CN1144026C - 俯仰角度测量系统 - Google Patents

俯仰角度测量系统 Download PDF

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CN1144026C
CN1144026C CNB981261612A CN98126161A CN1144026C CN 1144026 C CN1144026 C CN 1144026C CN B981261612 A CNB981261612 A CN B981261612A CN 98126161 A CN98126161 A CN 98126161A CN 1144026 C CN1144026 C CN 1144026C
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丹尼斯·W·艾克斯坦
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/50—Applications of limit circuits or of limit-switch arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/72—Counterweights or supports for balancing lifting couples
    • B66C23/78—Supports, e.g. outriggers, for mobile cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • B66F11/042—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations actuated by lazy-tongs mechanisms or articulated levers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
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    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
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    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/0209—Systems with very large relative bandwidth, i.e. larger than 10 %, e.g. baseband, pulse, carrier-free, ultrawideband
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes

Abstract

一种俯仰角度测量系统，包括一个非接触性检测装置(440)，它安装在第一臂架(400)的头部(405)。这个非接触性检测装置(440)检测到作为枢轴连接在第一臂架(400)上的第二臂架(430)的距离，或检测朝着第二臂架(430)传送的电磁能和接收到从第二臂架(430)上反射回来的电磁能之间的时间延迟。然后，一个控制器(470)把检测到的距离或时间延迟转换成俯仰角度。

Description

俯仰角度测量系统
技术领域
本发明涉及的是俯仰角度测量系统。
背景技术
起重机和空中工作平台使用许多仪器去检测组成起重机或空中工作平台一部分的零件(如臂架)的距离，长度和/或它的位置。这些仪器依赖于仪器和需要检测位置和/或长度的零件的一部分之间的接触。然而，因为每一种物理接触都会磨损和剥蚀仪器，所以依赖于接触的仪器都有一个有限的寿命期。接触仪也可能由于阻止接触的检测这个额外因素而失效。例如，许多接触仪使用电动开关，而冰和冻结的雨水可能使开关不能工作。
此外，大多数接触仪仅能提供一个非连续的测量。当接触时，这种接触指示臂架是处于预定位置或预定长度。这样的接触仪不能提供连续的、变化的实时测量。接触仪器也有一个缓慢的响应时间。到处理检测到的接触时，臂架将不再处于预定的位置上。因此，接触仪包含了一定数量的错误。
发明内容
因此，本发明的目的是提供一种不依赖于物理接触的俯仰角度测量系统，于是，这种测量系统不会遇到和接触仪有关的问题和缺点。
为此，本发明提供了一种俯仰角度测量系统，包括一个非接触性检测装置，安装在一个第一臂架头部，并朝着一个第二臂架的方向发射电磁能，之后接收从所述第二臂架反射的电磁能，所述第二臂架枢轴连接到第一臂架，第二臂架中位于电磁能发射方向的部分反射电磁能，从发射电磁能至收到反射的电磁能之间的时间延迟被检测，所述非接触性检测装置安装在第一臂架头部，使得当第二臂架和第一臂架之间的俯仰角增加时，所检测的时间延迟增大，非接触性检测装置输出一个信号；以及一个控制器，接收所述信号并将其转变为一个俯仰角。
附图说明
从下面所给的详细论述和仅仅是举例说明的的附图中，将能更加充分理解本发明，不过本发明不能限制在这样的描述中，其中：图1表示的是根据本发明的一个俯仰角度测量系统实施例。
具体实施方式
从以下构成详细说明的一部分的最优实施例和附图的详细描述，本发明的其他目的、特征、性质；以及这种结构相关组成部分的方法、操作、功能；零部件的结合；制造的经济情况都将变得显而易见，其中，在不同的附图中，同样的参考序号表示同样的部分。
图1表示了根据本发明的一个俯仰角度测量系统。如图所示，起重杆430枢轴连接在主臂架400的头部405的顶端。连接在起重杆430头部463的第一缆索450控制着起重杆430的上升(也就是枢轴的运动)。一个支杆420和一个控制臂410支撑着第一缆索450，以及帮助稳定起重杆430。
由起重杆430支撑着的第二缆索460连接在吊具465上。第二缆索460进一步由支杆420和控制臂410支撑着。工作时，第一卷扬设备(图中未示出)控制着第一缆索450的运动；也就是控制了起重杆430的上升。第二卷扬设备(图中未示出)控制着第二缆索460的运动；也就是控制了吊具465的运动。
依据所需要提升的载荷和载荷需要提升的高度，起重杆430置于一个特定的高度。一个微型脉冲雷达(MIR)系统440安装在主臂架400的头部405。微型脉冲雷达系统440向起重杆430的方向发射短程超宽带波，并检测从起重杆430上的反射部分上反射回来的这些波。基于反射回来的波，换句话说，基于波的传输和接收之间的时间延迟，这个微型脉冲雷达系统再结合其他因素，决定出它到所述反射部分之间的距离。这个微型脉冲雷达系统440安装于头部405，于是那儿的天线(图中未示出)发射的波从起重杆430反射回来。更具体地，这样安装微型脉冲雷达系统440，使得当起重杆430和主臂架400形成一个从0°到大于90°但小于180°的角度时，这个微型脉冲雷达系统440接收到从起重杆430反射回来的波。在起重杆430的最大高度，微型脉冲雷达系统440接收到的反射波取决于起重杆430的长度。
当起重杆430和主臂架400之间的角度增加时，微型脉冲雷达系统440和起重杆430之间的距离增加。微型脉冲雷达系统440通过一个电缆445把测量到的距离输出到一个控制系统470。这个控制系统470包括一个连接在一个随机存取存储器和一个只读存储器上的处理器472。这个控制系统470存储着能把检测到的距离转换成起重杆430的仰度(也就是起重杆430和主臂架400之间的角度)的一张查询表或一个等式，这样，通过微型脉冲雷达系统440就把检测到的距离输出转换成仰度。
替代提供一个检测距离，这种微型脉冲雷达系统440可提供一个波的传送和接收之间的时间延迟也能形成。在这个替换的实施例中，控制系统470存储着把时间延迟转换成仰度的一张查询表或一个等式。
代替使用微型脉冲雷达系统来检测目标，任何不依赖于接触来检测到一个物体或表面的距离的仪器都可以使用，如声波、超声波、红外线、激光距离检测仪。
本发明如上所述地进行了讨论，显然，同一个部分可能有许多种变形。我们认为这样的变化不脱离本发明的原理和范围，同时也认为所有本领域技术人员容易作出的改进都包括在本发明的范围之内。

Claims (16)

1.一种俯仰角度测量系统，包括
一个非接触性检测装置，安装在一个第一臂架头部，并朝着一个第二臂架的方向发射电磁能，之后接收从所述第二臂架反射的电磁能，所述第二臂架枢轴连接到第一臂架，第二臂架中位于电磁能发射方向的部分反射电磁能，从发射电磁能至收到反射的电磁能之间的时间延迟被检测，所述非接触性检测装置安装在第一臂架头部，使得当第二臂架和第一臂架之间的俯仰角增加时，所检测的时间延迟增大，非接触性检测装置输出一个信号；以及
一个控制器，接收所述信号并将其转变为一个俯仰角。
2.根据权利要求1所述的系统，其特征在于，非接触性检测装置是一个微型脉冲雷达。
3.根据权利要求1所述的系统，其特征在于，非接触性检测装置是一个声波距离检测装置。
4.根据权利要求1所述的系统，其特征在于，非接触性检测装置是一个超声波距离检测装置。
5.根据权利要求1所述的系统，其特征在于，非接触性检测装置是一个红外线距离检测装置。
6.根据权利要求1所述的系统，其特征在于，非接触性检测装置是一个激光距离检测装置。
7.根据权利要求1所述的系统，其特征在于，所述非接触性检测装置输出并被控制器接收的信号，是检测到的非接触性检测装置及第二臂架反射部分之间的距离信号，控制器使用一张查询表把检测到的距离转换成俯仰角度。
8.根据权利要求1所述的系统，其特征在于，所述非接触性检测装置输出并被控制器接收的信号，是检测到的非接触性检测装置及第二臂架反射部分之间的距离信号，控制器使用一个等式把检测到的距离转换成俯仰角度。
9.根据权利要求1所述的系统，其特征在于，所述非接触性检测装置输出并被控制装置接收的信号是检测到的时间延迟。
10.根据权利要求9所述的系统，其特征在于，非接触性检测装置是一个微型脉冲雷达。
11.根据权利要求9所述的系统，其特征在于，非接触性检测装置是一个声波距离检测装置。
12.根据权利要求9所述的系统，其特征在于，非接触性检测装置是一个超声波距离检测装置。
13.根据权利要求9所述的系统，其特征在于，非接触性检测装置是一个红外线距离检测装置。
14.根据权利要求9所述的系统，其特征在于，非接触性检测装置是一个激光距离检测装置。
15.根据权利要求9所述的系统，其特征在于，控制器使用一张查询表把检测到的时间延迟转换成俯仰角度。
16.根据权利要求9所述的系统，其特征在于，控制器使用一个等式把检测到的时间延迟转换成俯仰角度。
CNB981261612A 1997-12-05 1998-12-04 俯仰角度测量系统 Expired - Fee Related CN1144026C (zh)

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CN107728565A (zh) * 2017-09-29 2018-02-23 中国神华能源股份有限公司 臂架俯仰角度计算方法、装置以及机器可读存储介质

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CA2255234C (en) 2006-03-28
JPH11311512A (ja) 1999-11-09
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EP0921091A3 (en) 1999-06-16
EP0921092B1 (en) 2004-05-19
CA2255111A1 (en) 1999-06-05
JP3318277B2 (ja) 2002-08-26
CN1239070A (zh) 1999-12-22
US6473715B1 (en) 2002-10-29
CN1154610C (zh) 2004-06-23
CA2255111C (en) 2004-11-23
DE69818781T2 (de) 2004-05-19
KR19990062832A (ko) 1999-07-26
CA2255105A1 (en) 1999-06-05
KR19990062836A (ko) 1999-07-26
DE69818781D1 (de) 2003-11-13
KR19990062834A (ko) 1999-07-26
US6067024A (en) 2000-05-23
EP0921093A2 (en) 1999-06-09
EP0921096A2 (en) 1999-06-09
CA2255234A1 (en) 1999-06-05
EP0921093B1 (en) 2004-10-06
KR100563294B1 (ko) 2006-06-01
CA2255093C (en) 2005-05-17
EP0921092A2 (en) 1999-06-09
DE69826817T2 (de) 2005-02-17
US6343703B1 (en) 2002-02-05
JPH11257492A (ja) 1999-09-21
JPH11286393A (ja) 1999-10-19
KR100576793B1 (ko) 2006-08-18
DE69823965T2 (de) 2004-10-21
CN1101579C (zh) 2003-02-12
DE69835194D1 (de) 2006-08-24
CN1236694A (zh) 1999-12-01
EP0921093A3 (en) 1999-06-16
KR100616504B1 (ko) 2007-04-25
US6380849B1 (en) 2002-04-30
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CA2255233A1 (en) 1999-06-05
EP0921089B1 (en) 2003-10-08
KR19990062833A (ko) 1999-07-26
CN1236890A (zh) 1999-12-01
EP0921089A3 (en) 1999-06-16
KR19990062835A (ko) 1999-07-26
EP0921096B1 (en) 2006-07-12
EP0921092A3 (en) 1999-06-16
DE69823965D1 (de) 2004-06-24
CN1234364A (zh) 1999-11-10
CN1235118A (zh) 1999-11-17
DE69826817D1 (de) 2004-11-11
CA2255093A1 (en) 1999-06-05
CN1182022C (zh) 2004-12-29
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CA2255105C (en) 2006-01-31
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