CN105398958A - Steel coil measuring, positioning and hanging method, and device and crane applying same - Google Patents
Steel coil measuring, positioning and hanging method, and device and crane applying same Download PDFInfo
- Publication number
- CN105398958A CN105398958A CN201510957197.2A CN201510957197A CN105398958A CN 105398958 A CN105398958 A CN 105398958A CN 201510957197 A CN201510957197 A CN 201510957197A CN 105398958 A CN105398958 A CN 105398958A
- Authority
- CN
- China
- Prior art keywords
- coil
- strip
- coordinate
- hoisting crane
- crane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention provides a steel coil measuring, positioning and hanging method which is used for an unmanned crane. A range finder, a sensor, a photographing device and a PLC are arranged on the unmanned crane. The steel coil measuring, positioning and hanging method comprises the following steps: taking the direction of a vehicle headstock for bearing a to-be-hanged steel coil as the X direction, the direction perpendicular to the X direction as the Y direction and the vertical direction as the Z direction; and obtaining a three-dimensional coordinate (Xo, Yo and Zo) of the axis central point of the steel coil by measuring, photographing, calculating and transforming, and controlling the crane to hang the steel coil. The invention further provides a device for controlling the crane to measure and position the steel coil by using the method and the crane provided with the device. According to the method, the device and the crane, the coordinate measurement of the steel coil is finished by the crane when a girder advances on a cart track, measuring the coordinate of the steel coil in advance and inputting the coordinate in a system and then hanging the steel coil are not needed, and the full-automatic operation of the crane is realized.
Description
Technical field
The present invention relates to crane goods measurement and positioning technology, particularly hoisting crane coil of strip measurement and positioning technology.
Background technology
In steel mill's warehouse of steel roll, 1 year coil of strip is come in and gone out at hundreds of thousands of ton ton even up to a million, and the turnover in reservoir area, collapse of setting more exacerbate the difficulty of coil of strip management, the limited accuracy of handling, operating efficiency is low, and hoisting crane ground handling operator and dispatcher's labour intensity are large, long-term work fatiguability.Automatic hoisting machine can well solve personnel problem, but it is the key of realizing this goal to the location of coil of strip and crawl.Existing automatic hoisting crane, all needs measure and set the coordinate waiting hang get coil of strip in advance, then manipulating crane to specified coordinate position carries out hanging getting, comparatively inconvenience.
Summary of the invention
For solving the problem, an object of the present invention is to provide a kind of coil of strip measurement and positioning of unmanned hoisting crane to hang access method.
The invention provides a kind of coil of strip measurement and positioning and hang access method, for unmanned hoisting crane.Hoisting crane is provided with the apomecometer measuring hoisting crane elemental height and the nearest object distance of below vertical direction, measure the sensor of hoisting crane travel distance, the camera arrangement of shooting hoisting crane elemental height lower images, the PLC that computational data operates with control hoisting crane.The method comprises the following steps: in the horizontal surface of hoisting crane work area, to carry the carrier headstock direction waiting to hang and get coil of strip for X-direction, with the direction of vertical X-direction for Y-direction, take vertical direction as Z-direction; The X-coordinate sequence of the sampling point on coil of strip surface is obtained by survey calculation; Two-dimensional coordinate (the X of coil of strip axis centre point O in X-direction and Z-direction is obtained by survey calculation
o, Z
o); By taking pictures, calculate coil of strip axis centre point O coordinate Y in the Y direction
oand width of steel coil; Hoisting crane hangs gets coil of strip.
In one aspect of the invention, the step being obtained the X-coordinate sequence of the sampling point on coil of strip surface by survey calculation is: when hoisting crane is advanced in X direction, to be advanced displacement by a fixed frequency record hoisting crane by sensor, and send data to PLC, hoisting crane displacement of advancing in X direction is calculated the X-coordinate being converted to coil of strip sampling point on the surface by PLC, thus obtains the X-coordinate sequence of coil of strip sampling point on the surface.
In one aspect of the invention, the two-dimensional coordinate (X of coil of strip axis centre point O in X-direction and Z-direction is obtained by survey calculation
o, Z
o) step be: apomecometer measures hoisting crane elemental height and the distance in the surperficial Z-direction of coil of strip by described fixed frequency, and sends data to PLC.In the range data that removal is collected by PLC, numerical value is greater than the part of a predetermined value, by remaining range data, be converted to the Z coordinate of the sampling point on coil of strip surface, obtain the Z coordinate sequence of the sampling point on a coil of strip surface, by the Z coordinate in Z coordinate sequence and the X-coordinate one_to_one corresponding in X-coordinate sequence, sampling point on formation coil of strip surface is in X-direction, two-dimensional coordinate (the X of Z-direction, Z) coordinate set, then this coordinate set is carried out curve fitting, obtain the curvilinear equation of the approximate shapes of coil of strip, coordinate (the X of approximate coil of strip summit in X-direction and Z-direction is calculated by this equation
1, Z
1) and coil of strip radius, by (X
1, Z
1) and coil of strip radius calculation obtain the coordinate (X of coil of strip axis centre point O in X-direction and Z-direction
o, Z
o).
In one aspect of the invention, the two-dimensional coordinate (X of coil of strip axis centre point O in X-direction and Z-direction is obtained by survey calculation
o, Z
o) step be: apomecometer measures the distance in the surperficial Z-direction of hoisting crane elemental height and coil of strip by fixed frequency, and sends data to PLC.In the range data that removal is collected by PLC, numerical value is greater than the part of a predetermined value, to remaining range data, be converted into the Z coordinate of coil of strip sampling point on the surface, obtain a Z coordinate sequence, by the Z coordinate in Z coordinate sequence and the X-coordinate one_to_one corresponding in X-coordinate sequence, form the coordinate set of the sampling point on coil of strip surface at the two-dimensional coordinate (X, Z) of X-direction, Z-direction; That in record coordinate set, Z coordinate figure is maximum is the coordinate (X on coil of strip summit
1, Z
1), by coil of strip apex coordinate (X
1, Z
1) in the minimum value of Z coordinate that replaces with in Z coordinate sequence of Z coordinate namely obtain the two-dimensional coordinate (X of coil of strip axis centre point O in X-direction and Z-direction
o, Z
o).
In one aspect of the invention, predetermined value is the distance of hoisting crane elemental height to the vertex of the device of carrying coil of strip.
In one aspect of the invention, by taking pictures, calculate coil of strip axis centre point O coordinate Y in the Y direction
oand the step of width of steel coil is: hoisting crane advances to coil of strip axis centre point O at X-direction coordinate X
ostart photographing device during position, take the image below elemental height straight down from hoisting crane elemental height, and send data to PLC, calculate coil of strip axis centre point O coordinate Y in the Y direction by PLC
o, and width of steel coil;
In one aspect of the invention, hoisting crane hangs the step of getting coil of strip and is: PLC controls crane hanger and moves to the coordinate (X of coil of strip axis centre point O in X-direction and Y-direction
o, Y
o) position, then control suspender gripping arm and open the width exceeding width of steel coil, decline and adjust suspender arrives the aforementioned coil of strip axis calculated level attitude to suspender lower end gripping arm least significant end, carrying out coil of strip crawl, lifting.
The present invention also provides a kind of coil of strip measurement and positioning device, be applied to unmanned hoisting crane, hoisting crane is provided with the apomecometer measuring hoisting crane elemental height and the nearest object distance of below vertical direction, measure the sensor of hoisting crane travel distance, the camera arrangement of shooting hoisting crane elemental height lower images, the PLC that computational data operates with control hoisting crane.This coil of strip measurement and positioning application of installation coil of strip measurement and positioning as above hangs access method and controls hoisting crane and treat and hang the coil of strip got and carry out measurement and positioning and hang and get.It comprises: gather the displacement sensing module of hoisting crane X-shift data, gather hoisting crane elemental height and below vertical direction closest to object distance data range finder module, gathers photo module, the computational data of hoisting crane elemental height lower images data, the control module of control hoisting crane operation.Wherein displacement sensing module, range finder module, photo module are connected with control module respectively.
The present invention also provides a kind of unmanned hoisting crane, is provided with coil of strip measurement and positioning device as above.
In one aspect of the invention, unmanned hoisting crane is double track crane in bridge type.
Beneficial effect of the present invention is the measurement namely completing coil of strip coordinate in crane girder traveling process, hoisting crane can be made to advance while complete and get the measurement of coil of strip and hanging, without the need to measuring coil of strip coordinate in advance and input system carries out hanging getting again, save operation, achieve the unattended operation of hoisting crane.
Accompanying drawing explanation
Fig. 1 is that the measurement and positioning of one of them embodiment of the present invention hangs access method diagram of circuit
Fig. 2 is the view in the double track bridge-type crane operating status applying one of them embodiment of the present invention in X-direction
Fig. 3 is the view in the double track bridge-type crane operating status applying one of them embodiment of the present invention in Y-direction
Wherein, description of reference numerals is as follows:
1. large Car Track
2. girder
3. dolly
4. suspender
5. train cover
6. saddle seat
7. coil of strip
8. industrial camera
9. laser rangefinder
10. camera lens visual angle line
11. laser ranging lines
Detailed description of the invention
Invent to the present invention the technical scheme provided by specific embodiments of the invention below with reference to accompanying drawing to be described in detail, for those skilled in the art, clearer and more definite understanding is carried out to the present invention.It should be noted that, the technical scheme that following examples provide and Figure of description, only for the present invention will be described, are not for being limited the present invention.
Refer to Fig. 1-Fig. 3, Fig. 1 is that the measurement and positioning of one of them embodiment of the present invention hangs access method diagram of circuit, Fig. 2 is the schematic views in the double track bridge-type crane operating status applying one of them embodiment of the present invention in X-direction, and Fig. 3 is the schematic views of Y-direction in the double track bridge-type crane operating status applying one of them embodiment of the present invention.
In the present embodiment, being provided with the unmanned hoisting crane that application coil of strip measurement and positioning of the present invention hangs the coil of strip measurement and positioning device of access method is double track crane in bridge type.It will be understood by those skilled in the art that coil of strip measurement and positioning provided by the present invention hang access method and coil of strip measurement and positioning device can apply by the unmanned hoisting crane of other types, be not limited in the double track crane in bridge type that the present embodiment provides.
Double track crane in bridge type hangs the general run of thins getting coil of strip, by the train cover 5 that saddle seat 6 is housed coil of strip is transported into hang and gets place, train cover 5 stops to assigned address, and coil of strip 7 is carried on coil of strip bogey saddle seat 6, treats sequentially to be hung by hoisting crane to be taken to desired location and to deposit.Generally speaking, when train cover 5 docks at assigned address, the headstock of train cover 5 towards and general direction level on perpendicular to girder 2, be parallel to large Car Track 1, and the placing direction of the coil of strip that train cover 5 loads is roughly parallel to girder 2, perpendicular to large Car Track 1.
The present invention defines in hoisting crane work area, and carrying and waiting to hang the carrier headstock direction getting coil of strip is X-direction, and with horizontal vertical X-direction for Y-direction, vertical direction is Z-direction.For the present embodiment, definition train cover 5 headstock direction is X-direction (it is in parallel that large Car Track 1 sets up direction), and it is Y-direction (namely in level perpendicular to the direction of large Car Track 1) that girder 2 sets up direction, and vertical direction is Z-direction.The initial position co-ordinates of definition crane hanger is (0,0,0), and the axis centre point of coil of strip 7 is O point, and coordinate is (X
o, Y
o, Z
o)
The double track crane in bridge type that the present embodiment provides is provided with coil of strip measurement and positioning device, specifically refer to Fig. 2 and Fig. 3, this device comprises: displacement pickup (the displacement sensing module that large Car Track 1 is arranged, not shown), the laser rangefinder 9 (range finder module) that girder 2 lower surface is arranged before and after Y-direction and an industrial camera 8 (photo module), that is, laser rangefinder 9 and industrial camera 8 have identical X-coordinate.The PLC (control module) that crane girder 2 inside is arranged, PLC is connection bit displacement sensor, laser rangefinder 9 and industrial camera 8 respectively.
It will be understood by those skilled in the art that the setting position of the modules of above-mentioned coil of strip measurement and positioning device and mode and annexation, can adjust accordingly according to different situations, the present invention is not as limit.
Double track crane in bridge type provided by the invention, by coil of strip measurement and positioning device, adopts following method to control the coil of strip of hoisting crane to carrying on train cover 5 and carries out measurement and positioning, and carry out hanging the work of getting:
(1) girder 2 sets up direction (i.e. X-direction) along large Car Track 1 and advances, large Car Track 1 is provided with displacement pickup, displacement pickup is by the displacement of advancing of a fixed frequency record girder 2, and displacement data of this being advanced is sent to PLC, PLC is by this continuous data recording and be converted to the coordinate figure X of coil of strip sampling point X-direction on the surface
x, thus obtain the X-coordinate sequence of coil of strip sampling point on the surface.
Be once per second in above-mentioned fixed frequency the present embodiment, it will be understood by those skilled in the art that and can adopt different frequencies according to different situations, the present invention is not as limit.
(2) girder 2 sets up in direction (X-direction) traveling process along large Car Track 1, laser rangefinder 9 measures girder 2 lower surface (i.e. hoisting crane elemental height) and the distance on the vertical direction (Z-direction) of the immediate object in below by with same frequency in step (1), and the range data of this vertical direction is sent to PLC.
(3) PLC is removed numerical value in the range data collected and is greater than the part of a predetermined value (namely, the part of non-hoisting crane elemental height and coil of strip distance between the surface), to remaining range data, be converted into the coordinate figure Z of the sampling point Z-direction on coil of strip surface
z, thus obtain the Z coordinate sequence of the sampling point on a coil of strip surface.By the X in the X-coordinate sequence that obtains in the Z coordinate in Z coordinate sequence and step (1)
xvalue one_to_one corresponding, thus formed coil of strip on the surface sampling point at the two-dimensional coordinate (X of X-direction and Z-direction
x, Z
z) set.Then to this (X
x, Z
z) set carry out curve fitting.Because coil of strip 7 in the vertical direction is approximately round, therefore the equation that curve obtains should be approximately an equation of a circle.Equation can calculate coil of strip radius R thus, and coil of strip summit X-direction and Z-direction coordinate (X
1, Z
1), by the coordinate (X of coil of strip summit in X-direction and Z-direction
1, Z
1) with coil of strip radius R can be calculated coil of strip axis centre point O X-direction and Z-direction coordinate (X
o, Z
o), wherein X
o=X
1, Z
o=Z
1-R.
Above-mentioned predetermined value is the value of girder 2 lower surface (i.e. hoisting crane elemental height) to the apogee distance of saddle seat 6.
(4) coordinate (X is obtained
o, Z
o) after, as girder 2 now in the X direction position not arrive or more than X
o, then control mobile girder 2 by PLC and move to reach X in the X direction
oposition.Taken pictures side straight down from girder 2 lower surface (hoisting crane elemental height) by industrial camera 8 after arrival.As arrived X
oposition, then directly taken pictures by industrial camera 8.View data is sent to PLC by industrial camera 8 afterwards, is processed view data by PLC.According to coil of strip 7 size in the picture, in conjunction with girder 2 lower surface (hoisting crane elemental height) that obtains of pre-test and the range data in the Z-direction of coil of strip surface, width of steel coil L and coil of strip 7 axis centre point O sets up direction (Y-direction) coordinate Y along girder 2 can be calculated in proportion
o.
So far coordinate (the X of coil of strip 7 axis centre point is namely recorded
o, Y
o, Z
o).
(5) control dolly 3 by PLC mobile along main beam supporting direction (Y-direction), make suspender 4 move to coordinate Y
o(suspender 4 is connected with monkey 3, dolly 3 moves and drives suspender 4 to move), the width exceeding width of steel coil L is opened in the lower end gripping arm controlling suspender 4 again, decline and adjust the level attitude that suspender 4 to suspender 4 lower end gripping arm least significant end arrives aforementioned coil of strip 7 axis calculated, that is, coil of strip 7 axis centre point O level attitude (X
o, Z
o), carry out coil of strip crawl, lifting.
Hoisting crane is sling after coil of strip 7, is controlled by PLC, and coil of strip 7 is transferred to target location, unloads coil of strip 7, and regain suspender 4, mobile girder 2 and dolly 3 make suspender 4 return initial position (0,0,0).
More than hang for once complete measurement and positioning the process of getting.In some other embodiment of the present invention, step (3)-(4) are:
(3) PLC is removed numerical value in the range data collected and is greater than the part of a predetermined value (namely, the part of non-hoisting crane elemental height and coil of strip distance between the surface), to remaining range data, be converted into the coordinate figure Z of the sampling point Z-direction on coil of strip surface
z', thus obtain the Z coordinate sequence of the sampling point on a coil of strip surface.By the X in the X-coordinate sequence that obtains in the Z coordinate in Z coordinate sequence and step (1)
xvalue one_to_one corresponding, thus formed coil of strip on the surface sampling point at the two-dimensional coordinate (X of X-direction and Z-direction
x, Z
z') coordinate set; Z in record coordinate set
z' to be worth maximum coordinate be (X
1, Z
1'), this i.e. the coordinate of coil of strip 7 summit in X-direction and Z-direction.By (X
1, Z
1') middle Z
1' replace with Z
z' in minimum value, obtain (X
o, Z
o'), wherein X
o=X
1, this i.e. the two-dimensional coordinate of coil of strip 7 axis centre point O in X-direction and Z-direction.
Above-mentioned predetermined value is the value of crane girder 2 lower surface to the distance of saddle seat 6 vertex.
(4) coordinate (X is obtained
o, Z
o') after, girder 2 now in the X direction position more than X
o, control mobile girder 2 by PLC and arrive X in the X direction
oposition, is taken pictures side straight down from girder 2 lower surface (hoisting crane elemental height) by industrial camera 8 after arrival, view data is sent to PLC, is processed by PLC to view data.According to coil of strip 7 size in the picture, in conjunction with before girder 2 lower surface (hoisting crane elemental height) that obtains of survey calculation and the range data in the Z-direction of coil of strip surface, the coordinate Y of width of steel coil L and coil of strip 7 axis centre point O along main beam supporting direction (Y-direction) can be calculated in proportion
o.
So far coordinate (the X of coil of strip 7 axis centre point O is namely recorded
o, Y
o, Z
o').
More than for the coil of strip measurement and positioning being applied to unmanned hoisting crane provided by the present invention hang access method, adopting said method device and apply the embodiment of hoisting crane of this device.Beneficial effect of the present invention is: the measurement namely completing coil of strip coordinate in hoisting crane traveling process, hoisting crane can be made to advance while complete and get the measurement of coil of strip and hanging, without the need to measuring coil of strip coordinate in advance and input system carries out hanging getting again, save operation, achieve the unattended operation of hoisting crane.
The foregoing is only the preferred embodiments of the present invention, used for making those skilled in the art can clearly understand the present invention, and be not used to limit the present invention.The present invention's scope required for protection is when being as the criterion with appending claims.
Claims (10)
1. a coil of strip measurement and positioning hangs access method, for unmanned hoisting crane, hoisting crane is provided with the apomecometer measuring hoisting crane elemental height and the nearest object distance of below vertical direction, measure the sensor of hoisting crane travel distance, the camera arrangement of shooting hoisting crane elemental height lower images, the PLC that computational data operates with control hoisting crane;
It is characterized in that, comprise the following steps:
In the horizontal surface of hoisting crane work area, to carry the carrier headstock direction waiting to hang and get coil of strip for X-direction, with the direction of horizontal vertical X-direction for Y-direction, take vertical direction as Z-direction;
The X-coordinate sequence of the sampling point on coil of strip surface is obtained by survey calculation;
Two-dimensional coordinate (the X of coil of strip axis centre point O in X-direction and Z-direction is obtained by survey calculation
o, Z
o);
By taking pictures, calculate coil of strip axis centre point O coordinate Y in the Y direction
oand width of steel coil;
Hoisting crane hangs gets coil of strip.
2. coil of strip measurement and positioning as claimed in claim 1 hangs access method, the wherein said step being obtained the X-coordinate sequence of the sampling point on coil of strip surface by survey calculation is: when hoisting crane is advanced along described X-direction, to be advanced displacement by a fixed frequency record hoisting crane by described sensor, and send data to described PLC, hoisting crane displacement of advancing in X direction is calculated the X-coordinate being converted to coil of strip sampling point on the surface by PLC, thus obtains the X-coordinate sequence of coil of strip sampling point on the surface.
3. coil of strip measurement and positioning as claimed in claim 2 hangs access method, wherein saidly obtains the two-dimensional coordinate (X of coil of strip axis centre point O in X-direction and Z-direction by survey calculation
o, Z
o) step be:
Described apomecometer measures the distance in hoisting crane elemental height and coil of strip surface Z-direction by described fixed frequency, and sends data to described PLC;
In the range data that removal is collected by PLC, numerical value is greater than the part of a predetermined value, by remaining range data, be converted to the Z coordinate of the sampling point on coil of strip surface, obtain the Z coordinate sequence of the sampling point on a coil of strip surface, by the X-coordinate one_to_one corresponding in the Z coordinate in Z coordinate sequence and described X-coordinate sequence, sampling point on formation coil of strip surface is in X-direction, two-dimensional coordinate (the X of Z-direction, Z) coordinate set, then this coordinate set is carried out curve fitting, obtain the curvilinear equation of the approximate shapes of coil of strip, coordinate (the X of approximate coil of strip summit in X-direction and Z-direction is calculated by this equation
1, Z
1) and coil of strip radius, by (X
1, Z
1) and coil of strip radius calculation obtain the coordinate (X of coil of strip axis centre point O in X-direction and Z-direction
o, Z
o).
4. coil of strip measurement and positioning as claimed in claim 2 hangs access method, wherein saidly obtains the two-dimensional coordinate (X of coil of strip axis centre point O in X-direction and Z-direction by survey calculation
o, Z
o) step be:
Described apomecometer measures the distance in hoisting crane elemental height and coil of strip surface Z-direction by described fixed frequency, and sends data to described PLC;
In the range data that removal is collected by PLC, numerical value is greater than the part of a predetermined value, to remaining range data, be converted into the Z coordinate of coil of strip sampling point on the surface, obtain a Z coordinate sequence, by the X-coordinate one_to_one corresponding in the Z coordinate in Z coordinate sequence and described X-coordinate sequence, form the coordinate set of the sampling point on coil of strip surface at the two-dimensional coordinate (X, Z) of X-direction, Z-direction; That in record coordinate set, Z coordinate figure is maximum is the coordinate (X on coil of strip summit
1, Z
1), by coil of strip apex coordinate (X
1, Z
1) in the minimum value of Z coordinate that replaces with in Z coordinate sequence of Z coordinate namely obtain the two-dimensional coordinate (X of coil of strip axis centre point O in X-direction and Z-direction
o, Z
o).
5. the coil of strip measurement and positioning according to any one of claim 3 or 4 hangs access method, and wherein said predetermined value is the distance of hoisting crane elemental height to the vertex of the device of carrying coil of strip.
6. the coil of strip measurement and positioning according to any one of claim 3 or 4 hangs access method, wherein said by taking pictures, and calculates coil of strip axis centre point O coordinate Y in the Y direction
oand the step of width of steel coil is: hoisting crane advances to described coil of strip axis centre point O at X-direction coordinate X
ostart described photographing device during position, take the image below elemental height straight down from hoisting crane elemental height, and send data to described PLC, calculate coil of strip axis centre point O coordinate Y in the Y direction by PLC
o, and width of steel coil.
7. coil of strip measurement and positioning as claimed in claim 6 hangs access method, and wherein said hoisting crane hangs the step of getting coil of strip and is: described PLC controls crane hanger and moves to the coordinate (X of coil of strip axis centre point O in X-direction and Y-direction
o, Y
o) position, then control suspender gripping arm and open the width exceeding width of steel coil, decline and adjust suspender arrives the aforementioned coil of strip axis calculated level attitude to suspender lower end gripping arm least significant end, carrying out coil of strip crawl, lifting.
8. a coil of strip measurement and positioning device, be applied to unmanned hoisting crane, hoisting crane is provided with the apomecometer measuring hoisting crane elemental height and the nearest object distance of below vertical direction, measure the sensor of hoisting crane travel distance, the camera arrangement of shooting hoisting crane elemental height lower images, the PLC that computational data operates with control hoisting crane;
Wherein, described coil of strip measurement and positioning application of installation coil of strip measurement and positioning as claimed in claim 1 hangs access method and controls hoisting crane and treat and hang the coil of strip got and carry out measurement and positioning and hang and get;
It comprises:
Gather the displacement sensing module of hoisting crane X-shift data;
Gather hoisting crane elemental height and the below vertical direction range finder module closest to object distance data;
Gather the photo module of hoisting crane elemental height lower images data;
Computational data, controls the control module that hoisting crane runs;
Displacement sensing module, range finder module, photo module are connected with control module respectively.
9. a unmanned hoisting crane, hoisting crane is provided with the apomecometer measuring hoisting crane elemental height and the nearest object distance of below vertical direction, measure the sensor of hoisting crane travel distance, the camera arrangement of shooting hoisting crane elemental height lower images, the PLC that computational data operates with control hoisting crane;
Wherein, described unmanned hoisting crane is provided with coil of strip measurement and positioning device as claimed in claim 8.
10. unmanned hoisting crane as claimed in claim 9, wherein said unmanned hoisting crane is double track crane in bridge type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510957197.2A CN105398958A (en) | 2015-12-19 | 2015-12-19 | Steel coil measuring, positioning and hanging method, and device and crane applying same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510957197.2A CN105398958A (en) | 2015-12-19 | 2015-12-19 | Steel coil measuring, positioning and hanging method, and device and crane applying same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105398958A true CN105398958A (en) | 2016-03-16 |
Family
ID=55464779
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510957197.2A Pending CN105398958A (en) | 2015-12-19 | 2015-12-19 | Steel coil measuring, positioning and hanging method, and device and crane applying same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105398958A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105930824A (en) * | 2016-05-13 | 2016-09-07 | 重庆大学 | Technology of automatically recognizing complete grabbing of steel coil for unmanned crown block |
| CN106044570A (en) * | 2016-05-31 | 2016-10-26 | 河南卫华机械工程研究院有限公司 | Steel coil lifting device automatic identification device and method adopting machine vision |
| CN107188042A (en) * | 2017-06-21 | 2017-09-22 | 欧浦智网股份有限公司 | A kind of geographical coordinates method for drafting and device for cargo handling |
| CN108946488A (en) * | 2017-12-20 | 2018-12-07 | 江苏耐维思通科技股份有限公司 | One kind unloading volume platform region driving lifting identification device |
| CN109484975A (en) * | 2018-11-06 | 2019-03-19 | 北京首钢自动化信息技术有限公司 | A kind of vehicle saddle Scan orientation method |
| CN110044306A (en) * | 2018-01-17 | 2019-07-23 | 中国钢铁股份有限公司 | Coil of strip warehousing system and coil of strip geometric center discrimination method |
| CN110127521A (en) * | 2018-02-08 | 2019-08-16 | 中国钢铁股份有限公司 | Coil of strip centre coordinate detection device and its method |
| CN110921510A (en) * | 2019-11-06 | 2020-03-27 | 宁波兰羚钢铁实业有限公司 | Online standard-reaching control system and method for packaging for intelligent steel belt hoisting |
| CN112828045A (en) * | 2020-12-28 | 2021-05-25 | 太原重工股份有限公司 | Mandrel transport system and method |
| CN112996742A (en) * | 2018-10-24 | 2021-06-18 | 住友重机械工业株式会社 | Crane system, crane positioning device and crane positioning method |
| CN113165856A (en) * | 2018-11-20 | 2021-07-23 | 利勃海尔工厂比伯拉赫股份有限公司 | Crane with anti-collision device and method for mounting anti-collision device |
| CN114261823A (en) * | 2021-12-21 | 2022-04-01 | 江西荣伟实业有限公司 | Steel coil transferring system |
| CN116040457A (en) * | 2023-04-03 | 2023-05-02 | 四川沱江起重机有限公司 | Crane rotary grabbing system and method |
| CN117800212A (en) * | 2023-04-27 | 2024-04-02 | 广东宝路盛精密机械有限公司 | Hoist and battery diaphragm processing production line |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0920493A (en) * | 1995-07-04 | 1997-01-21 | Hitachi Kiden Kogyo Ltd | Position detecting method for columnar object |
| KR20050021617A (en) * | 2003-08-19 | 2005-03-07 | 주식회사 포스코 | Method for measuring build-up on steel sheet coil |
| CN1884034A (en) * | 2006-07-06 | 2006-12-27 | 上海交通大学 | Double laser radar positioning method for aligning sling and container truck |
| CN1958428A (en) * | 2006-09-26 | 2007-05-09 | 上海海事大学 | Method and device for positioning container lorry mobile in port |
| CN101096262A (en) * | 2006-06-28 | 2008-01-02 | 上海振华港口机械（集团）股份有限公司 | Container-truck positioning system and method for container crane |
| CN101839693A (en) * | 2010-04-12 | 2010-09-22 | 东莞市嘉腾仪器仪表有限公司 | Automatic image measuring system |
| CN102853762A (en) * | 2012-07-09 | 2013-01-02 | 山西太钢不锈钢股份有限公司 | Method for measuring central position of steel coil |
-
2015
- 2015-12-19 CN CN201510957197.2A patent/CN105398958A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0920493A (en) * | 1995-07-04 | 1997-01-21 | Hitachi Kiden Kogyo Ltd | Position detecting method for columnar object |
| KR20050021617A (en) * | 2003-08-19 | 2005-03-07 | 주식회사 포스코 | Method for measuring build-up on steel sheet coil |
| CN101096262A (en) * | 2006-06-28 | 2008-01-02 | 上海振华港口机械（集团）股份有限公司 | Container-truck positioning system and method for container crane |
| CN1884034A (en) * | 2006-07-06 | 2006-12-27 | 上海交通大学 | Double laser radar positioning method for aligning sling and container truck |
| CN1958428A (en) * | 2006-09-26 | 2007-05-09 | 上海海事大学 | Method and device for positioning container lorry mobile in port |
| CN101839693A (en) * | 2010-04-12 | 2010-09-22 | 东莞市嘉腾仪器仪表有限公司 | Automatic image measuring system |
| CN102853762A (en) * | 2012-07-09 | 2013-01-02 | 山西太钢不锈钢股份有限公司 | Method for measuring central position of steel coil |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105930824A (en) * | 2016-05-13 | 2016-09-07 | 重庆大学 | Technology of automatically recognizing complete grabbing of steel coil for unmanned crown block |
| CN105930824B (en) * | 2016-05-13 | 2019-10-29 | 重庆大学 | One kind completely grabbing automatic identifying method for unmanned overhead traveling crane coil of strip |
| CN106044570A (en) * | 2016-05-31 | 2016-10-26 | 河南卫华机械工程研究院有限公司 | Steel coil lifting device automatic identification device and method adopting machine vision |
| CN107188042A (en) * | 2017-06-21 | 2017-09-22 | 欧浦智网股份有限公司 | A kind of geographical coordinates method for drafting and device for cargo handling |
| CN107188042B (en) * | 2017-06-21 | 2018-12-18 | 欧浦智网股份有限公司 | A kind of ground coordinate method for drafting and device for cargo handling |
| CN108946488A (en) * | 2017-12-20 | 2018-12-07 | 江苏耐维思通科技股份有限公司 | One kind unloading volume platform region driving lifting identification device |
| CN110044306B (en) * | 2018-01-17 | 2021-05-11 | 中国钢铁股份有限公司 | Steel coil storage system and steel coil geometric center identification method |
| CN110044306A (en) * | 2018-01-17 | 2019-07-23 | 中国钢铁股份有限公司 | Coil of strip warehousing system and coil of strip geometric center discrimination method |
| CN110127521A (en) * | 2018-02-08 | 2019-08-16 | 中国钢铁股份有限公司 | Coil of strip centre coordinate detection device and its method |
| CN110127521B (en) * | 2018-02-08 | 2020-06-26 | 中国钢铁股份有限公司 | Steel coil center coordinate detection device and method |
| CN112996742B (en) * | 2018-10-24 | 2023-08-11 | 住友重机械工业株式会社 | Crane system, crane positioning device and crane positioning method |
| CN112996742A (en) * | 2018-10-24 | 2021-06-18 | 住友重机械工业株式会社 | Crane system, crane positioning device and crane positioning method |
| CN109484975A (en) * | 2018-11-06 | 2019-03-19 | 北京首钢自动化信息技术有限公司 | A kind of vehicle saddle Scan orientation method |
| CN113165856A (en) * | 2018-11-20 | 2021-07-23 | 利勃海尔工厂比伯拉赫股份有限公司 | Crane with anti-collision device and method for mounting anti-collision device |
| CN110921510B (en) * | 2019-11-06 | 2020-12-01 | 宁波兰羚钢铁实业有限公司 | Online standard-reaching control system and method for packaging for intelligent steel belt hoisting |
| CN110921510A (en) * | 2019-11-06 | 2020-03-27 | 宁波兰羚钢铁实业有限公司 | Online standard-reaching control system and method for packaging for intelligent steel belt hoisting |
| CN112828045A (en) * | 2020-12-28 | 2021-05-25 | 太原重工股份有限公司 | Mandrel transport system and method |
| CN112828045B (en) * | 2020-12-28 | 2022-12-06 | 太原重工股份有限公司 | Mandrel transport system and method |
| CN114261823A (en) * | 2021-12-21 | 2022-04-01 | 江西荣伟实业有限公司 | Steel coil transferring system |
| CN116040457A (en) * | 2023-04-03 | 2023-05-02 | 四川沱江起重机有限公司 | Crane rotary grabbing system and method |
| CN117800212A (en) * | 2023-04-27 | 2024-04-02 | 广东宝路盛精密机械有限公司 | Hoist and battery diaphragm processing production line |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105398958A (en) | Steel coil measuring, positioning and hanging method, and device and crane applying same | |
| CN104724606B (en) | Automatic tracking device and automatic tracking method for production material storage and transportation operation images | |
| KR101699672B1 (en) | Method and system for automatically landing containers on a landing target using a container crane | |
| CN102795547B (en) | Real-time photographic measuring method of position and swing angle of lifting hook of crane | |
| CN107324041A (en) | The manipulator and automatic film magazine handling device clamped for film magazine | |
| CN105113403B (en) | Bridge floor detection method based on intelligent detection equipment | |
| CN106327044A (en) | Device and method for automatically identifying and positioning vehicle-mounted steel coils and vehicle saddles | |
| CN106044570A (en) | Steel coil lifting device automatic identification device and method adopting machine vision | |
| US11981547B2 (en) | Crane | |
| JP6751603B2 (en) | Container terminal system | |
| CN110902570A (en) | Dynamic measurement method and system for container loading and unloading operation | |
| CN105189327A (en) | Information presentation device, crane system, and information presentation method | |
| CN108584729A (en) | A kind of intelligent barrier avoiding tower crane | |
| CN111077889A (en) | Multi-mobile-robot formation cooperative positioning method for workshop tray transportation | |
| CN112849898A (en) | Self-driven robot and carrying method thereof | |
| JP2022024084A (en) | Inventory management system, transportation device, and method of connecting transportation device and transportation object | |
| JP2019048681A (en) | Cargo conveying system, cargo conveying device and cargo conveying method | |
| CN105712206B (en) | Container spreader pose detecting system and method | |
| CN114890280A (en) | Detection alignment method and device for lifting appliance | |
| CN205772906U (en) | A kind of tyred container door type crane automated driving system | |
| CN115849189B (en) | Point cloud-based lifting appliance secondary anchoring method, system, equipment and storage medium | |
| CN113844813B (en) | Slab identification, tracking, scheduling and management system based on machine vision | |
| CN207276067U (en) | The container tapered end framing of automated handling slings system with anti- | |
| CN112912332A (en) | Crane device | |
| EP4038010B1 (en) | Spreader position control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160316 |
|
| RJ01 | Rejection of invention patent application after publication |