CN111285254A

CN111285254A - Tower crane control method and control device

Info

Publication number: CN111285254A
Application number: CN202010074453.4A
Authority: CN
Inventors: 黄国勇; 郑捷; 李凌
Original assignee: Hunan Zhonglian Zhongke Construction Hoisting Machinery Co ltd; Zoomlion Heavy Industry Science and Technology Co Ltd
Current assignee: Hunan Zhonglian Zhongke Construction Hoisting Machinery Co ltd; Zoomlion Heavy Industry Science and Technology Co Ltd
Priority date: 2020-01-22
Filing date: 2020-01-22
Publication date: 2020-06-16
Anticipated expiration: 2040-01-22
Also published as: CN111285254B

Abstract

The invention provides a tower crane control method and a tower crane control device, wherein the tower crane control method comprises the following steps: the tower crane comprises a first detection element and a second detection element, wherein the first detection element and the second detection element are used for detecting parameters to be detected; the tower crane control method comprises the following steps: acquiring detection results of the first detection element and the second detection element; judging whether the detection result of the first detection element corresponds to the detection result of the second detection element; and when the detection results of the first detection element and the second detection element do not correspond to each other, controlling the tower crane to enter a safe operation program, and when the detection results of the first detection element and the second detection element correspond to each other, normally operating the tower crane. According to the tower crane control method and the tower crane control device, the position, height, weight and moment limiting elements can be verified, and when the detection results of the two limiting elements are not corresponding, the tower crane is controlled to enter a safe operation program, so that the reliability and safety of the tower crane are improved.

Description

Tower crane control method and control device

Technical Field

The invention relates to the technical field of tower cranes, in particular to a tower crane control method and a tower crane control device.

Background

For the engineering machinery such as a tower crane and the like, the volume and the weight are very large, once a safety accident occurs, the consequences caused by the safety accident are very serious, and the influence is also very large, so that the requirements on the working reliability and the safety of the engineering machinery are extremely high.

For example, for a tower crane, in order to limit the weight of a lifted object within a proper range, a mechanical limiting device or an electronic limiting device is usually arranged, and lifting and amplitude variation are controlled by the induction of the limiting device, so that the safety of work is ensured. In order to ensure safety to the maximum extent, both mechanical and electronic limit devices are sometimes provided. However, when any one of the limiting devices fails, the tower crane can only perform corresponding control through the output result of the limiting device, and the reliability and safety of the tower crane work are greatly influenced.

The foregoing description is provided for general background information and is not admitted to be prior art.

Disclosure of Invention

The invention aims to provide a tower crane control method and a tower crane control device with higher reliability and safety.

The invention provides a tower crane control method, which is used for controlling a tower crane, wherein the tower crane comprises a first detection element and a second detection element, and the first detection element and the second detection element are used for detecting parameters to be detected;

the tower crane control method comprises the following steps: acquiring detection results of the first detection element and the second detection element;

judging whether the detection result of the first detection element corresponds to the detection result of the second detection element;

and when the detection results of the first detection element and the second detection element do not correspond to each other, controlling the tower crane to enter a safe operation program, and when the detection results of the first detection element and the second detection element correspond to each other, normally operating the tower crane.

The invention also discloses a tower crane control device, which comprises a first detection element, a second detection element and a control unit, wherein the control unit comprises a comparison module and a control module;

the first detection element and the second detection element are used for detecting parameters to be detected;

the comparison module is used for judging whether the detection result of the first detection element corresponds to the detection result of the second detection element;

the control module is used for controlling the tower crane to enter a safe operation program when the detection results of the first detection element and the second detection element do not correspond.

According to the tower crane control method and the tower crane control device, the position, height, weight and moment limiting elements can be verified, and when the detection results of the two limiting elements are not corresponding, the tower crane is controlled to enter a safe operation program, so that the reliability and safety of the tower crane are improved.

Drawings

Fig. 1 is a schematic flow chart of a tower crane control method according to an embodiment of the present invention.

Fig. 2 is a block diagram of a tower crane control device according to an embodiment of the present invention.

Detailed Description

The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

Referring to fig. 1, a tower crane control method provided in an embodiment of the present invention is used for controlling a tower crane. The tower crane comprises an amplitude limiting element 11, a height limiting element 13, a weight limiting element 15 and a moment limiting element 17. The amplitude limiting element 11 comprises a first position detecting element 112 and a second position detecting element 114, wherein the first position detecting element 112 is used for detecting whether the walking trolley is located at a preset position, and the second position detecting element 114 is used for detecting the position value of the walking trolley; the height limiting member 13 includes a first height detecting member 132 and a second height detecting member 134, the first height detecting member 132 is used for detecting whether the hook is at a preset height, and the second height detecting member 134 is used for detecting the height value of the hook; the weight limiting member 15 includes a first weight detecting member 152 and a second weight detecting member 154, the first weight detecting member 152 is used for detecting whether the weight of the lifted object reaches a preset weight, and the second weight detecting member 154 is used for detecting the weight value of the lifted object; the torque limiting member 17 includes a first torque detecting member 172 and a second torque detecting member 174, the first torque detecting member 172 is used for detecting whether the torque of the lifted object reaches a preset torque, and the second torque detecting member 174 is used for detecting the torque value of the lifted object.

Specifically, the detection results obtained by the first position detecting element 112, the first height detecting element 132, the first weight detecting element 152, and the first torque detecting element 172 are switching values of whether or not a preset value is reached, and are generally referred to as mechanical detecting elements; the analog quantity of the detection results obtained by the second position detecting element 114, the second height detecting element 134, the second weight detecting element 154, and the second torque detecting element 174 is generally referred to as an electronic detecting element.

The tower crane control method comprises the following steps:

s11, the correspondence relationship between the position detection results of the first position detecting element 112 and the second position detecting element 114, the correspondence relationship between the height detection results of the first height detecting element 132 and the second height detecting element 134, the correspondence relationship between the weight detection results of the first weight detecting element 152 and the second weight detecting element 154, and the correspondence relationship between the torque detection results of the first torque detecting element 172 and the second torque detecting element 174 are set.

Specifically, the preset position value range corresponding to the position value S detected by the second position detecting element 114 when the first position detecting element 112 detects that the position is located at each preset position is set to a ≦ S ≦ b, where a difference between b and S may be equal to a difference between S and a, and a difference between b and S may not be equal to a difference between S and a, and the setting may be performed according to requirements. Specifically, referring to table 1 below, in the present embodiment, it is set that when the first position detecting element 112 detects that the traveling carriage is located at the first preset position (i.e., the outer stop position), the position value S1 of the position where the traveling carriage is located detected by the second position detecting element 114 should be located within a range from a1 to b1, when the first position detecting element 112 detects that the traveling carriage is located at the second preset position (i.e., the outer deceleration position), the position value S2 of the position where the traveling carriage is located detected by the second position detecting element 114 should be located within a range from a2 to b2, when the first position detecting element 112 detects that the traveling carriage is located at the third preset position (i.e., the inner stop position), the position value S3 of the position where the traveling carriage is detected by the second position detecting element 114 should be located within a range from a3 to b3, and when the first position detecting element 112 detects that the traveling carriage is located at the fourth preset position (i.e., the outer deceleration position), the position value S4 of the position of the traveling carriage detected by the second position detecting element 114 should be within the range of a4 to b 4.

TABLE 1

First position detecting element	Outer stop position	External speed reduction position	Inner stop position	Inner deceleration position
					Second position detecting element	a1～b1	a2～b2	a3～b3	a4～b4

When the first height detecting element 132 detects that the height value H is located at each preset height, the preset height value range corresponding to the height value H detected by the second height detecting element 134 is set to c ≦ H ≦ d, where a difference between d and H may be equal to a difference between H and c, and a difference between d and H may not be equal to a difference between H and c, and the setting may be performed according to requirements. Specifically, referring to table 2 below, in the present embodiment, when the first height detecting element 132 detects that the hook is at the first predetermined height (i.e. the upper stop position), the height value H1 of the height at which the hook is detected by the second height detecting element 134 should be in the range of c1 d1, when the first height detecting element 132 detects that the hook is at the second preset height (i.e. the upper deceleration position), the height value H2 of the height at which the hook is detected by the second height detecting element 134 should be in the range of c2 d2, when the first height detecting element 132 detects that the hook is at the third preset height (i.e. the lower stop), the height value H3 of the height at which the hook is detected by the second height detecting element 134 should be in the range of c3 d3, when the first height detecting element 132 detects that the hook is at the fourth preset height (i.e. the lower decelerating position), the height value H4 of the height at which the overhead hook vehicle is detected by the second height detecting element 13 should be in the range of c4 d 4.

TABLE 2

First height detecting element	Upper stop position	Upper reduction gear	Lower stop position	Lower speed reduction position
					Second height detecting element	c1～d1	c2～d2	c3～d3	c4～d4

When the first weight detecting element 152 detects each predetermined weight, the predetermined weight range corresponding to the weight value M detected by the second weight detecting element 154 is set to e ≦ M ≦ f, where the difference between f and M may be equal to the difference between M and e, and the difference between f and M may not be equal to the difference between M and e, and the setting may be performed according to the requirement. Referring to table 3 below, in the present embodiment, it is configured that when the first weight detecting element 152 detects that the lifted object is the first preset weight (i.e. 25% of the maximum lifted weight), the weight value M of the lifted object detected by the second weight detecting element 154 should be in the range of e1 to f1, when the first weight detecting element 152 detects that the lifted object is the second preset weight (i.e. 50% of the maximum lifted weight), the weight value M of the lifted object detected by the second weight detecting element 154 should be in the range of e2 to f2, when the first weight detecting element 152 detects that the lifted object is the third preset weight (i.e. 80% of the maximum lifted weight), the weight value M of the lifted object detected by the second weight detecting element 154 should be in the range of e3 to f3, when the first weight detecting element 152 detects that the lifted object is the fourth preset weight (i.e. 100% of the maximum lifted weight, the weight value M of the hoisted object detected by the second weight detecting element 154 should be in the range of e4 to f 4. Specifically, the first weight detecting element 152 may include a first, a second, a third, and a fourth limit point, and when the weight of the hoisted object reaches 25%, 50%, 80%, and 100% respectively, the corresponding first, second, third, and fourth limit points are triggered.

TABLE 3

When the first torque detecting element 172 detects each preset torque, the preset torque value range corresponding to the torque value N detected by the second torque detecting element 174 is set to g ≦ N ≦ h, where a difference between h and N may be equal to a difference between N and g, and a difference between h and N may not be equal to a difference between N and g, and the setting may be performed according to requirements. Referring to table 4 below, in the present embodiment, it is configured that when the first torque detecting element 172 detects that the lifted object is the first preset torque (i.e. 25% of the maximum lifting torque), the torque value N of the lifted object detected by the second torque detecting element 174 should be in the range of g 1-h 1, when the first torque detecting element 172 detects that the lifted object is the second preset torque (i.e. 50% of the maximum lifting torque), the torque value N of the lifted object detected by the second torque detecting element 174 should be in the range of g 2-h 2, when the first torque detecting element 172 detects that the lifted object is the third preset torque (i.e. 80% of the maximum lifting torque), the torque value N of the lifted object detected by the second torque detecting element 174 should be in the range of g 3-h 3, and when the first torque detecting element 172 detects that the lifted object is the fourth preset torque (i.e. 100% of the maximum lifting torque), the torque value N of the hoisted object detected by the second torque detecting element 174 should be in the range of g 4-h 4. In particular, the first torque detecting element 172 may comprise a fifth, sixth, seventh, eighth limit point, which is triggered when the hoisting object torque reaches the respective 25%, 50%, 80%, 100% torque.

TABLE 4

S13, the position of the traveling carriage detected by the first position detecting element 112, the height of the hook detected by the first height detecting element 132, the weight of the hoisted object detected by the first weight detecting element 152, the moment of the hoisted object detected by the first moment detecting element 172, the position value S detected by the second position detecting element 114, the height value H detected by the second height detecting element 134, the weight value M detected by the second weight detecting element 154, and the moment value detected by the second moment detecting element 174 are acquired.

S15, determining whether the position value S detected by the second position detecting element 114 corresponds to the preset position detected by the first position detecting element 112, determining whether the height value H detected by the second height detecting element 134 corresponds to the preset height detected by the first height detecting element 132, determining whether the weight value M detected by the second weight detecting element 154 corresponds to the weight detected by the first weight detecting element 152, and determining whether the moment value N detected by the second moment detecting element 174 corresponds to the moment detected by the first moment detecting element 172; when any one of the position, height, weight, and moment does not correspond, the process proceeds to step S17, and when all of the position, height, weight, and moment correspond, the process proceeds to step S19.

And S17, controlling the tower crane to enter a safe operation program. Specifically, when the position value S detected by the second position detecting element 114 does not correspond to the preset position detected by the first position detecting element 112, the walking trolley is controlled to walk at a preset limited speed; when the height value H detected by the second height detecting element 134 corresponds to the preset height detected by the first height detecting element 132, controlling the lifting hook to lift at a preset limited speed; when the weight value M detected by the second weight detecting element 154 does not correspond to the weight detected by the first weight detecting element 152, and/or the moment value N detected by the second moment detecting element 174 corresponds to the moment detected by the first moment detecting element 172, the hoisting speed and the luffing speed of the tower crane are controlled to be preset limited speeds.

And S19, the tower crane runs normally, and the walking trolley runs normally.

Specifically, in step S15, when the first position detecting element 112 detects that the traveling carriage reaches the preset position, it is determined whether the detected position value S satisfies a ≦ S ≦ b. When the position value S satisfies a ≦ S ≦ b, it is determined that the position value S detected by the second position detecting element 114 corresponds to the preset position detected by the first position detecting element 112; when the position value S does not satisfy a ≦ S ≦ b, it is determined that the position value S detected by the second position detecting element 114 does not correspond to the preset position detected by the first position detecting element 112. When the first height detecting element 132 detects that the traveling trolley reaches the preset height, it is determined whether the detected height value H satisfies c ≦ H ≦ d. When the height value H satisfies c ≦ H ≦ d, it is determined that the height value H detected by the second height detecting element 134 corresponds to the preset height detected by the first height detecting element 132; when the height H does not satisfy c ≦ H ≦ d, it is determined that the height H detected by the second height detecting element 134 does not correspond to the preset height detected by the first height detecting element 132.

In step S15, when the second weight detecting element 154 detects that the weight value M satisfies e ≦ M ≦ f, it is determined whether the weight detected by the first weight detecting element 152 reaches the corresponding predetermined weight. Specifically, referring to table 5, when the weight value M detected by the second weight detecting element 154 is that M is e1 ≦ M ≦ f1, it is determined whether the first, second, third, and fourth limit points are triggered, when the second, third, and fourth limit points are not triggered, it is determined that the weight value M detected by the second weight detecting element 154 corresponds to the preset weight detected by the first weight detecting element 152, otherwise, it does not correspond to the preset weight; when the weight value M detected by the second weight detecting element 154 is e2 ≦ M ≦ f2, determining whether the first, second, third, and fourth limit points are triggered, when the first limit point is triggered and the third and fourth limit points are not triggered, determining that the weight value M detected by the second weight detecting element 154 corresponds to the preset weight detected by the first weight detecting element 152, otherwise, determining that the weight value M does not correspond to the preset weight detected by the first weight detecting element 152; when the weight value M detected by the second weight detecting element 154 is e3 ≦ M ≦ f3, determining whether the first, second, third, and fourth limit points are triggered, when the second limit point is triggered and the fourth limit point is not triggered, considering that the weight value M detected by the second weight detecting element 154 corresponds to the preset weight detected by the first weight detecting element 152, otherwise, not corresponding; when the weight value M detected by the second weight detecting element 154 is e4 ≦ M ≦ f4, it is determined whether the first, second, third, and fourth limit points are triggered, and when the first, second, and third limit points are triggered, it is determined that the weight value M detected by the second weight detecting element 154 corresponds to the preset weight detected by the first weight detecting element 152, otherwise, it does not correspond.

TABLE 5

In step S15, when the second torque detecting element 174 detects that the torque value M satisfies g ≦ M ≦ h, it is determined whether the torque detected by the first torque detecting element 172 reaches the corresponding predetermined torque. Specifically, referring to table 6, when the torque value M detected by the second torque detecting element 174 is g1 ≦ M ≦ h1, it is determined whether the fifth, sixth, seventh, and eighth limit points are triggered, when the sixth, seventh, and eighth limit points are not triggered, it is determined that the torque value M detected by the second torque detecting element 174 corresponds to the preset torque detected by the first torque detecting element 172, otherwise, it does not correspond to the preset torque; when the torque value detected by the second torque detecting element 174 is M, g2 ≦ M ≦ h2, determining whether the fifth, sixth, seventh, and eighth limit points are triggered, when the fifth limit point is triggered, and the seventh and eighth limit points are not triggered, determining that the torque value M detected by the second torque detecting element 174 corresponds to the preset torque detected by the first torque detecting element 172, otherwise, determining that the torque value M does not correspond to the preset torque detected by the first torque detecting element 172; when the torque value detected by the second torque detecting element 174 is M, g3 ≦ M ≦ h3, determining whether the fifth, sixth, seventh, and eighth limit points are triggered, when the sixth limit point is triggered and the eighth limit point is not triggered, regarding that the torque value M detected by the second torque detecting element 174 corresponds to the preset torque detected by the first torque detecting element 172, otherwise, not corresponding; when the torque value detected by the second torque detecting element 174 is M, g4 ≦ M ≦ h4, it is determined whether the fifth, sixth, seventh, and eighth limit points are triggered, and when the fifth, sixth, and seventh limit points are triggered, it is determined that the torque value M detected by the second torque detecting element 174 corresponds to the preset torque detected by the first torque detecting element 172, otherwise, it does not correspond.

TABLE 6

According to the tower crane control method, the position, height, weight and moment limiting elements can be verified, and when the detection results of the two limiting elements are not corresponding, the tower crane is controlled to enter a safe operation program, so that the reliability and safety of the tower crane are improved.

As shown in fig. 2, the invention further provides a tower crane control device, which comprises an amplitude limiting element 11, a height limiting element 13, a weight limiting element 15, a moment limiting element 17, a control unit 19, a lifting controller 21 and a luffing controller 23, wherein the amplitude limiting element 11, the height limiting element 13, the weight limiting element 15 and the moment limiting element 17 are respectively connected to the control unit 19, the control unit 19 is connected to the lifting controller 21 and the luffing controller 23, and the lifting controller 21 and the luffing controller 23 are respectively connected to a lifting mechanism and a luffing mechanism to control the lifting speed and the luffing speed of the tower crane. The amplitude limiting element 11 comprises a first position detecting element 112 and a second position detecting element 114, wherein the first position detecting element 112 is used for detecting whether the walking trolley is located at a preset position, and the second position detecting element 114 is used for detecting the position value of the walking trolley; the height limiting member 13 includes a first height detecting member 132 and a second height detecting member 134, the first height detecting member 132 is used for detecting whether the hook is at a preset height, and the second height detecting member 134 is used for detecting the height value of the hook; the weight limiting member 15 includes a first weight detecting member 152 and a second weight detecting member 154, the first weight detecting member 152 is used for detecting whether the weight of the lifted object reaches a preset weight, and the second weight detecting member 154 is used for detecting the weight value of the lifted object; the torque limiting member 17 includes a first torque detecting member 172 and a second torque detecting member 174, the first torque detecting member 172 is used for detecting whether the torque of the lifted object reaches a preset torque, and the second torque detecting member 174 is used for detecting the torque value of the lifted object. The control unit 19 includes a setting module 192, a comparison module 194, and a control module 196.

In this embodiment, the setting module 192 is used for setting the corresponding relationship of the position detection results of the first position detecting element 112 and the second position detecting element 114, the corresponding relationship of the height detection results of the first height detecting element 132 and the second height detecting element 134, the corresponding relationship of the weight detection results of the first weight detecting element 152 and the second weight detecting element 154, and the corresponding relationship of the torque detection results of the first torque detecting element 172 and the second torque detecting element 174.

Specifically, the preset position value range corresponding to the position value S detected by the second position detecting element 114 when the first position detecting element 112 detects that the position is located at each preset position is set to a ≦ S ≦ b, where a difference between b and S may be equal to a difference between S and a, and a difference between b and S may not be equal to a difference between S and a, and the setting may be performed according to requirements. Specifically, referring to table 7 below, in the present embodiment, it is set that when the first position detecting element 112 detects that the traveling carriage is located at the first preset position (i.e., the outer stop position), the position value S1 of the position where the traveling carriage is located detected by the second position detecting element 114 should be located within a range from a1 to b1, when the first position detecting element 112 detects that the traveling carriage is located at the second preset position (i.e., the outer deceleration position), the position value S2 of the position where the traveling carriage is located detected by the second position detecting element 114 should be located within a range from a2 to b2, when the first position detecting element 112 detects that the traveling carriage is located at the third preset position (i.e., the inner stop position), the position value S3 of the position where the traveling carriage is detected by the second position detecting element 114 should be located within a range from a3 to b3, and when the first position detecting element 112 detects that the traveling carriage is located at the fourth preset position (i.e., the outer deceleration position), the position value S4 of the position of the traveling carriage detected by the second position detecting element 114 should be within the range of a4 to b 4.

TABLE 7

When the first height detecting element 132 detects that the height value H is located at each preset height, the preset height value range corresponding to the height value H detected by the second height detecting element 134 is set to c ≦ H ≦ d, where a difference between d and H may be equal to a difference between H and c, and a difference between d and H may not be equal to a difference between H and c, and the setting may be performed according to requirements. Specifically, referring to table 8 below, in the present embodiment, when the first height detecting element 132 detects that the hook is at the first predetermined height (i.e. the upper stop position), the height value H1 of the height at which the hook is detected by the second height detecting element 134 should be in the range of c1 d1, when the first height detecting element 132 detects that the hook is at the second preset height (i.e. the upper deceleration position), the height value H2 of the height at which the hook is detected by the second height detecting element 134 should be in the range of c2 d2, when the first height detecting element 132 detects that the hook is at the third preset height (i.e. the lower stop), the height value H3 of the height at which the hook is detected by the second height detecting element 134 should be in the range of c3 d3, when the first height detecting element 132 detects that the hook is at the fourth preset height (i.e. the lower decelerating position), the height value H4 of the height of the overhead hook vehicle detected by the second height detecting element 134 should be in the range of c4 d 4.

TABLE 8

When the first weight detecting element 152 detects each predetermined weight, the predetermined weight range corresponding to the weight value M detected by the second weight detecting element 154 is set to e ≦ M ≦ f, where the difference between f and M may be equal to the difference between M and e, and the difference between f and M may not be equal to the difference between M and e, and the setting may be performed according to the requirement. Referring to table 9 below, in the present embodiment, it is set that when the first weight detecting element 152 detects that the lifted object is the first preset weight (i.e. 25% of the maximum lifted weight), the weight value M of the lifted object detected by the second weight detecting element 154 should be in the range of e1 to f1, when the first weight detecting element 152 detects that the lifted object is the second preset weight (i.e. 50% of the maximum lifted weight), the weight value M of the lifted object detected by the second weight detecting element 154 should be in the range of e2 to f2, when the first weight detecting element 152 detects that the lifted object is the third preset weight (i.e. 80% of the maximum lifted weight), the weight value M of the lifted object detected by the second weight detecting element 154 should be in the range of e3 to f3, when the first weight detecting element 152 detects that the lifted object is the fourth preset weight (i.e. 100% of the maximum lifted weight, the weight value M of the hoisted object detected by the second weight detecting element 154 should be in the range of e4 to f 4. Specifically, the first weight detecting element 152 may include a first, a second, a third, and a fourth limit point, and when the weight of the hoisted object reaches 25%, 50%, 80%, and 100% respectively, the corresponding first, second, third, and fourth limit points are triggered.

TABLE 9

When the first torque detecting element 172 detects each preset torque, the preset torque value range corresponding to the torque value N detected by the second torque detecting element 174 is set to g ≦ N ≦ h, where a difference between h and N may be equal to a difference between N and g, and a difference between h and N may not be equal to a difference between N and g, and the setting may be performed according to requirements. Referring to table 10 below, in the present embodiment, it is configured that when the first torque detecting element 172 detects that the lifted object is the first preset torque (i.e. 25% of the maximum lifting torque), the torque value N of the lifted object detected by the second torque detecting element 174 should be in the range of g 1-h 1, when the first torque detecting element 172 detects that the lifted object is the second preset torque (i.e. 50% of the maximum lifting torque), the torque value N of the lifted object detected by the second torque detecting element 174 should be in the range of g 2-h 2, when the first torque detecting element 172 detects that the lifted object is the third preset torque (i.e. 80% of the maximum lifting torque), the torque value N of the lifted object detected by the second torque detecting element 174 should be in the range of g 3-h 3, and when the first torque detecting element 172 detects that the lifted object is the fourth preset torque (i.e. 100% of the maximum lifting torque, the torque value N of the hoisted object detected by the second torque detecting element 174 should be in the range of g 4-h 4. In particular, the first torque detecting element 172 may comprise a fifth, sixth, seventh, eighth limit point, which is triggered when the hoisting object torque reaches the respective 25%, 50%, 80%, 100% torque.

Watch 10

In this embodiment, the comparing module 194 is used for determining whether the position value S detected by the second position detecting element 114 corresponds to the preset position detected by the first position detecting element 112, determining whether the height value H detected by the second height detecting element 134 corresponds to the preset height detected by the first height detecting element 132, determining whether the weight value M detected by the second weight detecting element 154 corresponds to the weight detected by the first weight detecting element 152, and determining whether the torque value N detected by the second torque detecting element 174 corresponds to the torque detected by the first torque detecting element 172.

Specifically, the comparing module 194 is configured to determine whether the detected position value S satisfies a ≦ S ≦ b when the first position detecting element 112 detects that the traveling carriage reaches the preset position, and determine that the position value S detected by the second position detecting element 114 corresponds to the preset position detected by the first position detecting element 112 when the position value S satisfies a ≦ S ≦ b; when the position value S does not satisfy a ≦ S ≦ b, it is determined that the position value S detected by the second position detecting element 114 does not correspond to the preset position detected by the first position detecting element 112. When the first height detecting element 132 detects that the traveling trolley reaches the preset height, determining whether the detected height value H satisfies c ≦ H ≦ d, and when the height value H satisfies c ≦ H ≦ d, determining that the height value H detected by the second height detecting element 134 corresponds to the preset height detected by the first height detecting element 132; when the height H does not satisfy c ≦ H ≦ d, it is determined that the height H detected by the second height detecting element 134 does not correspond to the preset height detected by the first height detecting element 132.

The comparing module 194 is further configured to determine whether the weight detected by the first weight detecting element 152 reaches the corresponding preset weight when the second weight detecting element 154 detects that the weight value M satisfies e ≦ M ≦ f. Specifically, referring to table 11, when the weight value M detected by the second weight detecting element 154 is that M is e1 ≦ M ≦ f1, it is determined whether the first, second, third, and fourth limit points are triggered, when the second, third, and fourth limit points are not triggered, it is determined that the weight value M detected by the second weight detecting element 154 corresponds to the preset weight detected by the first weight detecting element 152, otherwise, it does not correspond to the preset weight; when the weight value M detected by the second weight detecting element 154 is e2 ≦ M ≦ f2, determining whether the first, second, third, and fourth limit points are triggered, when the first limit point is triggered and the third and fourth limit points are not triggered, determining that the weight value M detected by the second weight detecting element 154 corresponds to the preset weight detected by the first weight detecting element 152, otherwise, determining that the weight value M does not correspond to the preset weight detected by the first weight detecting element 152; when the weight value M detected by the second weight detecting element 154 is e3 ≦ M ≦ f3, determining whether the first, second, third, and fourth limit points are triggered, when the second limit point is triggered and the fourth limit point is not triggered, considering that the weight value M detected by the second weight detecting element 154 corresponds to the preset weight detected by the first weight detecting element 152, otherwise, not corresponding; when the weight value M detected by the second weight detecting element 154 is e4 ≦ M ≦ f4, it is determined whether the first, second, third, and fourth limit points are triggered, and when the first, second, and third limit points are triggered, it is determined that the weight value M detected by the second weight detecting element 154 corresponds to the preset weight detected by the first weight detecting element 152, otherwise, it does not correspond.

TABLE 11

The comparing module 194 is further configured to determine whether the torque detected by the first torque detecting element 172 reaches the corresponding preset torque when the second torque detecting element 174 detects that the torque value M satisfies g ≦ M ≦ h. Specifically, referring to table 12, when the torque value M detected by the second torque detecting element 174 is g1 ≦ M ≦ h1, it is determined whether the fifth, sixth, seventh, and eighth limit points are triggered, when the sixth, seventh, and eighth limit points are not triggered, it is determined that the torque value M detected by the second torque detecting element 174 corresponds to the preset torque detected by the first torque detecting element 172, otherwise, it does not correspond to the preset torque; when the torque value detected by the second torque detecting element 174 is M, g2 ≦ M ≦ h2, determining whether the fifth, sixth, seventh, and eighth limit points are triggered, when the fifth limit point is triggered, and the seventh and eighth limit points are not triggered, determining that the torque value M detected by the second torque detecting element 174 corresponds to the preset torque detected by the first torque detecting element 172, otherwise, determining that the torque value M does not correspond to the preset torque detected by the first torque detecting element 172; when the torque value detected by the second torque detecting element 174 is M, g3 ≦ M ≦ h3, determining whether the fifth, sixth, seventh, and eighth limit points are triggered, when the sixth limit point is triggered and the eighth limit point is not triggered, regarding that the torque value M detected by the second torque detecting element 174 corresponds to the preset torque detected by the first torque detecting element 172, otherwise, not corresponding; when the torque value detected by the second torque detecting element 174 is M, g4 ≦ M ≦ h4, it is determined whether the fifth, sixth, seventh, and eighth limit points are triggered, and when the fifth, sixth, and seventh limit points are triggered, it is determined that the torque value M detected by the second torque detecting element 174 corresponds to the preset torque detected by the first torque detecting element 172, otherwise, it does not correspond.

TABLE 12

In this embodiment, the control module 196 is configured to control the tower crane to enter the safe operation procedure when the position value S detected by the second position detecting element 114 does not correspond to the preset position detected by the first position detecting element 112, or the height value H detected by the second height detecting element 134 does not correspond to the preset height detected by the first height detecting element 132, or the weight value M detected by the second weight detecting element 154 does not correspond to the weight detected by the first weight detecting element 152, or the torque value N detected by the second torque detecting element 174 does not correspond to the torque detected by the first torque detecting element 172. Specifically, when the position value S detected by the second position detecting element 114 does not correspond to the preset position detected by the first position detecting element 112, the walking trolley is controlled to walk at a preset limited speed; when the height value H detected by the second height detecting element 134 corresponds to the preset height detected by the first height detecting element 132, controlling the lifting hook to lift at a preset limited speed; when the weight value M detected by the second weight detecting element 154 does not correspond to the weight detected by the first weight detecting element 152, and/or the moment value N detected by the second moment detecting element 174 corresponds to the moment detected by the first moment detecting element 172, the hoisting speed and the luffing speed of the tower crane are controlled to be preset limited speeds.

In this embodiment, the tower crane control device further includes a voice module 25 for giving a voice alarm when any one of the parameters of the position, the height, the weight and the moment is not corresponding.

In the tower crane control device, the position, height, weight and moment limiting elements can be checked, and when the detection results of the two limiting elements are not corresponding, the tower crane is controlled to enter a safe operation program, so that the reliability and safety of the tower crane are improved.

It can be understood that in the tower crane control method and the tower crane control device, only one, two or three of the position, height, weight and moment parameters can be detected, and other parameters except the position, height, weight and moment parameters can also be detected, and only two different detection elements are needed to detect each parameter respectively, and the detection structures detected by the two different detection elements are verified mutually, namely, the invention is within the inventive concept of the invention.

In the drawings, the size and relative sizes of layers and regions may be exaggerated for clarity. It will be understood that when an element such as a layer, region or substrate is referred to as being "formed on," "disposed on" or "located on" another element, it can be directly on the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly formed on" or "directly disposed on" another element, there are no intervening elements present.

In this document, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms can be understood in a specific case to those of ordinary skill in the art.

In this document, the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", "vertical", "horizontal", etc., indicate the orientation or weight relationship based on the orientation or weight relationship shown in the drawings, only for the sake of clarity and descriptive convenience of the technical solution, and thus should not be construed as limiting the present invention.

As used herein, the ordinal adjectives "first", "second", etc., used to describe an element are merely to distinguish between similar elements and do not imply that the elements so described must be in a given sequence, either temporally, spatially, in ranking, or in any other manner.

As used herein, the meaning of "a plurality" or "a plurality" is two or more unless otherwise specified.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

As used herein, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, including not only those elements listed, but also other elements not expressly listed.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. A tower crane control method is used for controlling a tower crane and is characterized in that the tower crane comprises a first detection element and a second detection element, and the first detection element and the second detection element are used for detecting parameters to be detected;

2. The tower crane control method according to claim 1, characterized in that the tower crane comprises an amplitude limiting element (11), a height limiting element (13), a weight limiting element (15) and a moment limiting element (17), the amplitude limiting element (11) comprises a first position detecting element (112) and a second position detecting element (114), the first position detecting element (112) is used for detecting whether the travelling trolley is located at a preset position, the second position detecting element (114) is used for detecting a position value of the travelling trolley; the height limiting element (13) comprises a first height detecting element (132) and a second height detecting element (134), the first height detecting element (132) is used for detecting whether the hook is positioned at a preset height, and the second height detecting element (134) is used for detecting the height value of the hook; the weight limiting element (15) comprises a first weight detecting element (152) and a second weight detecting element (154), the first weight detecting element (152) is used for detecting whether the weight of the lifted object reaches a preset weight, and the second weight detecting element (154) is used for detecting the weight value of the lifted object; the moment limiting element (17) comprises a first moment detecting element (172) and a second moment detecting element (174), the first moment detecting element (172) is used for detecting whether the moment of the lifted object reaches a preset moment, the second moment detecting element (174) is used for detecting the moment value of the lifted object, and the tower crane control method comprises the following steps:

acquiring the position of the traveling trolley detected by the first position detection element (112), acquiring the height of the hook detected by the first height detection element (132), acquiring the weight of the hoisted object detected by the first weight detection element (152), acquiring the torque of the hoisted object detected by the first torque detection element (172), acquiring the position value S detected by the second position detection element (114), acquiring the height value H detected by the second height detection element (134), acquiring the weight value M detected by the second weight detection element (154), and acquiring the torque value detected by the second torque detection element (174);

judging whether a position value S detected by the second position detecting element (114) corresponds to a preset position detected by the first position detecting element (112), judging whether a height value H detected by the second height detecting element (134) corresponds to a preset height detected by the first height detecting element (132), judging whether a weight value M detected by the second weight detecting element (154) corresponds to a weight detected by the first weight detecting element (152), and judging whether a moment value N detected by the second moment detecting element (174) corresponds to a moment detected by the first moment detecting element (172);

and when any one parameter of the position, the height, the weight and the moment does not correspond, controlling the tower crane to enter a safe operation program, and when all the parameters of the position, the height, the weight and the moment correspond, normally operating the tower crane.

3. The tower crane control method according to claim 2, characterized in that the tower crane control method further comprises: a correspondence relationship between the position detection results of the first position detection element (112) and the second position detection element (114), a correspondence relationship between the height detection results of the first height detection element (132) and the second height detection element (134), a correspondence relationship between the weight detection results of the first weight detection element (152) and the second weight detection element (154), and a correspondence relationship between the torque detection results of the first torque detection element (172) and the second torque detection element (174) are set.

4. The tower crane control method according to claim 3, wherein a preset position value range corresponding to the position value S detected by the second position detecting element (114) when the first position detecting element (112) detects that the position is located at each preset position is set to a ≦ S ≦ b; setting a preset height value range corresponding to a height value H detected by the second height detecting element (134) when the first height detecting element (132) detects that the height value H is located at each preset height to be c ≦ H ≦ d; setting a preset weight value range corresponding to a weight value M detected by the second weight detecting element (154) when the first weight detecting element (152) detects each preset weight as e ≦ M ≦ f; and setting the preset torque value range corresponding to the torque value N detected by the second torque detecting element (174) when the first torque detecting element (172) detects each preset torque as g ≦ N ≦ h.

5. The tower crane control method according to claim 4, wherein the step of determining whether the position value S detected by the second position detecting element (114) corresponds to the preset position detected by the first position detecting element (112) and the step of determining whether the height value H detected by the second height detecting element (134) corresponds to the preset height detected by the first height detecting element (132) is specifically:

when the first position detection element (112) detects that the traveling trolley reaches a preset position, determining whether a detected position value S satisfies a condition that a is less than or equal to S is less than or equal to b, and when the position value S satisfies the condition that a is less than or equal to S is less than or equal to b, determining that the position value S detected by the second position detection element (114) corresponds to the preset position detected by the first position detection element (112); when the position value S does not satisfy a ≦ S ≦ b, determining that the position value S detected by the second position detecting element (114) does not correspond to the preset position detected by the first position detecting element (112);

when the first height detection element (132) detects that the traveling trolley reaches a preset height, judging whether a detected height value H meets c ≦ H ≦ d, and when the height value H meets c ≦ H ≦ d, judging that the height value H detected by the second height detection element (134) corresponds to the preset height detected by the first height detection element (132); when the height value H does not satisfy c ≦ H ≦ d, it is determined that the height value H detected by the second height detecting element (134) does not correspond to the preset height detected by the first height detecting element (132).

6. The tower crane control method according to claim 5, wherein the first weight detecting element comprises a first, a second, a third and a fourth limit point, and when the weight reaches a first, a second, a third and a fourth preset weight, respectively, the corresponding first, second, third or fourth limit point is triggered;

setting the weight detection result correspondence relationship between the first weight detection element (152) and the second weight detection element (154) specifically includes: setting that the weight value M detected by the second weight detecting element (154) should be in the range of e 1-f 1 when the first weight detecting element (152) detects that the weight is the first preset weight, the weight value M detected by the second weight detecting element (154) should be in the range of e 2-f 2 when the first weight detecting element (152) detects that the weight is the second preset weight, the weight value M detected by the second weight detecting element (154) should be in the range of e 3-f 3 when the first weight detecting element (152) detects that the weight is the third preset weight, and the weight value M detected by the second weight detecting element (154) should be in the range of e 4-f 4 when the first weight detecting element (152) detects that the weight is the fourth preset weight;

when the detected weight value of the second weight detecting element (154) is M is e1 ≦ M ≦ f1, if the second, third, and fourth restriction sites are not triggered, the weight value M detected by the second weight detecting element (154) corresponds to the preset weight detected by the first weight detecting element (152), otherwise, does not correspond to the preset weight; when the second weight detecting element (154) detects that the weight value M is e2 ≦ M ≦ f2, if the first restriction site is triggered and the third restriction site and the fourth restriction site are not triggered, the weight value M detected by the second weight detecting element (154) corresponds to the preset weight detected by the first weight detecting element (152), otherwise, the weight value M does not correspond to the preset weight detected by the first weight detecting element (152); when the second weight detecting element (154) detects that the weight value M is e3 ≦ M ≦ f3, if the second restriction site is triggered and the fourth restriction site is not triggered, the weight value M detected by the second weight detecting element (154) corresponds to the preset weight detected by the first weight detecting element (152), otherwise, the weight value M does not correspond to the preset weight detected by the first weight detecting element; when the detected weight value of the second weight detecting element is M, e4 ≦ M ≦ f4, if the first, second, and third restriction points are triggered, the weight value M detected by the second weight detecting element (154) corresponds to the preset weight detected by the first weight detecting element (152), otherwise, does not correspond.

7. The tower crane control method according to claim 5, wherein the first weight detecting element comprises a fifth, sixth, seventh, eighth limit point, and when the torque reaches a first, second, third, fourth preset torque, respectively, the corresponding fifth, sixth, seventh, or eighth limit point is triggered;

setting a torque detection result correspondence relationship between the first torque detection element (172) and the second torque detection element (174) specifically includes: setting that the torque value M detected by the second torque detecting element (174) should be in the range of g 1-h 1 when the first torque detecting element (172) detects that the torque is the first preset torque, the torque value M detected by the second torque detecting element (174) should be in the range of g 2-h 2 when the first torque detecting element (172) detects that the torque is the second preset torque, the torque value M detected by the second torque detecting element (174) should be in the range of g 3-h 3 when the first torque detecting element (172) detects that the torque is the third preset torque, and the torque value M detected by the second torque detecting element (174) should be in the range of g 4-h 4 when the first torque detecting element (172) detects that the torque is the fourth preset torque;

when the torque value detected by the second torque detecting element (174) is M, g1 ≦ M ≦ h1, if the sixth, seventh, and eighth limit points are not triggered, the torque value M detected by the second torque detecting element (174) corresponds to the preset torque detected by the first torque detecting element (172), otherwise, the torque value M does not correspond to the preset torque detected by the first torque detecting element; when the torque value detected by the second torque detecting element (174) is M, g2 ≦ M ≦ h2, if the first limit point is triggered and the seventh and eighth limit points are not triggered, the torque value M detected by the second torque detecting element (174) corresponds to the preset torque detected by the first torque detecting element (172), otherwise, the torque value M does not correspond to the preset torque detected by the first torque detecting element (172); when the torque value detected by the second torque detecting element (174) is M, g3 ≦ M ≦ h3, if the second limit point is triggered and the eighth limit point is not triggered, the torque value M detected by the second torque detecting element (174) corresponds to the preset torque detected by the first torque detecting element (172), otherwise, the torque value M does not correspond to the preset torque detected by the first torque detecting element (172); when the torque value detected by the second torque detecting element (174) is M, g4 ≦ M ≦ h4, if the fifth, sixth, and seventh limit points are triggered, the torque value M detected by the second torque detecting element (174) corresponds to the preset torque detected by the first torque detecting element (172), otherwise, the torque value M does not correspond to the preset torque.

8. The tower crane control method according to claim 2, characterized in that when the position value S detected by the second position detecting element (114) does not correspond to the preset position detected by the first position detecting element (112), the travelling trolley is controlled to travel at a preset limited speed; when the height value H detected by the second height detection element (134) corresponds to the preset height detected by the first height detection element (134), controlling the lifting hook to lift at a preset limited speed; and when the weight value M detected by the second weight detection element (154) does not correspond to the weight detected by the first weight detection element (152) and/or the moment value N detected by the second torque detection element (174) corresponds to the moment detected by the first torque detection element (172), controlling the lifting speed and the amplitude variation speed of the tower crane to be preset limited speeds.

9. The tower crane control method according to claim 2, characterized in that the detection results obtained by the first position detecting element (112), the first height detecting element (132), the first weight detecting element (152) and the first torque detecting element (172) are switching values of whether preset values are reached; the second position detecting element (114), the second height detecting element (134), the second weight detecting element (154), and the second moment detecting element (174) obtain numerical analog values of detection results.

10. A tower crane control device is characterized by comprising a first detection element, a second detection element and a control unit (19), wherein the control unit (19) comprises a comparison module (194) and a control module (196);

the comparison module (194) is configured to determine whether a detection result of the first detection element corresponds to a detection result of the second detection element;

and the control module (196) is used for controlling the tower crane to enter a safe operation program when the detection results of the first detection element and the second detection element do not correspond.

11. A tower crane control device as claimed in claim 10, characterized in that the tower crane comprises an amplitude limiting element (11), a height limiting element (13), a weight limiting element (15), a moment limiting element (17), a control unit (19), a lifting controller (21) and a luffing controller (23), the amplitude limiting element (11), the height limiting element (13), the weight limiting element (15) and the moment limiting element (17) are respectively connected to the control unit (19), the control unit (19) is connected to the lifting controller (21) and the luffing controller (23), and the lifting controller (21) and the luffing controller (23) are respectively connected to a lifting mechanism and a luffing mechanism;

the amplitude limiting element (11) comprises a first position detection element (112) and a second position detection element (114), the first position detection element (112) is used for detecting whether the walking trolley is located at a preset position, and the second position detection element (114) is used for detecting a position value of the walking trolley; the height limiting element (13) comprises a first height detecting element (132) and a second height detecting element (134), wherein the first height detecting element (132) is used for detecting whether the hook is positioned at a preset height, and the second height detecting element (134) is used for detecting the height value of the hook; the weight limiting element (15) comprises a first weight detecting element (152) and a second weight detecting element (154), the first weight detecting element (152) is used for detecting whether the weight of the lifted object reaches a preset weight, and the second weight detecting element (154) is used for detecting the weight value of the lifted object; the torque limiting element (17) comprises a first torque detecting element (172) and a second torque detecting element (174), the first torque detecting element (172) is used for detecting whether the torque of the lifted object reaches a preset torque, and the second torque detecting element (174) is used for detecting the torque value of the lifted object;

the comparing module (194) is configured to determine whether the position value S detected by the second position detecting element (114) corresponds to the preset position detected by the first position detecting element (112), determine whether the height value H detected by the second height detecting element (134) corresponds to the preset height detected by the first height detecting element (132), determine whether the weight value M detected by the second weight detecting element (154) corresponds to the weight detected by the first weight detecting element (152), and determine whether the moment value N detected by the second moment detecting element (174) corresponds to the moment detected by the first moment detecting element (172);

the control module (196) is used for controlling the tower crane to enter a safe operation procedure when the position value S detected by the second position detection element (114) does not correspond to the preset position detected by the first position detection element (112), or the height value H detected by the second height detection element (134) does not correspond to the preset height detected by the first height detection element (132), or the weight value M detected by the second weight detection element (154) does not correspond to the weight detected by the first weight detection element (152), or the torque value N detected by the second torque detection element (174) does not correspond to the torque detected by the first torque detection element (172).

12. The tower crane control device according to claim 11, characterized by further comprising a setting module (192) for setting a correspondence of position detection results of the first position detecting element (112) and the second position detecting element (114), a correspondence of height detection results of the first height detecting element (132) and the second height detecting element (134), a correspondence of weight detection results of the first weight detecting element (152) and the second weight detecting element (154), and a correspondence of moment detection results of the first moment detecting element (172) and the second moment detecting element (174).