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    Method for guiding a boom and a system for guiding a boom
    1.
    发明授权
    Method for guiding a boom and a system for guiding a boom 失效
    用于引导吊杆和引导吊杆的系统的方法

    公开(公告)号：US06553278B2

    公开(公告)日：2003-04-22

    申请号：US09908385

    申请日：2001-07-18

    申请人： Heikki Handroos ,  Janne Kovanen

    发明人： Heikki Handroos ,  Janne Kovanen

    IPC分类号： G06F700

    CPC分类号： B66C23/905 ,  B66C13/066 ,  B66C13/20 ,  E02F9/2207 ,  E02F9/265 ,  G05B2219/41166 ,  G05B2219/45046

    摘要： The invention relates to a method for guiding the boom (3) of a working machine in connection with the handling of a load, in which method the movements of the load are controlled by means of a control signal formed by at least one control means (9), one or several measurement signals are generated to determine information related to at least the load mass and/or the boom movement, and said at least one control signal is filtered. In the method, the filtering applies a filtering function of the second or a higher order, comprising at least one parameter which can be set, and the method also comprises at least the following steps: a determining step to determine at least one specific oscillation frequency of the boom on the basis of said measurement signals, a setting step, in which at least one specific oscillation frequency determined in the determining step is used to set at least one parameter for a filtering function, a filtering step, in which said control signal is filtered with said filtering function to form a control signal, and a control step, in which said control signal is used to guide the movement of the boom (3).

    摘要翻译： 本发明涉及一种与负载的处理相关联地引导作业机械的起重臂（3）的方法，其中负载的运动通过由至少一个控制装置形成的控制信号（ 如图9所示），产生一个或多个测量信号以确定与至少负载质量和/或吊杆移动有关的信息，并且所述至少一个控制信号被滤波。 在该方法中，滤波应用第二或更高阶的滤波函数，包括至少一个可以设置的参数，并且该方法还至少包括以下步骤：确定步骤，用于确定至少一个特定的振荡频率 在所述测量信号的基础上，设置步骤，其中在所述确定步骤中确定的至少一个特定振荡频率用于设置用于滤波功能的至少一个参数，滤波步骤，其中所述控制信号 用所述滤波函数滤波以形成控制信号，以及控制步骤，其中所述控制信号用于引导起重臂（3）的运动。

    Method for guiding a boom and a system for guiding a boom
    2.
    发明申请
    Method for guiding a boom and a system for guiding a boom 失效
    用于引导吊杆和引导吊杆的系统的方法

    公开(公告)号：US20020008075A1

    公开(公告)日：2002-01-24

    申请号：US09908385

    申请日：2001-07-18

    发明人： Heikki Handroos ,  Janne Kovanen

    IPC分类号： B66C013/18

    CPC分类号： B66C23/905 ,  B66C13/066 ,  B66C13/20 ,  E02F9/2207 ,  E02F9/265 ,  G05B2219/41166 ,  G05B2219/45046

    摘要： The invention relates to a method for guiding the boom (3) of a working machine in connection with the handling of a load, in which method the movements of the load are controlled by means of a control signal formed by at least one control means (9), one or several measurement signals are generated to determine information related to at least the load mass and/or the boom movement, and said at least one control signal is filtered. In the method, the filtering applies a filtering function of the second or a higher order, comprising at least one parameter which can be set, and the method also comprises at least the following steps: a determining step to determine at least one specific oscillation frequency of the boom on the basis of said measurement signals, a setting step, in which at least one specific oscillation frequency determined in the determining step is used to set at least one parameter for a filtering function, a filtering step, in which said control signal is filtered with said filtering function to form a control signal, and a control step, in which said control signal is used to guide the movement of the boom (3).

    摘要翻译： 本发明涉及一种与负载的处理相关联地引导作业机械的起重臂（3）的方法，其中负载的运动通过由至少一个控制装置形成的控制信号（ 如图9所示），产生一个或多个测量信号以确定与至少负载质量和/或吊杆移动有关的信息，并且所述至少一个控制信号被滤波。 在该方法中，滤波应用第二或更高阶的滤波函数，包括至少一个可以设置的参数，并且该方法还至少包括以下步骤：确定步骤，用于确定至少一个特定的振荡频率 在所述测量信号的基础上，设置步骤，其中在所述确定步骤中确定的至少一个特定振荡频率用于设置用于滤波功能的至少一个参数，滤波步骤，其中所述控制信号 用所述滤波功能进行滤波以形成控制信号;以及控制步骤，其中所述控制信号用于引导悬臂（3）的运动。

    Determining an autonomous position of a point of interest on a lifting device
    3.
    发明授权
    Determining an autonomous position of a point of interest on a lifting device 有权
    确定提升装置上的兴趣点的自主位置

    公开(公告)号：US09156167B2

    公开(公告)日：2015-10-13

    申请号：US11803830

    申请日：2007-05-15

    申请人： John F. Cameron

    发明人： John F. Cameron

    IPC分类号： B25J9/16 ,  G05B19/18

    CPC分类号： B25J9/1676 ,  G05B2219/39091 ,  G05B2219/39259 ,  G05B2219/40476 ,  G05B2219/45046 ,  G05B2219/49139

    摘要： A system and method for monitoring a lifting device is disclosed. The method receives location information from a position determiner module coupled with a point of interest associated with the lifting device and determines an autonomous position of the point of interest based on the location information. The method further includes monitoring the lifting device based on the autonomous position of the point of interest.

    摘要翻译： 公开了一种用于监测提升装置的系统和方法。 该方法从与提升装置相关联的兴趣点耦合的位置确定器模块接收位置信息，并且基于位置信息确定兴趣点的自主位置。 该方法还包括基于兴趣点的自主位置来监视提升装置。

    Determining an autonomous position of a point of interest on a lifting device
    5.
    发明申请
    Determining an autonomous position of a point of interest on a lifting device 有权
    确定提升装置上的兴趣点的自主位置

    公开(公告)号：US20080288125A1

    公开(公告)日：2008-11-20

    申请号：US11803830

    申请日：2007-05-15

    申请人： John F. Cameron

    发明人： John F. Cameron

    IPC分类号： G05D1/10 ,  G05B19/18

    CPC分类号： B25J9/1676 ,  G05B2219/39091 ,  G05B2219/39259 ,  G05B2219/40476 ,  G05B2219/45046 ,  G05B2219/49139

    摘要： A system and method for monitoring a lifting device is disclosed. The method receives location information from a position determiner module coupled with a point of interest associated with the lifting device and determines an autonomous position of the point of interest based on the location information. The method further includes monitoring the lifting device based on the autonomous position of the point of interest.

    摘要翻译： 公开了一种用于监测提升装置的系统和方法。 该方法从与提升装置相关联的兴趣点耦合的位置确定器模块接收位置信息，并且基于位置信息确定兴趣点的自主位置。 该方法还包括基于兴趣点的自主位置来监视提升装置。

    LQR-based anti-sway control method and system for lifting system
    7.
    发明授权
    LQR-based anti-sway control method and system for lifting system 有权

    公开(公告)号：US11708248B2

    公开(公告)日：2023-07-25

    申请号：US17799166

    申请日：2021-02-26

    申请人： Shanghai Master Matrix Information Technology Co., Ltd.

    发明人： Zhi Feng

    IPC分类号： B66C13/06 ,  G05B19/4155 ,  B66C13/48

    CPC分类号： B66C13/063 ,  B66C13/48 ,  G05B19/4155 ,  G05B2219/45046

    摘要： The present invention provides a linear quadratic regulator (LQR)-based anti-sway control method for a hoisting system, comprising the following steps: obtaining a target position of a trolley, and obtaining a planned real-time path of the trolley according to the maximum velocity vm and maximum acceleration am of the trolley; establishing a dynamic model of the hoisting system according to a Lagrange's equation, for the Lagrange's equation, the trolley displacement x, the spreader sway angle θ, and the rope length l of the hoisting system being selected as generalized coordinate directions; observing lumped disturbance d using an extended state observer, and compensating for same in a controller, the lumped disturbance d comprising the dynamic model error and external disturbance to the hoisting system; tracking the planned real-time path of the trolley by a Q matrix and an R matrix using a linear quadratic regulator controller. The LQR-based anti-sway control method for a hoisting system provided by the present invention can make the hoisting system operate more smoothly, reduce sway during operation, and quickly eliminate sway when in place while observing the lumped disturbance using an extended state observer.

    Method for mounting pattern in actual machine
    8.
    发明授权
    Method for mounting pattern in actual machine 有权
    在实际机器中安装图案的方法

    公开(公告)号：US07729821B2

    公开(公告)日：2010-06-01

    申请号：US11499647

    申请日：2006-08-07

    申请人： Toshiki Moriguchi ,  Takeshi Murakami

    发明人： Toshiki Moriguchi ,  Takeshi Murakami

    IPC分类号： G01C22/00

    CPC分类号： G05B19/416 ,  G05B2219/34048 ,  G05B2219/43028 ,  G05B2219/45046

    摘要： When dot-sequential data indicating a temporal variation in position, speed, or acceleration is stored in a memory in an automated guided vehicle as it is, the capacity of the memory is insufficient and thus needs to be increased. A pattern is mounted in a stacker crane 1; the pattern is drawn by dot-sequential data indicating a temporal variation in acceleration (FIG. 2C), and corresponds to an instruction value provided to an actuator installed in the stacker crane 1. In this case, a curve function corresponding to an approximate expression for the dot-sequential data is derived in a form of a Fourier series having a finite number of terms and using time as an independent variable and the position, speed, or acceleration as a dependent variable. Data identifying the Fourier series, having a finite number of terms, is stored in a memory 5 mounted in the stacker crane 1.

    摘要翻译： 当指示位置，速度或加速度的时间变化的点序数据原样存储在自动导引车辆的存储器中时，存储器的容量不足，因此需要增加。 图案安装在堆垛机1中; 该图形由表示加速度的时间变化的点序数据（图2C）绘制，并且对应于提供给安装在堆垛机1中的致动器的指令值。在这种情况下，对应于近似表达式的曲线函数 因为点序数据是以具有有限数量项的傅立叶级数的形式导出的，并且使用时间作为独立变量，并且将位置，速度或加速度作为因变量。 识别具有有限数量的术语的傅里叶级数的数据被存储在安装在堆垛机1中的存储器5中。

    Programmable alarm system for marine loading arms
    10.
    发明授权
    Programmable alarm system for marine loading arms 失效
    海上装载臂可编程报警系统

    公开(公告)号：US4205308A

    公开(公告)日：1980-05-27

    申请号：US853800

    申请日：1977-11-21

    申请人： Frank P. Haley ,  Louis S. McTamaney

    发明人： Frank P. Haley ,  Louis S. McTamaney

    IPC分类号： F17D5/02 ,  B25J9/16 ,  B25J9/18 ,  B25J13/08 ,  B67D9/02 ,  G01B7/004 ,  G01B7/30 ,  G01D5/165 ,  G08B21/00 ,  B65B1/04 ,  G01B3/56 ,  G01C1/00

    CPC分类号： B67D9/02 ,  B25J13/088 ,  B25J9/1676 ,  G01B7/004 ,  G01B7/30 ,  G01D5/1655 ,  G05B2219/41206 ,  G05B2219/45046 ,  G05B2219/49137 ,  G05B2219/49138 ,  G05B2219/49139 ,  G05B2219/49142 ,  Y10T137/8275 ,  Y10T137/8807

    摘要： A system for sensing the positon in space of the outer end of an articulated fluid loading arm while it is connected to a marine tanker or other transport vessel, and for sounding an alarm if the arm's operating envelope is exceeded. The sensing system includes means for determining various angles representative of the orientation of the booms or limbs of the arm, and a microprocessor for using these angles to compute the spatial position of the arm's outboard end. The boundaries between the safe and unsafe areas of operation of the arm are stored in a digital memory and compared with the actual position of the arm. The boundaries which define the safe areas can be any desired shape, and the shape can be readily changed by storing a new set of boundary values in the digital memory. If desired, the location of the boundaries can be made to depend upon the velocity of the arm as it is being maneuvered. When the outboard end of the arm moves into an unsafe area an alarm sounds, and the system is shut down if the arm moves a predetermined distance farther into the unsafe area.

    摘要翻译： 一种用于在连接到船用油罐车或其他运输船舶时感测铰接式流体装载臂的外端空间中的位置的系统，并且如果超过了手臂的操作信封，则发出警报。 感测系统包括用于确定代表臂的臂或四肢的取向的各种角度的装置，以及用于使用这些角度来计算臂的外侧端的空间位置的微处理器。 手臂的安全和不安全的操作区域之间的边界存储在数字存储器中，并与手臂的实际位置进行比较。 定义安全区域的边界可以是任何期望的形状，并且可以通过在数字存储器中存储一组新的边界值来容易地改变形状。 如果需要，可以使边界的位置取决于手臂在被操纵时的速度。 当臂的外侧端部移动到不安全的区域时，会发出警报，如果手臂远离不安全区域移动预定距离，系统将关闭。