System, method and device for detecting safe position state of carrier

Abstract

The invention discloses a system, method and device for detecting the safe position state of a carrier, and the system comprises a carrier detection sensor which is disposed on a trolley and is used for detecting the position state of a to-be-detected carrier in the advancing direction in the operation process of the trolley; the trolley positioner is arranged on the trolley, and the trolley positioner is used for receiving and responding to a detection electric signal sent by the carrier detection sensor when the carrier detection sensor detects the to-be-detected carrier, and determining corresponding trolley position information based on the detection electric signal; the controller is configured to determine the actual operation position of the trolley on the main cable according to the trolley position information, and determine the actual detection position of the to-be-detected carrier on the main cable according to the actual operation position and a preset conversion relation; and judging whether the to-be-detected horse is in a safe position state according to a matching result of the actual detection position and the preset position. The safety of the load-bearing position state is judged in real time in the running process of the trolley, the load-bearing position or posture problem can be found in time, and the running safety of the crane is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cable cranes, in particular to a safety position state detection system, method and device for a carrier block. BACKGROUND

[0002] A cable crane is a special lifting device commonly used in certain large-scale engineering operations. It uses a main steel wire rope straddling a river or a valley and suspended between a main tower and a vice tower as a flexible load-bearing component to realize vertical lifting and horizontal transportation of a load. The carrier block is a key device for carrying a hoisting rope, a traction rope and a support cable system in the cable crane, which can prevent the related ropes from being too sagging or the steel wire rope from being twisted, reduce rope wear and tear, and thus ensure the safety of lifting operations.

[0003] However, during the operation of the cable crane, the carrier block (especially the fixed carrier block) is easily hit by a trolley running at high speed due to the influence of multiple factors such as wind load, sway, main rope bounce and trolley bounce, which may deviate from the original installation position, be tilted, or even be hit and fall from the sky, which will adversely affect the safety of lifting operations of the cable crane.

[0004] In the prior art, for example, a detection method for the working pressure of a fixed open carrier block movable wheel is disclosed in Chinese patent CN116425051A. The method uses a special detection tool to accurately control the compression stroke of the movable wheel in the working state, accurately reads the pressure value required by the movable wheel at each stroke position, and accurately judges the performance of the carrier block according to the pressure value readings of the entire compression stroke and rebound stroke. However, in actual operation of the cable crane, the safety risks of the carrier block (such as position deviation and tilting) are mainly caused by dynamic working conditions (high-speed impact of the trolley, wind load sway, main rope bounce, etc.), which cannot capture the performance changes of the carrier block in the trolley reciprocating process in real time. Even if the detection of the movable wheel pressure is qualified, the safety position state of the carrier block in dynamic operation cannot be detected.

[0005] Therefore, the present application is proposed. SUMMARY

[0006] The carrier block safety position state detection system, method and device provided by the embodiments of the present application solve the technical problem that the safety position state of the carrier block cannot be detected in the prior art, and achieve the technical effect of detecting the safety position state of the carrier block.

[0007] In a first aspect, the present application provides a carrier block safety position state detection system. The system is matched with a cable crane, and the cable crane includes a main rope, a carrier block and a trolley. The carrier block is installed on the main rope, and the trolley travels along the main rope. The system includes: The horse detection sensor is arranged on the trolley and is used to detect the position state of the to-be-detected horse in the running direction of the trolley; The trolley positioner is arranged on the trolley and is used to receive and respond to the detection electrical signal sent by the horse detection sensor when the to-be-detected horse is detected, and determine the corresponding trolley position information based on the detection electrical signal; The controller is configured to: determine the actual running position of the trolley on the main cable according to the trolley position information, and determine the actual detection position of the to-be-detected horse on the main cable according to the actual running position and a preset conversion relationship; determine whether the to-be-detected horse is in a safe position state according to the matching result of the actual detection position and the preset position.

[0008] In some embodiments of the present application, based on the foregoing scheme, the system further comprises a ground base station, and the ground base station and the trolley positioner both establish communication with a global positioning system; The ground base station is used to receive a base station satellite signal sent by the global positioning system and determine a base station reference coordinate of the ground base station in a protocol earth coordinate system according to the base station satellite signal; The trolley positioner is further used to receive a trolley satellite signal sent by the global positioning system, determine a trolley reference coordinate of the trolley in the protocol earth coordinate system based on the detection electrical signal and the trolley satellite signal, determine a relative position coordinate of the trolley relative to the ground base station through the base station reference coordinate and the trolley reference coordinate, and take the relative position coordinate as the trolley position information.

[0009] In some embodiments of the present application, based on the foregoing scheme, the actual running position of the trolley on the main cable is determined according to the trolley position information, and the actual detection position of the to-be-detected horse on the main cable is determined according to the actual running position and a preset conversion relationship, which comprises: determining the actual running position of the trolley on the main cable according to the relative position coordinate; determining the actual detection position of the to-be-detected horse on the main cable according to a distance conversion relationship between the horse detection sensor and the trolley positioner, a coordinate conversion relationship between the relative position coordinate and the main cable, and the actual running position; the preset conversion relationship comprises the distance conversion relationship and the coordinate conversion relationship.

[0010] In some embodiments of the present application, based on the foregoing scheme, the horse detection sensor comprises a first horse detection sensor and a second horse detection sensor; the first horse detection sensor is arranged at the front end of the trolley in the running direction, and the second horse detection sensor is arranged at the rear end of the trolley in the running direction; The trolley positioner is configured to receive and respond to a first detection electrical signal sent by the first carrier detection sensor when the carrier under test is detected, determine corresponding trolley first position information based on the first detection electrical signal, and receive and respond to a second detection electrical signal sent by the second carrier detection sensor when the carrier under test is detected, determine corresponding trolley second position information based on the second detection electrical signal. The detection electrical signal includes the first detection electrical signal and the second detection electrical signal, and the trolley position information includes the trolley first position information and the trolley second position information.

[0011] In some embodiments of the present application, based on the foregoing scheme, the actual running position of the trolley on the main cable is determined according to the trolley position information, and the actual detection position of the carrier under test on the main cable is determined according to the actual running position and a preset conversion relationship, including: The trolley entering position when the trolley enters the carrier under test is determined according to the trolley first position information, and the entering detection position of the carrier under test on the main cable is determined according to the trolley entering position and an entering conversion relationship; The trolley leaving position when the trolley leaves the carrier under test is determined according to the trolley second position information, and the leaving detection position of the carrier under test on the main cable is determined according to the trolley leaving position and a leaving conversion relationship; The actual running position includes the trolley entering position and the trolley leaving position; the actual detection position includes the entering detection position and the leaving detection position; and the preset conversion relationship includes the entering conversion relationship and the leaving conversion relationship.

[0012] In some embodiments of the present application, based on the foregoing scheme, whether the carrier under test is in a safe position state is determined according to a matching result of the actual detection position and a preset position, including: In a case where the matching result of the entering detection position and the preset position is matching, and the matching result of the leaving detection position and the preset position is matching, it is determined that the carrier under test is in a safe position state.

[0013] In a second aspect, the present application provides a carrier safe position state detection method, which is matched with a cable crane, the cable crane including a main cable, a carrier and a trolley; the carrier is installed on the main cable, and the trolley travels along the main cable; the method including: During the running process of the trolley, controlling a carrier detection sensor arranged on the trolley to detect the position state of the carrier under test; In a case where the carrier detection sensor detects the carrier under test, controlling a trolley positioner arranged on the trolley to determine corresponding trolley position information; Determining the actual running position of the trolley on the main cable according to the trolley position information, and determining the actual detection position of the carrier under test on the main cable according to the actual running position and a preset conversion relationship; The safety position state of the to-be-detected carrier is determined according to a matching result of the actual detection position and a preset position.

[0014] In some embodiments of the present application, based on the foregoing scheme, when the carrier detection sensor detects the to-be-detected carrier, the trolley positioner arranged on the trolley is controlled to determine corresponding trolley position information, including: The ground base station is controlled to receive a base station satellite signal sent by a global positioning system and determine a base station reference coordinate of the ground base station in a protocol earth coordinate system according to the base station satellite signal; The trolley positioner is controlled to receive a trolley satellite signal sent by a global positioning system and determine a trolley reference coordinate of the trolley in the protocol earth coordinate system based on the trolley satellite signal; The relative position coordinate of the trolley relative to the ground base station is determined through the base station reference coordinate and the trolley reference coordinate, and the relative position coordinate is taken as the trolley position information.

[0015] In some embodiments of the present application, based on the foregoing scheme, the actual running position of the trolley on the main cable is determined according to the trolley position information, and the actual detection position of the to-be-detected carrier on the main cable is determined according to the actual running position and a preset conversion relationship, including: The actual running position of the trolley on the main cable is determined according to the relative position coordinate; The actual detection position of the to-be-detected carrier on the main cable is determined according to a distance conversion relationship between the carrier detection sensor and the trolley positioner, a coordinate conversion relationship between the relative position coordinate and the main cable, and the actual running position; the preset conversion relationship includes the distance conversion relationship and the coordinate conversion relationship.

[0016] In a third aspect, the present application provides a carrier safety position state detection device, which is matched with a cable crane, and the cable crane includes a main cable, a carrier and a trolley; the carrier is installed on the main cable, and the trolley travels along the main cable; the device includes: A carrier detection sensor control module is configured to control a carrier detection sensor arranged on the trolley to detect a position state of a to-be-detected carrier during the operation of the trolley; A positioning control module is configured to control a trolley positioner arranged on the trolley to determine corresponding trolley position information when the carrier detection sensor detects the to-be-detected carrier; An actual detection position determination module is configured to determine an actual running position of the trolley on the main cable according to the trolley position information, and determine an actual detection position of the to-be-detected carrier on the main cable according to the actual running position and a preset conversion relationship; A safety position state determination module is configured to determine whether the to-be-detected carrier is in a safety position state according to a matching result of the actual detection position and a preset position.

[0017] The one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: 1. The system can simultaneously carry out the position state detection of the carrier during the dynamic process of the trolley running along the main cable, without disassembling the carrier or relying on offline tools, can capture the state of the carrier in the actual operation of the crane in real time, does not interrupt the normal lifting and transportation process, can timely find the possible deviation and skew of the carrier, effectively adapts to the safety monitoring needs of the cable crane in the dynamic running scene.

[0018] 2. The system cooperates with the trolley positioner through the ground base station, respectively determines the reference coordinates and the trolley reference coordinates by using the satellite signals received by the two, and obtains the trolley position information by calculating the relative position coordinates, can eliminate the error that may exist in single satellite positioning, significantly improves the accuracy of the trolley position information, and provides a reliable data basis for subsequent derivation of the actual detection position of the carrier.

[0019] 3. The system adopts the design that the first and second carrier detection sensors are respectively arranged at the front and rear ends of the trolley running direction, can trigger detection and obtain the corresponding trolley position information at the two key nodes of the trolley entering and leaving the carrier, forms double verification of the carrier position through twice detection, avoids the error caused by accidental factors (such as transient interference of the sensor) in single detection, and improves the reliability of the actual detection position of the carrier.

[0020] 4. The system can accurately convert the relative position coordinates of the trolley into the actual detection position of the carrier on the main cable through the preset distance conversion relationship (distance between the carrier detection sensor and the trolley positioner) and the coordinate conversion relationship (correspondence between the relative position coordinates and the main cable coordinates), makes the detection data fit the actual operation scene of the linear running track of the main cable, and is convenient for intuitive and accurate comparison with the preset position of the carrier.

[0021] 5. When judging the safety state of the carrier, the entering detection position when the trolley enters the carrier and the leaving detection position when the trolley leaves the carrier should both match the preset position, and only in this case the carrier is determined to be in a safe state, avoiding the possible misjudgment of only relying on single detection result, greatly reducing the safety risk caused by the misjudgment of the carrier state, and improving the rigor of the judgment logic.

[0022] 6. The system is highly compatible with the structural characteristics of the cable crane, the sensors and positioners are directly arranged on the trolley running along the main cable, without the need of greatly modifying the main tower, auxiliary tower, main cable and other core components of the crane, is easy to install and deploy on the existing cable crane, has low implementation cost and strong compatibility, can quickly integrate into the original control system of the crane, and has high practical application value. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0024] Figure 1 A structural schematic diagram of a cable crane provided by an embodiment of the present application is shown in the following figure. Figure 2 A structural schematic diagram of the structure shown in the dashed box A in the figure is shown in the following figure. Figure 1 Figure 3 A structural schematic diagram of a trolley provided by an embodiment of the present application is shown in the following figure. Figure 4 A structural schematic diagram of the structure shown in the dashed box C in the figure is shown in the following figure. Figure 3 Figure 5 A sectional structural schematic diagram of a trolley provided by an embodiment of the present application is shown in the following figure. Figure 6 A communication schematic diagram of a safety position state detection system of a carrier provided by an embodiment of the present application is shown in the following figure. Figure 7 A flow schematic diagram of a safety position state detection method of a carrier provided by an embodiment of the present application is shown in the following figure. Figure 8 A structural schematic diagram of a safety position state detection device of a carrier provided by an embodiment of the present application is shown in the following figure. In the above figures: 11, main tower; 12, auxiliary tower; 21, main cable; 22, auxiliary cable; 3, hook; 4, carrier; 5, trolley; 51, carrier detection sensor; 61, carrier detection sensor control module; 62, positioning control module; 63, actual detection position determination module; 64, safety position state judgment module. DETAILED DESCRIPTION

[0025] The present application provides a carrier safety position state detection system, method and device, which solves the technical problem that the safety position state of a carrier cannot be detected in the prior art.

[0026] In order to better understand the above technical solutions, the above technical solutions will be described in detail in combination with the drawings in the specification and specific embodiments.

[0027] Embodiment one The present application provides a carrier safety position state detection system, which is matched with a cable crane. The system comprises a carrier detection sensor, a trolley positioner and a controller.

[0028] ​​First, the cable crane is introduced. As shown in Figure 1 and Figure 2 , Figure 1 is a structural schematic diagram of a cable crane provided by the embodiment of the application, Figure 2 is Figure 1 the structural schematic diagram of the structure shown in the dashed box A in Figure 2 , the dashed box b is an enlarged structural schematic diagram of the structure shown in the dashed box B. The cable crane comprises a main tower 11, a secondary tower 12, a main cable 21, a secondary cable 22, a hook 3, a carrier 4 and a trolley 5.

[0029] The main tower 11 and the secondary tower 12 are symmetrically arranged on both sides of the working area (such as a dam, a river, a canyon), and the main tower 11 usually further has a traction mechanism and part of components of a hoisting mechanism installed thereon.

[0030] The main cable 21 (usually a load-bearing cable) is installed overhead between the main tower 11 and the secondary tower 12 to form a load-bearing track across the working area.

[0031] The secondary cable 22 is arranged in parallel with the main cable 21, and the secondary cable 22 usually comprises a traction steel wire rope and a hoisting steel wire rope. The traction steel wire rope is used to transmit the power of the traction mechanism to make the trolley 5 reciprocate along the main cable 21. The hoisting steel wire rope is used to transmit the power of the hoisting mechanism to adjust the vertical position of the load through the hook 3.

[0032] The carrier 4 is installed on the main cable 21 in a fixed manner, which on the one hand bears the weight of the traction steel wire rope and the hoisting steel wire rope to prevent the sag of these ropes from being too large, and on the other hand avoids the entanglement (winding) between the traction rope and the hoisting rope to reduce the wear of the ropes, and at the same time provides stable transition support for the trolley 5 when the trolley 5 passes by to reduce the risk of impact of the trolley 5.

[0033] The trolley 5 is clamped on the main cable 21 through the wheel set at the bottom and can freely slide along the main cable 21 to reciprocate between the main tower 11 and the secondary tower 12. It is not only the installation carrier of the hoisting mechanism and the hook 3 (to realize the lifting of the load), but also can move along the main cable 21 under the drive of the traction steel wire rope (to realize the horizontal transportation of the load).

[0034] Continue to introduce the carrier safety position state detection system provided by the embodiment of the application.

[0035] The carrier detection sensor 51 and the trolley positioner are both arranged on the trolley 5. As shown in Figures 3-5 , Figure 3 is a structural schematic diagram of a trolley provided by the embodiment of the application, Figure 4 is Figure 3 the structural schematic diagram of the structure shown in the dashed box C in Figure 5A schematic view of a cross-sectional structure of a trolley is provided for the embodiments of the present application. It should be noted that, in Figures 3-5 the horse detection sensor 51 is represented by a red line to clearly show its structure and installation position.

[0036] The horse detection sensor 51 is used to detect the position state of the to-be-detected horse in the running direction of the trolley 5. The installation height and angle of the horse detection sensor 51 on the trolley 5 are adapted to the horse 4, and when the trolley 5 approaches or moves away from the horse 4, it can stably capture the horse signal. For example, the horse detection sensor 51 is set as a photoelectric sensor, which recognizes whether the horse 4 exists and is in a normal position through light signal changes, to provide original signals for subsequent judgments.

[0037] The trolley positioner communicates with the global positioning system (GPS) and is used to receive and respond to the detection electrical signal sent by the horse detection sensor when the to-be-detected horse is detected, and determine the corresponding trolley position information based on the detection electrical signal.

[0038] The controller is configured to: determine the actual running position of the trolley on the main cable based on the trolley position information, and determine the actual detection position of the to-be-detected horse on the main cable based on the actual running position and a preset conversion relationship; judge whether the to-be-detected horse is in a safe position state based on the matching result of the actual detection position and the preset position.

[0039] The to-be-detected horse refers to a fixed horse on the main cable of the cable crane, which needs to be monitored in real time for abnormal position and posture. Such horses are all within the running track of the trolley 5 (i.e., the trolley 5 will pass through these horses 4 when running along the main cable 21). It can be understood that the to-be-detected horse can be any one of the multiple horses 4 installed on the cable crane, and each horse 4 can also be sequentially used as the to-be-detected horse to complete the detection of the safe position state of all horses 4 in the cable crane.

[0040] The preset position refers to the reference position data of the to-be-detected horse recorded in the controller (such as the host computer in the main tower control system) after installation and debugging, which usually includes the linear distance of the horse 4 on the main cable 21 (such as the distance from the main tower 11) or the coordinates corresponding to the protocol earth coordinate system (for example, the distance from the main tower is 100 meters when the horse is installed, which is the initial position information).

[0041] Further, the system further comprises a ground base station, which is in communication with the global positioning system, and is configured to receive the base station satellite signal sent by the global positioning system and determine the base station reference coordinates of the ground base station in the protocol earth coordinate system according to the base station satellite signal. The ground base station is usually installed far away from the microwave station, the radio transmitting station, the high-voltage line, the high-rise building, the tree, the water body, the beach and the area prone to water accumulation.

[0042] The trolley positioner is further configured to receive the trolley satellite signal sent by the global positioning system, determine the trolley reference coordinates of the trolley in the protocol earth coordinate system based on the detected electrical signal and the trolley satellite signal, determine the relative position coordinates of the trolley relative to the ground base station based on the base station reference coordinates and the trolley reference coordinates, and take the relative position coordinates as the trolley position information.

[0043] At this time, the controller is configured to determine the actual running position of the trolley on the main cable according to the trolley position information, and determine the actual detection position of the to-be-detected carrier on the main cable according to the actual running position and the preset conversion relationship, including: determining the actual running position of the trolley on the main cable according to the relative position coordinates; determining the actual detection position of the to-be-detected carrier on the main cable according to the distance conversion relationship between the carrier detection sensor and the trolley positioner, the coordinate conversion relationship between the relative position coordinates and the main cable, and the actual running position; the preset conversion relationship includes the distance conversion relationship and the coordinate conversion relationship.

[0044] For example, the trolley positioner comprises a trolley GPS component, the controller comprises a PLC component arranged on the trolley and an upper computer arranged in the main tower control system. As shown in Figure 6 FIG. 1 is a communication schematic diagram of a carrier safety position state detection system provided by an embodiment of the present application.

[0045] Firstly, the ground base station establishes communication with the global positioning system (GPS), receives base station satellite signals and solves its own base station reference coordinates in the protocol earth coordinate system, providing a unified reference for the trolley positioning. At the same time, the trolley GPS component on the trolley 5 receives trolley satellite signals to determine the trolley reference coordinates of the trolley 5 in the protocol earth coordinate system, and receives the base station reference coordinates sent by the ground base station. By comparing the two, the relative position coordinates of the trolley 5 relative to the ground base station are calculated, and the relative position coordinates are transmitted to the PLC component in the trolley controller. The PLC component converts the relative position coordinates into trolley position information of the trolley 5 on the main cable 21 (traveling track). During the operation of the trolley 5 along the main cable 21, if the trolley detection sensor 51 detects that the measured trolley is in the initial position and the posture is correct, the sensor will capture the change of the light signal and determine that the trolley 4 is detected, generate a detection electric signal and send it to the PLC component, so that the PLC component records the trolley position information corresponding to the time when the detection electric signal is received and sends the trolley position information to other parts of the controller (such as the upper computer in the main tower control system), so that the upper computer continues to execute the subsequent steps.

[0046] In some embodiments, the trolley position information is also obtained by setting an encoder on the trolley 5 and the circumference of the guide wheel of the trolley 5. It can be understood that the encoder and the trolley positioner can be used together to obtain more accurate trolley position information. The encoder is fixed on the guide wheel shaft of the traction mechanism of the trolley 5 and rotates synchronously with the guide wheel (the guide wheel is a steering part of the traction steel wire rope and rotates with the trolley). When the guide wheel rotates, it will drive the encoder to rotate synchronously. The encoder records the number of revolutions by pulse counting, and combines the preset steel wire rope length corresponding to one revolution of the guide wheel (determined by the circumference of the guide wheel) to calculate the distance moved by the trolley, and then obtain the approximate position of the trolley 5 on the main cable 21.

[0047] Embodiment two On the basis of embodiment one, further, the trolley detection sensor 51 includes a plurality of trolley detection sensors 51, at least one corresponding trolley detection sensor 51 is arranged at the first end in the trolley traveling direction, and at least one corresponding trolley detection sensor 51 is arranged at the second end in the trolley traveling direction. For example: the trolley detection sensor 51 includes a first trolley detection sensor and a second trolley detection sensor; the first trolley detection sensor is arranged at the front end in the trolley traveling direction, and the second trolley detection sensor is arranged at the rear end in the trolley traveling direction.

[0048] When the trolley 5 runs along the running track, approaches or moves away from the to-be-tested bearing horse, the first bearing horse detection sensor at the front end and the second bearing horse detection sensor at the rear end will successively interact with the to-be-tested bearing horse (i.e., detect the bearing horse). Specifically, when the trolley 5 moves towards the bearing horse 4 (enters the bearing horse 4), the front-end sensor transmits a light signal. If the bearing horse 4 is at the initial position and in a correct posture, the bearing horse 4 will block or reflect the light signal, and the sensor receiving end will capture the presence or absence or the strength change of the light signal, so as to determine that the bearing horse 4 is detected. When the trolley moves away from the bearing horse 4 (exits the bearing horse 4), the rear-end sensor repeats the above detection logic. If the sensor does not detect the change of the light signal (does not identify the bearing horse 4), an abnormal signal is directly sent to the trolley positioner, prompting that the bearing horse 4 may be skewed or deviated from the initial position.

[0049] In this case, the detection electrical signals include first detection electrical signals and second detection electrical signals, and the trolley position information includes first trolley position information and second trolley position information. The trolley positioner is configured to receive and respond to the first detection electrical signals sent by the first bearing horse detection sensor when the to-be-tested bearing horse is detected, determine the corresponding first trolley position information based on the first detection electrical signals; and receive and respond to the second detection electrical signals sent by the second bearing horse detection sensor when the to-be-tested bearing horse is detected, determine the corresponding second trolley position information based on the second detection electrical signals.

[0050] At this time, the actual running position includes a trolley entering position and a trolley leaving position; the actual detection position includes an entering detection position and a leaving detection position; and the preset conversion relationship includes an entering conversion relationship and a leaving conversion relationship.

[0051] That is, the controller determines the trolley entering position when the trolley enters the to-be-tested bearing horse according to the first trolley position information, and determines the entering detection position of the to-be-tested bearing horse on the main rope according to the trolley entering position and the entering conversion relationship; determines the trolley leaving position when the trolley exits the to-be-tested bearing horse according to the second trolley position information, and determines the leaving detection position of the to-be-tested bearing horse on the main rope according to the trolley leaving position and the leaving conversion relationship; In a case where the matching result of the entering detection position and the preset position is matching, and the matching result of the leaving detection position and the preset position is matching, it is determined that the to-be-tested bearing horse is in a safe position state.

[0052] For example, when the trolley 5 moves towards the measured carrier (into the measured carrier), the light signal emitted by the first carrier detection sensor at the front end is blocked or reflected by the measured carrier, generating a first detection electrical signal. At this time, the system immediately reads the current position information of the trolley (first trolley position information) to determine the trolley entry position, and then continues to obtain the entry detection position of the measured carrier according to the fixed installation position of the first carrier detection sensor on the trolley 5 (for example, the distance between the first carrier detection sensor and the reference point at the front end of the trolley is a preset fixed value) and the entry conversion relationship (for example, trolley current position-first carrier detection sensor to trolley positioning reference point distance=measured carrier actual position).

[0053] When the trolley 5 continues to move and gradually moves away from the measured carrier (out of the measured carrier), the second carrier detection sensor at the rear end interacts with the measured carrier (generating a second detection electrical signal). The system repeats the above logic to read the second position information of the trolley at this time, and obtains the exit detection position of the measured carrier according to the fixed installation position of the second carrier detection sensor on the trolley 5 and the exit conversion relationship.

[0054] The system compares the entry detection position and the exit detection position with the pre-stored preset position respectively. If the deviation of the two detection positions from the preset position is within the safe threshold range (for example, the deviation is ≤10 cm, the preset allowable error), it is determined that both positions match. This means that the measured carrier has not been offset when the trolley 5 enters, and has not been offset due to impact when the trolley 5 leaves, and the posture is correct and the position is stable, so it is determined that the measured carrier is in a safe position state.

[0055] If the entry detection position deviates from the preset position by more than the threshold, or the exit detection position deviates from the preset position by more than the threshold (either does not match), it is determined that the carrier state is abnormal. For example, the entry detection position shows that the carrier is at 99.5 meters (initial 100 meters, deviation of 0.5 meters exceeds the threshold), indicating that the trolley 5 has been offset when entering the carrier, which may be caused by the position shift due to previous impact. Or for example: the entry detection position matches (100 meters), but the exit detection position shows 100.6 meters (deviation of 0.6 meters exceeds the threshold), indicating that the trolley 5 may have caused the measured carrier to deviate due to impact when passing through the measured carrier. At this time, it is determined that the measured carrier is not in a safe position state, and the system immediately triggers an alarm and stops to avoid subsequent impact causing the carrier to fall off.

[0056] In addition, there is also a case where the carrier detection sensor 51 does not detect the measured carrier.

[0057] In the case that the trolley 5 completes the running track and the trolley detection sensor 51 does not detect the to-be-tested trolley, it is determined that the to-be-tested trolley is not in the safe position state. If the trolley 5 completes the running track and the trolley detection sensor 51 still does not trigger the signal of detecting the trolley, it indicates that the to-be-tested trolley has deviated from the preset detection range. It may be that the to-be-tested trolley deviates greatly (out of the light signal coverage angle of the sensor) due to a serious impact, or is tilted and fallen (the sensor cannot capture the complete shielding or reflection signal), or even falls off the main cable 21 (completely out of the track). At this time, the trolley loses the core function of bearing the cable and preventing tangling, and there is a safety hazard of falling and injuring, so it is directly determined that the to-be-tested trolley is not in the safe position state, and the system immediately alarms and stops for inspection.

[0058] Alternatively, any one of the first trolley detection sensor and the second trolley detection sensor does not detect the to-be-tested trolley. This indicates that when the trolley 5 enters the trolley or when the trolley 5 leaves the trolley, the trolley has deviated greatly, so that the sensor cannot generate the corresponding detection electric signal according to the change of the light signal. At this time, the trolley has a safety hazard of falling and injuring, so it is directly determined that the to-be-tested trolley is not in the safe position state, and the system immediately alarms and stops for inspection.

[0059] Embodiment Three Based on the same inventive concept, the embodiment of the present application provides a trolley safe position state detection method, which is matched with the cable crane. As shown in Figure 7 Fig. 1 is a flowchart of a trolley safe position state detection method provided by the embodiment of the present application, and the method comprises steps S1-S4.

[0060] Step S1, in the running process of the trolley, controlling the trolley detection sensor arranged on the trolley to detect the position state of the to-be-tested trolley; Step S2, in the case that the trolley detection sensor detects the to-be-tested trolley, controlling the trolley positioner arranged on the trolley to determine the corresponding trolley position information; Step S3, determining the actual running position of the trolley on the main cable according to the trolley position information, and determining the actual detection position of the to-be-tested trolley on the main cable according to the actual running position and the preset conversion relationship; Step S4, judging whether the to-be-tested trolley is in the safe position state according to the matching result of the actual detection position and the preset position.

[0061] Regarding step S1, in the running process of the trolley, the trolley detection sensor arranged on the trolley is controlled to detect the position state of the to-be-tested trolley.

[0062] In the dynamic process of the trolley of the cable crane running along the main cable, the position state of the to-be-detected carrier is detected in real time by controlling the carrier detection sensor installed on the trolley, which is in the running track of the trolley. It is combined with the normal operation of the trolley to carry out synchronous development, and the sensor can preliminarily judge whether the to-be-detected carrier can be captured by sensing the shielding or reflection change of the to-be-detected carrier to the light signal, so as to provide detection electric signal for further determining the position of the carrier and judging the safety state.

[0063] Regarding step S2, when the carrier detection sensor detects the to-be-detected carrier, the trolley positioner arranged on the trolley is controlled to determine the corresponding trolley position information, including steps S21-S23.

[0064] Step S21, control the ground base station to receive the base station satellite signal sent by the global positioning system and determine the base station reference coordinate of the ground base station in the protocol earth coordinate system according to the base station satellite signal; Step S22, control the trolley positioner to receive the trolley satellite signal sent by the global positioning system, and determine the trolley reference coordinate of the trolley in the protocol earth coordinate system based on the trolley satellite signal; Step S23, determine the relative position coordinate of the trolley relative to the ground base station through the base station reference coordinate and the trolley reference coordinate, and take the relative position coordinate as the trolley position information.

[0065] Regarding steps S21-S23, first, control the ground GPS base station to receive the base station satellite signal sent by the global positioning system (GPS), and determine the accurate base station reference coordinate of the ground base station in the protocol earth coordinate system through signal solution, which provides a unified reference for positioning. Control the trolley positioner to receive the trolley satellite signal sent by the GPS, and solve the trolley reference coordinate of the trolley in the protocol earth coordinate system. By comparing the base station reference coordinate and the trolley reference coordinate, the relative position coordinate of the trolley relative to the ground base station is calculated, which can eliminate the satellite signal propagation error, and finally serves as the accurate trolley position information, providing data support for subsequent derivation of the carrier position.

[0066] Regarding step S3, the actual running position of the trolley on the main cable is determined according to the trolley position information, and the actual detection position of the to-be-detected carrier on the main cable is determined according to the actual running position and the preset conversion relationship, including steps S31-S32.

[0067] Step S31, determine the actual running position of the trolley on the main cable according to the relative position coordinate; Step S32, determine the actual detection position of the to-be-detected carrier on the main cable according to the distance conversion relationship between the carrier detection sensor and the trolley positioner, the coordinate conversion relationship between the relative position coordinate and the main cable, and the actual running position; the preset conversion relationship includes the distance conversion relationship and the coordinate conversion relationship.

[0068] As to steps S31-S32, based on the trolley position information obtained in step S2, the actual detection position of the to-be-tested carrier on the main cable is further derived. According to the determined relative position coordinates of the trolley, combined with the overhead path characteristics of the main cable (such as the orientation of the main cable in the protocol earth coordinate system, the start point and end point coordinates), the three-dimensional relative position coordinates are converted into the linear distance of the trolley on the main cable, that is, the actual running position of the trolley on the main cable, through a preset algorithm. Using a preset conversion relationship (including a fixed distance conversion relationship between the carrier detection sensor and the trolley positioner on the trolley and a corresponding conversion relationship between the relative position coordinates of the trolley and the linear coordinates of the main cable), taking the actual running position of the trolley on the main cable as a reference, the fixed distance deviation of the sensor and the positioner is deducted or superimposed, and at the same time, the coordinate system is adapted and converted into the linear coordinates of the main cable, so that the actual detection position of the to-be-tested carrier on the main cable is accurately determined.

[0069] As to step S4, whether the to-be-tested carrier is in a safe position state is determined according to the matching result of the actual detection position and the preset position.

[0070] According to the actual detection position of the to-be-tested carrier on the main cable obtained in step S3, a comparison analysis is performed with the pre-stored carrier preset position (usually the reference position of the carrier on the main cable when the carrier is initially installed, which is the standard reference for judging safety). Whether the deviation of the two is within the preset safe threshold range (the deviation within the threshold is matched, and the deviation exceeding the threshold is not matched), so that whether the to-be-tested carrier is in a safe position state is finally determined. If matched, it indicates that the carrier does not deviate from the reference position and the posture is stable; if not matched, it indicates that the carrier may have problems such as deviation and skew, and subsequent alarm or shutdown measures need to be triggered.

[0071] Embodiment Four Based on the same inventive concept, the embodiment of the present application also provides a carrier safe position state detection device as shown in Figure 8 The device comprises: A carrier detection sensor control module 61 is configured to control the carrier detection sensor arranged on the trolley to detect the position state of the to-be-tested carrier during the running of the trolley. A positioning control module 62 is configured to control the trolley positioner arranged on the trolley to determine corresponding trolley position information when the carrier detection sensor detects the to-be-tested carrier. An actual detection position determination module 63 is configured to determine the actual running position of the trolley on the main cable according to the trolley position information, and determine the actual detection position of the to-be-tested carrier on the main cable according to the actual running position and a preset conversion relationship. A safe position state judgment module 64 is configured to determine whether the to-be-tested carrier is in a safe position state according to the matching result of the actual detection position and the preset position.

[0072] Since the electronic device introduced in the embodiment is the electronic device used for implementing the method for processing information in the embodiment of the present application, based on the method for processing information introduced in the embodiment of the present application, those skilled in the art can understand the specific implementation of the electronic device of the embodiment and various changes thereof, so how the electronic device implements the method in the embodiment of the present application is not introduced in detail here. As long as the electronic device used for implementing the method for processing information in the embodiment of the present application is implemented by those skilled in the art, it belongs to the scope of the present application.

[0073] Those skilled in the art will appreciate that embodiments of the present application can be provided as methods, systems, or computer program products. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk memory, CD-ROMs, optical storage media, etc.) having computer usable program code embodied therein.

[0074] The present application is described with reference to flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as combinations of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus produce an apparatus that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in a flow or multiple flows and / or blocks Figure 1 The functions specified in a flow or multiple flows and / or blocks

[0075] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including instruction apparatus, which implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in a flow or multiple flows and / or blocks Figure 1 The functions specified in a flow or multiple flows and / or blocks

[0076] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, so that a series of operation steps are performed on the computer or other programmable data processing apparatus to produce a computer-implemented process, so that the instructions executed on the computer or other programmable data processing apparatus provide a process for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in a flow or multiple flows and / or blocksFigure 1 the steps of the functions specified in the one or more blocks.

[0077] While the preferred embodiments of the application have been described, additional variations and modifications can be made to the preferred embodiments by those of skill in the art once they have the benefit of the present disclosure. Therefore, the appended claims are intended to encompass within their scope all possible variations and modifications of the preferred embodiments. 1

[0078] It is apparent that those skilled in the art can make various changes and modifications to the application without departing from the spirit and scope of the application. Therefore, the application intends to cover all such changes and modifications of the application within the scope of the application and its equivalents.

Claims

1. A system for detecting the safe position status of a vehicle, characterized in that, The system is matched with a cable crane, which includes a main cable, a support frame, and a trolley. The support frame is installed on the main cable, and the trolley travels along the main cable; the system includes: A bearing detection sensor is installed on the trolley, and the bearing detection sensor is used to detect the position status of the bearing to be measured in the direction of travel during the operation of the trolley; A trolley locator is installed on the trolley. The trolley locator is used to receive and respond to the detection electrical signal sent by the bearing detection sensor when it detects the bearing to be tested, and to determine the corresponding trolley position information based on the detection electrical signal. The controller is configured as follows: The actual running position of the trolley on the main cable is determined based on the trolley position information, and the actual detection position of the bearing to be tested on the main cable is determined based on the actual running position and the preset conversion relationship. The test support is determined to be in a safe position based on the matching result between the actual detection position and the preset position.

2. The safety position status detection system for a bearing horse as described in claim 1, characterized in that, The system also includes a ground base station, and both the ground base station and the vehicle locator communicate with the Global Positioning System. The ground base station is used to receive base station satellite signals sent by the global positioning system and determine the base station reference coordinates in the protocol geostationary coordinate system based on the base station satellite signals. The vehicle locator is also used to receive vehicle satellite signals sent by the global positioning system, determine the vehicle reference coordinates in the protocol earth coordinate system based on the detection electrical signal and the vehicle satellite signal, determine the relative position coordinates of the vehicle relative to the ground base station through the base station reference coordinates and the vehicle reference coordinates, and use the relative position coordinates as the vehicle position information.

3. The safety position status detection system for a bearing horse as described in claim 2, characterized in that, The step of determining the actual running position of the trolley on the main cable based on the trolley position information, and determining the actual detection position of the bearing to be tested on the main cable based on the actual running position and a preset conversion relationship, includes: The actual running position of the trolley on the main cable is determined based on the relative position coordinates. Based on the distance conversion relationship between the bearing detection sensor and the trolley locator, the coordinate conversion relationship between the relative position coordinates and the main cable, and the actual running position, the actual detection position of the bearing to be tested on the main cable is determined; the preset conversion relationship includes the distance conversion relationship and the coordinate conversion relationship.

4. The safety position status detection system for a bearing horse as described in claim 1, characterized in that, The load-bearing detection sensor includes a first load-bearing detection sensor and a second load-bearing detection sensor; the first load-bearing detection sensor is located at the front end of the vehicle in the direction of travel, and the second load-bearing detection sensor is located at the rear end of the vehicle in the direction of travel. The vehicle locator is used to receive and respond to the first detection electrical signal sent by the first bearing detection sensor when it detects the bearing to be tested, and to determine the corresponding first position information of the vehicle based on the first detection electrical signal. And for receiving and responding to a second detection electrical signal sent by the second bearing detection sensor when it detects the bearing to be tested, and determining the corresponding second position information of the trolley based on the second detection electrical signal; The detection electrical signal includes the first detection electrical signal and the second detection electrical signal, and the vehicle position information includes the vehicle's first position information and the vehicle's second position information.

5. The safety position status detection system for a bearing horse as described in claim 4, characterized in that, The step of determining the actual running position of the trolley on the main cable based on the trolley position information, and determining the actual detection position of the bearing to be tested on the main cable based on the actual running position and a preset conversion relationship, includes: The trolley entry position is determined based on the trolley's first position information, and the entry detection position of the test bearing on the main cable is determined based on the trolley entry position and the entry conversion relationship. The departure position of the trolley when it leaves the bearing to be tested is determined based on the second position information of the trolley, and the departure detection position of the bearing to be tested on the main cable is determined based on the departure position of the trolley and the departure conversion relationship. The actual operating position includes the vehicle's entry position and the vehicle's departure position; the actual detection position includes the entry detection position and the departure detection position; the preset conversion relationship includes the entry conversion relationship and the departure conversion relationship.

6. The safety position status detection system for a bearing horse as described in claim 5, characterized in that, The step of determining whether the bearing to be tested is in a safe position based on the matching result of the actual detection position and the preset position includes: If the matching result of the entry detection position and the preset position is a match, and the matching result of the exit detection position and the preset position is a match, then the test bearing is determined to be in the safe position state.

7. A method for detecting the safe position status of a bearing horse, characterized in that, The method is compatible with cable cranes, which include a main cable, a support frame, and a trolley. The support frame is installed on the main cable, and the trolley travels along the main cable; the method includes: During the operation of the trolley, the control system detects the position and status of the bearing to be tested using the bearing detection sensor installed on the trolley. When the bearing detection sensor detects the bearing to be tested, it controls the trolley locator set on the trolley to determine the corresponding trolley position information. The actual running position of the trolley on the main cable is determined based on the trolley position information, and the actual detection position of the bearing to be tested on the main cable is determined based on the actual running position and the preset conversion relationship. The test support is determined to be in a safe position based on the matching result between the actual detection position and the preset position.

8. The method for detecting the safe position status of a bearing horse as described in claim 7, characterized in that, When the bearing detection sensor detects the bearing to be tested, the step of controlling the trolley locator installed on the trolley to determine the corresponding trolley position information includes: The system controls the ground base station to receive base station satellite signals sent by the Global Positioning System and determines the base station reference coordinates in the protocol Earth coordinate system based on the base station satellite signals. The system controls the vehicle locator to receive the vehicle satellite signals sent by the global positioning system, and determines the vehicle's reference coordinates in the protocol geostationary coordinate system based on the vehicle satellite signals. The relative position coordinates of the vehicle with respect to the ground base station are determined by the base station reference coordinates and the vehicle reference coordinates, and the relative position coordinates are used as the vehicle's position information.

9. The method for detecting the safe position status of a bearing as described in claim 8, characterized in that, The step of determining the actual running position of the trolley on the main cable based on the trolley position information, and determining the actual detection position of the bearing to be tested on the main cable based on the actual running position and a preset conversion relationship, includes: The actual running position of the trolley on the main cable is determined based on the relative position coordinates. Based on the distance conversion relationship between the bearing detection sensor and the trolley locator, the coordinate conversion relationship between the relative position coordinates and the main cable, and the actual running position, the actual detection position of the bearing to be tested on the main cable is determined; the preset conversion relationship includes the distance conversion relationship and the coordinate conversion relationship.

10. A device for detecting the safe position status of a horse-drawn carriage, characterized in that, The device is matched with a cable crane, which includes a main cable, a support frame, and a trolley. The support frame is installed on the main cable, and the trolley travels along the main cable; the device includes: The bearing detection sensor control module is used to control the bearing detection sensor installed on the trolley to detect the position status of the bearing to be measured during the operation of the trolley. The positioning control module is used to control the trolley locator set on the trolley to determine the corresponding trolley position information when the bearing detection sensor detects the bearing to be tested. The actual detection position determination module is used to determine the actual running position of the trolley on the main cable based on the trolley position information, and to determine the actual detection position of the bearing to be tested on the main cable based on the actual running position and a preset conversion relationship. The safe position status determination module is used to determine whether the test bearing is in a safe position status based on the matching result between the actual detection position and the preset position.

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