阅读说明：本技术 一种起重机运行的自动安全控制系统及控制方法 (Automatic safety control system and control method for crane operation ) 是由 冯伟 刘蒿 于 2021-09-03 设计创作，主要内容包括：本发明专利公开了一种起重机运行的自动安全控制系统,包括两个平行设置的行车支架,两个所述行车支架顶部之间滑动连接有大车,位于大车下方的两个行车支架相对的一个侧面上设置有与行车支架相平行的第一条码带,所述大车靠近第一条码带的一端设置有与第一条码带相匹配的第一定位扫描仪,大车顶部滑动连接有小车,所述小车上设置有PLC控制柜,所述PLC控制柜电路连接外部的安全控制服务器,两个所述行车支架的两端均对称设置有测距仪,两个行车支架上均设置有光纤交换机,每个行车支架上设置的两个所述测距仪均电路连接到同一行车支架上的光纤交换机,两个所述行车支架之间区域内的工作人员上佩戴有测距仪副台。(The invention discloses an automatic safety control system for crane operation, which comprises two travelling crane supports arranged in parallel, a cart is connected between the tops of the two travelling crane supports in a sliding manner, a first code strip parallel to the travelling crane supports is arranged on one side surface, opposite to the two travelling crane supports, positioned below the cart, one end of the cart close to the first bar code belt is provided with a first positioning scanner matched with the first bar code belt, the top of the cart is connected with a trolley in a sliding way, be provided with the PLC switch board on the dolly, outside safety control server of PLC switch board circuit connection, two the equal symmetry in both ends of driving support is provided with the distancer, all is provided with the fiber switch on two driving supports, two that set up on every driving support the equal circuit connection of distancer is to the fiber switch on same driving support, two wear the vice platform of distancer on the staff in the region between the driving support.)

1. An automatic safety control system of hoist operation which characterized in that: the safety control system comprises two parallel travelling crane supports (1), a cart (2) is connected between the tops of the two travelling crane supports (1) in a sliding manner, a first code strip (11) parallel to the travelling crane supports (1) is arranged on one side surface, opposite to the two travelling crane supports (1), below the cart (2), a first positioning scanner (21) matched with the first code strip (11) is arranged at one end, close to the first code strip (11), of the cart (2), a trolley (3) is connected to the top of the cart (2) in a sliding manner, a PLC control cabinet (6) is arranged on the trolley (3), the PLC control cabinet (6) is in circuit connection with an external safety control server, distance meters (4) are symmetrically arranged at two ends of the two travelling crane supports (1), an optical fiber switch (5) is arranged on the two travelling crane supports (1), and the optical fiber switch (5) is in circuit connection with the external safety control server, two that set up on every driving support (1) distancer (4) equal circuit connection is to fiber optic switchboard (5) on same driving support (1), two wear the vice platform of distancer (7) on the staff in the region between driving support (1).

2. An automatic safety control system for crane operation as claimed in claim 1, wherein: big car (2) are including cart end beam (23) of sliding connection at driving support (1) top, cart end beam (23) both ends all are provided with first pulley (25) that are used for sliding at driving support (1) top, and the one end of cart end beam (23) is provided with first motor (24), first motor (24) circuit connection PLC switch board (6), and the one end that the output shaft of first motor (24) passed cart end beam (23) links to each other with first pulley (25) are coaxial, two all fixed big car crossbeam (22) that are provided with between the both ends of cart end beam (23), are located dolly (3) below be provided with second barcode tape (26) that parallel with big car crossbeam (22) on the relative side of big car crossbeam (22).

3. An automatic safety control system for crane operation as claimed in claim 2, wherein: dolly (3) both ends all are provided with second pulley (66) that are used for sliding at cart crossbeam (23) top, and dolly (3) both ends all are provided with second motor (61), second motor (61) circuit connection PLC switch board (6), and the output shaft and second pulley (66) of second motor (61) are coaxial continuous, are located PLC switch board (6) both sides all be provided with hoisting accessory (62) on dolly (3), hoisting accessory (62) circuit connection PLC switch board (6), two hoisting accessory (62) below all are connected with lifting hook (63) through the cable wire, be provided with alarm (64) on lifting hook (63), dolly (3) are close to the one end of second barcode tape (26) and are provided with and second barcode tape (26) assorted second location scanner (65).

4. An automatic safety control system for crane operation as claimed in claim 1, wherein: four range finders (4) located at two ends of two travelling crane supports (1) set a surrounded square area as a crane running area, when a range finder auxiliary platform (7) enters the crane running area, at least three range finders (4) in the four range finders (4) detect the range finder auxiliary platform (7), and measure the distances between the three range finders (4) and the range finder auxiliary platform (7) as d1, d2 and d3 or measure the distances between the four range finders (4) and the range finder auxiliary platform (7) as d1, d2, d3 and d4, the connecting line direction of the two range finders (4) at two ends of the travelling crane support (1) is taken as an X axis, the connecting line direction of the two range finders (4) located on different travelling crane supports (1) and symmetrical to each other in the four range finders (4) is taken as a Y axis, and a coordinate system is established: the specific position coordinates of the secondary distance meter table (7) in the coordinate system are (X1, Y1) according to the distances d1, d2 and d3 between three distance meters (4) and the secondary distance meter table (7) or the distances d1, d2, d3 and d4 between four distance meters (4) and the secondary distance meter table (7), the first barcode strip (11) is identified by a first position scanner (21) to determine the specific position of the cart (2), identifying the second barcode strip (26) by a second position scanner (65) to determine a specific position of the trolley (3), therefore, the specific position coordinates of the hook (63) are determined to be (X2, Y2), and the server determines the distance D1 between the crane and a person wearing the rangefinder sub-station (7) through the Pythagorean theorem according to the difference (X1-X2) between the abscissa and the ordinate (Y1-Y2) of the hook (63) and the rangefinder sub-station (7).

5. An automatic safety control system for crane operation as claimed in claim 4, wherein: the distance D2 between two driving supports (1) is preferably 20m, the distance D3 between two distance measuring instruments (4) at two ends of the same driving support (1) is preferably 20m, and the microwave signal coverage radius R of the distance measuring instruments (4) is preferably 20 m.

6. A control method of an automatic safety control system for crane operation is characterized in that: during continuous production operation, the following steps are adopted:

s1, an external safety control server controls the PLC control cabinet (6) to start operation;

s2, controlling the crane to run by the PLC control cabinet (6);

s3, detecting the positions of the personnel by the system through the range finder (4) and the range finder auxiliary table (7), and detecting whether people exist in the operation area, if no people exist, the crane operates normally; if the person is in the real-time monitoring system, the real-time position of the person is sent to a PLC control cabinet (6);

s4, comparing the distance between the personnel and the crane:

a. if the length is more than 8 meters, the crane continues to operate;

b. when the height is less than 8 m, the PLC control cabinet (6) gives out warning through an alarm (64) set on the lifting hook (63);

c. when the distance is less than 5 m, the PLC control cabinet (6) controls the crane to decelerate;

d. when the distance is less than 3 m, the PLC control cabinet (6) controls the crane to stop running;

and S5, when the crane continues to operate to the target point, ending the operation.

Technical Field

The invention relates to an intelligent safe operation system, in particular to an automatic safe control system and a control method for crane operation.

Background

The bridge crane is a hoisting device which is transversely arranged above workshops, warehouses and stockyards to hoist materials. At present, because the hoist is at the jack-up in-process, because continuous production work load is big, driver intensity of labour is high, in order to guarantee production efficiency, often can adopt automated control system to hoist the operation, but when automated control system hoists the operation, there is certain potential safety hazard, when personnel walk about or the operation appears in the operation region, because there is not personnel control hoist operation, can't discern the distance between hoist and the personnel in the operation region, the hoist can't accomplish in the operation process and dodge personnel, cause incident such as personnel's collision easily.

In order to solve the above problems, there is a need to develop a simple, practical, safe and reliable automatic safety control system and method for crane operation.

Disclosure of Invention

The invention aims to solve the problems in the prior art and provides an automatic safety control system and a control method for crane operation, which can accurately judge the distance between a travelling crane and a person wearing a corresponding range finder on a travelling crane operation route in real time, take measures or adjust the operation route in time, avoid the person and avoid accidents.

In order to achieve the purpose, the technical scheme of the invention is as follows:

an automatic safety control system for crane operation comprises two parallel travelling crane supports, a cart is connected between the tops of the two travelling crane supports in a sliding manner, a first code strip parallel to the travelling crane supports is arranged on one side surface, opposite to the two travelling crane supports, below the cart, one end, close to the first code strip, of the cart is provided with a first positioning scanner matched with the first code strip, the top of the cart is connected with a trolley in a sliding manner, a PLC control cabinet is arranged on the trolley and is connected with an external safety control server in a circuit manner, distance meters are symmetrically arranged at the two ends of the two travelling crane supports, fiber optic switches are arranged on the two travelling crane supports and are connected with the external safety control server in a circuit manner, and the two distance meters arranged on each travelling crane support are connected to the fiber optic switches on the same travelling crane support in a circuit manner, and a range finder auxiliary table is worn on a worker in the area between the two travelling crane supports.

Preferably, the cart comprises a cart end beam which is slidably connected to the top of the traveling rack, the two ends of the cart end beam are provided with first pulleys used for sliding on the top of the traveling rack, one end of the cart end beam is provided with a first motor, the first motor is connected with a PLC (programmable logic controller) control cabinet, the output shaft of the first motor penetrates through one end of the cart end beam and is coaxially connected with the first pulleys, a cart cross beam is fixedly arranged between the two ends of the cart end beam, and a second stripe parallel to the cart cross beam is arranged on one side surface, opposite to the cart cross beam, of the cart below.

Preferably, the two ends of the trolley are provided with second pulleys used for sliding at the top of a cross beam of the cart, the two ends of the trolley are provided with second motors, circuits of the second motors are connected with the PLC control cabinet, output shafts of the second motors are coaxially connected with the second pulleys, the trolley is positioned on two sides of the PLC control cabinet and is provided with a lifting device, the lifting device is connected with the PLC control cabinet through circuits, lifting hooks are connected below the two lifting devices through steel cables, an alarm is arranged on the lifting hooks, and one end, close to the second code strip, of the trolley is provided with a second positioning scanner matched with the second code strip.

Preferably, four range finders located at two ends of the two travelling crane supports set a surrounded square area as a crane running area, when the secondary range finder enters the crane running area, at least three range finders in the four range finders detect the secondary range finder and measure distances d1, d2 and d3 between the three range finders and the secondary range finder or measure distances d1, d2, d3 and d4 between the four range finders and the secondary range finder, a connecting line direction of the two range finders at two ends of the travelling crane supports is taken as an X axis, a connecting line direction of the two range finders located on different travelling crane supports and symmetrical to each other in the four range finders is taken as a Y axis, and a coordinate system is established: the specific position coordinates of the auxiliary distance meter station in the coordinate system are X1 and Y1 according to the distances D1, D2 and D3 between three distance meters and the auxiliary distance meter station or the distances D1, D2, D3 and D4 between four distance meters and the auxiliary distance meter station, the specific position of the cart is determined by identifying a first bar code band through a first positioning scanner, the specific position of the cart is determined by identifying a second bar code band through a second positioning scanner, the specific position coordinates of the hook are X2 and Y2 according to the specific position coordinates of the hook and the auxiliary distance meter station, and the distance D1 between the crane and an auxiliary distance meter station person wearing the crane is determined by the pythagorean theorem according to the difference X1-X2 between the abscissa and the ordinate of the hook and the auxiliary distance meter station and the Y1-Y2 between the ordinate.

Preferably, the distance D2 between two travelling supports is preferably 20m, the distance D3 between two distance measuring instruments at two ends of the same travelling support is preferably 20m, and the microwave signal coverage radius R of the distance measuring instruments is preferably 20 m.

A control method of an automatic safety control system for crane operation comprises the following steps during continuous production operation:

s1, an external safety control server controls the PLC control cabinet to start and operate;

s2, controlling the crane to operate by the PLC control cabinet;

s3, detecting the positions of the personnel by the system through the range finder and the range finder auxiliary station, and detecting whether people exist in the operation area, if no people exist, the crane operates normally; if the person is in the real-time position, the real-time position of the person is sent to the PLC control cabinet;

s4, comparing the distance between the personnel and the crane:

a. if the length is more than 8 meters, the crane continues to operate;

b. when the height is less than 8 m, the PLC control cabinet gives out warning through an alarm arranged on the lifting hook;

c. when the distance is less than 5 m, the PLC control cabinet controls the crane to decelerate;

d. when the distance is less than 3 meters, the PLC control cabinet controls the crane to stop running;

and S5, when the crane continues to operate to the target point, ending the operation.

The beneficial effects of the invention are:

the invention discloses a method for determining the distance between a crane and a person wearing a range finder auxiliary platform by a thigh theorem according to the difference between the horizontal coordinate and the vertical coordinate of a lifting hook and the distance between the crane and the person wearing the range finder auxiliary platform on a driving running route, which can accurately transmit the position information of the person wearing the corresponding range finder auxiliary platform on the driving running route relative to a driving vehicle to a driving control system in real time when the driving vehicle automatically runs, the distance between the vehicle and the personnel can be judged, so that the vehicle can take measures or adjust the running route in time to avoid the personnel, and accidents are avoided. The method is simple and effective, is easy to implement, realizes automatic avoidance of personnel in the running process of the traveling crane, avoids safety accidents such as collision personnel and the like, has high intelligent degree and good avoidance effect, and effectively ensures the running safety of the traveling crane.

Drawings

FIG. 1 is a schematic control flow diagram of an automatic safety control system according to the present invention;

FIG. 2 is a schematic diagram of the automatic safety control system of the present invention;

FIG. 3 is a schematic view of the location of the rangefinder of the present invention;

FIG. 4 is a schematic diagram of the distance between the auxiliary table and the crane of the range finder of the present invention;

FIG. 5 is a schematic structural diagram of the present invention;

FIG. 6 is a schematic structural diagram of the cart according to the present invention.

Detailed Description

In order that those skilled in the art will better understand the patented solution of the invention, the invention will be described in further detail with reference to the drawings and the embodiments.

As shown in fig. 1-5, an automatic safety control system for crane operation comprises two parallel traveling crane supports 1, a cart 2 is slidably connected between the tops of the two traveling crane supports 1, a first barcode strip 11 parallel to the traveling crane supports 1 is arranged on one side surface of the two traveling crane supports 1 located below the cart 2, a first positioning scanner 21 matched with the first barcode strip 11 is arranged at one end of the cart 2 close to the first barcode strip 11, a trolley 3 is slidably connected to the top of the cart 2, a PLC control cabinet 6 is arranged on the trolley 3, the PLC control cabinet 6 is electrically connected with an external safety control server, distance meters 4 are symmetrically arranged at two ends of the two traveling crane supports 1, an optical fiber switch 5 is arranged on the two traveling crane supports 1, and the optical fiber switch 5 is electrically connected with the external safety control server, two that set up on every driving support 1 the equal circuit connection of distancer 4 is to the fiber optic switchboard 5 on same driving support 1, two wear the vice platform 7 of distancer on the staff in the region between the driving support 1.

The cart 2 comprises a cart end beam 23 which is connected to the top of the traveling support 1 in a sliding mode, two ends of the cart end beam 23 are provided with first pulleys 25 used for sliding on the top of the traveling support 1, one end of the cart end beam 23 is provided with a first motor 24, the first motor 24 is connected with the PLC control cabinet 6 through a circuit, one end, penetrating through the cart end beam 23, of an output shaft of the first motor 24 is coaxially connected with the first pulleys 25, two cart cross beams 22 are fixedly arranged between the two ends of the cart end beam 23, and a second barcode tape 26 parallel to the cart cross beams 22 is arranged on one side face, opposite to the cart cross beams 22, of the lower cart 3.

The trolley is characterized in that second pulleys 66 used for sliding at the top of the trolley beam 23 are arranged at two ends of the trolley 3, second motors 61 are arranged at two ends of the trolley 3, the second motors 61 are connected with the PLC control cabinet 6 through circuits, output shafts of the second motors 61 are coaxially connected with the second pulleys 66, lifting devices 62 are arranged on the trolley 3 and located on two sides of the PLC control cabinet 6, the lifting devices 62 are connected with the PLC control cabinet 6 through circuits, lifting hooks 63 are connected below the two lifting devices 62 through steel cables, alarms 64 are arranged on the lifting hooks 63, and a second positioning scanner 65 matched with the second barcode tape 26 is arranged at one end, close to the second barcode tape 26, of the trolley 3.

Four range finders 4 located at two ends of two service supports 1 set a surrounded square area as a crane running area, when the range finder auxiliary table 7 enters the crane running area, at least three range finders 4 in the four range finders 4 detect the range finder auxiliary table 7, and measure the distances between the three range finders 4 and the range finder auxiliary table 7 as d1, d2 and d3 or measure the distances between the four range finders 4 and the range finder auxiliary table 7 as d1, d2, d3 and d4, the connecting line direction of the two range finders 4 at two ends of the service support 1 is taken as an X axis, the connecting line direction of the two range finders 4 located on different service supports 1 and symmetrical to each other in the four range finders 4 is taken as a Y axis, and a coordinate system is established: the specific position coordinates of the rangefinder sub-stage 7 in the coordinate system are (X1, Y1) according to the distances d1, d2, d3 between three rangefinders 4 and the rangefinder sub-stage 7 or the distances d1, d2, d3, d4 between four rangefinders 4 and the rangefinder sub-stage 7, and in the implementation, the specific coordinates of the rangefinder sub-stage 7 can be obtained by solving the following equations:

the first positioning scanner 21 identifies the first barcode strip 11 to determine the specific position of the cart 2, the second positioning scanner 65 identifies the second barcode strip 26 to determine the specific position of the trolley 3, and the specific position coordinates of the hook 63 are (X2, Y2), the server determines the distance D1 between the crane and the person wearing the rangefinder sub-station 7 by the Pythagorean theorem according to the difference between the abscissa (X1-X2) and the ordinate (Y1-Y2) between the hook 63 and the rangefinder sub-station 7, that is, the distance D1 between the crane and the person wearing the rangefinder sub-station 7

The distance D2 between two driving supports 1 is preferably 20m, the distance D3 between two distance measuring instruments 4 at two ends of the same driving support 1 is preferably 20m, and the microwave signal coverage radius R of the distance measuring instruments 4 is preferably 20 m.

A control method of an automatic safety control system for crane operation comprises the following steps during continuous production operation:

s1, an external safety control server controls the PLC control cabinet 6 to start operation;

s2, controlling the crane to run by the PLC control cabinet 6;

s3, detecting the positions of the personnel by the system through the range finder 4 and the range finder auxiliary table 7, and detecting whether people exist in the operation area, if no people exist, the crane operates normally; if the person is in the real-time position, the real-time position of the person is sent to the PLC control cabinet 6;

s4, comparing the distance between the personnel and the crane:

e. if the length is more than 8 meters, the crane continues to operate;

f. when the height is less than 8 m, the PLC control cabinet 6 gives out warning through an alarm 64 arranged on the lifting hook 63;

g. when the distance is less than 5 m, the PLC control cabinet 6 controls the crane to decelerate;

h. when the distance is less than 3 m, the PLC control cabinet 6 controls the crane to stop running;

and S5, when the crane continues to operate to the target point, ending the operation.

During the use, at first start cart and dolly operation through the PLC switch board, the secondary platform of distancer that wears on one's body through distancer and the staff in the hoist operation region before the hoist operation detects personnel's position, when detecting no personnel in the operation region, the hoist begins the operation, when detecting personnel in the operation region, send real-time personnel positional information to the PLC switch board of hoist, simultaneously the distance between comparison personnel and the hoist, when the distance is greater than 8 meters, the normal operating of PLC switch board control hoist, when the distance is less than 8 meters, the PLC switch board sends out the warning, when the distance is less than 8 meters, the PLC switch board control hoist slows down, when the distance is less than 3 meters, the hoist stops to move, simultaneously with information feedback to outside safety control server. The invention has simple and effective patent and easy implementation, and the crane can judge the distance from the personnel so as to take measures or adjust the running route in time to avoid the personnel and avoid accidents.

The above description is only for the preferred embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical scope of the present invention, the technical solutions and the inventive concepts of the present invention, which are equivalent to or changed by the technical solutions and the inventive concepts of the present invention, within the technical scope of the present invention.