CN103848344A - Precise crane positioning method and device - Google Patents
Precise crane positioning method and device Download PDFInfo
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- CN103848344A CN103848344A CN201210511932.3A CN201210511932A CN103848344A CN 103848344 A CN103848344 A CN 103848344A CN 201210511932 A CN201210511932 A CN 201210511932A CN 103848344 A CN103848344 A CN 103848344A
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Abstract
The invention discloses a precise crane positioning method and device. The method is as follows: a vertical infrared probe and two horizontal infrared probes are installed on the lifting hook of a crane, the vertical infrared probe is used for determining a height position, the two horizontal infrared probes are used for determining a horizontal position, a singlechip automatically calculates a transverse distance X1 and a longitudinal distance Y1 from the center of the crane lifting hook to the center of an aluminum packet lifting ring; the singlechip guides the center of the lifting hook of the crane to move to the center of the aluminum packet lifting ring. According to the method disclosed by the invention, a positioning device based on infrared distance measurement and using the singlechip as control core is installed on the lifting hook of the crane to achieve quick and precise positioning of the crane and an aluminum packet. The method has the advantages of low cost, strong practicability and easiness for upgrading and reformation. Compared with the crane provided with no precise positioning, no command staff is needed on a lifting site with high temperature and severe environment, the crane operation can be simplified, the labor intensity of workers is alleviated, the occurrence rate of staff casualty accidents is reduced, the working efficiency is improved and the production cost is reduced.
Description
Technical field
The present invention relates to a kind of overhead traveling crane accurate positioning method and device, belong to overhead traveling crane automatic positioning technology field, particularly belong to the field of locating technology of aluminum casting workshop overhead traveling crane lifting aluminium bag.
Background technology
Overhead traveling crane is the key equipment of modern prebaked anode Aluminium Electrolysis, is suitable for prebaked anode aluminum electrolysis process and produces, and can meet the severe working environment in the electrolysis process such as aluminium electroloysis, foundry shop.Overhead traveling crane in foundry shop is used for lifting aluminium bag, needs operating personal positioning aluminium bag accurately in the time of lifting.Due on existing overhead traveling crane without accurate positioning device,, need workman to command at the scene overhead traveling crane chaufeur to position operation when the location, because foundry shop's temperature is very high, working environment very severe, labor strength is very large, as accidentally there is aluminium bag overthrow accident, accident also likely causes casualties.
Summary of the invention
The object of the invention is to, a kind of overhead traveling crane accurate positioning method and device are provided.Employing infrared probe range finding, and by micro controller system as anacom element, position operation by screen display and voice message overhead traveling crane chaufeur, without personnel's on scene commander, to overcome the deficiencies in the prior art.
Technical scheme of the present invention:
A kind of overhead traveling crane accurate positioning method, the method is that a vertical infrared probe and two horizontal infrared probes are installed on the suspension hook of overhead traveling crane, is first measured the vertical distance Z at crown block hook width between centers aluminium bag suspension ring center and is made crown block hook center drop to the equal height at aluminium bag suspension ring center by vertical infrared probe; And then measure the horizontal vertical line distance X of crown block hook width between centers aluminium bag side factory building wall to horizontal infrared probe by X, the horizontal oblique line that the horizontal linear that the horizontal infrared probe of non-directional is measured crown block hook width between centers aluminium bag suspension ring center extends to factory building wall apart from S1 and crown block hook center through aluminium bag suspension ring center is apart from S, and result of a measurement is inputted to micro controller system; By keyboard, infrared probe coefficient of correction d, aluminium bag height h, aluminium bag radius R, aluminium bag suspension ring radius r are inputted to micro controller system simultaneously; Automatically calculated transverse distance X1 and the fore-and-aft distance Y1 at crown block hook center to aluminium bag suspension ring center by micro controller system; And move to aluminium bag suspension ring center by micro controller system guiding crown block hook center.
In preceding method, described infrared probe coefficient of correction d refers to that infrared probe departs from the distance at crown block hook center.
In preceding method, the data that described micro controller system is inputted by read-out display keyboard and position fixing process and operation result.
In preceding method, described micro controller system is pointed out key in data and position fixing process and operation result by voice module.
In preceding method, it is that crown block hook center is moved to aluminium bag suspension ring center by screen display and voice message overhead traveling crane operating personal by being connected with micro controller system that described micro controller system guiding crown block hook center moves to aluminium bag suspension ring center.
In preceding method, when described vertical infrared probe is measured the vertical distance Z at crown block hook centre distance aluminium bag suspension ring center, be gauge reference target take ground, first record the height H of infrared probe apart from ground, then press formula by micro controller system
calculate the vertical distance Z at crown block hook width between centers aluminium bag suspension ring center; When result of calculation Z > 0, represent that rings center is higher than suspension ring center, when Z < 0, represent that rings center is lower than suspension ring center.
In preceding method, described measurement rings center is that crown block hook is dropped to aluminium bag middle part height apart from the horizontal linear at aluminium bag suspension ring center apart from S1, measure the distance B of crown block hook center to aluminium bag outer wall by the horizontal infrared probe of non-directional, press formula by micro controller system
calculate rings center apart from the horizontal linear at aluminium bag suspension ring center the value apart from S1.
In preceding method, the calculating of described transverse distance X1 and fore-and-aft distance Y1 is first by formula by micro controller system
calculate distance X and apart from the angle θ value between S; Again by pressing formula apart from S1 and angle θ by micro controller system
with
calculate transverse distance X1 and the fore-and-aft distance Y1 of rings center to suspension ring center.
Press the device that preceding method forms, comprise micro controller system, the signal input part of micro controller system is connected with the infrared distance measurement device being arranged on crown block hook, and the data input pin of micro controller system is connected with keyboard, and the signal output part of micro controller system is connected with read-out and voice module.
In aforementioned means, described infrared distance measurement device comprises that vertical infrared probe, X are to horizontal infrared probe and the horizontal infrared probe of non-directional.
Compared with prior art, the present invention is based on infrared distance sensor, take micro controller system accurate location fast when overhead traveling crane handling aluminium bag in control core completes foundry shop.There is cost low, practical, can be installed on existing overhead traveling crane, be easy to the feature of upgrading and transformation.Do not establish compared with pinpoint overhead traveling crane with existing, without very high in temperature, the severe lifting scene of environment arranges commanding, can simplify overhead traveling crane operation, alleviate labor strength, reduce the probability that personnel casualty accidents occurs, increase work efficiency, reduce production costs.
Accompanying drawing explanation
Fig. 1 is functional block diagram of the present invention;
Fig. 2 is plane positioning schematic diagram of the present invention;
Fig. 3 is perpendicular positioning schematic diagram of the present invention;
Fig. 4 be measure rings center apart from the horizontal linear at aluminium bag suspension ring center the method schematic diagram apart from S1.
Fig. 5 is mechanical flow diagram of the present invention.
Being labeled as in figure: 1-micro controller system, 2-crown block hook, 3-keyboard, 4-read-out, 5-voice module, the vertical infrared probe of 6-, 7-X are to horizontal infrared probe, the horizontal infrared probe of 8-non-directional, 9-aluminium bag, 10-aluminium bag suspension ring.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail, but not as any limitation of the invention.
A kind of overhead traveling crane accurate positioning method, as depicted in figs. 1 and 2.The method is that a vertical infrared probe and two horizontal infrared probes are installed on the suspension hook of overhead traveling crane, is measured the vertical distance Z at crown block hook width between centers aluminium bag suspension ring center and is made crown block hook center drop to the equal height at aluminium bag suspension ring center by vertical infrared probe; And then (refer to that detection angle is less by X to horizontal infrared probe, can only survey the distance of object within the scope of assigned direction) measure the horizontal vertical line distance X of crown block hook width between centers aluminium bag side factory building wall, the horizontal infrared probe of non-directional (refers to that detection angle is larger, can survey the distance of object within the scope of certain angle) measure horizontal oblique line that the horizontal linear at crown block hook width between centers aluminium bag suspension ring center extends to factory building wall apart from S1 and crown block hook center through aluminium bag suspension ring center apart from S, and result of a measurement is inputted to micro controller system; By keyboard, infrared probe coefficient of correction d(is referred to infrared probe departs from the distance at crown block hook center simultaneously), aluminium bag height h, aluminium bag radius R, aluminium bag suspension ring radius r input micro controller system; Automatically calculated transverse distance X1 and the fore-and-aft distance Y1 at crown block hook center to aluminium bag suspension ring center by micro controller system; And move to aluminium bag suspension ring center by micro controller system guiding crown block hook center.
The data that described micro controller system is inputted by read-out display keyboard and position fixing process and operation result.Micro controller system is pointed out key in data and position fixing process and operation result by voice module.It is that crown block hook center is moved to aluminium bag suspension ring center by screen display and voice message overhead traveling crane operating personal by being connected with micro controller system that described micro controller system guiding crown block hook center moves to aluminium bag suspension ring center.
When described vertical infrared probe is measured the vertical distance Z at crown block hook centre distance aluminium bag suspension ring center, as shown in Figure 3, be gauge reference target take ground, first record the height H of infrared probe apart from ground, then press formula by micro controller system
calculate the vertical distance Z at crown block hook width between centers aluminium bag suspension ring center; When result of calculation Z > 0, represent that rings center is higher than suspension ring center, when Z < 0, represent that rings center is lower than suspension ring center.
Described measurement rings center apart from the horizontal linear at aluminium bag suspension ring center apart from S1 as shown in Figure 4, is that crown block hook is dropped to aluminium bag middle part height, measures the distance B of crown block hook center to aluminium bag outer wall by the horizontal infrared probe of non-directional, presses formula by micro controller system
calculate rings center apart from the horizontal linear at aluminium bag suspension ring center the value apart from S1.
The calculating of described transverse distance X1 and fore-and-aft distance Y1 is first by formula by micro controller system
calculate distance X and apart from the angle θ value between S; Again by pressing formula apart from S1 and angle θ by micro controller system
with
calculate transverse distance X1 and the fore-and-aft distance Y1 of rings center to suspension ring center.
Press the device that preceding method forms, as shown in Figure 1.Comprise micro controller system 1, the signal input part of micro controller system 1 is connected with the infrared distance measurement device being arranged on crown block hook 2, and the data input pin of micro controller system 1 is connected with keyboard 3, and the signal output part of micro controller system 1 is connected with read-out 4 and voice module 5.Described infrared distance measurement device comprises that vertical infrared probe 6, X are to horizontal infrared probe 7 and the horizontal infrared probe 8 of non-directional.
Working process of the present invention and principle
As shown in Figure 5.After device of the present invention starts, the vertical infrared probe 6 being arranged on crown block hook 2 starts to survey its height H apart from ground, operating personal is by keyboard 3 by some fixing calculating parameters (comprising coefficient of correction d, aluminium bag height h, aluminium bag radius R and aluminium bag suspension ring radius r) input micro controller system 1 simultaneously, and micro controller system calculates the vertical distance Z of crown block hook center to aluminium bag suspension ring center automatically according to the height H recording and the preset parameter of input.Micro controller system, according to result of calculation, is guided crown block hook to decline or is risen by voice module 5 and read-out 4, and crown block hook center is moved on the horizontal surface at place, aluminium bag suspension ring center.
After overhead traveling crane rings center moves on the horizontal surface at aluminium bag suspension ring 10 places, center, X starts to measure the horizontal vertical line distance X of crown block hook width between centers aluminium bag side factory building wall to horizontal infrared probe 7, the horizontal infrared probe 8 of non-directional also can be measured horizontal oblique line that crown block hook center extends to factory building wall through aluminium bag suspension ring center apart from S.But the calculating parameter of inputting according to distance X with apart from S and by keyboard still cannot calculate crown block hook and move required transverse distance X1 and fore-and-aft distance Y1, therefore also need the horizontal linear that records crown block hook width between centers aluminium bag suspension ring center apart from S1.With under the aluminium bag suspension ring 10 concordant states in center at crown block hook center apart from the measurement of S1, crown block hook is continued to be displaced downwardly to aluminium bag medium position, record the closest range D of crown block hook center to aluminium bag 9 outer walls by the horizontal infrared probe 8 of non-directional, distance B is inputted to micro controller system, press formula by micro controller system
calculate the horizontal linear at crown block hook width between centers aluminium bag suspension ring center apart from S1.The horizontal infrared probe 8 of non-directional returns to crown block hook center and the aluminium bag suspension ring 10 concordant states in center after having surveyed distance B.Micro controller system according to distance X, can calculate crown block hook apart from S and distance B and move required transverse distance X1 and fore-and-aft distance Y1.Operating personal can complete the pinpoint operation in crown block hook center and aluminium bag suspension ring center according to read-out and voice message.
Supplemental instruction of the present invention
Described micro controller system 1 is the main control unit forming take micro controller system as core, for complete take off data inspection, analyze and calculating,, the function such as output and demonstration of data.Wherein, micro controller system also can Add-In holder, for memory system hardware program.
Described keyboard 3, read-out 4 and voice module 5 form man-machine interaction unit, and keyboard can adopt the input of 4X4 keyboard as Single-chip Controlling unit, the setting of completion system parameter; Read-out 4 can adopt LED LCD screen and voice module jointly as the output of Single-chip Controlling unit, the demonstration of completion system data and report.
Described infrared probe is the infrared distance sensor based on infrared signal, there is a pair of emitting diode and reception diode, utilize infrared external reflection principle to measure the distance of obstacle from sensor, after inter-process, export range signal by digital sensor to treater.Infrared probe, all with laser beam, is installed on crown block hook place.
Non-elaborated part of the present invention belongs to those skilled in the art's known technology.
Claims (10)
1. an overhead traveling crane accurate positioning method, it is characterized in that: the method is that a vertical infrared probe and two horizontal infrared probes are installed on the suspension hook of overhead traveling crane, first measure the vertical distance Z at crown block hook width between centers aluminium bag suspension ring center and make crown block hook center drop to the equal height at aluminium bag suspension ring center by vertical infrared probe; And then measure the horizontal vertical line distance X of crown block hook width between centers aluminium bag side factory building wall to horizontal infrared probe by X, the horizontal oblique line that the horizontal linear that the horizontal infrared probe of non-directional is measured crown block hook width between centers aluminium bag suspension ring center extends to factory building wall apart from S1 and crown block hook center through aluminium bag suspension ring center is apart from S, and result of a measurement is inputted to micro controller system; By keyboard, infrared probe coefficient of correction d, aluminium bag height h, aluminium bag radius R, aluminium bag suspension ring radius r are inputted to micro controller system simultaneously; Automatically calculated transverse distance X1 and the fore-and-aft distance Y1 at crown block hook center to aluminium bag suspension ring center by micro controller system; And move to aluminium bag suspension ring center by micro controller system guiding crown block hook center.
2. method according to claim 1, is characterized in that: described infrared probe coefficient of correction d refers to that infrared probe departs from the distance at crown block hook center.
3. method according to claim 2, is characterized in that: the data that described micro controller system is inputted by read-out display keyboard and position fixing process and operation result.
4. method according to claim 3, is characterized in that: described micro controller system is pointed out key in data and position fixing process and operation result by voice module.
5. method according to claim 4, is characterized in that: it is that crown block hook center is moved to aluminium bag suspension ring center by screen display and voice message overhead traveling crane operating personal by being connected with micro controller system that described micro controller system guiding crown block hook center moves to aluminium bag suspension ring center.
6. method according to claim 5, it is characterized in that: when described vertical infrared probe is measured the vertical distance Z at crown block hook centre distance aluminium bag suspension ring center, be gauge reference target take ground, first record the height H of infrared probe apart from ground, then press formula by micro controller system
calculate the vertical distance Z at crown block hook width between centers aluminium bag suspension ring center; When result of calculation Z > 0, represent that rings center is higher than suspension ring center, when Z < 0, represent that rings center is lower than suspension ring center.
7. method according to claim 6, it is characterized in that: described measurement rings center is that crown block hook is dropped to aluminium bag middle part height apart from the horizontal linear at aluminium bag suspension ring center apart from S1, measure the distance B of crown block hook center to aluminium bag outer wall by the horizontal infrared probe of non-directional, press formula by micro controller system
calculate rings center apart from the horizontal linear at aluminium bag suspension ring center the value apart from S1.
8. method according to claim 7, is characterized in that: the calculating of described transverse distance X1 and fore-and-aft distance Y1 is first by formula by micro controller system
calculate distance X and apart from the angle θ value between S; Again by pressing formula apart from S1 and angle θ by micro controller system
with
calculate transverse distance X1 and the fore-and-aft distance Y1 of rings center to suspension ring center.
9. the device forming by method described in the arbitrary claim of claim 1-8, it is characterized in that: comprise micro controller system (1), the signal input part of micro controller system (1) is connected with the infrared distance measurement device being arranged on crown block hook (2), the data input pin of micro controller system (1) is connected with keyboard (3), and the signal output part of micro controller system (1) is connected with read-out (4) and voice module (5).
10. install according to claim 8, it is characterized in that: described infrared distance measurement device comprises that vertical infrared probe (6), X are to horizontal infrared probe (7) and the horizontal infrared probe of non-directional (8).
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| CN201210511932.3A CN103848344B (en) | 2012-12-04 | 2012-12-04 | A kind of overhead traveling crane accurate positioning method and device |
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| CN201210511932.3A CN103848344B (en) | 2012-12-04 | 2012-12-04 | A kind of overhead traveling crane accurate positioning method and device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104803289A (en) * | 2015-05-18 | 2015-07-29 | 上海海事大学 | Device and method for measuring length of double-hanging-tool bridge hanging ropes by infrared double-wave-band single station |
| CN107032249A (en) * | 2017-06-01 | 2017-08-11 | 中曼石油天然气集团股份有限公司 | A kind of electronics anti-collision guard method of oil-well rig tourist bus lifting device and system |
| CN107161859A (en) * | 2017-07-26 | 2017-09-15 | 合肥新坞岩机械科技有限公司 | One kind plays thing alignment system with goods factory building with boat car |
| CN114000432A (en) * | 2021-11-02 | 2022-02-01 | 郑州新大方重工科技有限公司 | Bridge girder erection machine positioning method, positioning system and bridge girder erection machine control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104803289A (en) * | 2015-05-18 | 2015-07-29 | 上海海事大学 | Device and method for measuring length of double-hanging-tool bridge hanging ropes by infrared double-wave-band single station |
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| CN114000432A (en) * | 2021-11-02 | 2022-02-01 | 郑州新大方重工科技有限公司 | Bridge girder erection machine positioning method, positioning system and bridge girder erection machine control system |
| CN114000432B (en) * | 2021-11-02 | 2023-11-07 | 郑州新大方重工科技有限公司 | Bridge girder erection machine positioning method, positioning system and bridge girder erection machine control system |
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| CN103848344B (en) | 2016-07-06 |
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