CN203806995U - Anti-collision control system for cranes - Google Patents
Anti-collision control system for cranes Download PDFInfo
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- CN203806995U CN203806995U CN201420212704.0U CN201420212704U CN203806995U CN 203806995 U CN203806995 U CN 203806995U CN 201420212704 U CN201420212704 U CN 201420212704U CN 203806995 U CN203806995 U CN 203806995U
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Abstract
The utility model discloses an anti-collision control system for cranes, belonging to the technical field of automatic control of the cranes. The anti-collision control system for the cranes is characterized by comprising a controller (1), an alarm module (2), a power module (3), a laser ranging module (4), an infrared sensing module (5), a display module (6) and an open-circuit control module (7), wherein the controller (1) is respectively and electrically connected with the alarm module (2), the laser ranging module (4), the infrared sensing module (5), the display module (6) and the open-circuit control module (7). Compared with the prior art, the anti-collision control system for cranes has the characteristics of intelligently controlling the cranes on a working site and fundamentally avoiding collision accidents and the like.
Description
Technical field
The invention belongs to hoisting crane automatic control technology field, in particular, belong to the pre-anticollision control system of a kind of hoisting crane.
Background technology
In prior art, crane in bridge type and transfer crane are used in the environment such as goods yard and factory building conventionally, in its site work environment, conventionally have some crane in bridge type or transfer crane on a track, to work, the platform crane in bridge type on same track or transfer crane should keep rational trouble free service distance each other conventionally simultaneously.Operation driver on each crane in bridge type or transfer crane, its common hig diligence are by the operation element of hoisting object, and trouble free service distance between the adjacent hoisting crane of general easy ignorance has so just caused happen occasionally the each other accident of collision of platform crane in bridge type on same track or transfer crane.In prior art in order to solve collision case between hoisting crane or the collision case between hoisting crane and track termination, platform crane in bridge type or transfer crane all will be installed collision avoidance system conventionally, these collision avoidance systems are all mechanical structure form conventionally, can only alleviate the impulsive force while colliding between hoisting crane, fundamentally solving collision problem.How to avoid the collision problem between hoisting crane, be a great problem of restriction the art always.
Summary of the invention
The present invention, in order effectively to solve above technical matters, has provided the pre-anticollision control system of a kind of hoisting crane.
The pre-anticollision control system of a kind of hoisting crane of the present invention, is characterized in that, comprises controller, alarm module, power module, laser ranging module, infra-ray sensing module, display module, control module opens circuit; Wherein:
Described controller respectively with described alarm module, described laser ranging module, described infra-ray sensing module, described display module, described in the control module that opens circuit be electrical connected;
Described laser ranging module comprises Laser emission part, laser pick-off part, is arranged on hoisting crane body and with hoisting crane sense of motion and is consistent described Laser emission part and described laser pick-off partial parallel;
Described infra-ray sensing module comprises the first infrared probe, the second infrared probe, and described the first infrared probe and described the second infrared probe arrange symmetrically; Wherein: the infra-red detection amplitude angle A of described the first infrared probe is identical with the infra-red detection amplitude angle B of described the second infrared probe; The infra-red detection region S of described the first infrared probe
3infra-red detection region S with described the second infrared probe
4form an infrared ray blind area region S
1an and infrared ray overlap-add region S
2, described infrared ray overlap-add region S
2angle C, the distance between described the first infrared probe and described the second infrared probe is H
1, described infrared ray blind area region S
1with infrared ray overlap-add region S
2coaxial line, described infrared ray blind area region S
1with infrared ray overlap-add region S
2axis and hoisting crane sense of motion direction be consistent.
According to the pre-anticollision control system of above-described hoisting crane, preferably, described alarm module is sound light alarming circuit.
According to the pre-anticollision control system of above-described hoisting crane, preferably, described display module is LCD Panel.
According to the pre-anticollision control system of above-described hoisting crane, preferably, described controller can be dsp controller.
According to the pre-anticollision control system of above-described hoisting crane, preferably, described controller can be ARM controller.
According to the pre-anticollision control system of above-described hoisting crane, preferably, described Laser emission part, described laser pick-off are partly arranged between described the first infrared probe and described the second infrared probe.
According to the pre-anticollision control system of above-described hoisting crane, preferably, described infrared ray overlap-add region S
2angle C scope be 10 °-30 °.
According to the pre-anticollision control system of above-described hoisting crane, preferably, the distance H between described the first infrared probe and described the second infrared probe
1for 6-10cm.
The present invention compared with prior art has can realize in working scene Based Intelligent Control between hoisting crane, fundamentally stop the features such as collision case generation.
Accompanying drawing explanation
Accompanying drawing 1 is the structural representation of the pre-anticollision control system of hoisting crane of the present invention;
Accompanying drawing 2 is schematic diagrams of the pre-anticollision control system infrared detection of hoisting crane of the present invention;
Accompanying drawing 3 is that schematic diagram is used at the scene of the pre-anticollision control system of hoisting crane of the present invention.
The specific embodiment
Preferred implementation 1
Fig. 1 is the structural representation of the pre-anticollision control system of hoisting crane of the present invention; The pre-anticollision control system of hoisting crane of the present invention comprises controller 1, alarm module 2, power module 3, laser ranging module 4, infra-ray sensing module 5, display module 6, control module 7 opens circuit; Wherein: controller 1 is electrical connected with alarm module 2, laser ranging module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 respectively, power module 3 is electrical connected with controller 1, alarm module 2, laser ranging module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 respectively, and power module 3 can be directly for controller 1, alarm module 2, laser ranging module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 provide power supply; Power module 3 also can provide power supply for alarm module 2, laser ranging module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 by controller 1.Alarm module 2 is sound light alarming circuit, and display module 6 is LCD Panel.Alarm module 2 and display module 6 are all arranged in operation driver's driver's cab, facilitate driver to see in time and hear the information of distance between hoisting crane.If judging the place ahead by laser ranging module 4 and infra-ray sensing module 5, controller 1 have hoisting crane to stop, to alarm module 2 and display module 6, send corresponding signal, and when hoisting crane is about to approach the place ahead hoisting crane, control power supply that the control module 7 that opens circuit cuts off hoisting crane running motors to prevent the generation that crashes.Controller 1 can be dsp controller.
Laser ranging module 4 comprises Laser emission part 401, laser pick-off part 402, and Laser emission part 401 and laser pick-off part 402 are arranged on abreast on hoisting crane body and with hoisting crane sense of motion and are consistent; Infra-ray sensing module 5 comprises that the first infrared probe 501, the second infrared probe 502, the first infrared probes 501 and the second infrared probe 502 arrange symmetrically; Wherein: the infra-red detection amplitude angle A of the first infrared probe 501 is identical with the infra-red detection amplitude angle B of the second infrared probe 502; The infra-red detection region S of the first infrared probe 501
3infra-red detection region S with the second infrared probe 502
4form an infrared ray blind area region S
1an and infrared ray overlap-add region S
2, infrared ray overlap-add region S
2angle C, the distance between the first infrared probe 501 and the second infrared probe 502 is H
1, infrared ray blind area region S
1with infrared ray overlap-add region S
2coaxial line, infrared ray blind area region S
1with infrared ray overlap-add region S
2axis and hoisting crane sense of motion direction be consistent.Infrared ray overlap-add region S
2angle C scope be 10 °-30 °.Distance H between the first infrared probe 501 and the second infrared probe 502
1for 6-10cm.Laser emission part 401, laser pick-off part 402 are arranged between the first infrared probe 501 and the second infrared probe 502.Whether controller 1 is effectively analyzed by the signal that laser ranging module 4 and infra-ray sensing module 5 are detected, and can judge whether the place ahead has hoisting crane, determined to report to the police and stopped to prevent the generation of collision case.
Fig. 2 is the schematic diagram that the pre-anticollision control system middle infrared (Mid-IR) of hoisting crane of the present invention detects; When the first infrared probe 501 and the second infrared probe 502 are set together symmetrically as can be seen from Figure, can obtain extraordinary prevention monitoring effect.The infra-red detection amplitude angle of the first infrared probe 501 is A, and the infra-red detection amplitude angle of the second infrared probe 502 is B, and the distance between the first infrared probe 501 and the second infrared probe 502 is H
1, H
1scope can be 6-10cm; Distance H between the first infrared probe 501 and the second infrared probe 502
1preferred 8cm.The infra-red detection amplitude S of the first infrared probe 501
3infra-red detection amplitude S with the second infrared probe 502
4there is region, a blind area S
1, the infra-red detection amplitude S of the first infrared probe 501
3infra-red detection amplitude S with the second infrared probe 502
4there is an overlapping infrared ray overlap-add region S
2, region, blind area S wherein
1axis active distance be H
2, infrared ray overlap-add region S
2axis active distance be H
3, region, blind area S
1with with infrared ray overlap-add region S
2coaxial line, be H
2and H
3coaxial line, region, blind area S
1with with infrared ray overlap-add region S
2axis and the dead ahead of hoisting crane walking vehicle body be consistent, be H
2and H
3be consistent with the dead ahead of hoisting crane walking vehicle body.
The first infrared probe 501 and the second infrared probe 502 all can adopt the pyroelectric infrared sensor place of the detection infrared signal of institute's radiation in the infrared signal of the radiation that human body radiates of operating personal or machine movement in hoisting crane above, and the detector front end forming at the first infrared probe 501 and the second infrared probe 502 forms blind area region S
1with an infrared ray overlap-add region S
2, S
2angle C scope be 10-30 degree, S
2angle C preferably 20 degree.When having people or mobile object before the probe of the first infrared probe 501 and the second infrared probe 502 is housed, from the lens of pyroelectric infrared sensor, walk out-of-dately, the infrared ray that human body or mobile apparatus object send just constantly alternately changes enters infrared ray overlap-add region S
2, so just obtained infrared signal with dynamic pulse.The infrared ray centre wavelength of human body radiation is 9～10um, on sensor top, offered a window that filter glass is housed, this filter can be 7～10um by light wavelength scope, just in time be suitable for the detection of human body or mobile apparatus object infrared radiation, and the infrared ray of other wavelength is absorbed by filter.
Infra-ray sensing module 5 is electrical connected with the first infrared probe 501, the second infrared probe 502 respectively, and the first infrared probe 501 and the second infrared probe 502 are arranged on the sighting device body of hoisting crane body symmetrically; The infra-red detection amplitude angle A of the first infrared probe 501 is identical with the infra-red detection amplitude angle B of the second infrared probe 502; The infra-red detection region S of the first infrared probe 501
3infra-red detection region S with the second infrared probe 502
4form region, a blind area S
1an and infrared ray overlap-add region S
2, region, blind area S
1apart from hoisting crane body, there is certain distance, but this region, blind area S
1conventionally can and then can not exert an influence to aiming at detection effect over several meters.Laser ranging module 4 is electrical connected with Laser emission part 401, laser pick-off part 402 respectively, and Laser emission part 401 and laser pick-off part 402 are arranged on the probe body that is arranged on hoisting crane and with hoisting crane motion working direction and are consistent.
The first infrared probe 501 of infra-ray sensing module 5, the second infrared probe 502 are arranged in closer distance range with Laser emission part 401, the laser pick-off part 402 of laser ranging module 4 as far as possible, and Laser emission part 401, the laser pick-off part 402 of the first infrared probe 501, the second infrared probe 502 and the laser ranging module 4 of infra-ray sensing module 5 are all arranged on the front end of probe body.
Fig. 3 is that schematic diagram is used at the scene of the pre-anticollision control system of hoisting crane of the present invention, on two crane in bridge type in figure, two collision avoidance systems is all set respectively, according to concrete service condition, also a collision avoidance system can be only set on each hoisting crane.Collision avoidance system on each hoisting crane as shown in FIG., the detected position of the hoisting crane of answering in contrast does not have collision avoidance system, can obtain so very failure-free and detect effect.
Preferred implementation 2
Fig. 1 is the structural representation of the pre-anticollision control system of hoisting crane of the present invention; The pre-anticollision control system of hoisting crane of the present invention comprises controller 1, alarm module 2, power module 3, laser ranging module 4, infra-ray sensing module 5, display module 6, control module 7 opens circuit; Wherein: controller 1 is electrical connected with alarm module 2, laser ranging module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 respectively, power module 3 is electrical connected with controller 1, alarm module 2, laser ranging module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 respectively, and power module 3 can be directly for controller 1, alarm module 2, laser ranging module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 provide power supply; Power module 3 also can provide power supply for alarm module 2, laser ranging module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 by controller 1.Alarm module 2 is sound light alarming circuit, and display module 6 is LCD Panel.Alarm module 2 and display module 6 are all arranged in operation driver's driver's cab, facilitate driver to see in time relevant information.If judging the place ahead by laser ranging module 4 and infra-ray sensing module 5, controller 1 have hoisting crane to stop, to alarm module 2 and display module 6, send corresponding signal, and when hoisting crane is about to approach the place ahead hoisting crane, control power supply that the control module 7 that opens circuit cuts off hoisting crane running motors to prevent the generation that crashes.Controller 1 can be ARM controller.
Laser ranging module 4 comprises Laser emission part 401, laser pick-off part 402, and Laser emission part 401 and laser pick-off part 402 are arranged on abreast on hoisting crane body and with hoisting crane sense of motion and are consistent; Infra-ray sensing module 5 comprises that the first infrared probe 501, the second infrared probe 502, the first infrared probes 501 and the second infrared probe 502 arrange symmetrically; Wherein: the infra-red detection amplitude angle A of the first infrared probe 501 is identical with the infra-red detection amplitude angle B of the second infrared probe 502; The infra-red detection region S of the first infrared probe 501
3infra-red detection region S with the second infrared probe 502
4form an infrared ray blind area region S
1an and infrared ray overlap-add region S
2, infrared ray overlap-add region S
2angle C, the distance between the first infrared probe 501 and the second infrared probe 502 is H
1, infrared ray blind area region S
1with infrared ray overlap-add region S
2coaxial line, infrared ray blind area region S
1with infrared ray overlap-add region S
2axis and hoisting crane sense of motion direction be consistent.Infrared ray overlap-add region S
2angle C scope be 10 °-30 °.Distance H between the first infrared probe 501 and the second infrared probe 502
1for 6-10cm.Laser emission part 401, laser pick-off part 402 are arranged between the first infrared probe 501 and the second infrared probe 502.Whether controller 1 is effectively analyzed by the signal that laser ranging module 4 and infra-ray sensing module 5 are detected, and can judge whether the place ahead has hoisting crane, determined to report to the police and stopped to prevent the generation of collision case.
Fig. 2 is the schematic diagram that the pre-anticollision control system middle infrared (Mid-IR) of hoisting crane of the present invention detects; When the first infrared probe 501 and the second infrared probe 502 are set together symmetrically as can be seen from Figure, can obtain extraordinary prevention monitoring effect.The infra-red detection amplitude angle of the first infrared probe 501 is A, and the infra-red detection amplitude angle of the second infrared probe 502 is B, and the distance between the first infrared probe 501 and the second infrared probe 502 is H
1, H
1scope can be 6-10cm; Distance H between the first infrared probe 501 and the second infrared probe 502
1preferred 8cm.The infra-red detection amplitude S of the first infrared probe 501
3infra-red detection amplitude S with the second infrared probe 502
4there is region, a blind area S
1, the infra-red detection amplitude S of the first infrared probe 501
3infra-red detection amplitude S with the second infrared probe 502
4there is an overlapping infrared ray overlap-add region S
2, region, blind area S wherein
1axis active distance be H
2, infrared ray overlap-add region S
2axis active distance be H
3, region, blind area S
1with with infrared ray overlap-add region S
2coaxial line, be H
2and H
3coaxial line, region, blind area S
1with with infrared ray overlap-add region S
2axis and the dead ahead of hoisting crane walking vehicle body be consistent, be H
2and H
3be consistent with the dead ahead of hoisting crane walking vehicle body.
The first infrared probe 501 and the second infrared probe 502 all can adopt the pyroelectric infrared sensor place of the detection infrared signal of institute's radiation in the infrared signal of the radiation that human body radiates of operating personal or machine movement in hoisting crane above, and the detector front end forming at the first infrared probe 501 and the second infrared probe 502 forms blind area region S
1with an infrared ray overlap-add region S
2, S
2angle C scope be 10-30 degree, S
2angle C preferably 20 degree.When having people or mobile object before the probe of the first infrared probe 501 and the second infrared probe 502 is housed, from the lens of pyroelectric infrared sensor, walk out-of-dately, the infrared ray that human body or mobile apparatus object send just constantly alternately changes enters infrared ray overlap-add region S
2, so just obtained infrared signal with dynamic pulse.The infrared ray centre wavelength of human body radiation is 9～10um, on sensor top, offered a window that filter glass is housed, this filter can be 7～10um by light wavelength scope, just in time be suitable for the detection of human body or mobile apparatus object infrared radiation, and the infrared ray of other wavelength is absorbed by filter.
Infra-ray sensing module 5 is electrical connected with the first infrared probe 501, the second infrared probe 502 respectively, and the first infrared probe 501 and the second infrared probe 502 are arranged on the sighting device body of hoisting crane body symmetrically; The infra-red detection amplitude angle A of the first infrared probe 501 is identical with the infra-red detection amplitude angle B of the second infrared probe 502; The infra-red detection region S of the first infrared probe 501
3infra-red detection region S with the second infrared probe 502
4form region, a blind area S
1an and infrared ray overlap-add region S
2, region, blind area S
1apart from hoisting crane body, there is certain distance, but this region, blind area S
1conventionally can and then can not exert an influence to aiming at detection effect over several meters.Laser ranging module 4 is electrical connected with Laser emission part 401, laser pick-off part 402 respectively, and Laser emission part 401 and laser pick-off part 402 are arranged on the probe body that is arranged on hoisting crane and with hoisting crane motion working direction and are consistent.
The first infrared probe 501 of infra-ray sensing module 5, the second infrared probe 502 are arranged in closer distance range with Laser emission part 401, the laser pick-off part 402 of laser ranging module 4 as far as possible, and Laser emission part 401, the laser pick-off part 402 of the first infrared probe 501, the second infrared probe 502 and the laser ranging module 4 of infra-ray sensing module 5 are all arranged on the front end of probe body.
Fig. 3 is that schematic diagram is used at the scene of the pre-anticollision control system of hoisting crane of the present invention, on two crane in bridge type in figure, two collision avoidance systems is all set respectively, according to concrete service condition, also a collision avoidance system can be only set on each hoisting crane.Collision avoidance system on each hoisting crane as shown in FIG., the detected position of the hoisting crane of answering in contrast does not have collision avoidance system, can obtain so very failure-free and detect effect.
Preferred implementation 3
Fig. 1 is the structural representation of the pre-anticollision control system of hoisting crane of the present invention; The pre-anticollision control system of hoisting crane of the present invention comprises controller 1, alarm module 2, power module 3, laser ranging module 4, infra-ray sensing module 5, display module 6, control module 7 opens circuit; Wherein: controller 1 is electrical connected with alarm module 2, laser ranging module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 respectively, power module 3 is electrical connected with controller 1, alarm module 2, laser ranging module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 respectively, and power module 3 can be directly for controller 1, alarm module 2, laser ranging module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 provide power supply; Power module 3 also can provide power supply for alarm module 2, laser ranging module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 by controller 1.Alarm module 2 is sound light alarming circuit, and display module 6 is LCD Panel.Alarm module 2 and display module 6 are all arranged in operation driver's driver's cab, facilitate driver to see in time relevant information.If judging the place ahead by laser ranging module 4 and infra-ray sensing module 5, controller 1 have hoisting crane to stop, to alarm module 2 and display module 6, send corresponding signal, and when hoisting crane is about to approach the place ahead hoisting crane, control power supply that the control module 7 that opens circuit cuts off hoisting crane running motors to prevent the generation that crashes.Controller 1 can be AVR controller.
Laser ranging module 4 comprises Laser emission part 401, laser pick-off part 402, and Laser emission part 401 and laser pick-off part 402 are arranged on abreast on hoisting crane body and with hoisting crane sense of motion and are consistent; Infra-ray sensing module 5 comprises that the first infrared probe 501, the second infrared probe 502, the first infrared probes 501 and the second infrared probe 502 arrange symmetrically; Wherein: the infra-red detection amplitude angle A of the first infrared probe 501 is identical with the infra-red detection amplitude angle B of the second infrared probe 502; The infra-red detection region S of the first infrared probe 501
3infra-red detection region S with the second infrared probe 502
4form an infrared ray blind area region S
1an and infrared ray overlap-add region S
2, infrared ray overlap-add region S
2angle C, the distance between the first infrared probe 501 and the second infrared probe 502 is H
1, infrared ray blind area region S
1with infrared ray overlap-add region S
2coaxial line, infrared ray blind area region S
1with infrared ray overlap-add region S
2axis and hoisting crane sense of motion direction be consistent.Infrared ray overlap-add region S
2angle C scope be 10 °-30 °.Distance H between the first infrared probe 501 and the second infrared probe 502
1for 6-10cm.Laser emission part 401, laser pick-off part 402 are arranged between the first infrared probe 501 and the second infrared probe 502.Whether controller 1 is effectively analyzed by the signal that laser ranging module 4 and infra-ray sensing module 5 are detected, and can judge whether the place ahead has hoisting crane, determined to report to the police and stopped to prevent the generation of collision case.
Fig. 2 is the schematic diagram that the pre-anticollision control system middle infrared (Mid-IR) of hoisting crane of the present invention detects; When the first infrared probe 501 and the second infrared probe 502 are set together symmetrically as can be seen from Figure, can obtain extraordinary prevention monitoring effect.The infra-red detection amplitude angle of the first infrared probe 501 is A, and the infra-red detection amplitude angle of the second infrared probe 502 is B, and the distance between the first infrared probe 501 and the second infrared probe 502 is H
1, H
1scope can be 6-10cm; Distance H between the first infrared probe 501 and the second infrared probe 502
1preferred 8cm.The infra-red detection amplitude S of the first infrared probe 501
3infra-red detection amplitude S with the second infrared probe 502
4there is region, a blind area S
1, the infra-red detection amplitude S of the first infrared probe 501
3infra-red detection amplitude S with the second infrared probe 502
4there is an overlapping infrared ray overlap-add region S
2, region, blind area S wherein
1axis active distance be H
2, infrared ray overlap-add region S
2axis active distance be H
3, region, blind area S
1with with infrared ray overlap-add region S
2coaxial line, be H
2and H
3coaxial line, region, blind area S
1with with infrared ray overlap-add region S
2axis and the dead ahead of hoisting crane walking vehicle body be consistent, be H
2and H
3be consistent with the dead ahead of hoisting crane walking vehicle body.
The first infrared probe 501 and the second infrared probe 502 all can adopt the pyroelectric infrared sensor place of the detection infrared signal of institute's radiation in the infrared signal of the radiation that human body radiates of operating personal or machine movement in hoisting crane above, and the detector front end forming at the first infrared probe 501 and the second infrared probe 502 forms blind area region S
1with an infrared ray overlap-add region S
2, S
2angle C scope be 10-30 degree, S
2angle C preferably 20 degree.When having people or mobile object before the probe of the first infrared probe 501 and the second infrared probe 502 is housed, from the lens of pyroelectric infrared sensor, walk out-of-dately, the infrared ray that human body or mobile apparatus object send just constantly alternately changes enters infrared ray overlap-add region S
2, so just obtained infrared signal with dynamic pulse.The infrared ray centre wavelength of human body radiation is 9～10um, on sensor top, offered a window that filter glass is housed, this filter can be 7～10um by light wavelength scope, just in time be suitable for the detection of human body or mobile apparatus object infrared radiation, and the infrared ray of other wavelength is absorbed by filter.
Infra-ray sensing module 5 is electrical connected with the first infrared probe 501, the second infrared probe 502 respectively, and the first infrared probe 501 and the second infrared probe 502 are arranged on the sighting device body of hoisting crane body symmetrically; The infra-red detection amplitude angle A of the first infrared probe 501 is identical with the infra-red detection amplitude angle B of the second infrared probe 502; The infra-red detection region S of the first infrared probe 501
3infra-red detection region S with the second infrared probe 502
4form region, a blind area S
1an and infrared ray overlap-add region S
2, region, blind area S
1apart from hoisting crane body, there is certain distance, but this region, blind area S
1conventionally can and then can not exert an influence to aiming at detection effect over several meters.Laser ranging module 4 is electrical connected with Laser emission part 401, laser pick-off part 402 respectively, and Laser emission part 401 and laser pick-off part 402 are arranged on the probe body that is arranged on hoisting crane and with hoisting crane motion working direction and are consistent.
The first infrared probe 501 of infra-ray sensing module 5, the second infrared probe 502 are arranged in closer distance range with Laser emission part 401, the laser pick-off part 402 of laser ranging module 4 as far as possible, and Laser emission part 401, the laser pick-off part 402 of the first infrared probe 501, the second infrared probe 502 and the laser ranging module 4 of infra-ray sensing module 5 are all arranged on the front end of probe body.
Fig. 3 is that schematic diagram is used at the scene of the pre-anticollision control system of hoisting crane of the present invention, on two crane in bridge type in figure, two collision avoidance systems is all set respectively, according to concrete service condition, also a collision avoidance system can be only set on each hoisting crane.Collision avoidance system on each hoisting crane as shown in FIG., the detected position of the hoisting crane of answering in contrast does not have collision avoidance system, can obtain so very failure-free and detect effect.
Preferred implementation 4
Fig. 1 is the structural representation of the pre-anticollision control system of hoisting crane of the present invention; The pre-anticollision control system of hoisting crane of the present invention comprises controller 1, alarm module 2, power module 3, laser ranging module 4, infra-ray sensing module 5, display module 6, control module 7 opens circuit; Wherein: controller 1 is electrical connected with alarm module 2, laser ranging module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 respectively, power module 3 is electrical connected with controller 1, alarm module 2, laser ranging module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 respectively, and power module 3 can be directly for controller 1, alarm module 2, laser ranging module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 provide power supply; Power module 3 also can provide power supply for alarm module 2, laser ranging module 4, infra-ray sensing module 5, display module 6, the control module that opens circuit 7 by controller 1.Alarm module 2 is sound light alarming circuit, and display module 6 is LCD Panel.Alarm module 2 and display module 6 are all arranged in operation driver's driver's cab, facilitate driver to see in time relevant information.If judging the place ahead by laser ranging module 4 and infra-ray sensing module 5, controller 1 have hoisting crane to stop, to alarm module 2 and display module 6, send corresponding signal, and when hoisting crane is about to approach the place ahead hoisting crane, control power supply that the control module 7 that opens circuit cuts off hoisting crane running motors to prevent the generation that crashes.Controller 1 can be 51 singlechip controllers.
Laser ranging module 4 comprises Laser emission part 401, laser pick-off part 402, and Laser emission part 401 and laser pick-off part 402 are arranged on abreast on hoisting crane body and with hoisting crane sense of motion and are consistent; Infra-ray sensing module 5 comprises that the first infrared probe 501, the second infrared probe 502, the first infrared probes 501 and the second infrared probe 502 arrange symmetrically; Wherein: the infra-red detection amplitude angle A of the first infrared probe 501 is identical with the infra-red detection amplitude angle B of the second infrared probe 502; The infra-red detection region S of the first infrared probe 501
3infra-red detection region S with the second infrared probe 502
4form an infrared ray blind area region S
1an and infrared ray overlap-add region S
2, infrared ray overlap-add region S
2angle C, the distance between the first infrared probe 501 and the second infrared probe 502 is H
1, infrared ray blind area region S
1with infrared ray overlap-add region S
2coaxial line, infrared ray blind area region S
1with infrared ray overlap-add region S
2axis and hoisting crane sense of motion direction be consistent.Infrared ray overlap-add region S
2angle C scope be 10 °-30 °.Distance H between the first infrared probe 501 and the second infrared probe 502
1for 6-10cm.Laser emission part 401, laser pick-off part 402 are arranged between the first infrared probe 501 and the second infrared probe 502.Whether controller 1 is effectively analyzed by the signal that laser ranging module 4 and infra-ray sensing module 5 are detected, and can judge whether the place ahead has hoisting crane, determined to report to the police and stopped to prevent the generation of collision case.
Fig. 2 is the schematic diagram that the pre-anticollision control system middle infrared (Mid-IR) of hoisting crane of the present invention detects; When the first infrared probe 501 and the second infrared probe 502 are set together symmetrically as can be seen from Figure, can obtain extraordinary prevention monitoring effect.The infra-red detection amplitude angle of the first infrared probe 501 is A, and the infra-red detection amplitude angle of the second infrared probe 502 is B, and the distance between the first infrared probe 501 and the second infrared probe 502 is H
1, H
1scope can be 6-10cm; Distance H between the first infrared probe 501 and the second infrared probe 502
1preferred 8cm.The infra-red detection amplitude S of the first infrared probe 501
3infra-red detection amplitude S with the second infrared probe 502
4there is region, a blind area S
1, the infra-red detection amplitude S of the first infrared probe 501
3infra-red detection amplitude S with the second infrared probe 502
4there is an overlapping infrared ray overlap-add region S
2, region, blind area S wherein
1axis active distance be H
2, infrared ray overlap-add region S
2axis active distance be H
3, region, blind area S
1with with infrared ray overlap-add region S
2coaxial line, be H
2and H
3coaxial line, region, blind area S
1with with infrared ray overlap-add region S
2axis and the dead ahead of hoisting crane walking vehicle body be consistent, be H
2and H
3be consistent with the dead ahead of hoisting crane walking vehicle body.
The first infrared probe 501 and the second infrared probe 502 all can adopt the pyroelectric infrared sensor place of the detection infrared signal of institute's radiation in the infrared signal of the radiation that human body radiates of operating personal or machine movement in hoisting crane above, and the detector front end forming at the first infrared probe 501 and the second infrared probe 502 forms blind area region S
1with an infrared ray overlap-add region S
2, S
2angle C scope be 10-30 degree, S
2angle C preferably 20 degree.When having people or mobile object before the probe of the first infrared probe 501 and the second infrared probe 502 is housed, from the lens of pyroelectric infrared sensor, walk out-of-dately, the infrared ray that human body or mobile apparatus object send just constantly alternately changes enters infrared ray overlap-add region S
2, so just obtained infrared signal with dynamic pulse.The infrared ray centre wavelength of human body radiation is 9～10um, on sensor top, offered a window that filter glass is housed, this filter can be 7～10um by light wavelength scope, just in time be suitable for the detection of human body or mobile apparatus object infrared radiation, and the infrared ray of other wavelength is absorbed by filter.
Infra-ray sensing module 5 is electrical connected with the first infrared probe 501, the second infrared probe 502 respectively, and the first infrared probe 501 and the second infrared probe 502 are arranged on the sighting device body of hoisting crane body symmetrically; The infra-red detection amplitude angle A of the first infrared probe 501 is identical with the infra-red detection amplitude angle B of the second infrared probe 502; The infra-red detection region S of the first infrared probe 501
3infra-red detection region S with the second infrared probe 502
4form region, a blind area S
1an and infrared ray overlap-add region S
2, region, blind area S
1apart from hoisting crane body, there is certain distance, but this region, blind area S
1conventionally can and then can not exert an influence to aiming at detection effect over several meters.Laser ranging module 4 is electrical connected with Laser emission part 401, laser pick-off part 402 respectively, and Laser emission part 401 and laser pick-off part 402 are arranged on the probe body that is arranged on hoisting crane and with hoisting crane motion working direction and are consistent.
The first infrared probe 501 of infra-ray sensing module 5, the second infrared probe 502 are arranged in closer distance range with Laser emission part 401, the laser pick-off part 402 of laser ranging module 4 as far as possible, and Laser emission part 401, the laser pick-off part 402 of the first infrared probe 501, the second infrared probe 502 and the laser ranging module 4 of infra-ray sensing module 5 are all arranged on the front end of probe body.
Fig. 3 is that schematic diagram is used at the scene of the pre-anticollision control system of hoisting crane of the present invention, on two crane in bridge type in figure, two collision avoidance systems is all set respectively, according to concrete service condition, also a collision avoidance system can be only set on each hoisting crane.Collision avoidance system on each hoisting crane as shown in FIG., the detected position of the hoisting crane of answering in contrast does not have collision avoidance system, can obtain so very failure-free and detect effect.
Claims (8)
1. the pre-anticollision control system of hoisting crane, it is characterized in that, comprise controller (1), alarm module (2), power module (3), laser ranging module (4), infra-ray sensing module (5), display module (6), the control module that opens circuit (7); Wherein:
Described controller (1) respectively with described alarm module (2), described laser ranging module (4), described infra-ray sensing module (5), described display module (6), described in the control module (7) that opens circuit be electrical connected;
Described laser ranging module (4) comprises Laser emission part (401), laser pick-off part (402), and described Laser emission part (401) and described laser pick-off part (402) are arranged on abreast on hoisting crane body and with hoisting crane sense of motion and are consistent;
Described infra-ray sensing module (5) comprises the first infrared probe (501), the second infrared probe (502), and described the first infrared probe (501) and described the second infrared probe (502) arrange symmetrically; Wherein: the infra-red detection amplitude angle A of described the first infrared probe (501) is identical with the infra-red detection amplitude angle B of described the second infrared probe (502); The infra-red detection region S of described the first infrared probe (501)
3infra-red detection region S with described the second infrared probe (502)
4form an infrared ray blind area region S
1an and infrared ray overlap-add region S
2, described infrared ray overlap-add region S
2angle C, the distance between described the first infrared probe (501) and described the second infrared probe (502) is H
1, described infrared ray blind area region S
1with infrared ray overlap-add region S
2coaxial line, described infrared ray blind area region S
1with infrared ray overlap-add region S
2axis and hoisting crane sense of motion direction be consistent.
2. the pre-anticollision control system of hoisting crane according to claim 1, is characterized in that, described alarm module (2) is sound light alarming circuit.
3. the pre-anticollision control system of hoisting crane according to claim 1, is characterized in that, described display module (6) is LCD Panel.
4. the pre-anticollision control system of hoisting crane according to claim 1, is characterized in that, described controller (1) can be dsp controller.
5. the pre-anticollision control system of hoisting crane according to claim 1, is characterized in that, described controller (1) can be ARM controller.
6. the pre-anticollision control system of hoisting crane according to claim 1, it is characterized in that, described Laser emission part (401), described laser pick-off part (402) are arranged between described the first infrared probe (501) and described the second infrared probe (502).
7. the pre-anticollision control system of hoisting crane according to claim 1, is characterized in that, described infrared ray overlap-add region S
2angle C scope be 10 °-30 °.
8. the pre-anticollision control system of hoisting crane according to claim 1, is characterized in that, the distance H between described the first infrared probe (501) and described the second infrared probe (502)
1for 6-10cm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420212704.0U CN203806995U (en) | 2014-04-28 | 2014-04-28 | Anti-collision control system for cranes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420212704.0U CN203806995U (en) | 2014-04-28 | 2014-04-28 | Anti-collision control system for cranes |
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| Publication Number | Publication Date |
|---|---|
| CN203806995U true CN203806995U (en) | 2014-09-03 |
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ID=51445781
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420212704.0U Expired - Fee Related CN203806995U (en) | 2014-04-28 | 2014-04-28 | Anti-collision control system for cranes |
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| Country | Link |
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| CN (1) | CN203806995U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103896160A (en) * | 2014-04-28 | 2014-07-02 | 李颖 | Collision-preventing control system of crane |
| CN105676728A (en) * | 2016-01-12 | 2016-06-15 | 南开大学 | DSP-based automatic control system hardware platform of bridge-type crane |
-
2014
- 2014-04-28 CN CN201420212704.0U patent/CN203806995U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103896160A (en) * | 2014-04-28 | 2014-07-02 | 李颖 | Collision-preventing control system of crane |
| CN105676728A (en) * | 2016-01-12 | 2016-06-15 | 南开大学 | DSP-based automatic control system hardware platform of bridge-type crane |
| CN105676728B (en) * | 2016-01-12 | 2018-04-06 | 南开大学 | Overhead crane automatic control system hardware platform based on DSP |
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