CN101343017A - Control method and system for preventing collision of front sling and vehicle frame or/and cargo boom - Google Patents

Abstract

The invention discloses a control method and a control system which avoid the face cargo sling from colliding with a frame and/or a lifting arm; the method and the system judge if the cargo sling is in the state of being inclinable to collide with the frame or/and the lifting arm; if the cargo sling is in the state of being inclinable to collide with the frame or the lifting arm, the rotation angle of the cargo sling is detected; the relation of the rotation angle of the cargo sling and the critical angle is monitored; when the rotation angle of the cargo sling is less than the critical angle, the rotation angle of the cargo sling is not limited; when the rotation angle of the cargo sling is not less that the critical angle, the cargo sling is prevented from rotating to the direction apart from the central position, so as to prevent the cargo sling from colliding with the frame and the lifting arm; the critical angle is the minimum rotation angle when the cargo sling collides with the frame or the lifting arm; namely, the critical angle is the maximum allowed rotation angle before the cargo sling collides with the frame or the lifting arm. The control method and the control system provided by the invention is particularly applicable to avoiding the face cargo sling from colliding with the frame or/and lifting arm.

Description

Prevent front sling and vehicle frame or/and control method that crane arm collides and system

Technical field

The present invention relates to the method for operation and the system of hanging in a kind of front, particularly relate to and a kind ofly prevent front sling and vehicle frame or/and the control method that crane arm collides and be used to realize the control system of described control method.

Background technology

Hang in the freight container front is the visual plant of pallet loading, very general in current harbour, application in port.

The front is hung and is generally comprised vehicle frame, crane arm, suspender, the pitching hydraulic actuating cylinder, several sections such as telescopic hydraulic cylinder and hydraulic efficiency pressure system, vehicle frame is the mechanical support that hang in the front, fulcrum is an axle to crane arm on the vehicle frame to be fixed on, under the effect of pitching hydraulic actuating cylinder, raise or reduce, realize the change of the lifting angle of crane arm, telescopic hydraulic cylinder is used to realize the elongation and the retraction of crane arm, the length of crane arm is changed, suspender links to each other with the crane arm top, can directly link to each other with freight container, hydraulic efficiency pressure system can provide hydraulic power for pitching hydraulic actuating cylinder and telescopic hydraulic cylinder, under pitching hydraulic actuating cylinder and telescopic hydraulic cylinder cooperation, crane arm by suspender with container lifting after, the freight container place can be shifted, realize the shipment of freight container or pile up.

For the ease of the adjustment of container crane holding position, the suspender that the front hangs on often need rotate a certain angle so that freight container is piled up neatly with respect to crane arm.Smaller when crane arm lifting angle, length is smaller, after suspender rotated to an angle, suspender may bump against on the vehicle frame (comprising tire); When crane arm lifting angle is bigger, when suspender clockwise or inverse clock rotate to a certain angle, suspender will collide with crane arm.Owing to suspender, particularly have the suspender of freight container, weight is often bigger, in case collide with vehicle frame or crane arm, will hang the front and cause very big infringement.In addition, because positive suspender that hangs and operator's compartment distance are distant, can not control accurately the anglec of rotation of suspender, the maximum angle that suspender can rotate is judged by experience often, therefore, in actual hoisting operation, can't carry out accuracy control to the suspender anglec of rotation, therefore, when hoisting operation, freight container can not be placed on corresponding position sometimes; Suspender and positive vehicle frame or the crane arm that hangs are collided, the front is hung cause damage.Therefore, how avoiding front sling and vehicle frame or crane arm to bump, is that indeterminable problem is hung in the front in the prior art.

In addition, in hoisting operation, because can not accuracy control to the suspender anglec of rotation, the sling reliability of retry of freight container front also remains to be improved, and rotary hanger can not be brought into play the facility that the front sling spinfunction provides to hoisting operation to greatest extent.

Summary of the invention

At above-mentioned deficiency, one object of the present invention is, a kind of control method that prevents that front sling and vehicle frame from colliding is provided, and this method can avoid front sling and vehicle frame to collide and that the front is hung is impaired.

Another object of the present invention is, a kind of control method that prevents that front sling and crane arm from colliding is provided, and this method can avoid front sling and crane arm to collide and that the front is hung is impaired.

A further object of the present invention is, a kind of control method that prevents that front sling and vehicle frame and crane arm from colliding is provided, and this method can avoid front sling and vehicle frame and crane arm to collide and that the front is hung is impaired.Simultaneously, guarantee the positive reliability of heavy work operation of slinging, give full play to the facility that the front sling spinfunction provides for retry.

The control system that is used to realize above-mentioned control method that also provides of the present invention, it is impaired that the vehicle frame that the enforcement of this system can avoid the front to hang hangs the front or/and crane arm is collided, simultaneously, improve the positive reliability of heavy work operation of slinging, give full play to the facility that the front sling spinfunction provides for retry.

On the basis of the control system that is provided for realizing described control method, the present invention also provides a kind of freight container front of above-mentioned control system that comprises to hang.

The control method that prevents that front sling and vehicle frame from colliding provided by the invention comprises:

Step 101 is gathered positive variable parameter of hanging;

Step 102 is hung variable parameter according to the front of gathering, and judges whether suspender is in to understand the state that collides with vehicle frame; If then enter next step; If not, then return step 101;

Step 103 is gathered the angle [alpha] of suspender rotation, and α and α 1 are compared, and when judging α whether less than first critical angle degree α 1, if not, then enters next step; If return step 101; The minimum anglec of rotation of suspender when described first critical angle degree α 1 is suspender and vehicle frame collision; The angle [alpha] of described suspender rotation and first critical angle degree α 1 are to serve as the numerical value that reference is obtained and determined when being in meta with suspender;

Step 104 stops suspender to the direction rotation that departs from meta, returns step 101.

Preferably, also comprise before the described step 101: determine the step of the quantitative parameter that hang in the front, described quantitative parameter comprises: when crane arm was in nadir, suspender and vehicle frame were in the distance h of vertical direction ₀The height h of freight container ₂The crane arm fulcrum is to the length l in vehicle body forward position ₀The width b of vehicle frame ₀The width b of suspender;

In the described step 101, described collection front is hung variable parameter and is comprised: gather the length m of suspender, the length l of crane arm and lifting angle θ;

In the described step 102, when l is not more than (l ₀+ m)/and cos θ, or θ is not more than

The time, be judged to be and be; When l greater than (l ₀+ m)/cos θ, or θ greater than The time, be judged to be not;

In the described step 103; Described first critical angle degree α 1 equals

The control method that prevents that front sling and crane arm from colliding provided by the invention comprises:

Step 201 is gathered positive variable parameter of hanging;

Step 202, judge suspender whether be in can with the crane arm state that collides; If then enter next step; If not, then return step 201;

Step 203 is gathered the angle [alpha] of suspender rotation, and α and α 2 are compared, and when judging α whether less than second critical angle degree α 2, if not, then enters next step; If then return 201; The minimum anglec of rotation of suspender when described second critical angle degree α 2 is suspender and crane arm collision; Described suspender anglec of rotation α and second critical angle degree α 2 are to serve as the numerical value that reference is obtained and determined when being in meta with suspender;

Step 204 stops suspender to the direction rotation that departs from meta, returns 201.

Preferably, also comprise before the described step 201: determine the step of the quantitative parameter that hang in the front, described quantitative parameter comprises: the width b of suspender; The width a of crane arm and crane arm top are to the distance h between the suspender ₁

In the described step 201, described collection front is hung variable parameter and is comprised: the length m and the lifting angle θ that gather suspender;

In the described step 202, and when the lifting angle θ of crane arm greater than

The time, be judged as and be; And when the lifting angle θ of crane arm is not more than

The time; Be judged to be not;

In the described step 203, described second critical angle degree α 2 equals $\arccos \frac{b}{\sqrt{a^2+4{\left(h_{1}c\tan \mathrm{\θ}\right)}^2}}-\arctan \frac{a}{2h_{1}c\tan \mathrm{\θ}}.$

The control method that prevents that front sling and vehicle frame and crane arm from colliding provided by the invention comprises:

Step 301 is gathered positive variable parameter of hanging;

Step 302 is hung variable parameter according to the front of gathering, and judges whether suspender is in to understand the state that collides with vehicle frame; If then enter next step; If not, then enter step 305;

Step 303 is gathered the angle [alpha] of suspender rotation, and α and α 1 are compared, and when judging α whether less than first critical angle degree α 1, if not, then enters next step; If return step 301; The minimum anglec of rotation of suspender when described first critical angle degree α 1 is suspender and vehicle frame collision; The angle [alpha] of described suspender rotation and first critical angle degree α 1 are to serve as the numerical value that reference is obtained and determined when being in meta with suspender;

Step 304 stops suspender to the direction rotation that departs from meta, returns step 301;

Step 305, judge suspender whether be in can with the crane arm state that collides; If then enter next step; If not, then return step 301;

Step 306 is gathered the angle [alpha] of suspender rotation, and α and α 2 are compared, and when judging α whether less than second critical angle degree α 2, if not, then enters step 307; If then return 301; The minimum anglec of rotation of suspender when described second critical angle degree α 2 is suspender and crane arm collision, and be to serve as the numerical value that reference is determined when being in meta with suspender;

Step 307 stops suspender to the direction rotation that departs from meta, returns 301.

Preferably, also comprise before the described step 301: determine the step of the quantitative parameter that hang in the front, described quantitative parameter comprises: when crane arm was in nadir, suspender and vehicle frame were in the distance h of vertical direction ₀The height h of freight container ₂The crane arm fulcrum is to the length l in vehicle body forward position ₀The width b of vehicle frame ₀The width b of suspender; The crane arm top is to the distance h between the suspender ₁Width a with crane arm;

In the described step 301, described collection front is hung variable parameter and is comprised: length m, the front of the gathering suspender length l and the lifting angle θ of weighing arm that sling;

In the described step 302, when l is not more than (l ₀+ m)/and cos θ, or θ is not more than

The time, be judged to be and be; When l greater than (l ₀+ m)/cos θ, or θ greater than

The time, be judged to be not;

In the described step 303; Described first critical angle degree α 1 equals

In the described step 305, and when the lifting angle θ of crane arm greater than

The time, be judged as and be; And when the lifting angle θ of crane arm is not more than

The time; Be judged to be not;

In the described step 306, described second critical angle degree α 2 equals $\arccos \frac{b}{\sqrt{a^2+4{\left(h_{1}c\tan \mathrm{\θ}\right)}^2}}-\arctan \frac{a}{2h_{1}c\tan \mathrm{\θ}}.$

Preferably, the length m method of described collection suspender is: use the position near switch sensor induction suspender, when suspender was positioned at distance of reaction, the length m of described suspender was and the corresponding value of 20 forty equivalent unit 40s; In the time of in suspender leaves distance of reaction, the length m of described suspender is and the corresponding value of 40 forty equivalent unit 40s.

Preferably, the method for the described collection suspender anglec of rotation is: determine total number of teeth n of gear, described gear axis is coaxial with the suspender centre of gration, and with the suspender relative fixed; According to gear tooth with near the position of switch sensor relation, by producing corresponding electric signal near switch sensor; To change near the electric signal that switch sensor produces, obtain the tooth number i that gear rotation is crossed; Obtain the angle [alpha] of suspender rotation, wherein α=360 * i/n according to the tooth number i that turns over.

Provided by the inventionly be used to realize that the control system of the above-mentioned control method of claim comprises gear, described gear and suspender relative fixed, and the axis of gear is coaxial with respect to the rotation centerline of crane arm with suspender, also comprise field bus control system, first data trap, second data trap, the 3rd data trap, controller, solenoid directional control valve; Described field bus control system is connected first data trap with controller, second data trap, the 3rd data trap and solenoid directional control valve are connected with controller respectively; Described first data trap can obtain the length l and the lifting angle θ of crane arm; Described second data trap comprises first near switch sensor; During the rotation of described gear, its gear teeth can be by in first the distance of reaction near switch sensor; Described first can be according to producing corresponding electric signal by the gear teeth in the distance of reaction near switch sensor; Described the 3rd data trap comprises second near switch sensor, and whether described second can be in its distance of reaction according to suspender near switch sensor and to produce corresponding electric signal; Controller can receive and store the data of first data trap transmission, and can receive the corresponding electric signal that second data trap and the 3rd data trap produce, and obtain and store the angle [alpha] of suspender rotation and the length m of suspender according to the electric signal that receives; And can be according to described method to obtaining or canned data is handled, again according to the state of result by the circuit controling electromagnetism change-over valve; Solenoid directional control valve is connected on the hydraulic circuit that drives the suspender rotation, and can control the flow direction of hydraulic oil in the sling hydraulic pressure oil circuit.

Preferably, also comprise the 4th data trap, described the 4th data trap is near switch sensor; When suspender was got back to meta, the position that described the 4th data trap can suspender produced the meta signal, and the meta signal is transferred to controller; Described controller can receive the meta signal, and after receiving the meta signal, and the value of the suspender anglec of rotation α that controller is stored makes zero.

Preferably, described field bus control system is the CAN bus, and described first data trap has the CAN bus interface.

The present invention also provides a kind of freight container front to hang, this freight container front bull ladle is drawn together crane arm, vehicle frame, front and back tire, pitching hydraulic actuating cylinder, telescopic hydraulic cylinder, operator's compartment, fuel tank, steering swivel system, hydraulic efficiency pressure system, driving system and suspender, it is characterized in that, comprise that also above-mentioned being used to of claim realizes the control system of described control method, the described control system that is used to realize described control method is installed in the freight container front and hangs on.

Compared with prior art, front sling and the vehicle frame of preventing provided by the invention is or/and the control method that crane arm collides, in conjunction with the positive quantitative parameter that hangs, by real-time collection variable parameter, and according to variable parameter and quantitative parameter, the length and the lifting angle of monitoring crane arm, when suspender is in the state that can collide with crane arm or vehicle frame, gather the angle of suspender rotation, and the angle of suspender rotation and the first critical angle degree or the second critical angle degree of suspender compared, when the angle of suspender rotation is spent greater than first critical angle degree or second critical angle, stop suspender to the direction rotation that departs from meta, avoid crane arm or vehicle frame to be collided, also the state that the front is hung by technological means such as returning of step detects in real time and monitors.The minimum anglec of rotation of suspender when wherein, described first critical angle degree is suspender and vehicle frame collision; The minimum anglec of rotation of suspender when the second critical angle degree is suspender and crane arm collision; The anglec of rotation of suspender, first critical angle degree and second critical angle degree all are to serve as the numerical value that reference is obtained when being in meta with suspender.

In further technical scheme, use position near switch sensor induction suspender.Near switch sensor is a kind of displacement pickup, utilizes displacement pickup that the sensitivity characteristic near object is reached the purpose of control circuit state on-off, from then carrying out corresponding action.When suspender is positioned at distance of reaction, be in a kind of state near switch sensor, the length of described suspender is defined as 20 feet states; In the time of in suspender leaves distance of reaction, be in another kind of state, the length of described suspender is defined as 40 feet states near switch sensor, and the numerical value that every kind of state is corresponding certain, so that controller carries out respective handling.Utilization is determined the value of the length m of suspender to make data acquisition very simple near switch sensor, and reduction is controlled cost.

In further technical scheme, the described gear teeth that pass through in its distance of reaction near the switch sensor basis produce corresponding electric signal; Then, corresponding controller is converted to corresponding electric signal by near the tooth number in the switch sensor distance of reaction again, obtain the angle of suspender rotation according to tooth number and angular relationship again, based on above-mentioned characteristics near switch sensor, can make data acquisition simpler equally, saving is controlled cost.

Another aspect of the present invention, a kind of control system that is used to realize above-mentioned control method also is provided, the enforcement of this system can be gathered the quantitative parameter and the variable parameter of hanging in the front, adopt and the monitoring of the corresponding means realization of said method boom length and lifting angle, and the suspender anglec of rotation detected, monitors and control, reach corresponding goal of the invention, possess the corresponding techniques effect.

In further technical scheme, use near switch sensor and produce corresponding electric signal, obtain the length m of suspender and the anglec of rotation α of suspender according to corresponding electric signal again, it is very simple that the suspender related data is obtained, and reduces the cost of control system.

In further technical scheme, utilize the 4th data trap to controller transmission meta signal, controller can receive the meta signal, and after receiving the meta signal, the suspender anglec of rotation α that is stored in the controller is made zero, like this, controller can be when suspender be got back to meta at every turn, the suspender anglec of rotation that stores is made zero again, avoid obtaining the accumulation of datum error at every turn, improve the reliability that the suspender anglec of rotation is detected and controls.

On further technical scheme,, be used in the control system that realizes control method provided by the invention and possessed transmission time weak point, the characteristics that antijamming capability is stronger with the transmission of CAN bus realization to data between the controller and first data trap.

In addition, also provide a kind of freight container front to hang in the present invention, this freight container front bull ladle is drawn together the control system that above-mentioned being used to realizes control method provided by the invention.Owing to be used to realize that the control system of control method provided by the invention possesses above-mentioned technique effect, hang in the freight container front that comprises this system also has the corresponding techniques effect.

Control method provided by the invention and system are applicable to operation and the control that hang in the freight container front, are specially adapted to prevent that front sling and vehicle frame or crane arm from colliding.

Description of drawings

Fig. 1 is the control method diagram of circuit that prevents that front sling and vehicle frame and crane arm from colliding provided by the invention;

Fig. 2 is the control method diagram of circuit that prevents that front sling and vehicle frame from colliding provided by the invention;

Fig. 3 is the control method diagram of circuit that prevents that front sling and crane arm from colliding provided by the invention;

Fig. 4 is the block scheme that is used to realize the control system of control method provided by the invention provided by the invention;

Fig. 5 is the block scheme that another kind provided by the invention is used to realize the control system of control method provided by the invention.

The specific embodiment

Below in conjunction with accompanying drawing content of the present utility model is described, following description only is exemplary and indicative, should any restriction not arranged to protection scope of the present invention.

The control method that prevents that front sling and vehicle frame and crane arm from colliding provided by the invention by the front being hung the processing of parameter, limits to prevent that suspender and vehicle frame and crane arm from bumping to the angle of the direction rotation that departs from meta to suspender; Processing to data generally is to realize by the controller with automatic processing capacity, therefore, before method provided by the invention is carried out, needs a pre-determined preparation process, i.e. step S300 as shown in Figure 1.

As shown in Figure 1, in step S300, the quantitative parameter that the front is hung determine and input controller in, controller can be carried out according to the quantitative parameter of input prevent the control method that front sling and vehicle frame and crane arm collide.Quantitative parameter is that unmodified parameter amount is hung in each front, and specific quantitative parameter is hung in the front of every kind of model; After having determined the positive quantitative parameter that hangs, controller can be controlled the anglec of rotation of front sling by following step.Hang for the freight container front of determining, also in advance in the implant controller, controller can directly automatically perform according to these parameters these quantitative parameters, also just is, for the controller that is only applicable to hang in a kind of freight container front, step S300 also can save.

Step S301: gather positive variable parameter of hanging.The variable parameter that hang in the front is that the parameter amount that constantly changes with the hoisting operation process is hung in the front, and the variation that state is hung in the front is characterized by these variable parameters.Based on the parameter of these variations, in conjunction with the positive quantitative parameter that hangs could realize to the front sling state real-time detection, monitor and control.

Step S302 judges whether suspender is in the state that can collide with vehicle frame; If then enter next step S303; If not, just enter step S305.Be not under any state, the suspender that hang in the front all can collide with vehicle frame, have only the very little or boom length of crane arm lifting angle hour, the rotation of suspender just may collide with vehicle frame, therefore, whether the definite suspender of needs is in is understood the state that collides with vehicle frame, if, then be necessary the anglec of rotation of suspender is detected, monitors and controls, just be necessary to enter next step S303; If not, directly enter step S305, determine directly whether suspender can collide with crane arm,, therefore, a kind of state of suspender just detected or monitor to reach purpose of the present invention because suspender just can not collide with crane arm can collide with vehicle frame the time.

Step S303 gathers the angle [alpha] of suspender rotation, and α and α 1 are compared, and when judging α whether less than first critical angle degree α 1, if not, then enters next step; If return step 301; The minimum anglec of rotation of suspender when described first critical angle degree α 1 is suspender and vehicle frame collision.Since suspender be in can with the vehicle frame state that collides, therefore, will gather the data of suspender anglec of rotation α, when suspender anglec of rotation α does not reach first critical angle degree α 1, because suspender and vehicle frame can not collide, just needn't the anglec of rotation control of suspender be allowed suspender to rotate to be the lifting of freight container and pile up and facilitate, can directly return step S301, monitor in real time with the state that the front is hung; When suspender anglec of rotation α is not less than first critical angle degree α 1, i.e. during the minimum anglec of rotation of suspender, will enter next step during suspender and vehicle frame collision to the anglec of rotation α control of suspender.

Step S304 stops suspender to the direction rotation that departs from meta, returns step S301.The method that suspender is controlled is exactly to make it no longer to the direction rotation that departs from meta, and when suspender anglec of rotation α equaled first critical angle degree α 1, suspender was on the border that collides with vehicle frame, and suspender will collide with vehicle frame to inner rotary again.

Step S305, judge suspender whether be in can with the crane arm state that collides; If suspender be in can with the crane arm state that collides, then enter next step S306; If not, this process finishes, and carries out next process again, returns step S301, with real-time detection and the monitoring that realizes state is hung in the front.S302 is similar to step, be not under any state, front sling all can collide with crane arm, has only crane arm lifting angle greater than certain angle, suspender just may collide with crane arm to the direction rotation that departs from meta, therefore, need to determine suspender whether be in can with the crane arm state that collides, if not, also just needn't control the suspender anglec of rotation; If, then be necessary the anglec of rotation of suspender is detected and controls, just be necessary to enter next step S306.

Step S306 gathers the angle [alpha] that suspender rotates, and α and α 2 are compared, and judges that whether α is less than second critical angle degree α 2, if then return step S301; If not, then enter next step S307; The minimum anglec of rotation of suspender when described second critical angle degree α 2 is suspender and crane arm collision.Since suspender be in can with the crane arm state that collides, therefore will gather the data of the suspender anglec of rotation, and suspender anglec of rotation α and second critical angle degree α 2 will be compared.During less than second critical angle degree α 2,, just needn't allow the suspender continuation to rotate in the anglec of rotation of suspender to the anglec of rotation control of suspender because suspender can not collide with crane arm; When suspender anglec of rotation α is not less than second critical angle degree α 2, i.e. during the minimum anglec of rotation of suspender, will control the rotation of suspender during suspender and crane arm collision, enter next step S307.Based on purpose,, also to turn back to the step of gathering the suspender anglec of rotation as α during less than second critical angle degree α 2 to real-time detection, monitoring and the control of the suspender anglec of rotation.

Step S307 stops suspender to the direction rotation that departs from meta, returns step S301.The method that suspender is controlled is exactly to make it no longer to the direction rotation that departs from meta, the angle that departs from meta at suspender equals second critical angle degree α 2, suspender just is on the border that collides with crane arm, and suspender further will collide with crane arm to the direction rotation that departs from meta again.

According to above-mentioned method is described, avoid front sling and vehicle frame and crane arm to collide by the control suspender with respect to the anglec of rotation of crane arm, simultaneously, also, suspender provides the failure-free foundation for can rotating to greatest extent, guaranteed the positive reliability of piling up freight container that hangs, for the lifting of freight container with pile up and facilitate.Should be noted that, to be in the meta position with suspender be reference to the anglec of rotation of suspender during last example was described, the suspender rotation can be a cw, also can be conter clockwise, therefore, above-mentioned first critical angle degree and second critical angle degree refer to the cw or the C.C.W. anglec of rotation, and those of ordinary skill in the art can understand, in order to obtain certain reliability, often the value during than actual suspender and vehicle frame or crane arm collision is smaller with first, second critical angle value.In addition, detecting suspender and vehicle frame earlier and whether be in the state that can collide, still detect suspender and crane arm earlier and whether be in the state that can collide, all is feasible, should their sequencing not limited.

Those of ordinary skill in the art can understand, because the front is hung in when carrying out hoisting operation, the state of crane arm changes, therefore, the position of suspender also changes, therefore, for reaching the purpose that prevents that front sling and vehicle frame and crane arm from colliding, above-mentioned process should be carried out continuously, and when promptly lifting up into capable hoisting operation in the front, state-detection, monitoring and the processing that the front is hung can be synchronously, carry out simultaneously.Below only be that implementation of control method is described, do not represent the control method that prevents that front sling and vehicle frame and crane arm from colliding provided by the invention that an above-mentioned flow process is only arranged.

Below in conjunction with the method for concrete data handing, the control method that prevents that front sling and vehicle frame and crane arm from colliding provided by the invention is described.

In the last example, in step S300, described quantitative parameter comprises: when crane arm was in nadir, suspender and vehicle frame were in the distance h of vertical direction ₀The height h of freight container ₂The crane arm fulcrum is to the length l in vehicle body forward position ₀The width b of vehicle frame ₀The width b of suspender; The crane arm top is to the distance h between the suspender ₁Width a with crane arm; Based on these parameters, the state of crane arm is judged just.

In step S301, the length m that variable parameter comprises collection and detects suspender is hung in the described front of gathering; Front the sling length l and the lifting angle θ of weighing arm.

In step S302, judge that whether suspender is in can be to determine according to the relation of two variable θ and l with the vehicle frame state of colliding, and promptly works as l and is not more than (l ₀+ m)/and cos θ, or θ is not more than The time, determine suspender can with the vehicle frame state that collides, should carry out next step S303; Otherwise, then needn't control the suspender anglec of rotation, directly enter step S305, whether suspender is in and can judges with the crane arm state of colliding.

In step S303, described first critical angle degree α 1 is When the anglec of rotation of suspender was spent less than first critical angle, suspender or can not collide with vehicle frame did not need the anglec of rotation of suspender is limited.

Among the step S305, judge suspender whether be in can with the crane arm state of colliding be logical crane arm lifting angle is detected definite, when the lifting angle θ of crane arm greater than

The time, just determine suspender be in can with the crane arm state that collides, be judged as and be, need monitor this moment to the anglec of rotation of suspender, the suspender anglec of rotation is excessive to collide with crane arm to avoid; When the lifting angle θ of crane arm is not more than

The time, just determine that suspender can not collide with crane arm, be judged to be not, do not need the anglec of rotation of suspender is detected and monitors this moment.

In step S306, described second critical angle degree α 2 is $\arccos \frac{b}{\sqrt{a^2+4{\left(h_{1}c\tan \mathrm{\θ}\right)}^2}}-\arctan \frac{a}{2h_{1}c\tan \mathrm{\θ}},$ When the anglec of rotation of suspender was spent less than second critical angle, suspender can not collide with crane arm, did not need the anglec of rotation of suspender is limited; Otherwise, then need the anglec of rotation of suspender is monitored and controlled.

Those of ordinary skill in the art can understand, the space geometry that hangs between each composition by the front concerns to determine that the admissible anglec of rotation of suspender can also have other algorithm, can obtain by the method meter of setup parameter equally before suspender and vehicle frame or crane arm collision, suspender can depart from the maximum angle of meta, therefore, according to technology enlightenment of the present invention, those of ordinary skill in the art can also control the angle of suspender rotation by the parameter of other space geometries, such as, can be with the length of suspender, crane arm carries out other conversions to the distance of suspender, therefore, according to the control method that last example is described, can also make more kinds of concrete realizations and prevent the control method that front sling and vehicle frame and crane arm collide.

Description according to last example, the basic design of method provided by the invention is: judge the residing state of suspender earlier, judge promptly whether suspender is in the state that collides with vehicle frame or crane arm, if suspender is in the state that collides with vehicle frame or crane arm, the anglec of rotation of then tackling suspender detects, and the relation of the monitoring suspender anglec of rotation and critical angle, when the anglec of rotation of suspender during less than critical angle, the anglec of rotation to suspender does not limit, when the anglec of rotation of suspender is not less than critical angle, stop suspender again to the direction rotation that departs from meta, thereby prevent that suspender and vehicle frame or crane arm from colliding.Critical angle herein is meant suspender and vehicle frame or the minimum anglec of rotation that collides with crane arm, before just suspender and vehicle frame or crane arm collide, allows the maximum angle of rotation.

According to above-mentioned inventive concept, the present invention also provides a kind of control method that prevents that front sling and vehicle frame from colliding.As shown in Figure 2, prevent that the control method that front sling and vehicle frame collide from may further comprise the steps:

Step S101: gather positive variable parameter of hanging.

Step S102 judges whether suspender is in the state that can collide with vehicle frame; If then enter next step S103; If not, then return step S101.

Step S103 gathers the angle [alpha] that suspender rotates, and α and α 1 are compared, and whether judges α less than first critical angle degree α 1, if then directly return step S101; If not, then enter step S104.

Step S104 stops suspender to the direction rotation that departs from meta, returns step S101.

Be with last routine main difference part, when judging that suspender is not in the state that can collide with vehicle frame, directly get back to and gather positive step of hanging variable parameter, suspender and vehicle frame position relation are detected in real time, no longer the position relation to suspender and crane arm detects and monitors.

In like manner, the present invention also provides a kind of control method that prevents that front sling and crane arm from colliding, and the step of this method as shown in Figure 3.In this method, be with the difference of a last method: the one, judge that the parameter of suspender state is different; The 2nd, suspender is different with the critical angle that crane arm collides, and its basic process is same as described above, does not repeat them here.

In above-mentioned method, determine that suspender length m concrete grammar realizes near switch sensor and signal converter by one.Near switch sensor is a kind of displacement pickup, utilizes displacement pickup to obtaining corresponding electric signal near the sensitivity characteristic of object, thereby carries out corresponding action.In this example, when suspender is positioned at distance of reaction, be in a kind of state, produce corresponding electric signal, the length of described suspender can be defined as 20 feet states near switch sensor; In the time of in suspender leaves distance of reaction, be in another kind of state near switch sensor, produce another corresponding electric signal, the length of described suspender is defined as 40 feet states, and convert corresponding electric signal to corresponding numerical value, corresponding to 20 feet different conditions, obtain different m, so that controller carries out respective handling with 40 feet.Because freight container is standardized means of delivery, have only two kinds of situations, 20 and 40 feet, therefore, and during positive lifting fortune freight container, can corresponding two states, m is made as two different values.Like this, just can avoid suspender length is accurately measured, simultaneously, also make full use of the standard of freight container,, have simple in structurely, measure advantage easily to obtain more accurate result of a measurement.Those of ordinary skill in the art can understand, the length m of gathering suspender also can realize with additive method, such as: directly measurement also can be obtained the length m value of suspender, also can obtain the length m value of suspender by the relation indirect of angle and radian with angular transducer.

In the above-mentioned method, the method for the described collection suspender anglec of rotation also can be with finishing near switch sensor.The central axis gear coaxial with the rotation central axis line of suspender arranged on suspender; When suspender rotated, gear and suspender rotated synchronously; Because the gear teeth of gear are different with the gear mass outside dimension, therefore, when the gear rotation, gear tooth passes through will produce corresponding electric signal near switch sensor near in the switch sensor distance of reaction time.Then, controller in the following control system converts corresponding electric signal by near the tooth number in the switch sensor distance of reaction to, obtain the angle of gear rotation again according to the relation of tooth number that passes through and angle, because gear and suspender rotate synchronously, therefore, the angle of gear rotation is identical with the angle of suspender rotation, obtains the angle [alpha] of suspender rotation.Therefore, the method for the described collection suspender anglec of rotation can be:

Determine total number of teeth n of gear, described gear axis is coaxial with the suspender centre of gration, and with the suspender relative fixed;

According to gear tooth with near the position of switch sensor relation, by produce corresponding electric signal near switch sensor;

To change near the electric signal that switch sensor produces, obtain the tooth number i that gear rotation is crossed;

Obtain the angle [alpha] of suspender rotation, wherein α=360 * i/n according to the tooth number i that turns over.

Utilization has simple in structure near switch sensor, lower-cost characteristics.Those of ordinary skill in the art can understand, and also can realize collection to suspender anglec of rotation data with angular transducer or coder.

In the above-mentioned method, described prevention suspender to the method for the direction rotation that departs from meta can be, by the solenoid directional control valve in the control sling hydraulic pressure oil circuit, conversion by circuit state, make the solenoid directional control valve state variation, with realize to sling hydraulic pressure oil circuit hydraulic oil flow to control, utilize solenoid directional control valve can make the action of control suspender rotation more timely, also be convenient to realize the Long-distance Control of hydraulic efficiency pressure system.Those of ordinary skill in the art can understand, suspender is stopped the rotation several different methods can also be arranged, such as, fuel feeding that can stop solution pressing system hydraulic oil pump under hydraulically powered situation, under electronic power-actuated situation, can cut off circuit, in a word, can adopt distinct methods that suspender is stopped the rotation according to different situations, realize control the suspender spinning movement.

The aspect that the present invention is other, a kind of control system that is used to realize said method also is provided, and as shown in Figure 4, this system comprises gear, described gear and suspender relative fixed, and the axis of gear is coaxial with respect to the rotation centerline of crane arm with suspender; In addition, also comprise field bus control system 5, first data trap 1, second data trap 2, the 3rd data trap 3, controller 4, solenoid directional control valve 7 and solenoid directional control valve 8.

Described field bus control system 5 is connected first data trap 1 with controller 4, second data trap 2, the 3rd data trap 3 are connected with controller 4 respectively with solenoid directional control valve 7,8; Field bus control system 5 makes between first data trap 1 and the controller 4 can carry out the transmission of data-signal; Second data trap 2, the 3rd data trap 3 and solenoid directional control valve 7,8 are connected with controller 4 respectively and can realize the transmission of second data trap 2, the 3rd data trap 3 and solenoid directional control valve 7,8 corresponding electric signal respectively and between the controller 4.

Described first data trap 1 can obtain the length l and the lifting angle θ of crane arm.

Described second data trap 2 comprises first near switch sensor; During the rotation of described gear, its gear teeth can be by in first the distance of reaction near switch sensor; Described first can be according to producing corresponding electric signal by the gear teeth in the distance of reaction near switch sensor; Whether described the 3rd data trap 3 comprises second near switch sensor, and described second can be according to the position of second sensor and suspender relation near switch sensor, promptly be in according to suspender to produce corresponding electric signal in its distance of reaction.

Controller 4 can receive and store the data of first data trap, 1 transmission, and can receive the electric signal of second data trap 2 and 3 transmission of the 3rd data trap, and can obtain and store the angle [alpha] of suspender rotation and the length m of suspender according to the electric signal that receives; And can be according to control method provided by the invention to obtaining or canned data is handled, again according to the state of result by circuit controling electromagnetism change-over valve 7,8.

In this example, the concrete mode of obtaining the angle [alpha] of suspender rotation is: determine total number of teeth n of gear, according to gear tooth and position relation near switch sensor, produce corresponding electric signal by first near switch sensor; Change near the electric signal of switch sensor generation first, obtain the tooth number i that gear rotation is crossed; Obtain the angle [alpha] of suspender rotation, wherein α=360 * i/n according to total number of teeth n of tooth number i that turns over and gear.Those of ordinary skill in the art can understand, and also can realize collection to suspender anglec of rotation data with angular transducer or coder as second data trap 2.In addition, the concrete mode of obtaining the suspender length m is: second produces corresponding electric signal near switch sensor according to the position of the suspender and second sensor relation, determines the length m of suspender according to second near the electric signal of switch sensor.Those skilled in the art can understand, because between controller 4 and second data trap 2, the 3rd data trap 3 and the solenoid directional control valve 7,8 is the transmission of electric signal, therefore the connection between them just can be that circuit common connects, so just simplify the connection line of system, reduced the cost of system.

Solenoid directional control valve 7,8 is connected on the hydraulic circuit that drives the suspender rotation, and can control the flow direction of hydraulic oil in the sling hydraulic pressure oil circuit.Thereby the spinning movement of control suspender.Those of ordinary skill in the art can understand, also can realize control with a solenoid directional control valve to the suspender hand of rotation, two solenoid directional control valve control suspender hand of rotation are optimized technical scheme, and like this, a solenoid directional control valve can be controlled suspender and rotate to a direction.

Should be noted that: above-mentioned control system can be used to realize above-mentioned prevent control method that front sling and vehicle frame collide, prevent the control method that front sling and crane arm collide and prevent front sling and control method and control system that vehicle frame and crane arm collide.

In this example, field bus control system is to be adopted as the CAN bus, i.e. Controller Area Network bus system, and interface of each device is the CAN bus interface.It is short that the CAN bus system has possessed the transmission time, the characteristics that antijamming capability is stronger, equally, utilize other field bus control system systems also can realize anticollision control is hung in the front, as the foundation field control bus, adopt LonWorks bus of LonWorks technology or the like, the development of field bus control system technology provides multiple choices for many control system, and in view of the characteristics that hang in the freight container front, the CAN bus is a kind of optimized technical scheme.

The above-mentioned control system that is used for realizing control method provided by the invention all realizes that by controller 4 in repeated detection, collection, observation process, suspender also has rotation repeatedly to data collection, status detection and data handing.When 4 pairs of data of controller are handled, because the detection to the suspender anglec of rotation is a continuous process, gathering the suspender anglec of rotation that obtains each time all is to carry out on the basis of last testing result once, the error of so each detection data is accumulated on the data of the detected anglec of rotation afterwards, repeatedly the Data Detection error accumulation will make back detected suspender anglec of rotation error very big, with the suspender anglec of rotation of reality can be mutually far short of what is expected; With the very big suspender anglec of rotation of this error serves as that the basis compares with first critical angle degree or second critical angle degree, will influence the result of contrast, and influence is to the control of the suspender anglec of rotation.For fear of the generation of this situation, the invention provides the control system that another kind is used to realize control method provided by the invention.

As shown in Figure 5, this example is provided for realizing that the control system of control method provided by the invention comprises field bus control system 5, first data trap 1, second data trap 2, the 3rd data trap 3, controller 4, first solenoid directional control valve 7 and second solenoid directional control valve 8, identical with last example, in addition, also comprised one the 4th data trap 6; Described the 4th data trap 6 links to each other with controller 4 by circuit.When suspender was got back to meta, described the 4th data trap 6 can obtain corresponding meta signal, and the meta signal is transferred to controller 4; Described controller 4 also has middle bit function, promptly can receive the meta signal, and after receiving the meta signal, the value that is stored in the suspender anglec of rotation α in the controller 4 is made zero, to eliminate the accumulation of error.In this example, described the 4th data trap 6 also can be near switch sensor, by position near switch displacement induction installation induction suspender, produce corresponding meta signal, and the meta signal that produces is transferred to controller, controller carries out respective handling according to method provided by the invention, and the suspender anglec of rotation α that stores is made zero, and realizes goal of the invention.Those of ordinary skill in the art can understand, and also can realize the determining of spreader position produced the meta signal with other sensors.

One side more of the present invention, also provide a kind of freight container front to hang, comprise crane arm, vehicle frame, front and back tire, pitching hydraulic actuating cylinder, telescopic hydraulic cylinder, operator's compartment, fuel tank, steering swivel system, hydraulic efficiency pressure system, driving system and suspender, comprise that also above-mentioned being used to realizes the control system of control method provided by the invention, this control system is installed in the freight container front and hangs on.Those of ordinary skill in the art can understand, to be used to realize that each data trap of control system of control method provided by the invention and controller are separately fixed at the freight container front and hang corresponding position, can realize to variable parameter and quantitative parameter collection, determine and handle.

The above only is a preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.

Claims (12)

1, a kind of control method that prevents that front sling and vehicle frame from colliding is characterized in that, this method comprises:

Step 101 is gathered positive variable parameter of hanging;

Step 102 is hung variable parameter according to the front of gathering, and judges whether suspender is in to understand the state that collides with vehicle frame; If then enter next step; If not, then return step 101;

Step 103 is gathered the angle [alpha] of suspender rotation, and α and α 1 are compared, and when judging α whether less than first critical angle degree α 1, if not, then enters next step; If return step 101; The minimum anglec of rotation of suspender when described first critical angle degree α 1 is suspender and vehicle frame collision; The angle [alpha] of described suspender rotation and first critical angle degree α 1 are to serve as the numerical value that reference is obtained and determined when being in meta with suspender;

Step 104 stops suspender to the direction rotation that departs from meta, returns step 101.

2, the control method that prevents that front sling and vehicle frame from colliding according to claim 1 is characterized in that,

Also comprise before the described step 101: determine the step of the quantitative parameter that hang in the front, described quantitative parameter comprises: when crane arm was in nadir, suspender and vehicle frame were in the distance h of vertical direction ₀The height h of freight container ₂The crane arm fulcrum is to the length l in vehicle body forward position ₀The width b of vehicle frame ₀The width b of suspender;

In the described step 101, described collection front is hung variable parameter and is comprised: gather the length m of suspender, the length l of crane arm and lifting angle θ;

In the described step 102, when l is not more than (l ₀+ m)/and cos θ, or θ is not more than

The time, be judged to be and be; When l greater than (l ₀+ m)/cos θ, or θ greater than

The time, be judged to be not;

In the described step 103; Described first critical angle degree α 1 equals

3, a kind of control method that prevents that front sling and crane arm from colliding is characterized in that, this method comprises:

Step 201 is gathered positive variable parameter of hanging;

Step 202, judge suspender whether be in can with the crane arm state that collides; If then enter next step; If not, then return step 201;

Step 203 is gathered the angle [alpha] of suspender rotation, and α and α 2 are compared, and when judging α whether less than second critical angle degree α 2, if not, then enters next step; If then return 201; The minimum anglec of rotation of suspender when described second critical angle degree α 2 is suspender and crane arm collision; Described suspender anglec of rotation α and second critical angle degree α 2 are to serve as the numerical value that reference is obtained and determined when being in meta with suspender;

Step 204 stops suspender to the direction rotation that departs from meta, returns 201.

4, the control method that prevents that front sling and crane arm from colliding according to claim 3 is characterized in that,

Also comprise before the described step 201: determine the step of the quantitative parameter that hang in the front, described quantitative parameter comprises: the width b of suspender; The width a of crane arm and crane arm top are to the distance h between the suspender ₁

In the described step 201, described collection front is hung variable parameter and is comprised: the length m and the lifting angle θ that gather suspender;

In the described step 202, and when the lifting angle θ of crane arm greater than

The time, be judged as and be; And when the lifting angle θ of crane arm is not more than

The time; Be judged to be not;

In the described step 203, described second critical angle degree α 2 equals $\arccos \frac{b}{\sqrt{a^2+4{\left(h_{1}c\tan \mathrm{\θ}\right)}^2}}-\arctan \frac{a}{2h_{1}c\tan \mathrm{\θ}}.$

5, a kind of control method that prevents that front sling and vehicle frame and crane arm from colliding is characterized in that, this method comprises:

Step 301 is gathered positive variable parameter of hanging;

Step 302 is hung variable parameter according to the front of gathering, and judges whether suspender is in to understand the state that collides with vehicle frame; If then enter next step; If not, then enter step 305;

Step 303 is gathered the angle [alpha] of suspender rotation, and α and α 1 are compared, and when judging α whether less than first critical angle degree α 1, if not, then enters next step; If return step 301; The minimum anglec of rotation of suspender when described first critical angle degree α 1 is suspender and vehicle frame collision; The angle [alpha] of described suspender rotation and first critical angle degree α 1 are to serve as the numerical value that reference is obtained and determined when being in meta with suspender;

Step 304 stops suspender to the direction rotation that departs from meta, returns step 301;

Step 305, judge suspender whether be in can with the crane arm state that collides; If then enter next step; If not, then return step 301;

Step 306 is gathered the angle [alpha] of suspender rotation, and α and α 2 are compared, and when judging α whether less than second critical angle degree α 2, if not, then enters step 307; If then return 301; The minimum anglec of rotation of suspender when described second critical angle degree α 2 is suspender and crane arm collision, and be to serve as the numerical value that reference is determined when being in meta with suspender;

Step 307 stops suspender to the direction rotation that departs from meta, returns 301.

6, the control method that prevents that front sling and vehicle frame and crane arm from colliding according to claim 5 is characterized in that,

Also comprise before the described step 301: determine the step of the quantitative parameter that hang in the front, described quantitative parameter comprises: when crane arm was in nadir, suspender and vehicle frame were in the distance h of vertical direction ₀The height h of freight container ₂The crane arm fulcrum is to the length l in vehicle body forward position ₀The width b of vehicle frame ₀The width b of suspender; The crane arm top is to the distance h between the suspender ₁Width a with crane arm;

In the described step 301, described collection front is hung variable parameter and is comprised: length m, the front of the gathering suspender length l and the lifting angle θ of weighing arm that sling;

In the described step 302, when l is not more than (l ₀+ m)/and cos θ, or θ is not more than

The time, be judged to be and be; When l greater than (l ₀+ m)/cos θ, or θ greater than

The time, be judged to be not;

In the described step 303; Described first critical angle degree α 1 equals

In the described step 305, and when the lifting angle θ of crane arm greater than

The time, be judged as and be; And when the lifting angle θ of crane arm is not more than

The time; Be judged to be not;

In the described step 306, described second critical angle degree α 2 equals $\arccos \frac{b}{\sqrt{a^2+4{\left(h_{1}c\tan \mathrm{\θ}\right)}^2}}-\arctan \frac{a}{2h_{1}c\tan \mathrm{\θ}}.$

7, according to claim 5 or the 6 described control methods that prevent that front sling and vehicle frame and crane arm from colliding, it is characterized in that the length m method of described collection suspender is:

With the position near switch sensor induction suspender, when suspender was positioned at distance of reaction, the length m of described suspender was and the corresponding value of 20 forty equivalent unit 40s; In the time of in suspender leaves distance of reaction, the length m of described suspender is and the corresponding value of 40 forty equivalent unit 40s.

8, according to claim 5 or the 6 described control methods that prevent that front sling and vehicle frame and crane arm from colliding, it is characterized in that the method for the described collection suspender anglec of rotation is:

Determine total number of teeth n of gear, described gear axis is coaxial with the suspender centre of gration, and with the suspender relative fixed;

According to gear tooth with near the position of switch sensor relation, by producing corresponding electric signal near switch sensor;

To change near the electric signal that switch sensor produces, obtain the tooth number i that gear rotation is crossed;

Obtain the angle [alpha] of suspender rotation, wherein α=360 * i/n according to the tooth number i that turns over.

9, a kind of control system that is used to realize each described control method of claim 1-6 comprises gear, described gear and suspender relative fixed, and the axis of gear is coaxial with respect to the rotation centerline of crane arm with suspender, it is characterized in that,

Also comprise field bus control system, first data trap, second data trap, the 3rd data trap, controller, solenoid directional control valve; Described field bus control system is connected first data trap with controller, second data trap, the 3rd data trap and solenoid directional control valve are connected with controller respectively;

Described first data trap can obtain the length l and the lifting angle θ of crane arm;

Described second data trap comprises first near switch sensor; During the rotation of described gear, its gear teeth can be by in first the distance of reaction near switch sensor; Described first can be according to producing corresponding electric signal by the gear teeth in the distance of reaction near switch sensor;

Described the 3rd data trap comprises second near switch sensor, and whether described second can be in its distance of reaction according to suspender near switch sensor and to produce corresponding electric signal;

Controller can receive and store the data of first data trap transmission, and can receive the corresponding electric signal that second data trap and the 3rd data trap produce, and obtain and store the angle [alpha] of suspender rotation and the length m of suspender according to the electric signal that receives; And can handle canned data according to described method, again according to the state of result by the circuit controling electromagnetism change-over valve;

Solenoid directional control valve is connected on the hydraulic circuit that drives the suspender rotation, and can control the flow direction of hydraulic oil in the sling hydraulic pressure oil circuit.

10, the control system that is used to realize described control method according to claim 9 is characterized in that, also comprises the 4th data trap, and described the 4th data trap is near switch sensor;

When suspender was got back to meta, the position that described the 4th data trap can suspender produced the meta signal, and the meta signal is transferred to controller;

Described controller can receive the meta signal, and after receiving the meta signal, and the value of the suspender anglec of rotation α that controller is stored makes zero.

11, want the 9 or 10 described control system that are used to realize described control method according to right, it is characterized in that, described field bus control system is the CAN bus, and described first data trap has the CAN bus interface.

12, hang in a kind of freight container front, comprise crane arm, vehicle frame, front and back tire, pitching hydraulic actuating cylinder, telescopic hydraulic cylinder, operator's compartment, fuel tank, steering swivel system, hydraulic efficiency pressure system, driving system and suspender, it is characterized in that, also comprise each described control system that is used to realize described control method of claim 9-11, the described control system that is used to realize described control method is installed in the freight container front and hangs on.

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