WO2016055025A2

WO2016055025A2 - Crane operation range compensation method and apparatus

Info

Publication number: WO2016055025A2
Application number: PCT/CN2015/091598
Authority: WO
Inventors: 单增海; 丁宏刚; 李立晶; 朱长建; 柴君飞; 齐行程; 王双
Original assignee: 徐州重型机械有限公司
Priority date: 2014-10-11
Filing date: 2015-10-10
Publication date: 2016-04-14
Also published as: BR112017007519A2; CN105439016A; WO2016055025A3

Abstract

Disclosed are a crane operation range compensation method and apparatus. During the operation of a crane, obtaining the current operation range of the crane in real time, the operation of the crane including crane hook raising and lowering; determining whether the absolute value of the value difference between the current operation range of the crane and the operation range of the crane before the operation is less than a first threshold; if the absolute value of the value difference between the current operation range of the crane and the operation range of the crane before the operation is not less than the first threshold, determining the target range-changing angle value according to the operation range before the operation; adjusting the crane operation range according to the target range-changing angle value. The present invention enables automatic compensation for the operation range when the crane raises or lowers a hook, and effectively prevents the problem wherein the suspended weight swings and cannot be vertically raised or lowered due to the telescopic boom deformation during hook raising/lowering, thereby enhancing crane operation safety. The invention is also smart, precise, and portable.

Description

起重机工作幅度补偿方法和装置Crane working amplitude compensation method and device

技术领域Technical field

本发明涉及工程机械领域，特别涉及一种起重机工作幅度补偿方法和装置。The invention relates to the field of engineering machinery, in particular to a method and a device for compensating the working amplitude of a crane.

背景技术Background technique

起重机作业时，在起钩/落钩瞬间，由于重物的突然起吊/落地，伸缩臂发生变形。受到伸缩臂变形的影响，起重机工作幅度发生变化，导致吊重偏摆，其中吊重偏摆指的是起重作业时，被吊物偏离起吊中心的情况。吊重偏摆对吊装作业精度、工作效率以及安全性都有较大影响。以往对该问题的研究大多基于小车式起重机模型，对于动臂式起重机不再适用。因此，进行起重机工作幅度补偿，对于提高起重作业可靠性和提升起重机智能化水平具有十分重要的意义。When the crane is working, at the moment of the hook/hook, the telescopic arm is deformed due to the sudden lifting/landing of the heavy object. Affected by the deformation of the telescopic arm, the working range of the crane changes, resulting in hoisting yaw. The swaying yaw refers to the situation where the hoisting object deviates from the lifting center during lifting operation. The hoisting yaw has a great influence on the accuracy of lifting work, work efficiency and safety. In the past, most of the research on this problem was based on the trolley crane model, which is no longer suitable for the boom crane. Therefore, the compensation of crane working range is of great significance for improving the reliability of lifting operations and improving the intelligent level of cranes.

起重机吊装作业时，其受力情况如下图1所示。吊钩到回转中心轴线的距离为工作半径R，伸臂后铰点到臂头滑轮中心的距离为伸臂长度L，吊臂与水平面的夹角为变幅角度θ。伸缩臂***在提升重物的过程中主要受力包括变幅缸推力、重物重力、伸臂自身重力、起升绳拉力等。起重机伸缩臂根部与转台铰接，可以在变幅平面内自由伸缩，同时也可以随着回转台作回转运动。When the crane is hoisting, the force is as shown in Figure 1. The distance from the hook to the axis of the rotation center is the working radius R, and the distance from the rear hinge point to the center of the arm pulley is the length L of the arm, and the angle between the boom and the horizontal plane is the variable angle θ. The main force of the telescopic arm system in the process of lifting heavy objects includes the luffing cylinder thrust, the weight gravity, the extension arm's own gravity, and the hoisting rope pulling force. The root of the crane telescopic arm is hinged to the turntable, which can be freely telescoped in the plane of the variable amplitude, and can also be rotated with the rotary table.

起重机起/落钩时，其伸缩臂变形及工作幅度变化如图2和图3所示。以起钩工况为例(图2)，假设起吊前伸缩臂初始状态为OA。起吊后，由于伸缩臂挠度变形，其状态如图OB所示，与之相对应的工作幅度也发生变化，其中挠度指弯曲变形时横截面形心沿与轴线垂直方向的线位移，具体指起重作业中对伸缩臂弯曲程度的度量。为了保证物体垂直起吊，将伸缩臂在起升载荷作用下的状态调整到图2所示OD位置，即，使伸缩臂末端位于垂线AD上。同理，起重机落钩时，其伸缩臂的调整如图3所示。When the crane starts/falls, the deformation of the telescopic arm and the change of the working range are shown in Fig. 2 and Fig. 3. Taking the hooking condition as an example (Fig. 2), it is assumed that the initial state of the telescopic arm before lifting is OA. After lifting, due to the deflection of the telescopic arm, its state is shown in Figure OB, and the corresponding working range also changes. The deflection refers to the linear displacement of the cross-section centroid along the axis perpendicular to the axis during bending deformation. A measure of the degree of bending of a telescopic arm during heavy work. In order to ensure that the object is vertically hoisted, the state of the telescopic arm under the lifting load is adjusted to the OD position shown in FIG. 2, that is, the end of the telescopic arm is located on the vertical line AD. Similarly, from the same When the heavy machine is hooked, the adjustment of its telescopic arm is shown in Figure 3.

现有解决起/落钩瞬间吊重偏摆问题的方法中，卷扬起升动作开始之前，起重机操作者根据自身经验预先判断当前工况下是否会发生伸缩臂挠曲。若是，则在做卷扬动作时手动微动变幅，实现补偿后再进行卷扬动作。否则，直接执行卷扬动作。In the existing method for solving the problem of hoisting and yaw at the moment of lifting/falling, before the hoisting and lifting operation is started, the crane operator pre-determines whether or not the telescopic arm deflection occurs under the current working condition according to his own experience. If it is, then manually jog the amplitude during the hoisting action, and then perform the hoisting action after the compensation is realized. Otherwise, perform the hoisting action directly.

现有方法主要有以下缺点：1)人工调整依赖于操作工长期积累的对于车辆和工作环境的了解，不具备普遍适用性。2)现有方法需要每次进行卷扬动作时都进行判断并手动补偿，操作过程复杂。3)在现有方法中，由于没有量化的标准，因此，具体需要补偿多少不可知，存在隐性危险。The existing methods mainly have the following disadvantages: 1) Manual adjustment relies on the long-term accumulation of knowledge of the vehicle and the working environment accumulated by the operator, and does not have universal applicability. 2) The existing method requires judgment and manual compensation every time the winding operation is performed, and the operation process is complicated. 3) In the existing method, since there is no quantitative standard, there is a hidden danger that the specific need to be compensated is unknown.

发明内容Summary of the invention

鉴于以上技术问题，本发明提供了一种起重机工作幅度补偿方法和装置，立足于用变幅角度来补偿伸缩臂挠度变形引起的工作幅度变化，在起/落钩时，基于伸缩臂自身的结构参量，考虑负载重量及当前变幅角度，获取起/落钩后伸臂的挠度。由于伸臂挠度的变化导致工作幅度发生变化，因此补偿的原则是使得负/空载后的幅度值与原值相等。In view of the above technical problems, the present invention provides a crane working amplitude compensation method and device, based on the variable amplitude angle to compensate for the change of the working amplitude caused by the deflection of the telescopic arm, and based on the structure of the telescopic arm itself during the lifting/falling hook The parameters, taking into account the weight of the load and the current angle of change, obtain the deflection of the boom after the start/fall. Since the deflection of the arm causes the working amplitude to change, the principle of compensation is to make the amplitude value after the negative/no load equal to the original value.

根据本发明的一个方面，提供一种起重机工作幅度补偿方法，包括：According to an aspect of the invention, a crane working amplitude compensation method is provided, comprising:

起重机作业时，实时获取起重机当前工作幅度，其中起重机作业包括起重机起钩或起重机落钩；When the crane is working, the current working range of the crane is obtained in real time, wherein the crane operation includes a crane hook or a crane hook;

判断起重机当前工作幅度与作业前工作幅度的差值的绝对值是否小于第一阀值；Determining whether the absolute value of the difference between the current working range of the crane and the working range before the operation is less than the first threshold;

若起重机当前工作幅度与作业前工作幅度的差值的绝对值不小于第一阀值，则根据作业前工作幅度确定目标变幅角度值；If the absolute value of the difference between the current working range of the crane and the working range before the operation is not less than the first threshold value, the target variable amplitude angle value is determined according to the working range before the operation;

根据目标变幅角度值进行起重机工作幅度调整。The crane working amplitude is adjusted according to the target variable amplitude value.

在本发明的一个实施例中，所述方法还包括： In an embodiment of the invention, the method further includes:

若起重机当前工作幅度与作业前工作幅度的差值的绝对值小于第一阀值，则保持起重机当前工作幅度不变。If the absolute value of the difference between the current working range of the crane and the working range before the operation is less than the first threshold, the current working range of the crane is kept unchanged.

在本发明的一个实施例中，所述方法还包括：In an embodiment of the invention, the method further includes:

起重机作业时，实时判断预定时间间隔内吊重量的变化值是否小于第二阀值；When the crane is working, it is determined in real time whether the change value of the hoisting weight in the predetermined time interval is less than the second threshold value;

若预定时间间隔内吊重量的变化值不小于第二阀值，则执行实时获取起重机当前工作幅度的步骤。If the change value of the hoisting weight within the predetermined time interval is not less than the second threshold value, the step of obtaining the current working range of the crane in real time is performed.

在本发明的一个实施例中，实时获取起重机当前工作幅度的步骤包括：In one embodiment of the invention, the step of obtaining the current working range of the crane in real time includes:

实时获取伸缩臂根部传感器采集的当前第一变幅角度值；Obtaining the current first amplitude angle value acquired by the telescopic arm root sensor in real time;

根据当前吊重量、当前伸臂长度、当前第一变幅角度值和起重机自身状态信息确定起重机当前挠度；Determining the current deflection of the crane according to the current lifting weight, the current arm length, the current first amplitude angle value, and the crane's own state information;

根据当前吊重量、当前伸臂长度、当前第一变幅角度值和起重机当前挠度确定起重机当前工作幅度。The current working range of the crane is determined according to the current lifting weight, the current arm length, the current first amplitude angle value and the current deflection of the crane.

在本发明的一个实施例中，根据作业前工作幅度确定目标变幅角度值的步骤包括：In an embodiment of the invention, the step of determining the target amplitude angle value according to the pre-job working amplitude comprises:

根据起重机作业前工作幅度、当前吊重量、当前伸臂长度和起重机当前挠度确定目标变幅角度值。The target amplitude angle value is determined according to the working range before the crane operation, the current lifting weight, the current arm length and the current deflection of the crane.

实时获取伸缩臂根部角度传感器采集的当前第一变幅角度值和伸缩臂头部角度传感器采集的当前第二变幅角度值；Obtaining a current first amplitude value obtained by the telescopic arm root angle sensor and a current second amplitude angle value acquired by the telescopic arm head angle sensor;

根据当前伸臂长度、当前第一变幅角度值和当前第二变幅角度值确定起重机当前挠度；Determining the current deflection of the crane according to the current arm length, the current first amplitude angle value, and the current second amplitude angle value;

根据当前伸臂长度、当前第一变幅角度值和起重机当前挠度确定起重机当前工作幅度。The current working range of the crane is determined according to the current arm length, the current first amplitude angle value and the current deflection of the crane.

在本发明的一个实施例中，根据作业前工作幅度确定目标变幅角度值的步骤包括： In an embodiment of the invention, the step of determining the target amplitude angle value according to the pre-job working amplitude comprises:

根据起重机作业前工作幅度、当前伸臂长度和起重机当前挠度确定目标变幅角度值。The target amplitude angle value is determined according to the working range before the crane operation, the current arm length and the current deflection of the crane.

根据本发明的另一方面，提供一种起重机工作幅度补偿装置，包括幅度获取单元、第一识别单元、变幅角度确定单元、幅度调整单元，其中：According to another aspect of the present invention, a crane working amplitude compensating apparatus is provided, including an amplitude acquiring unit, a first identifying unit, a variable amplitude determining unit, and an amplitude adjusting unit, wherein:

幅度获取单元，用于在起重机作业时，实时获取起重机当前工作幅度，其中起重机作业包括起重机起钩或起重机落钩；The amplitude obtaining unit is configured to acquire the current working range of the crane in real time during the crane operation, wherein the crane operation comprises a crane hook or a crane hook;

第一识别单元，用于判断起重机当前工作幅度与作业前工作幅度的差值的绝对值是否小于第一阀值；a first identifying unit, configured to determine whether an absolute value of a difference between a current working range of the crane and a working amplitude before the working is less than a first threshold;

变幅角度确定单元，用于根据第一识别单元的判断结果，在起重机当前工作幅度与作业前工作幅度的差值的绝对值不小于第一阀值时，根据作业前工作幅度确定目标变幅角度值；a variable amplitude determining unit, configured to determine, according to the judgment result of the first identifying unit, the target variable amplitude according to the working range before the work, when the absolute value of the difference between the current working range of the crane and the working amplitude before the working is not less than the first threshold Angle value

幅度调整单元，用于根据目标变幅角度值进行起重机工作幅度调整。The amplitude adjustment unit is configured to perform the crane working amplitude adjustment according to the target variable amplitude value.

在本发明的一个实施例中，所述装置还包括幅度保持单元，其中：In an embodiment of the invention, the apparatus further includes an amplitude holding unit, wherein:

幅度保持单元，用于根据第一识别单元的判断结果，在起重机当前工作幅度与作业前工作幅度的差值的绝对值小于第一阀值时，保持起重机当前工作幅度不变。The amplitude maintaining unit is configured to maintain the current working range of the crane unchanged according to the judgment result of the first identifying unit when the absolute value of the difference between the current working range of the crane and the working amplitude before the working is less than the first threshold.

在本发明的一个实施例中，所述装置还包括第二识别单元，其中：In an embodiment of the invention, the apparatus further comprises a second identification unit, wherein:

第二识别单元，用于在起重机作业时，判断预定时间间隔内吊重量的变化值是否小于第二阀值；a second identifying unit, configured to determine, during the operation of the crane, whether the change value of the hanging weight in the predetermined time interval is less than the second threshold;

幅度获取单元还用于根据第二识别单元的判断结果，在预定时间间隔内吊重量的变化值不小于第二阀值，执行实时获取起重机当前工作幅度的操作。The amplitude obtaining unit is further configured to perform an operation of acquiring the current working range of the crane in real time according to the determination result of the second identifying unit, the change value of the hanging weight is not less than the second threshold value in the predetermined time interval.

在本发明的一个实施例中，幅度获取单元包括第一角度获取模块、第一挠度确定模块和第一幅度确定模块，其中： In an embodiment of the invention, the amplitude acquisition unit comprises a first angle acquisition module, a first deflection determination module and a first amplitude determination module, wherein:

第一角度获取模块，用于在起重机作业时，实时获取伸缩臂根部传感器采集的当前第一变幅角度值；a first angle obtaining module, configured to acquire a current first variable amplitude value collected by the telescopic arm root sensor in real time during the crane operation;

第一挠度确定模块，用于根据当前吊重量、当前伸臂长度、当前第一变幅角度值和起重机自身状态信息确定起重机当前挠度；a first deflection determining module, configured to determine a current deflection of the crane according to the current lifting weight, the current arm length, the current first amplitude angle value, and the crane self state information;

第一幅度确定模块，用于根据当前吊重量、当前伸臂长度、当前第一变幅角度值和起重机当前挠度确定起重机当前工作幅度。The first amplitude determining module is configured to determine the current working range of the crane according to the current lifting weight, the current arm length, the current first amplitude angle value, and the current deflection of the crane.

在本发明的一个实施例中，变幅角度确定单元在根据作业前工作幅度确定目标变幅角度值时，具体用于根据起重机作业前工作幅度、当前吊重量、当前伸臂长度和起重机当前挠度确定目标变幅角度值。In an embodiment of the present invention, the luff angle determining unit is specifically configured to determine the working range before the crane, the current lifting weight, the current arm length, and the current deflection of the crane when determining the target luff angle value according to the pre-job working range. Determine the target sag angle value.

在本发明的一个实施例中，幅度获取单元包括第二角度获取模块、第二挠度确定模块和第二幅度确定模块，其中：In an embodiment of the invention, the amplitude acquisition unit includes a second angle acquisition module, a second deflection determination module, and a second amplitude determination module, wherein:

第二角度获取模块，用于实时获取伸缩臂根部角度传感器采集的当前第一变幅角度值和伸缩臂头部角度传感器采集的当前第二变幅角度值；a second angle acquiring module, configured to acquire a current first variable amplitude value collected by the telescopic arm root angle sensor and a current second variable amplitude value collected by the telescopic arm head angle sensor;

第二挠度确定模块，用于根据当前伸臂长度、当前第一变幅角度值和当前第二变幅角度值确定起重机当前挠度；a second deflection determining module, configured to determine a current deflection of the crane according to the current arm length, the current first amplitude angle value, and the current second amplitude angle value;

第二幅度确定模块，用于根据当前伸臂长度、当前第一变幅角度值和起重机当前挠度确定起重机当前工作幅度。The second amplitude determining module is configured to determine the current working range of the crane according to the current arm length, the current first amplitude angle value, and the current deflection of the crane.

在本发明的一个实施例中，变幅角度确定单元在根据作业前工作幅度确定目标变幅角度值时，具体用于根据起重机作业前工作幅度、当前伸臂长度和起重机当前挠度确定目标变幅角度值。In an embodiment of the present invention, the luffing angle determining unit is configured to determine the target luff according to the pre-worker working range, the current arm length, and the current deflection of the crane when determining the target luff angle value according to the pre-job working range. Angle value.

本发明起重机工作幅度补偿方法和装置可以实现对起重机起/落钩时工作幅度的自动补偿，有效防止了起/落钩时伸缩臂变形引起的吊重摆动、无法垂直起/落的问题，从而提高了起重机工作的安全性，同时还具有很高的智能化程度、很高的精确性、以及很好的可移植性。The method and device for compensating the working amplitude of the crane of the invention can realize the automatic compensation of the working range when the crane starts/falls, effectively preventing the problem of the sling swing caused by the deformation of the telescopic arm when starting/falling, and the problem that the vertical lifting/falling cannot be performed, thereby Improve the safety of crane work, while also having a high degree of intelligence, high accuracy, and good Portability.

附图说明DRAWINGS

为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any inventive labor.

图1为起重机吊装作业受力情况的示意图。Figure 1 is a schematic diagram of the force applied to the lifting operation of the crane.

图2为起重机起钩时工作幅度的变化示意图。Figure 2 is a schematic diagram showing the change in the working amplitude when the crane is hooked.

图3为起重机落钩时工作幅度的变化示意图。Figure 3 is a schematic diagram showing the change in the working amplitude when the crane is hooked.

图4为本发明的起重机工作幅度补偿方法一个实施例的示意图。4 is a schematic view of an embodiment of a crane working amplitude compensation method according to the present invention.

图5为本发明一个实施例中当前工作幅度获取方法的示意图。FIG. 5 is a schematic diagram of a method for acquiring a current working range according to an embodiment of the present invention.

图6为本发明另一实施例中当前工作幅度获取方法的示意图。FIG. 6 is a schematic diagram of a method for acquiring a current working range according to another embodiment of the present invention.

图7为本发明的起重机工作幅度补偿装置一个实施例的示意图。Fig. 7 is a schematic view showing an embodiment of a crane working amplitude compensating apparatus of the present invention.

图8为本发明的起重机工作幅度补偿装置另一实施例的示意图。Fig. 8 is a schematic view showing another embodiment of the crane working amplitude compensating apparatus of the present invention.

图9为本发明一个实施例中幅度获取单元的示意图。Figure 9 is a schematic diagram of an amplitude acquisition unit in accordance with one embodiment of the present invention.

图10为本发明另一实施例中幅度获取单元的示意图。FIG. 10 is a schematic diagram of an amplitude acquiring unit according to another embodiment of the present invention.

具体实施方式detailed description

下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本发明及其应用或使用的任何限制。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. The following description of the at least one exemplary embodiment is merely illustrative and is in no way Based on the embodiments of the present invention, those of ordinary skill in the art are not All other embodiments obtained under the premise of creative work are within the scope of the invention.

除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本发明的范围。The relative arrangement of the components and steps, numerical expressions and numerical values set forth in the embodiments are not intended to limit the scope of the invention.

同时，应当明白，为了便于描述，附图中所示出的各个部分的尺寸并不是按照实际的比例关系绘制的。In the meantime, it should be understood that the dimensions of the various parts shown in the drawings are not drawn in the actual scale relationship for the convenience of the description.

对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为授权说明书的一部分。Techniques, methods and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and apparatus should be considered as part of the authorization specification.

在这里示出和讨论的所有示例中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它示例可以具有不同的值。In all of the examples shown and discussed herein, any specific values are to be construed as illustrative only and not as a limitation. Accordingly, other examples of the exemplary embodiments may have different values.

应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。It should be noted that similar reference numerals and letters indicate similar items in the following figures, and therefore, once an item is defined in one figure, it is not required to be further discussed in the subsequent figures.

图4为本发明的起重机工作幅度补偿方法一个实施例的示意图。优选的，本实施例可由起重机工作幅度补偿装置执行。该方法包括以下步骤：4 is a schematic view of an embodiment of a crane working amplitude compensation method according to the present invention. Preferably, the embodiment can be performed by a crane working amplitude compensation device. The method includes the following steps:

步骤401，起重机作业时，实时获取起重机当前工作幅度，其中起重机作业包括起重机起钩或起重机落钩。In step 401, when the crane is working, the current working range of the crane is obtained in real time, wherein the crane operation includes a crane hook or a crane hook.

步骤402，判断起重机当前工作幅度与作业前工作幅度的差值的绝对值是否小于第一阀值。Step 402: Determine whether the absolute value of the difference between the current working range of the crane and the working range before the working is less than the first threshold.

在本发明的一个实施例中，步骤402可以包括：起重机起钩时，判断起重机当前工作幅度与起重机起钩前工作幅度的差值的绝对值是否小于第一阀值。In an embodiment of the present invention, step 402 may include determining whether the absolute value of the difference between the current working range of the crane and the working amplitude of the crane before the hook is less than the first threshold when the crane is hooked.

在本发明的一个实施例中，步骤402可以包括：起重机落钩时，判断起重机当前工作幅度与起重机落钩前工作幅度的差值的绝对值是否小于第一阀值。 In an embodiment of the present invention, step 402 may include determining whether the absolute value of the difference between the current working range of the crane and the working amplitude before the crane is hooked is less than the first threshold when the crane is hooked.

步骤403，若起重机当前工作幅度与作业前工作幅度的差值的绝对值不小于第一阀值，则根据作业前工作幅度确定目标变幅角度值。Step 403: If the absolute value of the difference between the current working range of the crane and the working amplitude before the working is not less than the first threshold, the target variable amplitude value is determined according to the working range before the work.

步骤404，根据目标变幅角度值进行起重机工作幅度调整。In step 404, the crane working amplitude adjustment is performed according to the target variable amplitude value.

基于本发明上述实施例提供的起重机工作幅度补偿方法，可以实现对起重机起/落钩时工作幅度的自动补偿，有效防止了起/落钩时伸缩臂变形引起的吊重摆动、无法垂直起/落的问题，从而提高了起重机工作的安全性，同时还具有很高的智能化程度、很高的精确性、以及很好的可移植性。According to the crane working amplitude compensation method provided by the above embodiment of the present invention, the working amplitude of the crane can be automatically compensated when the crane is lifted/dropped, and the lifting weight swing caused by the deformation of the telescopic arm during the lifting/falling hook is effectively prevented, and the vertical lifting cannot be performed/ The problem of falling, thus improving the safety of the crane work, while also having a high degree of intelligence, high accuracy, and good portability.

本发明的上述实施例通过对起/落钩时的伸缩臂变形实时计算，从而得出负载重心精确偏移量。同时，通过变幅和卷扬复合动作的协调工作，实现对偏移量的补偿，从而保持起升过程中幅度基本不变，保证垂直起吊。本发明通过保证补偿前后工作幅度大小相等，反向推导该幅度下对应的变幅角度。起重机通过控制变幅角度的大小，实现变幅和卷扬动作的共同协作。The above-described embodiment of the present invention calculates the deflection of the telescopic arm at the time of the start/fall, thereby obtaining the accurate offset of the load center of gravity. At the same time, through the coordination work of the variable amplitude and the hoisting compound action, the compensation of the offset is realized, so that the amplitude is basically unchanged during the lifting process, and the vertical lifting is ensured. The invention deduces the corresponding variable amplitude angle under the amplitude by ensuring that the working amplitudes before and after the compensation are equal. The crane realizes the cooperation of the variable amplitude and the hoisting action by controlling the magnitude of the variable amplitude angle.

在本发明的上述实施例中，根据起重机工作状态实时测得的空载和额定负载吊重量、幅度和角度，对当前负载引起的工作幅度变化进行预测。若工作幅度的变化量超过预先设定的阈值，则对工作幅度进行动态补偿，否则，直接进行卷扬动作。In the above embodiment of the present invention, the change in the working amplitude caused by the current load is predicted based on the unloaded and rated load hoisting weight, amplitude and angle measured in real time by the working state of the crane. If the amount of change in the working amplitude exceeds a preset threshold, the working amplitude is dynamically compensated, otherwise, the winding operation is directly performed.

在本发明的一个实施例中，步骤402之后，所述方法还可以包括：若起重机当前工作幅度与作业前工作幅度的差值的绝对值小于第一阀值，则保持起重机当前工作幅度不变。In an embodiment of the present invention, after step 402, the method may further include: if the absolute value of the difference between the current working range of the crane and the working range before the working is less than the first threshold, maintaining the current working range of the crane .

本发明的上述实施例，只有在当前工作幅度与作业前工作幅度的差值的绝对值不小于第一阀值时，才进行动态调整。本发明的上述实施例，对工作幅度补偿的开始条件进行判断，只有伸缩臂变形值超过一定的阈值才开始变幅补偿。对起/落钩时的伸缩臂变形实时计算，从而得出负载重心精确偏移量。In the above embodiment of the present invention, the dynamic adjustment is performed only when the absolute value of the difference between the current working range and the pre-job working amplitude is not less than the first threshold. In the above embodiment of the present invention, the start condition of the working amplitude compensation is judged, and the variable amplitude compensation is started only when the telescopic arm deformation value exceeds a certain threshold. The deformation of the telescopic arm at the time of the start/fall is calculated in real time, thereby obtaining an accurate offset of the center of gravity of the load.

在本发明的一个实施例中，所述方法还可以包括：起重机作业时，实时判断预定时间间隔内吊重量的变化值是否小于第二阀值；若预定时间间隔内吊重量的变化值不小于第二阀值，则执行实时获取起重机当前工作幅度的步骤。In an embodiment of the invention, the method may further comprise: During the business hours, it is determined in real time whether the change value of the hoisting weight in the predetermined time interval is less than the second threshold value; if the change value of the hoisting weight is not less than the second threshold value in the predetermined time interval, the step of obtaining the current working range of the crane in real time is performed.

本发明的上述实施例，只有在预定时间间隔内吊重量的变化值大于第二阀值时，才执行实时获取起重机当前工作幅度的步骤，从而限定只有在起重机起/落钩时才进行工作幅度的补偿，从而进一步提高了智能化程度。In the above embodiment of the present invention, the step of real-time acquisition of the current working range of the crane is performed only when the change value of the hoisting weight is greater than the second threshold value within a predetermined time interval, thereby limiting the working range only when the crane starts/falls the hook. Compensation, which further increases the level of intelligence.

在本发明的一个实施例中，所述方法还可以包括：起重机作业时，判断补偿使能开关是否打开；若补偿使能开关打开，则执行实时判断预定时间间隔内吊重量的变化值是否小于第二阀值的步骤。In an embodiment of the present invention, the method may further include: determining whether the compensation enable switch is turned on when the crane is working; and performing real-time judgment whether the change value of the hoisting weight is less than a predetermined time interval when the compensation enable switch is turned on; The second threshold step.

本发明的上述实施例，只有在使能开关打开时，才进行工作幅度的补偿，从而进一步提高了智能化程度。In the above embodiment of the present invention, the compensation of the working amplitude is performed only when the enable switch is turned on, thereby further improving the degree of intelligence.

在本发明的一个实施例中，所述方法还包括：在控制***中设置变幅补偿与其他动作的优先级，如果补偿过程中，人为停止卷扬起升过程或者改为操作其他动作，补偿过程自动终止。In an embodiment of the present invention, the method further includes: setting a priority of the variable amplitude compensation and other actions in the control system, and if the compensation process is performed, manually stopping the lifting and lifting process or changing other actions, compensation The process terminates automatically.

本发明的上述实施例中，工作幅度补偿分为两种情况：单角度传感器幅度补偿和双角度传感器幅度补偿。根据起重机车型的不同，可分为单角度传感器和双角度传感器类型。对于单角度传感器的伸缩臂***，只在伸缩臂根部安装一个角度传感器，用于实时监测变幅角度，传感器数值由变幅油缸的长度决定。对于双角度传感器***，在伸缩臂根部和头部分别安装一个角度传感器。伸缩臂根部角度传感器功能与单角度传感器***相同，伸缩臂头部角度传感器不可控，一般用于实时监测伸缩臂弯曲角度。根据角度传感器数量的不同，工作幅度补偿也分为两种不同的模式。In the above embodiment of the invention, the working amplitude compensation is divided into two cases: single angle sensor amplitude compensation and double angle sensor amplitude compensation. Depending on the type of crane, it can be divided into single angle sensor and double angle sensor type. For the telescopic arm system of the single-angle sensor, only one angle sensor is installed at the root of the telescopic arm for real-time monitoring of the variable amplitude. The sensor value is determined by the length of the variable-speed cylinder. For a dual angle sensor system, an angle sensor is attached to the root and head of the telescopic arm, respectively. The function of the telescopic arm root angle sensor is the same as that of the single-angle sensor system. The telescopic arm head angle sensor is uncontrollable and is generally used to monitor the bending angle of the telescopic arm in real time. Depending on the number of angle sensors, the working amplitude compensation is also divided into two different modes.

下面通过具体示例对本发明起重机工作幅度补偿方法进行说明： The following is a specific example of the crane working amplitude compensation method of the present invention:

具体实施例1：Specific embodiment 1:

在本发明的一个单角度传感器幅度补偿的实施例中，如图5所示，图4中步骤401中实时获取起重机当前工作幅度的步骤可以包括：In an embodiment of the single-angle sensor amplitude compensation of the present invention, as shown in FIG. 5, the step of obtaining the current working range of the crane in real time in step 401 in FIG. 4 may include:

步骤501，实时获取伸缩臂根部传感器采集的当前第一变幅角度值。Step 501: Acquire a current first amplitude change angle value acquired by the telescopic arm root sensor in real time.

步骤502，根据当前吊重量、当前伸臂长度、当前第一变幅角度值和起重机自身状态信息确定起重机当前挠度。Step 502: Determine the current deflection of the crane according to the current lifting weight, the current arm length, the current first amplitude angle value, and the crane's own state information.

优选的，步骤502具体包括：根据公式(1)获取起重机当前挠度δ，其中G为当前吊重量，L为当前伸臂长度，θ₁为当前第一变幅角度值，S_t为车辆自身状态信息。Preferably, the step 502 specifically includes: obtaining the current deflection δ of the crane according to formula (1), where G is the current lifting weight, L is the current arm length, θ ₁ is the current first amplitude angle value, and S _t is the vehicle's own state. information.

δ＝f₁(G,L,θ₁,S_t) (1)δ=f ₁ (G,L,θ ₁ ,S _t ) (1)

在本发明的一个实施例中，车辆自身状态信息S_t包括角度、幅度、吊重量、伸缩组合、倍率等工况信息。In one embodiment of the present invention, the vehicle self state information S _t includes operating condition information such as angle, amplitude, hoisting weight, telescopic combination, and magnification.

在本发明的一个实施例中，车辆自身状态信息S_t还包括各节臂自重、材料弹性模量、截面惯性矩等材料信息。In an embodiment of the invention, the vehicle self state information S _t further includes material information such as each arm weight, material elastic modulus, and section moment of inertia.

在本发明的一个实施例中，由于对于不同的工作环境，起升冲击系数、动力系数等也会对最终结果有影响，公式(1)的输入还可以包括起升冲击系数、动力系数等加权因子。In an embodiment of the present invention, since the lifting impact coefficient, the dynamic coefficient, and the like may have an influence on the final result for different working environments, the input of the formula (1) may further include weighting the impact coefficient, the dynamic coefficient, and the like. factor.

步骤503，根据当前吊重量、当前伸臂长度、当前第一变幅角度值和起重机当前挠度确定起重机当前工作幅度R。Step 503: Determine the current working amplitude R of the crane according to the current lifting weight, the current arm length, the current first amplitude angle value, and the current deflection of the crane.

优选的，步骤503具体包括：根据公式(2)获取当前工作幅度R₁。Preferably, step 503 specifically includes: obtaining a current working amplitude R ₁ according to formula (2).

R₁＝f₂(G,L,θ₁,δ) (2)R ₁ =f ₂ (G,L,θ ₁ ,δ) (2)

在本发明的一个单角度传感器幅度补偿的实施例中，图4中步骤404，即根据作业前工作幅度确定目标变幅角度值的步骤包括：In an embodiment of the single angle sensor amplitude compensation of the present invention, the step 404 of FIG. 4, that is, determining the target amplitude angle value according to the pre-job working amplitude includes:

根据起重机作业前工作幅度、当前吊重量、当前伸臂长度和起重机当前挠度确定目标变幅角度值。According to the working range before the crane, the current lifting weight, the current arm length and The current deflection of the crane determines the target amplitude angle value.

在本发明的一个具体实施例中，起重机起钩时，工作幅度补偿的目的是使得吊重后的工作幅度R₁与吊重前的工作幅度R₀相等，即R₁＝R₀。要想使R₁＝R₀，可将R₀和当前吊重量直接带入公式(2)，反向推导出变幅角度θ₁即为补偿值。In a specific embodiment of the invention, when the crane is hooked, the purpose of the working amplitude compensation is to make the working amplitude R ₁ after the hoisting equal to the working amplitude R ₀ before the hoisting, that is, R ₁ =R ₀ . To make R ₁ =R ₀ , R ₀ and the current hoisting weight can be directly brought into the formula (2), and the gradation angle θ _{1 is} derived as the compensation value.

其中，R₀的值在工况设置完成后即可知。工况设置指起重作业之前，操作工根据即将要进行的操作在显示器上设置伸缩臂、配重、支腿等情况，从而保证起重机在合理范围内工作，确保起重作业安全性。Among them, the value of R ₀ can be known after the working condition setting is completed. The working condition setting refers to the situation that the operator sets the telescopic arm, the counterweight, the outrigger, etc. on the display according to the operation to be performed before the lifting operation, thereby ensuring that the crane works within a reasonable range and ensuring the safety of the lifting operation.

具体实施例2：Specific embodiment 2:

在本发明的一个双角度传感器幅度补偿的实施例中，如图6所示，图4中步骤401中实时获取起重机当前工作幅度的步骤可以包括：In an embodiment of the dual angle sensor amplitude compensation of the present invention, as shown in FIG. 6, the step of obtaining the current working range of the crane in real time in step 401 in FIG. 4 may include:

步骤601，实时获取伸缩臂根部角度传感器采集的当前第一变幅角度值和伸缩臂头部角度传感器采集的当前第二变幅角度值。In step 601, the current first amplitude angle value collected by the telescopic arm root angle sensor and the current second amplitude angle value collected by the telescopic arm head angle sensor are obtained in real time.

步骤602，根据当前伸臂长度、当前第一变幅角度值和当前第二变幅角度值确定起重机当前挠度。Step 602: Determine a current deflection of the crane according to the current arm length, the current first amplitude angle value, and the current second amplitude angle value.

优选的，步骤502具体包括：根据公式(3)获取起重机当前挠度δ，其中L为当前伸臂长度，θ₁为当前第一变幅角度值，θ₂为当前第二变幅角度值。Preferably, step 502 specifically includes: obtaining a current deflection δ of the crane according to formula (3), where L is the current arm length, θ ₁ is the current first amplitude angle value, and θ ₂ is the current second amplitude angle value.

δ＝f₃(L,θ₁,θ₂) (3)δ=f ₃ (L, θ ₁ , θ ₂ ) (3)

在本发明的一个实施例中，公式(3)的输入还可以包括角度、幅度、吊重量、伸缩组合、倍率等工况信息。In an embodiment of the present invention, the input of the formula (3) may further include working condition information such as angle, amplitude, hoisting weight, telescopic combination, and magnification.

在本发明的一个实施例中，由于对于不同的工作环境，起升冲击系数、动力系数等也会对最终结果有影响，公式(3)的输入还可以包括起升冲击系数、动力系数等加权因子。 In an embodiment of the present invention, since the hoisting impact coefficient, the dynamic coefficient, and the like may have an influence on the final result for different working environments, the input of the formula (3) may further include weighting the impact coefficient, the dynamic coefficient, and the like. factor.

步骤603，根据当前伸臂长度、当前第一变幅角度值和起重机当前挠度确定起重机当前工作幅度。Step 603: Determine the current working range of the crane according to the current arm length, the current first amplitude angle value, and the current deflection of the crane.

优选的，步骤603具体包括：根据公式(4)获取当前工作幅度R₁。Preferably, step 603 specifically includes: obtaining a current working amplitude R ₁ according to formula (4).

R₁＝f₄(L,θ₁,δ) (4)R ₁ =f ₄ (L, θ ₁ , δ) (4)

在本发明的一个具体实施例中，起重机起钩时，工作幅度补偿的目的是使得吊重后的工作幅度R₁与吊重前的工作幅度R₀相等，即R₁＝R₀。要想使R₁＝R₀，可将R₀和当前吊重量直接带入公式(4)，反向推导出变幅角度θ₁即为补偿值。In a specific embodiment of the invention, when the crane is hooked, the purpose of the working amplitude compensation is to make the working amplitude R ₁ after the hoisting equal to the working amplitude R ₀ before the hoisting, that is, R ₁ =R ₀ . To make R ₁ =R ₀ , R ₀ and the current hoisting weight can be directly brought into the formula (4), and the gradation angle θ _{1 is} derived as the compensation value.

在本发明的上述实施例，即双角度传感器模式下，伸臂变形可由两个角度传感器的值共同决定，即，伸臂变形挠度值可以被实时采集到。在上述两个角度量中，只有伸缩臂根部角度传感器的值θ₁可控，因此，在动态补偿过程中，实时采集两个角度传感器的值来获取挠度变化量，对通过改变变幅油缸的长度对伸缩臂根部角度进行控制，从而达到R₁＝R₀的目的。In the above embodiment of the present invention, that is, the dual angle sensor mode, the deformation of the extension arm can be determined by the values of the two angle sensors, that is, the deflection value of the extension arm can be collected in real time. Among the above two angular quantities, only the value θ _{1 of the} telescopic arm root angle sensor is controllable. Therefore, in the dynamic compensation process, the values of the two angle sensors are acquired in real time to obtain the amount of deflection change, by changing the variable amplitude cylinder. The length controls the angle of the root of the telescopic arm to achieve the purpose of R ₁ =R ₀ .

与单角度传感器的实施例相比，在本发明的一个双角度传感器幅度补偿的实施例中，由于预先知道变形的角度，因此，其输入不再受到当前吊重量和材料参数的影响。In contrast to the embodiment of the single angle sensor, in an embodiment of the dual angle sensor amplitude compensation of the present invention, since the angle of deformation is known in advance, its input is no longer affected by the current hoisting weight and material parameters.

图7为本发明的起重机工作幅度补偿装置一个实施例的示意图。如图7所示，所示装置包括幅度获取单元701、第一识别单元702、变幅角度确定单元703、幅度调整单元704，其中：Fig. 7 is a schematic view showing an embodiment of a crane working amplitude compensating apparatus of the present invention. As shown in FIG. 7, the apparatus shown includes an amplitude acquisition unit 701, a first identification unit 702, a variator angle determination unit 703, and an amplitude adjustment unit 704, wherein:

幅度获取单元701，用于在起重机作业时，实时获取起重机当前工作幅度，其中起重机作业包括起重机起钩或起重机落钩。 The amplitude obtaining unit 701 is configured to acquire the current working range of the crane in real time during the crane operation, wherein the crane operation includes a crane hook or a crane hook.

第一识别单元702，用于判断起重机当前工作幅度与作业前工作幅度的差值的绝对值是否小于第一阀值。The first identifying unit 702 is configured to determine whether an absolute value of a difference between a current working range of the crane and a working amplitude before the working is less than a first threshold.

具体而言，起重机起钩时，第一识别单元用于判断起重机当前工作幅度与起重机起钩前工作幅度的差值的绝对值是否小于第一阀值。起重机落钩时，第一识别单元用于判断起重机当前工作幅度与起重机落钩前工作幅度的差值的绝对值是否小于第一阀值。Specifically, when the crane is hooked, the first identification unit is configured to determine whether the absolute value of the difference between the current working range of the crane and the working amplitude before the crane is smaller than the first threshold. When the crane is hooked, the first identification unit is configured to determine whether the absolute value of the difference between the current working range of the crane and the working range before the crane is hooked is less than the first threshold.

变幅角度确定单元703，用于根据第一识别单元的判断结果，在起重机当前工作幅度与作业前工作幅度的差值的绝对值不小于第一阀值时，根据作业前工作幅度确定目标变幅角度值。The variable amplitude determining unit 703 is configured to determine, according to the determination result of the first identifying unit, that the absolute value of the difference between the current working range of the crane and the working amplitude before the working is not less than the first threshold, and determining the target change according to the working range before the working Amplitude value.

幅度调整单元704，用于根据目标变幅角度值进行起重机工作幅度调整。The amplitude adjustment unit 704 is configured to perform crane working amplitude adjustment according to the target variable amplitude value.

基于本发明上述实施例提供的起重机工作幅度补偿装置，可以实现对起重机起/落钩时工作幅度的自动补偿，有效防止了起/落钩时伸缩臂变形引起的吊重摆动、无法垂直起/落的问题，从而提高了起重机工作的安全性，同时还具有很高的智能化程度、很高的精确性、以及很好的可移植性。According to the crane working amplitude compensating device provided by the above embodiment of the present invention, the working amplitude of the crane can be automatically compensated when the crane is lifted/dropped, and the lifting weight swing caused by the deformation of the telescopic arm during the lifting/falling hook is effectively prevented, and the lifting cannot be performed vertically/ The problem of falling, thus improving the safety of the crane work, while also having a high degree of intelligence, high accuracy, and good portability.

图8为本发明的起重机工作幅度补偿装置另一实施例的示意图。与图7所示实施例相比，在图8所示实施例中，所述装置还包括幅度保持单元801，其中：Fig. 8 is a schematic view showing another embodiment of the crane working amplitude compensating apparatus of the present invention. Compared with the embodiment shown in FIG. 7, in the embodiment shown in FIG. 8, the apparatus further includes an amplitude holding unit 801, wherein:

幅度保持单元801，用于根据第一识别单元的判断结果，在起重机当前工作幅度与作业前工作幅度的差值的绝对值小于第一阀值时，保持起重机当前工作幅度不变。The amplitude maintaining unit 801 is configured to keep the current working range of the crane unchanged when the absolute value of the difference between the current working range of the crane and the working range before the working is less than the first threshold according to the determination result of the first identifying unit.

本发明的上述实施例，只有在当前工作幅度与作业前工作幅度的差值的绝对值不小于第一阀值时，才进行动态调整。本发明的上述实施例，对工作幅度补偿的开始条件进行判断，只有伸缩臂变形值超过一定的阈值才开始变幅补偿。对起/落钩时的伸缩臂变形实时计算，从而得出负载重心精确偏移量。 In the above embodiment of the present invention, the dynamic adjustment is performed only when the absolute value of the difference between the current working range and the pre-job working amplitude is not less than the first threshold. In the above embodiment of the present invention, the start condition of the working amplitude compensation is judged, and the variable amplitude compensation is started only when the telescopic arm deformation value exceeds a certain threshold. The deformation of the telescopic arm at the time of the start/fall is calculated in real time, thereby obtaining an accurate offset of the center of gravity of the load.

在本发明的一个实施例中，如图8所示，所述装置还包括第二识别单元802，其中：In one embodiment of the invention, as shown in Figure 8, the apparatus further includes a second identification unit 802, wherein:

第二识别单元802，用于在起重机作业时，判断预定时间间隔内吊重量的变化值是否小于第二阀值；a second identifying unit 802, configured to determine, during the operation of the crane, whether the change value of the hanging weight in the predetermined time interval is less than the second threshold;

幅度获取单元701还用于根据第二识别单元的判断结果，在预定时间间隔内吊重量的变化值不小于第二阀值，执行实时获取起重机当前工作幅度的操作。The amplitude obtaining unit 701 is further configured to perform an operation of acquiring the current working range of the crane in real time according to the determination result of the second identifying unit, the change value of the hanging weight is not less than the second threshold value in the predetermined time interval.

下面通过具体示例对本发明起重机工作幅度补偿装置进行说明：The crane working amplitude compensation device of the present invention will be described below by way of a specific example:

具体实施例3：Specific Example 3:

在本发明的一个单角度传感器幅度补偿的实施例中，如图9所示，如图7所示的幅度获取单元701包括第一角度获取模块7011、第一挠度确定模块7012和第一幅度确定模块7013，其中：In an embodiment of the single-angle sensor amplitude compensation of the present invention, as shown in FIG. 9, the amplitude acquisition unit 701 shown in FIG. 7 includes a first angle acquisition module 7011, a first deflection determination module 7012, and a first amplitude determination. Module 7013, wherein:

第一角度获取模块7011，用于在起重机作业时，实时获取伸缩臂根部传感器采集的当前第一变幅角度值。The first angle obtaining module 7011 is configured to acquire the current first variable angle value collected by the telescopic arm root sensor in real time during the crane operation.

第一挠度确定模块7012，用于根据当前吊重量、当前伸臂长度、当前第一变幅角度值和起重机自身状态信息确定起重机当前挠度。The first deflection determining module 7012 is configured to determine a current deflection of the crane according to the current lifting weight, the current arm length, the current first amplitude angle value, and the crane's own state information.

优选的，第一挠度确定模块7012具体用于根据公式(1)获取起重机当前挠度δ，其中G为当前吊重量，L为当前伸臂长度，θ₁为当前第一变幅角度值，S_t为车辆自身状态信息。Preferably, the first deflection determining module 7012 is specifically configured to obtain the current deflection δ of the crane according to formula (1), where G is the current lifting weight, L is the current arm length, and θ ₁ is the current first amplitude angle value, S _t It is the vehicle's own status information.

在本发明的一个实施例中，车辆自身状态信息S_t包括角度、幅度、吊重量、伸缩组合、倍率等工况信息。 In one embodiment of the present invention, the vehicle self state information S _t includes operating condition information such as angle, amplitude, hoisting weight, telescopic combination, and magnification.

第一幅度确定模块7013，用于根据当前吊重量、当前伸臂长度、当前第一变幅角度值和起重机当前挠度确定起重机当前工作幅度。The first amplitude determining module 7013 is configured to determine a current working range of the crane according to the current lifting weight, the current arm length, the current first amplitude angle value, and the current deflection of the crane.

优选的，第一幅度确定模块7013具体用于根据公式(2)获取当前工作幅度R₁。Preferably, the first amplitude determining module 7013 is specifically configured to obtain the current working amplitude R ₁ according to the formula (2).

在本发明的一个单角度传感器幅度补偿的实施例中，变幅角度确定单元704在根据作业前工作幅度确定目标变幅角度值时，具体用于根据起重机作业前工作幅度、当前吊重量、当前伸臂长度和起重机当前挠度确定目标变幅角度值。In an embodiment of the single-angle sensor amplitude compensation of the present invention, the sag angle determining unit 704 is specifically used to determine the working amplitude before the crane, the current hoisting weight, and the current when determining the target variator angle value according to the pre-job working amplitude. The length of the boom and the current deflection of the crane determine the target amplitude angle value.

具体实施例4：Specific Example 4:

在本发明的一个双角度传感器幅度补偿的实施例中，如图10所示，所述幅度获取单元包括第二角度获取模块7014、第二挠度确定模块7015和第二幅度确定模块7016，其中：In an embodiment of the dual angle sensor amplitude compensation of the present invention, as shown in FIG. 10, the amplitude acquisition unit includes a second angle acquisition module 7014, a second deflection determination module 7015, and a second amplitude determination module 7016, wherein:

第二角度获取模块7014，用于实时获取伸缩臂根部角度传感器采集的当前第一变幅角度值和伸缩臂头部角度传感器采集的当前第二变幅角度值。The second angle obtaining module 7014 is configured to acquire the current first amplitude angle value collected by the telescopic arm root angle sensor and the current second amplitude angle value collected by the telescopic arm head angle sensor.

第二挠度确定模块7015，用于根据当前伸臂长度、当前第一变幅角度值和当前第二变幅角度值确定起重机当前挠度。 The second deflection determining module 7015 is configured to determine a current deflection of the crane according to the current arm length, the current first amplitude angle value, and the current second amplitude angle value.

优选的，第二挠度确定模块7015具体用于根据公式(3)获取起重机当前挠度δ，其中L为当前伸臂长度，θ₁为当前第一变幅角度值，θ₂为当前第二变幅角度值。Preferably, the second deflection determining module 7015 is specifically configured to obtain the current deflection δ of the crane according to formula (3), where L is the current arm length, θ ₁ is the current first amplitude angle value, and θ ₂ is the current second amplitude Angle value.

在本发明的一个实施例中，由于对于不同的工作环境，起升冲击系数、动力系数等也会对最终结果有影响，公式(3)的输入还可以包括起升冲击系数、动力系数等加权因子。In an embodiment of the present invention, since the hoisting impact coefficient, the dynamic coefficient, and the like may have an influence on the final result for different working environments, the input of the formula (3) may further include weighting the impact coefficient, the dynamic coefficient, and the like. factor.

第二幅度确定模块7016，用于根据当前伸臂长度、当前第一变幅角度值和起重机当前挠度确定起重机当前工作幅度。The second amplitude determining module 7016 is configured to determine a current working range of the crane according to the current arm length, the current first amplitude angle value, and the current deflection of the crane.

优选的，第二幅度确定模块7016具体用于根据公式(4)获取当前工作幅度R₁。Preferably, the second amplitude determining module 7016 is specifically configured to obtain the current working amplitude R ₁ according to the formula (4).

在本发明的一个具体实施例中，起重机起钩时，工作幅度补偿的目的是使得吊重后的工作幅度R₁与吊重前的工作幅度R₀相等，即R₁＝R₀。要想使R₁＝R₀，可将R₁和当前吊重量直接带入公式(4)，反向推导出变幅角度θ₁即为补偿值。In a specific embodiment of the invention, when the crane is hooked, the purpose of the working amplitude compensation is to make the working amplitude R ₁ after the hoisting equal to the working amplitude R ₀ before the hoisting, that is, R ₁ =R ₀ . To make R ₁ =R ₀ , R ₁ and the current lifting weight can be directly brought into the formula (4), and the variable amplitude angle θ _{1 is} derived as the compensation value.

与单角度传感器的实施例相比，在本发明的一个双角度传感器幅度补偿的实施例中，由于预先知道变形的角度，因此，其输入不再受到当前吊重量和材料参数的影响。 In contrast to the embodiment of the single angle sensor, in an embodiment of the dual angle sensor amplitude compensation of the present invention, since the angle of deformation is known in advance, its input is no longer affected by the current hoisting weight and material parameters.

根据本发明的另一方面，提供一种起重机工作幅度补偿***，包括起重机工作幅度补偿装置、显示器和力限器，其中：According to another aspect of the present invention, a crane working amplitude compensation system is provided, including a crane working amplitude compensation device, a display, and a force limiter, wherein:

起重机工作幅度补偿装置，为上述任一实施例所述的起重机工作幅度补偿装置。The crane working amplitude compensating device is the crane working amplitude compensating device according to any of the above embodiments.

力限器，用于起重机工作幅度补偿装置提供必要的数据信息。The force limiter is used for the crane working amplitude compensation device to provide the necessary data information.

显示器，用作人机交互接口以接收操作者的操作意图，并负责为工作幅度补偿进行最终评价。The display is used as a human-computer interaction interface to receive the operator's operational intent and is responsible for final evaluation of the working amplitude compensation.

基于本发明上述实施例提供的起重机工作幅度补偿***，可以实现对起重机起/落钩时工作幅度的自动补偿，有效防止了起/落钩时伸缩臂变形引起的吊重摆动、无法垂直起/落的问题，从而提高了起重机工作的安全性，同时还具有很高的智能化程度、很高的精确性、以及很好的可移植性。The crane working amplitude compensation system provided by the above embodiments of the present invention can automatically compensate the working range of the crane when lifting/falling, effectively preventing the lifting weight swing caused by the deformation of the telescopic arm when lifting/falling, and failing to vertically The problem of falling, thus improving the safety of the crane work, while also having a high degree of intelligence, high accuracy, and good portability.

在上面所描述的幅度获取单元701、第一识别单元702、变幅角度确定单元703、幅度调整单元704、幅度保持单元801、第二识别单元802等功能单元可以实现为用于执行本申请所描述功能的通用处理器、可编程逻辑控制器(PLC)、数字信号处理器(DSP)、专用集成电路(ASIC)、现场可编程门阵列(FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件或者其任意适当组合。The function units such as the amplitude obtaining unit 701, the first identifying unit 702, the amplitude determining unit 703, the amplitude adjusting unit 704, the amplitude holding unit 801, and the second identifying unit 802 described above may be implemented to perform the present application. General purpose processor, programmable logic controller (PLC), digital signal processor (DSP), application specific integrated circuit (ASIC), field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor Logic device, discrete hardware component, or any suitable combination thereof.

在本发明的一个实施例中，本发明的起重机工作幅度补偿装置的功能可以由起重机上车控制器执行。In one embodiment of the invention, the function of the crane working amplitude compensation device of the present invention may be performed by a crane loading controller.

通过实施本发明，可以得到如下有益效果：By implementing the present invention, the following beneficial effects can be obtained:

1、本发明安全性好。本发明通过综合利用起重机控制器、显示器和力限器实现对起重机起/落钩时工作幅度补偿，有效防止了起/落钩时伸缩臂变形引起的吊重摆动、无法垂直起/落的问题，提高了起重机工作的安全性。1. The invention has good safety. The invention realizes the compensation of the working amplitude of the lifting/falling hook of the crane by comprehensively utilizing the crane controller, the display and the force limiter, and effectively prevents the lifting weight swing caused by the deformation of the telescopic arm during the lifting/falling hook, and the problem that the vertical lifting/falling cannot be performed. Improve the safety of crane work.

2、本发明智能化程度高。本发明专利摒弃以往根据操作工经验进行适度变幅的方法，转而通过程序实现自动补偿。本发明起重机工作幅度补偿装置通过对各种结构参数、标定参数的综合利用及详细计算得出需要变幅的角度，并进行动态幅度补偿，提高了起重机智能化程度。2. The invention has a high degree of intelligence. The invention patent abandons the past according to the operation The method of performing a moderate amplitude change is performed, and the automatic compensation is realized by the program. The crane working amplitude compensation device of the invention obtains the angle of the required amplitude by comprehensively calculating and calculating various structural parameters and calibration parameters, and performs dynamic amplitude compensation, thereby improving the intelligence degree of the crane.

3、本发明还精确性好。本发明自动补偿中，每间隔预定的时间，程序自动对当前信号采样并进行计算比较，并不断对工作幅度进行修正。较短的采样间隔使得所得工作幅度较为精确。3. The invention is also accurate. In the automatic compensation of the present invention, the program automatically samples and compares the current signal every predetermined time interval, and continuously corrects the working amplitude. The shorter sampling interval makes the resulting working range more accurate.

4、本发明可移植性好。这种方法具有很好的可移植性，对于不同的车型，只需改变初始输入数值即可。因此，具有广泛的应用范围。对于只在伸缩臂根部有一个传感器的起重机，其伸缩臂挠度的大小除与变幅角度、伸缩臂长度、吊重量有关之外，还与伸缩臂使用材料、几何结构、伸缩臂状态等有关。对于在伸缩臂根部和头部各有一个传感器的起重机，其挠度变形的大小由两个角度传感器数值及当前伸臂长度和吊重量共同决定，不再受限于伸缩臂材料和几何结构的影响。在双角度传感器起重机中，根部角度和头部角度都是可测量，但仅有根部角度可控制。4. The invention has good portability. This method has good portability. For different models, you only need to change the initial input value. Therefore, it has a wide range of applications. For a crane that has only one sensor at the root of the telescopic arm, the deflection of the telescopic arm is related to the variable angle, the length of the telescopic arm, and the weight of the telescopic arm, as well as the material used for the telescopic arm, the geometry, and the state of the telescopic arm. For cranes with a sensor at the root of the telescopic arm and the head, the magnitude of the deflection is determined by the two angle sensor values and the current arm length and the weight of the boom, no longer limited by the material and geometry of the telescopic arm. . In a two-angle sensor crane, both the root angle and the head angle are measurable, but only the root angle is controllable.

至此，已经详细描述了本发明。为了避免遮蔽本发明的构思，没有描述本领域所公知的一些细节。本领域技术人员根据上面的描述，完全可以明白如何实施这里公开的技术方案。So far, the present invention has been described in detail. In order to avoid obscuring the concepts of the present invention, some details known in the art are not described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein according to the above description.

本领域普通技术人员可以理解实现上述实施例的全部或部分步骤可以通过硬件来完成，也可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，上述提到的存储介质可以是只读存储器，磁盘或光盘等。A person skilled in the art may understand that all or part of the steps of implementing the above embodiments may be completed by hardware, or may be instructed by a program to execute related hardware, and the program may be stored in a computer readable storage medium. The storage medium mentioned may be a read only memory, a magnetic disk or an optical disk or the like.

本发明的描述是为了示例和描述起见而给出的，而并不是无遗漏的或者将本发明限于所公开的形式。很多修改和变化对于本领域的普通技术人员而言是显然的。选择和描述实施例是为了更好说明本发明的原理和实际应用，并且使本领域的普通技术人员能够理解本发明从而设计适于特定用途的带有各种修改的各种实施例。 The description of the present invention has been presented for purposes of illustration and description. Many modifications and variations will be apparent to those skilled in the art. The embodiment was chosen and described in order to best explain the principles and embodiments of the invention,

Claims

一种起重机工作幅度补偿方法，其特征在于，包括：A method for compensating a working amplitude of a crane, characterized in that it comprises:

起重机作业时，实时获取起重机当前工作幅度，其中起重机作业包括起重机起钩或起重机落钩；When the crane is working, the current working range of the crane is obtained in real time, wherein the crane operation includes a crane hook or a crane hook;

判断起重机当前工作幅度与作业前工作幅度的差值的绝对值是否小于第一阀值；Determining whether the absolute value of the difference between the current working range of the crane and the working range before the operation is less than the first threshold;

若起重机当前工作幅度与作业前工作幅度的差值的绝对值不小于第一阀值，则根据作业前工作幅度确定目标变幅角度值；If the absolute value of the difference between the current working range of the crane and the working range before the operation is not less than the first threshold value, the target variable amplitude angle value is determined according to the working range before the operation;

根据目标变幅角度值进行起重机工作幅度调整。The crane working amplitude is adjusted according to the target variable amplitude value.
根据权利要求1所述的方法，其特征在于，还包括：The method of claim 1 further comprising:

若起重机当前工作幅度与作业前工作幅度的差值的绝对值小于第一阀值，则保持起重机当前工作幅度不变。If the absolute value of the difference between the current working range of the crane and the working range before the operation is less than the first threshold, the current working range of the crane is kept unchanged.
根据权利要求1所述的方法，其特征在于，还包括：The method of claim 1 further comprising:

起重机作业时，实时判断预定时间间隔内吊重量的变化值是否小于第二阀值；When the crane is working, it is determined in real time whether the change value of the hoisting weight in the predetermined time interval is less than the second threshold value;

若预定时间间隔内吊重量的变化值不小于第二阀值，则执行实时获取起重机当前工作幅度的步骤。If the change value of the hoisting weight within the predetermined time interval is not less than the second threshold value, the step of obtaining the current working range of the crane in real time is performed.
根据权利要求1所述的方法，其特征在于，实时获取起重机当前工作幅度的步骤包括：The method of claim 1 wherein the step of obtaining the current working range of the crane in real time comprises:

实时获取伸缩臂根部传感器采集的当前第一变幅角度值；Obtaining the current first amplitude angle value acquired by the telescopic arm root sensor in real time;

根据当前吊重量、当前伸臂长度、当前第一变幅角度值和起重机自身状态信息确定起重机当前挠度；Determining the current deflection of the crane according to the current lifting weight, the current arm length, the current first amplitude angle value, and the crane's own state information;

根据当前吊重量、当前伸臂长度、当前第一变幅角度值和起重机当前挠度确定起重机当前工作幅度。According to the current lifting weight, the current arm length, the current first variable angle value and The current deflection of the heavy machine determines the current working range of the crane.
根据权利要求4所述的方法，其特征在于，根据作业前工作幅度确定目标变幅角度值的步骤包括：The method according to claim 4, wherein the step of determining the target amplitude angle value based on the pre-job operation amplitude comprises:

根据起重机作业前工作幅度、当前吊重量、当前伸臂长度和起重机当前挠度确定目标变幅角度值。The target amplitude angle value is determined according to the working range before the crane operation, the current lifting weight, the current arm length and the current deflection of the crane.
根据权利要求1所述的方法，其特征在于，实时获取起重机当前工作幅度的步骤包括：The method of claim 1 wherein the step of obtaining the current working range of the crane in real time comprises:

实时获取伸缩臂根部角度传感器采集的当前第一变幅角度值和伸缩臂头部角度传感器采集的当前第二变幅角度值；Obtaining a current first amplitude value obtained by the telescopic arm root angle sensor and a current second amplitude angle value acquired by the telescopic arm head angle sensor;

根据当前伸臂长度、当前第一变幅角度值和当前第二变幅角度值确定起重机当前挠度；Determining the current deflection of the crane according to the current arm length, the current first amplitude angle value, and the current second amplitude angle value;

根据当前伸臂长度、当前第一变幅角度值和起重机当前挠度确定起重机当前工作幅度。The current working range of the crane is determined according to the current arm length, the current first amplitude angle value and the current deflection of the crane.
根据权利要求6所述的方法，其特征在于，根据作业前工作幅度确定目标变幅角度值的步骤包括：The method of claim 6 wherein the step of determining a target amplitude angle value based on the pre-job operation amplitude comprises:

根据起重机作业前工作幅度、当前伸臂长度和起重机当前挠度确定目标变幅角度值。The target amplitude angle value is determined according to the working range before the crane operation, the current arm length and the current deflection of the crane.
一种起重机工作幅度补偿装置，其特征在于，包括幅度获取单元、第一识别单元、变幅角度确定单元、幅度调整单元，其中：A crane working amplitude compensating device is characterized in that it comprises an amplitude acquiring unit, a first identifying unit, a variable amplitude determining unit and an amplitude adjusting unit, wherein:

幅度获取单元，用于在起重机作业时，实时获取起重机当前工作幅度，其中起重机作业包括起重机起钩或起重机落钩；The amplitude obtaining unit is configured to acquire the current working range of the crane in real time during the crane operation, wherein the crane operation comprises a crane hook or a crane hook;

第一识别单元，用于判断起重机当前工作幅度与作业前工作幅度的差值的绝对值是否小于第一阀值； a first identifying unit, configured to determine whether an absolute value of a difference between a current working range of the crane and a working amplitude before the working is less than a first threshold;

变幅角度确定单元，用于根据第一识别单元的判断结果，在起重机当前工作幅度与作业前工作幅度的差值的绝对值不小于第一阀值时，根据作业前工作幅度确定目标变幅角度值；a variable amplitude determining unit, configured to determine, according to the judgment result of the first identifying unit, the target variable amplitude according to the working range before the work, when the absolute value of the difference between the current working range of the crane and the working amplitude before the working is not less than the first threshold Angle value

幅度调整单元，用于根据目标变幅角度值进行起重机工作幅度调整。The amplitude adjustment unit is configured to perform the crane working amplitude adjustment according to the target variable amplitude value.
根据权利要求8所述的装置，其特征在于，还包括幅度保持单元，其中：The apparatus of claim 8 further comprising an amplitude maintaining unit, wherein:

幅度保持单元，用于根据第一识别单元的判断结果，在起重机当前工作幅度与作业前工作幅度的差值的绝对值小于第一阀值时，保持起重机当前工作幅度不变。The amplitude maintaining unit is configured to maintain the current working range of the crane unchanged according to the judgment result of the first identifying unit when the absolute value of the difference between the current working range of the crane and the working amplitude before the working is less than the first threshold.
根据权利要求8所述的装置，其特征在于，还包括第二识别单元，其中：The apparatus of claim 8 further comprising a second identification unit, wherein:

第二识别单元，用于在起重机作业时，判断预定时间间隔内吊重量的变化值是否小于第二阀值；a second identifying unit, configured to determine, during the operation of the crane, whether the change value of the hanging weight in the predetermined time interval is less than the second threshold;

幅度获取单元还用于根据第二识别单元的判断结果，在预定时间间隔内吊重量的变化值不小于第二阀值，执行实时获取起重机当前工作幅度的操作。The amplitude obtaining unit is further configured to perform an operation of acquiring the current working range of the crane in real time according to the determination result of the second identifying unit, the change value of the hanging weight is not less than the second threshold value in the predetermined time interval.
根据权利要求8所述的装置，其特征在于，幅度获取单元包括第一角度获取模块、第一挠度确定模块和第一幅度确定模块，其中：The apparatus according to claim 8, wherein the amplitude obtaining unit comprises a first angle acquiring module, a first deflection determining module and a first amplitude determining module, wherein:

第一角度获取模块，用于在起重机作业时，实时获取伸缩臂根部传感器采集的当前第一变幅角度值；a first angle obtaining module, configured to acquire a current first variable amplitude value collected by the telescopic arm root sensor in real time during the crane operation;

第一挠度确定模块，用于根据当前吊重量、当前伸臂长度、当前第一变幅角度值和起重机自身状态信息确定起重机当前挠度； a first deflection determining module, configured to determine a current deflection of the crane according to the current lifting weight, the current arm length, the current first amplitude angle value, and the crane self state information;

第一幅度确定模块，用于根据当前吊重量、当前伸臂长度、当前第一变幅角度值和起重机当前挠度确定起重机当前工作幅度。The first amplitude determining module is configured to determine the current working range of the crane according to the current lifting weight, the current arm length, the current first amplitude angle value, and the current deflection of the crane.
根据权利要求11所述的装置，其特征在于，变幅角度确定单元在根据作业前工作幅度确定目标变幅角度值时，具体用于根据起重机作业前工作幅度、当前吊重量、当前伸臂长度和起重机当前挠度确定目标变幅角度值。The apparatus according to claim 11, wherein the variator angle determining unit is configured to determine the working amplitude before the work, the current hoisting weight, and the current arm length when determining the target horn angle value according to the pre-job working range. And the current deflection of the crane determines the target amplitude angle value.
根据权利要求8所述的装置，其特征在于，幅度获取单元包括第二角度获取模块、第二挠度确定模块和第二幅度确定模块，其中：The apparatus according to claim 8, wherein the amplitude acquisition unit comprises a second angle acquisition module, a second deflection determination module, and a second amplitude determination module, wherein:

第二角度获取模块，用于实时获取伸缩臂根部角度传感器采集的当前第一变幅角度值和伸缩臂头部角度传感器采集的当前第二变幅角度值；a second angle acquiring module, configured to acquire a current first variable amplitude value collected by the telescopic arm root angle sensor and a current second variable amplitude value collected by the telescopic arm head angle sensor;

第二挠度确定模块，用于根据当前伸臂长度、当前第一变幅角度值和当前第二变幅角度值确定起重机当前挠度；a second deflection determining module, configured to determine a current deflection of the crane according to the current arm length, the current first amplitude angle value, and the current second amplitude angle value;

第二幅度确定模块，用于根据当前伸臂长度、当前第一变幅角度值和起重机当前挠度确定起重机当前工作幅度。The second amplitude determining module is configured to determine the current working range of the crane according to the current arm length, the current first amplitude angle value, and the current deflection of the crane.
根据权利要求13所述的装置，其特征在于，变幅角度确定单元在根据作业前工作幅度确定目标变幅角度值时，具体用于根据起重机作业前工作幅度、当前伸臂长度和起重机当前挠度确定目标变幅角度值。 The apparatus according to claim 13, wherein the variator angle determining unit is configured to determine the working amplitude before the work, the current arm length, and the current deflection of the crane when determining the target horn angle value according to the pre-job working range. Determine the target sag angle value.