CN104098032A - Control system and control method of working area boundary limitation of crane - Google Patents
Control system and control method of working area boundary limitation of crane Download PDFInfo
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- CN104098032A CN104098032A CN201410354302.9A CN201410354302A CN104098032A CN 104098032 A CN104098032 A CN 104098032A CN 201410354302 A CN201410354302 A CN 201410354302A CN 104098032 A CN104098032 A CN 104098032A
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Abstract
The invention discloses a control system and a control method of working area boundary limitation of a crane. The control method is implemented according to the steps as follows: firstly, inputting a pre-measured security boundary numerical value of the working area of the crane into a corresponding control module of a crane controller; secondly, controlling a lifting arm of the crane in the current working condition to enable the lifting arm to operate in a safe working area according to the input security boundary numerical value. According to the control system and control method of working area boundary limitation of the crane, the security boundary value can be transmitted to the control module through an input module, so that the control of the crane for operating in a safe working area is realized; besides, compared with the prior art the security boundary numerical value can be input by the control system without the operation of the crane, so that safety risks existed in the set safe working area boundary process are avoided, and the method conducive to rapid and simple realization of operation of the crane in working area, and the working efficiency of the crane is improved.
Description
Technical field
The present invention relates to crane control technical field, particularly control system and the control method of the restriction of hoisting crane work zone boundary.
Background technology
Along with the development of technology, hoisting crane is to tonnage maximization, structure complicated and intelligent control future development, and lifting altitude, operation amplitude, hoisting capacity etc. are increasing, therefore the safety of lifting is had higher requirement.
Hoisting crane is widely used in various operations field, complexity and Non-selectivity due to its operation occasion, in crane hanging component process, can often run into the obstacles such as picture building, high tension cord, generally, operator's attention focuses mostly in lift heavy thing, and the position of ignorance arm, and due to the existence of human eye blind area, and the reason such as weather, probably cause arm and obstacle to bump against and cause safety misadventure.Even if operator had not only noted the position of lift heavy thing but also note the position of arm, energy is concentrated and also can be made operator produce fatigue for a long time, increases the possibility that safety misadventure occurs, and has also had a strong impact in addition the efficiency of lifting.Therefore to crane safety work area boundary limitation, be very important.
Current existing technical scheme is the work area boundary Control technology that adopts self-learning type, its concrete grammar of setting boundary limitation value is as follows: prior art is to meet the requirements of respectively border, work area by handling hoisting crane, then these value records is got off.The method can realize the restriction of hoisting crane work zone boundary.Mainly there is following shortcoming in the method:
1, there is security risk in this technical method in handling hoisting crane setting area of safety operaton border process.As when hoisting crane is during in nearby HV Transmission Line operation, the safety distance of its any position and overhead transmission line, should meet certain requirement, otherwise may cause electric shock casualty accident, also may cause second accident in addition, as: civilian power failure, hospital have a power failure and jeopardize patient, civil aviaton's traffic snarls, plant downtime etc.The requirement of setting according to prior art, in the time of must handling hoisting crane and reach area of safety operaton border, could record numerical value, this method is to have certain risk, because due to reasons such as weather, the visual field and action inertias, operator can not get hold of the safety distance (hoisting crane does not have the device of active probe obstacle distance at present) of the obstacles such as crane arm and high tension cord and accurately locate, and easily causes safety misadventure.
2, this technical method records numerical value by handling when hoisting crane reaches area of safety operaton border, efficiency low (complexity), cost high (human cost, fuel cost and machine loss etc.) and to record the numerical value property revised poor.
Efficiency low (complexity) refers to the setting of area of safety operaton boundary value, all needs to handle hoisting crane at every turn and carries out relevant action and could determine; Cost is high to be referred to when hoisting crane carries out relevant action, needs fuel consumption, manpower etc.
The boundary value property revised is poor to be referred to when the inertia due to action or fine motion are when bad, and the numerical value of record may not be optimal boundary value, now needs to reset boundary value, and just must handle hoisting crane re-starts relevant action.
Therefore, how to provide the control method of a kind of hoisting crane work zone boundary restriction, this control method for area of safety operaton arrange simple, efficiency is higher and energy resource consumption is lower, is those skilled in that art's technical matterss urgently to be resolved hurrily.
Summary of the invention
Object of the present invention is for control method and the control system of a kind of hoisting crane work zone boundary restriction are provided, this control method for area of safety operaton arrange simple, efficiency is higher and energy resource consumption is lower.
For solving the problems of the technologies described above, the invention provides the control method of a kind of hoisting crane work zone boundary restriction, this control method is carried out according to the following steps:
The margin of safety numerical value in the hoisting crane work region that S10, input are measured is in advance to the corresponding control module of crane controller;
S20, according to the crane arm of hoisting crane under the margin of safety Numerical Control (NC) work at present state of above-mentioned input, in area of safety operaton, work;
Wherein, described margin of safety numerical value is at least one in height number, amplitude numerical value, revolution numerical value.
Preferably, between described step S10 and step S20, also further increase following steps:
S30, judge the validity of above-mentioned input margin of safety numerical value, if judgment result is that effectively, enter step S20; Otherwise, send hint instructions;
Wherein, the basis for estimation of described validity is that described hoisting crane normal range of operation, user select operating mode allowed band.
Preferably, before carrying out step S10, first carry out following judgement:
Whether S00, selection carry out area of safety operaton setting, if carry out area of safety operaton setting, carry out step S10.
Preferably, when carrying out step S20, also carry out following steps:
S40, show the work at present state parameter of described crane arm; Described work at present parameter comprises the corresponding numerical value of margin of safety numerical value with input.
Preferably, when carrying out step S20, also carry out following steps: the described margin of safety numerical value to input is revised in real time.
Preferably, step S20 is specially:
S21, judge that hoisting crane work at present state, whether in prewarning area, if so, when carrying out step S22, sends alarm command; Otherwise, proceed step S21;
S22, judge that whether hoisting crane work at present state reaches described margin of safety numerical value, if so, locks current state.
Preferably, at step S21, judgment result is that to be, before carrying out step S22, first carry out following steps:
S23, judge whether hoisting crane work at present state approaches described margin of safety numerical value, if so, reduce the responsiveness of corresponding component, then carry out step S22; Otherwise, continue execution step S23.
On the basis of above-mentioned control method, the present invention also provides the control system of a kind of hoisting crane work zone boundary restriction, comprises with lower member:
Load module, inputs to the margin of safety numerical value in the hoisting crane work region of measuring in advance for operating personal the corresponding control module of crane controller;
Control module, is connected with the output port of described load module, and for working in area of safety operaton according to the crane arm of hoisting crane under the margin of safety Numerical Control (NC) work at present state of above-mentioned input;
Wherein, described margin of safety numerical value is at least one in height number, amplitude numerical value, revolution numerical value, described control module comprises at least one in limitation in height logical block, amplitude logical block, revolution circumscription logic unit three, is respectively used to process described height number, amplitude numerical value, revolution numerical value.
Preferably, described load module is human-computer interaction interface, is provided with the pseudo operation unit and the display unit that intercom mutually with described controller in its man-machine interface; Operating personal is inputted described margin of safety numerical value by described pseudo operation unit, and the work at present parameter of described crane arm is shown in described man-machine interface by described display unit.
Preferably, described human-computer interaction interface is also provided with numerical value amending unit, for revising in real time described margin of safety numerical value.
In the control system of hoisting crane work provided by the present invention zone boundary restriction, be provided with special load module, operating personal can be by the maximum height value of crane arm head, minimum height values, one or more in the margin of safety numerical value such as the maximum degreeof turn in the amplitude peak value of crane arm and minimum amplitude value and the arm left side and the maximum degreeof turn in the right, be input to load module, and pass to control module by communication modes, then control module according to input margin of safety numerical value real-time judge current state hoisting crane whether in area of safety operaton, thereby realized the security logic restriction to hoisting crane work region.
In the present invention, only by load module, just margin of safety numerical value can be passed to control module, and then realize the control that hoisting crane is worked in safe range, compared with prior art, in the present invention, control system can realize the input of margin of safety numerical value without manipulating crane, avoided the security risk existing in setting area of safety operaton border process, and which is conducive to realize fast, simply hoisting crane work region operation, improved the operating efficiency of hoisting crane.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the control system of hoisting crane work zone boundary restriction in a kind of specific embodiment of the present invention;
Fig. 2 is the diagram of circuit of the control method of hoisting crane work zone boundary restriction in the first embodiment of the present invention;
Fig. 3 is the diagram of circuit of the control method of hoisting crane work zone boundary restriction in the second embodiment of the present invention.
The specific embodiment
Core of the present invention is for control method and the control system of a kind of hoisting crane work zone boundary restriction are provided, this control method for area of safety operaton arrange simple, efficiency is higher and energy resource consumption is lower.
Combination controlling method and control system are introduced technical scheme herein, and in order to make those skilled in the art understand better technical scheme of the present invention, below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Please refer to Fig. 1, Fig. 1 is the structured flowchart of the control system of hoisting crane work zone boundary restriction in a kind of specific embodiment of the present invention.
The control system that the invention provides the restriction of a kind of hoisting crane work zone boundary, comprises with lower member: load module, inputs to the margin of safety numerical value in the hoisting crane work region of measuring in advance for operating personal the corresponding control module of crane controller; Control module, is connected with the output port of load module, and for working in area of safety operaton according to the crane arm of hoisting crane under the margin of safety Numerical Control (NC) work at present state of above-mentioned input.Control module can be Vehicle Controller, can be also other controllers.
Wherein, margin of safety numerical value is at least one in height number, amplitude numerical value, revolution numerical value, control module comprises at least one in limitation in height logical block, amplitude logical block, revolution circumscription logic unit three, is respectively used to process height number, amplitude numerical value, revolution numerical value.
Particularly, height number comprises by arm to be stretched or luffing rises and makes arm arm head reach safe maximum height numerical value, and arm contracting or luffing fall to making arm arm head to reach safe minimum constructive height numerical value; Amplitude numerical value refers to the horizontal throw from the center of gyration line of turntable to suspension hook vertical center line, comprise by arm and stretching or luffing falls to making hoisting crane amplitude to reach safe amplitude peak, and contract or luffing works the minimum radius that makes hoisting crane amplitude way safety by arm; In like manner, revolution numerical value comprise by left with turning clockwise turntable, make crane arm reach respectively the maximum degreeof turn of the maximum degreeof turn in the left side and the right.
Obtaining of above-mentioned margin of safety numerical value can be measured by manpower, also can pass through apparatus measures.
Please refer to Fig. 2, Fig. 2 is the diagram of circuit of the control method of hoisting crane work zone boundary restriction in the first embodiment of the present invention.
Particularly, the control method of above-mentioned control system is carried out according to the following steps:
The margin of safety numerical value in the hoisting crane work region that S10, input are measured is in advance to the corresponding control module of crane controller;
S20, according to the crane arm of hoisting crane under the margin of safety Numerical Control (NC) work at present state of above-mentioned input, in area of safety operaton, work.
In the control system of hoisting crane work provided by the present invention zone boundary restriction, be provided with special load module, operating personal can be by the maximum height value of crane arm head, minimum height values, one or more in the margin of safety numerical value such as the maximum degreeof turn in the amplitude peak value of crane arm and minimum amplitude value and the arm left side and the maximum degreeof turn in the right, be input to load module, and pass to control module by communication modes, then control module according to input margin of safety numerical value real-time judge current state hoisting crane whether in area of safety operaton, thereby realized the security logic restriction to hoisting crane work region.
In the present invention, only by load module, just margin of safety numerical value can be passed to control module, and then realize the control that hoisting crane is worked in safe range, compared with prior art, in the present invention, control system can realize the input of margin of safety numerical value without manipulating crane, avoided the security risk existing in setting area of safety operaton border process, and which is conducive to realize fast, simply hoisting crane work region operation, improved the operating efficiency of hoisting crane.
Load module is human-computer interaction interface, is provided with the pseudo operation unit intercoming mutually with controller in its man-machine interface; Operating personal is by pseudo operation unit input margin of safety numerical value, and the work at present parameter of crane arm is shown in man-machine interface by display unit.Like this, operating personal can very intuitively be understood the mode of operation of current hoisting crane.Human-computer interaction interface can be arranged in operator's compartment, also can be arranged at other positions, realizes remote manipulation.
Please refer to Fig. 3, Fig. 3 is the diagram of circuit of the control method of hoisting crane work zone boundary restriction in the second embodiment of the present invention.
Further, between step S10 and step S20, can also further increase following steps:
S30, judge the validity of above-mentioned input margin of safety numerical value, if judgment result is that effectively, enter step S20; Otherwise, execution step S11;
S11, send hint instructions;
Wherein, the basis for estimation of validity is that hoisting crane normal range of operation, user select operating mode allowed band.Such as judge numerical value be the boundary value that arranges of negative, judgement whether in hoisting crane normal range of operation and the margin of safety numerical value that arranges of judgement whether in user selects scope that operating mode allows etc.After judgement margin of safety numerical value validity, then carry out logic judgement.
In the various embodiments described above, before carrying out step S10, first carry out following judgement:
Whether S00, selection carry out area of safety operaton setting, if carry out area of safety operaton setting, carry out step S10.
In the various embodiments described above, when carrying out step S20, also carry out following steps:
The work at present state parameter of S40, demonstration crane arm; Work at present parameter comprises the corresponding numerical value of margin of safety numerical value with input.
A kind of preferred embodiment in, in the various embodiments described above, human-computer interaction interface can also be provided with numerical value amending unit, for revising in real time margin of safety numerical value.
When carrying out step S20, also carry out following steps: the margin of safety numerical value to input is revised.
In the various embodiments described above, step S20 is specially:
S21, judge that hoisting crane work at present state, whether in prewarning area, if so, when carrying out step S22, sends alarm command; Otherwise, proceed step S21;
S22, judge that whether hoisting crane work at present state reaches margin of safety numerical value, if so, locks current state.
On the basis of above-described embodiment, at step S21, judgment result is that to be, before carrying out step S22, first carry out following steps:
S23, judge whether hoisting crane work at present state approaches margin of safety numerical value, if so, reduce the responsiveness of corresponding component, then carry out step S22; Otherwise, continue execution step S23.
Above control method and the control system of the restriction of hoisting crane work provided by the present invention zone boundary are described in detail.Applied specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment is just for helping to understand method of the present invention and core concept thereof.It should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention, can also carry out some improvement and modification to the present invention, these improvement and modification also fall in the protection domain of the claims in the present invention.
Claims (10)
1. a control method for hoisting crane work zone boundary restriction, is characterized in that, this control method is carried out according to the following steps:
The margin of safety numerical value in the hoisting crane work region that S10, input are measured is in advance to the corresponding control module of crane controller;
S20, according to the crane arm of hoisting crane under the margin of safety Numerical Control (NC) work at present state of above-mentioned input, in area of safety operaton, work;
Wherein, described margin of safety numerical value is at least one in height number, amplitude numerical value, revolution numerical value.
2. control method as claimed in claim 1, is characterized in that, also further increases following steps between described step S10 and step S20:
S30, judge the validity of above-mentioned input margin of safety numerical value, if judgment result is that effectively, enter step S20; Otherwise, send hint instructions;
Wherein, the basis for estimation of described validity is that described hoisting crane normal range of operation, user select operating mode allowed band.
3. control method as claimed in claim 1, is characterized in that, before carrying out step S10, first carries out following judgement:
Whether S00, selection carry out area of safety operaton setting, if carry out area of safety operaton setting, carry out step S10.
4. the control method as described in claims 1 to 3 any one, is characterized in that, when carrying out step S20, also carries out following steps:
S40, show the work at present state parameter of described crane arm; Described work at present parameter comprises the corresponding numerical value of margin of safety numerical value with input.
5. the control method as described in claims 1 to 3 any one, is characterized in that, when carrying out step S20, also carries out following steps: the described margin of safety numerical value to input is revised in real time.
6. the control method as described in claims 1 to 3 any one, is characterized in that, step S20 is specially:
S21, judge that hoisting crane work at present state, whether in prewarning area, if so, when carrying out step S22, sends alarm command; Otherwise, proceed step S21;
S22, judge that whether hoisting crane work at present state reaches described margin of safety numerical value, if so, locks current state.
7. control method as claimed in claim 6, is characterized in that, judgment result is that to be at step S21, before carrying out step S22, first carries out following steps:
S23, judge whether hoisting crane work at present state approaches described margin of safety numerical value, if so, reduce the responsiveness of corresponding component, then carry out step S22; Otherwise, continue execution step S23.
8. a control system for hoisting crane work zone boundary restriction, is characterized in that, comprises with lower member:
Load module, inputs to the margin of safety numerical value in the hoisting crane work region of measuring in advance for operating personal the corresponding control module of crane controller;
Control module, is connected with the output port of described load module, and for working in area of safety operaton according to the crane arm of hoisting crane under the margin of safety Numerical Control (NC) work at present state of above-mentioned input;
Wherein, described margin of safety numerical value is at least one in height number, amplitude numerical value, revolution numerical value, described control module comprises at least one in limitation in height logical block, amplitude logical block, revolution circumscription logic unit three, is respectively used to process described height number, amplitude numerical value, revolution numerical value.
9. control system as claimed in claim 8, is characterized in that, described load module is human-computer interaction interface, is provided with the pseudo operation unit and the display unit that intercom mutually with described controller in its man-machine interface; Operating personal is inputted described margin of safety numerical value by described pseudo operation unit, and the work at present parameter of described crane arm is shown in described man-machine interface by described display unit.
10. control system as claimed in claim 9, is characterized in that, described human-computer interaction interface is also provided with numerical value amending unit, for revising in real time described margin of safety numerical value.
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| CN105346558A (en) * | 2015-10-19 | 2016-02-24 | 杭州创联电子技术有限公司 | Rail collection vehicle beam over-limit alarming system and control method |
| CN106185635A (en) * | 2016-08-09 | 2016-12-07 | 三海洋重工有限公司 | Crane collision resistant method and system |
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| CN112141897A (en) * | 2020-08-21 | 2020-12-29 | 南京工程学院 | High-altitude hoisting anti-tipping control method |
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| CN111689400A (en) * | 2020-05-21 | 2020-09-22 | 湖南中联重科建筑起重机械有限责任公司 | Tower crane working area control method and equipment |
| CN112141897A (en) * | 2020-08-21 | 2020-12-29 | 南京工程学院 | High-altitude hoisting anti-tipping control method |
| CN112141897B (en) * | 2020-08-21 | 2022-12-06 | 南京工程学院 | High-altitude hoisting anti-tipping control method |
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