CN1838010A - High precision positioning and accessing system for waste nuclear material - Google Patents
High precision positioning and accessing system for waste nuclear material Download PDFInfo
- Publication number
- CN1838010A CN1838010A CNA2006100098753A CN200610009875A CN1838010A CN 1838010 A CN1838010 A CN 1838010A CN A2006100098753 A CNA2006100098753 A CN A2006100098753A CN 200610009875 A CN200610009875 A CN 200610009875A CN 1838010 A CN1838010 A CN 1838010A
- Authority
- CN
- China
- Prior art keywords
- programmable logic
- logic controller
- trash receptacle
- dolly
- crane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Warehouses Or Storage Devices (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
This invention relates to a high precision positioning and accessing system for waste nuclear material. Wherein, for improvement while keeping original workshop and devices, arranging a frequency-changing system on the dual-speed motor for continual regulation within 0~50Hz; adding a band-brake power controlled by a PLC digital interface for single band-brake release; and measuring position of the sling by two laser rangers and one rotary coder. This invention reduces nuclear radiation to operators and workers and shaking amplitude of the trash receptacle, increases crane position precision to 1mm, and improves warehouse utilization rate.
Description
Technical field
A kind of high precision positioning and accessing system of nuke rubbish is used for nuclear power station trash receptacle warehouse.Belong to the nuclear engineering field.
Background technology
All there is the handling problem of nuke rubbish in all nuclear power stations.What existing certain nuclear power station of China adopted is the technology (referring to ELECTRIC BRIDGE CRANE with LIFTING CAPACITY 6.3t2SMB03AE001 TO TECHNICAL DESCRIPTION) of USSR (Union of Soviet Socialist Republics).Promptly set up about a 70 * 18m of area, the trash receptacle warehouse of highly about 20m, the import and export of trash receptacle be located on the scaoffold of the vertical side in warehouse (or into and out of shared a bite, or a side as import, the conduct outlet of opposite side), so that the vehicle parking of round transport is below importing and exporting.Diameter is about the trash receptacle of 1.5m and stacks 4～6 layers with the form of triangular array in the storehouse.The carrying of trash receptacle is finished by 6.3 tons that install in the storehouse electronic doube bridge formula cranes.
Original design proposal makes that whole handling process automaticity is very low, and crane driver, the personnel relevant with carrying be unable to do without in the storehouse on-the-spot, is bearing the threat of nuclear radiation; Because in the former design, walking of crane vertical, horizontal and hook lifting all adopt double-speed motor, mode of braking is the electromagnet with electric drilling match, the braking release voltage adopts the motor voltage between lines, even if adopt at a slow speed (quick 20m/min when causing the operation of large and small car of crane and suspender, 5m/min at a slow speed, hook lifting is 10m/min fast, 2m/min at a slow speed) also seems too fast, start, operation, braking be not steady, suspension hook and trash receptacle shaking amplitude are bigger, the crane bearing accuracy is not high, the space that single trash receptacle occupies is bigger, has reduced the utilization factor in warehouse.
Summary of the invention
A kind of high precision positioning and accessing system of nuke rubbish is the transformation to existing nuke rubbish storage system, under the prerequisite that keeps original factory building, equipment (as crane, motor, braking brake etc.), adopt new and high technology (as frequency control, laser ranging, computer control, shoot with video-corder supervising device etc.) in " part ", make the whole handling process under " program control " state, to carry out, thereby the nuclear radiation of avoiding or reduced crane operation personnel, lifting personnel to be subjected to threaten; Crane has speed-regulating function, starts, moves, brakes steadily, reduces suspension hook and trash receptacle shaking amplitude; Improve the crane bearing accuracy, reduced the parking space of single trash receptacle, improved the utilization factor in warehouse.
Requiring in the modification scheme increases a pulpit outside the trash receptacle warehouse, a control desk and a switch board are installed in the pulpit, and is connected with trash receptacle warehouse electrical equipment by switch box.Install in the control desk industrial computer and digital hard disc video recorder and on put industrial computer display and digital hard disc video recorder display.Programmable Logic Controller (PLC, together following) is by RS232 interface and industrial computer Data transmission.Programmable Logic Controller and frequency converter are installed in the switch board.In order accurately to detect and control the position of crane and suspender, a laser range finder is installed, monitoring cart position on the wall of warehouse vertical (directions X); Go up laser range finder of installation in cart longitudinal axis direction (Y direction), monitoring dolly position; A rotary encoder is installed on the dolly lifting motor, and the monitoring suspender is in vertical (Z direction) position.Laser range finder and rotary encoder send to the data in real time that monitors in the Programmable Logic Controller digital communication interface by communication cable, calculate the position of determining cart, dolly, suspender through Programmable Logic Controller, reach the purpose of location.Programmable Logic Controller is connected with three frequency converters with the RS485 communication interface, uses for cart, dolly, suspender speed governing respectively.Utilize high precision (resolution can the reach 0.1mm) positioning function of laser range finder and rotary encoder, and frequency converter can fully reduce the characteristic of motor speed, crane running precision (not comprising the swing of suspender) is brought up to 1mm.Transportation track video camera is installed in trash receptacle and imports and exports on the ceiling of top, and omnidirectional vision camera is installed on the ceiling at middle part, warehouse, and the dolly video camera is installed on the dolly.
For being satisfied on X, Y, three directions of Z, whole crane starts in time, the speed of travel is adjustable, steady, brake requirement accurately, install frequency conversion system respectively additional at first for cart, dolly and three used motors of suspender, thereby both guaranteed that cargo motor, vehicle motor, suspender motor all can turn round at 50HZ on any one frequency between OHZ.Secondly, no longer remove motor band-type brake system, carry out band-type brake release separately but add the band-type brake power supply, and control by the digital output port of Programmable Logic Controller with electrolysis between motor lines.Frequency converter is wherein selected Siemens MM440 frequency converter for use, and its outstanding feature is permanent torque.Three frequency converters are by a RS485 mouth and Programmable Logic Controller communication.
Control program is based on the comprehensive measurement to nuclear power station trash receptacle warehouse, the ruuning situation that crane may be run in the warehouse is input in the middle of the Programmable Logic Controller, Programmable Logic Controller can be judged direction and the distance that crane is to be moved voluntarily, and control cart respectively along directions X operation, along the dolly of Y direction operation and along the suspender of Z direction operation, finish the required overall process of crane operation automatically.
Proximity transducer is installed in porch in the trash receptacle warehouse, when entering, triggers by trash receptacle proximity transducer, and send trash receptacle by communication cable to Programmable Logic Controller digital quantity communication interface and enter the warehouse signal, and then trigger Programmable Logic Controller and move trash receptacle automatically and stack program.Receive the Programmable Logic Controller that trash receptacle enters behind the warehouse signal and earlier crane is monitored, monitor signal is from being installed in temperature sensor on the crane motor, being installed in device such as limit switch on track and the car and passing to the analog quantity interface and the digital quantity interface of Programmable Logic Controller by communication cable.Programmable Logic Controller is judged monitor signal by inherent software, determines whether the crane state meets service requirement.In the crane operation simultaneously, Programmable Logic Controller passes through sensor crane running statuses such as voltage, electric current, and by judging detecting data with inherent software, normally moves to guarantee crane.If judge that crane can not normally move, then by corresponding pilot lamp and hummer on the digital output port start-up control platform of Programmable Logic Controller, on industrial computer, eject corresponding warning dialog box simultaneously and send corresponding warning music, remind operation, monitor staff to note.In the middle of industrial computer, set up data-storage system, the related data of Programmable Logic Controller transmission is deposited in the middle of the database in real time.
Meanwhile, industrial computer is corresponding with nuclear power station trash receptacle warehouse mimic diagram system (as video camera, video recorder, display etc.) with locator data by software, reflects that to operation, monitor staff crane is in nuclear power station trash receptacle warehouse physical location.Operation, monitor staff can carry out field monitor and video recording by supervisory system to inside, trash receptacle warehouse at any time, as the historical reference data.According to the function of will finishing of task and realization, as follows to the specific requirement of video monitoring system:
(1) comprehensive integrated camera can monitor the position of needed any one trash receptacle (jar) in the salvage stores;
(2) integrated camera on the dolly can clearly monitor the operating state of suspension hook;
When (3) breaking down as if the dolly video camera, comprehensive integrated camera can monitor the operating state of lifting manipulator when crane promotes with walking;
When (4) colour TV camera on the track had one to break down when dolly video camera or transportation, another one can monitor that transport vehicle puts in place and falls a jar situation;
(5) colour TV camera above scaoffold is imported and exported can be observed the parking stall and jar situation that falls;
(6) can dismantle quickly and easily and change during fault of camera;
(7) can change quickly and easily during the system cable fault;
(8) digital hard disc video recorder has video recording storage and playing back videos function;
(9) demoder can normally be controlled integrated camera, has to become doubly and the rotating function of The Cloud Terrace;
(10) also can change soon during all the other device damage.
Description of drawings
The newly added equipment arrangenent diagram of the high precision positioning and accessing system of Fig. 1 nuke rubbish
The high precision positioning and accessing system pulpit planimetric map of Fig. 2 nuke rubbish
The high precision positioning and accessing system control desk elevation drawing of Fig. 3 nuke rubbish
The control block diagram of the high precision positioning and accessing system of Fig. 4 nuke rubbish
The supervisory system block diagram of the high precision positioning and accessing system of Fig. 5 nuke rubbish
The motor of the high precision positioning and accessing system of Fig. 6 nuke rubbish and band-type brake system reform figure
Embodiment
Provide preferred implementation of the present invention below, and be illustrated in conjunction with the accompanying drawings.
As shown in Figure 1, outside trash receptacle warehouse 01, increase a pulpit 06; A laser range finder 1 is installed, so that the position of monitoring cart 04 on the wall of warehouse 01 vertical (directions X); Longitudinal axis direction (Y direction) at cart 04 goes up laser range finder 2 of installation, so that the position of monitoring dolly 05; A rotary encoder 3 is installed, so that the monitoring suspender is in vertical (Z direction) position on the dolly lifting motor.Motorway video camera 6 is installed in trash receptacle and imports and exports on the ceiling of 03 top, and omnidirectional vision camera 5 is installed on the ceiling at 01 middle part, warehouse, and dolly video camera 4 is installed on the dolly 05.
As shown in Figure 2, a control desk 11 and a switch board 12 are installed in pulpit 06, and are connected by switch box 13 and trash receptacle warehouse 01 interior electric equipment.
As shown in Figure 3, install in the control desk 11 industrial computers 7 and digital hard disc video recorder 8 and on put industrial computer display 9 and digital hard disc video recorder display 10.
As shown in Figure 4, Programmable Logic Controller (PLC, down together) 71 is by RS232 interface and industrial computer 7 Data transmission.Programmable Logic Controller 71 and frequency converter 74 are installed in the switch board 12.Laser range finder 1,2 and rotary encoder 3 send to Programmable Logic Controller 71 by communication cable and communication module 75 with the data in real time that monitors, so that calculate the position of determining cart 04, dolly 05, suspender, reach the purpose of location.Programmable Logic Controller 71 usefulness RS485 communication interfaces are connected with three frequency converters 74, use for cargo motor 061, vehicle motor 062,063 speed governing of suspender motor respectively.Programmable Logic Controller 71 also proximity transducer 77, load cell 76 and the temperature probe by linking to each other with digital quantity interface 73 with analog quantity interface 72, limit switch etc. monitors the turnover and the equipment operation situation of trash receptacle.
But laser range finder is selected Germany's happy LMC-j-0040 type laser range finder for use, and its measuring distance is 0.2---30m, can reach 100m with reflector, measuring accuracy ± 2mm, and resolution 0.1mm, measuring rate 5Hz, interface adopts RS422.Rotary encoder is selected German Tours gram EL58C series of products for use, and the resolution of this product is every circle 1024, links to each other with Programmable Logic Controller by counting module FM350-1.Utilize high precision (resolution can the reach 0.1MM) positioning function of laser range finder and rotary encoder, and frequency converter can fully reduce the characteristic of motor speed, crane running precision (not comprising the swing of suspender) be brought up to 1mm.
As shown in Figure 6, for being satisfied on X, Y, three directions of Z, whole crane starts in time, the speed of travel is adjustable, steady, brake requirement accurately, the braked wheel 07 that three used twin shafts of cart 04, dolly 05 and suspender are stretched an end of motor 06 (being refined as cargo motor 061, vehicle motor 062, suspender motor 063 in Fig. 4) and band-type brake system separately is connected, and the other end and road wheel (or reel) 08 separately are connected; And adopt the electric power system of forming by power supply 31, Magnetic contactor 32, AC reactor 33, frequency converter 74, and three frequency converters 74 are by a RS485 mouth and Programmable Logic Controller 71 communications (referring to Fig. 4); Thereby guarantee that three twin shafts stretch motor 06 and all can turn round at 50HZ on any one frequency between OHZ.Secondly, no longer remove the band-type brake system, carry out band-type brake release separately but add band-type brake power supply 35, and control by the digital output port of Programmable Logic Controller 71 with electrolysis between the line of motor 06.Frequency converter 74 is wherein selected Siemens MM440 frequency converter for use, and its outstanding feature is permanent torque.
Control program is based on the comprehensive measurement to nuclear power station trash receptacle warehouse, the ruuning situation that crane may be run in the warehouse is input in the Programmable Logic Controller 71, it can judge direction and the distance that crane is to be moved voluntarily, and control cart 04 respectively along directions X operation, along the dolly 05 of Y direction operation and along the suspender of Z direction operation, finish the required overall process of crane operation automatically.
When trash receptacle import and export 03 have trash receptacle to enter, the proximity transducer 77 that is installed in herein will be triggered, and send trash receptacle by communication cable to the digital quantity interface 73 of Programmable Logic Controller 71 and enter the warehouse signal, and then trigger Programmable Logic Controller 71 automatically the operation trash receptacles stack programs.Receive the Programmable Logic Controller 71 that trash receptacle enters behind the warehouse signal and earlier crane is monitored, monitor signal is from being installed in temperature sensor on the crane motor, being installed in device such as limit switch on track and the car and passing to the analog quantity interface 72 and the digital quantity interface 73 of Programmable Logic Controller 71 by communication cable.Programmable Logic Controller 71 is judged monitor signal by inherent software, determines whether the crane state meets service requirement.In the crane operation simultaneously, Programmable Logic Controller 71 passes through sensor crane running statuses such as voltage, electric current, and by judging detecting data with inherent software, normally moves to guarantee crane.If judge that crane can not normally move, then by corresponding pilot lamp and hummer on the digital quantity interface 73 start-up control platforms of Programmable Logic Controller 71, on industrial computer 7, eject corresponding warning dialog box simultaneously and send corresponding warning music, remind operation, monitor staff to note.In industrial computer 7, set up data-storage system, the related data of Programmable Logic Controller 71 transmission is deposited in the middle of the database in real time.
The used host computer of control system can be selected Siemens IL-40 industrial computer 7 for use, and its CPU is four 2.4G that run quickly, internal memory 256M, hard disk 80G, video memory 32M, integrated network interface card, sound card.Programmable Logic Controller 71 is connected with it by the MPI network, gives industrial computer 7 with the data transmission that collects, and industrial computer 7 is finished functions such as data management, monitoring of equipment, report printing, data query by the man-machine interface program with the WINCC software programming.
Used slave computer is selected the CPU314C-2ptp of Siemens's Programmable Logic Controller 300 series for use, and integrated DI mouth is 24 on it, 16 in DO mouth, 5 in AI mouth, 2 in A0 mouth, one of MPI, one of ptp.By the PIN guide rail, also connected one of analog quantity load module SM331, two of communication module CP340, one of counting module FM350-1, one of digital quantity output module SM322.The procedure stores of slave computer in the MMC storage card, finish the start-stop of each parts order, with function such as sensor communication.
Meanwhile, industrial computer 7 is corresponding with trash receptacle warehouse mimic diagram system (as video camera, video recorder, display etc.) with locator data by software, reflects that to operation, monitor staff crane is in nuclear power station trash receptacle warehouse physical location.
As shown in Figure 5, the dolly video camera 4 of video monitoring system, comprehensive integrated camera 5, motorway video camera 6, demoder 42,52 are respectively by ups power 21, direct supply 41,51 power supplies; The model of digital hard disc video recorder 8 is KONY TM621616, supports 1-4 road video to supervise in real time entirely, record a video, and operates with keyboard and mouse; Three video cameras 4,5,6 are passed to digital hard disc video recorder 8 and demonstration by video input plug 81 with picture signal, and are connected with demoder 42,52 respectively through interface convertor 82.Demoder 42,52 model KONY M800CIA-T by the decoding to the DVR control command, can drive The Cloud Terrace, camera lens, video camera.The model ST-CC9220 of two integrated cameras, wherein a table scale is comprehensive integrated camera 5, place with indoor GPS type The Cloud Terrace, furred ceiling is installed, can rotate by nearly 360 degree, be used for monitoring the emission behaviour of crane ruuning situation and trash receptacle in the salvage stores, make the operator to the situation in the salvage stores have one directly perceived, comprehensively understand; Another table scale is a dolly video camera 4, is positioned on the crane dolly, and fixed installation can not be rotated, but camera lens can become doubly, is used for observing the duty of lifting manipulator; A motorway video camera 6, model ST-CC6040, driving voltage AC220V places trash receptacle to import and export 03 top, is used to monitor that trash receptacle imports and exports 03 and have or not haulage vehicle and monitor jar situation that falls on the transport vehicle.
The present invention can carry out whole handling process under " remote control " state, thereby the nuclear radiation of avoiding or reduced crane operation personnel, lifting personnel to be subjected to threatens; Crane has speed-regulating function, starts, moves, brakes steadily, reduces drop hanger and trash receptacle shaking amplitude; Improve the crane bearing accuracy, reduced the parking space of single trash receptacle, improved the utilization factor in warehouse.
Claims (5)
1. the hi-Fix storage system of a nuke rubbish, it is transformation to existing nuclear power station nuke rubbish storage system, it is characterized in that: it comprises positioning system, control system and surveillance, three double speeds, twin shafts are stretched motor (06) change frequency control into, add band-type brake power supply (35) and carry out band-type brake release separately; Wherein, positioning system comprises two laser range finders (1,2), a rotary encoder (3); Industrial computer (7) is by RS232 interface and Programmable Logic Controller (71) Data transmission; Programmable Logic Controller (71) links to each other with rotary encoder (3) with laser range finder (1,2) with communication module (75) by communication cable, be connected with three frequency converters (74) by the RS485 communication interface, also link to each other with proximity transducer (77), load cell (76) and temperature probe, limit switch etc. with digital quantity interface (73) by analog quantity interface (72); Surveillance comprises that being installed in trash receptacle imports and exports motorway video camera (6) on the ceiling of (03) top, is installed in omnidirectional vision camera (5) on the ceiling of middle part, warehouse (01), is installed in dolly video camera (4) on the dolly (05), is loaded on digital hard disc video recorder (8), industrial computer display (9) and digital hard disc video recorder display (10) in the control desk (11).
2. the hi-Fix storage system of nuke rubbish according to claim 1, it is characterized in that: in positioning system, laser range finder (1) is installed in warehouse (01) longitudinally on the wall, laser range finder (2) is installed on the longitudinal axis direction of cart (04), and rotary encoder (3) is installed on the dolly lifting motor (063).
3. the hi-Fix storage system of nuke rubbish according to claim 1 is characterized in that: three used twin shafts of cart (04), dolly (05) and suspender are stretched motor (06) and are adopted the electric power system of being made up of power supply (31), Magnetic contactor (32), AC reactor (33), frequency converter (74); And three frequency converters (74) are by RS485 mouth and Programmable Logic Controller (71) communication, the frequency conversion scope at OHZ between the 50HZ.
4. the hi-Fix storage system of nuke rubbish according to claim 1 is characterized in that: band-type brake system (07) links to each other with band-type brake power supply (35) independently, and by Programmable Logic Controller (71) by digital quantity interface (73) control.
5. the hi-Fix storage system of nuke rubbish according to claim 1 is characterized in that: be installed in trash receptacle and import and export the proximity transducer (77) (03) located and send signal and trigger Programmable Logic Controller (71) and move trash receptacle automatically and stack program to Programmable Logic Controller (71) by communication cable and digital quantity interface (73).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100098753A CN100392540C (en) | 2006-03-30 | 2006-03-30 | High precision positioning and accessing system for waste nuclear material |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100098753A CN100392540C (en) | 2006-03-30 | 2006-03-30 | High precision positioning and accessing system for waste nuclear material |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1838010A true CN1838010A (en) | 2006-09-27 |
| CN100392540C CN100392540C (en) | 2008-06-04 |
Family
ID=37015428
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006100098753A Expired - Fee Related CN100392540C (en) | 2006-03-30 | 2006-03-30 | High precision positioning and accessing system for waste nuclear material |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100392540C (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101206482B (en) * | 2006-12-20 | 2010-09-29 | 富士迈半导体精密工业（上海）有限公司 | Positioning control system |
| CN101192059B (en) * | 2006-11-28 | 2011-09-07 | 罗伯特.博世有限公司 | Method and device for position control of at least one pair of moveable axes of a machine |
| CN102360201A (en) * | 2011-07-14 | 2012-02-22 | 中国核电工程有限公司 | Nuclear power plant refueling machine control system with adoption of PLC (Programmable Logic Controller) with integral motion control function |
| CN104176644A (en) * | 2013-05-22 | 2014-12-03 | 四川沱江起重机有限公司 | Crane for automatically positioning and aligning at position to search object in corresponding position in nuclear radiation environment |
| CN105152019A (en) * | 2015-09-11 | 2015-12-16 | 苏州市新瑞奇节电科技有限公司 | Crane positioning system for workshop |
| CN105676728A (en) * | 2016-01-12 | 2016-06-15 | 南开大学 | DSP-based automatic control system hardware platform of bridge-type crane |
| CN114314351A (en) * | 2021-12-17 | 2022-04-12 | 同济大学 | Intelligent positioning method based on traditional traveling crane |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3918443A1 (en) * | 1989-06-06 | 1990-12-13 | Siemens Ag | Nuclear waste storage built coupled to power station - has simplified transport and transfer and less shielding problems |
| US5251243A (en) * | 1992-08-21 | 1993-10-05 | Westinghouse Electric Corp. | Automatic fuel assembly loader |
| KR20050014365A (en) * | 2003-07-31 | 2005-02-07 | (주) 액트 | Development of Integrated Radioactive Waste Management System Using RFID and GPS/CDMA |
-
2006
- 2006-03-30 CN CNB2006100098753A patent/CN100392540C/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101192059B (en) * | 2006-11-28 | 2011-09-07 | 罗伯特.博世有限公司 | Method and device for position control of at least one pair of moveable axes of a machine |
| CN101206482B (en) * | 2006-12-20 | 2010-09-29 | 富士迈半导体精密工业（上海）有限公司 | Positioning control system |
| CN102360201A (en) * | 2011-07-14 | 2012-02-22 | 中国核电工程有限公司 | Nuclear power plant refueling machine control system with adoption of PLC (Programmable Logic Controller) with integral motion control function |
| CN102360201B (en) * | 2011-07-14 | 2014-06-04 | 中国核电工程有限公司 | Nuclear power plant refueling machine control system with adoption of PLC (Programmable Logic Controller) with integral motion control function |
| CN104176644A (en) * | 2013-05-22 | 2014-12-03 | 四川沱江起重机有限公司 | Crane for automatically positioning and aligning at position to search object in corresponding position in nuclear radiation environment |
| CN105152019A (en) * | 2015-09-11 | 2015-12-16 | 苏州市新瑞奇节电科技有限公司 | Crane positioning system for workshop |
| CN105676728A (en) * | 2016-01-12 | 2016-06-15 | 南开大学 | DSP-based automatic control system hardware platform of bridge-type crane |
| CN105676728B (en) * | 2016-01-12 | 2018-04-06 | 南开大学 | Overhead crane automatic control system hardware platform based on DSP |
| CN114314351A (en) * | 2021-12-17 | 2022-04-12 | 同济大学 | Intelligent positioning method based on traditional traveling crane |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100392540C (en) | 2008-06-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100392540C (en) | High precision positioning and accessing system for waste nuclear material | |
| CN204873387U (en) | Monitoring devices based on mine hoisting system | |
| CN201217613Y (en) | Security monitoring management system for tower crane | |
| CN103863958A (en) | Complicated cluster walking type tower crane collision avoidance system and monitoring method | |
| CN104731076A (en) | Working condition monitoring system based on DCS structure | |
| CN202558492U (en) | Intelligent safety monitoring and early warning device for area multi-tower type crane | |
| CN112520582B (en) | High-low-lift automatic electrical control system and control method | |
| CN203781703U (en) | Complex cluster walking type tower crane anti-collision system | |
| CN101852009A (en) | Monitoring system of guide-rail attached lifting scaffold | |
| CN114314346B (en) | Driving control method and system based on coal storage management | |
| CN111646365A (en) | Unmanned overhead traveling crane control system | |
| CN112556903A (en) | Tower material all-state monitoring and analyzing method | |
| CN104326360B (en) | High pedestal jib crane holographic measuring method | |
| CN114035488B (en) | Fortune frame all-in-one electrical control system based on thing networking cloud monitoring technology | |
| JP2013125371A (en) | Mechanical equipment management system | |
| CN102842155A (en) | Safety monitoring system for large-size hoisting machinery | |
| CN105836642A (en) | Tower crane anti-collision safety system with rotary baking function and control strategy | |
| CN202808204U (en) | Safety monitoring system for large hoisting machinery | |
| CN104444812A (en) | Novel crane monitoring system | |
| CN105790436A (en) | LabVIEW based brower/server (B/S)-framework remote inspection system of power transformation and distribution station | |
| CN206842887U (en) | Safety of gantry crane monitoring system | |
| CN213505655U (en) | Full-automatic feeding control system for garbage power generation | |
| CN116062356A (en) | Unmanned stacking system of anode carbon block warehouse for aluminum | |
| CN209731116U (en) | One kind embedding the wire machine control system based on Embedded disk type electric machine stator | |
| CN110668312A (en) | Safety monitoring and structural health information management system for hoisting machinery |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080604 Termination date: 20140330 |