CN114212688A - Motion control method and device of intelligent tower crane - Google Patents
Motion control method and device of intelligent tower crane Download PDFInfo
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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
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
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Abstract
The application relates to the technical field of intelligent tower cranes, in particular to a motion control method and device of an intelligent tower crane. The method comprises the following steps: the method comprises the steps that a plurality of groups of sensors are arranged on the intelligent tower crane, and a plurality of models are established by utilizing data collected by the plurality of groups of sensors; uniformly coordinating the plurality of models according to service request information and data acquired by a sensor under a preset application scene, and outputting combined control information; closed-loop calculation and analysis are carried out on a single motion system, combined control information is adjusted, and a control command is output; and sending the control command to a motor so as to transfer the intelligent tower crane to work. This application has realized having improved and has leaned on handle control tower machine's converter speed governing to the true intelligent control of intelligent tower machine and realized the action, has reduced the reliance to manual operation. And the control command that this application can filter inoperative or surpass the scope to send the control command of correction deviation fast, and then reach accurate and efficient tower machine control purpose.
Description
Technical Field
The application relates to the technical field of intelligent tower cranes, in particular to a motion control method and device of an intelligent tower crane.
Background
The driver of the existing tower crane is very deficient, and the working environment of the tower crane is quite complex, such as a construction site, a port and the like. At present, each tower crane is controlled by a driver, unified coordination of a control layer surface cannot be carried out, and only possible collision occurrence and background operation supervision are prompted. The personnel in the hoisting site carry out binding and hanging, and the command commands the tower crane operation through the interphone and the whistle flag, and the work is not standard enough. In addition, the blanking site is the same, the blanking is completed by manually assisting in adjusting and positioning and direction, the whole process of personnel control and professional qualification operation are completed, and the action is realized by controlling the speed regulation of the frequency converter of the tower crane by the handle all the time. Therefore, the tower crane needs to solve the intelligent control problem.
Disclosure of Invention
Based on the technical problems, the invention aims to solve the problem that the intelligent tower crane depends on manual control too much, and provides a motion control method and a motion control device of the intelligent tower crane.
The invention provides a motion control method of an intelligent tower crane, which is applied to the intelligent tower crane and comprises the following steps:
the method comprises the steps that a plurality of groups of sensors are arranged on the intelligent tower crane, and a plurality of models are established by utilizing data collected by the plurality of groups of sensors;
uniformly coordinating the plurality of models according to service request information and data acquired by a sensor under a preset application scene, and outputting combined control information;
closed-loop calculation and analysis are carried out on a single motion system, combined control information is adjusted, and a control command is output;
and sending the control command to a motor so as to transfer the intelligent tower crane to work.
In some embodiments of the present invention, the setting of multiple sets of sensors on the smart tower crane and the establishment of multiple models using data collected by the multiple sets of sensors include:
sensors are respectively arranged on a tower body, a trolley and a hook head of the intelligent tower crane;
and establishing a plurality of stable models by using data acquired by sensors arranged on the tower body, the trolley and the hook head.
In some embodiments of the present invention, said building a plurality of stable models using data collected by sensors provided on the tower, the trolley and the hook head comprises:
the data collected by the sensors arranged on the tower body, the trolley and the hook head are transmitted to a processor of the control system;
and a processor of the control system calculates optimal control parameters through a control algorithm, and the process is used as a plurality of stable models, wherein the stable models comprise a tower body stable model, a trolley stable model and a hook head stable model.
In some embodiments of the present invention, the uniformly coordinating the multiple models according to the service request information and the data collected by the sensor in the preset application scenario, and outputting the combined control information includes:
acquiring service request information and data acquired by a sensor in a preset application scene;
comparing the service request information in a preset application scene with the data acquired by the sensor, and substituting the updated data into the corresponding stable model;
and integrating the output values of the corresponding stable models to obtain a combined control command.
In some embodiments of the present invention, the performing closed-loop calculation and analysis on the single motion system, adjusting the combined control information, and outputting the control command includes:
performing closed-loop calculation and analysis on a single motion system, wherein the calculation and analysis mode is multi-access edge calculation, micro-cloud calculation or fog calculation;
and adjusting the combined control information according to the calculation and analysis results, and outputting a control command.
The second aspect of the present invention provides a motion control device for an intelligent tower crane, the device comprising:
the data manager is used for establishing a plurality of models by utilizing data acquired by a plurality of groups of sensors arranged on the intelligent tower crane;
the combined control module is used for uniformly coordinating the plurality of models according to service request information under a preset application scene and data acquired by the sensor and outputting combined control information;
the edge calculation module is used for performing closed-loop calculation and analysis on a single motion system, adjusting combined control information and outputting a control command;
and the sending module is used for sending the control command to the motor so as to transfer the intelligent tower crane to work.
The sensor comprises a nine-axis attitude sensor, a weighing sensor, an inclination angle sensor, a wind speed sensor and a wind direction sensor; and transmitting the service request information under the preset application scene through the PC.
Further, the device comprises a luffing unit, a rotary unit and a lifting unit.
A third aspect of the invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:
the method comprises the steps that a plurality of groups of sensors are arranged on the intelligent tower crane, and a plurality of models are established by utilizing data collected by the plurality of groups of sensors;
uniformly coordinating the plurality of models according to service request information and data acquired by a sensor under a preset application scene, and outputting combined control information;
closed-loop calculation and analysis are carried out on a single motion system, combined control information is adjusted, and a control command is output;
and sending the control command to a motor so as to transfer the intelligent tower crane to work.
A fourth aspect of the invention provides a computer program product comprising a computer program which, when executed by a processor, performs the steps of:
the method comprises the steps that a plurality of groups of sensors are arranged on the intelligent tower crane, and a plurality of models are established by utilizing data collected by the plurality of groups of sensors;
uniformly coordinating the plurality of models according to service request information and data acquired by a sensor under a preset application scene, and outputting combined control information;
closed-loop calculation and analysis are carried out on a single motion system, combined control information is adjusted, and a control command is output;
and sending the control command to a motor so as to transfer the intelligent tower crane to work.
The beneficial effect of this application does: according to the method and the device, a plurality of models are established by utilizing data collected by a plurality of groups of sensors, unified coordination is carried out on the plurality of models according to service request information and data collected by the sensors under a preset application scene, combined control information is output, closed-loop calculation and analysis are carried out on a single motion system, the combined control information is adjusted, a control command is output, the control command is sent to the motor to move the intelligent tower crane to work, real intelligent control on the intelligent tower crane is realized, the action of speed regulation of a frequency converter of the tower crane controlled by a handle is improved, and dependence on manual operation is reduced. And the closed-loop calculation and analysis are carried out on a single motion system, and the control command which does not work or exceeds the range can be filtered, so that the control command for correcting the deviation is quickly sent out, and the aim of accurately and efficiently controlling the tower crane is fulfilled.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.
The present application may be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:
fig. 1 shows a schematic step diagram of a motion control method of an intelligent tower crane in an exemplary embodiment of the present application;
fig. 2 shows a schematic process diagram of a motion control method of another intelligent tower crane in the exemplary embodiment of the present application;
FIG. 3 shows a schematic diagram of a sensor in an exemplary embodiment of the present application;
fig. 4 shows a schematic structural diagram of a motion control method and device of an intelligent tower crane according to an exemplary embodiment of the present application;
FIG. 5 is a schematic diagram illustrating an exemplary embodiment of a computer device;
fig. 6 shows a schematic diagram of a storage medium provided in an exemplary embodiment of the present application.
Detailed Description
Hereinafter, embodiments of the present application will be described with reference to the accompanying drawings. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present application. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present application. It will be apparent to one skilled in the art that the present application may be practiced without one or more of these details. In other instances, well-known features of the art have not been described in order to avoid obscuring the present application.
It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
Exemplary embodiments according to the present application will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to only the embodiments set forth herein. The figures are not drawn to scale, wherein certain details may be exaggerated and omitted for clarity. The shapes of various regions, layers, and relative sizes and positional relationships therebetween shown in the drawings are merely exemplary, and deviations may occur in practice due to manufacturing tolerances or technical limitations, and a person skilled in the art may additionally design regions/layers having different shapes, sizes, relative positions, as actually required.
Several examples are given below in conjunction with the description of figures 1-6 to describe exemplary embodiments according to the present application. It should be noted that the following application scenarios are merely illustrated for the convenience of understanding the spirit and principles of the present application, and the embodiments of the present application are not limited in this respect. Rather, embodiments of the present application may be applied to any scenario where applicable.
Example 1:
the embodiment implements a motion control method of an intelligent tower crane, as shown in fig. 1, applied to the intelligent tower crane, and the method includes:
s1, arranging a plurality of groups of sensors on the intelligent tower crane, and establishing a plurality of models by using data acquired by the plurality of groups of sensors;
s2, uniformly coordinating the multiple models according to service request information in a preset application scene and data acquired by a sensor, and outputting combined control information;
s3, performing closed-loop calculation and analysis on a single motion system, adjusting combined control information, and outputting a control command;
and S4, sending the control command to a motor to transfer the intelligent tower crane to work.
In a possible implementation manner, the setting of multiple sets of sensors on the intelligent tower crane and the establishment of multiple models by using data collected by the multiple sets of sensors include: sensors are respectively arranged on a tower body, a trolley and a hook head of the intelligent tower crane; and establishing a plurality of stable models by using data acquired by sensors arranged on the tower body, the trolley and the hook head.
In a possible embodiment, said building a plurality of stable models using data collected by sensors provided on the tower, the trolley and the hook head comprises: the data collected by the sensors arranged on the tower body, the trolley and the hook head are transmitted to a processor of the control system; and a processor of the control system calculates optimal control parameters through a control algorithm, and the process is used as a plurality of stable models, wherein the stable models comprise a tower body stable model, a trolley stable model and a hook head stable model.
In a preferred embodiment, the uniformly coordinating the multiple models according to the service request information and the data collected by the sensor in the preset application scenario, and outputting the combined control information includes: acquiring service request information and data acquired by a sensor in a preset application scene; comparing the service request information in a preset application scene with the data acquired by the sensor, and substituting the updated data into the corresponding stable model; and integrating the output values of the corresponding stable models to obtain a combined control command.
In another preferred embodiment, the performing closed-loop calculation and analysis on the single motion system, adjusting the combined control information, and outputting the control command includes: performing closed-loop calculation and analysis on a single motion system, wherein the calculation and analysis mode is multi-access edge calculation, micro-cloud calculation or fog calculation; and adjusting the combined control information according to the calculation and analysis results, and outputting a control command.
According to the method, a plurality of models are established by utilizing data collected by a plurality of groups of sensors, according to service request information and data collected by the sensors under a preset application scene, the models are unified and coordinated, combined control information is output, closed-loop calculation and analysis are carried out on a single motion system, the combined control information is adjusted, a control command is output, the control command is sent to the motor to move the intelligent tower crane to work, real intelligent control on the intelligent tower crane is realized, the action of realizing speed regulation of a frequency converter of the tower crane by means of handle control is improved, the dependence on manual operation is reduced, closed-loop calculation and analysis are particularly carried out on the single motion system, an ineffective or out-of-range control command can be filtered, a control command for correcting deviation is rapidly sent, and the purpose of accurate and efficient tower crane control is achieved.
Example 2:
the embodiment provides a motion control method of an intelligent tower crane, and specific steps are detailed as follows.
The method comprises the steps of firstly, setting a plurality of groups of sensors on the intelligent tower crane, and establishing a plurality of models by using data acquired by the plurality of groups of sensors.
It should be noted that the sensors may be various types of sensors, and referring to fig. 2, the sensors include a nine-axis attitude sensor, a load cell, an inclination sensor, a wind speed sensor, and a wind direction sensor. The attitude sensor is a high-performance three-dimensional motion attitude measurement system based on MEMS technology. The nine-axis attitude sensor comprises a three-axis gyroscope, a three-axis accelerometer, a three-axis geomagnetic sensor and other motion sensors, and data such as a three-dimensional attitude, an azimuth and the like subjected to temperature compensation are obtained through an embedded low-power-consumption ARM processor. And outputting zero-drift three-dimensional attitude and azimuth data expressed by quaternion and Euler angle in real time by using a quaternion-based three-dimensional algorithm and a special data fusion technology.
In a possible specific implementation manner, the setting of multiple groups of sensors on the intelligent tower crane and the establishment of multiple models by using data collected by the multiple groups of sensors include: sensors are respectively arranged on a tower body, a trolley and a hook head of the intelligent tower crane; and establishing a plurality of stable models by using data acquired by sensors arranged on the tower body, the trolley and the hook head.
In a possible embodiment, said building a plurality of stable models using data collected by sensors provided on the tower, the trolley and the hook head comprises: the data collected by the sensors arranged on the tower body, the trolley and the hook head are transmitted to a processor of the control system; and a processor of the control system calculates optimal control parameters through a control algorithm, and the process is used as a plurality of stable models, wherein the stable models comprise a tower body stable model, a trolley stable model and a hook head stable model.
And secondly, uniformly coordinating the plurality of models according to the service request information and the data acquired by the sensor in the preset application scene, and outputting combined control information.
In a possible specific implementation manner, the uniformly coordinating the multiple models according to the service request information and the data collected by the sensor in the preset application scenario, and outputting the combined control information includes: acquiring service request information and data acquired by a sensor in a preset application scene; comparing the service request information in a preset application scene with the data acquired by the sensor, and substituting the updated data into the corresponding stable model; and integrating the output values of the corresponding stable models to obtain a combined control command.
In specific implementation, for example: before the operation of the tower crane, the height and the speed of the crane, the speed of the trolley and the swing angle of the hook head are preset, the updated data are substituted into the control algorithm for calculation according to the preset conditions and the real-time acquired data acquired by the sensor after the operation of the tower crane and the comparison between the preset conditions and the real-time acquired data by the expert system, and finally the updated output values of the control algorithm of the three models are integrated to send a combined control instruction. The tower body stable model, the trolley stable model and the hook head stable model are managed and coordinated with each other in a unified way. The tower body stable model, the trolley stable model and the hook head stable model can determine the displacement and the change of the tail end attitude through a robot positive kinematics model, namely a DH matrix, so that the ideal attitude of the trolley and the hook head is determined.
And thirdly, performing closed-loop calculation and analysis on a single motion system, adjusting the combined control information and outputting a control command.
In a possible specific implementation, closed-loop calculation and analysis are performed on a single motion system, wherein the calculation and analysis mode is multi-access edge calculation, micro-cloud calculation or fog calculation; and adjusting the combined control information according to the calculation and analysis results, and outputting a control command.
Under special circumstances, for example, in the operation process of the tower crane, if the lifting hook is close to the pedestrian, the lifting hook control information is adjusted, and under the condition of ensuring safety, the whole operation of the tower crane is controlled. For another example, when the trolley and the hook unit are stable, the tower body is unstable, a single tower body stable motion system needs to be controlled to ensure the stability of the tower body, and the control command is output through closed-loop calculation and analysis of the tower body without changing the output commands of other models. And sending the control command to the motor, and in the combined control command, adjusting the combined control information only by adjusting the model output command of the single component, thereby realizing that the intelligent tower crane is mobilized to work under the condition of saving most resources.
And fourthly, sending the control command to a motor to transfer the intelligent tower crane to work.
Referring to fig. 3, before the motor is sent, the motor needs to be sent to the motor driving servo board, and the motor is driven by the motor driving servo board, so as to transfer the intelligent tower crane to work, for example, the tower crane lifts a cargo, moves to a required position and then unloads the cargo. As shown in fig. 3, the handheld mobile terminal may send service request information of a preset application scenario, where the information is sent to the PC through the network, and the PC sends the information to the motion control device for motion control, and certainly, multiple sets of sensing information are also received by the motion control device at the same time. The motion control device is provided with edge computing capability, the combined sensing information and the service request information under the preset application scene are computed and analyzed, the computed and analyzed information is used as a control command, the control command can be computed and analyzed, the part exceeding the range is considered as a problem control signal by comparing with the preset reasonable range, the signal exceeding the set value in a small range can be adjusted and controlled according to percentage and then becomes a normal signal to be executed, the signal exceeding the set value in a large range is considered as an invalid signal to be abandoned, and the next signal is waited to be updated. For example, when the cargo is required to be lifted at any speed, the wind direction and the attitude measured in the sensor data, the position and the property of the cargo and the like are integrated, comprehensive calculation and analysis are carried out, control intellectualization is realized, and an ineffective or over-range control command is filtered, so that a control command for correcting deviation is rapidly sent out, and the aim of accurately and efficiently controlling the tower crane is fulfilled.
Example 3:
this embodiment provides a motion control device of intelligent tower machine, as shown in fig. 4, the device includes:
the data manager 401 is used for establishing a plurality of models by utilizing data acquired by a plurality of groups of sensors arranged on the intelligent tower crane;
the combination control module 402 is configured to perform unified coordination on the multiple models according to service request information in a preset application scenario and data acquired by the sensor, and output combination control information;
an edge calculation module 403, configured to perform closed-loop calculation and analysis on a single motion system, adjust combined control information, and output a control command;
and the sending module 404 is configured to send the control command to the motor so as to transfer the intelligent tower crane to work.
In a specific implementation, the sensors include a nine-axis attitude sensor, a load cell, a tilt sensor, a wind speed sensor, and a wind direction sensor; and transmitting the service request information under the preset application scene through the PC. As an alternative embodiment, the PC may be replaced with a data receiving box or other communicable terminal. In addition, the data manager is preferably a firework type data manager, and further, as can be seen from fig. 2 again, the devices are preferably a luffing unit, a slewing unit and a lifting unit. When the tower crane works, the device can automatically start a control mode, the work of transporting materials is completed through the carrier, the lifting appliance and the fixture, and personnel can assist in a lifting point and can also not participate in control, so that unmanned operation is realized.
The device can be suitable for various complicated tower crane sites, and 4G and 5G networks are laid in the tower crane sites. The motion control device of the intelligent tower crane integrated with the edge calculation function realizes real intelligent control of the intelligent tower crane, improves the speed regulation of a frequency converter of the tower crane controlled by a handle to realize actions, and reduces the dependence on manual operation. The device performs closed-loop calculation and analysis on a single motion system, and can filter the control command which does not work or exceeds the range, so that the control command for correcting the deviation is quickly sent out, and the aim of accurately and efficiently controlling the tower crane is fulfilled.
Reference is now made to fig. 5, which is a diagram illustrating a computer device, in accordance with some embodiments of the present application. As shown in fig. 5, the computer apparatus includes: the system comprises a processor 200, a memory 201, a bus 202 and a communication interface 203, wherein the processor 200, the communication interface 203 and the memory 201 are connected through the bus 202; the memory 201 stores a computer program that can be executed on the processor 200, and when the processor 200 executes the computer program, the processor 200 executes the motion control method of the intelligent tower crane provided by any one of the foregoing embodiments of the present application, and the computer device may be a computer device with a touch-sensitive display.
The Memory 201 may include a high-speed Random Access Memory (RAM) and may further include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 203 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, and the like can be used.
The processor 200 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 200. The Processor 200 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 201, and the processor 200 reads the information in the memory 201 and completes the steps of the method in combination with the hardware thereof.
The computer device provided by the embodiment of the application and the motion control method of the intelligent tower crane provided by the embodiment of the application have the same inventive concept and have the same beneficial effects as the method adopted, operated or realized by the computer device.
Referring to fig. 6, the computer readable storage medium shown in fig. 6 is an optical disc 30, and a computer program (i.e., a program product) is stored on the optical disc 30, and when the computer program is executed by a processor, the computer program may execute the motion control method of the intelligent tower crane provided in any of the foregoing embodiments.
In addition, examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory, or other optical and magnetic storage media, which are not described in detail herein.
The computer-readable storage medium provided by the above-mentioned embodiment of the present application and the quantum key distribution channel allocation method in the spatial division multiplexing optical network provided by the embodiment of the present application have the same inventive concept, and have the same beneficial effects as the method adopted, run, or implemented by the application program stored in the computer-readable storage medium.
Embodiments of the present application further provide a computer program product, which includes a computer program, and when the computer program is executed by a processor, the method for controlling the motion of the intelligent tower crane provided in any of the foregoing embodiments is implemented, where the method includes: the method comprises the steps that a plurality of groups of sensors are arranged on the intelligent tower crane, and a plurality of models are established by utilizing data collected by the plurality of groups of sensors; uniformly coordinating the plurality of models according to service request information and data acquired by a sensor under a preset application scene, and outputting combined control information; closed-loop calculation and analysis are carried out on a single motion system, combined control information is adjusted, and a control command is output; and sending the control command to a motor so as to transfer the intelligent tower crane to work.
It should be noted that: the algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose devices may be used with the teachings herein. The required structure for constructing such a device will be apparent from the description above. In addition, this application is not directed to any particular programming language. It will be appreciated that a variety of programming languages may be used to implement the teachings of the present application as described herein, and any descriptions of specific languages are provided above to disclose the best modes of the present application. In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the application, various features of the application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the application and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this invention pertains. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification, and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except that at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification may be replaced by an alternative feature serving the same, equivalent or similar purpose, unless expressly stated otherwise.
The various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in the creation apparatus of a virtual machine according to embodiments of the present application. The present application may also be embodied as an apparatus or device program for carrying out a portion or all of the methods described herein. A program implementing the application may be stored on a computer readable medium or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
The above description is only for the preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A motion control method of an intelligent tower crane is applied to the intelligent tower crane, and comprises the following steps:
the method comprises the steps that a plurality of groups of sensors are arranged on the intelligent tower crane, and a plurality of models are established by utilizing data collected by the plurality of groups of sensors;
uniformly coordinating the plurality of models according to service request information and data acquired by a sensor under a preset application scene, and outputting combined control information;
closed-loop calculation and analysis are carried out on a single motion system, combined control information is adjusted, and a control command is output;
and sending the control command to a motor so as to transfer the intelligent tower crane to work.
2. The motion control method of the intelligent tower crane according to claim 1, wherein a plurality of groups of sensors are arranged on the intelligent tower crane, and a plurality of models are established by using data collected by the plurality of groups of sensors, and the method comprises the following steps:
sensors are respectively arranged on a tower body, a trolley and a hook head of the intelligent tower crane;
and establishing a plurality of stable models by using data acquired by sensors arranged on the tower body, the trolley and the hook head.
3. The motion control method of the intelligent tower crane according to claim 2, wherein the establishing of the plurality of stable models by using the data collected by the sensors arranged on the tower body, the trolley and the hook head comprises:
the data collected by the sensors arranged on the tower body, the trolley and the hook head are transmitted to a processor of the control system;
and a processor of the control system calculates optimal control parameters through a control algorithm, and the process is used as a plurality of stable models, wherein the stable models comprise a tower body stable model, a trolley stable model and a hook head stable model.
4. The motion control method of the intelligent tower crane according to claim 3, wherein the step of coordinating the plurality of models in a unified manner according to the service request information and the data collected by the sensor in the preset application scene and outputting the combined control information comprises the steps of:
acquiring service request information and data acquired by a sensor in a preset application scene;
comparing the service request information in a preset application scene with the data acquired by the sensor, and substituting the updated data into the corresponding stable model;
and integrating the output values of the corresponding stable models to obtain a combined control command.
5. The motion control method of the intelligent tower crane according to claim 4, wherein the performing closed-loop calculation and analysis on the single motion system, adjusting the combined control information, and outputting the control command comprises:
performing closed-loop calculation and analysis on a single motion system, wherein the calculation and analysis mode is multi-access edge calculation, micro-cloud calculation or fog calculation;
and adjusting the combined control information according to the calculation and analysis results, and outputting a control command.
6. A motion control device of an intelligent tower crane is characterized by comprising:
the data manager is used for establishing a plurality of models by utilizing data acquired by a plurality of groups of sensors arranged on the intelligent tower crane;
the combined control module is used for uniformly coordinating the plurality of models according to service request information under a preset application scene and data acquired by the sensor and outputting combined control information;
the edge calculation module is used for performing closed-loop calculation and analysis on a single motion system, adjusting combined control information and outputting a control command;
and the sending module is used for sending the control command to the motor so as to transfer the intelligent tower crane to work.
7. The motion control device of the intelligent tower crane according to claim 6, wherein the sensors comprise a nine-axis attitude sensor, a weighing sensor, an inclination sensor, a wind speed sensor and a wind direction sensor; and transmitting the service request information under the preset application scene through the PC.
8. The motion control device of the intelligent tower crane according to claim 6 or 7, wherein the device is a luffing unit, a slewing unit and a lifting unit.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 5.
10. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 1 to 5 when executed by a processor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210160585.8A CN114212688B (en) | 2022-02-22 | 2022-02-22 | Motion control method and device of intelligent tower crane |
| PCT/CN2022/120773 WO2023159933A1 (en) | 2022-02-22 | 2022-09-23 | Motion control method and device for intelligent tower crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210160585.8A CN114212688B (en) | 2022-02-22 | 2022-02-22 | Motion control method and device of intelligent tower crane |
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| CN114212688B CN114212688B (en) | 2022-08-05 |
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| WO (1) | WO2023159933A1 (en) |
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| CN115361254A (en) * | 2022-08-03 | 2022-11-18 | 杭州大杰智能传动科技有限公司 | Intelligent master station communication method and control system for three large mechanisms of tower crane |
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| WO2023159933A1 (en) * | 2022-02-22 | 2023-08-31 | 杭州未名信科科技有限公司 | Motion control method and device for intelligent tower crane |
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| CN117105097B (en) * | 2023-10-23 | 2024-04-02 | 杭州未名信科科技有限公司 | Intelligent tower crane control system, method and control equipment |
| CN117446670B (en) * | 2023-12-25 | 2024-04-26 | 泰安市特种设备检验研究院 | Automatic control method and system for tower crane based on man-machine co-fusion |
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| Publication number | Publication date |
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| WO2023159933A1 (en) | 2023-08-31 |
| CN114212688B (en) | 2022-08-05 |
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