CN107364796A - The control method and device of tower crane - Google Patents
The control method and device of tower crane Download PDFInfo
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- CN107364796A CN107364796A CN201710792093.XA CN201710792093A CN107364796A CN 107364796 A CN107364796 A CN 107364796A CN 201710792093 A CN201710792093 A CN 201710792093A CN 107364796 A CN107364796 A CN 107364796A
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- tower crane
- destination
- movement locus
- range
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
-
- 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
- B66C23/62—Constructional features or details
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention provides a kind of control method and device of tower crane, it is related to the technical field of prefabricated part hanging special equipment, this method includes：The target range between the crampon of tower crane and destination is obtained, wherein, destination is hung the final placement location of target object by crampon, and target range includes horizontal range and/or vertical range；Judge whether target range is less than or equal to pre-determined distance；In the case where judging that target range is less than or equal to pre-determined distance, the driving switch of tower crane is controlled to automatically switch to micro-control switch；In the case where judging that target range is less than or equal to pre-determined distance, movement locus is generated based on target range, control crampon is run to destination along movement locus according to low-frequency operation state, alleviate because shaking volume is big when the raising frequency of hanging device is high, step pitch Large Precast Members caused greatly are installed, be not easy technical problem in place.
Description
Technical field
The present invention relates to the technical field of prefabricated part hanging special equipment, more particularly, to a kind of control method of tower crane
And device.
Background technology
At present, Large Precast Members are using autocrane, crawler crane, derrick crane (hereinafter referred to as tower crane) etc.
Common hanging device is lifted, but, furthermore the high raising of hanging device raising frequency, step pitch. due to component volume greatly and again
Greatly, shaking volume is big when causing to have Large Precast Members installation, it is in place, inefficient to be not easy, therefore when large scale prefabricated framework is hung
When being attached to installation site, how accurate component is an important factor for influenceing installation effectiveness in place.
The content of the invention
In view of this, it is an object of the invention to provide a kind of control method and device of tower crane, to alleviate due to lifting
Shaking volume is big when the raising frequency of equipment is high, step pitch Large Precast Members caused greatly are installed, and is not easy technical problem in place.
In a first aspect, the embodiments of the invention provide a kind of control method of tower crane, including：Obtain the crampon of tower crane
Target range between destination, wherein, the destination is hung the final placement position of target object by the crampon
Put, the target range includes horizontal range and/or vertical range；It is default to judge whether the target range is less than or equal to
Distance；In the case where judging that the target range is less than or equal to the pre-determined distance, the gear of the tower crane is controlled
Switch automatically switches to micro-control switch；Wherein, when the driving switch switches to the micro-control switch, the tower crane is controlled
Frequency converter reduces the working frequency of target motor to target frequency, so that the target motor is in low-frequency operation state, it is described
The motor that target motor moves for drive tower crane arm, or, the motor for driving the crampon to move；Described in judging
In the case that target range is less than or equal to the pre-determined distance, movement locus is generated based on the target range, controls institute
Crampon is stated to run to the destination according to the low-frequency operation state along the movement locus.
Further, the target range obtained between the crampon of tower crane and destination includes：Obtain the object
Body apart from the destination vertical range and the target object apart from the destination horizontal range；Based on the target
Distance generation movement locus includes：The movement locus is generated based on the vertical range and the horizontal range, to control
Crampon is stated to run to the destination according to the low-frequency operation state along the movement locus.
Further, the crampon is controlled to be run along the movement locus according to the low-frequency operation state to described
Destination includes：The movement locus is sent to the display interface of operation equipment, so that operative employee is according to being shown in
Movement locus on display interface controls the tower crane to be run according to the low-frequency operation state to the destination；Or control
The tower crane is made automatically along the movement locus, and is run with the low-frequency operation state to the destination.
Further, included based on the vertical range and horizontal range generation movement locus：Based on the level
Distance determines first paragraph track, wherein, the first paragraph track is target object present position and mesh described in the object time
Mark spatial point between movement locus, the target point and the destination are perpendicular, and with the target object residing for
Position is mutually horizontal；Second segment track is determined based on the vertical range, wherein, the second segment track is the object time institute
State the movement locus between destination and the target point；Based on the first paragraph track and the second segment Track Pick-up
The movement locus.
Further, control the tower crane automatically along the movement locus, and with the low-frequency operation state run to
The destination includes：The tower crane is controlled to be moved to the target point along the first paragraph track automatically；Control institute
State tower crane and be moved to the destination along the second segment track automatically.
Further, determine that first paragraph track includes based on the horizontal range：In object described in the object time
Barrier is searched in straight-line trajectory between body present position and the target point；If do not found, by institute
Straight-line trajectory is stated as the first paragraph track；If found, plane selects where the straight-line trajectory
One curvilinear motion track is as the first paragraph track.
Further, after the barrier is found, methods described also includes：Judge whether the barrier is shifting
Dynamic barrier；If it is judged that the barrier is not the moving obstacle, then the plane where the straight-line trajectory
A curvilinear motion track is selected as the first paragraph track；If it is judged that the barrier is the moving obstacle,
Then judge whether the moving obstacle is moved to outside the straight-line trajectory in preset time period, wherein, if it is determined that
Going out is not, then the plane where the straight-line trajectory selects a curvilinear motion track as the first paragraph track.
Second aspect, the embodiment of the present invention also provide a kind of control device of tower crane, including：First acquisition unit, it is used for
The target range between the crampon of tower crane and destination is obtained, wherein, mesh is hung in the destination by the crampon
The final placement location of object is marked, the target range includes horizontal range and/or vertical range；Judging unit, for judging
Whether the target range is less than or equal to pre-determined distance；Control unit, for judge the target range be less than or
In the case that person is equal to the pre-determined distance, the driving switch of the tower crane is controlled to automatically switch to micro-control switch；Wherein, institute is worked as
When stating driving switch and switching to the micro-control switch, controlling the frequency converter of the tower crane reduces the working frequency of target motor to mesh
Frequency is marked, so that the target motor is in low-frequency operation state, the target motor is the motor for driving the motion of tower crane arm,
Or drive the motor of the crampon motion；Generation unit, for judging that the target range is less than or waits
In the case of the pre-determined distance, movement locus is generated based on the target range, controls the crampon along the fortune
Dynamic rail mark is run to the destination according to the low-frequency operation state.
Further, institute's first acquisition unit includes：Acquisition module, for obtaining target described in the object time
The horizontal range of the vertical range of destination described in object distance and the target object apart from the destination；The generation is single
Member includes：Generation module, for generating the movement locus based on the vertical range and the horizontal range, with described in control
Crampon is run to the destination along the movement locus according to the low-frequency operation state.
Further, the generation unit is used for：The movement locus is sent to the display interface of operation equipment, with
Operative employee is set to control the tower crane to be transported according to the low-frequency operation state according to the movement locus being shown on the display interface
Go to the destination；Or control the tower crane automatically along the movement locus, and run with the low-frequency operation state
To the destination.
In embodiments of the present invention, the target range between the crampon of tower crane and destination is obtained first, then, is sentenced
Whether disconnected subject distance is less than or equal to pre-determined distance, in the case where judging that subject distance is less than or equal to pre-determined distance,
Control tower crane enters low-frequency operation state；Target range generation movement locus is now also based on, so that crampon edge
Movement locus is run to destination according to low-frequency operation state.By the control mode, it can realize that tower crane is slowly run, and drop
Low step pitch, it is accurate in place so as to realize, and then alleviate large-scale caused by the raising frequency of hanging device is high, step pitch is big
Shaking volume is big when prefabricated components are installed, and is not easy technical problem in place.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
Obtain it is clear that or being understood by implementing the present invention.The purpose of the present invention and other advantages are in specification, claims
And specifically noted structure is realized and obtained in accompanying drawing.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of flow chart of the control method of tower crane according to embodiments of the present invention；
Fig. 2 is a kind of schematic diagram of the control device of tower crane according to embodiments of the present invention；
Fig. 3 be a kind of tower crane according to embodiments of the present invention control device in second acquisition unit schematic diagram；
Fig. 4 be a kind of tower crane according to embodiments of the present invention control device in generation unit schematic diagram；
Fig. 5 is a kind of schematic diagram of the control system of tower crane according to embodiments of the present invention.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with accompanying drawing to the present invention
Technical scheme be clearly and completely described, it is clear that described embodiment is part of the embodiment of the present invention, rather than
Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, belongs to the scope of protection of the invention.
Embodiment one：
According to embodiments of the present invention, there is provided a kind of embodiment of the control method of tower crane is, it is necessary to illustrate, in accompanying drawing
Flow the step of illustrating can be performed in the computer system of such as one group computer executable instructions, although also,
Show logical order in flow charts, but in some cases, can with different from order herein perform it is shown or
The step of description.
Fig. 1 is a kind of flow chart of the control method of tower crane according to embodiments of the present invention, as shown in figure 1, this method bag
Include following steps：
Step S102, the target range between the crampon of tower crane and destination is obtained, wherein, the destination is institute
The final placement location that crampon hangs target object is stated, the target range includes horizontal range and/or vertical range；
Step S104, judges whether the target range is less than or equal to pre-determined distance；
Step S106, in the case where judging that the target range is less than or equal to the pre-determined distance, control institute
The driving switch for stating tower crane automatically switches to micro-control switch；Wherein, when driving switch switches to micro-control switch, tower crane is controlled
Frequency converter reduces the working frequency of target motor to target frequency, so that target motor is in low-frequency operation state, target motor
To drive the motor of tower crane arm motion, or, the motor for driving crampon to move；Judging that it is default that target range is more than
In the case of distance, return to step S102, continue to obtain the target range between the crampon of tower crane and destination.
It should be noted that the target object can be Large Precast Members, the destination can think large scale prefabricated structure
The working face of part, now, target range is it can be understood that vertical range between crampon and working face.In addition,
Destination can also be an operating point on working face, now, target range it can be understood that being crampon and the work
Vertical range and/or horizontal range between point.
Specifically, in embodiments of the present invention, a micro-control switch can be set in the control room of tower crane, work as controller
In the case of judging that the target range between crampon and destination is less than or equal to pre-determined distance, by the gear of tower crane
Switch switches to micro-control switch.After driving switch switches to micro-control switch, controller reduces the frequency converter for controlling tower crane
The working frequency of target motor, so that target motor enters low-frequency operation state, now, the rotating speed of target motor declines.In mesh
Mark motor is in after low-frequency operation state, and operating personnel's can moves Large Precast Members under the low speed, and then, reduce
Large Precast Members rock situation so that the installation of Large Precast Members is more stable.
When the driving switch of tower crane is switched into micro-control switch, driving switch can mainly be switched by two ways
To micro-control switch, a kind of mode is that tower department manually controls driving switch switching to micro-control switch.For example, when tower department passes through
In the case that instrument monitoring is less than pre-determined distance to target range, driving switch is switched into micro-control switch manually.Another
Mode is that driving switch is automatically switched to micro-control switch by controller.For example, controller monitors what sensor detected in real time
Target range, and in real time by target range compared with pre-determined distance, wherein, it is less than in advance when controller compares target range
If in the case of distance, control driving switch automatically switches to micro-control switch.
It is to detect that target range is less than in embodiments of the present invention it should be noted that by foregoing description
In the case of pre-determined distance, the driving switch of tower crane is controlled to automatically switch to micro-control switch.In addition to this it is possible to reference to tower crane
Movement velocity control the driving switch of tower crane to automatically switch to micro-control switch.
If for example, detecting that the movement velocity of tower crane is less than or equal to pre-set velocity, and detect current time mesh
Target range between mark object and destination is less than pre-determined distance, then controls the driving switch of tower crane to switch to micro-control switch.
When movement velocity is less than or equal to pre-set velocity, and distance is less than pre-determined distance, show Large Precast Members already close to
Destination, and the micro-control stage is had been enter into, now, can in order to guarantee that Large Precast Members accurately are placed on into destination
To be less than or equal to pre-set velocity in movement velocity, and apart from when being less than pre-determined distance, control tower crane enters micro-control state, with
Make operating personnel that target object are placed on into destination in micro-control state.
Step S108, in the case where judging that the target range is less than or equal to the pre-determined distance, based on institute
Target range generation movement locus is stated, controls the crampon to be run along the movement locus according to the low-frequency operation state
To the destination.
It should be noted that in embodiments of the present invention, a controller can be installed, so on the basis of former tower crane
Afterwards, the function described by above-mentioned steps S102 to step S108 is realized by the controller.
Specifically, one or more position biography can be installed in the crane arm of tower crane and the crampon of tower crane respectively
Sensor, to monitor the target range between crampon and destination in real time.Then, position sensor can will detect
Target range is sent to controller, so that controller judges whether target range is less than or equal to pre-determined distance.Work as controller
In the case of judging that target range is less than or equal to pre-determined distance, control tower crane enters low-frequency operation state, now, tower crane
Motor will enter the state of low speed operation, in the case, tower crane plays that step pitch is smaller, meets the slow requirement in place of micro-control.
Tower crane enter low-frequency operation state after, can also obtain in real time crampon hang between target object and destination away from
From, and in the case where the distance is less than pre-determined distance, movement locus is generated, to control crampon along movement locus according to low
Frequency running status is run to destination.
In embodiments of the present invention, the target range between the crampon of tower crane and destination is obtained first, then, is sentenced
Whether disconnected subject distance is less than or equal to pre-determined distance, in the case where judging that subject distance is less than or equal to pre-determined distance,
Control tower crane enters low-frequency operation state；Target range generation movement locus is now also based on, so that crampon edge
Movement locus is run to destination according to low-frequency operation state.By the control mode, it can realize that tower crane is slowly run, and drop
Low step pitch, it is accurate in place so as to realize, and then alleviate large-scale caused by the raising frequency of hanging device is high, step pitch is big
Shaking volume is big when prefabricated components are installed, and is not easy technical problem in place.
In an optional embodiment, the target range between the crampon of tower crane and destination is obtained, and
Comprised the following steps based on target range generation movement locus：
Step S1081, object time target object is obtained apart from the vertical range and target object of destination apart from purpose
The horizontal range on ground；
Step S1082, based on vertical range and horizontal range generation movement locus, to control crampon along movement locus
Run according to low-frequency operation state to destination.
In embodiments of the present invention, it is the knot in crane arm and crampon when target object is placed on into destination
Under conjunction, target object is accurately placed on destination, for example, crane arm moves left and right, crampon moves up and down, and passes through
Target object is placed on destination by the move mode.
At this point it is possible to vertical range of the target object between destination is first determined, then, it is determined that going out target object
Horizontal range between destination.After vertical range and horizontal range is determined, it is possible to based on vertical range and
Horizontal range generates movement locus.
In an optional embodiment, above-mentioned steps S1082, based on vertical range and horizontal range generation motion rail
The process description of mark is as follows：
First, first paragraph track is determined based on horizontal range, wherein, first paragraph track is residing for object time target object
Movement locus between position and target point, target point is perpendicular with destination, and with target object present position
It is mutually horizontal；
Then, second segment track is determined based on vertical range, wherein, second segment track is object time destination and target
Movement locus between spatial point；
Finally, based on first paragraph track and second segment Track Pick-up movement locus.
In embodiments of the present invention, it is first determined first paragraph track, the first paragraph track are target object from object time
Present position starts to the movement locus between target point, and the target point and destination are perpendicular, and and object
Body present position is mutually horizontal.Next, can determines second segment track based on vertical range.Finally, it is possible to first paragraph rail
The combination of mark and second segment track as movement locus, wherein, target point be first paragraph track and second segment track it
Between intersection point.
After first paragraph track and second segment track is determined, it is possible to control tower crane automatically along first paragraph track and
Second segment track, and run to destination, detailed process and be described as follows with low-frequency operation state：
First, control tower crane is moved to target point along first paragraph track automatically；
Then, control tower crane is moved to destination along second segment track automatically.
During control crampon is run to destination along movement locus according to low-frequency operation state, mainly there is two
Kind mode, a kind of mode is automated manner, and another mode is manual mode.
Firstth, manual mode
Movement locus is sent to the display interface of operation equipment, so that operative employee is according to being shown on display interface
Movement locus control tower crane is run to destination according to low-frequency operation state.
Specifically, controller can send movement locus to the display interface of operation equipment, so that operating personnel press
According to movement locus control tower crane movement.
It should be noted that on display interface in addition to showing the movement locus, can be hung with real-time display tower crane
The motion track of arm and crampon, after the movement locus and real-time motion track are included on display interface, operation
Personnel's can is controlled with reference to movement locus and motion track to tower crane.
It should be noted that in embodiments of the present invention, operating personnel include Ta Si and ground handling operator.Terrestrial operation
Personnel are when controlling tower crane, therefore, can be in hoisting hook due to that intuitively can not observe the laying state of target object
Multiple camera devices are installed on hook, with by the camera device in real time by the image information of current target object, and mesh
The environmental information on ground be transferred to ground handling operator, now, the image letter of ground handling operator's can combining target object
Breath, the environmental information of destination, movement locus, and the real-time motion track of tower crane are controlled to tower crane, to realize more
Add and target object is accurately placed on destination.
Mode two：Automated manner
Tower crane is controlled automatically along movement locus by controller, and run with low-frequency operation state to destination.
Specifically, controller is after movement locus is calculated, it is possible to controls tower crane to be automatically moved along movement locus
To destination.
It should be noted that tower crane when being moved to destination along movement locus, can control the target motor of tower crane
The uniform rotation under low frequency state, to drive tower crane arm and crampon uniform motion.
It should be noted that in addition to uniform motion, the target motor of tower crane can also be controlled to do reduction of speed motion, specifically
Ground, it can realize that the reduction of speed of target motor moves by controlling frequency converter.For example, work as control tower crane arm along first paragraph rail
When mark moves, the rotating speed of control first object motor gradually reduces, so that operating personnel or controller can be more accurately
Tower crane arm is parked in target point, wherein, the motor that first object motor moves for drive tower crane arm.When control lifting
Suspension hook along second segment track move when, control the second target motor rotating speed gradually reduce so that operating personnel or control
Target object more accurately can be parked in destination by device, wherein, the electricity that the second target motor moves for drive crampon
Machine.
In embodiments of the present invention, control targe motor does a purpose of reduction of speed rotation mainly more smoothly by mesh
Mark object is placed on destination, to prevent from, due to playing the larger caused tower crane of step pitch in moving process, not realizing precisely
Park.
In an optional embodiment, above-mentioned steps determine the process description of first paragraph track such as based on horizontal range
Under：
First, barrier is searched in the straight-line trajectory between object time target object present position and target point
Hinder thing；
Wherein, if do not found, using straight-line trajectory as first paragraph track；If found, in straight line
Plane where movement locus selects a curvilinear motion track as first paragraph track.
Because the working environment of tower crane is complex, therefore, when tower crane works, surrounding is it is possible that barrier.This
When, it is necessary to it is determined that during movement locus, judge whether include barrier in the track primarily determined that.
Specifically, infrared switch sensor can be installed on crampon and tower crane arm, to pass through the infrared switch
Sensor detects barrier.In addition to this it is possible to camera device is installed on crampon and tower crane arm, to pass through this
Camera device gathers the image information of surrounding environment, then, the image information is sent to controller, so that controller enters to it
Row graphical analysis, and determined whether according to analysis result to include barrier.If not finding barrier, by object time mesh
The straight-line trajectory between object present position and target point is marked as first paragraph track.
If finding barrier, need whether disturbance in judgement thing is moving obstacle；Wherein, if it is judged that obstacle
Thing is not moving obstacle, then the plane where straight-line trajectory selects a curvilinear motion track as first paragraph track；
If it is judged that barrier is moving obstacle, then judge whether moving obstacle is moved to linear motion rail in preset time period
Outside mark, wherein, if it is judged that be not, then the plane where straight-line trajectory selects a curvilinear motion track to be used as the
One section of track.
Specifically, if it is judged that the barrier is not moving obstacle, now, it is determined that during first paragraph track, it is necessary to
The non-moving barrier is got around, so as to which the plane where straight-line trajectory selects a curvilinear motion track as first paragraph rail
Mark.
If it is judged that the barrier is moving obstacle, now, controller needs to calculate in crampon or tower crane
Before arm reaches the barrier, whether the barrier can be moved to outside straight-line trajectory, if it does, then will be straight
Line movement locus is as first paragraph track；If it is not, then the plane where straight-line trajectory selects a curve fortune
Dynamic rail mark is as first paragraph track.
It should be noted that in embodiments of the present invention, determine the process of second segment track with being based on based on vertical range
Horizontal range determines that the process of first paragraph track is identical, and here is omitted.
Embodiment two：
The embodiment of the present invention additionally provides a kind of control device of tower crane, and the control device of the tower crane is mainly used in performing sheet
The control method for the tower crane that inventive embodiments the above is provided, the below control to tower crane provided in an embodiment of the present invention fill
Put and do specific introduction.
Fig. 2 is a kind of schematic diagram of the control device of tower crane according to embodiments of the present invention, as shown in Fig. 2 the tower crane
Control device mainly includes：First acquisition unit 21, judging unit 22, control unit 23 and generation unit 24, wherein：
First acquisition unit 21, for obtaining the target range between the crampon of tower crane and destination, wherein, it is described
Destination is hung the final placement location of target object by the crampon, the target range include horizontal range and/or
Vertical range；
Judging unit 22, for judging whether the target range is less than or equal to pre-determined distance；
Control unit 23, for judge the target range be less than or equal to the pre-determined distance in the case of,
The driving switch of the tower crane is controlled to automatically switch to micro-control switch；Wherein, when driving switch switches to micro-control switch, control
The frequency converter of tower crane reduces the working frequency of target motor to target frequency, so that target motor is in low-frequency operation state, mesh
Motor is marked to drive the motor of tower crane arm motion, or, the motor of drive crampon motion；
Generation unit 24, for judge the target range be less than or equal to the pre-determined distance in the case of,
Movement locus is generated based on the target range, controls the crampon along the movement locus according to the low-frequency operation shape
State is run to the destination.
In embodiments of the present invention, the target range between the crampon of tower crane and destination is obtained first, then, is sentenced
Whether disconnected subject distance is less than or equal to pre-determined distance, in the case where judging that subject distance is less than or equal to pre-determined distance,
Control tower crane enters low-frequency operation state；Target range generation movement locus is now also based on, so that crampon edge
Movement locus is run to destination according to low-frequency operation state.By the control mode, it can realize that tower crane is slowly run, and drop
Low step pitch, it is accurate in place so as to realize, and then alleviate large-scale caused by the raising frequency of hanging device is high, step pitch is big
Shaking volume is big when prefabricated components are installed, and is not easy technical problem in place.
Alternatively, as shown in figure 3, first acquisition unit includes：Acquisition module 31, for obtaining object time target object
Apart from destination vertical range and target object apart from destination horizontal range；Generation unit includes：Generation module 32, use
In generating movement locus based on vertical range and horizontal range, to control crampon along movement locus according to low-frequency operation state
Run to destination.
Alternatively, as shown in figure 4, generation unit includes：First control module 41, for movement locus to be sent to operation
On the display interface of equipment, so that operative employee controls tower crane according to low-frequency operation according to the movement locus being shown on display interface
State is run to destination；Or second control module 42, transported for controlling tower crane automatically along movement locus, and with low frequency
Row state is run to destination.
Alternatively, generation module is used for：First paragraph track is determined based on horizontal range, wherein, first paragraph track is target
Movement locus between moment target object present position and target point, target point is perpendicular with destination, and with
Target object present position is mutually horizontal；Second segment track is determined based on vertical range, wherein, second segment track is object time mesh
Ground and target point between movement locus；Based on first paragraph track and second segment Track Pick-up movement locus.
Alternatively, the second control module is used for：Control tower crane is moved to target point along first paragraph track automatically；Control
Tower crane processed is moved to destination along second segment track automatically.
Alternatively, generation module is additionally operable to：It is straight between object time target object present position and target point
Barrier is searched in line movement locus；If do not found, using straight-line trajectory as first paragraph track；If search
Arrive, then the plane where straight-line trajectory selects a curvilinear motion track as first paragraph track.
Alternatively, generation module is additionally operable to：After barrier is found, whether disturbance in judgement thing is moving obstacle；
If it is judged that barrier is not moving obstacle, then plane selects a curvilinear motion track to make where straight-line trajectory
For first paragraph track；If it is judged that barrier is moving obstacle, then judge whether moving obstacle moves in preset time period
Move to outside straight-line trajectory, wherein, if it is judged that not being, then plane selects a curve where straight-line trajectory
Movement locus is as first paragraph track.
The control device of tower crane provided in an embodiment of the present invention, the control method of the tower crane provided with above-described embodiment have
Identical technical characteristic, so can also solve identical technical problem, reach identical technique effect.
Embodiment three：
Fig. 5 is a kind of schematic diagram of the control system of tower crane according to embodiments of the present invention, as shown in figure 5, the system bag
Fine motion control system is included, wherein, the fine motion control system is arranged in tower crane, there is the operation of tower department；The control system is also included just
Normal operation range and micromotion gear；The control system also includes ground remote controller, wherein, the ground remote controller is by installing people
Member's operation.
As shown in figure 5, fine motion control system includes normal operating state system and fine motion status system, wherein, normal behaviour
It is the operating system being pre-installed in tower crane as status system, fine motion status system is arranged on the operation system in tower crane for after
System, the operating system include controller and frequency converter.
Specifically, one or more position biography can be installed in the crane arm of tower crane and the crampon of tower crane respectively
Sensor, to monitor the target range between crampon and destination in real time.Then, position sensor can will detect
Target range is sent to controller, so that controller judges whether target range is less than or equal to pre-determined distance.Work as controller
In the case of judging that target range is less than or equal to pre-determined distance, control tower crane enters low-frequency operation state, now, tower crane
Motor will enter the state of low speed operation, in the case, tower crane plays that step pitch is smaller, meets the slow requirement in place of micro-control.
Tower crane enter low-frequency operation state after, can also obtain in real time crampon hang between target object and destination away from
From, and in the case where the distance is less than pre-determined distance, movement locus is generated, to control crampon along movement locus according to low
Frequency running status is run to destination.
In embodiments of the present invention, realize that tower crane is micro- by the ULF of tower crane converter technique, the operation of step pitch milligram ammonia
Dynamic control, allows motor slowly to be rotated under less than normal operation frequency state, and it is 0.01m to realize the minimum step pitch of raising, so as to real
It is now accurate in place.Or ground remote controller is operated by installation personnel, raising minimum step 0.01m is realized, so as to realize component
Into accurately in place during installment state, raising operating efficiency, reduction tower crane lifting object impact failure.
In addition, in the description of the embodiment of the present invention, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify description, rather than instruction or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that instruction or hint relative importance.
A kind of computer program product of the control method and device of tower crane of progress that the embodiment of the present invention is provided, including
Store the computer-readable recording medium of the executable non-volatile program code of processor, the finger that described program code includes
Order can be used for performing the method described in previous methods embodiment, and specific implementation can be found in embodiment of the method, will not be repeated here.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, the corresponding process in preceding method embodiment is may be referred to, will not be repeated here.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, can be with
Realize by another way.Device embodiment described above is only schematical, for example, the division of the unit,
Only a kind of division of logic function, can there is other dividing mode when actually realizing, in another example, multiple units or component can
To combine or be desirably integrated into another system, or some features can be ignored, or not perform.It is another, it is shown or beg for
The mutual coupling of opinion or direct-coupling or communication connection can be by some communication interfaces, device or unit it is indirect
Coupling or communication connection, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.
If the function is realized in the form of SFU software functional unit and is used as independent production marketing or in use, can be with
It is stored in the executable non-volatile computer read/write memory medium of a processor.Based on such understanding, the present invention
The part that is substantially contributed in other words to prior art of technical scheme or the part of the technical scheme can be with software
The form of product is embodied, and the computer software product is stored in a storage medium, including some instructions are causing
One computer equipment (can be personal computer, server, or network equipment etc.) performs each embodiment institute of the present invention
State all or part of step of method.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-
Only Memory), random access memory (RAM, Random AccessMemory), magnetic disc or CD etc. are various to deposit
Store up the medium of program code.
Finally it should be noted that：Embodiment described above, it is only the embodiment of the present invention, to illustrate the present invention
Technical scheme, rather than its limitations, protection scope of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those within the art that：Any one skilled in the art
The invention discloses technical scope in, it can still modify to the technical scheme described in previous embodiment or can be light
Change is readily conceivable that, or equivalent substitution is carried out to which part technical characteristic；And these modifications, change or replacement, do not make
The essence of appropriate technical solution departs from the spirit and scope of technical scheme of the embodiment of the present invention, should all cover the protection in the present invention
Within the scope of.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (10)
- A kind of 1. control method of tower crane, it is characterised in that including：The target range between the crampon of tower crane and destination is obtained, wherein, the destination is the crampon institute The final placement location of target object is hung, the target range includes horizontal range and/or vertical range；Judge whether the target range is less than or equal to pre-determined distance；In the case where judging that the target range is less than or equal to the pre-determined distance, the gear of the tower crane is controlled to open Pass automatically switches to micro-control switch；Wherein, when the driving switch switches to the micro-control switch, controlling the frequency converter of the tower crane reduces target motor Working frequency to target frequency so that the target motor is in low-frequency operation state, the target motor is drives tower crane The motor of arm motion, or, the motor for driving the crampon to move；In the case where judging that the target range is less than or equal to the pre-determined distance, generated based on the target range Movement locus, the crampon is controlled to be run along the movement locus according to the low-frequency operation state to the destination.
- 2. according to the method for claim 1, it is characterised in thatThe target range obtained between the crampon of tower crane and destination includes：The target object is obtained apart from the purpose The horizontal range of the vertical range on ground and the target object apart from the destination；Included based on target range generation movement locus：The fortune is generated based on the vertical range and the horizontal range Dynamic rail mark, to control the crampon to be run along the movement locus according to the low-frequency operation state to the destination.
- 3. according to the method for claim 2, it is characterised in that control the crampon along the movement locus according to institute Stating low-frequency operation state and running to the destination includes：The movement locus is sent to the display interface of operation equipment, so that operative employee is according to being shown in the display interface On movement locus control the tower crane to be run according to the low-frequency operation state to the destination；OrControl the tower crane automatically along the movement locus, and run with the low-frequency operation state to the destination.
- 4. according to the method for claim 3, it is characterised in that based on the vertical range and horizontal range generation fortune Dynamic rail mark includes：First paragraph track is determined based on the horizontal range, wherein, the first paragraph track is target object described in object time Movement locus between present position and target point, the target point and the destination are perpendicular, and with it is described Target object present position is mutually horizontal；Second segment track is determined based on the vertical range, wherein, the second segment track is purpose described in the object time Movement locus between ground and the target point；Based on movement locus described in the first paragraph track and the second segment Track Pick-up.
- 5. according to the method for claim 4, it is characterised in that control the tower crane automatically along the movement locus, and Being run with the low-frequency operation state to the destination includes：The tower crane is controlled to be moved to the target point along the first paragraph track automatically；The tower crane is controlled to be moved to the destination along the second segment track automatically.
- 6. according to the method for claim 4, it is characterised in that determine that first paragraph track includes based on the horizontal range：Looked into the straight-line trajectory described in the object time between target object present position and the target point Look for barrier；If do not found, using the straight-line trajectory as the first paragraph track；If found, the plane where the straight-line trajectory selects a curvilinear motion track as the first paragraph Track.
- 7. according to the method for claim 6, it is characterised in that after the barrier is found, methods described is also wrapped Include：Judge whether the barrier is moving obstacle；If it is judged that the barrier is not the moving obstacle, then the plane selection one where the straight-line trajectory Individual curvilinear motion track is as the first paragraph track；If it is judged that the barrier is the moving obstacle, then judge in preset time period whether is the moving obstacle It is moved to outside the straight-line trajectory, wherein, if it is judged that not being, then plane is selected where the straight-line trajectory A curvilinear motion track is selected as the first paragraph track.
- A kind of 8. control device of tower crane, it is characterised in that including：First acquisition unit, for obtaining the target range between the crampon of tower crane and destination, wherein, the destination Hang the final placement location of target object by the crampon, the target range include horizontal range and/or vertically away from From；Judging unit, for judging whether the target range is less than or equal to pre-determined distance；Control unit, in the case where judging that the target range is less than or equal to the pre-determined distance, controlling institute The driving switch for stating tower crane automatically switches to micro-control switch；Wherein, when the driving switch switches to the micro-control switch, controlling the frequency converter of the tower crane reduces target motor Working frequency to target frequency so that the target motor is in low-frequency operation state, the target motor is drives tower crane The motor of arm motion, or, the motor for driving the crampon to move；Generation unit, in the case where judging that the target range is less than or equal to the pre-determined distance, being based on The target range generates movement locus, controls the crampon to be transported along the movement locus according to the low-frequency operation state Go to the destination.
- 9. device according to claim 8, it is characterised in thatThe first acquisition unit includes：Acquisition module, for obtaining target object described in object time apart from the destination Vertical range and the target object apart from the destination horizontal range；The generation unit includes：Generation module, for generating the motion based on the vertical range and the horizontal range Track, to control the crampon to be run along the movement locus according to the low-frequency operation state to the destination.
- 10. device according to claim 9, it is characterised in that generation unit includes：First control module, for the movement locus to be sent to the display interface of operation equipment so that operative employee according to The movement locus being shown on the display interface controls the tower crane to be run according to the low-frequency operation state to the purpose Ground；OrSecond control module, transported for controlling the tower crane automatically along the movement locus, and with the low-frequency operation state Go to the destination.
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| CN201710792093.XA CN107364796A (en) | 2017-09-05 | 2017-09-05 | The control method and device of tower crane |
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| CN201710792093.XA CN107364796A (en) | 2017-09-05 | 2017-09-05 | The control method and device of tower crane |
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| CN111099505A (en) * | 2019-12-23 | 2020-05-05 | 中国联合网络通信集团有限公司 | Tower crane control method and device |
| CN111498697A (en) * | 2020-04-08 | 2020-08-07 | 中联重科股份有限公司 | Mobile hoisting control method, device and system and hoisting machine |
| CN113104731A (en) * | 2021-04-16 | 2021-07-13 | 廊坊中建机械有限公司 | Accurate micromotion control device that takes one's place of prefabricated component handling platform |
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