阅读说明：本技术 轮胎吊车偏移量以及贝位中心检测系统与方法 (Tire crane offset and berm center detection system and method ) 是由 安艳兵 徐纪明 曹峰 张旭升 张兆伟 付文斌 于 2021-09-10 设计创作，主要内容包括：本发明提供一种轮胎吊车偏移量以及贝位中心检测系统与方法,其中,所述系统包括磁条,设置在轨道地面上,用于构建磁力场；磁感检测装置,设置在所述轮胎吊车上,包括磁感应传感器,用于检测所述轮胎吊车与所述磁力场的相对位置,以得到所述偏移量以及贝位中心；控制装置,所述控制装置设置在所述轮胎吊车上,所述控制装置包括处理器与显示屏。本发明的轮胎吊车偏移量以及贝位中心检测系统与方法,通过设置的检测装置可以对轮胎吊车的偏移量与贝位中心进行精细化检测,以供预设程序进行自动纠偏,替代人工观察轮胎吊的偏移以及手动纠偏作业,减少体力劳动强度,大大降低人为操作的危险性与误差率,同时检测装置可全天候工作,并适应多种自然天气。(The invention provides a tire crane offset and beige location center detection system and a method, wherein the system comprises a magnetic stripe, a magnetic sensor and a magnetic sensor, wherein the magnetic stripe is arranged on the ground of a track and used for constructing a magnetic force field; the magnetic induction detection device is arranged on the tire crane and comprises a magnetic induction sensor for detecting the relative position of the tire crane and the magnetic force field so as to obtain the offset and the beta center; the control device is arranged on the tire crane and comprises a processor and a display screen. According to the tire crane offset and the shell center detection system and method, the offset and the shell center of the tire crane can be finely detected through the arranged detection device, so that automatic deviation correction can be performed by a preset program, manual observation of the offset and manual deviation correction operation of the tire crane are replaced, the manual labor intensity is reduced, the risk and the error rate of manual operation are greatly reduced, and meanwhile, the detection device can work in all weather and is suitable for various natural weathers.)

1. The utility model provides a tire crane offset and beige position center detecting system which characterized in that includes:

the magnetic strip is arranged on the ground of the track and used for constructing a magnetic force field;

the magnetic induction detection device is arranged on the tire crane and comprises a magnetic induction sensor, and the magnetic induction sensor is used for detecting the relative position of the tire crane and the magnetic force field so as to obtain the offset and the beta-position center.

2. The tire crane offset and bunk center detection system of claim 1, wherein said magnetic strips comprise a first magnetic strip and a second magnetic strip, said first magnetic strip disposed on one side of said track and parallel to said track, said second magnetic strip disposed between said tracks on both sides and perpendicular to said track, wherein said second magnetic strip is not connected to said first magnetic strip.

3. The tire crane offset and center of beige detection system of claim 2, wherein said magnetic induction sensor is configured to detect a distance between said tire crane wheel and said first magnetic strip to obtain said offset; the magnetic induction sensor is also used for detecting the distance between the tire crane and the second magnetic strip so as to obtain the center of the bunk.

4. The tire crane offset and beige location center detecting system of claim 1, wherein the magnetic induction detecting device further comprises a supporting mechanism, the supporting mechanism comprises a metal body and universal wheels, the magnetic induction sensor is located on a mounting head at the end of the metal body and located between the two universal wheels, wherein both the two universal wheels are mounted on the mounting head, and the mounting head is rotatably connected with the metal body.

5. The tire crane offset and berth center detecting system of claim 4, wherein the magnetic induction detecting device further comprises a traveling mechanism, the traveling mechanism comprises an electric push rod and a limit switch, the tail end of the electric push rod is fixedly connected with the mounting head through a steel rope and a fixed pulley, and the electric push rod and the limit switch are mounted on the metal body.

6. The tire crane offset and berm center detection system of claim 1, further comprising a control device disposed on said tire crane, said control device comprising a processor for analyzing and processing the relative position of said tire crane and said magnetic force field, and a display for displaying said offset and said berm center.

7. The tire crane offset and center of repose detection system of claim 6 wherein said control device is connected to said magnetic induction detection device via a CAN bus.

8. A tire crane offset and berth center detection method is characterized by comprising the following steps:

constructing a magnetic force field;

and detecting the relative position of the tire crane and the magnetic force field to obtain the offset and the center of the beta position.

9. The tire crane offset and bunk center detection method of claim 8, wherein a first magnetic strip and a second magnetic strip are disposed perpendicular but not connected to construct said magnetic force field.

10. The tire crane offset and berm center detection method of claim 9, wherein the distance between said tire crane wheel and said first magnetic stripe is detected to obtain said offset; and detecting the distance between the tire crane and the second magnetic strip to obtain the center of the bunk.

Technical Field

The invention relates to the technical field of position identification, in particular to a tire crane offset and berth center detection system and method.

Background

Offset in the operation of rubber-tyred crane is judged through the sighting rod matching degree on ground yellow line and the rubber-tyred crane equipment by the operator, and is all very high to operator's eyesight, position of sitting requirement, and the health damage is also big simultaneously, therefore the society advocates reducing intensity of labour's call, replaces the offset of artifical detection rubber-tyred crane in operation more and more urgent need, has also lifted the wave of automation mechanized operation simultaneously.

At present, technologies such as a visual camera and a GPS (global positioning system) positioning are available for monitoring the offset of a rubber-tyred crane in operation, but the technologies have the defects of high requirements on weather and hardware and strong dependence, are not favorable for continuous operation of equipment, and have high maintenance cost.

Disclosure of Invention

In view of the above-mentioned shortcomings of the prior art, it is an object of the present invention to provide a system and method for detecting the offset and the center of a bunk of a wheeled crane, which is used to solve the problems of the prior art of detecting the offset and the center of a bunk of a wheeled crane.

To achieve the above and other related objects, the present invention provides a tire crane offset and bunk center detecting system, comprising: the magnetic strip is arranged on the ground of the track and used for constructing a magnetic force field; the magnetic induction detection device is arranged on the tire crane and comprises a magnetic induction sensor, and the magnetic induction sensor is used for detecting the relative position of the tire crane and the magnetic force field so as to obtain the offset and the beta-position center.

In an embodiment of the invention, the magnetic stripes include a first magnetic stripe and a second magnetic stripe, the first magnetic stripe is disposed on one side of the track and parallel to the track, the second magnetic stripe is disposed between the two sides of the track and perpendicular to the track, and the second magnetic stripe is not connected to the first magnetic stripe.

In an embodiment of the present invention, the magnetic induction sensor is configured to detect a distance between the wheel of the tire crane and the first magnetic stripe to obtain the offset; the magnetic induction sensor is also used for detecting the distance between the tire crane and the second magnetic strip so as to obtain the center of the bunk.

In an embodiment of the present invention, the magnetic induction detection device further includes a support mechanism, the support mechanism includes a metal body and universal wheels, the magnetic induction sensor is located on an installation head at the end of the metal body and located between the two universal wheels, both the two universal wheels are installed on the installation head, and the installation head is rotatably connected to the metal body.

In an embodiment of the invention, the magnetic induction detecting device further includes a traveling mechanism, the traveling mechanism includes an electric push rod and a limit switch, a terminal of the electric push rod is fixedly connected to the mounting head through a preset pulley, and the electric push rod and the limit switch are mounted on the metal body.

In an embodiment of the present invention, the system further includes a control device, the control device is disposed on the tire crane, the control device includes a processor and a display screen, the processor is configured to analyze and process the relative position between the tire crane and the magnetic force field, and the display screen is configured to display the offset and the barter center.

In an embodiment of the invention, the control device is connected to the magnetic induction detection device through a CAN bus.

To achieve the above and other related objects, the present invention provides a tire crane offset and center of berth detecting method, including:

constructing a magnetic force field;

and detecting the relative position of the tire crane and the magnetic force field to obtain the offset and the center of the beta position.

In one embodiment of the present invention, a perpendicular, but unconnected, first magnetic strip and second magnetic strip are arranged to construct the magnetic force field.

In an embodiment of the present invention, the distance between the tire crane wheel and the first magnetic stripe is detected to obtain the offset; and detecting the distance between the tire crane and the second magnetic strip to obtain the center of the bunk.

As described above, the tire crane offset and the bunk center detection system and method can perform fine detection on the tire crane offset and the bunk center through the arranged detection device so as to perform automatic deviation correction by a preset program, replace manual observation of tire crane offset and manual deviation correction operation, reduce the labor intensity of physical force, greatly reduce the danger and error rate of manual operation, and meanwhile, the detection device can work in all weather and is suitable for various natural weathers.

Drawings

FIG. 1 is a schematic view of a tire crane offset and bunk center detection system of the present invention in one embodiment;

FIG. 2 is a schematic structural diagram of a car position detecting device of an embodiment of the tire crane offset and center of berth detecting system of the present invention;

FIGS. 3a-3b are schematic views of a magnetic stripe mounting configuration of a tire crane offset and bunk center detection system of the present invention in one embodiment;

FIG. 4 is a schematic diagram of a wheel position detecting device of an embodiment of the tire crane offset and center of repose detecting system of the present invention;

FIG. 5 is a schematic view of a control device of the tire crane offset and bunk center detection system of the present invention in one embodiment;

FIG. 6 is a schematic view of the display information of the display screen of the tire crane offset and center of berth detection system in an embodiment of the present invention;

FIG. 7 is a diagram illustrating the method steps for tire crane offset and home center detection in one embodiment of the present invention;

FIGS. 8a-8c are schematic diagrams illustrating the tire crane offset and the distribution of the deviation of the bunk center detection method according to an embodiment of the present invention.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.

Referring to fig. 1, in an embodiment of the present invention, a tire crane offset and bunk center detecting system includes the following steps:

the magnetic strip is arranged on the ground of the track and used for constructing a magnetic force field;

the magnetic induction detection device is arranged on the tire crane and comprises a magnetic induction sensor, and the magnetic induction sensor is used for detecting the relative position of the tire crane and the magnetic force field so as to obtain the offset and the beta-position center.

It should be noted that, as shown in fig. 1 and fig. 2, the magnetic induction detection device includes a detection device disposed at a position corresponding to a tire 11 of the tire crane and a detection device disposed at a central axis of a lower bottom surface of a carriage 12 of the tire crane, wherein each of the magnetic induction detection devices is provided with the magnetic induction sensor 1, the magnetic stripes include a first magnetic stripe 2 and a second magnetic stripe 3, the first magnetic stripe 2 is disposed at one side of the rail 4 and is parallel to the rail 4, the second magnetic stripe 3 is disposed between the rails 4 at two sides and is perpendicular to the rail 4, wherein the rail 4 is a single-side rail on which the tire crane travels and is parallel to double yellow lines, the tire crane travels through parallel wheel sets at two sides, each side wheel set corresponds to one carriage, that is, in this embodiment, the tire 11 and the carriage 12 are located at the same side, and the rail 4 is formed by four yellow lines, two pairs of the two groups are unilateral tracks 4, that is, one group of the double yellow lines is unilateral tracks 4, so the first magnetic stripe 2 is arranged at one side of the unilateral track 4 at the outer side of the detection device at the corresponding position of the tire 11, the second magnetic stripe 3 is arranged between the two groups of the double yellow lines, the length of one twenty-foot container is 6.1 meters, and the length of the same forty-foot container is 12.2 meters, so the distance between the centers of the positions can be 3.2 meters, in the actual operation process, the distance between the adjacent second magnetic stripes 3 can be 3.2 meters, the magnetic induction sensor 1 at the corresponding position of the tire 11 is vertical to the first magnetic stripe 2, and the magnetic induction sensor 1 at the corresponding position of the carriage 12 is vertical to the second magnetic stripe 3.

Further, the magnetic induction sensor 1 of the detection device located at the corresponding position of the tire 11 is used for detecting the distance between the tire crane wheel and the first magnetic stripe 2 to obtain the offset; the magnetic induction sensor 1 of the detection device located at the corresponding position of the carriage 12 is used for detecting the distance between the tire crane and the second magnetic stripe 3 so as to obtain the center of the bunk.

It should be mentioned that, when the magnetic induction sensor 1 works, the distance range from the first magnetic stripe 2 is set to [20mm-50mm ], wherein the measurement of the distance of "20 mm" is the best distance measurement, as shown in fig. 3a and 3b, the first magnetic stripe 2 and the second magnetic stripe 3 are both embedded in the ground and are not lower than "10 mm" of the ground, preferably, the second magnetic stripe 3 is not connected with the first magnetic stripe 2, and represents that the magnetic force fields of the first magnetic stripe 2 and the second magnetic stripe 3 do not affect each other.

Further, when the first magnetic stripe 2 is installed, it is required that there is no break point in the middle, and the magnetic properties parallel to the ground must be the same polarity, when the second magnetic stripe 3 is installed, it is also required that the magnetic properties parallel to the ground are the same polarity, and the length of the second magnetic stripe 3 cannot exceed the width of the track 4, i.e. the distance between the two yellow lines at the innermost side of the track 4.

Specifically, magnetic inductor 1 senses the magnetism of magnetism lines, and internal switching value switches on, does not have the change of magnetism position internal switching value, and magnetism lines divides utmost point S, N utmost point, magnetic inductor 1 induction magnetic pole can set up S utmost point, N utmost point, S and three kinds of modes of N utmost point.

Further, in an embodiment of the present invention, the magnetic induction detection device further includes a support mechanism, the support mechanism includes a metal body and universal wheels, the magnetic induction sensor is located on an installation head at the end of the metal body and located between the two universal wheels, both the two universal wheels are installed on the installation head, and the installation head is rotatably connected to the metal body.

It should be noted that, as shown in fig. 4, the metal body 5 is mounted on the tire crane, the magnetic induction sensor 1 is mounted on a mounting head 7 at the end of the metal body 5, two universal wheels 6 are further mounted on the mounting head 7, and as shown in fig. 1, the mounting head 7 is rotatably connected with the metal body 5.

Further, in an embodiment of the present invention, the magnetic induction detecting device further includes a moving mechanism, the moving mechanism includes an electric push rod and a limit switch, a terminal of the electric push rod is fixedly connected to the mounting head through a preset pulley, and the electric push rod and the limit switch are mounted on the metal body.

Specifically, as shown in fig. 4, the electric push rod 8 is installed in the metal body 5, the rod head of the electric push rod 8 is connected to the mounting head 7 through the steel rope, the steel rope is limited through the fixed pulley 10, when the magnetic induction sensor 1 does not work, the rod head of the electric push rod 8 rotates, the mounting head 7 touches the limit switch 9, the automatic push rod 8 is powered off and self-locked, the fixing position of the electric push rod 8 is utilized, the steel rope pulls the mounting head 7 to realize position fixing, and further the position fixing of the magnetic inductor 1 is realized.

It is worth mentioning that magnetic induction sensor 1 during operation, put below electric putter 8 circular telegram installation head 7 and then transfer magnetic sensor 1 treats behind universal wheel 6 contact ground, electric putter 8 outage auto-lock is motionless, and plays the connection the steel cable is not atred, at this moment, magnetic sensor 1 can the free action, because installation head 7 rotates to be connected on metal body 5, when meetting ground unevenness, universal wheel 6 can support installation head 7 reciprocates.

Further, in an embodiment of the present invention, the system further includes a control device, the control device is disposed on the tire crane, the control device includes a processor and a display screen, the processor is configured to analyze and process a relative position between the tire crane and the magnetic force field, and the display screen is configured to display the offset and the barter center.

It should be noted that, as shown in fig. 5, the control device is disposed on the lower bottom surface of the tire crane carriage 12, and includes the processor and the display 13, where the processor is not shown in fig. 5, the processor is configured to analyze and process the relative position between the tire crane and the magnetic force field, and as shown in fig. 6, the display 13 is configured to display information of the offset and the center of the barnacle.

Specifically, the induction surface of the magnetic inductor 1 is distributed with 36 switching values, a total measuring range is 350mm, a resolution is 5mm, the middle position of the switching values is 0mm, a left induction area is defined as a positive deviation value, and a detection range is 0-175 mm; the right induction area is specified as a negative deviation value, the detection range is '0- (-175) mm', each switching value represents a measuring range, each switching value is separated by '10 mm', the magnetism is distributed divergently, when the magnetic inductor 1 detects the magnetism, a plurality of continuous switching values are triggered, the continuous switching values correspond to scale values, and the middle value of the triggered switching value is taken as a deviation value to be analyzed and calculated by the processor.

Further, in an embodiment of the present invention, the control device is connected to the magnetic induction detection device through a CAN bus.

It should be noted that, the processor in the control device needs to receive the magnetic force sensing information to analyze and display, and the stability of data transmission CAN be ensured through the CAN bus connection.

Referring to fig. 7, in an embodiment, a method for detecting a tire crane offset and a center of a bunk provided in the present embodiment includes the following steps:

step S71, constructing a magnetic force field;

and step S72, detecting the relative position of the tire crane and the magnetic force field to obtain the offset and the beta center.

It should be noted that, in order to obtain the tire crane offset and the barycenter, a first magnetic stripe and a second magnetic stripe which are perpendicular but not connected may be arranged to construct the magnetic force field, and the magnetic induction distribution of the magnetic induction sensor on the tire crane to the magnetic force field is analyzed to detect the distance between the tire crane wheel and the first magnetic stripe, so as to obtain the offset; and detecting the distance between the tire crane and the second magnetic strip to obtain the center of the bunk.

Specifically, when analyzing the magnetic induction distribution, the method further comprises processing an interference value of an offset, wherein the distribution of the induction surface of the magnetic inductor 1 comprises "36" switching values, the specified numbers are S1-S36, S18 corresponds to a distance of "5 mm", S17 corresponds to a distance of "15 mm", similarly, S19 corresponds to a distance of "-5 mm", and S20 corresponds to a distance of "-15 mm", since the width of the tire crane is generally more than "8" meters, in the present embodiment, the tire crane takes a width of "8" meters as an example, the maximum running speed of "2 m/S", the maximum allowable offset during running is "200 mm", so the θ angle is calculated according to the maximum offset,because the value of sin theta is approximately equal to 0 is smaller, sin theta is approximately equal to tan theta, the period of the acquired data is 10ms, and because the data is acquired every 10ms, the data is calculated at the maximum speedThe distance y1 for "10 ms" travel is "0.02 m", and the maximum offset x1 calculated from the maximum offset angle θ is calculated as:

x1＝y1*tanθ＝0.02*0.025＝0.0005(m)；

according to the data, the maximum offset of one sampling period is calculated to be 0.5mm, the resolution of the magnetic inductor 1 is 5mm, therefore, the maximum offset value of one sampling period can be 20mm, and if the offset value obtained in one sampling period is different from the offset value obtained in the last sampling period by more than 20mm, the obtained offset value is the interference value. Further, if the switching values in the plurality of stages are induced to be magnetic, a plurality of offset amounts are calculated, and the value having the smallest difference and within the variation range corresponding to the offset amount at the previous time is the effective offset amount at the time.

As shown in fig. 8a, it is assumed that the normal offset at time I is S16-S20, and the corresponding offset is "5 mm"; fig. 8b shows a shift amount at time II, where the switching amount at time II has sensing regions S4-S5, S7-S9, and S16-S20, the shift amounts corresponding to time II are "140 mm", "105 mm", and "5 mm", respectively, and since the change amounts of "140 mm", "105 mm", and "5 mm" at the previous time are larger than the predetermined change amount "Δ 20 mm", and data of "5 mm" is also detected at this time, it is determined that "140 mm" and "105 mm" are interference values; fig. 8c shows the time III offset, where the switching values have sensing areas S5-S7, S15-S19, and S22-S23, the corresponding offsets are "125 mm", "15 mm", and "-40 mm", respectively, and since the variation of "125 mm" and "-40 mm" and "5 mm" at the previous time is greater than the predetermined variation "Δ 20 mm", it is determined as the interference value, and the variation of "15 mm" and "5 mm" is within "20 mm", which can be regarded as the true value.

After the offset interference value is removed, the data accuracy of the bunk center is obtained by detecting the offset obtained by detecting the distance between the tire crane wheel and the first magnetic strip and detecting the distance between the tire crane and the second magnetic strip.

In conclusion, the invention can carry out fine detection on the offset and the bite center of the tire crane through the arranged detection device so as to carry out automatic deviation correction by a preset program, replace manual observation of the offset and manual deviation correction operation of the tire crane, reduce the labor intensity of physical force, greatly reduce the danger and the error rate of manual operation, and meanwhile, the detection device can work in all weather and is suitable for various natural weathers.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.