阅读说明：本技术 一种起重机的位置识别系统及方法 (Position identification system and method of crane ) 是由 仇维亮 李秀苓 徐崇 方玉琨 于书涛 马颖 周庚 于 2021-07-16 设计创作，主要内容包括：本发明提供一种起重机的位置识别系统及方法。本发明系统,包括大车位置检测RFID读/写头、小车位置检测RFID读/写头、大车位置载码体、小车位置载码体以及PLC控制柜；大车位置检测RFID读/写头测量获取大车位置载码体的位置信息,小车位置检测RFID读/写头测量获取小车位置载码体的位置信息,PLC控制柜分别获取大车位置载码体的位置信息和小车位置载码体的位置信息,并将获取的大车位置载码体的位置信息换算成大车对应位置,将获取的小车位置载码体的位置信息换算成小车对应位置,实现对大、小车位置的识别定位。本发明的技术方案解决了现有技术中起重机在大小车行程内的指定位置识别,无法在保证连续运行状态下对多个位置进行定位的技术问题。(The invention provides a position identification system and method of a crane. The system comprises a cart position detection RFID read/write head, a trolley position detection RFID read/write head, a cart position code carrier, a trolley position code carrier and a PLC control cabinet; the cart position detection RFID read/write head measures and acquires the position information of the cart position code carrier, the trolley position detection RFID read/write head measures and acquires the position information of the trolley position code carrier, the PLC control cabinet respectively acquires the position information of the cart position code carrier and the position information of the trolley position code carrier, converts the acquired position information of the cart position code carrier into a cart corresponding position, converts the acquired position information of the trolley position code carrier into a trolley corresponding position, and realizes the identification and positioning of the cart position and the trolley position. The technical scheme of the invention solves the technical problem that in the prior art, the designated position of the crane in the large and small vehicle travels is identified, and a plurality of positions cannot be positioned under the condition of ensuring the continuous operation state.)

1. A position recognition system for a crane, comprising: the system comprises a cart position detection RFID read/write head, a trolley position detection RFID read/write head, a cart position code carrier, a trolley position code carrier and a PLC control cabinet; the cart position detection RFID read/write head measures and acquires the position information of the cart position code carrier, the trolley position detection RFID read/write head measures and acquires the position information of the trolley position code carrier, the PLC control cabinet respectively acquires the position information of the cart position code carrier and the position information of the trolley position code carrier, converts the acquired position information of the cart position code carrier into a cart corresponding position, converts the acquired position information of the trolley position code carrier into a trolley corresponding position, and realizes the identification and positioning of the cart position and the trolley position.

2. The position recognition system of claim 1, wherein the cart position detection RFID read/write head is provided at one side of an end beam of the crane, and moves together with the cart for transmitting the radio frequency signal in a direction parallel to the cart track.

3. The position recognition system for a crane according to claim 1, wherein the dolly position detection RFID read/write head is provided at one side of the rim of the crane to move together with the dolly for transmitting the radio frequency signal in a direction parallel to the dolly track.

4. The position recognition system of claim 1, wherein the cart position carrier is disposed on a deck on one side of a cart end beam in parallel with a cart track, and has no barrier to the cart position detection RFID read/write head for reflectively modulating a radio frequency signal emitted from the cart position detection RFID read/write head.

5. The position recognition system of claim 4, wherein the number of the cart position carriers is unlimited, and each cart position carrier stores a different position code.

6. The position recognition system for a crane according to claim 1, wherein said trolley position carrier is disposed on a main beam on one side of the trolley track in parallel with the trolley track, and has no barrier with said trolley position detection RFID read/write head for reflectively modulating a radio frequency signal emitted from said trolley position detection RFID read/write head.

7. The position recognition system of claim 6, wherein the number of trolley position carriers is unlimited, and each trolley position carrier stores a different position code.

8. The position recognition system of a crane according to claim 1, wherein the PLC control cabinet is disposed above the crane, and includes a PLC processor and an RFID controller; the PLC processor is connected with the cart position detection RFID read/write head and the trolley position detection RFID read/write head through the RFID controller.

9. The position recognition system of a crane according to claim 8, wherein the RFID controller is connected to the cart position detection RFID read/write head and the cart position detection RFID read/write head through communication cables, respectively, for reading the detection data of the cart position detection RFID read/write head and the cart position detection RFID read/write head through network communication.

10. A position recognition method of a crane, which is implemented based on the position recognition system of a crane according to any one of claims 1 to 9, comprising:

s1, arranging a plurality of trolley position code carriers on a main beam parallel to a trolley track, arranging a trolley position detection RFID read/write head on one side of the edge of the crane, and moving together with the trolley;

s2, arranging a plurality of cart position code carriers on a walking platform parallel to a cart track, arranging a cart position detection RFID read/write head on one side of an end beam of the crane, and moving together with the cart;

step S3, establishing a rectangular coordinate system, wherein the X axis represents the transverse displacement of the crane trolley, and the Y axis represents the longitudinal displacement of the crane trolley;

s4, writing a plurality of trolley position code carriers into position codes X1, X2, X3, X4 … … and so on by using a trolley position detection RFID read/write head;

s5, writing a plurality of cart position code carriers into position codes Y1, Y2, Y3 and Y4 … … respectively by using a cart position detection RFID read/write head, and so on;

and step S6, respectively reading the positions of the big trolley by using the big trolley position detection RFID read/write head and the trolley position detection RFID read/write head through the position movement of the big trolley and the small trolley.

Technical Field

The invention relates to the technical field of crane electric control, in particular to a position identification system and method of a crane.

Background

At present, the specified position of a crane in the large and small trolley travel is identified by a mechanical limit switch, a proximity switch and the like, and as shown in fig. 1, the system is a configuration schematic diagram of a large and small trolley position identification system of a traditional crane. The method is suitable for occasions with few positioning points, and if the crane needs to identify the positions of multiple points during working, a switch needs to be configured at each position, so that the number of fault points is increased, and the continuous operation of the crane is not facilitated.

Disclosure of Invention

According to the technical problem that the conventional crane cannot position a plurality of positions under the condition of ensuring continuous operation by identifying the designated positions in the process of large and small vehicles, the position identification system and the position identification method of the crane are provided. The invention mainly utilizes the RFID radio frequency identification technology to read signals in a non-contact way, thereby realizing the multi-position identification and positioning of the mobile equipment.

The technical means adopted by the invention are as follows:

a position identification system of a crane, comprising: the system comprises a cart position detection RFID read/write head, a trolley position detection RFID read/write head, a cart position code carrier, a trolley position code carrier and a PLC control cabinet; the cart position detection RFID read/write head measures and acquires the position information of the cart position code carrier, the trolley position detection RFID read/write head measures and acquires the position information of the trolley position code carrier, the PLC control cabinet respectively acquires the position information of the cart position code carrier and the position information of the trolley position code carrier, converts the acquired position information of the cart position code carrier into a cart corresponding position, converts the acquired position information of the trolley position code carrier into a trolley corresponding position, and realizes the identification and positioning of the cart position and the trolley position.

Further, the cart position detection RFID read/write head is disposed at one side of the end beam of the crane, and moves together with the cart for transmitting a radio frequency signal in a direction parallel to the cart track.

Further, the dolly position detection RFID read/write head is disposed at one side of the rim of the crane, and moves together with the dolly for transmitting a radio frequency signal in a direction parallel to the dolly track.

Further, the cart position code carrier is arranged on the walking platform on one side of the cart end beam in a mode of being parallel to the cart track, and no shielding object is arranged between the cart position code carrier and the cart position detection RFID reading/writing head, and the cart position code carrier is used for reflection modulation of radio frequency signals emitted by the cart position detection RFID reading/writing head.

Further, the number of the large vehicle position code carriers is not limited, and each large vehicle position code carrier stores different position codes.

Furthermore, the trolley position code carrier is arranged on the main beam on one side of the trolley track in a mode of being parallel to the trolley track, and has no shielding object with the trolley position detection RFID read/write head, and is used for reflecting and modulating a radio frequency signal emitted by the trolley position detection RFID read/write head.

Further, the number of the trolley position code carriers is not limited, and each trolley position code carrier stores a different position code.

Further, the PLC control cabinet is arranged above the crane and comprises a PLC processor and an RFID controller; the PLC processor is connected with the cart position detection RFID read/write head and the trolley position detection RFID read/write head through the RFID controller.

Further, the RFID controller is respectively connected with the cart position detection RFID read/write head and the trolley position detection RFID read/write head through communication cables and is used for reading detection data of the cart position detection RFID read/write head and the trolley position detection RFID read/write head through network communication.

The invention also provides a position identification method of the crane, which is realized based on the position identification system of the crane and comprises the following steps:

s1, arranging a plurality of trolley position code carriers on a main beam parallel to a trolley track, arranging a trolley position detection RFID read/write head on one side of the edge of the crane, and moving together with the trolley;

s2, arranging a plurality of cart position code carriers on a walking platform parallel to a cart track, arranging a cart position detection RFID read/write head on one side of an end beam of the crane, and moving together with the cart;

step S3, establishing a rectangular coordinate system, wherein the X axis represents the transverse displacement of the crane trolley, and the Y axis represents the longitudinal displacement of the crane trolley;

s4, writing a plurality of trolley position code carriers into position codes X1, X2, X3, X4 … … and so on by using a trolley position detection RFID read/write head;

s5, writing a plurality of cart position code carriers into position codes Y1, Y2, Y3 and Y4 … … respectively by using a cart position detection RFID read/write head, and so on;

and step S6, respectively reading the positions of the big trolley by using the big trolley position detection RFID read/write head and the trolley position detection RFID read/write head through the position movement of the big trolley and the small trolley.

Compared with the prior art, the invention has the following advantages:

1. the position identification system and the method of the crane provided by the invention mainly utilize the RFID technology to read signals in a non-contact way, thereby realizing the multi-position identification and positioning of mobile equipment.

2. The position identification system and the method of the crane provided by the invention can realize identification and positioning of a plurality of positions by arranging the read/write head in one track direction, are flexible in configuration, simple and reliable, and are particularly suitable for occasions needing multipoint position identification.

Based on the reason, the invention can be widely popularized in the fields of crane electric control and the like.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic configuration diagram of a conventional crane big-small vehicle position identification system according to an embodiment.

Fig. 2 is a schematic configuration diagram of a position recognition system of a crane according to an embodiment of the present invention.

Fig. 3 is a schematic configuration diagram of a position recognition system of a crane according to another embodiment of the present invention.

Fig. 4 is a network connection diagram of the crane position recognition system of the present invention.

In the figure: 1. a cart position carrier; 2. a cart position detection RFID read/write head; 3. a trolley position code carrier; 4. a dolly position detection RFID read/write head; 5. a PLC control cabinet; 6. a PLC processor; 7. an RFID controller, 8 and an upper computer; 9. a switch.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

As shown in fig. 2 and 3, the present invention provides a position recognition system for a crane, including: a cart position detection RFID read/write head 2, a trolley position detection RFID read/write head 4, a cart position code carrier 1, a trolley position code carrier 3 and a PLC control cabinet 5; the cart position detection RFID read/write head 2 measures and acquires the position information of the cart position code carrier 1, the trolley position detection RFID read/write head 4 measures and acquires the position information of the trolley position code carrier 3, the PLC control cabinet 5 respectively acquires the position information of the cart position code carrier 1 and the position information of the trolley position code carrier 3, converts the acquired position information of the cart position code carrier 1 into a cart corresponding position, converts the acquired position information of the trolley position code carrier 3 into a trolley corresponding position, and realizes the identification and positioning of the cart and the trolley positions.

In concrete implementation, as a preferred embodiment of the present invention, the cart position detection RFID read/write head 2 is disposed at one side of an end beam of the crane, and moves together with the cart for transmitting a radio frequency signal in a direction parallel to the cart track. The dolly position detection RFID read/write head 4 is arranged at one side of the edge of the crane, moving together with the dolly, for emitting a radio frequency signal in a direction parallel to the dolly track.

In concrete implementation, as a preferred embodiment of the present invention, the cart position code carrier 1 is disposed on a walking board on one side of a cart end beam in a manner parallel to a cart track, and has no shielding object with the cart position detection RFID read/write head 2, and is used for reflection modulation of a radio frequency signal emitted by the cart position detection RFID read/write head 2. The number of the large vehicle position code carriers 1 is not limited, and each large vehicle position code carrier 1 stores different position codes.

In specific implementation, as a preferred embodiment of the present invention, the cart position code carrier 3 is disposed on the main beam on one side of the cart track in a manner parallel to the cart track, and has no shielding object between itself and the cart position detection RFID read/write head 4, and is used for reflection modulation of the radio frequency signal emitted by the cart position detection RFID read/write head 4. The number of the trolley position code carriers 3 is not limited, and each trolley position code carrier 3 stores a different position code.

In specific implementation, as a preferred embodiment of the present invention, the PLC control cabinet 5 is disposed above the crane, and includes a PLC processor 6 and an RFID controller 7; the PLC 6 is connected with the cart position detection RFID read/write head 2 and the trolley position detection RFID read/write head 4 through an RFID controller 7. The RFID controller 7 is respectively connected with the cart position detection RFID read/write head 2 and the trolley position detection RFID read/write head 4 through communication cables, and is used for reading detection data of the cart position detection RFID read/write head 2 and the trolley position detection RFID read/write head 4 through network communication.

The invention also provides a position identification method of the crane, which is realized based on the position identification system of the crane and comprises the following steps:

s1, arranging a plurality of trolley position code carriers on a main beam parallel to a trolley track, arranging a trolley position detection RFID read/write head on one side of the edge of the crane, and moving together with the trolley;

s2, arranging a plurality of cart position code carriers on a walking platform parallel to a cart track, arranging a cart position detection RFID read/write head on one side of an end beam of the crane, and moving together with the cart;

step S3, establishing a rectangular coordinate system, wherein the X axis represents the transverse displacement of the crane trolley, and the Y axis represents the longitudinal displacement of the crane trolley;

s4, writing a plurality of trolley position code carriers into position codes X1, X2, X3, X4 … … and so on by using a trolley position detection RFID read/write head;

s5, writing a plurality of cart position code carriers into position codes Y1, Y2, Y3 and Y4 … … respectively by using a cart position detection RFID read/write head, and so on;

and step S6, respectively reading the positions of the big trolley by using the big trolley position detection RFID read/write head and the trolley position detection RFID read/write head through the position movement of the big trolley and the small trolley. Namely:

in the running process of the crane trolley, when the trolley position detection RFID read/write head 4 passes through the corresponding code carrier, the read position code is transmitted to the RFID controller 7, the RFID controller 7 transmits the position code to the PLC processor 6, the position code is converted into the corresponding position of the trolley by the PLC processor 6, and the crane is controlled to automatically complete the preset action.

In the running process of the crane trolley, when the RFID read/write head 2 for detecting the position of the trolley passes through the corresponding code carrier, the read position code is transmitted to the RFID controller 7, the RFID controller 7 transmits the position code to the PLC 6, the position code is converted into the corresponding position of the trolley by the PLC 6, and the crane is controlled to automatically complete the preset action.

In summary, the present invention utilizes the RFID technology to perform non-contact signal reading, so as to realize multi-location identification and positioning of the mobile device, and if the detection location needs to be increased, other configurations need not to be changed, and the mobile device can be realized by increasing the code body. The configuration is flexible, simple and reliable.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.