CN106006384A - Lorry crane six-axis gyroscope automatic level detection and leveling system - Google Patents
Lorry crane six-axis gyroscope automatic level detection and leveling system Download PDFInfo
- Publication number
- CN106006384A CN106006384A CN201610627551.XA CN201610627551A CN106006384A CN 106006384 A CN106006384 A CN 106006384A CN 201610627551 A CN201610627551 A CN 201610627551A CN 106006384 A CN106006384 A CN 106006384A
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- China
- Prior art keywords
- electromagnetic valve
- digital
- vertical oil
- kalman filtering
- oil cylinder
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Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses a lorry crane six-axis gyroscope automatic level detection and leveling system, which is composed of a controller and a hydraulic system. Specifically, the controller comprises a microprocessor, a hardware Kalman filtering, a digital six-axis gyroscope sensor, a digital display tube, an alarm, an MC34064 reset circuit, an electromagnetic valve drive circuit, and an LM2596 power supply, and the hydraulic system consists of a vertical oil cylinder 1, a vertical oil cylinder 2, a vertical oil cylinder 3, a vertical oil cylinder 4, an electromagnetic valve, and a two-position three-way electromagnetic valve. According to the invention, the digital six-axis gyroscope sensor outputs true real-time angle data after removal of the vibration caused by a chassis engine through the hardware Kalman filtering. After microprocessor operation, on the one hand, the angle data is output to a data display, when the lorry crane above-ground angle exceeds a set angle, the alarm gives an alarm, and on the other hand, the data is output to the four vertical oil cylinders controlled by the four-way electromagnetic valve respectively, and individual rise and fall of each vertical oil cylinder can maintain the whole lorry crane level.
Description
Technical field
The present invention relates to the horizontal detection leveling system of lorry-mounted crane, more particularly to a kind of lorry-mounted crane six axle gyroscope automatic horizontal detection and leveling system.
Background technology
Require during lorry-mounted crane operation that four vertical leg contact with satisfactory firm ground after stretching out, the level after making car load liftoff is maintained at ± 3 ° in, otherwise the service behaviour of car load cannot ensure.At present, the level angle after lorry-mounted crane is liftoff is typically necessary leveling manually, poor accuracy, complex operation.During lift heavy, cannot effectively report to the police after the liftoff angle of lorry-mounted crane is beyond level requirement scope, cause operating process to there is certain potential safety hazard.
Summary of the invention
The present invention is directed to the problems referred to above, it is provided that detection and the leveling system automatically of a kind of lorry-mounted crane using microprocessor and controller that six axle gyroscopes are core and four-way solenoid valve composition.
To achieve these goals, the technical solution used in the present invention is as follows:
The detection of lorry-mounted crane six axle gyroscope automatic horizontal and leveling system, it is characterized in that, it is made up of controller and hydraulic system, its middle controller includes microprocessor, hardware card Kalman Filtering, digital six axle gyro sensors, digital display tube, alarm, MC34064 reset circuit, driving circuit for electromagnetic valve, LM2596 power supply, and microprocessor connects hardware card Kalman Filtering, digital display tube, alarm, LM2596 power supply, MC34064 reset circuit and driving circuit for electromagnetic valve；Connecting in hardware card Kalman Filtering has digital six axle gyro sensors, hardware card Kalman Filtering and digital six axle gyro sensors to be connected with LM2596 power supply；Connecting on LM2596 power supply and have chassis 24V power supply, driving circuit for electromagnetic valve connects electromagnetic valve；Hydraulic system includes Vertical Cylinders one, Vertical Cylinders two, Vertical Cylinders three, Vertical Cylinders four, electromagnetic valve, two-position three way magnetic valve.
Compared with prior art, it is an advantage of the current invention that: removed, through hardware card Kalman Filtering, the vibrations that engine in situ causes by digital six axle gyro sensors, and after the produced interference of other factor disturbances, export real X-axis (car load is horizontal), the real-time angular data of Y-axis (car load is longitudinally).Angle-data exports on data display equipment through microprocessor computing latter aspect, shows the angle of current X-axis, Y-axis, and during lift heavy, passes through alarm equipment alarm after the liftoff angle of lorry-mounted crane is beyond set angle；On the other hand export four Vertical Cylinders controlled respectively to four-way solenoid valve, make car load holding level by the individually lifting of each Vertical Cylinders.Regulation horizontal accuracy during lorry-mounted crane preparation can reach≤0.2 °, and the regulation horizontal accuracy in hoisting process is≤0.5 °.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the present invention
Fig. 2 is the hydraulic schematic diagram of the present invention
In figure: 1, Vertical Cylinders one, 2, Vertical Cylinders two, 3, Vertical Cylinders three, 4, Vertical Cylinders four, 5, electromagnetic valve, 6, two-position three way magnetic valve, 7, controller.
Detailed description of the invention
Enforcement to the present invention is described below below in conjunction with the accompanying drawings:
See figures.1.and.2, the detection of lorry-mounted crane six axle gyroscope automatic horizontal and leveling system are made up of controller 7 and hydraulic system, its middle controller 7 includes microprocessor, hardware card Kalman Filtering, digital six axle gyro sensors, digital display tube, alarm, MC34064 reset circuit, driving circuit for electromagnetic valve, LM2596 power supply, and microprocessor connects hardware card Kalman Filtering, digital display tube, alarm, LM2596 power supply, MC34064 reset circuit and driving circuit for electromagnetic valve；Connecting in hardware card Kalman Filtering has digital six axle gyro sensors, hardware card Kalman Filtering and digital six axle gyro sensors to be connected with LM2596 power supply；Connecting on LM2596 power supply and have chassis 24V power supply, driving circuit for electromagnetic valve connects electromagnetic valve 5；Hydraulic system includes Vertical Cylinders 1, Vertical Cylinders 22, Vertical Cylinders 33, Vertical Cylinders 44, electromagnetic valve 5, two-position three way magnetic valve 6.
Hardware card Kalman Filtering and digital six axle gyro sensors export the angle signal through Kalman filtering jointly, it is to avoid filtering operation takies the calculation resources of microprocessor, and its precision is the highest, can reach the resolution of 0.01 °.But the working condition according to lorry-mounted crane is for preventing, and precision is too high produces vibration and available accuracy and hydraulic system response demand, and it is 0.2 ° that system arranges precision static, is the resolution of 0.5 ° during work.Hardware card Kalman Filtering passes through serial ports and microprocessor communication, and its angle shows and shown horizontal and vertical level angle by digital display tube respectively.When, after system energization, when having horizontal-shift because of load when lorry-mounted crane launches supporting leg or lift heavy, microprocessor controls two-position three way magnetic valve 6 and opens, it is ensured that lorry-mounted crane needs four Vertical Cylinders of regulation not interfere with each other with original oil circuit.The real-time angular data that microprocessor provides according to hardware card Kalman Filtering and digital six axle gyro sensors carry out PID regulation, export to four-way solenoid valve drive circuit respectively, drive the electromagnetic valve 5 in Fig. 2 and two-position three way magnetic valve 6, thus control the Vertical Cylinders 1 in Fig. 2, Vertical Cylinders 22, Vertical Cylinders 33, the lifting of Vertical Cylinders 44 respectively, it is achieved the horizontal adjustment of lorry-mounted crane.When Vertical Cylinders exceedes its stroke, and lorry-mounted crane complete machine does not reaches the horizontal-shift limit of setting, alarm equipment alarm.In order to reliable guarantee whole system stably resets, system have employed special MC34064 reset circuit；Power-supplying circuit have employed LM2596 power supply, it is ensured that system is run reliably.
Claims (1)
1. the detection of lorry-mounted crane six axle gyroscope automatic horizontal and leveling system, it is characterized in that, it is made up of controller and hydraulic system, its middle controller includes microprocessor, hardware card Kalman Filtering, digital six axle gyro sensors, digital display tube, alarm, MC34064 reset circuit, driving circuit for electromagnetic valve, LM2596 power supply, and microprocessor connects hardware card Kalman Filtering, digital display tube, alarm, LM2596 power supply, MC34064 reset circuit and driving circuit for electromagnetic valve；Connecting in hardware card Kalman Filtering has digital six axle gyro sensors, hardware card Kalman Filtering and digital six axle gyro sensors to be connected with LM2596 power supply；Connecting on LM2596 power supply and have chassis 24V power supply, driving circuit for electromagnetic valve connects electromagnetic valve；Hydraulic system includes Vertical Cylinders one, Vertical Cylinders two, Vertical Cylinders three, Vertical Cylinders four, electromagnetic valve, two-position three way magnetic valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610627551.XA CN106006384A (en) | 2016-08-03 | 2016-08-03 | Lorry crane six-axis gyroscope automatic level detection and leveling system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610627551.XA CN106006384A (en) | 2016-08-03 | 2016-08-03 | Lorry crane six-axis gyroscope automatic level detection and leveling system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106006384A true CN106006384A (en) | 2016-10-12 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610627551.XA Pending CN106006384A (en) | 2016-08-03 | 2016-08-03 | Lorry crane six-axis gyroscope automatic level detection and leveling system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106006384A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107168186A (en) * | 2017-07-05 | 2017-09-15 | 山东科技大学 | 4 automatic horizontal control systems and its method of work based on six axle combination sensors |
| CN108797665A (en) * | 2018-05-25 | 2018-11-13 | 国家电网公司 | A kind of electric power pylon differential settlement hydraulic auto adjusting system |
| CN109471458A (en) * | 2018-12-15 | 2019-03-15 | 东北林业大学 | A kind of drift angle compensation method of self-level(l)ing structural failure |
| CN110566716A (en) * | 2019-08-27 | 2019-12-13 | 北京无线电计量测试研究所 | Kalman filter-based rail valve position measuring system and method |
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| CN201276156Y (en) * | 2008-09-27 | 2009-07-22 | 武汉浩迪科技有限公司 | Vehicle mounted automatic leveling system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107168186A (en) * | 2017-07-05 | 2017-09-15 | 山东科技大学 | 4 automatic horizontal control systems and its method of work based on six axle combination sensors |
| CN107168186B (en) * | 2017-07-05 | 2019-02-22 | 山东科技大学 | 4 automatic horizontal control systems and its working method based on six axis combination sensors |
| CN108797665A (en) * | 2018-05-25 | 2018-11-13 | 国家电网公司 | A kind of electric power pylon differential settlement hydraulic auto adjusting system |
| CN109471458A (en) * | 2018-12-15 | 2019-03-15 | 东北林业大学 | A kind of drift angle compensation method of self-level(l)ing structural failure |
| CN110566716A (en) * | 2019-08-27 | 2019-12-13 | 北京无线电计量测试研究所 | Kalman filter-based rail valve position measuring system and method |
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Application publication date: 20161012 |
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