Wireless control system and method for extension, swing and hanging of railway crane counterweight

Abstract

The present invention proposes a wireless control system and method for the extension, swing and hanging of a railway crane counterweight. By arranging a wireless remote control device and a wireless transceiver module for wireless communication with the wireless remote control device in a crane master control device, wireless control technology is adopted to eliminate potential accidents caused by factors such as unclear vision, harsh environment or improper command and coordination, thereby ensuring safe operation. By arranging a position sensor, an angle sensor and an inductive limit switch, information such as the state of the crane counterweight telescopic arm, whether the counterweight is hung and the swing angle during the crane counterweight hoisting process can be sensed respectively, thereby providing a data basis for accurately realizing the extension, swing and hanging of the counterweight.

Description

Technical Field

[0001] The present invention relates to the field of railway cranes, and in particular to a wireless control system and method for the extension, swing and hanging of a railway crane counterweight. Background Art

[0002] When a railway crane is in operation, in order to ensure that the railway crane has sufficient anti-overturning stability, a telescopic tail balancing weight of a certain mass is often configured at the tail of the turntable farthest from the overturning line. The main view of the telescopic tail balancing weight is as follows: Figure 1 As shown, its top view structure is as follows Figure 2 As shown. Crane operators need to operate the crane from the cab. Due to the crane's large size and the need to pay attention to all aspects of the crane while operating, visual errors are inevitable. This can easily lead to the operator misjudging the counterweight position or miscommunication with ground-based commanders, resulting in errors in the operation of the crane, which can damage the crane at best and endanger personal safety at worst. Therefore, to address the above-mentioned issues, the present invention provides a wireless control system and method for extending, swinging, and hanging the counterweight of a railway crane. This system uses position sensing and wireless remote control to achieve counterweight extension, swinging, and hanging operations, avoiding accidents caused by visual blind spots. Summary of the Invention

[0003] In view of this, the present invention proposes a wireless control system and method for the extension, swing and hanging of the counterweight of a railway crane, which uses position sensing and wireless remote control to realize the extension, swing and hanging operations of the counterweight, avoiding accidents caused by visual blind spots.

[0004] The technical solution of the present invention is achieved as follows: The present invention provides a wireless control system for the extension, swinging and hanging of the counterweight of a railway crane, which includes a wireless remote control device and a crane master control device, as well as a position sensor, an angle sensor and an inductive limit switch;

[0005] The position sensor is embedded in the counterweight telescopic arm and is used to detect the extension distance of the telescopic arm;

[0006] The angle sensor is installed on the slewing center axis of the crane's rear turntable to detect the slewing angle of the crane's counterweight arm;

[0007] The inductive limit switch is installed at the tail of the crane counterweight telescopic arm to detect whether the crane counterweight telescopic arm and the counterweight are hung or not;

[0008] The crane master control device includes a PLC chip, a wireless transceiver module, a telescopic arm drive module, a counterweight hanging device drive module, and a swing drive module; the telescopic arm drive module, the counterweight hanging device drive module, and the swing drive module are respectively electrically connected to the analog output terminal of the PLC chip; the wireless transceiver module is connected to the PLC chip via a serial port, and the wireless transceiver module is wirelessly connected to a wireless remote control device; the operator wirelessly controls the crane through the wireless remote control device to achieve counterweight extension, swing, and hanging movements;

[0009] The position sensor, the angle sensor and the inductive limit switch are electrically connected to the analog signal input terminal of the PLC chip respectively.

[0010] On the basis of the above technical solution, preferably, the wireless remote control device includes a controller, and an operation switch, a wireless communication module and a display panel electrically connected to the controller respectively;

[0011] The controller is wirelessly connected to the crane's master control device through a wireless communication module and establishes a wireless data transmission channel. The master control device transmits the crane's motion feedback signal wirelessly to the controller of the wireless remote control device and displays it on the display panel; the operator presses the operating switch to achieve wireless control of the crane's motion.

[0012] Based on the above technical solution, preferably, the operating switch includes a counterweight telescopic arm extension operating switch, a counterweight telescopic arm retraction operating switch, a counterweight hanging device lowering operating switch, a counterweight hanging device rising operating switch, a left swing preset angle operating switch and a right swing preset angle operating switch.

[0013] On the basis of the above technical solution, preferably, the wireless transceiver module communicates with the wireless remote control device in the form of data packets;

[0014] The data packet includes address information, information data and channel coding information arranged in sequence.

[0015] On the basis of the above technical solution, preferably, the data packet further includes a synchronization header;

[0016] The synchronization packet header is set before the address information.

[0017] On the basis of the above technical solution, preferably, the synchronization packet header includes a carrier switch, a frame synchronization code and a bit synchronization code arranged in sequence.

[0018] On the basis of the above technical solution, preferably, the frame synchronization code is a 13-bit Barker code 1111100110101B.

[0019] Based on the above technical solution, preferably, the method for synchronizing data packets transmitted between the wireless transceiver module and the wireless remote control device includes the following steps:

[0020] S101. Sample the signal once within the time ranges of [0, T / 3], [T / 3, 2T / 3], and [2T / 3, T] within one cycle, respectively, to obtain three sequences a, b, and c. Discriminate the three sequences to obtain three outputs A, B, and C.

[0021] S102. Set a signal-to-noise ratio threshold and calculate the signal-to-noise ratio. If the signal-to-noise ratio is greater than the threshold and two of A, B, and C are true, the output is taken as time T / 2. If the signal-to-noise ratio is less than the threshold and one of A, B, and C is true, the output is taken as time T / 2. If A, B, and C are all false, the synchronization header cannot be identified, the reception is determined to be an error, and the instruction set is discarded.

[0022] S103: Adjust the system clock according to the obtained T / 2 time to make it the time for sampling the subsequent signal.

[0023] In another aspect, the present invention provides a wireless control method for extending, swinging, and placing a counterweight of a railway crane, comprising the following steps:

[0024] S1. Build a wireless control system for the extension, swing and placement of the railway crane counterweight;

[0025] S2. Obtain the distance information detected by the position sensor and compare the distance information with the preset distance value. If the two are equal, proceed to the next step. Otherwise, the operator remotely controls the crane master control device through the wireless remote control device to adjust the extension distance of the counterweight telescopic arm until the distance information equals the preset distance value.

[0026] S3. The operator sends a command to lower the counterweight hanging device to the wireless transceiver module via the wireless remote control device. The wireless transceiver module feeds the command back to the crane master control device. The crane master control device controls the counterweight hanging device to descend via the counterweight hanging device drive module until the inductive limit switch is triggered. At this point, the counterweight hanging device is in contact with the movable counterweight.

[0027] S4. The operator sends a counterweight hanging device raising command to the wireless transceiver module via the wireless remote control device. The wireless transceiver module feeds back the command to the crane master control device. The crane master control device controls the hanging device to rise via the counterweight hanging device drive module. At this time, the movable counterweight is hoisted.

[0028] S5. The operator sends a preset angle swing instruction to the wireless transceiver module through the wireless remote control device. The wireless transceiver module feeds back the instruction to the crane master control device. The crane master control device controls the crane to rotate in the preset direction through the swing drive module. When the angle detected by the angle sensor is the same as the preset angle, the swing drive module stops working.

[0029] Based on the above technical solution, preferably, in S2, "the operator remotely controls the crane master control device through a wireless remote control device to adjust the extension distance of the telescopic arm until the distance information is equal to the preset distance value" specifically includes the following steps:

[0030] When the distance information is less than the preset distance value, the operator sends a counterweight telescopic arm extension command through the wireless remote control device. The command is received by the wireless transceiver module and transmitted to the crane master control device. The crane master control device controls the counterweight telescopic arm drive module, and the counterweight telescopic arm drive module drives the telescopic arm to continue extending until the distance information is equal to the preset distance value.

[0031] Conversely, the operator sends a counterweight telescopic arm retraction command through the wireless remote control device. The command is received by the wireless transceiver module and transmitted to the crane master control device. The crane master control device controls the counterweight telescopic arm drive module, and the counterweight telescopic arm drive module drives the telescopic arm to retract until the distance information is equal to the preset distance value.

[0032] The wireless control system and method for extending, swinging and hanging the counterweight of a railway crane of the present invention have the following beneficial effects compared with the prior art:

[0033] (1) By setting up a wireless remote control device and a wireless transceiver module in the crane master control device that communicates wirelessly with the wireless remote control device, wireless control technology is adopted to eliminate potential accidents caused by factors such as unclear vision, harsh environment or improper command and coordination, thereby ensuring operational safety;

[0034] (2) By setting up position sensors, angle sensors and inductive limit switches, the crane counterweight telescopic arm status, whether the counterweight is hung and the swing angle can be sensed respectively during the crane counterweight hanging process, providing a data basis for accurately realizing the extension, swing and hanging of the counterweight;

[0035] (3) The data packet structure is set to a synchronization header, address information, information data and channel coding information arranged in sequence. The synchronization header can assist the crane master control device to correctly detect the start bit and quickly determine whether the current signal is a noise signal or a control instruction; the address information can ensure a one-to-one correspondence between the wireless remote control device and the crane master control device in data transmission and reception, thus avoiding data information confusion;

[0036] (4) The structure of the synchronization packet header is set to be a carrier switch, a frame synchronization code, and a bit synchronization code arranged in sequence. This structure adjusts the system's receiving clock while performing frame synchronization, and places the frame synchronization code before the bit synchronization code. This allows for rapid identification of valid instructions, and reduces the probability of false synchronization and missed synchronization. The carrier switch activates the crane master control device, switching the system from a dormant state to an active state, thereby reducing power consumption.

[0037] (5) The frame synchronization method is improved, and the sampling time can be adjusted from any time within [0, T] to [T / 3, 2T / 3], thereby improving the anti-interference ability of the crane master control device to interference channels. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0039] Figure 1 This is a front view of the telescopic tail balancing counterweight in the wireless control system for the extension, swing and hanging of the railway crane counterweight of the present invention;

[0040] Figure 2 A top view of the telescopic tail balancing counterweight in the wireless control system for telescoping, swinging and hanging the counterweight of a railway crane according to the present invention;

[0041] Figure 3 This is a structural diagram of the wireless control system for the extension, swing and hanging of the railway crane counterweight of the present invention. DETAILED DESCRIPTION

[0042] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0043] Example 1

[0044] like Figure 3 As shown, the wireless control system for the extension, swing and hanging of the railway crane counterweight of the present invention includes a wireless remote control device, a crane master control device, a position sensor, an angle sensor and an inductive limit switch.

[0045] Wireless remote control devices. Existing cranes are equipped with a cab, requiring operators to sit in the cab to operate them. Due to the large size of cranes and the need to maintain full visibility while operating them, visual errors are inevitable, leading to collisions or operational errors. Therefore, this embodiment provides a novel approach. Instead of sitting in the cab, crane operators can wirelessly control crane movements and complete operations from outside the crane, resolving the visual blind spots inherent in existing technologies. Preferably, the wireless remote control device includes a controller, an operating switch electrically connected to the controller, a wireless communication module, and a display panel. The controller wirelessly connects to the crane's master control unit via the wireless communication module, establishing a wireless data transmission channel. The master control unit wirelessly transmits crane movement feedback signals to the controller of the wireless remote control device, which are displayed on the display panel. The operator wirelessly controls the crane's movements by pressing an operating switch. In this embodiment, the operating switches include a counterweight telescopic arm extension switch, a counterweight telescopic arm retraction switch, a counterweight suspension device lowering switch, a counterweight suspension device raising switch, a leftward swing preset angle switch, and a rightward swing preset angle switch.

[0046] The crane master control device is used to control the operation of the crane. In this embodiment, the crane master control device includes a PLC chip, a wireless transceiver module, a counterweight telescopic arm drive module, a counterweight hanging device drive module, and a swing drive module; wherein the counterweight telescopic arm drive module, the counterweight hanging device drive module, and the swing drive module are electrically connected to the analog output terminal of the PLC chip respectively; the wireless transceiver module is connected to the PLC chip via a serial port, and the wireless transceiver module is wirelessly connected to the wireless remote control device; the operator wirelessly controls the crane through the wireless remote control device to realize the telescopic, swinging, and movable counterweight hanging actions of the counterweight telescopic arm. Preferably, the counterweight telescopic arm drive module can use a telescopic oil cylinder, the counterweight hanging device drive module can use a hanging oil cylinder, and the swing drive module can use a swing oil cylinder. The telescopic oil cylinder, the hanging oil cylinder, and the swing oil cylinder can use existing drive technology to realize the control of the oil cylinder.

[0047] Position sensor. In actual application, the movable counterweight is loaded on a counterweight flat car. The counterweight flat car moves forward or backward on the track to adjust the distance between the counterweight flat car and the crane, so that when the counterweight telescopic arm of the rear turntable of the crane is extended, its end is just above the movable counterweight, so that the counterweight hanging device on the counterweight telescopic arm can hang the movable counterweight. However, the extension length of the counterweight telescopic arm is observed by the naked eye of the on-site operator, and it takes multiple attempts to drive to the correct position. There is a large error in the naked eye viewing method, and when the crane is in a dark environment such as a tunnel, it is difficult for the operator to control the extension distance of the counterweight telescopic arm. Therefore, in order to solve the above problems, this embodiment embeds a position sensor in the counterweight telescopic arm to detect the extension distance of the counterweight telescopic arm; the position sensor is electrically connected to the analog signal input terminal of the PLC chip. In this embodiment, a preset distance can be set. The preset distance is the distance between the tail end of the crane's rear turntable counterweight arm and the center of the active counterweight. When the distance information detected by the position sensor is equal to the preset distance value, it indicates that when the crane's rear turntable counterweight telescopic arm is extended, the counterweight hanging device at the end of the telescopic counterweight arm is exactly at the counterweight center. When the counterweight hanging device is lowered, it can precisely engage with the hook at the center of the active counterweight. The position sensor can be a laser displacement sensor.

[0048] Traditionally, the movable counterweight is primarily grasped by visual recognition, which results in significant errors and requires multiple attempts to suspend the counterweight. Therefore, to address these issues, this embodiment incorporates an inductive limit switch, mounted on the counterweight suspension device on the crane's rear turntable. This switch is used to detect whether the crane's counterweight telescopic boom suspension device and the movable counterweight are properly suspended. The inductive limit switch is electrically connected to the analog signal input of the PLC chip. When the suspension cylinder at the rear of the crane's counterweight telescopic boom approaches the surface of the movable counterweight, the inductive limit switch changes from normally open to normally closed, or vice versa. The crane's master control unit receives a jump signal from the inductive limit switch indicating that the counterweight suspension device is in contact with the counterweight. At this point, the crane controls the suspension cylinder to suspend the movable counterweight.

[0049] Angle sensor, railway locomotive and vehicle overturning and derailment accidents mostly occur on the track on which they are traveling or on a single-track railway in the vicinity. The accident vehicle and the rescue crane are on the same track; on a double-track railway, if one line is interrupted due to an accident, it is necessary to make every effort to ensure the smooth flow of the adjacent line. The rescue crane should strive to complete the rescue operation on the interrupted line without affecting the normal operation of the adjacent line. Therefore, it is required to have a large lifting capacity within the range of ±30° in the along-track direction. In order to achieve wireless control of the angle, this embodiment is provided with an angle sensor for detecting the slewing angle of the crane, which is installed on the slewing center axis of the rear turntable of the crane; the angle sensor is electrically connected to the analog signal input terminal of the PLC chip.

[0050] The working principle of the crane counterweight extension, swing and hanging in this embodiment is as follows:

[0051] S1. Build a wireless control system for the extension, swing and placement of the railway crane counterweight;

[0052] S2. Obtain distance information detected by the position sensor and compare the distance information with a preset distance value. If the two are equal, the counterweight hanging device at the end of the counterweight telescopic arm is exactly at the center of the movable counterweight, and the next step is carried out. Otherwise, the operator remotely controls the crane master control device through a wireless remote control device to adjust the extension distance of the counterweight telescopic arm until the distance information equals the preset distance value.

[0053] The preset distance value is the distance from the tail of the crane's rear turntable counterweight arm to the center of the movable counterweight;

[0054] The operator remotely controls the crane master control unit through a wireless remote control device to adjust the extension distance of the counterweight telescopic arm until the distance information equals the preset distance value. This specifically includes the following steps:

[0055] When the distance information is less than the preset distance value, the operator sends a counterweight telescopic arm extension instruction through the counterweight telescopic arm extension operation switch on the wireless remote control device. The instruction is received by the wireless transceiver module and transmitted to the crane master control device. The crane master control device controls the counterweight telescopic arm drive module, and the counterweight telescopic arm drive module drives the counterweight telescopic arm to continue to extend until the distance information is equal to the preset distance value; conversely, the operator sends a counterweight telescopic arm retraction instruction through the counterweight telescopic arm retraction operation switch on the wireless remote control device. The instruction is received by the wireless transceiver module and transmitted to the crane master control device. The crane master control device controls the counterweight telescopic arm drive module, and the counterweight telescopic arm drive module drives the counterweight telescopic arm to retract until the distance information is equal to the preset distance value.

[0056] S3. The operator sends a counterweight hanging device lowering instruction to the wireless transceiver module via the counterweight hanging device lowering operation switch on the wireless remote control device. The wireless transceiver module feeds back the instruction to the crane master control device. The crane master control device controls the hanging device to descend via the counterweight hanging device drive module until the inductive limit switch is triggered. At this point, the counterweight hanging device is in contact with the movable counterweight.

[0057] S4. The operator sends a counterweight hanging device raising instruction to the wireless transceiver module via the counterweight hanging device raising operation switch on the wireless remote control device. The wireless transceiver module feeds back the instruction to the crane master control device. The crane master control device controls the hanging device to rise via the counterweight hanging device driving module. At this time, the movable counterweight is suspended.

[0058] S5. The operator sends a preset angle swing instruction to the wireless transceiver module through the left-swing preset angle or right-swing preset angle swing operation switch on the wireless remote control device. The wireless transceiver module feeds back the instruction to the crane master control device. The crane master control device controls the crane to rotate in the preset direction through the swing drive module. When the angle detected by the angle sensor is the same as the preset angle, the swing drive module stops working.

[0059] The beneficial effects of this embodiment are as follows: by providing a wireless remote control device and providing a wireless transceiver module in the crane master control device that communicates wirelessly with the wireless remote control device, wireless control technology is adopted to eliminate potential accidents caused by factors such as unclear vision, harsh environment, or improper command and coordination, thereby ensuring operational safety;

[0060] By setting position sensors, angle sensors and inductive limit switches, the status of the crane's telescopic arm, whether the counterweight is lifted and the swing angle during the crane's counterweight hanging process can be sensed respectively, providing a data basis for the accurate extension, swinging and hanging of the counterweight.

[0061] Example 2

[0062] Based on Example 1, this example provides a wireless communication principle between a wireless remote control device and a crane master control device.

[0063] The presence of other wireless communication devices in the operating environment of railway cranes can easily lead to data confusion, resulting in the crane master control unit being unable to receive control commands. To avoid this, this embodiment improves the data packet structure transmitted between the wireless transceiver module and the wireless remote control unit. Specifically, the data packet includes address information, information data, and channel coding information in a sequential order. Address information is added before the data message to identify the correspondence between the wireless remote control unit and the crane master control unit. After receiving the control command sent by the wireless remote control unit, the crane master control unit identifies it. If the address information in the data packet points to the crane master control unit, it performs the corresponding action according to the information data in the data packet; otherwise, it discards the data message. Including address information in the data packet ensures a one-to-one correspondence between the wireless remote control unit and the crane master control unit, preventing data confusion.

[0064] Furthermore, adding address information to the data packet ensures a correspondence between the wireless remote control device and the crane master control device, protecting the crane master control device from interference from other wireless devices. However, due to the presence of numerous interference signals in the wireless channel, the crane master control device may detect and demodulate the interference signal even if the wireless remote control device does not send a control command. Even with the address information, the crane master control device still needs to demodulate to obtain the address information. During this process, the interference signal occupies the crane master control device's demodulation resources. When the wireless remote control device sends the actual control signal, the crane master control device is already processing the interference signal, preventing it from receiving the actual control signal in a timely manner, seriously impacting the crane rescue operation efficiency. Therefore, to address this issue, this embodiment provides a synchronization packet header before the address information. If the crane master control device cannot detect the synchronization packet header, it indicates that the current signal is an interference signal and can be directly discarded. Otherwise, the current signal is further demodulated to obtain the address information. The synchronization packet header helps the crane master control device correctly detect the start bit and quickly determine whether the current signal is a noise signal or a control command.

[0065] Furthermore, preferably, crane remote control commands are transmitted in bursts, meaning they are continuously transmitted in bursts while the key is pressed until the key is released. This method allows the crane to remain in standby mode when no remote control commands are being transmitted, thus reducing power consumption. However, this method also makes it difficult for the crane's master control unit to receive these commands. Therefore, to address the aforementioned issues, this embodiment improves the synchronization header structure. Conventional synchronization headers consist of a carrier switch, a bit synchronization code, a frame synchronization code, and information arranged in sequence. This approach suffers from long bit synchronization establishment times, low transmission efficiency, and underutilization of the carrier switch information. Therefore, to address the aforementioned issues, this embodiment configures the synchronization header structure to consist of a carrier switch, a frame synchronization code, and a bit synchronization code arranged in sequence. This structure adjusts the system's receive clock during frame synchronization, placing the frame synchronization code before the bit synchronization code. This allows for rapid identification of valid commands and reduces the probability of false synchronization or missed synchronization. The carrier switch activates the crane's master control unit, transitioning the system from sleep mode to active mode, thereby reducing power consumption. The 13-bit Barker code 1111100110101B is preferably used for frame synchronization, because its autocorrelation function is sharp and its anti-interference capability is strong.

[0066] Further preferably, after receiving the remote control command, the crane master control device performs frame synchronization and then sets the system's starting clock. Based on the clock determined by the initial phase, sampling is performed at T / 2 of each symbol period to obtain a frame synchronization header. However, channel interference can easily cause signal distortion and destroy the starting phase information. In this case, the synchronized output phase randomly falls within any time within the symbol period T. When it deviates from T / 2, phase jitter and other factors cause changes in the symbol width, resulting in sampling time errors and incorrect decisions. Therefore, to address the above issues, this embodiment provides a frame synchronization method, which specifically includes the following steps:

[0067] S101. Sample the signal once within the time ranges of [0, T / 3], [T / 3, 2T / 3], and [2T / 3, T] within one cycle, respectively, to obtain three sequences a, b, and c. Discriminate the three sequences to obtain three outputs A, B, and C.

[0068] S102. Set a signal-to-noise ratio threshold and calculate the signal-to-noise ratio. If the signal-to-noise ratio is greater than the threshold and two of A, B, and C are true, the output is taken as time T / 2. If the signal-to-noise ratio is less than the threshold and one of A, B, and C is true, the output is taken as time T / 2. If A, B, and C are all false, the synchronization header cannot be identified, the reception is determined to be an error, and the instruction set is discarded.

[0069] S103: Adjust the system clock according to the obtained T / 2 time to make it the time for sampling the subsequent signal.

[0070] Through the above frame synchronization method, the frame synchronization performance can be improved, and the sampling time can be adjusted from any time within [0, T] to [T / 3, 2T / 3], thereby improving the anti-interference ability of the crane master control device to interference channels.

[0071] The beneficial effects of this embodiment are as follows: the data packet structure is configured to include a synchronization header, address information, information data, and channel coding information arranged in sequence. The synchronization header can assist the crane master control device in correctly detecting the start bit and quickly determining whether the current signal is a noise signal or a control instruction. The address information can ensure a one-to-one correspondence between the wireless remote control device and the crane master control device in data transmission and reception, thereby avoiding data information confusion.

[0072] The synchronization packet header structure is configured to consist of a carrier switch, a frame synchronization code, and a bit synchronization code arranged in sequence. This structure simultaneously adjusts the system's receiving clock during frame synchronization, placing the frame synchronization code before the bit synchronization code. This allows for rapid identification of valid instructions and reduces the probability of false synchronization and missed synchronization. The carrier switch activates the crane master control device, transitioning the system from sleep mode to active mode, thereby reducing power consumption.

[0073] The frame synchronization method has been improved, and the sampling time can be adjusted from any time within [0, T] to [T / 3, 2T / 3], thereby improving the anti-interference ability of the crane master control device to interference channels.

[0074] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A wireless control system for the extension, swing and hanging of a railway crane counterweight, which includes a wireless remote control device and a crane master control device, and is characterized by: It also includes position sensors, angle sensors and inductive limit switches; The position sensor is embedded in the counterweight telescopic arm and is used to detect the extension distance of the telescopic arm; The angle sensor is installed on the rotation center axis of the crane rear turntable and is used to detect the rotation angle of the crane counterweight arm; The inductive limit switch is installed at the tail of the crane counterweight telescopic arm, and is used to detect whether the crane counterweight telescopic arm and the counterweight are hung or not; The crane master control device includes a PLC chip, a wireless transceiver module, a telescopic arm drive module, a counterweight hanging device drive module and a swing drive module; the telescopic arm drive module, the counterweight hanging device drive module and the swing drive module are electrically connected to the analog output terminal of the PLC chip respectively; the wireless transceiver module is connected to the PLC chip through a serial port, and the wireless transceiver module is wirelessly connected to a wireless remote control device; an operator wirelessly controls the crane through the wireless remote control device to realize the telescopic, swinging and hanging actions of the counterweight; The position sensor, angle sensor and inductive limit switch are electrically connected to the analog signal input terminal of the PLC chip respectively; The wireless transceiver module communicates with the wireless remote control device in the form of data packets; the data packets include address information, information data and channel coding information arranged in sequence; The data packet also includes a synchronization header; the synchronization header is arranged before the address information; The synchronization packet header includes a carrier switch, a frame synchronization code and a bit synchronization code arranged in sequence; The method for synchronizing data packets transmitted between the wireless transceiver module and the wireless remote control device comprises the following steps: S101, sampling the signal once within the time ranges of [0, T / 3], [T / 3, 2T / 3], and [2T / 3, T] in one cycle, obtaining three sequences of a, b, and c, and distinguishing the three sequences to obtain three outputs of A, B, and C; S102, set the signal-to-noise ratio threshold and calculate the signal-to-noise ratio; if the signal-to-noise ratio is greater than the signal-to-noise ratio threshold, and two of A, B, and C are true, then take the output as the time T / 2; if the signal-to-noise ratio is less than the signal-to-noise ratio threshold, and one of A, B, and C is true, then take this output as the time T / 2; if A, B, and C are all false, then the synchronization header cannot be identified, it is determined that the reception is wrong, and this group of instructions is discarded; S103, adjusting the system clock according to the obtained T / 2 time to make it the moment for sampling the subsequent signal.

2. The wireless control system and method for the extension, swing and hanging of the counterweight of a railway crane according to claim 1, characterized in that: The wireless remote control device includes a controller, and an operation switch, a wireless communication module and a display panel electrically connected to the controller respectively; The controller is wirelessly connected to the crane's master control device through a wireless communication module and establishes a wireless data transmission channel. The master control device transmits the crane's action feedback signal to the controller of the wireless remote control device wirelessly and displays it on the display panel; the operator presses the operation switch to realize wireless control of the crane's action.

3. The wireless control system and method for the extension, swing and hanging of the counterweight of a railway crane as claimed in claim 2, characterized in that: The operating switches include a counterweight telescopic arm extension operating switch, a counterweight telescopic arm retraction operating switch, a counterweight hanging device lowering operating switch, a counterweight hanging device rising operating switch, a leftward swing preset angle operating switch and a rightward swing preset angle operating switch.

4. The wireless control system for extension, swing and hanging of the counterweight of a railway crane as claimed in claim 1, characterized in that: The frame synchronization code is a 13-bit Barker code 1111100110101B.

5. A wireless control method for the extension, swing and hanging of a railway crane counterweight, characterized in that: The following steps are involved: S1. Build a wireless control system for the extension, swing and hanging of the railway crane counterweight as described in claim 1; S2, obtaining the distance information detected by the position sensor, comparing the distance information with the preset distance value, if the two are equal, proceeding to the next step; otherwise, the operator remotely controls the crane master control device through the wireless remote control device to adjust the extension distance of the counterweight telescopic arm until the distance information is equal to the preset distance value; S3. The operator sends a command to lower the counterweight hanging device to the wireless transceiver module through the wireless remote control device. The wireless transceiver module feeds back the command to the crane master control device. The crane master control device controls the hanging device to descend through the counterweight hanging device drive module until the inductive limit switch is triggered. At this time, the counterweight hanging device is in contact with the movable counterweight. S4, the operator sends a counterweight hanging device lifting command to the wireless transceiver module through the wireless remote control device, and the wireless transceiver module feeds back the command to the crane master control device, and the crane master control device controls the counterweight hanging device to rise through the counterweight hanging device driving module, at which time the movable counterweight is hoisted; S5. The operator sends a preset angle swing command to the wireless transceiver module through the wireless remote control device. The wireless transceiver module feeds back the command to the crane master control device. The crane master control device controls the crane to rotate in a preset direction through the swing drive module. When the angle detected by the angle sensor is the same as the preset angle, the swing drive module stops working.

6. The wireless control method for extension, swing and hanging of the counterweight of a railway crane as claimed in claim 5, characterized in that: The "operator remotely controls the crane master control device through a wireless remote control device to adjust the extension distance of the telescopic arm until the distance information is equal to the preset distance value" in S2 specifically includes the following steps: When the distance information is less than the preset distance value, the operator sends a counterweight telescopic arm extension command through the wireless remote control device, and the command is received by the wireless transceiver module and transmitted to the crane master control device. The crane master control device controls the counterweight telescopic arm drive module, and the counterweight telescopic arm drive module drives the telescopic arm to continue to extend until the distance information is equal to the preset distance value; On the contrary, the operator sends a counterweight telescopic arm retraction command through the wireless remote control device, and the command is received by the wireless transceiver module and transmitted to the crane master control device. The crane master control device controls the counterweight telescopic arm drive module, and the counterweight telescopic arm drive module drives the telescopic arm to retract until the distance information is equal to the preset distance value.

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