公开(公告)号：US07844379B2

公开(公告)日：2010-11-30

申请号：US11749751

申请日：2007-05-17

Applicant: Xiujun Tang ,  Peike Shi ,  Shenghua Li ,  Songyun Zhou

Inventor： Xiujun Tang ,  Peike Shi ,  Shenghua Li ,  Songyun Zhou

IPC: G06F19/00

CPC classification number: E04G21/04 ,  B66C13/40 ,  B66C13/46 ,  E04G21/0436 ,  E04G21/0463

Abstract: An intelligent boom control device includes: a control unit and an angle measurement unit, the control unit calculating the boom position information based on measured value of angles, whereby adjusting the control of various actuators; the device further including: a remote controller which transmits control commands and can provide movement control commands including X axis component, Y axis component and Z axis component used in a rectangular coordinate system; a rectangular coordinate system being defined in a space; when the remote controller transmits a movement control command, the control unit determining the movement direction of the boom end in a plane according to the X axis component and Y axis component of the received movement control command, and decomposing the movement into movement of each boom section and the rotary platform so that the boom end moves to the direction indicated by the movement control command.

Abstract translation: 智能起重臂控制装置包括：控制单元和角度测量单元，控制单元基于角度的测量值来计算起重臂位置信息，从而调节各种致动器的控制; 该装置还包括：遥控器，其发送控制命令并且可以提供包括在直角坐标系中使用的X轴分量，Y轴分量和Z轴分量的运动控制命令; 在空间中定义的直角坐标系; 当遥控器发送移动控制命令时，控制单元根据接收到的移动控制命令的X轴分量和Y轴分量来确定悬臂端部在平面中的移动方向，并且将运动分解为每个悬臂的运动 以及旋转平台，使得悬臂端部移动到由移动控制指令指示的方向。

公开(公告)号：US08627575B2

公开(公告)日：2014-01-14

申请号：US13380554

申请日：2010-06-25

Applicant: Xiujun Tang ,  Dezhi Yang ,  Bin Zhou

Inventor： Xiujun Tang ,  Dezhi Yang ,  Bin Zhou

IPC: B23Q17/00

CPC classification number: B66C13/46 ,  B66C13/063

Abstract: A hook pose detecting equipment and a crane with the hook pose detecting equipment, in which the hook pose detecting equipment comprises an angle measuring apparatus for obtaining the angle between an axis in a second coordinate system and the corresponding axis in a first coordinate system, an acceleration measuring meter for obtaining the acceleration of the hook in a predetermined direction, a processor for building the first coordinate system and the second coordinate system, and an output equipment. The first coordinate system is relatively fixed with a predetermined location, and the second coordinate system is relatively fixed with the hook. The processor obtains the pose parameters of the hook in the first coordinate system according to the angle obtained by the angle measuring apparatus and the acceleration obtained by the acceleration measuring meter. The operator is able to take appropriate hook-stabilizing measures according to the pose parameters, and thus the efficiency of lifting work is increased.

Abstract translation: 钩形姿态检测装置和具有钩姿态检测装置的起重机，其中钩姿态检测装置包括用于获得第二坐标系中的轴与第一坐标系中的对应轴之间的角度的角度测量装置， 用于获得预定方向上的钩的加速度的加速度测量计，用于构建第一坐标系的处理器和第二坐标系，以及输出设备。 第一坐标系与预定位置相对固定，第二坐标系与钩相对固定。 处理器根据由角度测量装置获得的角度和由加速度测量计获得的加速度获得第一坐标系中的钩子的姿态参数。 操作者能够根据姿态参数采取适当的挂钩稳定措施，从而提高起重作业的效率。

公开(公告)号：US20120255188A1

公开(公告)日：2012-10-11

申请号：US13380554

申请日：2010-06-25

Applicant: Xiujun Tang ,  Dezhi Yang ,  Bin Zhou

Inventor： Xiujun Tang ,  Dezhi Yang ,  Bin Zhou

IPC: G01P15/18 ,  G01C9/02

CPC classification number: B66C13/46 ,  B66C13/063

Abstract: A hook pose detecting equipment and a crane with the hook pose detecting equipment, in which the hook pose detecting equipment comprises an angle measuring apparatus for obtaining the angle between an axis in a second coordinate system and the corresponding axis in a first coordinate system, an acceleration measuring meter for obtaining the acceleration of the hook in a predetermined direction, a processor for building the first coordinate system and the second coordinate system, and an output equipment. The first coordinate system is relatively fixed with a predetermined location, and the second coordinate system is relatively fixed with the hook. The processor obtains the pose parameters of the hook in the first coordinate system according to the angle obtained by the angle measuring apparatus and the acceleration obtained by the acceleration measuring meter. The operator is able to take appropriate hook-stabilizing measures according to the pose parameters, and thus the efficiency of lifting work is increased.

Abstract translation: 钩形姿态检测装置和具有钩姿态检测装置的起重机，其中钩姿态检测装置包括用于获得第二坐标系中的轴与第一坐标系中的对应轴之间的角度的角度测量装置， 用于获得预定方向上的钩的加速度的加速度测量计，用于构建第一坐标系的处理器和第二坐标系，以及输出设备。 第一坐标系与预定位置相对固定，第二坐标系与钩相对固定。 处理器根据由角度测量装置获得的角度和由加速度测量计获得的加速度获得第一坐标系中的钩子的姿态参数。 操作者能够根据姿态参数采取适当的挂钩稳定措施，从而提高起重作业的效率。

公开(公告)号：US20080162005A1

公开(公告)日：2008-07-03

申请号：US11749751

申请日：2007-05-17

Applicant: Xiujun Tang ,  Peike Shi ,  Shenghua Li ,  Songyun Zhou

Inventor： Xiujun Tang ,  Peike Shi ,  Shenghua Li ,  Songyun Zhou

IPC: G06F19/00

CPC classification number: E04G21/04 ,  B66C13/40 ,  B66C13/46 ,  E04G21/0436 ,  E04G21/0463

Abstract: The present invention discloses an intelligent boom control device including: a control unit and an angle measurement unit, the control unit calculating the boom position information based on measured value of angles, whereby adjusting the control of various actuators; the device further including: a remote controller which transmits control commands in the form of wireless remote control and can provide movement control commands including X axis component, Y axis component and Z axis component used in a rectangular coordinate system; a rectangular coordinate system being defined in a space, X axis, Y axis and Z axis of this rectangular coordinate system corresponding to each of the coordinate axis components in the movement control command of the remote controller; when the remote controller transmits a movement control command, the control unit determining the movement direction of the boom end in a plane according to the X axis component and Y axis component of the received movement control command, and decomposing the movement into movement of each boom section and the rotary platform so that the boom end moves to the direction indicated by the movement control command. According to the device provided by the present invention, it is possible for an operator to easily accomplish the straight line control of the movement track of the boom end.

Abstract translation: 本发明公开了一种智能动臂控制装置，包括：控制单元和角度测量单元，控制单元基于角度的测量值来计算起重臂位置信息，由此调节各种致动器的控制; 该装置还包括：遥控器，其以无线遥控器的形式发送控制命令，并且可以提供包括在直角坐标系中使用的X轴分量，Y轴分量和Z轴分量的运动控制命令; 在与该遥控器的移动控制指令中的每个坐标轴分量相对应的该直角坐标系的空间X轴，Y轴和Z轴中定义的直角坐标系; 当遥控器发送移动控制命令时，控制单元根据接收到的移动控制命令的X轴分量和Y轴分量来确定悬臂端部在平面中的移动方向，并且将运动分解为每个悬臂的运动 以及旋转平台，使得悬臂端部移动到由移动控制指令指示的方向。 根据本发明提供的装置，操作者可以容易地实现起重臂端部的运动轨迹的直线控制。