CN112723171A - Crane control method and system and crane - Google Patents

Crane control method and system and crane Download PDF

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Publication number
CN112723171A
CN112723171A CN202110049697.1A CN202110049697A CN112723171A CN 112723171 A CN112723171 A CN 112723171A CN 202110049697 A CN202110049697 A CN 202110049697A CN 112723171 A CN112723171 A CN 112723171A
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China
Prior art keywords
crane
oil cylinder
telescopic oil
telescopic
control signal
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CN202110049697.1A
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Chinese (zh)
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曹国廷
曹显利
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Jinhua Shenlian Network Technology Co ltd
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Jinhua Shenlian Network Technology Co ltd
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Priority to CN202110049697.1A priority Critical patent/CN112723171A/en
Publication of CN112723171A publication Critical patent/CN112723171A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/82—Luffing gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/84—Slewing gear
    • B66C23/86—Slewing gear hydraulically actuated

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)

Abstract

The invention provides a crane control method, a crane control system and a crane, wherein the crane control method comprises the steps of collecting the stroke of a telescopic oil cylinder of the crane and a telescopic control signal of the crane; judging the abnormal retraction condition of the crane telescopic oil cylinder according to the stroke of the telescopic oil cylinder and the crane telescopic control signal; according to the judgment result of the abnormal retraction condition of the telescopic oil cylinder of the crane, carrying out data processing on the related data; and outputting and executing the data processing result when necessary to avoid or reduce the damage caused by abnormal retraction of the telescopic oil cylinder, thereby improving the operation safety of the crane.

Description

Crane control method and system and crane
Technical Field
The invention relates to the technical field of mechanical control, in particular to a crane control method and system and a crane.
Background
The crane comprises an automobile crane, a crawler crane, a port crane and the like, and is used for hoisting, stacking and the like.
When the crane works, a part of the load weight is borne by the telescopic oil cylinder of the arm support, and if the telescopic oil cylinder, a pipeline or an element connected with the telescopic oil cylinder fails, the telescopic oil cylinder can retract under the action of a load force, and the retraction is abnormal. It can be seen that the telescopic cylinder is at risk of being retracted abnormally due to failure of the relevant components.
The damage of abnormal retraction of the telescopic oil cylinder is great, the damage to the crane and a load can be caused, the damage to the working environment of the crane can also be caused, and the damage to the working environment of the crane can be avoided as much as possible.
In order to prevent the abnormal retraction of the telescopic oil cylinder of the crane, the prior art adopts a balance valve scheme.
In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art:
the balance valve has a certain failure rate, and the abnormal retraction of the telescopic oil cylinder of the crane is difficult to completely prevent;
once the balance valve is in failure, no follow-up measures are taken to deal with abnormal retraction of the telescopic oil cylinder of the crane.
At present, no feasible scheme is available in the prior art, the abnormal retraction of the telescopic oil cylinder of the crane can be pre-judged, and effective measures are taken when the abnormal retraction of the telescopic oil cylinder occurs, so that the damage caused by the abnormal retraction of the telescopic oil cylinder is avoided or reduced, and the operation safety of the crane is improved.
Disclosure of Invention
The application provides a crane control method, a crane control system and a crane, which solve the problem of abnormal retraction possibly occurring in a telescopic oil cylinder of the crane in the related technology, so as to avoid or reduce damage caused by the abnormal retraction of the telescopic oil cylinder, and improve the operation safety of the crane.
In order to solve the technical problem, the application provides the following technical scheme:
one aspect of the present application relates to a crane control method, including:
collecting the stroke of a telescopic oil cylinder of the crane; collecting the crane telescoping control signal;
judging the abnormal retraction condition of the crane telescopic oil cylinder according to the stroke of the telescopic oil cylinder and the crane telescopic control signal; according to the judgment result of the abnormal retraction condition of the telescopic oil cylinder of the crane, carrying out data processing on the related data;
and outputting and executing the data processing result.
Wherein, according to flexible hydro-cylinder stroke with the flexible control signal of hoist, judge the condition of the unusual withdrawal of the flexible hydro-cylinder of hoist, include:
calculating the speed of the telescopic oil cylinder of the crane according to the stroke of the telescopic oil cylinder of the crane;
calculating the acceleration of the telescopic oil cylinder of the crane according to the stroke of the telescopic oil cylinder of the crane;
the judgment basis of the abnormal retraction condition of the crane telescopic oil cylinder comprises the crane telescopic control signal and at least one of the following conditions: the stroke of the telescopic oil cylinder of the crane, the speed of the telescopic oil cylinder of the crane and the acceleration of the telescopic oil cylinder of the crane are calculated;
when the crane telescopic control signal is not a retraction signal and other judgment basis of the abnormal retraction condition of the crane telescopic oil cylinder exceeds the preset state range, judging that the crane telescopic oil cylinder has abnormal retraction, wherein the other judgment basis comprises at least one of the following: the stroke of the telescopic oil cylinder of the crane, the speed of the telescopic oil cylinder of the crane and the acceleration of the telescopic oil cylinder of the crane.
Wherein, according to the judgement result of the unusual situation of retracting of hoist telescopic cylinder, carry out data processing to relevant data, include:
calculating at least one of:
calculating a control signal for driving and adjusting the winch according to the stroke of the telescopic oil cylinder of the crane;
calculating a control signal for amplitude variation driving adjustment according to the stroke of the telescopic oil cylinder of the crane;
and calculating a control signal for rotation driving adjustment according to the stroke of the telescopic oil cylinder of the crane.
Wherein, include:
the calculation method of the control signal of the winch driving adjustment comprises at least one of the following steps:
when the speed of the crane telescopic oil cylinder exceeds a preset speed threshold value, the control signal of the winch driving adjustment is a function of the speed of the crane telescopic oil cylinder;
when the speed of the telescopic oil cylinder of the crane does not exceed a preset speed threshold value and the acceleration of the telescopic oil cylinder of the crane exceeds a preset acceleration threshold value, the control signal of the winch driving adjustment is a function of the speed and/or the acceleration of the telescopic oil cylinder of the crane;
the calculation method of the control signal for amplitude variation drive regulation comprises at least one of the following steps:
when the speed of the telescopic oil cylinder of the crane exceeds a preset speed threshold value, the control signal of the variable amplitude driving regulation is a function of the speed of the telescopic oil cylinder of the crane;
when the speed of the telescopic oil cylinder of the crane does not exceed a preset speed threshold value and the acceleration of the telescopic oil cylinder of the crane exceeds a preset acceleration threshold value, the control signal of the variable amplitude drive regulation is a function of the speed and/or the acceleration of the telescopic oil cylinder of the crane;
when the crane support leg is included in the preset range near the crane boom, the action direction of the control signal regulated by the rotary drive on the rotation of the boom is as follows: enabling the crane boom to be far away from the support legs in a preset range near the crane boom, wherein the preset range near the crane boom is a sector in a horizontal plane where a rotation center of the crane boom is located, the sector is a sector which takes the rotation center of the crane boom as a center and a projection of the crane boom on the horizontal plane as a symmetry axis, and when a projection of any support leg of a crane on the horizontal plane falls in the sector, it can be judged that the preset range near the crane boom contains the crane support legs; the calculation method of the control signal of the slewing drive adjustment comprises at least one of the following steps:
when the speed of the crane telescopic oil cylinder exceeds a preset speed threshold value, the control signal of the rotation driving adjustment is a function of the speed of the crane telescopic oil cylinder;
and when the speed of the telescopic oil cylinder of the crane does not exceed a preset speed threshold value and the acceleration of the telescopic oil cylinder of the crane exceeds a preset acceleration threshold value, the control signal of the slewing drive regulation is a function of the speed and/or the acceleration of the telescopic oil cylinder of the crane.
Wherein outputting and executing the result of the data processing comprises at least one of:
outputting and executing a control signal for driving and adjusting the winch;
outputting and executing the control signal of the variable amplitude driving regulation;
and outputting and executing the control signal of the slewing drive regulation.
Another aspect of the present application relates to a crane control system, comprising:
the detection module is used for collecting the stroke of the telescopic oil cylinder of the crane; collecting the crane telescoping control signal;
the control module is used for judging the abnormal retraction condition of the crane telescopic oil cylinder according to the stroke of the telescopic oil cylinder and the crane telescopic control signal; according to the judgment result of the abnormal retraction condition of the telescopic oil cylinder of the crane, carrying out data processing on the related data;
and the execution mechanism is used for outputting and executing the result of the data processing.
Wherein the detection module comprises:
the telescopic oil cylinder sensor is used for acquiring the stroke of the telescopic oil cylinder of the crane;
and the telescopic control handle is used for acquiring the crane telescopic control signal.
Wherein the control module comprises:
the judging module is used for judging the abnormal retraction condition of the telescopic oil cylinder of the crane;
and the data processing module is used for processing the data of the related data according to the judgment result of the abnormal retraction condition of the telescopic oil cylinder of the crane.
Wherein the actuator comprises at least one of:
a hoisting mechanism comprising means for adjusting the hoisting of the crane;
the luffing mechanism comprises a device for adjusting the luffing of the crane;
a slewing mechanism comprising means for adjusting the slewing of the crane.
Yet another aspect of the present application relates to a crane comprising the crane control system described above.
One of the above technical solutions of the present application has the following beneficial effects:
the application provides a crane control method, a crane control system and a crane, wherein the crane control method comprises the steps of collecting the stroke of a telescopic oil cylinder of the crane; collecting the crane telescoping control signal; judging the abnormal retraction condition of the crane telescopic oil cylinder according to the stroke of the telescopic oil cylinder and the crane telescopic control signal; according to the judgment result of the abnormal retraction condition of the telescopic oil cylinder of the crane, carrying out data processing on the related data; and outputting and executing the data processing result to avoid or reduce damage caused by abnormal retraction of the telescopic oil cylinder, thereby improving the operation safety of the crane.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of a crane control method according to a first embodiment of the present invention;
FIG. 2 is a block diagram of a crane control system according to a second embodiment of the present invention;
fig. 3 is another block diagram of a crane control system according to a second embodiment of the present invention.
The reference numbers illustrate:
2. a detection module; 4. a control module; 6. an actuator; 22. a telescopic cylinder sensor; 24. a telescopic control handle; 42. a controller; 62. a hoisting mechanism; 64. a luffing mechanism; 66. a slewing mechanism.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
First embodiment
The present embodiment provides a crane control method, as shown in fig. 1, including:
s2, collecting the stroke of a telescopic oil cylinder of the crane; collecting crane telescoping control signals;
s4, judging the abnormal retraction condition of the crane telescopic oil cylinder according to the telescopic oil cylinder stroke and the crane telescopic control signal; according to the judgment result of the abnormal retraction condition of the telescopic oil cylinder of the crane, carrying out data processing on the related data;
s6, the result of the data processing is output and executed.
It should be noted that the embodiment provides a crane control method, which solves the problem of abnormal retraction of a telescopic cylinder of a crane in the related art. In order to solve the problem, the stroke of a telescopic oil cylinder of the crane needs to be collected; collecting crane telescopic control signals, and judging abnormal retraction conditions of the crane telescopic oil cylinder according to the stroke of the telescopic oil cylinder and the crane telescopic control signals; according to the judgment result of the abnormal retraction condition of the telescopic oil cylinder of the crane, data processing is carried out on related data, and the crane is actively controlled if necessary, including the regulation on a hoisting mechanism, a luffing mechanism, a slewing mechanism and the like of the crane, so that the abnormal retraction possibly occurring on the telescopic oil cylinder of the crane is predicted, and effective measures are taken when the telescopic oil cylinder is possibly abnormally retracted to avoid or reduce the damage caused by the abnormal retraction of the telescopic oil cylinder, thereby improving the operation safety of the crane.
It should be noted that, on the basis of collecting the stroke signal of the crane telescopic cylinder and the crane telescopic control signal, firstly, the abnormal retraction which may occur to the crane telescopic cylinder is pre-judged, and the specific process includes:
s422, calculating the speed of the telescopic oil cylinder of the crane according to the stroke of the telescopic oil cylinder of the crane;
s424, calculating the acceleration of the telescopic oil cylinder of the crane according to the stroke of the telescopic oil cylinder of the crane;
the judgment basis of the abnormal retraction condition of the crane telescopic oil cylinder comprises a crane telescopic control signal and at least one of the following conditions: the stroke of the telescopic oil cylinder of the crane, the speed of the telescopic oil cylinder of the crane and the acceleration of the telescopic oil cylinder of the crane are calculated;
s426, when the crane telescopic control signal is not a retraction signal and other judgment bases of the abnormal retraction condition of the crane telescopic oil cylinder exceed the preset state range, judging that the crane telescopic oil cylinder has abnormal retraction, wherein the other judgment bases comprise at least one of the following: the stroke of the telescopic oil cylinder of the crane, the speed of the telescopic oil cylinder of the crane and the acceleration of the telescopic oil cylinder of the crane.
It should be noted that the crane telescoping control signal has the function of judging whether the cylinder retraction is actively controlled by a crane operator, and if so, the retraction of the telescoping cylinder embodies the operation intention of the operator and is normal; if not, the retraction of the telescopic oil cylinder is not the operation intention of the operator and is abnormal.
It should be noted that there are various methods for predicting abnormal retraction of the telescopic cylinder of the crane, and the following embodiments are listed:
according to the method 1, when the crane telescopic control signal is not the retraction signal, and the stroke of the crane telescopic oil cylinder is reduced and the reduction amplitude exceeds the preset reduction amplitude threshold value, the crane telescopic oil cylinder is judged to be abnormally retracted. For example, when the crane telescoping control signal is not the retraction signal, the stroke of the crane telescoping cylinder is reduced and the reduction amplitude is 0.12 m, and the predetermined reduction amplitude threshold value is 0.1 m, the crane telescoping cylinder is determined to be abnormally retracted.
And 2, when the crane telescopic control signal is not a retraction signal, the stroke of the crane telescopic oil cylinder is reduced but the reduction amplitude does not exceed the preset reduction amplitude threshold value, and the retraction speed of the crane telescopic oil cylinder exceeds the preset retraction speed threshold value, judging that the crane telescopic oil cylinder retracts abnormally. For example, when the crane telescoping control signal is not the retraction signal, the stroke of the crane telescoping cylinder is decreasing and the decreasing amplitude is 0.08 m, the predetermined decreasing amplitude threshold value is 0.1 m, the retraction speed of the crane telescoping cylinder is 0.1 m/s, and the predetermined retraction speed threshold value is 0.05 m/s, it can be seen that the stroke of the crane telescoping cylinder is decreasing but the decreasing amplitude does not exceed the predetermined decreasing amplitude threshold value, and the retraction speed of the crane telescoping cylinder exceeds the predetermined retraction speed threshold value, it is determined that the crane telescoping cylinder is abnormally retracted.
And 3, when the crane telescopic control signal is not a retraction signal, the stroke of the crane telescopic oil cylinder is reduced but the reduction amplitude does not exceed the preset reduction amplitude threshold value, the retraction speed of the crane telescopic oil cylinder does not exceed the preset retraction speed threshold value, and the acceleration of the crane telescopic oil cylinder exceeds the preset retraction acceleration threshold value, judging that the crane telescopic oil cylinder retracts abnormally. For example, when the crane retraction control signal is not the retraction signal, and the stroke of the crane retraction cylinder is being reduced and the reduction amplitude is 0.08 m, the predetermined reduction amplitude threshold value is 0.1 m, and the retraction speed of the crane retraction cylinder is 0.04 m/s, the predetermined retraction speed threshold value is 0.05 m/s, and the acceleration of the crane retraction cylinder is 0.03 m/s2With a predetermined retraction acceleration threshold of 0.02 m/s2It can be seen that when the stroke of the crane telescopic oil cylinder is reduced but the reduction amplitude does not exceed the predetermined reduction amplitude threshold value, the retraction speed of the crane telescopic oil cylinder does not exceed the predetermined retraction speed threshold value, and the acceleration of the crane telescopic oil cylinder exceeds the predetermined retraction acceleration threshold value, the crane telescopic oil cylinder is judged to be abnormally retracted.
It should be noted that, without creative efforts, those skilled in the art may also list other methods for determining abnormal retraction of the telescopic cylinder of the crane, which are all within the protection scope of the present application.
According to the judgment result of the abnormal retraction condition of the telescopic oil cylinder of the crane, the data processing is carried out on the related data, and the data processing method comprises the following steps:
calculating at least one of:
s442, calculating a control signal for controlling the hoisting drive according to the stroke of the telescopic oil cylinder of the crane;
s444, calculating a control signal for amplitude variation driving adjustment according to the stroke of the telescopic oil cylinder of the crane;
and S446, calculating a control signal for rotation driving adjustment according to the stroke of the telescopic oil cylinder of the crane.
The hoisting drive adjustment, the amplitude variation drive adjustment and the rotation drive adjustment can all deal with abnormal retraction of a telescopic oil cylinder of the crane, wherein the hoisting drive adjustment aims to reduce the height of the load until the load returns to the ground; the purpose of amplitude variation driving adjustment is to reduce the height of the load until the load returns to the ground; the purpose of the swing drive adjustment is to avoid collision of the load with the legs.
It should be noted that, the above calculation method for the control signals of the hoisting drive regulation, the amplitude variation drive regulation and the slewing drive regulation is as follows:
the calculation method of the control signal of the winch driving adjustment comprises at least one of the following steps:
s4422, when the speed of the telescopic oil cylinder of the crane exceeds a preset speed threshold value, the control signal of the winch driving regulation is a function of the speed of the telescopic oil cylinder of the crane;
s4424, when the speed of the telescopic oil cylinder of the crane does not exceed a preset speed threshold value and the acceleration of the telescopic oil cylinder of the crane exceeds a preset acceleration threshold value, the control signal of the winch driving regulation is a function of the speed and/or the acceleration of the telescopic oil cylinder of the crane;
it should be noted that in S4422, when the speed of the telescopic cylinder of the crane exceeds a preset speed threshold, it is indicated that the abnormal retraction of the telescopic cylinder of the crane is serious, and effective measures need to be taken immediately, and at this time, a calculation result needs to be quickly calculated and output according to the speed of the telescopic cylinder of the crane; s4424, when the speed of the telescopic oil cylinder of the crane does not exceed a preset speed threshold value and the acceleration of the telescopic oil cylinder of the crane exceeds a preset acceleration threshold value, the abnormal retraction of the telescopic oil cylinder of the crane is proved to be occurred, but the abnormal retraction is not particularly urgent, the calculation can be carried out according to the speed of the telescopic oil cylinder of the crane and/or the acceleration speed of the telescopic oil cylinder of the crane, and the calculation result of the control signal for regulating the winch drive is output. The present embodiment employs a conventional PID (proportional-integral-derivative) algorithm.
The calculation method of the control signal of the variable amplitude driving regulation comprises at least one of the following steps:
s4442, when the speed of the telescopic oil cylinder of the crane exceeds a preset speed threshold value, the control signal of the variable amplitude driving regulation is a function of the speed of the telescopic oil cylinder of the crane;
s4444, when the speed of the telescopic oil cylinder of the crane does not exceed a preset speed threshold value and the acceleration of the telescopic oil cylinder of the crane exceeds a preset acceleration threshold value, the control signal of variable amplitude driving regulation is a function of the speed and/or the acceleration of the telescopic oil cylinder of the crane;
it should be noted that in S4442, when the speed of the telescopic cylinder of the crane exceeds a preset speed threshold, it is indicated that the abnormal retraction of the telescopic cylinder of the crane is serious, and effective measures need to be taken immediately, and at this time, a calculation result needs to be quickly calculated and output according to the speed of the telescopic cylinder of the crane; s4444, when the speed of the telescopic oil cylinder of the crane does not exceed the preset speed threshold value and the acceleration of the telescopic oil cylinder of the crane exceeds the preset acceleration threshold value, the abnormal retraction of the telescopic oil cylinder of the crane is proved to be occurred, but the abnormal retraction is not particularly urgent, the calculation can be carried out according to the speed of the telescopic oil cylinder of the crane and/or the acceleration speed of the telescopic oil cylinder of the crane, and the calculation result of the control signal for amplitude variation drive adjustment is output. The present embodiment employs a conventional PID (proportional-integral-derivative) algorithm.
When the crane support leg is included in the preset range near the crane boom, the action direction of the control signal regulated by the rotary drive to the boom rotation is as follows: enabling the crane boom to be far away from the support legs in a preset range near the crane boom, wherein the preset range near the crane boom is a sector in a horizontal plane where a rotation center of the crane boom is located, the sector is a sector taking the rotation center of the crane boom as a center and taking a projection of the crane boom on the horizontal plane as a symmetry axis, and when the projection of any support leg of the crane on the horizontal plane falls in the sector, the situation that the support leg of the crane is included in the preset range near the crane boom can be judged; the calculation method of the control signal of the swing drive adjustment comprises at least one of the following steps:
s4462, when the speed of the telescopic oil cylinder of the crane exceeds a preset speed threshold value, the control signal of the rotation driving regulation is a function of the speed of the telescopic oil cylinder of the crane;
s4464, when the speed of the telescopic oil cylinder of the crane does not exceed the preset speed threshold value and the acceleration of the telescopic oil cylinder of the crane exceeds the preset acceleration threshold value, the control signal of the slewing drive regulation is a function of the speed and/or the acceleration of the telescopic oil cylinder of the crane.
It should be noted that, due to abnormal retraction of the crane telescopic cylinder, a load may collide with the support leg, and therefore, it is necessary to determine whether the load collides with the support leg along with retraction of the crane telescopic cylinder and retraction of the boom, that is, whether the load has the support leg in the boom retraction movement direction, and if not, the rotation is not required to be controlled; if so, control of slewing is required.
In the calculation method of the control signal for the slewing drive adjustment, in S4462, when the speed of the telescopic cylinder of the crane exceeds a preset speed threshold, it is indicated that the abnormal retraction of the telescopic cylinder of the crane is serious, and effective measures need to be taken immediately, and at this time, a calculation result needs to be quickly calculated and output according to the speed of the telescopic cylinder of the crane; s4464, when the speed of the telescopic oil cylinder of the crane does not exceed a preset speed threshold value and the acceleration of the telescopic oil cylinder of the crane exceeds a preset acceleration threshold value, the abnormal retraction of the telescopic oil cylinder of the crane is proved to be occurred, but the abnormal retraction is not particularly urgent, the calculation can be carried out according to the speed of the telescopic oil cylinder of the crane and/or the acceleration speed of the telescopic oil cylinder of the crane, and the calculation result of the control signal for amplitude variation driving adjustment is output. The present embodiment employs a conventional PID (proportional-integral-derivative) algorithm.
Based on the above calculations, results of data processing may be output and executed, including at least one of:
s622, outputting and executing control signals for regulating the winch driving;
s624, outputting and executing a control signal for amplitude variation driving adjustment;
s626, outputs and executes a control signal for the slew drive adjustment.
It should be noted that, in the control process and the calculation process in the present embodiment, there are various implementation manners of the sequence between the steps, and in the present embodiment, one of the manners is listed, and on the premise of not being contradictory, the order of the different steps in the control process and the calculation process is changed, so that the same effect can be achieved, and the scope of the present embodiment is also within the scope of the present embodiment.
The embodiment provides a crane control method, which solves the problem of abnormal retraction possibly occurring in a telescopic oil cylinder of a crane in the related art. The stroke of a telescopic oil cylinder of the crane is collected; collecting crane telescopic control signals, and judging abnormal retraction conditions of the crane telescopic oil cylinder according to the stroke of the telescopic oil cylinder and the crane telescopic control signals; according to the judgment result of the abnormal retraction condition of the telescopic oil cylinder of the crane, data processing is carried out on related data, and the crane is actively controlled if necessary, including the regulation on a hoisting mechanism, a luffing mechanism, a slewing mechanism and the like of the crane, so that the abnormal retraction possibly occurring on the telescopic oil cylinder of the crane is predicted, and effective measures are taken when the telescopic oil cylinder is possibly abnormally retracted to avoid or reduce the damage caused by the abnormal retraction of the telescopic oil cylinder, thereby improving the operation safety of the crane.
Second embodiment
The present embodiment provides a crane control system, as shown in fig. 2, including:
the detection module 2 is used for collecting the stroke of the telescopic oil cylinder of the crane; collecting crane telescoping control signals;
the control module 4 is used for judging the abnormal retraction condition of the crane telescopic oil cylinder according to the stroke of the telescopic oil cylinder and the crane telescopic control signal; according to the judgment result of the abnormal retraction condition of the telescopic oil cylinder of the crane, carrying out data processing on the related data;
and an execution mechanism 6 for outputting and executing a result of the data processing.
It should be noted that the embodiment provides a crane control system, which solves the problem of abnormal retraction that may occur in a telescopic cylinder of a crane in the related art. The stroke of a telescopic oil cylinder of the crane is collected through the detection module 2; collecting crane telescopic control signals, and judging abnormal retraction conditions of the crane telescopic oil cylinder through a control module 4 according to the stroke of the telescopic oil cylinder and the crane telescopic control signals; according to the judgment result of the abnormal retraction condition of the telescopic oil cylinder of the crane, data processing is carried out on related data, and the crane is actively controlled through the executing mechanism 6 if necessary, including the regulation of a hoisting mechanism 62, a luffing mechanism 64, a slewing mechanism 66 and the like of the crane, so that the abnormal retraction possibly occurring to the telescopic oil cylinder of the crane is predicted, and effective measures are taken when the telescopic oil cylinder is possibly abnormally retracted to avoid or reduce the damage caused by the abnormal retraction of the telescopic oil cylinder, thereby improving the operation safety of the crane.
As shown in fig. 3, the detection module 2 includes:
a telescopic cylinder sensor 22 for detecting a signal of the telescopic cylinder;
a telescopic control handle 24 for controlling the telescopic oil cylinder to act;
it should be noted that the telescopic cylinder sensor 22 has various schemes, including:
the oil cylinder stroke signal acquisition device is used for acquiring the stroke of a telescopic oil cylinder of the crane;
the oil cylinder speed signal acquisition device is used for acquiring a speed signal of a telescopic oil cylinder of the crane;
the boom stroke signal acquisition device is used for acquiring telescopic stroke signals of the crane boom;
and the oil cylinder speed signal acquisition device is used for acquiring a telescopic speed signal of the crane boom.
It should be noted that, in the above-mentioned various sensors listed as the telescopic cylinder sensor 22, the present embodiment adopts a cylinder stroke signal acquisition device.
As shown in fig. 3, the control module 4 includes a controller 42, and the controller 42 includes:
the judging module is used for judging the abnormal retraction condition of the telescopic oil cylinder of the crane;
and the data processing module is used for processing the data of the related data according to the judgment result of the abnormal retraction condition of the telescopic oil cylinder of the crane.
It should be noted that the controller 42 may be a centralized controller, a distributed controller, a remote controller, etc., and the present embodiment employs a centralized controller.
As shown in fig. 3, the actuator 6 includes at least one of the following components:
a hoisting mechanism 62 including a device for adjusting the hoisting of the crane;
a luffing mechanism 64 comprising means for adjusting the luffing of the crane;
slewing gear 66, including means for adjusting the slewing of the crane.
It should be noted that the hoisting mechanism 62 includes a hydraulic system and a mechanical system, wherein the hydraulic system of the hoisting mechanism 62 includes a hydraulic pump, a hydraulic valve, and a hydraulic motor, wherein the hydraulic valve receives a control signal output by the controller 42, and the signal controls the hydraulic valve to operate, so as to drive the hydraulic motor to operate, so as to drive the mechanical system to operate, so as to implement the operation of the hoisting mechanism 62, and further implement the purpose of adjusting the height of the center of gravity of the load in this embodiment;
it should be noted that the luffing mechanism 64 includes a hydraulic system and a mechanical system, wherein the hydraulic system of the luffing mechanism 64 includes a hydraulic pump, a hydraulic valve, and a hydraulic cylinder, wherein the hydraulic valve receives a control signal output by the controller 42, and the signal controls the hydraulic valve to operate, so as to drive the hydraulic cylinder to operate, and further drive the mechanical system to operate, thereby implementing the operation of the luffing mechanism 64, and further implementing the purpose of adjusting the height of the center of gravity of the load in this embodiment;
it should be noted that the swing mechanism 66 includes a hydraulic system and a mechanical system, wherein the hydraulic system of the swing mechanism 66 includes a hydraulic pump, a hydraulic valve, and a hydraulic motor, wherein the hydraulic valve receives a control signal output by the controller 42, and the signal controls the hydraulic valve to operate, so as to drive the hydraulic motor to operate, and further drive the mechanical system to operate, so as to implement the operation of the swing mechanism 66, and further implement the purpose of avoiding the load from colliding with the support leg in this embodiment;
it should be noted that, in the above-mentioned components in the present embodiment, there are various combinations of the orders of the components, and what is listed in the present embodiment is one of the combinations, and the order of the components can be changed without contradiction, so that the same effect can be achieved, and the scope covered by the present embodiment is also included.
The embodiment provides a crane control system, which solves the problem of abnormal retraction possibly occurring in a telescopic oil cylinder of a crane in the related art. The stroke of a telescopic oil cylinder of the crane is collected through the detection module 2; collecting crane telescopic control signals, and judging abnormal retraction conditions of the crane telescopic oil cylinder through a control module 4 according to the stroke of the telescopic oil cylinder and the crane telescopic control signals; according to the judgment result of the abnormal retraction condition of the telescopic oil cylinder of the crane, data processing is carried out on related data, the crane is actively controlled through the executing mechanism 6 if necessary, the executing mechanisms of the hoisting mechanism 62, the amplitude changing mechanism 64, the slewing mechanism 66 and the like of the crane are adjusted, so that the abnormal retraction possibly occurring to the telescopic oil cylinder of the crane is prejudged, effective measures are taken when the telescopic oil cylinder is possibly abnormally retracted, the damage caused by the abnormal retraction of the telescopic oil cylinder is avoided or reduced, and the operation safety of the crane is improved.
Third embodiment
The embodiment provides a crane, which comprises the crane control system.
By adopting the crane control system in the embodiment, the beneficial effects brought by the crane control system in the embodiment are realized, the occurrence of tipping can be prevented, or the damage caused by tipping can be reduced, so that the operation safety of the crane is improved.
Moreover, it is noted that, in this document, relational terms such as "first" and "second," and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
It should also be apparent to those skilled in the art that embodiments of the present invention may be provided as a method, apparatus, or computer program product. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks. These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While there has been described what are considered to be preferred embodiments of the present invention, it will be understood by those skilled in the art that, in light of the foregoing description, numerous modifications and enhancements which fall within the spirit and scope of the invention are possible without departing from the principles of the present invention. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.

Claims (10)

1. A crane control method, comprising:
collecting the stroke of a telescopic oil cylinder of the crane; collecting the crane telescoping control signal;
judging the abnormal retraction condition of the crane telescopic oil cylinder according to the stroke of the telescopic oil cylinder and the crane telescopic control signal; according to the judgment result of the abnormal retraction condition of the telescopic oil cylinder of the crane, carrying out data processing on the related data;
and outputting and executing the data processing result.
2. The crane control method according to claim 1, wherein determining the abnormal retraction condition of the crane telescopic cylinder based on the telescopic cylinder stroke and the crane telescopic control signal comprises:
calculating the speed of the telescopic oil cylinder of the crane according to the stroke of the telescopic oil cylinder of the crane;
calculating the acceleration of the telescopic oil cylinder of the crane according to the stroke of the telescopic oil cylinder of the crane;
the judgment basis of the abnormal retraction condition of the crane telescopic oil cylinder comprises the crane telescopic control signal and at least one of the following conditions: the stroke of the telescopic oil cylinder of the crane, the speed of the telescopic oil cylinder of the crane and the acceleration of the telescopic oil cylinder of the crane are calculated;
when the crane telescopic control signal is not a retraction signal and other judgment basis of the abnormal retraction condition of the crane telescopic oil cylinder exceeds the preset state range, judging that the crane telescopic oil cylinder has abnormal retraction, wherein the other judgment basis comprises at least one of the following: the stroke of the telescopic oil cylinder of the crane, the speed of the telescopic oil cylinder of the crane and the acceleration of the telescopic oil cylinder of the crane.
3. The crane control method according to claim 1, wherein the data processing of the relevant data according to the determination result of the abnormal retraction condition of the telescopic cylinder of the crane includes:
calculating at least one of:
calculating a control signal for driving and adjusting the winch according to the stroke of the telescopic oil cylinder of the crane;
calculating a control signal for amplitude variation driving adjustment according to the stroke of the telescopic oil cylinder of the crane;
and calculating a control signal for rotation driving adjustment according to the stroke of the telescopic oil cylinder of the crane.
4. The crane control method as claimed in claim 3, comprising:
the calculation method of the control signal of the winch driving adjustment comprises at least one of the following steps:
when the speed of the crane telescopic oil cylinder exceeds a preset speed threshold value, the control signal of the winch driving adjustment is a function of the speed of the crane telescopic oil cylinder;
when the speed of the telescopic oil cylinder of the crane does not exceed a preset speed threshold value and the acceleration of the telescopic oil cylinder of the crane exceeds a preset acceleration threshold value, the control signal of the winch driving adjustment is a function of the speed and/or the acceleration of the telescopic oil cylinder of the crane;
the calculation method of the control signal for amplitude variation drive regulation comprises at least one of the following steps:
when the speed of the telescopic oil cylinder of the crane exceeds a preset speed threshold value, the control signal of the variable amplitude driving regulation is a function of the speed of the telescopic oil cylinder of the crane;
when the speed of the telescopic oil cylinder of the crane does not exceed a preset speed threshold value and the acceleration of the telescopic oil cylinder of the crane exceeds a preset acceleration threshold value, the control signal of the variable amplitude drive regulation is a function of the speed and/or the acceleration of the telescopic oil cylinder of the crane;
when the crane support leg is included in the preset range near the crane boom, the action direction of the control signal regulated by the rotary drive on the rotation of the boom is as follows: enabling the crane boom to be far away from the support legs in a preset range near the crane boom, wherein the preset range near the crane boom is a sector in a horizontal plane where a rotation center of the crane boom is located, the sector is a sector which takes the rotation center of the crane boom as a center and a projection of the crane boom on the horizontal plane as a symmetry axis, and when a projection of any support leg of a crane on the horizontal plane falls in the sector, it can be judged that the preset range near the crane boom contains the crane support legs; the calculation method of the control signal of the slewing drive adjustment comprises at least one of the following steps:
when the speed of the crane telescopic oil cylinder exceeds a preset speed threshold value, the control signal of the rotation driving adjustment is a function of the speed of the crane telescopic oil cylinder;
and when the speed of the telescopic oil cylinder of the crane does not exceed a preset speed threshold value and the acceleration of the telescopic oil cylinder of the crane exceeds a preset acceleration threshold value, the control signal of the slewing drive regulation is a function of the speed and/or the acceleration of the telescopic oil cylinder of the crane.
5. The crane control method according to claim 1, wherein outputting and executing the result of the data processing comprises at least one of:
outputting and executing a control signal for driving and adjusting the winch;
outputting and executing the control signal of the variable amplitude driving regulation;
and outputting and executing the control signal of the slewing drive regulation.
6. A crane control system, comprising:
the detection module is used for collecting the stroke of the telescopic oil cylinder of the crane; collecting the crane telescoping control signal;
the control module is used for judging the abnormal retraction condition of the crane telescopic oil cylinder according to the stroke of the telescopic oil cylinder and the crane telescopic control signal; according to the judgment result of the abnormal retraction condition of the telescopic oil cylinder of the crane, carrying out data processing on the related data;
and the execution mechanism is used for outputting and executing the result of the data processing.
7. The crane control system of claim 6, wherein the detection module comprises:
the telescopic oil cylinder sensor is used for acquiring the stroke of the telescopic oil cylinder of the crane;
and the telescopic control handle is used for acquiring the crane telescopic control signal.
8. The crane control system of claim 6, wherein the control module comprises:
the judging module is used for judging the abnormal retraction condition of the telescopic oil cylinder of the crane;
and the data processing module is used for processing the data of the related data according to the judgment result of the abnormal retraction condition of the telescopic oil cylinder of the crane.
9. The crane control system of claim 6, wherein the actuator comprises at least one of:
a hoisting mechanism comprising means for adjusting the hoisting of the crane;
the luffing mechanism comprises a device for adjusting the luffing of the crane;
a slewing mechanism comprising means for adjusting the slewing of the crane.
10. A crane comprising a crane control system as claimed in any one of claims 6 to 9.
CN202110049697.1A 2021-01-14 2021-01-14 Crane control method and system and crane Withdrawn CN112723171A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110049697.1A CN112723171A (en) 2021-01-14 2021-01-14 Crane control method and system and crane

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110049697.1A CN112723171A (en) 2021-01-14 2021-01-14 Crane control method and system and crane

Publications (1)

Publication Number Publication Date
CN112723171A true CN112723171A (en) 2021-04-30

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Country Link
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114165490A (en) * 2022-01-17 2022-03-11 湖南星邦智能装备股份有限公司 Control method and system for controlling arm support to retract, mechanical equipment and storage medium

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114165490A (en) * 2022-01-17 2022-03-11 湖南星邦智能装备股份有限公司 Control method and system for controlling arm support to retract, mechanical equipment and storage medium
CN114165490B (en) * 2022-01-17 2024-01-19 湖南星邦智能装备股份有限公司 Control method, system, mechanical equipment and storage medium for controlling arm support retraction

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Application publication date: 20210430