An automatic control method, system and circuit for crane slewing positioning

Abstract

The present invention discloses an automatic control method, system and circuit for the slewing positioning of a crane. By receiving the slewing angle value b initially detected by a slewing angle sensor, the quadrant in which the turntable is located is judged to guide the turntable to perform preliminary positioning; the distance between the photoelectric distance measuring sensor and the reflecting surface of the reflector measured by the photoelectric distance measuring sensor is obtained; if it is detected that the slewing angle of the turntable is in the first and fourth quadrants, the turntable is controlled to perform a counterclockwise slewing action, and when L<subgt;1< / subgt> = L<subgt;2< / subgt>, the turntable is controlled to stop the slewing action to complete the automatic positioning of the turntable; if it is detected that the slewing angle is in the second and third quadrants, the turntable is controlled to perform a clockwise slewing action, and when L<subgt;1< / subgt> = L<subgt;2< / subgt>, the turntable is controlled to stop the slewing action to complete the automatic positioning of the turntable. The present invention has high positioning accuracy and precision; the slewing angle judgment is introduced into the control logic to automatically select the fastest slewing path, improving the positioning efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of crane slewing control, and in particular discloses a crane slewing positioning automatic control method, system and circuit. Background Art

[0002] Normally, if Figure 1 As shown, when the crane needs to rotate, the rotation operation command is given through the rotation operating handle. After the controller (1) receives the rotation action signal, it controls the output of the rotation proportional valve to control the crane to perform the rotation output. When automatic rotation positioning is required, it can only rely on the angle sensor (3) installed at the rotation center of the turntable (2) to detect the rotation angle of the turntable. When the angle value reaches the set angle, the controller (1) cuts off the output of the rotation proportional valve, thereby completing the positioning of the turntable rotation angle. However, due to the accuracy error of the rotation angle sensor and the rotation angle installation gap, the positioning angle cannot truly reflect the actual angle of the turntable, and the automatic and accurate positioning of the turntable cannot be completed.

[0003] The main disadvantages of the existing turntable rotation angle positioning method are as follows:

[0004] 1. The coordination accuracy between the various components of the rotary angle sensor installation is difficult to grasp, resulting in an error in the measured angle. The angle error causes inaccurate rotation positioning accuracy of the turntable.

[0005] 2. When the turntable returns to the center position, it is necessary to manually find the center value by operating the operating handle, and the turntable cannot be quickly and automatically positioned.

[0006] Therefore, the above-mentioned defects of the conventional turntable rotation angle positioning method are a technical problem that needs to be solved urgently. Summary of the Invention

[0007] The present invention provides a crane rotation positioning automatic control method, system and circuit, aiming to solve the above-mentioned defects of the turntable rotation angle positioning method in the prior art.

[0008] One aspect of the present invention relates to a method for automatically controlling the rotation and positioning of a crane, comprising the following steps:

[0009] Receive the rotation angle value b initially detected by the rotation angle sensor, determine the quadrant in which the turntable is located, and guide the turntable to perform initial positioning;

[0010] Obtaining the distance between the photoelectric distance measuring sensor and the reflective surface of the reflector measured by the photoelectric distance measuring sensor;

[0011] If it is detected that the slewing angle of the slewing platform is in the first and fourth quadrants, control the slewing platform to perform a counterclockwise slewing action. When L1 = L2, control the slewing platform to stop the slewing action and complete the automatic positioning of the slewing platform. If it is detected that the slewing angle is in the second and third quadrants, control the slewing platform to perform a clockwise slewing action. When L1 = L2, control the slewing platform to stop the slewing action and complete the automatic positioning of the slewing platform. Here, L1 is the vertical distance from the optoelectronic distance measuring sensor to the reflecting surface of the reflector, which is a fixed value; L2 is the real-time distance from the optoelectronic distance measuring sensor to the reflecting surface of the reflector.

[0012] Further, before the step of receiving the slewing angle value b initially detected by the slewing angle sensor and determining the quadrant where the slewing platform is located to guide the slewing platform for preliminary positioning:

[0013] Fix the optoelectronic distance measuring sensor on the slewing platform to slewing synchronously with the slewing platform; install the reflector on the frame of the crane and fix it to the frame without movement.

[0014] Further, the steps of obtaining the distance between the optoelectronic distance measuring sensor and the reflecting surface of the reflector measured by the optoelectronic distance measuring sensor include:

[0015] Control the optoelectronic distance measuring sensor to emit a light source towards the reflector;

[0016] Receive the reflected light reflected back by the reflector, and based on the received reflected light, obtain the distance between the optoelectronic distance measuring sensor and the reflecting surface of the reflector.

[0017] Another aspect of the present invention relates to an automatic control system for crane slewing positioning, including:

[0018] A receiving module, configured to receive the slewing angle value b initially detected by the slewing angle sensor, determine the quadrant where the slewing platform is located, and guide the slewing platform for preliminary positioning;

[0019] An obtaining module, configured to obtain the distance between the optoelectronic distance measuring sensor and the reflecting surface of the reflector measured by the optoelectronic distance measuring sensor;

[0020] A control module, configured to if it is detected that the slewing angle of the slewing platform is in the first and fourth quadrants, control the slewing platform to perform a counterclockwise slewing action. When L1 = L2, control the slewing platform to stop the slewing action and complete the automatic positioning of the slewing platform. If it is detected that the slewing angle is in the second and third quadrants, control the slewing platform to perform a clockwise slewing action. When L1 = L2, control the slewing platform to stop the slewing action and complete the automatic positioning of the slewing platform. Here, L1 is the vertical distance from the optoelectronic distance measuring sensor to the reflecting surface of the reflector, which is a fixed value; L2 is the real-time distance from the optoelectronic distance measuring sensor to the reflecting surface of the reflector.

[0021] Further, the automatic control system for crane slewing positioning further includes:

[0022] An installation module is used to fixedly install an optoelectronic distance measuring sensor on a turntable to rotate synchronously with the turntable; a reflector is installed on the frame of the crane and is fixed to the frame without movement.

[0023] Furthermore, the acquisition module includes:

[0024] A control unit is used to control the optoelectronic distance measuring sensor to emit a light source towards the reflector;

[0025] An acquisition unit is used to receive the reflected light reflected back by the reflector and obtain the distance between the optoelectronic distance measuring sensor and the reflecting surface of the reflector according to the received reflected light.

[0026] Another aspect of the present invention relates to an automatic control circuit for crane slewing positioning, including a controller, an optoelectronic distance measuring sensor, and a slewing angle sensor. Among them,

[0027] The slewing angle sensor is used to preliminarily detect the slewing angle value b, judge the quadrant where the turntable is located, and guide the turntable for preliminary positioning;

[0028] The optoelectronic distance measuring sensor is used to measure the distance between the optoelectronic distance measuring sensor and the reflecting surface of the reflector;

[0029] The controller is electrically connected to the slewing angle sensor and the optoelectronic distance measuring sensor respectively, and is used to receive the slewing angle value b preliminarily detected by the slewing angle sensor and the distance between the optoelectronic distance measuring sensor and the reflecting surface of the reflector measured by the optoelectronic distance measuring sensor. If it is detected that the slewing angle of the turntable is in the first and fourth quadrants, then control the turntable to perform a counterclockwise slewing action. When L1 = L2, control the turntable to stop the slewing action and complete the automatic positioning of the turntable; if it is detected that the slewing angle is in the second and third quadrants, then control the turntable to perform a clockwise slewing action. When L1 = L2, control the turntable to stop the slewing action and complete the automatic positioning of the turntable. Among them, L1 is the vertical distance from the optoelectronic distance measuring sensor to the reflecting surface of the reflector, which is a fixed value; L2 is the real-time distance from the optoelectronic distance measuring sensor to the reflecting surface of the reflector.

[0030] Furthermore, the automatic control circuit for crane slewing positioning further includes an automatic positioning switch and a turntable slewing valve. The automatic positioning switch is electrically connected to the input end of the controller, and the turntable slewing valve is electrically connected to the output end of the controller.

[0031] Furthermore, the turntable slewing valve includes a first turntable slewing valve and a second turntable slewing valve. The first turntable slewing valve is electrically connected to the first output end of the controller and is used to control the turntable to perform a counterclockwise slewing action under the control of the controller; the second turntable slewing valve is electrically connected to the second output end of the controller and is used to control the turntable to perform a clockwise slewing action under the control of the controller.

[0032] Furthermore, the automatic control circuit for the crane slewing positioning further includes a reflector. The photoelectric distance measurement sensor is fixedly installed on the turntable and rotates synchronously with the turntable; the reflector is installed on the frame of the crane and is fixed to the frame without moving.

[0033] The beneficial effects achieved by the present invention are as follows:

[0034] The present invention provides an automatic control method, system and circuit for crane slewing positioning. By receiving the slewing angle value b initially detected by the slewing angle sensor, it determines the quadrant where the turntable is located and guides the turntable for preliminary positioning; it obtains the distance between the photoelectric distance measurement sensor and the reflecting surface of the reflector measured by the photoelectric distance measurement sensor. If it is detected that the slewing angle of the turntable is in the first and fourth quadrants, it controls the turntable to perform a counterclockwise slewing action. When L1 = L2, it controls the turntable to stop the slewing action and complete the automatic positioning of the turntable; if it is detected that the slewing angle is in the second and third quadrants, it controls the turntable to perform a clockwise slewing action. When L1 = L2, it controls the turntable to stop the slewing action and complete the automatic positioning of the turntable. The present invention provides an automatic control method, system and circuit for crane slewing positioning. By automatically guiding the turntable to position through the photoelectric distance measurement sensor, compared with using the slewing angle sensor for positioning, the positioning accuracy and precision are higher; by introducing the slewing angle judgment in the control logic, it automatically selects the fastest slewing path and improves the positioning efficiency. Description of the Drawings

[0035] Figure 1 It is a working schematic diagram of an embodiment of the turntable slewing angle positioning method provided by the prior art;

[0036] Figure 2 It is a flow schematic diagram of the first embodiment of the automatic control method for crane slewing positioning provided by the present invention;

[0037] Figure 3 It is a detection principle diagram of the automatic control method for crane slewing positioning provided by the present invention;

[0038] Figure 4 It is a flow schematic diagram of the second embodiment of the automatic control method for crane slewing positioning provided by the present invention;

[0039] Figure 5 It is an installation schematic diagram of each control element in the automatic control method for crane slewing positioning provided by the present invention;

[0040] Figure 6 For Figure 2 It is a detailed flow schematic diagram of the step of obtaining the distance between the photoelectric distance measurement sensor and the reflecting surface of the reflector measured by the photoelectric distance measurement sensor shown in

[0041] Figure 7Functional block diagram of the first embodiment of the automatic control system for crane slewing positioning provided by the present invention;

[0042] Figure 8 Functional block diagram of the second embodiment of the automatic control system for crane slewing positioning provided by the present invention;

[0043] Figure 9 For Figure 7 Schematic diagram of the functional modules of one embodiment of the acquisition module shown in;

[0044] Figure 10 Electrical control schematic diagram of one embodiment of the automatic control circuit for crane slewing positioning provided by the present invention.

[0045] Explanation of the reference numerals in the drawings:

[0046] 10. Receiving module; 20. Acquisition module; 30. Control module; 40. Installation module; 21. Control unit; 22. Acquisition unit; 1. Controller; 2. Turntable; 3. Slewing angle sensor; 4. Photoelectric distance measurement sensor; 5. Reflector; 6. Automatic positioning switch; 71. First turntable slewing valve; 72. Second turntable slewing valve. Detailed implementation manners

[0047] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the drawings in the specification and specific implementation manners.

[0048] As Figure 2 shown, the first embodiment of the present invention proposes an automatic control method for crane slewing positioning, including the following steps:

[0049] Step S100: Receive the slewing angle value b preliminarily detected by the slewing angle sensor, judge the quadrant where the turntable is located, and guide the turntable to perform preliminary positioning.

[0050] Please refer to Figure 3 , the controller receives the slewing angle value b of the turntable preliminarily detected by the slewing angle sensor, judges which quadrant of the first, second, third, and fourth quadrants of the coordinate system the turntable is in, and guides the turntable to perform preliminary positioning.

[0051] Step S200: Obtain the distance between the photoelectric distance measurement sensor and the reflecting surface of the reflector measured by the photoelectric distance measurement sensor.

[0052] The controller obtains the distance between the photoelectric distance measurement sensor and the reflecting surface of the reflector measured by the photoelectric distance measurement sensor. Please refer to Figure 3 , the photoelectric distance measurement sensor and the reflector are used to measure the distance between the photoelectric distance measurement sensor and the reflecting surface of the reflector.

[0053] Step S300: If it is detected that the rotation angle of the turntable is in the first or fourth quadrant, control the turntable to rotate counterclockwise. When L1 = L2, control the turntable to stop rotating, and complete the automatic positioning of the turntable; if it is detected that the rotation angle is in the second or third quadrant, control the turntable to rotate clockwise. When L1 = L2, control the turntable to stop rotating, and complete the automatic positioning of the turntable. Here, L1 is the vertical distance from the photoelectric distance measuring sensor to the reflecting surface of the reflector, which is a fixed value; L2 is the real-time distance from the photoelectric distance measuring sensor to the reflecting surface of the reflector.

[0054] Please refer to Figure 3 , when the automatic positioning switch is pressed, if the controller detects that the rotation angle is in the range of 0 to 180°, it is determined that the rotation angle is in the first or fourth quadrant. At this time, control the turntable to automatically rotate to the left (counterclockwise). When L1 = L2, the turntable stops rotating, and the automatic positioning of the turntable is completed; if the controller detects that the rotation angle is in the range of 180 to 360°, it is determined that the rotation angle is in the second or third quadrant. At this time, control the turntable to automatically rotate to the right (clockwise). When L1 = L2, the turntable stops rotating, and the automatic positioning of the turntable is completed; where L1 is the vertical distance from the photoelectric distance measuring sensor to the reflecting surface of the reflector, which is a fixed value; L2 is the real-time distance from the photoelectric distance measuring sensor to the reflecting surface of the reflector; L3 is the distance from the center of the turntable to the photoelectric distance measuring sensor, which is a fixed value.

[0055] Compared with the prior art, the automatic control method for crane slewing positioning provided in this embodiment judges the quadrant where the turntable is located by receiving the initial detected rotation angle value b of the rotation angle sensor, and guides the turntable for preliminary positioning; obtains the distance between the photoelectric distance measuring sensor and the reflecting surface of the reflector measured by the photoelectric distance measuring sensor; if it is detected that the rotation angle of the turntable is in the first or fourth quadrant, control the turntable to rotate counterclockwise. When L1 = L2, control the turntable to stop rotating, and complete the automatic positioning of the turntable; if it is detected that the rotation angle is in the second or third quadrant, control the turntable to rotate clockwise. When L1 = L2, control the turntable to stop rotating, and complete the automatic positioning of the turntable. The automatic control method for crane slewing positioning provided in this embodiment automatically guides the turntable to position through the photoelectric distance measuring sensor. Compared with positioning using the rotation angle sensor, the positioning accuracy and precision are higher; the rotation angle judgment is introduced into the control logic to automatically select the fastest rotation path, improving the positioning efficiency.

[0056] Further, please refer to Figure 4 , Figure 4 is a schematic flowchart of the second embodiment of the automatic control method for crane slewing positioning provided by the present invention. On the basis of the first embodiment, before step S100, it further includes:

[0057] Step S100A: Fix and install the electro-optical distance measuring sensor on the turntable to rotate synchronously with the turntable; install the reflector on the frame of the crane to be fixed and immovable with the frame.

[0058] As Figure 2 and Figure 5 shown, the electro-optical distance measuring sensor is fixed and installed on the turntable to rotate synchronously with the turntable. The reflector is installed on the frame and is fixed and immovable.

[0059] Compared with the prior art, for the automatic control method of crane slewing positioning provided in this embodiment, the electro-optical distance measuring sensor is fixed and installed on the turntable to rotate synchronously with the turntable; the reflector is installed on the frame of the crane to be fixed and immovable with the frame. For the automatic control method of crane slewing positioning provided in this embodiment, the electro-optical distance measuring sensor automatically guides the turntable to position. Compared with using a slewing angle sensor for positioning, the positioning accuracy and precision are higher; the slewing angle judgment is introduced into the control logic to automatically select the fastest slewing path, improving the positioning efficiency.

[0060] Refer to Figure 6 , Figure 6 which is Figure 2 the detailed flow schematic diagram of step S200 shown in

[0061] Step S210: Control the electro-optical distance measuring sensor to emit light towards the reflector.

[0062] The controller controls the electro-optical distance measuring sensor to emit light towards the reflector installed on the frame.

[0063] Step S220: Receive the reflected light reflected back by the reflector, and based on the received reflected light, obtain the distance between the electro-optical distance measuring sensor and the reflecting surface of the reflector.

[0064] The electro-optical distance measuring sensor receives the reflected light reflected back by the reflector, and based on the received reflected light, obtain the distance between the electro-optical distance measuring sensor and the reflecting surface of the reflector.

[0065] Compared with the prior art, for the automatic control method of crane slewing positioning provided in this embodiment, the electro-optical distance measuring sensor is controlled to emit light towards the reflector; the reflected light reflected back by the reflector is received, and based on the received reflected light, obtain the distance between the electro-optical distance measuring sensor and the reflecting surface of the reflector. For the automatic control method of crane slewing positioning provided in this embodiment, the electro-optical distance measuring sensor automatically guides the turntable to position. Compared with using a slewing angle sensor for positioning, the positioning accuracy and precision are higher; the slewing angle judgment is introduced into the control logic to automatically select the fastest slewing path, improving the positioning efficiency.

[0066] As Figure 7 shown, Figure 7This is the functional block diagram of the first embodiment of the automatic control system for crane slewing positioning provided by the present invention. In this embodiment, the automatic control system for crane slewing positioning includes a receiving module 10, an acquisition module 20, and a control module 30. Among them, the receiving module 10 is used to receive the slewing angle value b preliminarily detected by the slewing angle sensor, determine the quadrant where the turntable is located, and guide the turntable to perform preliminary positioning; the acquisition module 20 is used to acquire the distance between the photoelectric distance measurement sensor and the reflecting surface of the reflector measured by the photoelectric distance measurement sensor; the control module 30 is used to control the turntable to perform a counterclockwise slewing action if it detects that the slewing angle of the turntable is in the first and fourth quadrants, and when L1 = L2, control the turntable to stop the slewing action to complete the automatic positioning of the turntable; if it detects that the slewing angle is in the second and third quadrants, control the turntable to perform a clockwise slewing action, and when L1 = L2, control the turntable to stop the slewing action to complete the automatic positioning of the turntable, where L1 is the vertical distance from the photoelectric distance measurement sensor to the reflecting surface of the reflector, which is a fixed value; L2 is the real-time distance from the photoelectric distance measurement sensor to the reflecting surface of the reflector.

[0067] Please refer to Figure 3 , the receiving module 10 receives the slewing angle value b of the turntable preliminarily detected by the slewing angle sensor, determines which quadrant among the first, second, third, and fourth quadrants of the coordinate system the turntable is in, and guides the turntable to perform preliminary positioning.

[0068] The acquisition module 20 acquires the distance between the photoelectric distance measurement sensor and the reflecting surface of the reflector measured by the photoelectric distance measurement sensor. Please refer to Figure 3 , the photoelectric distance measurement sensor in combination with the reflector is used to measure the distance between the photoelectric distance measurement sensor and the reflecting surface of the reflector.

[0069] Please refer to Figure 3 , when the automatic positioning switch is pressed, if the control module 30 detects that the slewing angle is in the range of 0 - 180°, it is determined that the slewing angle is in the first and fourth quadrants. At this time, control the turntable to automatically rotate counterclockwise (to the left), and when L1 = L2, the turntable stops rotating to complete the automatic positioning of the turntable; if the control module 30 detects that the slewing angle is in the range of 180 - 360°, it is determined that the slewing angle is in the second and third quadrants. At this time, control the turntable to automatically rotate clockwise (to the right), and when L1 = L2, the turntable stops rotating to complete the automatic positioning of the turntable; where L1 is the vertical distance from the photoelectric distance measurement sensor to the reflecting surface of the reflector, which is a fixed value; L2 is the real-time distance from the photoelectric distance measurement sensor to the reflecting surface of the reflector; L3 is the distance from the center of the turntable to the photoelectric distance measurement sensor, which is a fixed value.

[0070] Compared with the prior art, the automatic control system for crane slewing positioning provided in this embodiment judges the quadrant where the turntable is located by receiving the slewing angle value b initially detected by the slewing angle sensor, and guides the turntable for preliminary positioning; obtains the distance between the photoelectric distance measuring sensor and the reflecting surface of the reflector measured by the photoelectric distance measuring sensor; if it is detected that the slewing angle of the turntable is in the first and fourth quadrants, the turntable is controlled to perform a counterclockwise slewing action, and when L1 = L2, the turntable is controlled to stop the slewing action to complete the automatic positioning of the turntable; if it is detected that the slewing angle is in the second and third quadrants, the turntable is controlled to perform a clockwise slewing action, and when L1 = L2, the turntable is controlled to stop the slewing action to complete the automatic positioning of the turntable. The automatic control system for crane slewing positioning provided in this embodiment automatically guides the turntable to position through the photoelectric distance measuring sensor. Compared with positioning using the slewing angle sensor, the positioning accuracy and precision are higher; the slewing angle judgment is introduced into the control logic to automatically select the fastest slewing path, improving the positioning efficiency.

[0071] Further, please refer to Figure 8 , Figure 8 which is the functional block diagram of the second embodiment of the automatic control system for crane slewing positioning provided by the present invention. On the basis of the first embodiment, the automatic control system for crane slewing positioning further includes an installation module 40. Among them, the installation module 40 is used to fixedly install the photoelectric distance measuring sensor on the turntable to slewing synchronously with the turntable; install the reflector on the vehicle frame of the crane and keep it fixed with the vehicle frame.

[0072] As Figure 2 and Figure 5 shown, the installation module 40 fixedly installs the photoelectric distance measuring sensor on the turntable to slewing synchronously with the turntable. The installation module 40 installs the reflector on the vehicle frame and keeps it fixed.

[0073] Compared with the prior art, the automatic control system for crane slewing positioning provided in this embodiment fixedly installs the photoelectric distance measuring sensor on the turntable to slewing synchronously with the turntable; installs the reflector on the vehicle frame of the crane and keeps it fixed with the vehicle frame. The automatic control system for crane slewing positioning provided in this embodiment automatically guides the turntable to position through the photoelectric distance measuring sensor. Compared with positioning using the slewing angle sensor, the positioning accuracy and precision are higher; the slewing angle judgment is introduced into the control logic to automatically select the fastest slewing path, improving the positioning efficiency.

[0074] Preferably, refer to Figure 9 , Figure 9 which is Figure 7Schematic diagram of the functional modules of an embodiment of the acquisition module. In this example, the acquisition module 20 includes a control unit 21 and an acquisition unit 22. Among them, the control unit 21 is used to control the optoelectronic distance measurement sensor to emit a light source towards the reflector; the acquisition unit 22 is used to receive the reflected light reflected back by the reflector and obtain the distance between the optoelectronic distance measurement sensor and the reflective surface of the reflector according to the received reflected light.

[0075] The control unit 21 controls the optoelectronic distance measurement sensor to emit a light source towards the reflector installed on the vehicle frame.

[0076] The acquisition unit 22 receives the reflected light reflected back by the reflector and obtains the distance between the optoelectronic distance measurement sensor and the reflective surface of the reflector according to the received reflected light.

[0077] Compared with the prior art, the automatic control system for crane slewing positioning provided in this embodiment controls the optoelectronic distance measurement sensor to emit a light source towards the reflector; receives the reflected light reflected back by the reflector, and obtains the distance between the optoelectronic distance measurement sensor and the reflective surface of the reflector according to the received reflected light. The automatic control system for crane slewing positioning provided in this embodiment automatically guides the turntable to position through the optoelectronic distance measurement sensor. Compared with using a slewing angle sensor for positioning, the positioning accuracy and precision are higher; the slewing angle judgment is introduced into the control logic to automatically select the fastest slewing path, improving the positioning efficiency.

[0078] As Figure 10 shown, Figure 10This is the electrical control schematic diagram of an embodiment of the crane slewing positioning automatic control circuit provided by the present invention. In the present invention, the crane slewing positioning automatic control circuit includes a controller 1, an optoelectronic distance measuring sensor 4, and a slewing angle sensor 3. Among them, the slewing angle sensor 3 is used to initially detect the slewing angle value b, determine the quadrant where the turntable 2 is located, and guide the turntable 2 to perform preliminary positioning; the optoelectronic distance measuring sensor 4 is used to measure the distance between the optoelectronic distance measuring sensor and the reflective surface of the reflector; the controller 1 is electrically connected to the slewing angle sensor 3 and the optoelectronic distance measuring sensor 4 respectively, and is used to receive the slewing angle value b initially detected by the slewing angle sensor 3 and the distance between the optoelectronic distance measuring sensor and the reflective surface of the reflector measured by the optoelectronic distance measuring sensor 4. If it is detected that the slewing angle of the turntable 2 is in the first and fourth quadrants, then control the turntable 2 to perform a counterclockwise slewing action. When L1 = L2, control the turntable 2 to stop the slewing action and complete the automatic positioning of the turntable 2; if it is detected that the slewing angle is in the second and third quadrants, then control the turntable 2 to perform a clockwise slewing action. When L1 = L2, control the turntable 2 to stop the slewing action and complete the automatic positioning of the turntable 2, where L1 is the vertical distance from the optoelectronic distance measuring sensor to the reflective surface of the reflector, which is a fixed value; L2 is the real-time distance from the optoelectronic distance measuring sensor to the reflective surface of the reflector. In this embodiment, the controller 1 uses a programmable logic controller.

[0079] Please refer to Figure 3 and Figure 10 , the controller 1 receives the slewing angle value b of the turntable initially detected by the slewing angle sensor 3, determines which quadrant among the first, second, third, and fourth quadrants of the coordinate system the turntable 2 is in, and guides the turntable 2 to perform preliminary positioning.

[0080] The controller 1 obtains the distance between the optoelectronic distance measuring sensor and the reflective surface of the reflector measured by the optoelectronic distance measuring sensor 4. In this embodiment, the optoelectronic distance measuring sensor 4 and the reflector 5 are combined to measure the distance between the optoelectronic distance measuring sensor and the reflective surface of the reflector.

[0081] When the automatic positioning switch 6 is pressed, if the controller 1 detects that the slewing angle is in the range of 0 to 180°, then it is determined that the slewing angle is in the first and fourth quadrants. At this time, control the turntable 2 to automatically perform a left (counterclockwise) slewing action. When L1 = L2, control the turntable 2 to stop the slewing action and complete the automatic positioning of the turntable 2; if the controller detects that the slewing angle is in the range of 180 to 360°, then it is determined that the slewing angle is in the second and third quadrants. At this time, control the turntable 2 to automatically perform a right (clockwise) slewing action. When L1 = L2, control the turntable 2 to stop the slewing action and complete the automatic positioning of the turntable 2; where L1 is the vertical distance from the optoelectronic distance measuring sensor to the reflective surface of the reflector, which is a fixed value; L2 is the real-time distance from the optoelectronic distance measuring sensor to the reflective surface of the reflector; L3 is the distance from the center of the turntable to the optoelectronic distance measuring sensor, which is a fixed value.

[0082] Compared with the prior art, the automatic control circuit for crane slewing positioning provided in this embodiment determines the quadrant where the turntable is located by receiving the slewing angle value b initially detected by the slewing angle sensor, and guides the turntable for preliminary positioning; obtains the distance between the photoelectric distance measurement sensor and the reflecting surface of the reflector measured by the photoelectric distance measurement sensor; if it is detected that the slewing angle of the turntable is in the first and fourth quadrants, the controller controls the turntable to perform a counterclockwise slewing action, and when L1 = L2, controls the turntable to stop the slewing action to complete the automatic positioning of the turntable; if it is detected that the slewing angle is in the second and third quadrants, the controller controls the turntable to perform a clockwise slewing action, and when L1 = L2, controls the turntable to stop the slewing action to complete the automatic positioning of the turntable. The automatic control circuit for crane slewing positioning provided in this embodiment automatically guides the turntable to position through the photoelectric distance measurement sensor. Compared with positioning using the slewing angle sensor, the positioning accuracy and precision are higher; the slewing angle judgment is introduced into the control logic to automatically select the fastest slewing path, improving the positioning efficiency.

[0083] Further, please refer to Figure 10 The automatic control circuit for crane slewing positioning provided by the present invention further includes an automatic positioning switch 6 and a turntable slewing valve. The automatic positioning switch 6 is electrically connected to the input end of the controller 1, and the turntable slewing valve is electrically connected to the output end of the controller 1. Specifically, the turntable slewing valve includes a first turntable slewing valve 71 and a second turntable slewing valve 72. The first turntable slewing valve 71 is electrically connected to the first output end of the controller 1 and is used to control the turntable 2 to perform a counterclockwise slewing action under the control of the controller 1; the second turntable slewing valve 72 is electrically connected to the second output end of the controller 1 and is used to control the turntable 2 to perform a clockwise slewing action under the control of the controller 1. Preferably, the automatic control circuit for crane slewing positioning further includes a reflector 5. The photoelectric distance measurement sensor 4 is fixedly installed on the turntable 2 and slews synchronously with the turntable 2; the reflector 5 is installed on the frame of the crane and is fixed to the frame without movement.

[0084] When the automatic positioning switch 6 is pressed, if the controller 1 detects that the slewing angle is in the range of 0 - 180°, it is determined that the slewing angle is in the first and fourth quadrants. At this time, the controller 1 controls the first turntable slewing valve 71 to conduct, and controls the turntable 2 to automatically slewing to the left (counterclockwise). When L1 = L2, the controller controls the turntable 2 to stop the slewing action to complete the automatic positioning of the turntable 2; if the controller detects that the slewing angle is in the range of 180 - 360°, it is determined that the slewing angle is in the second and third quadrants. At this time, the controller 1 controls the second turntable slewing valve 72 to conduct, and controls the turntable 2 to automatically slewing to the right (clockwise). When L1 = L2, the controller controls the turntable 2 to stop the slewing action to complete the automatic positioning of the turntable 2.

[0085] Compared with the prior art, the automatic control circuit for the slewing positioning of the crane provided in this embodiment determines the quadrant where the turntable is located by receiving the slewing angle value b initially detected by the slewing angle sensor, and guides the turntable for preliminary positioning; obtains the distance between the photoelectric distance measurement sensor and the reflecting surface of the reflector measured by the photoelectric distance measurement sensor; if it is detected that the slewing angle of the turntable is in the first and fourth quadrants, the turntable is controlled to perform a counterclockwise slewing action, and when L1 = L2, the turntable is controlled to stop the slewing action to complete the automatic positioning of the turntable; if it is detected that the slewing angle is in the second and third quadrants, the turntable is controlled to perform a clockwise slewing action, and when L1 = L2, the turntable is controlled to stop the slewing action to complete the automatic positioning of the turntable. The automatic control circuit for the slewing positioning of the crane provided in this embodiment automatically guides the turntable to position through the photoelectric distance measurement sensor. Compared with using the slewing angle sensor for positioning, the positioning accuracy and precision are higher; the slewing angle judgment is introduced into the control logic to automatically select the fastest slewing path, improving the positioning efficiency; when performing the automatic positioning of the turntable, only need to press the automatic positioning switch, and the turntable automatically completes the positioning action without the need for manual continuous operation with the handle, improving the degree of automation.

[0086] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications falling within the scope of the present invention. Obviously, those skilled in the art can make various changes and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. An automatic control method for the slewing positioning of a crane, characterized in that, Including the following steps: Fix and install the electro-optical distance measurement sensor on the turntable to rotate synchronously with the turntable; install the reflector on the frame of the crane and fix it to the frame without movement; Receive the rotation angle value b initially detected by the rotation angle sensor, judge the quadrant where the turntable is located, and guide the turntable for preliminary positioning; Obtain the distance between the electro-optical distance measurement sensor and the reflective surface of the reflector measured by the electro-optical distance measurement sensor; If it is detected that the rotation angle of the turntable is in the first and fourth quadrants, then control the turntable to rotate counterclockwise. When L1 = L2, control the turntable to stop rotating, and complete the automatic positioning of the turntable; if it is detected that the rotation angle is in the second and third quadrants, then control the turntable to rotate clockwise. When L1 = L2, control the turntable to stop rotating, and complete the automatic positioning of the turntable, where L1 is the vertical distance from the electro-optical distance measurement sensor to the reflective surface of the reflector, which is a fixed value; L2 is the real-time distance from the electro-optical distance measurement sensor to the reflective surface of the reflector.

2. The automatic control method for the slewing positioning of a crane according to claim 1, characterized in that, The step of obtaining the distance between the electro-optical distance measurement sensor and the reflective surface of the reflector measured by the electro-optical distance measurement sensor includes: Control the electro-optical distance measurement sensor to emit light source to the reflector; Receive the reflected light reflected back by the reflector, and obtain the distance between the electro-optical distance measurement sensor and the reflective surface of the reflector according to the received reflected light.

3. An automatic control system for crane slewing positioning, which is applied to the automatic control method for crane slewing positioning as described in claim 1 or 2, characterized in that, The automatic control system for crane rotation positioning includes: A receiving module (10) for receiving the rotation angle value b initially detected by the rotation angle sensor, judging the quadrant where the turntable is located, and guiding the turntable for preliminary positioning; An obtaining module (20) for obtaining the distance between the electro-optical distance measurement sensor and the reflective surface of the reflector measured by the electro-optical distance measurement sensor; A control module (30) for, if it is detected that the rotation angle of the turntable is in the first and fourth quadrants, then control the turntable to rotate counterclockwise. When L1 = L2, control the turntable to stop rotating, and complete the automatic positioning of the turntable; if it is detected that the rotation angle is in the second and third quadrants, then control the turntable to rotate clockwise. When L1 = L2, control the turntable to stop rotating, and complete the automatic positioning of the turntable, where L1 is the vertical distance from the electro-optical distance measurement sensor to the reflective surface of the reflector, which is a fixed value; L2 is the real-time distance from the electro-optical distance measurement sensor to the reflective surface of the reflector.

4. The automatic control system for crane slewing positioning according to claim 3, characterized in that, The automatic control system for crane rotation positioning further includes: An installation module (40) for fixing and installing the electro-optical distance measurement sensor on the turntable to rotate synchronously with the turntable; installing the reflector on the frame of the crane and fixing it to the frame without movement.

5. The automatic control system for crane slewing positioning according to claim 3, characterized in that, The obtaining module (20) includes: A control unit (21) for controlling the electro-optical distance measurement sensor to emit light source to the reflector; An obtaining unit (22) for receiving the reflected light reflected back by the reflector, and obtaining the distance between the electro-optical distance measurement sensor and the reflective surface of the reflector according to the received reflected light.

6. An automatic control circuit for crane slewing positioning, which is applied to the automatic control method for crane slewing positioning as described in claim 1 or 2, is characterized in that, The automatic control circuit for crane rotation positioning includes a controller (1), an electro-optical distance measurement sensor (4) and a rotation angle sensor (3), where The rotation angle sensor (3) is used for initially detecting the rotation angle value b, judging the quadrant where the turntable (2) is located, and guiding the turntable (2) for preliminary positioning; The photoelectric distance measuring sensor (4) is used to measure the distance between the photoelectric distance measuring sensor and the reflecting surface of the reflector. The controller (1) is electrically connected to the rotary angle sensor (3) and the photoelectric distance measuring sensor (4) respectively, and is used to receive the initially detected rotary angle value b of the rotary angle sensor (3) and the distance between the photoelectric distance measuring sensor and the reflecting surface of the reflector measured by the photoelectric distance measuring sensor (4). If it is detected that the rotary angle of the turntable (2) is in the first and fourth quadrants, the controller controls the turntable (2) to rotate counterclockwise. When L1 = L2, the controller controls the turntable (2) to stop rotating, and the automatic positioning of the turntable (2) is completed. If it is detected that the rotary angle is in the second and third quadrants, the controller controls the turntable (2) to rotate clockwise. When L1 = L2, the controller controls the turntable (2) to stop rotating, and the automatic positioning of the turntable (2) is completed. Wherein, L1 is the vertical distance from the photoelectric distance measuring sensor to the reflecting surface of the reflector, which is a fixed value; L2 is the real-time distance from the photoelectric distance measuring sensor to the reflecting surface of the reflector.

7. The automatic control circuit for crane slewing positioning according to claim 6, characterized in that, The automatic control circuit for the crane slewing positioning further includes an automatic positioning switch (6) and a turntable slewing valve. The automatic positioning switch (6) is electrically connected to the input end of the controller (1), and the turntable slewing valve is electrically connected to the output end of the controller (1).

8. The automatic control circuit for crane slewing positioning according to claim 7, characterized in that, The turntable slewing valve includes a first turntable slewing valve (71) and a second turntable slewing valve (72). The first turntable slewing valve (71) is electrically connected to the first output end of the controller (1) and is used to control the turntable (2) to rotate counterclockwise under the control of the controller (1). The second turntable slewing valve (72) is electrically connected to the second output end of the controller (1) and is used to control the turntable (2) to rotate clockwise under the control of the controller (1).

9. The automatic control circuit for crane slewing positioning according to claim 8, wherein, The automatic control circuit for the crane slewing positioning further includes a reflector (5). The photoelectric distance measuring sensor (4) is fixedly installed on the turntable (2) and rotates synchronously with the turntable (2). The reflector (5) is installed on the frame of the crane and is fixed to the frame without movement.

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