
| CN108675136B (en) * | 2018-06-04 | 2019-09-03 | 上海海事大学 | A kind of pivot angle test device and its application suitable for suspender field bridge |
| CN114555511A (en) * | 2019-10-04 | 2022-05-27 | 承载技术芬兰有限公司 | Sling position control |
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