CN113816268A - Control method and device for hoisting machine, controller and hoisting machine - Google Patents
Control method and device for hoisting machine, controller and hoisting machine Download PDFInfo
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- CN113816268A CN113816268A CN202110941903.XA CN202110941903A CN113816268A CN 113816268 A CN113816268 A CN 113816268A CN 202110941903 A CN202110941903 A CN 202110941903A CN 113816268 A CN113816268 A CN 113816268A
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- 238000000034 method Methods 0.000 title claims abstract description 54
- 230000033001 locomotion Effects 0.000 claims description 24
- 239000000725 suspension Substances 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 7
- 238000004590 computer program Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 9
- 238000011217 control strategy Methods 0.000 description 7
- 238000010276 construction Methods 0.000 description 6
- 230000003111 delayed effect Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 239000004020 conductor Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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Classifications
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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
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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
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
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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
- B66C13/22—Control systems or devices for electric drives
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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
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
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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
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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
- B66C2700/00—Cranes
- B66C2700/03—Cranes with arms or jibs; Multiple cranes
- B66C2700/0392—Movement of the crane arm; Coupling of the crane arm with the counterweights; Safety devices for the movement of the arm
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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
- B66C2700/00—Cranes
- B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
- B66C2700/082—Control of the secondary movements, e.g. travelling, slewing, luffing of the jib, changing of the range
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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
- B66C2700/00—Cranes
- B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
- B66C2700/088—Remote control of electric cranes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The embodiment of the invention provides a control method and device for a hoisting machine, a controller and the hoisting machine, wherein the control method comprises the following steps: determining whether a first control instruction sent by a linkage table of hoisting machinery is received; under the condition that the first control instruction is determined not to be received, responding to a received request for acquiring control permission sent by remote control equipment, and distributing the control permission of the hoisting machinery to the remote control equipment; and under the condition that the first control instruction is determined not to be received and the remote control equipment has the control authority, responding to a received second control instruction sent by the remote control equipment, and controlling the hoisting machinery to move according to the second control instruction. The embodiment of the invention can realize the accurate drop point hoisting control of the tower crane and improve the efficiency and the safety of the accurate drop point hoisting.
Description
Technical Field
The invention relates to the technical field of hoisting machine control, in particular to a control method and device for a hoisting machine, a controller and the hoisting machine.
Background
The existing hoisting control of hoisting machinery such as a tower crane is mainly controlled by a tower crane driver in a cab, the cab is generally high above the ground, the sight of the driver is unclear and is shielded by a hoisting piece, and for the hoisting piece with high accuracy requirement of a drop point, such as a PC piece, a conductor is arranged near the drop point, the conductor observes nearby, and the tower crane driver is instructed to control the tower crane through an interphone or a gesture. Thus, not only is the experience of the operator important, but also the cooperation and tacit between the commander and the operator are highly demanding. For example, the problems of poor command capability of a commander, wrong communication between two parties, delayed instruction execution and the like cause that the high-precision falling point of the tower crane is in place and the time consumption is long, and the operation efficiency of the whole tower crane is influenced. Therefore, it is urgently needed to provide a technical solution to solve the above technical problems in the prior art.
Disclosure of Invention
The embodiment of the invention aims to provide a control method and device for a hoisting machine, a controller and the hoisting machine, and solves the technical problems that a driver and a commander are difficult to match, voice command is delayed and hoisting efficiency is low when the hoisting machine in the prior art is hoisted at an accurate landing point.
In order to achieve the above object, a first aspect of the present invention provides a control method for a hoisting machine, including: determining whether a first control instruction sent by a linkage table of hoisting machinery is received; under the condition that the first control instruction is determined not to be received, responding to a received request for acquiring the control authority sent by the remote control equipment, and distributing the control authority of the hoisting machinery to the remote control equipment; and under the condition that the first control instruction is determined not to be received and the remote control equipment has the control authority, responding to a second control instruction sent by the received remote control equipment, and controlling the hoisting machinery to move according to the second control instruction.
In the embodiment of the present invention, the control method further includes: and under the condition that the first control instruction is received, controlling the hoisting machine to move according to the first control instruction.
In an embodiment of the present invention, the first control instruction includes a first speed control instruction; controlling the hoisting machine to move according to the first control instruction comprises the following steps: and controlling the hoisting machine to move at the first speed according to the first speed control instruction.
In an embodiment of the present invention, the second control instruction includes a second speed control instruction; controlling the hoisting machine to move according to a second control instruction comprises the following steps: and controlling the hoisting machine to move at a second speed according to the second speed control command.
In an embodiment of the invention, the first speed is greater than the second speed.
In an embodiment of the invention, the movement of the hoisting machine comprises at least one of: the rotary motion of the suspension arm, the amplitude variation motion of the suspension arm and the lifting motion of the suspension arm.
In the embodiment of the present invention, the control method further includes: and under the condition that the first control instruction is determined not to be received and the remote control equipment has the control authority, responding to the received request for releasing the control authority, and releasing the control authority.
In an embodiment of the invention, the number of remote control devices is greater than 1 or equal to 1.
In an embodiment of the invention, the type of remote control device comprises at least one of: waist-hung remote controller, hand-held remote controller and neck-hung remote controller.
In the embodiment of the invention, at most one remote control device has the control authority at the same time.
A second aspect of the invention provides a controller configured to perform the control method for a hoisting machine of the foregoing embodiments.
A third aspect of the present invention provides a control device for a hoisting machine, comprising: the controller of the foregoing embodiment; a linkage station in communication with the controller, the linkage station configured to send a first control instruction; and a remote control device in communication with the controller, the remote control device configured to: sending a second control instruction; sending a request for acquiring control authority; and sending a request for releasing the manipulation permission.
In an embodiment of the present invention, a controller includes: the instruction switching unit is communicated with the remote control equipment and the linkage table; wherein the instruction switching unit is configured to: receiving a first control instruction; receiving a second control instruction; receiving a request for acquiring control authority; receiving a request for releasing the control authority; distributing the control authority of the hoisting machinery; and outputting a control signal according to the first control instruction or the second control instruction so as to control the hoisting machine to move.
In an embodiment of the present invention, the controller further includes: and the hoisting machine control unit is configured to control the hoisting machine to move according to the control signal.
A fourth aspect of the present invention provides a hoisting machine, including the control device for a hoisting machine of the foregoing embodiments.
According to the embodiment of the invention, the safety control requirement of the tower crane is fully considered, the linkage table is controlled mainly, the remote control equipment is controlled secondarily, the accurate drop point hoisting control of the tower crane is realized, the accurate drop point hoisting efficiency of the tower crane is improved, in the working process, once potential safety hazards are found by operators of the linkage table, the control permission of hoisting machinery can be immediately obtained to directly execute the control instruction of the linkage table, and the safety is high.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
fig. 1 is a schematic flow chart of a control method 100 for a hoisting machine according to an embodiment of the present invention; and
fig. 2 is a schematic structural diagram of a control device 200 for a hoisting machine according to an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are referred to in the embodiments of the present application, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between the various embodiments can be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.
As shown in fig. 1, in an embodiment of the present invention, a control method 100 for a hoisting machine is provided, which includes the following steps:
step S110: and determining whether a first control instruction sent by a linkage table of the hoisting machinery is received. The hoisting machine is, for example, a tower crane or other hoisting machine.
Step S130: and under the condition that the first control instruction is determined not to be received, responding to a received request for acquiring the control authority sent by the remote control equipment, and distributing the control authority of the hoisting machine to the remote control equipment. And
step S150: and under the condition that the first control instruction is determined not to be received and the remote control equipment has the control authority, responding to a received second control instruction sent by the remote control equipment, and controlling the hoisting machinery to move according to the second control instruction.
Further, the control method 100, for example, further includes the steps of: and under the condition that the first control instruction is received, controlling the hoisting machine to move according to the first control instruction. When the method is concretely realized, for example, whether a first control instruction sent by a linkage table of the hoisting machine is received or not is determined in real time, the hoisting machine is controlled to move according to the first control instruction as long as the first control instruction is received, that is, the linkage table can acquire the control authority of the hoisting machine at any time, the priority level of the linkage table is highest, and at any time, as long as the first control instruction of the linkage table is received, even if the hoisting machine is executing the control instruction of other equipment which has acquired the control authority before, such as a second control instruction of a remote control device, the control authority of the hoisting machine is allocated to the linkage table, and the first control instruction of the linkage table is executed, so that the hoisting machine is controlled to move.
Specifically, the first control instruction includes, for example, a first speed control instruction. Correspondingly, controlling the hoisting machine to move according to the first control instruction includes, for example: and controlling the hoisting machine to move at the first speed according to the first speed control instruction.
Specifically, the second control instruction includes, for example, a second speed control instruction. Correspondingly, controlling the hoisting machine to move according to the second control instruction includes, for example: and controlling the hoisting machine to move at a second speed according to the second speed control command.
More specifically, the first speed is, for example, greater than the second speed. The first speed and the second speed are not limited to the constant or uninterrupted speed of the hoisting machine, but also the instantaneous speed or the average speed of the hoisting machine during the hoisting movement or the speed at all times during the whole movement. In practical application, for example, the operator of the linkage table, such as a driver of the hoisting machine, can complete the motion of the hoisting machine in a large range at a high speed, when the precise drop point is needed to be in place, the operator of the remote control device near the drop point can finely adjust the position of the boom of the hoisting machine at a low speed in a short distance by the aid of the remote control device, so that the control of the precise drop point is completed, and both the efficiency and the precision can be considered.
Of course, the first speed may also be equal to or less than the second speed, and the embodiment of the invention is not limited thereto.
In particular, the movement of the hoisting machine comprises, for example, at least one of: the rotary motion of the suspension arm, the amplitude variation motion of the suspension arm and the lifting motion of the suspension arm.
Further, the control method for example further comprises the steps of: and under the condition that the first control instruction is determined not to be received and the remote control equipment has the control authority, responding to a received control authority releasing request sent by the remote control equipment, and releasing the control authority. Specifically, for example, the control authority may be directly released to the linkage station with the highest priority level when the remote control device requires to release the control authority, and the control authority may be allocated to another remote control device when there is a request for obtaining the control authority of another remote control device and the linkage station does not send a control instruction.
Specifically, the number of remote control devices is, for example, greater than 1 or equal to 1.
Specifically, the type of the remote control device includes, for example, at least one of the following: waist-hung remote controller, hand-held remote controller and neck-hung remote controller. Of course, the embodiment of the present invention is not limited thereto, and may also be in other possible device types, for example, a device form such as a mobile phone and a tablet computer with a remote control function.
Specifically, the number of remote control devices is not less than 1, and no matter the number is greater than 1, at most one remote control device has the control authority at the same time. Of course, embodiments of the invention are not limited in this respect.
When the method is specifically implemented, for example, an operator of the hoisting machine, such as a driver, can control the motion of the hoisting machine through the linkage table to lift the object and transport the lifted object to the position near the drop point; after the article is transported to the position near the drop point, a driver of the hoisting machine stops operating the hoisting machine; then, an operator of the remote control equipment such as a commander applies and acquires the operation authority of the hoisting machine; after the commander obtains the control authority of the hoisting machine, the commander controls the hoisting machine to move through the remote control equipment, for example, an ant speed function capable of controlling the hoisting machine to move at a slower speed is started, and finally the purpose that the commander controls the hoisting machine to move at a slow speed to accurately move to a drop point position and put down a hoisted object is achieved; after the hoisting task of the wheel is completed, a driver of the hoisting machine controls the hoisting machine through the linkage table to start the next hoisting task. Certainly, in the specific movement process, the embodiment of the present invention is not limited to this, and a final hoisting task may be achieved by multiple repeated and alternate operations and controls of the linkage station and the remote control device, so that, after a commander operates the hoisting machine through the remote control device to complete a period of movement, the driver sends the first control instruction through the linkage station to obtain the operation and control authority of the hoisting machine again, or when a plurality of remote control devices complete auxiliary operations and controls, a commander of the remote control device currently obtaining the operation and control authority sends the request for releasing the operation and control authority through the remote control device operated by the commander, and then, other remote control devices can apply for obtaining the operation and control authority and send the control instruction to complete the control of the hoisting machine after obtaining the operation and control authority.
The control method 100 for the hoisting machine provided by the embodiment of the invention can solve the problems that a driver and a commander are difficult to cooperate, voice command is delayed, the hoisting efficiency is low and the like when the existing hoisting machine is hoisted at an accurate landing point. The control strategy fully considers the safety control requirement of the hoisting machinery, mainly controls the linkage table, assists the remote control equipment, and immediately takes over the control authority of the hoisting machinery to directly execute the control instruction sent by the driver through the linkage table once the driver finds potential safety hazards in the working process. The accurate drop point hoisting control of the hoisting machinery can be conveniently realized, the accurate drop point hoisting efficiency is improved, and the construction efficiency is finally improved.
In an embodiment of the invention, a controller is provided, for example configured to perform a control method for a hoisting machine according to any one of the preceding embodiments. The specific functions and details of the control method for the hoisting machine may refer to the description of the foregoing embodiments, and are not repeated herein.
Specifically, the controller may be a control device such as an industrial personal computer, an embedded system, a microprocessor, and a programmable logic device.
According to the controller provided by the embodiment of the invention, as the control method for the hoisting machine is implemented, the problems that a driver and a commander are difficult to match, voice command is delayed, the hoisting efficiency is low and the like when the existing hoisting machine is hoisted at an accurate landing point can be solved. The control strategy fully considers the safety control requirement of the hoisting machinery, mainly controls the linkage table, assists the remote control equipment, and immediately takes over the control authority of the hoisting machinery to directly execute the control instruction sent by the driver through the linkage table once the driver finds potential safety hazards in the working process. The accurate drop point hoisting control of the hoisting machinery can be conveniently realized, the accurate drop point hoisting efficiency is improved, and the construction efficiency is finally improved.
As shown in fig. 2, in an embodiment of the present invention, a control device 200 for a hoisting machine is provided, including: a controller 210, a linkage table 230, and a remote control device 250. The controller 210 is, for example, a controller according to any one of the preceding embodiments. The detailed functions and details of the controller 210 can refer to the related descriptions of the foregoing embodiments, and are not repeated herein.
Wherein the linkage station 230 is in communication with the controller 210, the linkage station 230 being configured to send a first control instruction. The linkage table 230 is, for example, a linkage console of a cab of a hoist machine.
Specifically, the controller 210 includes, for example: an instruction switching unit 213.
The instruction switching unit 213 communicates with, for example, the remote control device 250 and the interlocking station 230. The instruction switching unit 213 is mounted on a hoisting machine, for example. Specifically, the instruction switching unit 213 is connected to the interlocking table 230, for example. The remote control device 250 communicates with the instruction switching unit 213, for example, by wireless technology.
The instruction switching unit 213 is configured to, for example: receiving a first control instruction; receiving a second control instruction; receiving a request for acquiring control authority; receiving a request for releasing the control authority; distributing the control authority of the hoisting machinery; and outputting a control signal according to the first control instruction or the second control instruction so as to control the hoisting machine to move. The command switching unit 213 receives, for example, digital command data including, but not limited to, CAN bus data. The instruction switching unit 213 is implemented by switching programs to selectively output the input data, rather than switching the ordinary two-way switch. The control strategy of the command switching unit 213 is to output the first control command of the linkage table 230 as long as the first control command of the linkage table 230 exists, with the highest priority of the first control command of the linkage table 230; only when there is no first control instruction from the linkage station 230, the remote control device 250 can intervene to take over the manipulation right, but not when the priorities of the two are the same, one party must release the manipulation right and the other party can take over the manipulation right.
For example, according to the current control requirement, the instruction switching unit 213 selects the first control instruction sent by the linkage table 230 or the second control instruction sent by the remote control device 250 to output, so as to control the movement of the hoisting machine, and the specific selection principle may refer to the description of the control method for the hoisting machine in the foregoing embodiment, and is not described herein again.
Further, the controller 210, for example, further includes: a hoisting machine control unit 215, the hoisting machine control unit 215 for example being configured to control the hoisting machine to move in dependence of the control signal. The hoisting machine control unit 215 may be, for example, a controller of the hoisting machine itself. If the hoisting machine is a tower crane, the hoisting machine control unit 215 may be a tower crane controller.
In other embodiments, the command switching unit 213 may also be integrated into the hoisting machine control unit 215.
The hoisting machine further includes, for example: a rotary motor, a variable amplitude motor, a lifting motor and a frequency converter.
Wherein the slewing motor is for example configured to control a boom of the hoisting machine to perform a slewing movement.
The luffing machine is for example configured to control a boom of the hoisting machine to perform a luffing motion.
The hoisting motor is for example configured to control the boom of the hoisting machine to perform a hoisting movement. And
the frequency converter is configured to control the operation of a rotary motor, a variable amplitude motor and a lifting motor, for example, so as to realize the control of the movement speed of the hoisting machine. The frequency converter receives a control command output by the hoisting machinery control unit to control the operation of various motors.
The following describes the operation of the control device 200 for a hoisting machine according to an embodiment of the present invention:
a driver of the hoisting machine sends a first control instruction to the instruction switching unit 213 in the controller 210 through the linkage table 230, and since the control authority of the linkage table 230 is higher than that of the remote control device 250, the instruction switching unit 213 selects the instruction to output the instruction to the hoisting machine control unit when receiving the first control instruction, so as to control the hoisting machine to move, and transport the hoisted articles to the vicinity of the target landing position. After the hoisted article is transported to the position near the target landing point, the driver stops sending the first control instruction to the instruction switching unit 213 in the controller 210 through the linkage table 230, at this time, the commander sends a request for acquiring the control authority to the controller 210 through the remote control device 250, the instruction switching unit 213 in the controller 210 judges whether the first control instruction sent by the linkage table 230 is received or not after receiving the request for acquiring the control authority, and if not, the control authority of the hoisting machine is allocated to the remote control device 250. After the remote control device 250 acquires the control authority of the hoisting machine, the commander sends a second control instruction to the controller 210 through the remote control device 250, and after receiving the second control instruction, the instruction switching unit 213 of the controller 210 outputs the second control instruction sent by the remote control device 250 having the control authority to the hoisting machine control unit 215 to control the hoisting machine to move, specifically, for example, to control the hoisting machine to move at a slower speed to realize accurate placement. The hoisting machinery control unit 215 converts the control instruction into a frequency converter instruction after receiving the control instruction and outputs the frequency converter instruction to the frequency converter, and the frequency converter controls the rotary motor, the amplitude varying motor and the lifting motor to complete the execution of the control instruction.
The control device 200 for the hoisting machine in the embodiment of the invention comprises the controller in the embodiment, so that the problems of difficult matching between a driver and a commander, delay in voice command, low hoisting efficiency and the like when the existing hoisting machine is hoisted at an accurate landing point can be solved. The control strategy fully considers the safety control requirement of the hoisting machinery, mainly controls the linkage table, assists the remote control equipment, and immediately takes over the control authority of the hoisting machinery to directly execute the control instruction sent by the driver through the linkage table once the driver finds potential safety hazards in the working process. The accurate drop point hoisting control of the hoisting machinery can be conveniently realized, the accurate drop point hoisting efficiency is improved, and the construction efficiency is finally improved.
In an embodiment of the present invention, there is provided a hoisting machine including a control device for the hoisting machine. Wherein the control device for the hoisting machine is, for example, the control device for the hoisting machine according to any one of the preceding embodiments. The specific functions and details of the control device for a hoisting machine may refer to the description of the foregoing embodiments, and are not repeated herein.
The hoisting machine provided by the embodiment of the invention comprises the control device for the hoisting machine, so that the problems of difficulty in matching between a driver and a commander, delay in voice command, low hoisting efficiency and the like when the existing hoisting machine is hoisted at an accurate landing point can be solved. The control strategy fully considers the safety control requirement of the hoisting machinery, mainly controls the linkage table, assists the remote control equipment, and immediately takes over the control authority of the hoisting machinery to directly execute the control instruction sent by the driver through the linkage table once the driver finds potential safety hazards in the working process. The accurate drop point hoisting control of the hoisting machinery can be conveniently realized, the accurate drop point hoisting efficiency is improved, and the construction efficiency is finally improved.
In an embodiment of the present invention, a machine-readable storage medium is provided, and the machine-readable storage medium has instructions stored thereon, and the instructions are used for causing a machine to execute the control method for a hoisting machine of the foregoing embodiment.
The machine-readable storage medium of the embodiment of the invention stores the instruction for enabling the machine to execute the control method for the hoisting machine of the embodiment, so that the problems that a driver and a commander are difficult to cooperate, voice command is delayed, hoisting efficiency is low and the like when the hoisting machine is hoisted at an accurate landing point at present can be solved. The control strategy fully considers the safety control requirement of the hoisting machinery, mainly controls the linkage table, assists the remote control equipment, and immediately takes over the control authority of the hoisting machinery to directly execute the control instruction sent by the driver through the linkage table once the driver finds potential safety hazards in the working process. The accurate drop point hoisting control of the hoisting machinery can be conveniently realized, the accurate drop point hoisting efficiency is improved, and the construction efficiency is finally improved.
In an embodiment of the present invention, a computer program product is provided, which includes a computer program, and the computer program realizes the control method for a hoisting machine of the foregoing embodiment when being executed by a processor.
The computer program product of the embodiment of the invention comprises the computer program for realizing the control method for the hoisting machine of the embodiment, so that the problems of difficult matching between a driver and a commander, delayed voice command, low hoisting efficiency and the like when the existing hoisting machine is hoisted at an accurate landing point can be solved. The control strategy fully considers the safety control requirement of the hoisting machinery, mainly controls the linkage table, assists the remote control equipment, and immediately takes over the control authority of the hoisting machinery to directly execute the control instruction sent by the driver through the linkage table once the driver finds potential safety hazards in the working process. The accurate drop point hoisting control of the hoisting machinery can be conveniently realized, the accurate drop point hoisting efficiency is improved, and the construction efficiency is finally improved.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, 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.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (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, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, 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 apparatus 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 apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present invention, and are not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (15)
1. A control method for a hoisting machine, characterized by comprising:
determining whether a first control instruction sent by a linkage table of hoisting machinery is received;
under the condition that the first control instruction is determined not to be received, responding to a received request for acquiring control permission sent by remote control equipment, and distributing the control permission of the hoisting machinery to the remote control equipment; and
and under the condition that the first control instruction is determined not to be received and the remote control equipment has the control authority, responding to a received second control instruction sent by the remote control equipment, and controlling the hoisting machinery to move according to the second control instruction.
2. The control method according to claim 1, characterized by further comprising: and under the condition that the first control instruction is received, controlling the hoisting machine to move according to the first control instruction.
3. The control method according to claim 2, wherein the first control instruction includes a first speed control instruction;
the step of controlling the hoisting machine to move according to the first control instruction comprises the following steps:
and controlling the hoisting machine to move at a first speed according to the first speed control instruction.
4. The control method according to claim 3, wherein the second control instruction includes a second speed control instruction;
the controlling the hoisting machine to move according to the second control instruction comprises the following steps:
and controlling the hoisting machine to move at a second speed according to the second speed control command.
5. The control method according to claim 4, wherein the first speed is greater than the second speed.
6. The control method of claim 1, wherein the movement of the hoist machine comprises at least one of:
the rotary motion of the suspension arm, the amplitude variation motion of the suspension arm and the lifting motion of the suspension arm.
7. The control method according to claim 1, characterized by further comprising:
and under the condition that the first control instruction is determined not to be received and the remote control equipment has the control authority, responding to a received control authority releasing request sent by the remote control equipment, and releasing the control authority.
8. The control method according to claim 1, wherein the number of remote control devices is greater than 1 or equal to 1.
9. The control method according to claim 8, wherein the type of the remote control device includes at least one of:
waist-hung remote controller, hand-held remote controller and neck-hung remote controller.
10. The control method according to claim 8, wherein at most one of the remote control devices has the manipulation authority at a time.
11. A controller, characterized by being configured to perform the control method for a hoisting machine according to any one of claims 1-10.
12. A control device for a hoisting machine, comprising:
a controller according to claim 11;
a linkage table in communication with the controller, the linkage table configured to send a first control instruction; and
a remote control device in communication with the controller, the remote control device configured to:
sending a second control instruction;
sending a request for acquiring control authority; and
and sending a request for releasing the control authority.
13. The control device according to claim 12, wherein the controller includes:
the instruction switching unit is communicated with the remote control equipment and the linkage table;
wherein the instruction switching unit is configured to:
receiving the first control instruction;
receiving the second control instruction;
receiving the request for obtaining the control authority;
receiving the request for releasing the control authority;
distributing the control authority of the hoisting machine; and
and outputting a control signal according to the first control instruction or the second control instruction so as to control the hoisting machine to move.
14. The control device of claim 13, wherein the controller further comprises:
and the hoisting machine control unit is configured to control the hoisting machine to move according to the control signal.
15. Hoisting machine, characterized in that it comprises a control device for a hoisting machine according to any one of claims 12 to 14.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110941903.XA CN113816268A (en) | 2021-08-17 | 2021-08-17 | Control method and device for hoisting machine, controller and hoisting machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110941903.XA CN113816268A (en) | 2021-08-17 | 2021-08-17 | Control method and device for hoisting machine, controller and hoisting machine |
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| CN113816268A true CN113816268A (en) | 2021-12-21 |
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| CN202110941903.XA Pending CN113816268A (en) | 2021-08-17 | 2021-08-17 | Control method and device for hoisting machine, controller and hoisting machine |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006160433A (en) * | 2004-12-06 | 2006-06-22 | Furukawa Co Ltd | Operating speed control device of crane |
| CN110342404A (en) * | 2019-07-16 | 2019-10-18 | 浙江省建设机械集团有限公司 | A kind of remote control device and its control method based on building industrialization derrick crane |
-
2021
- 2021-08-17 CN CN202110941903.XA patent/CN113816268A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006160433A (en) * | 2004-12-06 | 2006-06-22 | Furukawa Co Ltd | Operating speed control device of crane |
| CN110342404A (en) * | 2019-07-16 | 2019-10-18 | 浙江省建设机械集团有限公司 | A kind of remote control device and its control method based on building industrialization derrick crane |
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