A training device and method for fixed-point parking of cranes.

Abstract

This invention discloses a training device and method for fixed-point parking of a crane, including a crane, a bucket, a parking area, and measuring equipment. The measuring equipment includes a main control module, a wireless transceiver module, and two laser ranging components. The ranging lasers of both components are horizontal. The optical paths of the lasers from the two components are perpendicular and intersect each other, and the forward projection of the intersection point falls into the parking area and coincides with the center point of the parking area. The main control module communicates with each of the two laser ranging components via the wireless transceiver module. This invention utilizes two sets of laser ranging components to automatically measure the linear offset distance of the bucket relative to the center point of the parking area. By relying on the control module to collect data and perform calculations, it improves measurement efficiency and accuracy, saves labor costs, and thus significantly enhances training efficiency.

Description

Technical Field

[0001] This invention relates to the field of crane fixed-point parking detection technology, and in particular to a training device and method for crane fixed-point parking training. Background Technology

[0002] Practical skills training for crane operators is a mandatory course for every crane operator trainee. During training, trainees operate the crane to place a bucket in a designated parking area. Then, the instructor measures the bucket's deviation from the center of the parking area, thus scoring the placement result. However, this assessment method suffers from low efficiency and poor measurement accuracy, severely impacting training effectiveness. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a training device and method for fixed-point parking of cranes, so as to improve training efficiency.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0005] A training device for fixed-point parking of cranes includes a crane, a bucket, a parking area, and measuring equipment;

[0006] The measuring device includes a main control module, a wireless transceiver module, and two laser ranging components;

[0007] The ranging lasers of both laser ranging components are in a horizontal position;

[0008] The optical paths of the ranging lasers of the two laser ranging components are perpendicular to each other and intersect, and the positive projection of the intersection point falls into the parking area and coincides with the center point of the parking area;

[0009] The main control module is connected to the two laser ranging components via the wireless transceiver module.

[0010] To solve the above-mentioned technical problems, another technical solution adopted by the present invention is as follows:

[0011] A training method for fixed-point parking of cranes, applied to the aforementioned training device for fixed-point parking of cranes, includes the following steps:

[0012] S1. After the bucket is placed in the parking area, the first distance measurement value and the second distance measurement value measured by the two laser ranging components after illuminating the bucket are obtained respectively.

[0013] S2. Based on the first ranging value, the second ranging value, and the distance between the laser emission ports of the two laser ranging components and the intersection point of the ranging lasers of the two laser ranging components, the straight-line offset distance from the center of the horizontal cross-section circle corresponding to the illumination point of the laser ranging component on the bucket to the intersection point is obtained.

[0014] S3. The parking result of the bucket is scored based on the straight-line offset distance.

[0015] The beneficial effects of this invention are as follows: It provides a training device and method for fixed-point parking of cranes, which uses two sets of laser ranging components to automatically measure the linear offset distance of the crane bucket relative to the center point of the parking area. The ranging lasers of the two sets of laser ranging components are used to illuminate the crane bucket in two mutually perpendicular directions. The control module collects and calculates data such as the first ranging value and the second ranging value. Compared with manual measurement by instructors, it improves measurement efficiency and accuracy, saves labor costs, enhances the rationality of training scoring, and thus greatly improves training efficiency. Attached Figure Description

[0016] Figure 1 This is a schematic diagram showing the relative positions of two sets of laser ranging components and the parking area of ​​a crane training device for fixed-point parking according to an embodiment of the present invention.

[0017] Figure 2 This is a schematic diagram of a laser ranging component for fixed-point parking of a crane during training, according to an embodiment of the present invention.

[0018] Figure 3 This is a system block diagram of a crane training device for fixed-point parking, according to an embodiment of the present invention.

[0019] Figure 4 This is a schematic diagram illustrating the steps of a crane training method for fixed-point parking, according to an embodiment of the present invention.

[0020] Label Explanation:

[0021] 1. Bucket; 2. Parking area; 3. Main control module; 4. Wireless transceiver module; 5. Laser ranging component;

[0022] 31. Controller; 32. Power supply; 33. CAN communication module;

[0023] 51. Laser rangefinder; 52. Adjustable tripod support; 53. Platform; 54. Adjustable lifting seat. Detailed Implementation

[0024] To explain in detail the technical content, objectives, and effects of the present invention, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0025] Please refer to Figures 1 to 3 A training device for fixed-point parking of crane training equipment includes a crane, a bucket 1, a parking area 2, and measuring equipment.

[0026] The measuring device includes a main control module 3, a wireless transceiver module 4, and two laser ranging components 5;

[0027] The ranging lasers of both laser ranging components 5 are in a horizontal state;

[0028] The optical paths of the ranging lasers of the two laser ranging components 5 are perpendicular to each other and intersect, and the positive projection of the intersection point falls into the parking area 2 and coincides with the center point of the parking area 2.

[0029] The main control module 3 is connected to the two laser ranging components 5 through the wireless transceiver module 4.

[0030] As can be seen from the above description, the beneficial effects of the present invention are as follows: by using two sets of laser ranging components 5 to automatically measure the straight-line offset distance of the bucket 1 relative to the center point of the parking area 2, the ranging lasers of the two sets of laser ranging components 5 are irradiated into the bucket 1 in two mutually perpendicular directions, and the data is collected by the control module. Compared with manual measurement by the instructor, the measurement efficiency and accuracy are improved, the labor cost is saved, the rationality of training scoring is enhanced, and thus the training efficiency is greatly improved.

[0031] Furthermore, the laser ranging component 5 includes a laser rangefinder 51, an adjustable tripod support 52, and a platform 53;

[0032] The platform 53 is mounted on the adjustable tripod support 52, and the laser rangefinder 51 is mounted on the platform 53;

[0033] The laser rangefinder 51 is communicatively connected to the wireless transceiver module 4.

[0034] As can be seen from the above description, the laser rangefinder 51 is mounted on the adjustable tripod support 52 via the platform 53. The rangefinder laser emitted can be made to be horizontal by adjusting the adjustable tripod support 52, thereby adapting to different placement environments, ensuring good rangefinding effect, and being flexible and convenient to use.

[0035] Furthermore, the stage 53 is a rotary table.

[0036] As can be seen from the above description, the stage 53 is a rotating stage, which can adjust the laser emission angle of the laser rangefinder 51 by rotating itself, bringing convenience to manual adjustment.

[0037] Furthermore, the laser ranging component 5 also includes a lifting adjustment seat 54;

[0038] The laser rangefinder 51 is mounted on the lifting adjustment seat 54, and the lifting adjustment seat 54 is mounted on the platform 53.

[0039] As can be seen from the above description, a lifting adjustment seat 54 is also provided on the stage 53, which can adjust the position of the laser rangefinder 51 in the vertical dimension.

[0040] Furthermore, the main control module 3 includes a controller 31, a power supply 32, and a CAN communication module 33;

[0041] The controller 31 is connected to the wireless transceiver module 4 and the CAN communication module 33 respectively;

[0042] The power supply 32 is connected to the controller 31, the wireless transceiver module 4 and the CAN communication module 33 respectively.

[0043] As can be seen from the above description, the main control module 3 consists of a controller 31, a power supply 32, and a CAN communication module 33. It has an independent power supply 32, which can remove the limitation of power supply requirements on the placement of the device and make it flexible in use. Through the CAN communication module 33, it can form a network to communicate with other training devices, thereby meeting the actual training needs.

[0044] Furthermore, it also includes a laser path adjustment component, which comprises a laser level and a laser target.

[0045] As can be seen from the above description, the laser level and laser target can help adjust the beam angle of the ranging laser and the position of the intersection of the two ranging laser beams, ensuring that the two laser ranging components 5 are in a measurable state, which helps to improve the accuracy of the measurement results and reduce the difficulty of manual adjustment.

[0046] Please refer to Figure 1 and Figure 4 A training method for fixed-point parking of cranes, applied to the aforementioned training device for fixed-point parking of cranes, includes the following steps:

[0047] S1. After the bucket 1 is placed in the parking area 2, the first distance measurement value and the second distance measurement value are obtained after the two laser ranging components 5 illuminate the bucket 1.

[0048] S2. Based on the first ranging value, the second ranging value, and the distance between the laser emission ports of the two laser ranging components 5 and the intersection point of the ranging lasers of the two laser ranging components 5, the straight-line offset distance from the center of the horizontal cross-section circle corresponding to the illumination point of the laser ranging component 5 on the bucket 1 to the intersection point is obtained.

[0049] S3. The parking result of the bucket is scored based on the straight-line offset distance.

[0050] As can be seen from the above description, the beneficial effects of the present invention are as follows: by using two sets of laser ranging components 5 to automatically measure the straight-line offset distance of the bucket 1 relative to the center point of the parking area 2, the ranging lasers of the two sets of laser ranging components 5 are used to irradiate the bucket 1 in two mutually perpendicular directions, and the control module collects and calculates data such as the first ranging value and the second ranging value. Compared with manual measurement by instructors, this improves measurement efficiency and accuracy, saves labor costs, enhances the rationality of training scoring, and thus greatly improves training efficiency.

[0051] Furthermore, the procedure prior to step S1 includes:

[0052] S0. Measure the first distance and the second distance from the laser emission ports of the two laser ranging components 5 to the intersection point;

[0053] Step S2 specifically includes:

[0054] S21. Establish a coordinate system with the paths of the ranging lasers of the two laser ranging components 5 as the x-axis and y-axis, respectively, and the intersection point as the origin;

[0055] S22. Using the center coordinates of the horizontal cross-section circle as the unknown, and combining the first distance measurement value, the second distance measurement value, the first spacing, the second spacing, and the radius of the horizontal cross-section circle, establish a system of equations and solve them to obtain the center coordinates of the horizontal cross-section circle.

[0056] The expression for the system of equations is:

[0057]

[0058] Wherein, D1 and d1 represent the first spacing and the first ranging value of one of the laser ranging components 5, respectively; D2 and d2 represent the second spacing and the second ranging value of another laser ranging component 5, respectively; and r represents the radius of the horizontal cross-section circle.

[0059] S23. Obtain the straight line offset distance based on the center coordinates of the horizontal cross-section circle.

[0060] The training device and method for crane parking training of the present invention can be applied to the scenario of crane parking training. The following is a description through specific embodiments:

[0061] Please refer to Figures 1 to 3 Embodiment 1 of the present invention is as follows:

[0062] A training device for fixed-point parking of crane training equipment, such as... Figure 1and Figure 3 As shown, the system includes a crane, a bucket 1, a parking area 2, and measuring equipment. The measuring equipment includes a main control module 3, a wireless transceiver module 4, and two laser ranging components 5. The ranging lasers of both laser ranging components 5 are horizontal. The optical paths of the two laser ranging components 5 are perpendicular to each other and intersect, with the forward projection of the intersection point falling into the parking area 2 and coinciding with the center point of the parking area 2. The main control module 3 communicates with each of the two laser ranging components 5 via the wireless transceiver module 4. Furthermore, multiple parking areas 2 can be configured, each equipped with two laser ranging components 5.

[0063] In this embodiment, as Figure 2 As shown, the laser ranging component 5 includes a laser rangefinder 51, a lifting and adjusting base 54, an adjustable tripod support 52, and a platform 53. The platform 53 is mounted on the adjustable tripod support 52; the laser rangefinder 51 is mounted on the lifting and adjusting base 54, which in turn is mounted on the platform 53. The platform 53 is a rotating stage, capable of 360° free rotation. The adjustable tripod support 52 and the lifting and adjusting base 54 allow the laser rangefinder 51 to be adjusted in all dimensions: up / down, left / right, and front / back. The laser rangefinder 51 has a ranging range of 0.05-80 meters, a measurement accuracy of 1 mm, a single measurement time of 0.05-0.5 seconds, a short signal response time, and a small spot radius, which meets the needs of fixed-point detection.

[0064] In this embodiment, as Figure 3 As shown, the main control module 3 includes a controller 31, a power supply 32, and a CAN communication module 33. The controller 31 is connected to the wireless transceiver module 4 and the CAN communication module 33. The power supply 32 is connected to the controller 31, the wireless transceiver module 4, and the CAN communication module 33. The controller 31 uses a 32-bit STMicroelectronics STM32F103C8T6 microcontroller. The STM32F103C8T6 is a 32-bit microcontroller based on the ARM Cortex-M core STM32 series. It has a program memory capacity of 64KB, requires a voltage of 2V to 3.6V, and operates at a temperature of -40℃ to 85℃, meeting the needs of fixed-point detection data acquisition, calculation, and communication.

[0065] In this embodiment, a laser path adjustment component is also included, comprising a laser level and a laser target. The laser level and laser target are used to adjust the beam angle of the ranging laser and the position of the intersection point of the two ranging laser beams. The laser target is used to mark the center point of the parking area 2 to facilitate determining whether the intersection point of the two ranging laser beams overlaps with it during the adjustment process.

[0066] Please refer to Figure 1 and Figure 4 Embodiment two of the present invention is as follows:

[0067] A training method for fixed-point parking of cranes is applied to a crane fixed-point parking training device according to Embodiment 1, such as... Figure 4 As shown, it includes the following steps:

[0068] S0. Measure the first and second distances from the laser emission ports of the two laser ranging components 5 to the intersection point;

[0069] S1. After the bucket 1 is placed in the parking area 2, the first and second distance values ​​measured by the two laser ranging components 5 after illuminating the bucket 1 are obtained respectively.

[0070] S2. Based on the first ranging value, the second ranging value, and the distance between the laser emission port of the two laser ranging components 5 and the intersection point of the ranging laser of the two laser ranging components 5, the straight-line offset distance from the center of the horizontal cross-section circle where the irradiation point of the corresponding laser ranging component 5 on the bucket 1 is located to the intersection point is obtained.

[0071] In this embodiment, as Figure 1 As shown, point O is the intersection point, which is the origin of the coordinate system and also the center point of parking area 2; point O is the center of the horizontal cross-section circle; line segment d' is the straight line offset distance. Step S2 specifically includes:

[0072] S21. Establish a coordinate system with the paths of the ranging lasers of the two laser ranging components 5 as the x-axis and y-axis, and the intersection point as the origin.

[0073] S22. Using the coordinates of the center of the horizontal cross-section circle as the unknown, and combining the first distance measurement value, the second distance measurement value, the first spacing, the second spacing, and the radius of the horizontal cross-section circle, establish a system of equations and solve them to obtain the coordinates of the center of the horizontal cross-section circle.

[0074] The system of equations is expressed as follows:

[0075]

[0076] Where D1 and d1 represent the first spacing and the first ranging value of one laser ranging component 5, respectively; D2 and d2 represent the second spacing and the second ranging value of another laser ranging component 5, respectively; and r represents the radius of the horizontal cross-section circle.

[0077] S23. Obtain the linear offset distance based on the coordinates of the center of the horizontal cross-section circle.

[0078] In this embodiment, as Figure 1 As shown, after obtaining the coordinates of the center of the horizontal cross-section circle, the straight line offset distance can be calculated using the Pythagorean theorem, and its expression is as follows:

[0079]

[0080] S3. Score the parking result of the bucket based on the straight-line offset distance.

[0081] In summary, the present invention provides a training device and method for crane training and fixed-point parking. It utilizes two sets of laser ranging components to automatically measure the linear offset distance of the crane bucket relative to the center point of the parking area. The ranging lasers from the two sets of components are directed in two mutually perpendicular directions to illuminate the crane bucket. A control module collects and calculates data such as the first and second ranging values. Compared to manual measurement by instructors, this method improves measurement efficiency and accuracy, saves labor costs, enhances the rationality of training assessments, and thus significantly improves training efficiency.

[0082] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent modifications made based on the content of the present invention specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A training method for fixed-point parking of a crane, applied to a training device for fixed-point parking of a crane, the training device comprising a crane, a bucket, a parking area, and measuring equipment, the measuring equipment comprising a main control module, a wireless transceiver module, and two laser ranging components, wherein the ranging lasers of the two laser ranging components are both horizontal, the optical paths of the ranging lasers of the two laser ranging components are perpendicular to each other and intersect, and the forward projection of the intersection point falls into the parking area and coincides with the center point of the parking area, the main control module being communicatively connected to the two laser ranging components respectively through the wireless transceiver module, characterized in that... The method includes the following steps: S0. Measure the first distance and the second distance from the laser emission ports of the two laser ranging components to the intersection point; S1. After the bucket is placed in the parking area, the first distance measurement value and the second distance measurement value measured by the two laser ranging components after illuminating the bucket are obtained respectively. S2. Based on the first ranging value, the second ranging value, and the distance between the laser emission ports of the two laser ranging components and the intersection point of the ranging lasers of the two laser ranging components, the straight-line offset distance from the center of the horizontal cross-section circle corresponding to the illumination point of the laser ranging component on the bucket to the intersection point is obtained. S3. The parking result of the bucket is scored based on the straight-line offset distance; Step S2 specifically includes: S21. Establish a coordinate system with the paths of the ranging lasers of the two laser ranging components as the x-axis and y-axis, respectively, and the intersection point as the origin; S22. Using the center coordinates of the horizontal cross-section circle as the unknown, and combining the first distance measurement value, the second distance measurement value, the first spacing, the second spacing, and the radius of the horizontal cross-section circle, establish a system of equations and solve them to obtain the center coordinates of the horizontal cross-section circle. The expression for the system of equations is: Wherein, D1 and d1 represent the first spacing and the first ranging value of one of the laser ranging components, respectively; D2 and d2 represent the second spacing and the second ranging value of another laser ranging component, respectively; and r represents the radius of the horizontal cross-section circle. S23. Obtain the straight line offset distance based on the center coordinates of the horizontal cross-section circle.

2. The training method for fixed-point parking of cranes according to claim 1, characterized in that, The laser ranging component includes a laser rangefinder, an adjustable tripod support, and a platform. The platform is mounted on the adjustable tripod support frame, and the laser rangefinder is mounted on the platform. The laser rangefinder is communicatively connected to the wireless transceiver module.

3. The training method for fixed-point parking of cranes according to claim 2, characterized in that, The stage is a rotary table.

4. The training method for fixed-point parking of cranes according to claim 2, characterized in that, The laser ranging component also includes a lifting and adjusting base; The laser rangefinder is mounted on the lifting adjustment base, which is mounted on the platform.

5. The training method for fixed-point parking of cranes according to claim 1, characterized in that, The main control module includes a controller, a power supply, and a CAN communication module; The controller is connected to the wireless transceiver module and the CAN communication module, respectively. The power supply is connected to the controller, the wireless transceiver module, and the CAN communication module, respectively.

6. The training method for fixed-point parking of cranes according to claim 1, characterized in that, It also includes a laser path adjustment component, which includes a laser level and a laser target.

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