CN104098032B - The control system of crane work zone boundary restriction and control method - Google Patents
The control system of crane work zone boundary restriction and control method Download PDFInfo
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- CN104098032B CN104098032B CN201410354302.9A CN201410354302A CN104098032B CN 104098032 B CN104098032 B CN 104098032B CN 201410354302 A CN201410354302 A CN 201410354302A CN 104098032 B CN104098032 B CN 104098032B
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Abstract
The invention discloses control system and the control method that a kind of crane work zone boundary limits, first this control method sequentially includes the following steps:, the corresponding control module of the secure border numerical value of the crane working region that input is measured in advance to crane controller；Secondly, under the secure border Numerical Control current operating state according to above-mentioned input, the crane arm of crane works in being in area of safety operaton；Secure border numerical value only just can be transferred to control module by input module by the present invention, and then realize the control that crane works in being in safe range, compared with prior art, in the present invention, control system is without operating the input that crane can realize secure border numerical value, avoid security risk present in setting area of safety operaton boundary process, and which is conducive to quickly, simply realizing crane work region job, improves the operating efficiency of crane.
Description
Technical field
The present invention relates to technical field of crane control, particularly to crane work zone boundary
The control system limiting and control method.
Background technology
With the development of technology, crane complicates and control to tonnage maximization, structure
Intelligent direction processed develops, and lifting altitude, operation amplitude, lifting capacity etc. are increasing, therefore
Security to lifting is had higher requirement.
Crane is widely used in various field of operation, due to its different areas of activity complexity and
Non-selectivity, during crane hanging component, can be frequently encountered by as building, high-voltage line etc.
Barrier, generally, operator's notice focuses mostly in lift heavy thing, and ignores arm
Position, and due to the existence of human eye blind area, and the reason such as weather, it is likely that cause hanging
Arm bumps against with barrier and causes security incident.Even if operator not only noted lift heavy thing position but also
Noting the position of arm, long energy is concentrated also can make operator produce fatigue, increases and sends out
The possibility of raw security incident, has additionally also had a strong impact on the efficiency of lifting.Therefore to crane
Area of safety operaton boundary limit is very important.
Current existing technical scheme is the working region boundary Control technology using self-learning type,
Its concrete grammar setting boundary limit value is as follows: prior art is by handling crane respectively
Reach the working region border of requirement, then these values are recorded.The method can realize
The restriction of crane work zone boundary.The method is primarily present following shortcoming:
1st, this technical method exists in handling crane setting area of safety operaton boundary process
Security risk.As when crane is in nearby HV Transmission Line operation, its any position with built on stilts
The safe distance of power transmission line, should meet certain requirement, is otherwise likely to result in electric shock injures and deaths thing
Therefore, additionally be also possible to cause second accident, such as: civilian power failure, hospital have a power failure jeopardize patient,
Civil aviaton's traffic disturbance, plant downtime etc..The requirement setting according to prior art, it is necessary to handle
When heavy-duty machine reaches area of safety operaton border, could record numerical value, this method has certain
Risk, because due to reasons such as weather, the visual field and action inertias, operator can not get hold of
(current crane does not has active probe to the safe distance of the barriers such as crane arm and high-voltage line
The device of obstacle distance) it is accurately positioned, easily cause security incident.
2nd, this technical method records number when reaching area of safety operaton border by manipulation crane
Value, efficiency low (complicated), cost are high (human cost, fuel cost and machine loss etc.)
And record numerical value can corrective difference.
Efficiency low (complicated) refers to the setting of area of safety operaton boundary value, needs behaviour every time
Vertical crane carries out relevant action and just can determine that；Cost height refers to carry out related moving at crane
When making, need fuel consumption, manpower etc..
Boundary value can corrective difference refer to when due to the inertia of action or fine motion bad when, record
Numerical value be not likely to be optimal boundary value, now need to reset boundary value, be necessary for
Handle crane and re-start relevant action.
Therefore, how a kind of crane work control method that zone boundary limits, this control are provided
Method processed for area of safety operaton arrange simple, efficiency comparison is high and energy resource consumption ratio
Relatively low, it is those skilled in that art's technical problems urgently to be resolved hurrily.
Content of the invention
The purpose of the present invention be provide a kind of crane work control method that zone boundary limits and
Control system, this control method for area of safety operaton arrange simple, efficiency comparison is high,
And energy resource consumption ratio is relatively low.
For solving above-mentioned technical problem, the present invention provides a kind of crane work zone boundary to limit
Control method, this control method sequentially includes the following steps:
The secure border numerical value of the crane working region that S10, input are measured in advance is to crane
The corresponding control module of controller；
S20, according to crane under the secure border Numerical Control current operating state of above-mentioned input
Crane arm be in area of safety operaton work；
Wherein, described secure border numerical value be height number, amplification value, in revolution numerical value
At least one.
Preferably, following steps are increased between described step S10 and step S20 also further:
S30, the validity judging above-mentioned input secure border numerical value, if it is judged that for having
Effect, then enter step S20；Otherwise, hint instructions is sent；
Wherein, the basis for estimation of described validity is described crane normal range of operation, user
Select operating mode allowed band.
Preferably, before carrying out step S10, following judgement is first carried out:
S00, choose whether to carry out area of safety operaton setting, if carried out area of safety operaton
Set, then carry out step S10.
Preferably, while carrying out step S20, also follow the steps below:
S40, the current operating state parameter showing described crane arm；Described current operating parameters
Including the corresponding numerical value of secure border numerical value with input.
Preferably, while carrying out step S20, following steps are also carried out: described in input
Secure border numerical value is revised in real time.
Preferably, step S20 particularly as follows:
S21, judge whether crane current operating state is in prewarning area, if it is,
While carrying out step S22, send alarm command；Otherwise, step S21 is proceeded；
S22, judge whether crane current operating state reaches described secure border numerical value, as
Fruit is, then lock current state.
Preferably, it is yes in step S21 judged result, before carrying out step S22, first carry out
Following steps:
S23, judge crane current operating state whether close to described secure border numerical value, as
Fruit is, reduces the responsiveness of corresponding component, then carries out step S22；Otherwise, continue to hold
Row step S23.
On the basis of above-mentioned control method, present invention also offers a kind of crane working region
The control system of boundary limit, including with lower component:
Input module, the safe edge of crane working region will measured in advance for operating personnel
Boundary's numerical value inputs to the corresponding control module of crane controller；
Control module, is connected with the output port of described input module, and for according to above-mentioned defeated
Under the secure border Numerical Control current operating state entering, the crane arm of crane is in trouble free service
Work in region；
Wherein, described secure border numerical value be height number, amplification value, in revolution numerical value
At least one, described control module includes height limitation logical block, amplitude logical block, returns
Turn at least one in circumscription logic unit three, be respectively used to process described height number, width
Number of degrees value, revolution numerical value.
Preferably, described input module is human-computer interaction interface, its man-machine interface is provided with
Virtual operating unit that described controller is in communication with each other and display unit；Operating personnel pass through
The described secure border numerical value of described virtual operating unit input, and the work at present of described crane arm
Parameter is shown in described man-machine interface by described display unit.
Preferably, described human-computer interaction interface is additionally provided with value revision unit, for repairing in real time
Just described secure border numerical value.
The control system that crane provided by the present invention work zone boundary limits is provided with
Special input module, operating personnel can be by the maximum height value of crane arm head, minimum height
The maximum angle of revolution of angle value, the maximum amplitude value of crane arm and minimum amplitude value and the arm left side
One or more in the secure border numerical value such as maximum angle of revolution with the right, is input to input mould
Block, and pass to control module by communication modes, then control module is according to the safety of input
Whether binary values real-time judge current state crane is in area of safety operaton, thus realizes
The security logic of crane working region is limited.
Only just can be transferred to secure border numerical value by input module in the present invention is controlled
Module, and then realize the control that crane works in being in safe range, compared with prior art,
In the present invention, control system is without operating the input that crane can realize secure border numerical value, keeps away
Exempt from security risk present in setting area of safety operaton boundary process, and which has had
It is beneficial to quickly, simply realize crane work region job, improve the operation effect of crane
Rate.
Brief description
Fig. 1 is the control that in a kind of specific embodiment of the present invention, crane work zone boundary limits
The structured flowchart of system；
Fig. 2 is the controlling party that in the first embodiment of the present invention, crane work zone boundary limits
The flow chart of method；
Fig. 3 is the controlling party that in the second embodiment of the present invention, crane work zone boundary limits
The flow chart of method.
Detailed description of the invention
The core of the present invention be provide a kind of crane work control method that zone boundary limits and
Control system, this control method for area of safety operaton arrange simple, efficiency comparison is high,
And energy resource consumption ratio is relatively low.
It is introduced technical scheme herein in conjunction with control method and control system, in order to make this area
Technical staff be more fully understood that technical scheme, below in conjunction with the accompanying drawings and be embodied as
The present invention is described in further detail for example.
Refer to Fig. 1, Fig. 1 is crane work regional edge in a kind of specific embodiment of the present invention
The structured flowchart of the control system of boundary.
The invention provides the control system that a kind of crane work zone boundary limits, including with
Lower component: input module, the peace of crane working region will measured in advance for operating personnel
Full binary values inputs to the corresponding control module of crane controller；Control module, with input
The output port of module connects, and current for the secure border Numerical Control according to above-mentioned input
Under duty, the crane arm of crane is in work in area of safety operaton.Control module is permissible
For Vehicle Controller or other controllers.
Wherein, secure border numerical value be height number, amplification value, in revolution numerical value at least
One, control module includes that height limitation logical block, amplitude logical block, revolution restriction are patrolled
Collect at least one in unit three, be respectively used to process height number, amplification value, revolution
Numerical value.
Specifically, height number includes being stretched by arm or luffing rises and makes arm arm head reach safety
Maximum height numerical value, and arm contracting or luffing fall to making arm arm head to reach safe minimum high
Number of degrees value；Amplification value refers to the level from the centre of gyration line of turntable to suspension hook vertical center line
Distance, including stretched by arm or luffing falls to making crane amplitude to reach safe amplitude peak,
And contracted by arm or luffing acts the minimum radius making road, crane amplitude road safety；In like manner,
Revolution numerical value includes, by the left and turn right turntable, making crane arm respectively reach the left side
The maximum angle of revolution in maximum angle of revolution and the right.
The acquisition of above-mentioned secure border numerical value can be measured by manpower, it is also possible to is surveyed by instrument
Amount.
Refer to Fig. 2, Fig. 2 is crane work zone boundary in the first embodiment of the present invention
The flow chart of the control method limiting.
Specifically, the control method of above-mentioned control system sequentially includes the following steps:
The secure border numerical value of the crane working region that S10, input are measured in advance is to crane
The corresponding control module of controller；
S20, according to crane under the secure border Numerical Control current operating state of above-mentioned input
Crane arm be in area of safety operaton work.
The control system that crane provided by the present invention work zone boundary limits is provided with
Special input module, operating personnel can be by the maximum height value of crane arm head, minimum height
The maximum angle of revolution of angle value, the maximum amplitude value of crane arm and minimum amplitude value and the arm left side
One or more in the secure border numerical value such as maximum angle of revolution with the right, is input to input mould
Block, and pass to control module by communication modes, then control module is according to the safety of input
Whether binary values real-time judge current state crane is in area of safety operaton, thus realizes
The security logic of crane working region is limited.
Only just can be transferred to secure border numerical value by input module in the present invention is controlled
Module, and then realize the control that crane works in being in safe range, compared with prior art,
In the present invention, control system is without operating the input that crane can realize secure border numerical value, keeps away
Exempt from security risk present in setting area of safety operaton boundary process, and which has had
It is beneficial to quickly, simply realize crane work region job, improve the operation effect of crane
Rate.
Input module is human-computer interaction interface, its man-machine interface is provided with and carries out phase with controller
The virtual operating unit of communication mutually；Operating personnel input secure border number by virtual operating unit
It is worth, and the current operating parameters of crane arm is shown in man-machine interface by display unit.So,
Operating personnel can very intuitively understand the duty of current crane.Human-computer interaction interface is permissible
It is arranged in operating room, it is also possible to be arranged at other positions, it is achieved straighforward operation.
Refer to Fig. 3, Fig. 3 is crane work zone boundary in the second embodiment of the present invention
The flow chart of the control method limiting.
Further, following steps can also be increased between step S10 and step S20 further:
S30, the validity judging above-mentioned input secure border numerical value, if it is judged that for having
Effect, then enter step S20；Otherwise, step S11；
S11, send hint instructions；
Wherein, the basis for estimation of validity is that crane normal range of operation, user select operating mode
Allowed band.For example judge that numerical value is negative, whether judges the boundary value arranging in lifting
Machine normal range of operation is interior and judges whether the secure border numerical value arranging selects operating mode user
In the range of permission etc..After judging secure border numerical value validity, then carry out Logic judgment.
In the various embodiments described above, before carrying out step S10, first carry out following judgement:
S00, choose whether to carry out area of safety operaton setting, if carried out area of safety operaton
Set, then carry out step S10.
In the various embodiments described above, while carrying out step S20, also follow the steps below:
S40, the current operating state parameter of display crane arm；Current operating parameters include with defeated
The corresponding numerical value of secure border numerical value entering.
In a preferred embodiment, in the various embodiments described above, human-computer interaction interface is all right
It is provided with value revision unit, revise secure border numerical value for real-time.
While carrying out step S20, also carry out following steps: to the secure border number inputting
Value is modified.
In the various embodiments described above, step S20 particularly as follows:
S21, judge whether crane current operating state is in prewarning area, if it is,
While carrying out step S22, send alarm command；Otherwise, step S21 is proceeded；
S22, judge whether crane current operating state reaches secure border numerical value, if it is,
Then lock current state.
It on the basis of above-described embodiment, is yes in step S21 judged result, carry out step S22
Before, following steps are first carried out:
S23, judge crane current operating state whether close to secure border numerical value, if it is,
Reduce the responsiveness of corresponding component, then carry out step S22；Otherwise, step is continued executing with
S23。
Above to crane provided by the present invention work zone boundary limit control method and
Control system is described in detail.Specific case used herein to the principle of the present invention and
Embodiment is set forth, and the explanation of above example is only intended to help to understand the present invention's
Method and core concept thereof.It should be pointed out that, for those skilled in the art,
Under the premise without departing from the principles of the invention, some improvement and modification can also be carried out to the present invention,
These improve and modify in the protection domain also falling into the claims in the present invention.
Claims (8)
1. the control method that a crane work zone boundary limits, it is characterised in that should
Control method sequentially includes the following steps:
The secure border numerical value of the crane working region that S10, input are measured in advance is to crane
The corresponding control module of controller；
S20, according to crane under the secure border Numerical Control current operating state of above-mentioned input
Crane arm be in area of safety operaton work；
While carrying out step S20, also follow the steps below:
S40, the current operating state parameter showing described crane arm；Described current operating state
Parameter includes the corresponding numerical value of secure border numerical value with input；
Wherein, described secure border numerical value be height number, amplification value, in revolution numerical value
At least one.
2. control method as claimed in claim 1, it is characterised in that described step S10
And between step S20 also further increase following steps:
S30, the validity judging the secure border numerical value of above-mentioned input, if it is judged that be
Effectively, then step S20 is entered；Otherwise, hint instructions is sent；
Wherein, the basis for estimation of described validity is described crane normal range of operation and use
Family selects operating mode allowed band.
3. control method as claimed in claim 1, it is characterised in that carrying out step S10
Before, following judgement is first carried out:
S00, choose whether to carry out area of safety operaton setting, if carried out area of safety operaton
Set, then carry out step S10.
4. the control method as described in any one of claims 1 to 3, it is characterised in that enter
While row step S20, also carry out following steps: enter the described secure border numerical value of input
Row is revised in real time.
5. the control method as described in any one of claims 1 to 3, it is characterised in that step
Rapid S20 particularly as follows:
S21, judge whether crane current operating state is in prewarning area, if it is,
While carrying out step S22, send alarm command；Otherwise, step S21 is proceeded；
S22, judge whether crane current operating state reaches described secure border numerical value, as
Fruit is, then lock current operating state.
6. control method as claimed in claim 5, it is characterised in that sentence in step S21
Disconnected result is yes, before carrying out step S22, first carries out following steps:
S23, judge crane current operating state whether close to described secure border numerical value, as
Fruit is, reduces the responsiveness of corresponding component, then carries out step S22；Otherwise, continue to hold
Row step S23.
7. the control system that a crane work zone boundary limits, it is characterised in that bag
Include with lower component:
Input module, the safe edge of crane working region will measured in advance for operating personnel
Boundary's numerical value inputs to the corresponding control module of crane controller；
Control module, is connected with the output port of described input module, and for according to above-mentioned defeated
Under the secure border Numerical Control current operating state entering, the crane arm of crane is in trouble free service
Work in region；
Wherein, described secure border numerical value be height number, amplification value, in revolution numerical value
At least one, described control module includes height limitation logical block, amplitude logical block, returns
Turn at least one in circumscription logic unit three, be respectively used to process described height number, width
Number of degrees value, revolution numerical value；
Described input module is human-computer interaction interface, its human-computer interaction interface is provided with described
Virtual operating unit that crane controller is in communication with each other and display unit；Operating personnel are led to
Cross the described secure border numerical value of described virtual operating unit input, and the current work of described crane arm
Make parameter to be shown on described human-computer interaction interface by described display unit.
8. control system as claimed in claim 7, it is characterised in that described man-machine interaction
Interface is additionally provided with value revision unit, revises described secure border numerical value for real-time.
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| CN105346558B (en) * | 2015-10-19 | 2017-11-17 | 杭州创联电子技术有限公司 | A kind of track taking-up vehicle crossbeam overrun alarm system and control method |
| CN106185635B (en) * | 2016-08-09 | 2018-03-02 | 三一海洋重工有限公司 | Crane collision resistant method and system |
| CN106774076A (en) * | 2016-12-28 | 2017-05-31 | 邓英 | A kind of power system operation secure border acquisition methods and its security control |
| DK3556712T3 (en) | 2018-04-20 | 2021-08-30 | Hiab Ab | SECURITY SYSTEM |
| CN111689400A (en) * | 2020-05-21 | 2020-09-22 | 湖南中联重科建筑起重机械有限责任公司 | Tower crane working area control method and equipment |
| CN112141897B (en) * | 2020-08-21 | 2022-12-06 | 南京工程学院 | High-altitude hoisting anti-tipping control method |
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