Speed detection device for large and small crane cars

Abstract

The utility model relates to the technical field of crane speed detection, in particular to a crane trolley and trolley speed detection device, which comprises a measuring host and a base, the measuring host is fixed above the base, and a battery, a motor driving module and a motor are arranged in the base. A laser ranging module and a high-precision inclination angle sensing module are integrated in the measuring host, a driving shaft of the motor is mechanically connected with a rotating part of the measuring host, the battery is electrically connected with the motor driving module, and the motor driving module is electrically connected with the motor. The problems that in the prior art, measurement equipment is complex in installation, high-altitude operation is needed, measurement precision is limited, manual intervention is much, and efficiency is low are effectively solved, and a safer, more efficient and more convenient crane trolley and trolley speed detection scheme is provided.

Description

Technical Field

[0001] This utility model relates to the field of crane speed detection technology, and in particular to a crane trolley and crane speed detection device. Background Technology

[0002] Currently, during the operation of gantry and bridge cranes, the speed of the trolley and overhead crane is typically measured along the track direction using a high-speed laser rangefinder. Specifically, this method calculates the speed by measuring the position of the trolley and overhead crane at different time points and calculating the rate of change of their distance. However, this measurement method has certain limitations, mainly in the installation and use of the measuring equipment. Since the crane's trolley and overhead crane tracks are mostly located at high altitudes, surveyors typically need to climb to a position seven or eight meters or even higher to fix the rangefinder in a suitable position, aligning it with the direction of the trolley's movement. After installation, the surveyors must return to the ground to take measurements, and then climb back up to retrieve the equipment. This process is not only cumbersome and time-consuming, but also poses significant safety hazards due to the nature of working at heights, easily leading to injuries or accidents.

[0003] Furthermore, traditional measurement methods have high requirements for the installation position of the equipment, ensuring that the measuring direction of the distance measuring device is strictly consistent with the movement direction of the crane trolley and gantry; otherwise, the measurement accuracy may be affected. However, in practical applications, the crane's operating environment is complex and may be affected by external interference, such as vibration and wind, leading to poor stability of the measuring equipment and consequently affecting the accuracy of the measurement results. Therefore, how to avoid directly measuring distance along the movement direction and explore distance measuring methods in other directions to accurately measure the speed of the crane trolley and gantry has become an urgent technical problem to be solved. Summary of the Invention

[0004] This invention provides a device for measuring the speed of a crane's trolley and crane without requiring distance measurement along the direction of movement. This solves the problems of cumbersome installation and disassembly of existing measuring devices, time-consuming measurement processes, and safety hazards associated with working at heights. This solution achieves accurate measurement of the trolley and crane speeds by measuring distances perpendicular to the direction of movement, combined with data processing. It avoids the requirement of installing the measuring device along the direction of movement, thus reducing the need for working at heights, improving the convenience and safety of measurement, and simultaneously increasing measurement efficiency.

[0005] This utility model is achieved through the following technical solution:

[0006] A crane trolley speed detection device includes a measuring host and a base. The measuring host is fixed above the base, and the base is equipped with a battery, a motor drive module, and a motor.

[0007] The measurement host integrates a laser ranging module and a high-precision tilt sensing module.

[0008] The drive shaft of the motor is mechanically connected to the rotating part of the measuring host, the battery is electrically connected to the motor drive module, and the motor drive module is electrically connected to the motor.

[0009] Furthermore, it also includes a control module, which is communicatively connected to the motor drive module in the base and is used to send rotation angle control commands.

[0010] Furthermore, the optical path direction of the laser ranging module is coplanar with the rotation axis of the measuring host, and the angle is adjusted around the rotation axis as the measuring host rotates.

[0011] Furthermore, the tilt sensing module is fixedly installed inside the measuring host, and its measuring axis is parallel to the optical path direction of the laser ranging module.

[0012] Furthermore, the measuring host is fixed to the base by a connecting rod, the drive shaft is located inside the connecting rod, one end of the drive shaft is connected to the motor output end, and the other end of the drive shaft is provided with a drive gear, which is a helical gear. The measuring host is provided with a rotating shaft, one side of which is a helical gear, and the rotating shaft meshes with the drive gear for transmission.

[0013] Furthermore, the measuring host is equipped with a power module, which is electrically connected to the battery, the motor drive module and the measuring host respectively.

[0014] Furthermore, the control module communicates with the laser ranging module and tilt sensing module in the measurement host via a data interface to receive ranging data and tilt data.

[0015] Beneficial effects of the utility model:

[0016] (1) The present invention proposes a crane trolley speed detection device. The present invention adopts a distance measurement method perpendicular to the movement direction of the trolley and crane, which can install the measuring device in a more accessible position, such as the ground or the side wall of the crane, reducing the need for high-altitude operations and thus improving operational safety.

[0017] (2) The crane trolley speed detection device proposed in this utility model does not require strict alignment with the target along the direction of movement for distance measurement, thus avoiding the problem of repeatedly adjusting the angle and position of the distance measuring device during the installation process in the traditional method. The measuring host is driven by a motor to rotate and adjust the angle. Combined with a high-precision tilt sensor, it can automatically adjust to the optimal measurement angle without frequent manual intervention, thereby simplifying the operation process and reducing the workload of personnel.

[0018] (3) The crane trolley speed detection device proposed in this utility model combines a laser ranging module and a high-precision tilt angle sensing module to collect ranging data and angle data in real time, and accurately calculates the speed of the trolley and the crane through a control module, thereby reducing the influence of the external environment on the measurement accuracy and improving the stability and reliability of the measurement.

[0019] (4) The crane trolley speed detection device proposed in this utility model adopts a motor-driven rotating mechanism, which can automatically adjust the measuring angle during the measurement process without manual adjustment. Combined with the automatic calculation function of the control module, it can realize unattended continuous measurement. Compared with the traditional method, it reduces the measurement time and improves the measurement efficiency, and is suitable for scenarios where the crane trolley operation status is frequently detected;

[0020] (5) The crane trolley speed detection device proposed in this utility model adopts a modular design, integrating the main measuring unit, base, motor drive module, power supply module, etc. into a compact device, which can be flexibly installed in different measuring environments. At the same time, the helical gear transmission structure is adopted to ensure the smoothness and accuracy of rotation adjustment, so that the equipment can adapt to the measurement needs of different angles and improve the application range.

[0021] This invention effectively solves the problems of complex installation of measuring equipment, need for high-altitude operation, limited measurement accuracy, and low efficiency due to excessive manual intervention in the existing technology, and provides a safer, more efficient and convenient solution for detecting the speed of crane trolleys and crane trolleys. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the structure of a crane trolley speed detection device proposed in this utility model;

[0024] Figure 2 This utility model provides a schematic diagram of the control module circuit for a crane trolley and crane speed detection device.

[0025] Figure 3 This utility model provides a schematic diagram of the communication module circuit for a crane trolley and crane speed detection device.

[0026] Figure 4 This utility model presents a schematic diagram of the laser ranging module circuit for a crane trolley speed detection device.

[0027] Figure 5 This utility model provides a schematic diagram of the tilt angle sensing module circuit for a crane trolley speed detection device.

[0028] Figure 6 This utility model provides a schematic diagram of the motor drive module circuit for a crane trolley speed detection device.

[0029] Figure 7 This is a schematic diagram of the charging circuit for a crane trolley speed detection device proposed in this utility model;

[0030] Figure 8 This utility model provides a schematic diagram of a voltage stabilizing circuit for a crane trolley and crane speed detection device.

[0031] Figure 9 This is a schematic diagram of the operation of a crane trolley speed detection device proposed in this utility model.

[0032] In the diagram, 1 is the measuring host, 2 is the base, 3 is the connecting rod, 4 is the drive shaft, 5 is the motor, 6 is the drive gear, and 7 is the rotating shaft. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of this utility model are only used to explain this utility model and are not intended to limit this utility model.

[0034] Example 1

[0035] This embodiment proposes a circuit structure for each functional module of a crane trolley speed detection device.

[0036] A crane trolley and crane speed detection device includes a control module, a communication module, a laser ranging module, a tilt sensing module, a motor drive module, a power supply module, and a battery;

[0037] refer to Figure 2 The main control module includes a main control chip U4, model STM8L101F3U6TR. Pin 1 of the main control chip U4 is connected to one end of resistor R3 and one end of capacitor C20. The other end of resistor R3 is connected to one end of capacitor C21, one end of capacitor C22, one end of capacitor C23, and grounded after a 3.3V voltage. The other end of capacitor C20 is grounded. Pin 7 of the main control chip U4 is connected to the gate of a MOSFET. The drain of the MOSFET is connected to pin 1 of the oscillator P8. Pin 2 of the oscillator P8 is connected to a 3.3V voltage.

[0038] refer to Figure 3The communication module includes a transceiver chip U1, model CMT2300A. Pin 9 of transceiver chip U1 is connected to pin 12 of main control chip U4, pin 10 of transceiver chip U1 is connected to pin 13 of main control chip U4, pin 11 of transceiver chip U1 is connected to pin 15 of main control chip U4, pin 12 of transceiver chip U1 is connected to pin 16 of main control chip U4, and pin 1 of transceiver chip U1 is connected to one end of inductor L7, one end of inductor L8, and one end of capacitor C16. The other end of inductor L7 is connected to... Connect one end of inductor L6, one end of capacitor C8, and pin 2 of transceiver chip U1. Connect the other end of inductor L6 to the other end of capacitor C16, one end of inductor L3, and one end of inductor L4. Connect the other end of inductor L3 to one end of inductor L2 and one end of capacitor C6. Connect the other end of inductor L2 to one end of capacitor C5. Connect the other end of capacitor C5 to pin 3 of transceiver chip U1. Connect the other end of inductor L4 to one end of capacitor C7 and one end of inductor L5. Connect the other end of inductor L5 to pin 1 of the connector. Connect pin 2 of the connector to the IPEX socket.

[0039] refer to Figure 4 The laser ranging module includes a connector P2. Pin 2 of connector P2 is connected to one end of resistor R10, and the other end of resistor R10 is connected to pin 6 of the main control chip U4. Pin 3 of connector P2 is connected to one end of resistor R8, and the other end of resistor R8 is connected to pin 19 of the main control chip U4. In this embodiment, the main control module is connected to the laser rangefinder through connector P2. Connector P2 is a universal interface, and its design is compatible with different models of laser rangefinders. That is, as long as it conforms to the corresponding interface standard and communication protocol, it can communicate with the laser ranging module without additional adaptation. The communication protocols include TTL serial port, RS232, and RS485.

[0040] refer to Figure 5 The tilt sensing module includes a six-axis motion processing chip U7. Pin 23 of the six-axis motion processing chip U7 is connected to one end of resistor R6. The other end of resistor R6 is connected to one end of resistor R7 and pin 18 of the main control chip U4. Pin 24 of the six-axis motion processing chip U7 is connected to one end of resistor R4. The other end of resistor R4 is connected to one end of resistor R5 and pin 17 of the main control chip U4. The other ends of resistors R5 and R7 are connected to a 3.3V voltage.

[0041] refer to Figure 6 The motor drive module includes a drive chip U5, which is a TMC2209. Pins 3-6 of the drive chip U5 are connected to pins 4-6 of the motor, pin 9 of the drive chip U5 is connected to pin 9 of the main control chip U4, and pin 16 of the drive chip U5 is connected to pin 8 of the main control chip U4.

[0042] refer to Figure 7The power module includes a charging circuit and a voltage regulator circuit. The charging circuit includes a USB interface chip P1 and a power management chip U2. The interface chip P1 is of model Micro-B. Pin 1 of the interface chip P1 is connected to one end of a resistor R1, and the other end of the resistor R1 is connected to the anode of a light-emitting diode D1. The cathode of the light-emitting diode D1 is connected to pin 1 of the power management chip U2, and pin 3 of the power management chip U2 is connected to the output terminal of the battery.

[0043] refer to Figure 7 The voltage regulator circuit includes a switch P4 and a voltage regulator chip U3. The model of the switch P4 is MSK-12C01-07, and the model of the voltage regulator chip U3 is XC6206P3B2MR. Pin 7 of the switch P4 is connected to the output terminal of the battery, and pin 6 of the switch P4 is connected to pin 3 of the voltage regulator chip U3. Pin 2 of the voltage regulator chip U3 outputs a voltage of 3.3V.

[0044] Example 2

[0045] This embodiment proposes a specific implementation method for a crane trolley speed detection device based on embodiment 1.

[0046] This embodiment provides a crane trolley speed detection device based on laser ranging and triangulation. It is installed below the crane being tested, and the measurement angle is adjusted by remote control. Then, a high-speed laser rangefinder is used to quickly measure the moving distance of the trolley and crane. Combined with the change of the measurement angle, the lateral displacement of the trolley is calculated by mathematical trigonometric relationships, and finally the speed of the trolley is obtained.

[0047] Specifically:

[0048] This device includes a measuring host, a base, a motor drive module, a laser ranging module, a high-precision tilt sensing module, and a control module. The measuring host is fixed to the base by a connecting rod and can be rotated to adjust the angle under the drive of the motor.

[0049] Before starting the measurement, the operator initializes the device via remote control. After the device is started, the motor drive module controls the measuring host to rotate a certain angle so that the high-speed laser rangefinder is aligned with the trolley guide rail. The tilt sensor records the initial tilt angle value and stores it in the control module. The system enters the detection mode and waits for the trolley to arrive.

[0050] refer to Figure 9 The detection of the car reaching position T1, the laser ranging module quickly and continuously measures the target distance, and the control module analyzes the measurement data in real time.

[0051] When the measured distance error does not exceed 50mm, the system assumes that the car has not yet arrived and continues to measure. When the car moves to position T1, the distance measurement value of the high-speed laser rangefinder changes abruptly (change ≥ 50mm), indicating that the car has entered the measurement area and blocked part of the laser path.

[0052] Record the following data:

[0053] The distance measured is L1, which is the distance the car travels when it reaches T1.

[0054] The tilt angle value a1 is the current tilt angle of the measuring host.

[0055] Timestamp T1 is the time when the car arrives at position T1;

[0056] The device controls the motor to drive the measuring host to rotate, and adjusts the angle of the laser rangefinder (such as rotating it 20° clockwise) so that it is aligned with the second detection position T2 that the trolley may pass through.

[0057] When the vehicle reaches position T2, the laser ranging module continues to quickly measure the distance after the angle adjustment and monitor the data changes. If the measurement error is still less than 50mm, the system considers that the vehicle has not yet arrived and continues to wait. When the vehicle moves to position T2, the ranging value changes significantly again (≥50mm), indicating that the vehicle has reached the new detection point.

[0058] Record the following data:

[0059] The distance measured is L2, which is the distance the car travels when it reaches T2.

[0060] The tilt angle value a2 is the tilt angle of the measuring host at the new angle;

[0061] Timestamp T2, which is the time when the car arrives at T2;

[0062] Calculate the lateral displacement Lx and velocity of the trolley.

[0063] This device uses the distance measurements L1 and L2 from two measurement points and the corresponding tilt angles a1 and a2 to calculate the lateral displacement Lx of the trolley using trigonometric functions. The calculation formula is as follows: The horizontal displacement Lx of the trolley from T1 to T2 is calculated according to the cosine theorem of triangles:

[0064]

[0065] The speed of the car is:

[0066] Where L1 and L2 are the distance measurements taken by the laser rangefinder at positions T1 and T2; a1 and a2 are the tilt angles at the two measurement positions; T1 and T2 are the times it takes for the trolley to reach positions T1 and T2; Lx is the horizontal displacement of the trolley from T1 to T2; and v is the speed of the trolley.

[0067] This solution is applicable not only to the lateral movement of small vehicles but also to the speed detection of large vehicles. The method is the same; simply adjust the angle of the measuring host so that the laser rangefinder is aligned with the guide rail in the direction of the large vehicle's movement, and follow the same steps to measure and calculate to obtain the vehicle's speed.

[0068] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A speed detection device for the trolley and the crab of a crane, characterized in that, It includes a measurement host and a base. The measurement host is fixed above the base. Inside the base, there are a battery, a motor drive module, and a motor. The measurement host integrates a laser ranging module and a high-precision tilt sensing module. The drive shaft of the motor is mechanically connected to the rotating component of the measurement host. The battery is electrically connected to the motor drive module, and the motor drive module is electrically connected to the motor. It also includes a control module. The control module is communicatively connected to the motor drive module inside the base and is used to send rotation angle control instructions. The control module includes a main control chip U4. The model of the main control chip U4 is STM8L101F3U6TR. One end of pin 1 of the main control chip U4 is connected to one end of resistor R3, and one end of capacitor C20. The other end of resistor R3 is respectively connected to one end of capacitor C21, one end of capacitor C22, one end of capacitor C23, and after connecting to 3.3V voltage, it is grounded. The other end of capacitor C20 is grounded. Pin 7 of the main control chip U4 is connected to the gate of the MOS transistor. The drain of the MOS transistor is connected to pin 1 of the vibrator P8. Pin 2 of the vibrator P8 is connected to 3.3V voltage. The laser ranging module includes a connector P2. Pin 2 of the connector P2 is connected to one end of resistor R10, and the other end of resistor R10 is connected to pin 6 of the main control chip U4. Pin 3 of the connector P2 is connected to one end of resistor R8, and the other end of resistor R8 is connected to pin 19 of the main control chip U4. The control module is connected to the laser rangefinder through the connector P2. The connector P2 is a universal interface. The tilt sensing module includes a six-axis motion processing chip U7. Pin 23 of the six-axis motion processing chip U7 is connected to one end of resistor R6, and the other end of resistor R6 is respectively connected to one end of resistor R7 and pin 18 of the main control chip U4. Pin 24 of the six-axis motion processing chip U7 is connected to one end of resistor R4, and the other end of resistor R4 is respectively connected to one end of resistor R5 and pin 17 of the main control chip U4. The other ends of resistor R5 and resistor R7 are connected to 3.3V voltage. The motor drive module includes a drive chip U5. The model of the drive chip U5 is TMC2209. Pins 3-6 of the drive chip U5 are respectively connected to pins 4-6 of the motor. Pin 9 of the drive chip U5 is connected to pin 9 of the main control chip U4. Pin 16 of the drive chip U5 is connected to pin 8 of the main control chip U4.

2. The speed detection device for the trolley and crab of a crane according to claim 1, wherein The optical path direction of the laser ranging module is coplanar with the rotation axis of the measurement host and adjusts the angle around the rotation axis along with the measurement host.

3. The speed detection device for the trolley and the crane according to claim 1, wherein The tilt sensing module is fixedly installed inside the measurement host, and its measurement axis is parallel to the optical path direction of the laser ranging module.

4. The speed detection device for the crane trolley and crab according to claim 1, wherein, The measurement host and the base are fixed through a connecting rod. The drive shaft is located inside the connecting rod. One end of the drive shaft is connected to the output end of the motor, and the other end of the drive shaft is provided with a drive gear. The drive gear is a helical gear. A rotating shaft is provided on the measurement host. One side of the rotating shaft is a helical gear. The rotating shaft and the drive gear are meshed for transmission.

5. The speed detection device for the trolley and crab of a crane according to claim 1, wherein Inside the measurement host, there is a power supply module. The power supply module is electrically connected to the battery, the motor drive module, and the measurement host respectively.

6. The speed detection device for the trolley and crab of a crane according to claim 1, wherein The control module is communicatively connected to the laser ranging module and the tilt sensing module in the measurement host through a data interface, and is used to receive ranging data and tilt data.

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