CN103241656B - Crane remote control system and control method thereof - Google Patents
Crane remote control system and control method thereof Download PDFInfo
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- CN103241656B CN103241656B CN201310172451.9A CN201310172451A CN103241656B CN 103241656 B CN103241656 B CN 103241656B CN 201310172451 A CN201310172451 A CN 201310172451A CN 103241656 B CN103241656 B CN 103241656B
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Abstract
The invention discloses a crane remote control system and a control method thereof. The crane remote control system comprises a local remote control unit and a handheld remote control unit, wherein the handheld remote control unit comprises a microcontroller, a speed signal giving unit, a handheld remote control unit attitude detecting device and a handheld remote control unit wireless receiving and transmitting device; the local remote control unit comprises a local attitude detecting device and a local wireless receiving and transmitting device; and the handheld remote control unit attitude detecting device comprises a micro-electro-mechanical sensor gyro, an acceleration meter and a magnetometer. The microcontroller is used for simultaneously measuring and contrastively analyzing information of the handheld remote control unit and a controlled object, a direction control command can be automatically analyzed, and thus the target direction control on a signified crane hanger to move can be realized. Since the attitude information of the handheld remote control unit and the controlled target can be automatically analyzed for control, the quantity of keys of the handheld remote control unit can be reduced, the operation is simple, and no professional operator is needed.
Description
Technical field
The present invention relates to a kind of crane control technology, relate in particular to a kind of crane remote control and control method thereof.
Background technology
Material handling plays a very important role in whole national economy, improves the production efficiency of handling machinery, guarantees safety, the reliability of operation, improves automatization level, and it is very important reducing material handling cost.
When working, the operator of existing hoisting crane remote controller first to tell the target bearing of hanging piece and the relative position relation of Mechanism of crane, in the brains of oneself, resolve again correspondence and go out rocking bar direction or button, need special operating personal, and low, the easy erroneous judgement of efficiency makes mistakes; Especially frequent for use and very large hoisting crane or the not strong nuclear ring of directivity of work capacity hangs equipment, operator's labour intensity is increased, more increased the possibility of maloperation, the crane facility that all occurs every year both at home and abroad to cause because of maloperation in a large number damages even mechanical accident.
Chinese patent CN200820042427.8 discloses mono-kind of < < based on gyrostatic space remote control > >, this space remote control just remote controller the location information based in perceptual axes direction by cursor, react on screen, realize the movement of screen cursor, location and selection, be similar to space mouse, be only applicable to computer, the display terminal of vision receiver etc. is controlled, cannot realize according to the attitude information of remote controller and controll plant and automatically resolve direction control command, therefore cannot to realize indication to hoisting crane be that gone direction is controlled to this remote controller.
Chinese patent CN201110096680.8 discloses < < gyroscope remote controller of electric scooter > >, the built-in gyroscope of this remote controller, with angle of inclination, controlling Kickboard Scooter advances, retreat, brake, turn to, speed, Attitute detecting device is not installed on controlled Kickboard Scooter, cannot realize according to the attitude information of remote controller and controll plant and automatically resolve direction control command, operator operates after will differentiating the direct of travel of Kickboard Scooter again, therefore cannot realize indication to controlled device go.
Chinese patent CN201110329178.7 discloses < < integrated remote-controller > >, the first mode of operation of this remote controller is according to 3-axis acceleration sensor, the moving velocity of the remote controller of gyroscope induction, direction parameter produces corresponding control signal and controls controlled device, controlled device is not carried out to attitude detection, cannot realize according to the attitude information of remote controller and controll plant and automatically resolve direction control command, therefore cannot to realize indication to hoisting crane be that gone direction is controlled to this remote controller.
Therefore developing a kind of crane intelligent command and control system that can alleviate operator's labour intensity becomes technical barrier urgently to be resolved hurrily.
Summary of the invention
The problems referred to above that exist for solving prior art, the present invention will design and a kind ofly can automatically resolve direction control command according to the attitude information of remote controller and controll plant, can control hoisting crane according to direction crane remote control and the control method thereof with given speed operation.
To achieve these goals, technical scheme of the present invention is as follows:
A crane remote control, comprises the machine RCU and Hand held remote control units; Described Hand held remote control units comprises microcontroller, the given unit of speed signal, Hand held remote control units Attitute detecting device and Hand held remote control units wireless transmitter, and described microcontroller is connected with the given unit of speed signal, Hand held remote control units Attitute detecting device and Hand held remote control units wireless transmitter respectively; Described the machine RCU comprises the machine Attitute detecting device and the machine wireless transmitter, and described the machine RCU is arranged in the mechanism of crane; The mouth of described the machine Attitute detecting device is connected with the machine wireless transmitter, and described the machine wireless transmitter is connected with local controller; Described Hand held remote control units wireless transmitter is connected with the machine wireless transmitter by wireless network;
Described Hand held remote control units Attitute detecting device comprises micro-electro-mechanical sensors gyroscope, accelerometer and magnetometer, and described micro-electro-mechanical sensors gyroscope, accelerometer and magnetometer communicate by IC bus and microcontroller respectively, described micro-electro-mechanical sensors gyroscope is for obtaining the real-time attitude information of Hand held remote control units, by the gyrostatic angular velocity data of micro-electro-mechanical sensors is carried out to the attitude angle that attitude algorithm obtains Hand held remote control units: course angle ψ, roll angle γ and pitching angle theta, the course angle ψ of Hand held remote control units is used to indicate the target direction of hoisting crane hanging piece, the roll angle γ of Hand held remote control units is for controlling the service direction of dolly, the pitching angle theta of Hand held remote control units is used to indicate the vertical lift direction of hanging piece, in like manner, by the machine Attitute detecting device, can obtain the attitude information of cart.
A control method for crane remote control, comprises the following steps:
A, Hand held remote control units Attitute detecting device are passed to microcontroller by the data of the micro-electro-mechanical sensors output in the Hand held remote control units detecting by Hand held remote control units wireless transmitter;
B, the machine Attitute detecting device are passed to microcontroller by the data of the micro-electro-mechanical sensors output on the cart detecting by the machine wireless transmitter and Hand held remote control units wireless transmitter;
C, microcontroller carry out the attitude angle of the attitude angle that attitude algorithm obtains Hand held remote control units: course angle ψ, roll angle γ, pitching angle theta and cart according to the micro-electro-mechanical sensors output data on Hand held remote control units and cart: course angle ψ, roll angle γ, pitching angle theta;
D, microcontroller compare Hand held remote control units course angle ψ and cart course angle ψ, obtain the deviation course angle of cart and Hand held remote control units indication target direction, the particular location on cart according to dolly again, parses the target direction operation control command of cart optimum; The particular location of dolly on cart measured by bogie encoder;
E, the microcontroller speed command by cart target direction control command and while advancing sends the machine radio receiver to by Hand held remote control units wireless base station apparatus, the machine radio receiver sends to local controller control command again, drives cart to move to target direction; Described speed command is provided by the given unit of speed signal;
F, simultaneously, microcontroller parses the service direction instruction of dolly on cart by the roll angle γ of Hand held remote control units, while advancing, Negotiation speed signal feeding unit provides the gait of march instruction of dolly, trolley travelling direction and gait of march instruction thereof send the machine radio receiver to by Hand held remote control units wireless base station apparatus, the machine radio receiver sends to local controller control command again, drives trolley travelling to make hanging piece run to target location;
G, microcontroller parse the service direction instruction of crane hoisting mechanism by the pitching angle theta of Hand held remote control units, while advancing, Negotiation speed signal feeding unit provides the gait of march instruction of lifting mechanism, the service direction of lifting mechanism and gait of march instruction send the machine radio receiver to by Hand held remote control units wireless base station apparatus, the machine radio receiver sends to local controller control command again, drive lifting mechanism operation to regulate the lifting direction of hanging piece, finally realizing indication is gone crane control.
Compared with prior art, the present invention has following beneficial effect:
1, because microcontroller of the present invention is measured and is analyzed Hand held remote control units and controll plant attitude information simultaneously, can automatically resolve direction control command, realizing indication is that gone hoisting crane hanging piece target direction is controlled.
2, the attitude information that can automatically resolve Hand held remote control units and controll plant due to the present invention is controlled, and has reduced the number of keys of Hand held remote control units, simple to operate, does not need professional operating personal.
3, automatic analytical capabilities of the present invention, for using frequent, work capacity is larger hoisting crane or the not strong nuclear ring of directivity to hang equipment, has reduced operator's labour intensity, has reduced maloperation, has improved production efficiency.
4, the present invention adopts micro-electro-mechanical sensors gyroscope to carry out real-time attitude detection, and accelerometer and magnetometer carry out error correction, have improved accuracy of detection, have guaranteed the reliability and stability of command and control system.
5, the present invention belongs to the project of plugging a gap in the same industry, and technology content is very high, for hoisting crane especially nuclear ring, hangs and has very much market potential.
Accompanying drawing explanation
3, the total accompanying drawing of the present invention, wherein:
Fig. 1 is crane intelligent command and control system constructional drawing.
Fig. 2 is that Attitute detecting device detects principle.
Fig. 3 is that nuclear ring hangs structural representation.
In figure: 1, microcontroller, 2, the given unit of speed signal, 3, Hand held remote control units Attitute detecting device, 4, Hand held remote control units wireless transmitter, 5, the machine Attitute detecting device, 6, the machine wireless transmitter, 7, endless track, 8, cart, 9, dolly.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is described further.
As shown in Figure 1, a kind of crane remote control, comprises the machine RCU and Hand held remote control units; Described Hand held remote control units comprises microcontroller 1, the given unit 2 of speed signal, Hand held remote control units Attitute detecting device 3 and Hand held remote control units wireless transmitter 4, and described microcontroller 1 is connected with Hand held remote control units wireless transmitter 4 with the given unit 2 of speed signal, Hand held remote control units Attitute detecting device 3 respectively; Described the machine RCU comprises the machine Attitute detecting device 5 and the machine wireless transmitter 6, and described the machine RCU is arranged in the mechanism that nuclear ring hangs cart 8; The mouth of described the machine Attitute detecting device 5 is connected with the machine wireless transmitter 6, and described the machine wireless transmitter 6 is connected with local controller; Described Hand held remote control units wireless transmitter 4 is connected with the machine wireless transmitter 6 by wireless network;
As shown in Figure 2, described Hand held remote control units Attitute detecting device 3 comprises micro-electro-mechanical sensors gyroscope, accelerometer and magnetometer, and described micro-electro-mechanical sensors gyroscope, accelerometer and magnetometer communicates by I2C bus and microcontroller 1 respectively; Described micro-electro-mechanical sensors gyroscope is for obtaining the real-time attitude information of Hand held remote control units, by the gyrostatic angular velocity data of micro-electro-mechanical sensors is carried out to the attitude angle that attitude algorithm obtains Hand held remote control units: course angle ψ
1, roll angle γ
1and pitching angle theta
1, the course angle ψ of Hand held remote control units
1be used to indicate the target direction of hoisting crane hanging piece, the roll angle γ of Hand held remote control units
1for controlling the service direction of dolly 9, the pitching angle theta of Hand held remote control units
1be used to indicate the vertical lift direction of hanging piece.In attitude detection process, impact due to inherent characteristic, temperature and the integral process of gyroscope self, it can produce drift error along with the prolongation of work-hours, and accelerometer and magnetometer are because of its static properties comparative superiority, so be used for the error in gyroscope Attitude Calculation process to revise, can improve attitude information precision.In like manner, by the machine Attitute detecting device 5, can obtain the attitude information of cart 8.
As Figure 1-3, a kind of nuclear ring hangs the control method of command and control system, comprises the following steps:
A, Hand held remote control units Attitute detecting device 3 are passed to microcontroller 1 by the data of the micro-electro-mechanical sensors output in the Hand held remote control units detecting by Hand held remote control units wireless transmitter 4;
B, the machine Attitute detecting device 5 are passed to microcontroller 1 by the data of the micro-electro-mechanical sensors output on the cart detecting 8 by the machine wireless transmitter 6 and Hand held remote control units wireless transmitter 4;
C, to take the center of circular orbit 7 be initial point O, positive east orientation is X-axis, positive north orientation is Y-axis, vertical ground downwards for the geographic coordinates of Z axis be reference frame, it is initial point o that carrier coordinate system be take respectively carrier Hand held remote control units or cart 8 centers of gravity, and the positive dextrad of carrier is x axle, and the positive forward direction of carrier is y axle, z axle is downward perpendicular to oxy plane, the attitude angle that carrier coordinate system is carrier with respect to the angle of geographic coordinate system; Microcontroller 1 carries out the attitude angle that attitude algorithm obtains Hand held remote control units: course angle ψ according to the micro-electro-mechanical sensors output data on Hand held remote control units and cart 8
1, roll angle γ
1, pitching angle theta
1attitude angle with cart 8: course angle ψ
2, roll angle γ
2, pitching angle theta
2;
D, microcontroller 1 are by Hand held remote control units course angle ψ
1with cart 8 course angle ψ
2compare, obtain the deviation course angle ψ of cart 8 and Hand held remote control units indication target direction
1-ψ
2, according to the positive and negative and dolly 9 of deviation course angle, at the positive forward direction of cart 8 or the service direction of rightabout position relationship judgement cart, parse the target direction operation control command of cart 8 optimums; The particular location of dolly 9 on cart 8 measured by bogie encoder;
E, microcontroller 1 speed command by cart 8 target direction control commands and while advancing sends the machine radio receiver 6 to by Hand held remote control units wireless base station apparatus 4, the machine radio receiver 6 sends to local controller control command again, drives cart 8 to move to target direction; Described speed command is provided by the given unit 2 of speed signal;
F, simultaneously, microcontroller 1 is by the roll angle γ of Hand held remote control units
1parse the service direction instruction of dolly 9 on cart 8, while advancing, Negotiation speed signal feeding unit 2 provides the gait of march instruction of dolly 9, dolly 9 service directions and gait of march instruction thereof send the machine radio receiver 6 to by Hand held remote control units wireless base station apparatus 4, the machine radio receiver 6 sends to local controller control command again, drives dolly 9 operations to make hanging piece run to target location;
G, microcontroller 1 are by the pitching angle theta of Hand held remote control units
1parse the service direction instruction of crane hoisting mechanism, while advancing, Negotiation speed signal feeding unit 2 provides the gait of march instruction of lifting mechanism, the service direction of lifting mechanism and gait of march instruction send the machine radio receiver 6 to by Hand held remote control units wireless base station apparatus 4, the machine radio receiver 6 sends to local controller control command again, drive lifting mechanism operation to regulate the lifting direction of hanging piece, finally realizing indication is gone crane control.
Claims (2)
1. a crane remote control, is characterized in that: comprise the machine RCU and Hand held remote control units; Described Hand held remote control units comprises microcontroller (1), the given unit of speed signal (2), Hand held remote control units Attitute detecting device (3) and Hand held remote control units wireless transmitter (4), and described microcontroller (1) is connected with the given unit of speed signal (2), Hand held remote control units Attitute detecting device (3) and Hand held remote control units wireless transmitter (4) respectively; Described the machine RCU comprises the machine Attitute detecting device (5) and the machine wireless transmitter (6), and described the machine RCU is arranged in the mechanism of crane (8); The mouth of described the machine Attitute detecting device (5) is connected with the machine wireless transmitter (6), and described the machine wireless transmitter (6) is connected with local controller; Described Hand held remote control units wireless transmitter (4) is connected with the machine wireless transmitter (6) by wireless network;
Described Hand held remote control units Attitute detecting device (3) comprises micro-electro-mechanical sensors gyroscope, accelerometer and magnetometer, and described micro-electro-mechanical sensors gyroscope, accelerometer and magnetometer communicates by I2C bus and microcontroller (1) respectively; Described micro-electro-mechanical sensors gyroscope is for obtaining the real-time attitude information of Hand held remote control units, by the gyrostatic angular velocity data of micro-electro-mechanical sensors is carried out to the attitude angle that attitude algorithm obtains Hand held remote control units: course angle ψ
1, roll angle γ
1and pitching angle theta
1, the course angle ψ of Hand held remote control units
1be used to indicate the target direction of hoisting crane hanging piece, the roll angle γ of Hand held remote control units
1be used for controlling the service direction of dolly (9), the pitching angle theta of Hand held remote control units
1be used to indicate the vertical lift direction of hanging piece, in like manner, by the machine Attitute detecting device (5), can obtain the attitude information of cart (8).
2. a control method for crane remote control as claimed in claim 1, is characterized in that: comprise the following steps:
A, Hand held remote control units Attitute detecting device (3) are passed to microcontroller (1) by the data of the micro-electro-mechanical sensors output in the Hand held remote control units detecting by Hand held remote control units wireless transmitter (4);
B, the machine Attitute detecting device (5) are passed to microcontroller (1) by the data of the micro-electro-mechanical sensors output on the cart detecting (8) by the machine wireless transmitter (6) and Hand held remote control units wireless transmitter (4);
C, microcontroller (1) carry out the attitude angle that attitude algorithm obtains Hand held remote control units: course angle ψ according to the micro-electro-mechanical sensors output data on Hand held remote control units and cart (8)
1, roll angle γ
1, pitching angle theta
1and the attitude angle of cart (8): course angle ψ
2, roll angle γ
2, pitching angle theta
2;
D, microcontroller (1) are by Hand held remote control units course angle ψ
1with cart (8) course angle ψ
2compare, obtain the deviation course angle of cart (8) and Hand held remote control units indication target direction, then according to dolly (9) particular location on cart (8), parse the optimum target direction operation control command of cart (8); The particular location of dolly (9) on cart (8) measured by bogie encoder;
E, microcontroller (1) speed command by cart (8) target direction control command and while advancing sends the machine radio receiver (6) to by Hand held remote control units wireless base station apparatus (4), the machine radio receiver (6) sends to local controller control command again, drives cart (8) to move to target direction; Described speed command is provided by the given unit of speed signal (2);
F, simultaneously, microcontroller (1) is by the roll angle γ of Hand held remote control units
1parse the service direction instruction of dolly (9) on cart (8), while advancing, Negotiation speed signal feeding unit (2) provides the gait of march instruction of dolly (9), dolly (9) service direction and gait of march instruction thereof send the machine radio receiver (6) to by Hand held remote control units wireless base station apparatus (4), the machine radio receiver (6) sends to local controller control command again, drives dolly (9) operation to make hanging piece run to target location;
G, microcontroller (1) are by the pitching angle theta of Hand held remote control units
1parse the service direction instruction of crane hoisting mechanism, while advancing, Negotiation speed signal feeding unit (2) provides the gait of march instruction of lifting mechanism, the service direction of lifting mechanism and gait of march instruction send the machine radio receiver (6) to by Hand held remote control units wireless base station apparatus (4), the machine radio receiver (6) sends to local controller control command again, drive lifting mechanism operation to regulate the lifting direction of hanging piece, finally realizing indication is gone crane control.
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| CN201310172451.9A CN103241656B (en) | 2013-05-10 | 2013-05-10 | Crane remote control system and control method thereof |
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|---|---|---|---|
| CN201310172451.9A CN103241656B (en) | 2013-05-10 | 2013-05-10 | Crane remote control system and control method thereof |
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| CN103241656A CN103241656A (en) | 2013-08-14 |
| CN103241656B true CN103241656B (en) | 2014-12-10 |
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| CN103964293A (en) * | 2014-05-23 | 2014-08-06 | 天津起重设备有限公司 | Explosion-proof crane capable of keeping electromagnetism in power failure |
| CN104192716A (en) * | 2014-08-01 | 2014-12-10 | 青岛盛嘉信息科技有限公司 | Control method of tower crane |
| CN104192717A (en) * | 2014-08-13 | 2014-12-10 | 青岛盛嘉信息科技有限公司 | High-altitude operation console |
| CN104176640A (en) * | 2014-08-13 | 2014-12-03 | 青岛盛嘉信息科技有限公司 | Ground control console of tower crane |
| CN104192712B (en) * | 2014-08-15 | 2016-08-24 | 徐州重型机械有限公司 | For producing the method for engineering machinery control signal, handheld terminal and system |
| CN104310223A (en) * | 2014-08-18 | 2015-01-28 | 青岛盛嘉信息科技有限公司 | A control method of a high-altitude tower crane |
| CN108252713B (en) * | 2018-03-29 | 2023-07-21 | 西安煤矿机械有限公司 | Multi-section running speed adjusting device and method in automatic cutting mode of coal mining machine |
| CN109100982A (en) * | 2018-07-18 | 2018-12-28 | 上海工程技术大学 | A kind of safety self-shield remote control device and method for engineering truck |
| CN111923009A (en) * | 2020-09-14 | 2020-11-13 | 天津滨电电力工程有限公司 | IMU-based control device and method for live-wire work robot of distribution line |
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Effective date of registration: 20221213 Address after: No. 4, Huachun Street, Xigang District, Dalian, Liaoning Province, 116013 Patentee after: Dalian Huarui Intelligent Technology Co.,Ltd. Patentee after: DALIAN HUARUI HEAVY INDUSTRY GROUP Co.,Ltd. Address before: 116013 No. 169 Bayi Road, Xigang District, Liaoning, Dalian Patentee before: DALIAN HUARUI HEAVY INDUSTRY GROUP Co.,Ltd. |
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