CN115385244A - Automatic crane control system based on 5G network and method thereof - Google Patents
Automatic crane control system based on 5G network and method thereof Download PDFInfo
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- CN115385244A CN115385244A CN202210900564.5A CN202210900564A CN115385244A CN 115385244 A CN115385244 A CN 115385244A CN 202210900564 A CN202210900564 A CN 202210900564A CN 115385244 A CN115385244 A CN 115385244A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 121
- 238000001514 detection method Methods 0.000 claims abstract description 38
- 230000003993 interaction Effects 0.000 claims abstract description 12
- 238000012544 monitoring process Methods 0.000 claims abstract description 9
- 238000003745 diagnosis Methods 0.000 claims abstract description 5
- 239000012636 effector Substances 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 8
- 230000005484 gravity Effects 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000010276 construction Methods 0.000 abstract description 2
- 238000004891 communication Methods 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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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
-
- 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
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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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
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
-
- 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
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention relates to the field of cranes, and provides an automatic crane control system based on a 5G network and an operation method thereof, wherein the automatic crane control system comprises a main control system, a secondary control system, the 5G network, an operation mechanism and a detection module, the secondary control system is arranged on the operation mechanism and is in information interaction with the operation mechanism and the detection module, the secondary control system sends an operation instruction of the operation mechanism and receives data information of the detection module, the detection module is arranged on the operation mechanism and is used for detecting and obtaining the current position, speed and angle information of a cart mechanism, a trolley mechanism and a tail-end crane mechanism, and the secondary control system is in information interaction with the main control system through the 5G network. The main control system and the secondary control system realize rapid information interaction through a 5G network, the automatic crane is integrated into the whole automatic system of a factory, the remote monitoring, diagnosis and automatic operation of the crane are realized, the production efficiency of the factory is improved, and the informatization construction is promoted.
Description
Technical Field
The invention relates to the field of cranes, in particular to an automatic crane control system based on a 5G network and a method thereof.
Background
A crane belongs to special equipment, is common carrying equipment in a factory, and generally lifts large and heavy objects by the crane. In the working process, ground workers firstly bind the carried objects, and a driver operates in a crane cab to lift and carry the objects. The working process needs personnel to intervene, the center of gravity of the object is found out by workers according to experience and surface observation, and then the object is bound, lifted and carried. Because everyone's experience differs with subjective consciousness, often need to tie, lift by crane many times repeatedly, can reach the requirement of safely lifting by crane and transport to because the sight distance is far away, building shelter, reasons such as light, the operation situation of hoist department is hardly directly observed to the driver, influences the operating efficiency, causes equipment damage and personnel's damage easily.
With the rapid development of society, the development of intelligent manufacturing is accelerated, the method is a necessary way for cultivating new economic growth and kinetic energy in China, the method is a strategic choice for preempting the advanced points of future economic and scientific development, the crane requirements of enterprises are higher and higher, and the traditional manual driving can not meet the requirements of the enterprises gradually. More and more factories pursue intelligence and automation and network cranes to other devices of the enterprise to build automation plants.
Disclosure of Invention
In order to overcome the defects of the prior art, an object of the present invention is to provide an automatic crane control system based on a 5G network and a method thereof, so as to solve the above mentioned technical problems of the prior art.
One of the purposes of the invention is realized by adopting the following technical scheme: the utility model provides an automatic crane control system based on 5G network, includes main control system, inferior control system, 5G network, running gear and detection module, inferior control system establishes on running gear, and inferior control system carries out the information interaction with running gear and detection module, and inferior control system sends running gear's operation instruction and receives detection module's data information, running gear includes cart mechanism, dolly mechanism and terminal hoist mechanism, detection module establishes on running gear, and is used for detecting the data information who obtains cart mechanism, dolly mechanism and terminal hoist mechanism current position, speed and angle, main control system establishes in the master control room, and inferior control system carries out the information interaction through 5G network and main control system.
Further, detection module includes distancer, ultrasonic sensor and angle sensor, all be equipped with on cart mechanism, dolly mechanism and the terminal hoisting mechanism distancer, cart mechanism with all be equipped with on the terminal hoisting mechanism ultrasonic sensor, be equipped with on the terminal hoisting mechanism angle sensor.
Further, the cart mechanism comprises a bridge, a track and a cart moving drive, the bridge is linearly arranged along the track in a moving mode, and the cart moving drive is connected with the bridge in a linear driving mode.
Further, the trolley mechanism comprises a sliding trolley and a trolley moving drive, the sliding trolley is linearly arranged along the bridge frame in a moving mode, and the trolley moving drive is in linear driving connection with the sliding trolley.
Furthermore, the tail end hoisting mechanism comprises a lifting device which can move up and down and a tail end actuator arranged at the moving end of the lifting device, and the tail end actuator is arranged below the bridge frame.
Furthermore, the detection module also comprises a plurality of frequency converters, and the frequency converters are respectively connected with the trolley moving drive, the cart moving drive and the lifting device.
Furthermore, the detection module further comprises a limit travel switch and a proximity switch sensor, the cart mechanism and the end effector are both provided with the limit travel switch, and the end effector is provided with the proximity switch sensor matched with the limit travel switch.
Further, the detection module also comprises a video monitoring camera.
Further, the detection module further comprises a machine vision scanner.
The invention also provides an operation method of the automatic crane control system based on the 5G network, which comprises the following steps:
s1, firstly, issuing an instruction in a main control system, transmitting the instruction to a secondary control system through a 5G network, analyzing a task instruction after the secondary control system receives the instruction, and judging whether the task type belongs to collection, diagnosis or transportation so as to execute a corresponding task;
s2, before the object is conveyed, the secondary control system drives the tail end hoisting mechanism to enable the tail end hoisting mechanism to reach a safe height, then the cart mechanism and the trolley mechanism are moved, the machine vision scanner scans the conveyed object, information is transmitted to the main control system through a 5G network, and the main control system analyzes the information and finds out the gravity center position of the object to send the information to the secondary control system;
s3: the secondary control system drives the cart mechanism, the trolley mechanism and the tail end hoisting mechanism to move, and the positions of the cart mechanism, the trolley mechanism and the tail end hoisting mechanism are obtained in real time through the detection module, so that the tail end executor can grab the object;
and S4, the secondary control system controls the lifting device to improve the height of the object, the small car mechanism and the large car mechanism are moved to enable the object to be conveyed to a specified position after the object is lifted to the specified height, the detection module sends real-time position and angle information of the large car mechanism, the small car mechanism and the tail end lifting mechanism to the main control system in the conveying process, and the main control system simultaneously judges whether the data are abnormal or not. Therefore, the remote monitoring and automatic operation of the crane are realized.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention realizes the rapid information interaction between the main control system and the secondary control system through the 5G network. The control system automatically identifies the gravity center position of the object through interactive information, realizes automatic identification, automatic grabbing and carrying of the object by the crane, and has the advantages that the whole process does not need manual intervention, so that the crane is integrated into an integral automatic system of a factory, the remote monitoring, diagnosis and full-automatic operation of the crane are realized, the production efficiency of the factory is improved, and the informatization construction is promoted.
Drawings
FIG. 1 is a schematic view of the overall connection of the present invention;
FIG. 2 is a schematic view of the structural distribution of the present invention;
in the figure:
1. a master control system; 2. a secondary control system; 3. a 5G network; 4. an operating mechanism; 41. a trolley mechanism; 42. a cart mechanism; 43. and a tail end hoisting mechanism.
Detailed Description
The present invention is further described with reference to fig. 1 and fig. 2 and the detailed description, and it should be noted that, in the case of no conflict, any combination between the embodiments or technical features described below may form a new embodiment.
The embodiment of the invention provides an automatic crane control system based on a 5G network and a method thereof, as shown in figures 1 and 2, the automatic crane control system based on the 5G network comprises a main control system 1, a secondary control system 2, a 5G network 3, a running mechanism 4 and a detection module, wherein the main control system 1 is arranged in a control room on the ground or far away from a crane, the secondary control system 2 is arranged on the running mechanism 4, the secondary control system 2 is in information interaction with the running mechanism 4 and the detection module, the secondary control system 2 sends a running instruction of the running mechanism 4 and receives data information of the detection module, concretely, the running mechanism 4 comprises a cart mechanism 42, a trolley mechanism 41 and a tail end crane mechanism 43, as shown in figure 2, the cart mechanism 42 comprises a bridge, a track and a cart movement drive, the cart movement drive is connected with the bridge linear drive, the bridge frame is driven by the cart moving drive, the bridge frame can linearly reciprocate along the track, the cart moving drive is generally motor drive, the motor is connected with the reducer, the reducer is connected with the wheel rotating drive of the cart mechanism 42, the trolley mechanism 41 linearly reciprocates along the bridge frame, the trolley mechanism 41 comprises a sliding trolley and a trolley moving drive, the sliding trolley is arranged on the bridge frame and linearly reciprocates along the bridge frame, the trolley moving drive is connected with the sliding trolley linearly, the trolley drive is also generally connected with the wheel rotating drive of the trolley mechanism 41 through the reducer by adopting the motor drive, the moving direction of the trolley mechanism 41 is mutually vertical to the moving direction of the cart and is equivalent to an x axis and a Y axis in coordinate axes, the tail end hoisting mechanism 43 is arranged on the sliding trolley, the tail end hoisting mechanism 43 comprises a lifting device for lifting movement and a tail end actuator arranged at the moving end of the lifting device, the end effector is arranged below the bridge frame, the lifting device is arranged on the sliding trolley, in some embodiments, the end hoisting mechanism 43 has a weight detection function, and when objects with different weights are transported, the main control system 1 can make different decisions according to different weight loads, so that the most reasonable lifting speed control is realized. In the prior art, a plurality of devices capable of lifting linearly are provided, such as a lifting rod, in this embodiment, lifting of an end effector at the lower end of a steel wire rope is realized by means of recovering or releasing the steel wire rope through rotation of a drum, a driving device for controlling rotation of the drum is also a motor, the motors are all controlled by a secondary control system 2, and lifting movement of a lifting device is equivalent to a z axis, so that a cart mechanism 42, a cart mechanism 41 and the lifting device form a complete three-dimensional coordinate system, a detection module is arranged on a running mechanism 4 and used for detecting and obtaining data information of current positions, speeds and angles of the cart mechanism 42, the cart mechanism 41 and a tail end lifting mechanism 43, a main control system 1 is arranged in a main control room on the ground, the secondary control system 2 performs information interaction with the main control system 1 through a 5G network 3, in this embodiment, the main control system 1 and the secondary control system 2 both adopt siemens S7-1200 series of PLC controllers with PN communication ports, the primary control system 1 is a remote PLC controller, the secondary control system 2 comprises a tail end PLC controller and a main control system 3, the data information is transmitted to the secondary control system 1 through the network 3, and the secondary control system 2 can be conveniently transmitted to a next step of the three-dimensional coordinate system, so that a decision-dimensional coordinate system can be conveniently obtained.
Specifically, the detection module includes distancer, ultrasonic sensor and angle sensor, all be equipped with on cart mechanism 42, dolly mechanism 41 and the terminal hoisting mechanism 43 the distancer, this system cart mechanism 42, dolly mechanism 41, terminal hoisting mechanism 43 all adopt the AMS348i series laser range finder of Germany LEUZE company, and the laser range finder that this system used supports PROFINET bus communication protocol, and repetition accuracy can reach 1mm to the realization carries out accurate position detection and automatic positioning control to each mechanism.
The cart mechanism 42 and the tail end hoisting mechanism 43 are both provided with the ultrasonic sensor, and the tail end hoisting mechanism 43 is provided with the angle sensor. The PLC controller of the end effector performs data interaction with the ultrasonic sensor and the angle sensor in an analog quantity mode, and therefore the inclination angle of the current object is obtained. The main PLC controller of the secondary control system 2 and the end effector PLC carry out data interaction in a wireless local area network communication mode, and the secondary control system 2 can be provided with a plurality of sections of speed reduction positions so as to flexibly adjust the speed reduction and stop of the crane.
Furthermore, the detection module also comprises a plurality of frequency converters, wherein the frequency converters are all of the confluent CS710 series frequency converters, are provided with expansion cards supporting PROFINET bus communication protocols and integrated anti-swing function software packages, and are respectively connected with the trolley moving drive, the cart moving drive and the lifting device. In the process of carrying the object, the secondary control system 2 can intelligently calculate data and give reasonable speed control according to the height of the object in the air and the inclination angle of the object obtained by the angle sensor, so that the object can achieve stable and efficient anti-swing effect in the carrying process.
Further, in order to provide a limit protection function, the detection module further comprises a limit travel switch and a proximity switch sensor, the cart mechanism 42 and the end effector are both provided with the limit travel switch, the end effector is provided with the proximity switch sensor matched with the limit travel switch, and the secondary control system 2 is connected with the limit travel switch in a hard wiring mode to serve as safety protection under extreme conditions.
Furthermore, the detection module also comprises a video monitoring camera and a machine vision scanner, the machine vision scanner can comprehensively scan the transported object once, and sends a network signal to the main control system 1 through the 5G network 3 according to a scanning result, and the main control system 1 finds out the gravity center position of the object through algorithm analysis, so that subsequent grabbing and transporting are facilitated; the video monitoring cameras are arranged on the trolley mechanism 41 and the bridge generally, the video signals of the current picture can be connected to a switch by the video monitoring cameras and then transmitted to the ground main control room through the 5G network 3, so that operation management personnel can supervise and manage the production field in real time in the ground main control room without visiting the field, and the production efficiency is improved.
The invention also provides an operation method of the automatic crane control system based on the 5G network, which comprises the following steps:
s1, firstly, issuing an instruction in a main control system 1, transmitting the instruction to a secondary control system 2 through a 5G network 3, analyzing a task instruction after the secondary control system 2 receives the instruction, and judging whether the task type belongs to collection, diagnosis or transportation so as to execute a corresponding task;
s2, before the object is conveyed, the secondary control system 2 drives the tail end hoisting mechanism 43 to enable the object to reach a safe height, then the cart mechanism 42 and the trolley mechanism 41 are moved, the machine vision scanner scans the conveyed object and transmits information to the main control system 1 through the 5G network 3, and the main control system 1 analyzes the information of the object and finds out the gravity center position of the object so as to transmit the information to the secondary control system 2;
s3: the secondary control system 2 drives the cart mechanism 42, the trolley mechanism 41 and the tail end hoisting mechanism 43 to move, and the positions of the cart mechanism 42, the trolley mechanism 41 and the tail end hoisting mechanism 43 are obtained in real time through the detection module, so that the tail end executor can grab or fixedly connect the objects;
s4, the secondary control system 2 controls the lifting device to improve the height of the object, after the object is lifted to a specified height, the trolley mechanism 41 and the trolley mechanism 42 are moved to enable the object to be conveyed to a specified position, in the conveying process, the detection module sends the real-time position and angle of the trolley mechanism 42, the trolley mechanism 41 and the tail end hoisting mechanism 43 to the main control system 1, and the main control system 1 simultaneously judges whether the data are abnormal or not. Therefore, the remote monitoring and automatic operation of the crane are realized.
The above embodiments are only preferred embodiments of the present invention, and the scope of the present invention should not be limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are intended to be covered by the claims.
Claims (10)
1. The utility model provides an automatic hoist control system based on 5G network, its characterized in that includes main control system, inferior control system, 5G network, running gear and detection module, inferior control system establishes on running gear, and inferior control system carries out information interaction with running gear and detection module, and inferior control system sends running gear's operation instruction and receives detection module's data information, running gear includes cart mechanism, dolly mechanism and terminal hoist mechanism, detection module establishes on running gear, and is used for detecting the data information who obtains cart mechanism, dolly mechanism and terminal hoist mechanism's current position, speed and angle, main control system establishes in the master control room, and inferior control system carries out information interaction through 5G network and main control system.
2. The automatic crane control system based on the 5G network is characterized in that the detection module comprises a distance meter, an ultrasonic sensor and an angle sensor, the distance meter is arranged on each of the cart mechanism, the trolley mechanism and the tail end hoisting mechanism, the ultrasonic sensor is arranged on each of the cart mechanism and the tail end hoisting mechanism, and the angle sensor is arranged on each of the tail end hoisting mechanism.
3. The automated crane control system based on 5G network of claim 2, wherein the cart mechanism comprises a bridge, a rail and a cart movement drive, the bridge linearly reciprocates along the rail, and the cart movement drive is connected with the bridge linear drive.
4. The automated crane control system based on 5G network as claimed in claim 3, wherein the trolley mechanism comprises a sliding trolley and a trolley moving drive, the sliding trolley moves back and forth along the bridge, and the trolley moving drive is in linear driving connection with the sliding trolley.
5. The automated crane control system based on 5G network of claim 4, wherein the end crane mechanism comprises a lifting device moving up and down and an end effector arranged at the moving end of the lifting device, and the end effector is arranged below the bridge.
6. The automatic crane control system based on the 5G network is characterized in that the detection module further comprises a plurality of frequency converters, and the frequency converters are respectively connected with the trolley moving drive, the cart moving drive and the lifting device.
7. The automatic crane control system based on 5G network is characterized in that the detection module further comprises a limit travel switch and a proximity switch sensor,
the cart mechanism and the end effector are both provided with the limit travel switch, and the end effector is provided with a proximity switch sensor matched with the limit travel switch.
8. The automated crane control system based on 5G network of claim 1, characterized in that the detection module further comprises a video surveillance camera.
9. The automated crane control system based on 5G network of claim 1, wherein the detection module further comprises a machine vision scanner.
10. An operation method of an automatic crane control system, characterized by comprising the following steps:
s1, firstly, issuing an instruction in a main control system, transmitting the instruction to a secondary control system through a 5G network, analyzing a task instruction after the secondary control system receives the instruction, and judging whether the task type belongs to collection, diagnosis or transportation so as to execute a corresponding task;
s2, before the object is transported, the intelligent crane drives the tail end hoisting mechanism to reach a safe height, then drives the cart mechanism and the trolley mechanism to enable the machine vision scanner to scan the transported object, and transmits information to the main control system through a 5G network, and the main control system analyzes the information and finds out the gravity center position of the object to further transmit the information to the secondary control system;
s3: the secondary control system controls the cart mechanism and the trolley mechanism to move, and the positions of the cart mechanism, the trolley mechanism and the tail end hoisting mechanism are obtained in real time through the detection module, so that the tail end executor can grab the object;
and S4, the secondary control system controls the lifting device to improve the height of the object, the trolley mechanism and the cart mechanism are moved to enable the object to be conveyed to a specified position after the object is lifted to the specified height, the detection module sends real-time position and angle information of the cart mechanism, the trolley mechanism and the tail end lifting mechanism to the main control system in the conveying process, and the main control system simultaneously judges whether the data are abnormal or not, so that the remote monitoring and automatic operation of the crane are realized.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210900564.5A CN115385244A (en) | 2022-07-28 | 2022-07-28 | Automatic crane control system based on 5G network and method thereof |
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| CN202210900564.5A CN115385244A (en) | 2022-07-28 | 2022-07-28 | Automatic crane control system based on 5G network and method thereof |
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Application publication date: 20221125 |