CN105152014B - A kind of method for container crane horizontal direction auxiliary braking - Google Patents
A kind of method for container crane horizontal direction auxiliary braking Download PDFInfo
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- CN105152014B CN105152014B CN201510340153.5A CN201510340153A CN105152014B CN 105152014 B CN105152014 B CN 105152014B CN 201510340153 A CN201510340153 A CN 201510340153A CN 105152014 B CN105152014 B CN 105152014B
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- suspender
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- 230000000979 retarding effect Effects 0.000 claims abstract description 8
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- 230000003993 interaction Effects 0.000 claims description 5
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- 238000004806 packaging method and process Methods 0.000 claims 1
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Abstract
The invention discloses a kind of method for container crane horizontal direction auxiliary braking, for auxiliary container crane (bank bridge type container crane and door type container crane) operator lift container when control suspender in the horizontal direction retarding braking it is intended to realize the automatization of retarding braking process.This method is related to part of data acquisition, data processing section and automatically controls part.Part of data acquisition is by being arranged on the parameters such as position relationship, the suspender kinestate of sensor acquisition suspender at container crane sling and motor wheel shaft and target area；Data processing section is processed to the data collecting, output motor operation instruction；Automatically control and be partly responsible for execution operation instruction.The lifting efficiency improving container with this and reliability, reduce the professional requirement to operator simultaneously.
Description
Technical field
The present invention relates to a kind of upgrading method for existing container lifting device, it is mainly used in container
The final stage of lifting completes retarding braking action by computer from dynamic auxiliary.
Background technology
At present, quite a few transporting container lifting operation still needs the artificial operation of dependence and completes.Operator's root
The image passed back according to monitor, or rely on naked eyes, judge crane gear suspender and container body and casing and casing it
Between relative position and kinestate, complete carry and hoist action accordingly.Thing followed problem is, crane gear operation easier
Greatly, operating risk is high；Human pilot is strongly professional, training cycle length, high labor intensive；Working performance and accuracy are by many
Limit.Additionally, some other factors, such as weather conditions, the degree of fatigue of driver or even emotional status all can constantly affect to make
Industry effect.For this defect, successively also there are some automatic dock systems to come into operation, but these systems need to existing
Terminal facilities, place transformed on a large scale, be related to a huge sum of money and specialized design and implementation it is difficult to meet scale
The demand of the middle-size and small-size user relatively limited with fund；Additionally, in price of labour power relative moderate, the low-level quantity of labour force is filled
The area of foot, automatic dock system does not have universal competitiveness over a period to come yet.And the whole container of synthesis rises and resets
The overall process of standby carry and hoist, the main test to operator is the assurance to braking procedure during lifting.
Content of the invention
Technical problem：The present invention aims at a kind of side for container crane horizontal direction auxiliary braking of offer
Method, in the final stage of container handling carrying, completes suspender and mesh by computer and automatic controlling device assist operators
The be aligned in mark region and brake operating, i.e. the projection and the target area weight that are supported on lower section objective plane of suspender and its lifting
Close.
Technical scheme：The concept that will use with regard to some first is arranged：
1. target area：The top view of the position that container crane sling needs are shifted to and are aligned.There is following a few situation：
A () stockyard tag line region, lower floor's container top profile, trailer carrier flat plate, are rectangular area.
2. drift angle：(a) target area drift angle, four angles of target area or refer in particular to one of；(b) suspender drift angle,
The top-view profile of container crane sling is also rectangle, and suspender drift angle refers to four angles of this rectangle or refers in particular to therein one
Individual.
3. impact point：When the projection being supported on lower section objective plane of suspender and its lifting is overlapped with target area, target
Project, with suspender, the impact point that corresponding point is referred to as this point in region.
Part of data acquisition：Part of data acquisition is connect by all kinds of sensing equipments and forms, and is responsible for gathering following parameter：Container
The kinestate of crane hanger, suspender and lifted position relationship between the gross mass of load, industrial camera and impact point,
Suspender place plane and the difference in height of lower section target area place plane.
Data processing section：It is responsible for carrying out calculation process to parameter, obtain following result：1) container crane sling exists
Projection on the objective plane of lower section and the position relationship between corresponding impact point, 2) fortune in the horizontal direction according to current suspender
Dynamic state and the gross mass of suspender and its lifting load, the operation scheme that generation is aligned with target area and is braked, 3)
Operation scheme is decomposed into the electricity that operation instruction on two change in coordinate axis direction of horizontal plane for the motor passes to container crane
Machine control section.
Automatically control part：The execution of responsible operation instruction.
A kind of method for container crane horizontal direction auxiliary braking of the present invention is in existing container lifting
The sensor installing additional on equipment, completes, for assist operators, the control that horizontal direction is slowed down and braked in container hanging
System, specifically includes following sections,
Under auxiliary brake mode, the mode completing braking maneuver is：
1) operator as needed suspender continue motion and retarding braking direction, human-computer interaction interface is assigned
The instruction corresponding with above-mentioned direction.
2), after being connected to instruction, on suspender, sensor group corresponding with desirable movement direction enters major state, referred to as master control
Sensor group, other sensors group enters holding state.The current motion vector V of master control sensor group collection crane hanger,
The vertical drop H of gross mass M, suspender place plane and lower section target area place plane of suspender and its lifting container,
Master control sensor group central point and the space length S of impact point, and pass to data processing section.
3) data processing section is processed to the parameter receiving, and obtains：
A. suspender master control sensor group central point
The distance between projection and impact point in lower section target area place plane
B. the working time t of suspender brake when present speed decelerates to 0brake(| V | -0)/| α |, by distance
Lbrakex=0.5 α tbrake 2, wherein α is the acceleration under the speed relative brake force characteristic F effect of crane brake；
C. working method during retarding braking for the suspender is first to continue to run with L-L according to former speed VbrakeDistance,
Used time tcontinue=(L-Lbrake)/| V |, then slowed down in the presence of brake.
The method of this auxiliary braking can artificial and auxiliary braking between switch, auxiliary braking pass through control panel on
Operator need suspender to continue to run with and the corresponding button in direction of retarding braking starts.
Invention effect：The present invention is directed to the deceleration system in the difficult point horizontal direction in container crane lifting operation
Dynamic operation, improves work efficiency and reliability by improving its automaticity.With respect to automatic dock system, the present invention
Can be upgraded on existing container lifting device, existing device thoroughly need not be changed, save cost；With
When, reduce the requirement professional to operator, shorten the operator training cycle on duty and reduce labor intensity.
Brief description
Fig. 1 is four orientation schematic diagrams of suspender.
Fig. 2 is human-computer interaction interface schematic diagram.
Fig. 3 is the location drawing in the industrial camera visual field and target area.
Fig. 4 is the location drawing at industrial camera center and impact point.
Fig. 5 is the height difference H figure of suspender place plane and lower section target area place plane.
Fig. 6 is the spatial relation graph of testing distance L.
Fig. 7 is plane relation (operator visual angle) figure of testing distance L.
Specific embodiment
Man-machine interaction mode and interface setting：
As shown in figure 1, container crane sling has four orientation.
As shown in Fig. 2 human-computer interaction interface is made up of four instructions, control suspender respectively to,, 10 points of sides at 2 points at 4 points at 8 points
To being braked action.System comprises artificial and two kinds of working methods of auxiliary braking.Artificial mode supplies the system failure, personnel training
Or in particular cases use at other.Under auxiliary brake mode, the workflow of system is：
As shown in Figure 3 and Figure 4, suspender is manually moving to the approximate location above target area by operator first.This
In " approximate location " it suffices that, in the sensor group (master control sensor group) that can allow in the corresponding orientation of crane hanger
Industrial camera observes this condition of correspondence direction impact point." correspondence " refers to, and the camera on 2 points of orientation drift angles of in figure suspender can
Observe the impact point in the 2 points of orientation in target area, the rest may be inferred for other situations.
The image that operator pass back according to industrial camera, judges now need what direction to be braked operation to, and
Assign command adapted thereto (in figure, needing to be braked operation to 2 points of directions)
After being connected to instruction, the sensor group entrance major state in corresponding orientation, referred to as master control sensor group, other three
Sensor group enters holding state.(in figure, 2 points of aspect sensors consist of master control sensor group) sensor group gathers below
The relevant parameter that will be mentioned that in part of data acquisition, and pass to data processing section.
Data processing section is processed (detailed process data processing division below according to blas to the parameter receiving
Divide and illustrate), and draw the working method completing required for brake operating and pass to Mechanical Driven part.
Finally, operation vertical direction being piled up container is completed by crane operator.
Part of data acquisition：
As shown in figure 5, the task of part of data acquisition is acquisition operations personnel assign auxiliary braking instruction when every phase
Related parameter.The parameter type of required collection is as follows：
(1) the motion vector V of crane hanger.
Motion vector V can further decompose into component motion V on two change in coordinate axis direction of horizontal plane for the suspenderxAnd Vy.
VxAnd VyRecorded by tachogenerator.The motion vector of synthesis can be expressed as
(2) gross mass M of suspender and its lifting container.Recorded by tension pick-up.
(3) the vertical drop H of suspender place plane and lower section target area place plane.
Height difference H refer to sensor group central point C with its lower section objective plane the distance between projection C ', by passing
Laser range sensor in sensor group is measured.
(4) the spatial relation S of master control sensor group central point and impact point.Recorded by binocular diastimeter.
Data processing section：
As shown in Figure 6 and Figure 7, data processing section be responsible for impact point, suspender current motion state, in master control sensor group
Heart point and the identification of the relative position relation of impact point, ultimately form the control instruction drawing be aligned and braking.Be aligned and system of slowing down
The basic process of dynamic schemes generation is as follows：
(1) projection C ' and impact point P in lower section target area place plane for the suspender master control sensor group central point C are determined
The distance between L.
Suspender drift angle central point C is in the distance between the projection C ' and impact point P of lower section target area place plane
(2) determine that component on two coordinate axess of horizontal plane for the L is：Lx=Lsin0 and Ly(0 is image center to=Lcos0
Angle between the line of point and impact point P and x-axis).
(3) determine the working time of suspender brake when present speed decelerates to 0.
Because motion on two change in coordinate axis direction of horizontal plane for the container crane is driven by two groups of power set respectively.
In order to simplify description, it is illustrated taking the braking procedure on wherein x-axis direction as a example.If crane brake on x-axis direction
Speed relative brake force characteristic is Fx.Then brake effect when to suspender produce acceleration be αx=Fx/M.Ideally,
When suspender decelerates to 0 on horizontal plane x-axis direction, the run time of brake is：tbrakex=(| Vx | -0)/| αx|.
(4) determine working method in whole braking procedure for the suspender.
Ideally, the distance that when decelerating to 0 on horizontal plane x-axis direction, suspender passes through in the direction of the x axis is：
Lbrakex=0.5 αxtbrakex 2.
In Lx≥LbrakexWhen, working method in braking procedure for the suspender is：First according to former speed VxContinue to run with Lx-
LbrakexDistance, time-consuming tcontinue=(Lx-Lbrakex)/| Vx |, then slowed down in the presence of brake.
For Lx＜ Lbrakex, in the realistic case, LbrakexDistance very short, Lx＜ LbrakexActually only can be in crane
Operator occur in the case of not being correctly found target area.Say on this situation is strict and belong to human operational error, be
System prompting operator processed.
The control instruction to container crane on horizontal plane x-axis direction ultimately generating is that driving means are current
Speed VxUnder continue to run with tcontinueAfter brake.
The process in y-axis direction is in the same manner.
Claims (1)
1. a kind of method for container crane horizontal direction auxiliary braking is it is characterised in that the method is in existing packaging
Install sensor additional on case crane, complete, for assist operators, the control that horizontal direction is slowed down and braked in container hanging
System, specifically includes following sections,
Under auxiliary brake mode, the mode completing braking maneuver is：
1) operator as needed suspender continue motion and retarding braking direction, human-computer interaction interface is assigned with
State the corresponding instruction in direction；
2), after being connected to instruction, on suspender, sensor group corresponding with desirable movement direction enters major state, referred to as master control sensing
Device group, other sensors group enters holding state, and master control sensor group gathers the current motion vector V of suspender, suspender and its hangs
The vertical drop H of gross mass M of Stuff (to), suspender place plane and lower section target area place plane, master control sensor
Group central point and the space length S of impact point, and pass to data processing section；
3) data processing section is processed to the parameter receiving, and obtains：
A. the master control sensor group central point of suspender is in the distance between projection and the impact point of lower section target area place plane
B. the working time t of suspender brake when present speed decelerates to 0brake=(| V | -0)/| α |, by apart from Lbrake=
0.5αtbrake 2, wherein α is the acceleration under the speed relative brake force characteristic F effect of brake；
C. working method during retarding braking for the suspender is first to continue to run with L-L according to former speed VbrakeDistance, the used time
tcontinue=(L-Lbrake)/| V |, then slowed down in the presence of brake.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510340153.5A CN105152014B (en) | 2015-06-17 | 2015-06-17 | A kind of method for container crane horizontal direction auxiliary braking |
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| CN201510340153.5A CN105152014B (en) | 2015-06-17 | 2015-06-17 | A kind of method for container crane horizontal direction auxiliary braking |
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| Publication Number | Publication Date |
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| CN105152014A CN105152014A (en) | 2015-12-16 |
| CN105152014B true CN105152014B (en) | 2017-03-01 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202465082U (en) * | 2012-02-29 | 2012-10-03 | 重庆市双鹰制动器有限公司 | Double-driving travelling wheel braking system applied to crane |
| CN103395698A (en) * | 2013-08-23 | 2013-11-20 | 徐工集团工程机械股份有限公司 | Safety control method, device and system for execution actions of crawling crane |
| CN103612989A (en) * | 2013-12-02 | 2014-03-05 | 安涛(宁波)电器有限公司 | Automatic control system of portal crane and control method |
| CN103803415A (en) * | 2014-02-20 | 2014-05-21 | 张家港港务集团有限公司港盛分公司 | Method for detecting and maintaining braking torque value of inertia brake of portal crane |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11292462A (en) * | 1998-04-03 | 1999-10-26 | Daisue Construction Co Ltd | Horizontal control suspension |
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2015
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202465082U (en) * | 2012-02-29 | 2012-10-03 | 重庆市双鹰制动器有限公司 | Double-driving travelling wheel braking system applied to crane |
| CN103395698A (en) * | 2013-08-23 | 2013-11-20 | 徐工集团工程机械股份有限公司 | Safety control method, device and system for execution actions of crawling crane |
| CN103612989A (en) * | 2013-12-02 | 2014-03-05 | 安涛(宁波)电器有限公司 | Automatic control system of portal crane and control method |
| CN103803415A (en) * | 2014-02-20 | 2014-05-21 | 张家港港务集团有限公司港盛分公司 | Method for detecting and maintaining braking torque value of inertia brake of portal crane |
Non-Patent Citations (1)
| Title |
|---|
| 岸边集装箱起重机小车制动力矩合理性的研究;童晖等;《中国交通建设股份有限公司2012年现场技术交流会论文集》;中国交通建设股份有限公司;20121231;第1059-1062页 * |
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