CN110950247B - Crane counterweight combination identification method and system and crane - Google Patents
Crane counterweight combination identification method and system and crane Download PDFInfo
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- CN110950247B CN110950247B CN201911387238.3A CN201911387238A CN110950247B CN 110950247 B CN110950247 B CN 110950247B CN 201911387238 A CN201911387238 A CN 201911387238A CN 110950247 B CN110950247 B CN 110950247B
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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
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
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Abstract
The disclosure relates to a crane counterweight combination identification method, a system and a crane, wherein the identification method comprises the following steps: the radio frequency controller (30) responds to a counterweight information reading instruction sent by the main controller and sends a counterweight information reading instruction to the radio frequency reader-writer (20); reading the information of the radio frequency code carrier (10) corresponding to each balancing weight on the crane through the radio frequency reader-writer (20); transmitting an information reading result to the main controller by the radio frequency controller (30) through the radio frequency reader-writer (20); and analyzing the information reading result through the main controller (40) to calculate the current counterweight information. The identification method can more accurately and conveniently detect the actual counterweight combination of the crane so as to match the current counterweight combination with the working condition, thereby improving the safety of crane operation.
Description
Technical Field
The disclosure relates to the technical field of crane control, in particular to a crane counterweight combination identification method and system and a crane.
Background
In order to stabilize the operation of the crane and reduce the risk of the crane tipping over when lifting the weight, a counterweight is generally arranged on one side of the crane chassis far away from the boom, and the current common counterweight comprises a fixed counterweight and a combined counterweight.
Compared with a fixed counterweight, the combined counterweight has flexible counterweight combination and can fully exert the hoisting performance of medium and long arms and large amplitudes. When the combined counterweight is used, the confirmation of the actual counterweight combination form during the hoisting of the crane is still in a form of manual judgment at present. Once the manual judgment of the hoisting combination is wrong, the working condition which is not matched with the actual counterweight combination is selected, and certain safety risk is brought to hoisting operation.
Disclosure of Invention
The embodiment of the disclosure provides a crane counterweight combination identification method and system and a crane, which can improve the safety of crane operation.
According to an aspect of the present disclosure, there is provided a crane counterweight combination identification method, including:
the radio frequency controller responds to a counter weight information reading instruction sent by the main controller and sends a counter weight information reading instruction to the radio frequency reader-writer;
reading information of radio frequency code carriers corresponding to the counter weights on the crane through a radio frequency reader-writer;
transmitting the information reading result to the main controller by the radio frequency controller through the radio frequency reader-writer;
and analyzing the information reading result through the main controller, and calculating the current counterweight information.
In some embodiments, the information in the radio frequency carrier is stored in an encrypted manner.
In some embodiments, the step of reading, by the rf reader, information of the rf code carrier corresponding to each counterweight on the crane includes:
emitting electromagnetic waves through a radio frequency reader-writer, and activating each radio frequency code carrier in an electromagnetic wave radiation range;
and each radio frequency code carrier feeds back the information written in advance to the radio frequency reader-writer.
In some embodiments, further comprising:
and judging whether the triggering condition of the automatic counterweight detection is met, and if so, reading a counterweight information reading instruction sent by the main controller.
In some embodiments, the step of determining whether the triggering condition for the counterweight automatic detection is satisfied includes:
detecting whether the counterweight hanging oil cylinder moves, and if the counterweight hanging oil cylinder is in a moving state, judging that the triggering condition of automatic counterweight detection is met when the counterweight hanging oil cylinder stops moving; or
Judging whether a crane working condition switching interface is entered, and if the crane working condition switching interface is entered, judging that a triggering condition for automatic counterweight detection is met; or
And detecting whether the moment limiter is started or not, and judging that the triggering condition of automatic counterweight detection is met when the moment limiter is started every time.
In some embodiments, after each activation of the torque limiter, further comprising:
and comparing whether the current counterweight information is consistent with the counterweight information memorized in the last shutdown after the system is started by the main controller, if not, giving an alarm prompt, or after the counterweight is adjusted, updating the torque limit value of the torque limiter to be matched with the detected current counterweight information according to the mapping relation between the limit torque prestored in the torque limiter and the counterweight information.
In some embodiments, further comprising:
after the main controller completes the calculation of the current counterweight information for the first time, a second counterweight information reading instruction is sent to the radio frequency controller;
and comparing whether the current counterweight information calculated for the first time and the current counterweight information calculated for the second time are consistent through the main controller, if so, taking the information as detected counterweight information, and if not, sending information of counterweight information detection failure and prompting a user to manually input counterweight information.
In some embodiments, after sending the information that the detection of the counterweight information fails, the method further includes:
sending a third counterweight information reading instruction to the radio frequency controller;
and comparing whether the current counterweight information calculated for the third time is consistent with the current counterweight information calculated for the first time and the current counterweight information calculated for the second time through the main controller, if not, sending out information of counterweight information detection failure, and if the current counterweight information calculated for the third time is consistent with the current counterweight information calculated for the first time or the current counterweight information calculated for the second time, taking the calculated values of the same two times as detected counterweight information.
In some embodiments, in the case that the current weight information obtained by comparing the first and second calculations is consistent, the method further includes:
when the working condition input is needed, the detected counterweight information is directly filled in the counterweight information input interface through the main controller.
In some embodiments, further comprising:
reading the counterweight information input by a user through a main controller;
and comparing whether the counterweight information detected by the radio frequency reader-writer is consistent with the counterweight information input by the user through the main controller, and if not, giving an alarm.
In some embodiments, in the case that it is determined that the detected weight information is not consistent with the weight information input by the user, the method further includes:
recording the current working condition and the counterweight information input by a user;
and judging whether the pilot function of the hoisting operation is activated or not, and recording the actual state information of the crane before the operation in the state that the pilot function is activated.
In some embodiments, in a case where it is determined that the detected weight information is inconsistent with the weight information input by the user, in a case where the detected weight information is obtained by two calculation comparisons, the method further includes:
and judging whether the detected counterweight information is larger than the counterweight information input by the user, and if so, allowing the crane to continue working.
According to another aspect of the present disclosure, there is provided a crane counterweight combination identification system,
the radio frequency code carriers are arranged on the balancing weights of the crane in a one-to-one correspondence manner;
the radio frequency reader-writer is configured to read the information of each radio frequency code carrier;
the radio frequency controller is configured to send a counterweight information reading instruction to the radio frequency reader-writer and receive information sent by the radio frequency reader-writer; and
and the main controller is configured to send a counterweight information reading instruction to the radio frequency controller, receive information sent by the radio frequency reader-writer, analyze an information reading result and calculate current counterweight information.
In some embodiments, further comprising:
a displacement detection part configured to detect a motion state of the counterweight hitch cylinder;
wherein, main controller includes: and the detection trigger judgment module is configured to send a counterweight information reading instruction when judging that the counterweight hitching oil cylinder in the moving state stops moving.
In some embodiments, the master controller comprises: and the detection trigger judgment module is configured to send a counterweight information reading instruction under the condition that the condition switching interface of the crane is judged to enter.
In some embodiments, the master controller comprises:
the detection trigger judgment module is configured to send a counterweight information reading instruction when the moment limiter is started every time;
the counterweight information comparison module is configured to compare whether the current counterweight information is consistent with counterweight information memorized when the counterweight information is started after shutdown last time; and
and the alarm module is configured to alarm when the current counterweight information is inconsistent with the counterweight information memorized when the power is started after the shutdown last time.
In some embodiments, the master controller comprises: and the counterweight information comparison module is configured to compare whether the current counterweight information calculated for the first time and the current counterweight information calculated for the second time are consistent, take the current counterweight information as detected counterweight information under the condition of consistency, send out information of counterweight information detection failure under the condition of inconsistency, and prompt a user to manually input the counterweight information.
In some embodiments, the master controller further comprises: and the information reading and writing module is configured to directly fill and write the detected counterweight information into the counterweight information input interface when working condition input is required under the condition that the current counterweight information calculated for the first time and the current counterweight information calculated for the second time are consistent through comparison.
In some embodiments, the master controller comprises:
the information reading and writing module is configured to read the counterweight information input by a user; and
and the counterweight information comparison module is configured to compare whether counterweight information detected by the radio frequency reader-writer is consistent with counterweight information input by a user, carry out danger alarm prompt under the inconsistent condition, and/or record the current working condition and counterweight information input by the user, judge whether a pilot function of hoisting operation is activated, and record the actual state information of the crane before the operation under the condition that the pilot function is activated.
According to still another aspect of the present disclosure, a crane is provided, which includes the crane counterweight combination identification system of the above embodiment.
According to the identification method for the crane counterweight combination, the radio frequency code carriers are arranged on the counterweight blocks of the crane in a one-to-one correspondence mode, information of each counterweight block on the crane can be read through the radio frequency reader-writer and is sent to the main controller by the radio frequency controller, the main controller analyzes the information reading result, and current counterweight information is calculated. The method can more accurately and conveniently detect the actual counterweight combination of the crane so as to match the current counterweight combination with the working condition, thereby improving the safety of crane operation.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the disclosure and together with the description serve to explain the disclosure and not to limit the disclosure. In the drawings:
FIG. 1 is a schematic diagram of the modular components of one embodiment of a crane associated recombination recognition system according to the present disclosure;
FIG. 2 is a schematic flow chart diagram illustrating one embodiment of a crane counterweight combination identification method according to the present disclosure;
FIG. 3 is a schematic flow chart diagram illustrating another embodiment of a crane counterweight combination identification method according to the present disclosure;
fig. 4 is a schematic flow chart of a crane counterweight combination identification method according to still another embodiment of the disclosure.
Detailed Description
The present disclosure is described in detail below. In the following paragraphs, different aspects of the embodiments are defined in more detail. Aspects so defined may be combined with any other aspect or aspects unless clearly indicated to the contrary. In particular, any feature considered to be preferred or advantageous may be combined with one or more other features considered to be preferred or advantageous.
The terms "first", "second", and the like in the present disclosure are merely for convenience of description to distinguish different constituent elements having the same name, and do not denote a sequential or primary-secondary relationship.
In the description of the present disclosure, the directions or positional relationships indicated by "upper", "lower", "top", "bottom", "front", "rear", "inner" and "outer" and the like are used based on the directions or positional relationships shown in the drawings, and are only for convenience of describing the present disclosure, and do not indicate or imply that the device referred to must have a specific direction, be constructed in a specific direction and be operated, and thus, should not be construed as limiting the scope of the present disclosure.
Due to the restriction of the gross weight of the vehicle, the crane product with higher hoisting performance adopts a combined counterweight form, namely counterweight combination can be carried out in a form of respectively combining counterweights. The information of the counterweight of the crane is used as a key parameter of the performance of the hoisting weight, and the condition of the tonnage of the counterweight is determined when the working condition is selected.
In the related art known to the inventors, the weight combination is generally obtained as follows.
Firstly, each counter weight is respectively provided with a detection sensor, when the counter weights are hung, the detection sensors of the counter weights are manually connected together, and the control system calculates the weight of the counter weights according to the signals of the connected detection sensors.
Because each counter weight corresponds to one detection switch, the detection switch circuit needs to be connected in a one-to-one mode according to the combination of the counter weights, counter weight identification cannot be realized once the connection is forgotten, the operation is complex, and intelligent detection cannot be realized; the connection of the counterweight line can have a suspension phenomenon, and the problem of poor connection reliability of the line can exist, so that the counterweight information can not be accurately obtained.
Secondly, pressure detection sensors are arranged on the crane supporting legs, the weight of the crane on which the counterweight is hung is indirectly calculated by converting pressure information into weight information, and the counterweight weight is obtained by subtracting the net weight of the crane from the weight.
In the actual use process, the accuracy of the oil pressure sensor of the support oil cylinder and the complex stress environments of the support oil cylinders in four directions can bring challenges to the total weight calculation, and the weight of the whole machine cannot be accurately obtained through the pressure (weight) information of the oil pressure sensor. Therefore, the method has not been popularized and applied to products.
And thirdly, a pressure detection device and a mechanism are arranged on the crane counterweight oil cylinder, and the combined counterweight weight is indirectly calculated by converting pressure information into weight information.
The detection mode has large dependence on the detection sensor, and the detection is not true due to the precision and the installation error of the sensor.
And fourthly, introducing an image recognition technology, arranging a camera on the rotary table, photographing the combined type balance weight through the camera, comparing the obtained picture with the image stored in the image recognition controller, and judging the actual balance weight combination condition.
Since the image recognition depends on weather, light and the like greatly, the counterweight combination recognition is difficult when the difference between the shot image and the compared image is large.
In view of the above, the present disclosure provides a method for identifying a counterweight combination of a crane, which is hereinafter referred to as an "identification method" for short, in some embodiments, as shown in fig. 1 and 2, the method includes:
step 101, the radio frequency controller 30 responds to a counterweight information reading instruction sent by the main controller and sends a counterweight information reading instruction to the radio frequency reader-writer 20;
102, reading information of the radio frequency code carrier 10 corresponding to each balancing weight on the crane through a radio frequency reader-writer 20;
103, transmitting the information reading result from the radio frequency controller 30 to the main controller 40 through the radio frequency reader-writer 20;
Steps 101 to 104 are performed sequentially.
In this embodiment, a radio frequency code carrier 10 is correspondingly disposed at a specific position on each weight block, the radio frequency code carrier 10 can be disposed on the surface or inside the weight block, and a specific code is disposed in the radio frequency code carrier 10 to uniquely represent the number and/or weight of the weight block. The radio frequency code carrier 10 is divided into a passive type and an active type, the inside of the radio frequency code carrier contains electronically stored information, the radio frequency code carrier can be identified within a plurality of meters, and unlike a bar code, a radio frequency label does not need to be located in the sight of the radio frequency reader-writer 20. In order to prevent the information in the code carrier 10 from being copied falsely, the information is stored in an encrypted mode, so that the reliability of information transmission is improved, and the accuracy of counterweight detection is ensured.
The radio frequency reader-writer 20 comprises an antenna, a coupling element and a chip, can read tag information and sometimes write in, is arranged at a specific position of the crane, enables the reading and writing range to cover the radio frequency code carrier 10 on all the counter weights on the crane, is connected with the radio frequency controller 30 through a hardware circuit on one hand, receives a reading instruction from the radio frequency controller 30 and transmits the reading result to the radio frequency controller 30; on the other hand, the data information on the radio frequency code carrier 10 on the counterweight block is transmitted and collected through radio frequency electromagnetic waves.
The rf controller 30 interacts with the main controller 40 and the rf reader 20. When the rf controller 30 receives the counterweight information reading instruction from the main controller 40, it sends a counterweight information reading instruction to the rf reader 20, and the rf controller 30 controls the rf reader 20 to read information of the rf code carrier 10 on the counterweight block. When the rf controller 30 receives the read data from the rf reader/writer 20, it transfers the read result to the main controller 40.
The embodiment of the disclosure realizes the rapid identification of the counterweight combination by utilizing the radio frequency identification technology and adopting a non-contact identification mode, and realizes the automatic identification of the counterweight weight by calculating the tonnage of the counterweight combination. Radio-Frequency Identification (RFID) is a non-contact automatic Identification technology, which uses Radio-Frequency electromagnetic waves to realize contactless information transmission between a reader and a mobile object (an RFID tag is attached to the object) for Identification, classification and tracking through space coupling (alternating magnetic field or electromagnetic field) and achieves the Identification purpose through the transmitted information. The RFID is an automatic control system which integrates the comprehensive application of multiple subjects such as a computer technology, an information acquisition and processing technology, a wireless data transmission technology, a network data communication technology, a mechanical electronic automatic control technology and the like.
The counterweight information is transmitted wirelessly, and connection of the counterweights is not needed, so that the connection relation between the counterweights can be simplified, the counterweights can be flexibly combined, and the connection of lines is not involved; moreover, since the electromagnetic wave of the radio frequency reader-writer 20 can cover the whole crane range, the whole counterweight weight can be comprehensively and accurately obtained as long as the counterweight block is placed on the crane, and data cannot be omitted; in addition, the method can reduce the workload of an operator and realize the automatic detection of the balance weight.
In some embodiments, the step 102 of reading, by the rf reader/writer 20, the information of the rf code carrier 10 corresponding to each counterweight on the crane includes:
102A, emitting electromagnetic waves through the radio frequency reader-writer 20, and activating each radio frequency code carrier 10 in an electromagnetic wave radiation range;
and step 102B, feeding back the pre-written information to the radio frequency reader-writer 20 by each radio frequency code carrier 10.
In this embodiment, the rf controller 30 controls the rf reader 20 to emit rf electromagnetic waves, which can activate the rf code carrier 10 in the radiation range, and the rf code carrier 10 feeds back the specific information written therein to the rf reader 20 through the internal antenna, so as to finally realize the reading of the rf code carrier 10 information by the rf reader 20. Preferably, the radio frequency code carrier 10 can be arranged in the counterweight block, so that the radio frequency code carrier 10 can be prevented from being damaged in the counterweight combination process, and the service life is prolonged.
In some embodiments, the identification method of the present disclosure further comprises:
and step 100, judging whether a triggering condition of automatic counterweight detection is met, and if so, sending a counterweight information reading instruction through the main controller 40.
Because the hanging connection of the counterweight is generally carried out only before the crane starts the hoisting operation, the counterweight combination intelligent detection system does not need to be always in an activated state, the triggering condition of the counterweight automatic detection is judged through the step 100, the resource occupation of the controller can be realized, the radio frequency reader-writer 20 is prevented from continuously sending electromagnetic waves to influence the working reliability of other electrical elements, and the operation reliability is improved.
The step 100 of determining whether the triggering condition for the automatic detection of the counterweight is satisfied may be performed at least in the following manner, and various triggering conditions may exist in parallel.
Firstly, whether the counterweight hanging oil cylinder moves or not is detected, and if the counterweight hanging oil cylinder is in a moving state, when the counterweight hanging oil cylinder stops moving, a trigger condition meeting automatic counterweight detection is judged.
The counterweight hanging oil cylinder is used for providing driving force for hanging and installing the counterweight, and when the counterweight hanging oil cylinder is detected to move, the situation that the current state of the counterweight combination is changed is shown, and the counterweight hanging oil cylinder needs to be detected again. When the counterweight hanging oil cylinder stops moving, the counterweight hanging is shown to be completely hung, and the counterweight combination information can be detected at the moment.
And secondly, judging whether a crane working condition switching interface is entered, and if so, judging that a triggering condition for automatic counterweight detection is met.
At entering hoist operating mode switching interface, it explains that the operator calls out operating mode switching interface preparation and selects operating mode information control hoist operation, can judge whether the counter weight combination matches with the operation operating mode before the operation this moment through detecting counter weight information, and the operation operating mode includes: the hoisting operation is allowed only under the matching condition, so that the operation safety can be provided, and the crane is prevented from being tipped over during overload operation.
And thirdly, detecting whether the moment limiter is started or not, and judging that the triggering condition of automatic counterweight detection is met when the moment limiter is started every time.
When the moment limiter is started, the moment generated by the current hoisting weight reaches the set limit value, the weight amount needing to be increased can be determined by detecting the current counterweight information, and the moment limit value of the moment limiter is reset.
After each activation of the torque limiter, the identification method of the present disclosure further includes:
the main controller 40 compares whether the current counterweight information is consistent with the counterweight information memorized in the last shutdown after the system is started, and if not, an alarm is given.
Because the counter weight can probably be readjusted manually after the crane is shut down after the last operation, whether the current counter weight information is consistent with the counter weight information when the crane was shut down after the crane was started up is detected, so that the counter weight combination of the crane can be ensured not to change, and if the counter weight combination is changed, an operator can be prompted to adjust timely according to the work, so that the hidden trouble of the operation is prevented.
Further, after the counterweight is adjusted, the torque limit value of the torque limiter is updated to be matched with the detected current counterweight information according to the mapping relation, such as a table or a functional relation, between the limit torque and the counterweight information, which is prestored in the torque limiter. Therefore, the hoisting machine can hoist a larger hoisting weight.
In some embodiments, referring to fig. 4, the identification method of the present disclosure further comprises:
after the main controller 40 completes the calculation of the current counterweight information for the first time, a second counterweight information reading instruction is sent to the radio frequency controller 30;
and comparing whether the current counterweight information calculated for the first time and the current counterweight information calculated for the second time are consistent through the main controller 40, if so, taking the information as detected counterweight information, and if not, sending information of counterweight information detection failure and prompting a user to manually input counterweight information.
The embodiment can improve the comparison of the detection results through two detections, and only when the detection results of the two detections are consistent, the detection result is used as the final judgment basis, so that the accuracy of the detection result can be improved, the occurrence of false detection is avoided, and the occurrence of reading and writing deviation of the radio frequency reader-writer 20 once at a time is prevented. If the error detection occurs, the counter weight is matched with the working condition by manually inputting the counter weight information by a user without depending on the automatic detection counter weight information.
In some embodiments, after sending the information that the detection of the counterweight information fails, the identification method of the present disclosure further includes:
sending a third weight information reading instruction to the rf controller 30;
the main controller 40 compares whether the current counterweight information calculated for the third time is consistent with the current counterweight information calculated for the first time and the current counterweight information calculated for the second time, if the current counterweight information is not consistent, the counterweight information detection failure information is sent out, and if the current counterweight information calculated for the third time is consistent with the current counterweight information calculated for the first time or the current counterweight information calculated for the second time, the same two calculated values are taken as the detected counterweight information.
In this embodiment, if the results of the three detections are inconsistent, it is indicated that the recognition system has a fault and the detection is invalid, and the recognition system can be used only after maintenance, and if the results of the two detections in the three detections are the same, the same results of the two detections can be used as information for detecting the counterweight. The method can further judge whether the reason causing the inconsistency of the two detection results is system failure or accidental events.
After the counterweight information is calculated by the main controller 40, the user can use the counterweight information in two ways when selecting the working condition.
In the first embodiment, as shown in fig. 4, in the case that the current weight information obtained by comparing the first and second calculations is consistent, the identification method of the present disclosure further includes:
when the working condition input is needed, the detected counterweight information is directly filled in the counterweight information input interface through the main controller 40.
The embodiment can accurately obtain the detection result through two detection comparisons, so that the detection result can be directly and automatically input, for example, a hybridization information text box in a dialog box. Through the function of counter weight information automatic identification and filling, can realize the automatic selection of counter weight when the user selects the operating mode, not only save the link that the user additionally input counter weight, but also can guarantee to input accurate counter weight information to judge whether the counter weight matches with the operation operating mode, improve the security of operation. Only when the two detection data are inconsistent, the user needs to select the counterweight information by himself.
In a second embodiment, as shown in fig. 3, the identification method of the present disclosure further includes:
reading the weight information input by the user through the main controller 40; in the dialog box, the user can directly select the counterweight information provided in advance for convenience;
comparing whether the counterweight information detected by the radio frequency reader-writer 20 is consistent with the counterweight information input by the user through the main controller 40, and if not, giving an alarm prompt; for example, a hazard warning may be displayed on the screen, or an audible alarm may be used that is deactivated only after the user presses the mute key.
In this embodiment, the detected counterweight information is only used as a prompt, that is, when the user selects a working condition, the counterweight information is still selectively input by the user, and only whether the detected counterweight information is consistent with the counterweight information input by the user is compared, so that the counterweight information is reminded when the detected counterweight information is inconsistent with the counterweight information input by the user, and the counterweight information can be accurately input by the user or the detection result is incorrect in subsequent further positioning, so that the mutual verification effect can be achieved, and the accuracy of counterweight information input is improved.
In some embodiments, as shown in fig. 3, in the case that it is determined that the detected weight information is not consistent with the weight information input by the user, the identification method of the present disclosure further includes:
recording the current working condition, the input counter weight information of the user, the current time and the like;
judging whether a pilot function of the hoisting operation is activated or not, and recording the actual state information of the crane before the operation in the state that the pilot function is activated, wherein the actual state information comprises: overload information, hoisting weight information, length of the suspension arm, amplitude angle of the suspension arm and other conventional information.
According to the embodiment, under the condition that the detected counterweight information is not consistent with the counterweight information input by the user, various information is recorded in time, so that the current information is transmitted to the platform to be analyzed, whether the intelligent recognition system needs to be overhauled or not is determined according to the recorded information, or evidence can be provided when dangerous conditions occur in the crane operation process, and fault positioning is easy to perform according to the recorded information.
In some embodiments, if it is determined that the detected weight information is inconsistent with the weight information input by the user, in the case that the detected weight information is obtained by two calculation comparisons, the method further includes:
and judging whether the detected counterweight information is larger than the counterweight information input by the user, and if so, allowing the crane to continue working.
The detected counterweight information is inconsistent with the counterweight information input by the user and comprises two types: firstly, the detected counterweight information is larger than counterweight information input by a user; and secondly, the detected counterweight information is smaller than the counterweight information input by the user. For the first situation, the actual counterweight meets the use requirement of the current working condition, the crane can still be allowed to continue working, and the use requirement is relaxed as much as possible under the condition of ensuring no danger during operation; and for the second condition, the actual counter weight does not meet the use requirement of the current working condition, the crane operation may have tipping risk, and the crane operation is forbidden.
Secondly, the present disclosure provides a crane counterweight combination identification system, which is hereinafter referred to as "identification system" for short, as shown in fig. 1, including:
the radio frequency code carriers 10 are arranged on the balancing weights of the crane in a one-to-one correspondence manner;
a radio frequency reader/writer 20 configured to read information of each radio frequency carrier 10, which is provided at a position where the crane can cover each weight with electromagnetic waves;
the radio frequency controller 30 is electrically connected with the radio frequency reader-writer 20 and configured to send a counterweight information reading instruction to the radio frequency reader-writer 20 and receive information sent by the radio frequency reader-writer 20; and
and the main controller 40 is electrically connected with the radio frequency controller 30 and configured to send a counterweight information reading instruction to the radio frequency controller 30, receive information sent by the radio frequency reader-writer 20, analyze an information reading result, and calculate current counterweight information as detected counterweight information. The main controller 40 is a vehicle controller of the crane.
If a user selects the counterweight information by means of visual inspection when working condition selection is performed, potential safety hazards can be caused under the condition of human visual inspection negligence. The identification system can realize automatic identification of the counterweight combination information through a radio frequency technology, can more accurately and conveniently detect the actual counterweight combination of the crane, so that the current counterweight combination is matched with the working condition, the safety of crane operation is improved, and the real counterweight weight of the crane during operation can be recorded by matching with a crane operation parameter recording device.
In some embodiments, the main controller 40 further includes a detection trigger determining module configured to determine whether a trigger condition for the counterweight automatic detection is satisfied, and if so, issue a counterweight information reading instruction. The detection triggering judgment module judges whether the triggering condition of the automatic counterweight detection is met or not, and the triggering condition can be realized at least in the following three ways:
first, the identification system further comprises: a displacement detection part configured to detect a motion state of the counterweight hitch cylinder; the detection triggering judgment module is configured to send a counterweight information reading instruction when judging that the counterweight hitching oil cylinder in the moving state stops moving.
And secondly, the detection trigger judgment module is configured to send a counterweight information reading instruction when judging that the crane enters the working condition switching interface.
Thirdly, the detection triggering judgment module is configured to send a counterweight information reading instruction when the moment limiter is started every time; the main controller 40 further includes: the counterweight information comparison module is configured to compare whether the current counterweight information is consistent with counterweight information memorized when the counterweight information is started after shutdown last time; and the alarm module is configured to alarm when the current counterweight information is inconsistent with the counterweight information memorized when the power-off is started last time.
In some embodiments, the master controller 40 includes: and the counterweight information comparison module is configured to compare whether the current counterweight information calculated for the first time and the current counterweight information calculated for the second time are consistent, take the current counterweight information as detected counterweight information under the condition of consistency, send out information of counterweight information detection failure under the condition of inconsistency, and prompt a user to manually input the counterweight information.
In some embodiments, the master controller 40 further comprises: and the information reading and writing module is configured to directly fill and write the detected counterweight information into the counterweight information input interface when working condition input is required under the condition that the current counterweight information calculated for the first time and the current counterweight information calculated for the second time are consistent through comparison.
The embodiment can improve the comparison of the detection results through two detections, and only when the detection results of the two detections are consistent, the detection result is used as the final judgment basis, so that the accuracy of the detection result can be improved, the occurrence of false detection is avoided, and the occurrence of reading and writing deviation of the radio frequency reader-writer 20 once at a time is prevented. If the error detection occurs, the counter weight is matched with the working condition by manually inputting the counter weight information by a user without depending on the automatic detection counter weight information.
In some embodiments, the master controller 40 includes:
the information reading and writing module is configured to read the counterweight information input by a user; and
and the counterweight information comparison module is configured to compare whether counterweight information detected by the radio frequency reader-writer 20 is consistent with counterweight information input by a user, perform danger alarm prompting under the inconsistent condition, and/or record current working conditions, counterweight information input by the user, current time and the like, judge whether a pilot function of hoisting operation is activated, and record actual state information of the crane before the operation under the condition that the pilot function is activated.
According to the embodiment, under the condition that the detected counterweight information is not consistent with the counterweight information input by the user, various information is recorded in time, so that the current information is transmitted to the platform to be analyzed, whether the intelligent recognition system needs to be overhauled or not is determined according to the recorded information, or evidence can be provided when dangerous conditions occur in the crane operation process, and fault positioning is easy to perform according to the recorded information.
Finally, the present disclosure also provides a crane, for example, a wheeled crane or a crawler crane, comprising the crane counterweight combination identification system of the above embodiment. The identification system mainly comprises: and (4) reading balance weight information, analyzing balance weight information, comparing detected balance weight information, applying balance weight information and the like. The crane can ensure that the current counterweight combination is matched with the operation working condition, thereby improving the safety of crane operation.
The embodiments provided by the present disclosure are described in detail above. The principles and embodiments of the present disclosure are explained herein using specific examples, which are set forth only to help understand the method and its core ideas of the present disclosure. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present disclosure without departing from the principle of the present disclosure, and such improvements and modifications also fall within the scope of the claims of the present disclosure.
Claims (19)
1. A crane counterweight combination identification method is characterized by comprising the following steps:
the radio frequency controller (30) responds to a counterweight information reading instruction sent by the main controller and sends a counterweight information reading instruction to the radio frequency reader-writer (20);
reading the information of the radio frequency code carrier (10) corresponding to each balancing weight on the crane through the radio frequency reader-writer (20);
transmitting the information reading result from the radio frequency controller (30) to the main controller (40) through the radio frequency reader-writer (20);
analyzing the information reading result through the main controller (40) and calculating the current counterweight information;
after the moment limiter is started every time, the main controller (40) compares whether the current counterweight information is consistent with the counterweight information memorized after the system is started and shut down last time, and if not, an alarm is given.
2. A crane counterweight group identification method as claimed in claim 1, characterized in that the information in the radio frequency carrier (10) is stored in an encrypted manner.
3. The identification method of the crane counterweight combination according to claim 1, wherein the step of reading the information of the radio frequency code carrier (10) corresponding to each counterweight block on the crane by the radio frequency reader/writer (20) comprises:
emitting electromagnetic waves through the radio frequency reader-writer (20) and activating each radio frequency code carrier (10) in an electromagnetic wave radiation range;
and each radio frequency code carrier (10) feeds back pre-written information to the radio frequency reader-writer (20).
4. The crane counterweight combination identification method as claimed in claim 1, further comprising:
and judging whether a triggering condition of automatic counterweight detection is met, and if so, sending a counterweight information reading instruction through the main controller.
5. The method for identifying the combination of the counterweight of the crane as claimed in claim 4, wherein the step of determining whether the triggering condition for the counterweight automatic detection is satisfied comprises:
detecting whether the counterweight hanging oil cylinder moves, and if the counterweight hanging oil cylinder is in a moving state, judging that the triggering condition of automatic counterweight detection is met when the counterweight hanging oil cylinder stops moving; or
Judging whether a crane working condition switching interface is entered, and if the crane working condition switching interface is entered, judging that a triggering condition for automatic counterweight detection is met; or
And detecting whether the moment limiter is started or not, and judging that the triggering condition of automatic counterweight detection is met when the moment limiter is started every time.
6. The crane counterweight combination identification method of claim 5 further comprising, after each activation of said torque limiter:
after the counterweight is adjusted, updating the torque limit value of the torque limiter to be matched with the detected current counterweight information according to the mapping relation between the limit torque prestored in the torque limiter and the counterweight information.
7. The crane counterweight combination identification method as claimed in claim 1, further comprising:
after the main controller (40) completes the calculation of the current counterweight information for the first time, sending a second counterweight information reading instruction to the radio frequency controller (30);
and comparing whether the current counterweight information calculated for the first time and the current counterweight information calculated for the second time are consistent through the main controller (40), if so, taking the information as detected counterweight information, and if not, sending information of counterweight information detection failure and prompting a user to manually input counterweight information.
8. The method for identifying a crane counterweight combination as claimed in claim 7, further comprising, after sending the information of counterweight information detection failure:
sending a third weight information reading instruction to the radio frequency controller (30);
and comparing whether the current counterweight information calculated for the third time is consistent with the current counterweight information calculated for the first time and the current counterweight information calculated for the second time through the main controller (40), if not, sending out information of counterweight information detection failure, and if the current counterweight information calculated for the third time is consistent with the current counterweight information calculated for the first time or the current counterweight information calculated for the second time, taking the same two calculated values as detected counterweight information.
9. The method for identifying a crane counterweight combination as claimed in claim 7, wherein in case that the current counterweight information obtained by comparing the first and second calculations is consistent, the method further comprises:
and when the working condition input is needed, the detected counterweight information is directly filled in and written into the counterweight information input interface through the main controller (40).
10. A crane counterweight combination identification method as claimed in claim 1 or 7, further comprising:
reading, by the master controller (40), weight information input by a user;
and comparing whether the counterweight information detected by the radio frequency reader-writer (20) is consistent with the counterweight information input by the user through the main controller (40), and if not, giving an alarm.
11. The method for identifying a combination of crane counterweights as recited in claim 10, further comprising, if it is determined that the detected counterweight information is inconsistent with the counterweight information entered by the user:
recording the current working condition and the counterweight information input by a user;
and judging whether the pilot function of the hoisting operation is activated or not, and recording the actual state information of the crane before the operation in the state that the pilot function is activated.
12. The method for identifying a counterweight combination of a crane as claimed in claim 11, wherein if the detected counterweight information is determined to be inconsistent with the counterweight information input by the user, the method further comprises, if the detected counterweight information is obtained by two calculation comparisons:
and judging whether the detected counterweight information is larger than the counterweight information input by the user, and if so, allowing the crane to continue working.
13. A crane counterweight combination identification system, comprising:
the radio frequency code carriers (10) are arranged on the balancing weights of the crane in a one-to-one correspondence manner;
a radio frequency reader/writer (20) configured to read information of each radio frequency carrier (10);
the radio frequency controller (30) is configured to send a counterweight information reading instruction to a radio frequency reader-writer (20) and receive information sent by the radio frequency reader-writer (20); and
the main controller (40) is configured to send a counterweight information reading instruction to the radio frequency controller (30), receive information sent by the radio frequency reader-writer (20), analyze an information reading result and calculate current counterweight information;
wherein the master controller (40) comprises:
the detection trigger judgment module is configured to send out a counterweight information reading instruction when the moment limiter is started every time;
the counterweight information comparison module is configured to compare whether the current counterweight information is consistent with counterweight information memorized when the counterweight information is started after shutdown last time; and
and the alarm module is configured to alarm when the current counterweight information is inconsistent with the counterweight information memorized when the power is started after the shutdown last time.
14. The crane counterweight combination identification system of claim 13 further comprising:
a displacement detection part configured to detect a motion state of the counterweight hitch cylinder;
wherein the master controller (40) comprises: and the detection trigger judgment module is configured to send out a counterweight information reading instruction when judging that the counterweight hooking oil cylinder in the motion state stops moving.
15. A crane counterweight combination identification system as claimed in claim 13, characterized in that said master controller (40) comprises: and the detection trigger judgment module is configured to send the counterweight information reading instruction under the condition that the condition switching interface of the crane is judged to enter.
16. A crane counterweight combination identification system as claimed in claim 13, characterized in that said master controller (40) comprises: and the counterweight information comparison module is configured to compare whether the current counterweight information calculated for the first time and the current counterweight information calculated for the second time are consistent, take the current counterweight information as detected counterweight information under the condition of consistency, send out information of counterweight information detection failure under the condition of inconsistency, and prompt a user to manually input the counterweight information.
17. The crane counterweight combination identification system of claim 16, wherein said master controller (40) further comprises: and the information reading and writing module is configured to directly fill and write the detected counterweight information into the counterweight information input interface when working condition input is required under the condition that the current counterweight information calculated for the first time and the current counterweight information calculated for the second time are consistent through comparison.
18. A crane counterweight combination identification system as claimed in claim 13 or 16, characterized in that said master controller (40) comprises:
the information reading and writing module is configured to read the counterweight information input by a user; and
and the counterweight information comparison module is configured to compare whether counterweight information detected by the radio frequency reader-writer (20) is consistent with counterweight information input by a user, carry out danger alarm prompt under the inconsistent condition, and/or record the current working condition and the counterweight information input by the user, judge whether a pilot function of hoisting operation is activated, and record the actual state information of the crane before the operation under the condition that the pilot function is activated.
19. A crane comprising a crane counterweight combination identification system as claimed in any one of claims 13 to 18.
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| CN111847246B (en) * | 2020-07-24 | 2022-05-03 | 湖南三一中型起重机械有限公司 | Automatic counterweight identification method and system and crane |
| CN112850521A (en) * | 2021-01-29 | 2021-05-28 | 三一汽车起重机械有限公司 | Crane counterweight identification method and device and crane |
| CN112919323A (en) * | 2021-03-29 | 2021-06-08 | 三一汽车起重机械有限公司 | Crane counterweight detection method and system and crane |
| CN113184702B (en) * | 2021-04-09 | 2023-08-15 | 浙江三一装备有限公司 | Crane counterweight detection method and device and crane |
| CN113344153A (en) * | 2021-05-17 | 2021-09-03 | 浙江三一装备有限公司 | Balancing weight, and identification information identification device and method of balancing weight |
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