CN108840242A - Crane, monkey and its control method and device - Google Patents
Crane, monkey and its control method and device Download PDFInfo
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- CN108840242A CN108840242A CN201811007728.1A CN201811007728A CN108840242A CN 108840242 A CN108840242 A CN 108840242A CN 201811007728 A CN201811007728 A CN 201811007728A CN 108840242 A CN108840242 A CN 108840242A
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- monkey
- time period
- preset time
- preset
- speed
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Classifications
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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
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
- B66C9/14—Trolley or crane travel drives
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The embodiment of the present invention proposes a kind of crane, monkey and its control method and device, is related to crane control field, this method includes：Speed according to preset speed change curves control monkey, so that monkey moves back and forth in predetermined period about preset, wherein, the maximum distance of the first preset of monkey distance is mobile threshold value of the monkey in predetermined period, and in two predetermined periods of arbitrary neighborhood, mobile threshold values of the monkey in a upper predetermined period is greater than the mobile threshold value in next predetermined period.A kind of crane, monkey provided by the embodiment of the present invention and its control method and device can make monkey in specified preset parking and anti-shake.
Description
Technical field
The present invention relates to crane control fields, in particular to a kind of crane, monkey and its controlling party
Method and device.
Background technique
In the prior art, it in using the anti-crane for shaking strategy of hand, needs by control handle output, to realize
The anti-of crane waves.But works as operator and do not know specifically where stop, cause operator that can not know when
Stop the output of handle, to stop preventing waving control, therefore not can avoid overshoot.
Summary of the invention
The purpose of the present invention is to provide a kind of crane, monkey and its control method and devices, can make
Heavy-duty machine trolley is in specified preset parking and prevents shaking.
To achieve the goals above, technical solution used in the embodiment of the present invention is as follows：
In a first aspect, the embodiment of the invention provides a kind of monkey control method, the method includes：According to pre-
If speed change curves control the speed of the monkey so that the monkey is in predetermined period about pre-
Set up an office reciprocating motion, wherein maximum distance of the monkey apart from first preset is the monkey
Mobile threshold value in the predetermined period, and in two predetermined periods of arbitrary neighborhood, the monkey is upper one
Mobile threshold values in predetermined period is greater than the mobile threshold value in next predetermined period.
Second aspect, the embodiment of the invention provides a kind of monkey control device, described device includes：Speed inspection
Module is surveyed, for detecting the speed of monkey；Rate control module, for controlling institute according to preset speed change curves
The speed of monkey is stated, so that the monkey moves back and forth in predetermined period about preset, wherein described
Maximum distance of the monkey apart from the preset is mobile threshold value of the monkey in the predetermined period,
And in two predetermined periods of arbitrary neighborhood, mobile threshold values of the monkey in a upper predetermined period is greater than under
Mobile threshold value in one predetermined period.
The third aspect, the embodiment of the invention provides a kind of monkey, the monkey includes memory, is used
In the one or more programs of storage；Processor.When one or more of programs are executed by the processor, realize above-mentioned
Monkey control method.
Fourth aspect, the embodiment of the invention provides a kind of crane, the crane includes third of the embodiment of the present invention
The monkey that aspect provides.
Compared with the existing technology, a kind of crane, monkey provided by the embodiment of the present invention and its control method
And device, it is moved by directly controlling monkey according to preset speed change curves, so that monkey is default
It is moved back and forth in period about preset, and then enables the container of monkey carry in continuous multiple predetermined periods
Stop waving afterwards, realize that the anti-of crane shakes, compared with the prior art, monkey can be made to stop in specified preset
And prevent shaking.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of crane operative scenario schematic diagram provided by the embodiment of the present invention；
Fig. 2 shows a kind of a kind of schematic diagrams of monkey provided by the embodiment of the present invention；
A kind of speed in predetermined period that Fig. 3 shows Crane control method provided by the embodiment of the present invention becomes
Change curve synoptic diagram；
Fig. 4 shows another speed in predetermined period of Crane control method provided by the embodiment of the present invention
Change curve schematic diagram；
Fig. 5 shows another speed in predetermined period of Crane control method provided by the embodiment of the present invention
Change curve schematic diagram；
Fig. 6 shows a kind of a kind of schematic structure of monkey control device provided by the embodiment of the present invention
Figure.
In figure：10- crane；20- vertical line；30- container；40- heap field areas；100- lifting machine frame；200- lifting
Machine trolley；210- memory；220- processor；230- communication interface；240- monkey control device；241- velocity measuring
Module；242- rate control module；300- suspender.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.Meanwhile of the invention
In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
Referring to Fig. 1, Fig. 1 shows a kind of 10 operative scenario schematic diagram of crane provided by the embodiment of the present invention, rise
Heavy-duty machine 10 is erected in heap field areas 40, can be moved along heap field areas 40, to adjust the working region of crane 10.Crane 10
Including lifting machine frame 100, monkey 200 and suspender 300, monkey 200 is arranged on lifting machine frame 100,
It can be moved along lifting machine frame 100；Suspender 300 is fixedly connected with monkey 200, and suspender 300 is used to lift container 30,
When monkey 200 is moved along lifting machine frame 100, monkey 200 lifts container 30 by suspender 300 and moves
It is dynamic, so that any position that container 30 is fallen in heap field areas 40.
In general, vertical line 20 is additionally provided with below monkey 200, which matches with suspender 300, uses
In the current swing angle of calculating suspender 300.
Referring to Fig. 2, one kind Fig. 2 shows a kind of monkey 200 provided by the embodiment of the present invention is schematic
Structure chart, monkey 200 include memory 210, processor 220 and communication interface 230, the memory 210, processor
220 and communication interface 230, each element be directly or indirectly electrically connected between each other, to realize the transmission or interaction of data.Example
Such as, these elements can be realized by one or more communication bus or signal wire be electrically connected between each other.Memory 210 can be used
Refer in storage software program and module, the corresponding program of monkey control device 240 as provided by the embodiment of the present invention
Order/module, processor 220 are answered by executing the software program and module that are stored in memory 210 thereby executing various functions
With and data processing.The communication interface 230 can be used for carrying out the communication of signaling or data with other node devices.
Wherein, memory 210 can be but not limited to, random access memory (Random Access Memory,
RAM), read-only memory (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only
Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM),
Electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory, EEPROM) etc..
Processor 220 can be a kind of IC chip, have signal handling capacity.The processor 220 can be logical
With processor, including central processing unit (Central Processing Unit, CPU), network processing unit (Network
Processor, NP) etc.；Can also be digital signal processor (Digital Signal Processing, DSP)), dedicated collection
At circuit (Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components.
It is appreciated that structure shown in Fig. 2 is only to illustrate, monkey 200 may also include it is more than shown in Fig. 2 or
The less component of person, or with the configuration different from shown in Fig. 2.Each component shown in Fig. 2 can using hardware, software or
A combination thereof is realized.
In embodiments of the present invention, speed change curves are preset in the memory 210 of monkey 200, work as lifting
Machine trolley 200 the amplitude of fluctuation of container 30 lifted on controlling suspender 300 with realize suspender 300 it is anti-wave when, i.e., according to
According to preset speed change curves in memory 210, so that monkey 200 is within the preset period according to the preset speed
Change curve is spent to move back and forth about preset.
Wherein, crane 10 is when doing the reciprocating motion about preset, two adjacent predetermined periods after when
Between length it is not fully identical, predetermined period is started by initial time, until monkey 200 is after second speed
Terminate at the time of 0, record monkey 200 has moved a predetermined period；Also, what monkey 200 moved back and forth
In the process, the velocity magnitude value at preset is maximum, monkey 200 in each predetermined period apart from preset most
Big distance is mobile threshold values of the monkey 200 in corresponding predetermined period, in two predetermined periods of arbitrary neighborhood, with
When the time passage, monkey 200 the mobile threshold values in a upper predetermined period be greater than next predetermined period in movement
Threshold values, that is to say, that controlled according to multiple continuous predetermined periods, over time, monkey 200 is more next
It is moved closer to preset, and then makes the suspender 300 hung under monkey 200, driven container 30 to realize and prevent shaking control.
Optionally, as an implementation, the period of predetermined period is divided into continuous first preset time period,
Two preset time periods and third preset time period, i.e.,：Predetermined period is divided into continuous three sections, referring to Fig. 3, Fig. 3 is shown
A kind of speed change curves schematic diagram in predetermined period of 10 control method of crane provided by the embodiment of the present invention,
By a predetermined period setting primary adjustment period, illustrated for adjusting the period for the first time according to the speed change curves below
How the movement of monkey 200 is controlled.
According to the speed change curves, in 0≤t<t1The first preset time period in range controls monkey 200
Speed be changed to the first pre-set velocity along straight line.That is, in 0≤t<t1The first preset time period in range, lifting
Machine trolley 200 still accelerates, and the container 30 for showing as hauling 300 carry of suspender moves to t1Time point, and acceleration
It remains unchanged.
Correspondingly, in speed change curves as shown in Figure 3, in t1≤t<t2The second preset time period in range, control
The speed of monkey 200 processed changes to the second pre-set velocity along straight line by the first pre-set velocity.That is, in t1≤t<
t2The second preset time period in range, monkey 200 still accelerate, and in t2Time point, monkey 200
Speed be the second pre-set velocity, wherein the second pre-set velocity is equal in magnitude and contrary with the first pre-set velocity, that is,
It says, monkey 200 is by t1Time point starts reversely to give it the gun, i.e., monkey 200 is in the second preset time period
Acceleration it is contrary with acceleration of the monkey 200 in the first preset time period, be from the performance in speed
First since the first pre-set velocity is decelerated to 0 and then further accelerates to the second pre-set velocity, that is, the process reversely given it the gun, and
Acceleration of the monkey 200 in acceleration and the first preset time period in the second preset time period it is equal in magnitude；
Also, when 200 speed of monkey is the first pre-set velocity and the second pre-set velocity, monkey 200 is located at default
Point, and when 200 speed of monkey is 0, monkey 200 is located at the mobile threshold values position in the adjustment period for the first time
It sets.
Correspondingly, in speed change curves as shown in Figure 3, in t2≤t≤t3Third preset time period in range,
It is 0 that the speed for controlling monkey 200 is changed by the second pre-set velocity.That is, in t2≤t≤t3Third in range
Preset time period, monkey 200 still have acceleration, but the acceleration and second in third preset time period is preset
Acceleration in period it is contrary, from the point of view of the size of velocity amplitude, the velocity amplitude of monkey 200 show as by
Decrescence it is small until be 0；Also, acceleration of the monkey 200 in third preset time period and monkey 200 are the
Acceleration in one preset time period is identical, i.e. direction and size is all the same；Also, in t2≤t≤t3Third in range is default
Period, monkey 200 show as the position that mobile threshold values is moved to by preset.
That is, monkey 200 becomes in the speed of predetermined period according to speed change curves as shown in Figure 3
It turns to：
Wherein, v indicates the speed of monkey 200, v0Indicate the initial velocity of monkey 200, a1Indicate lifting
Acceleration of the machine trolley 200 in the first preset time period, 0≤t<t1Indicate the first preset time period, v1Indicate monkey
200 speed at the end of the first preset time period, a2Indicate acceleration of the monkey 200 in the second preset time period
Degree, t1≤t<t2Indicate the second preset time period, v2Indicate speed of the monkey 200 at the end of the second preset time period,
a3Indicate acceleration of the monkey 200 in third preset time period, t2≤t≤t3Indicate third preset time period, t table
Show the time.
It is worth noting that the above-mentioned velocity variations situation for only enumerating monkey 200 in the adjustment period for the first time,
In subsequent second adjustment period, third time adjustment period until in the n-th adjustment period, monkey 200
It is moved also according to above-mentioned velocity variations rule, difference is only that, adjusts week in subsequent second of adjustment period, third time
Phase, the acceleration value of monkey 200 was gradually reduced until n-th adjusts the period, and when moving to preset
Velocity amplitude is gradually reduced, and the mobile threshold values in each predetermined period is also gradually reduced.
Optionally, as another embodiment, by the period of predetermined period be divided into continuous first preset time period,
Second preset time period, third preset time period, the 4th preset time period and the 5th preset time period, i.e.,：By predetermined period
Be divided into continuous five sections, referring to Fig. 4, Fig. 4 show 10 control method of crane provided by the embodiment of the present invention pre-
If another speed change curves schematic diagram in the period, by a predetermined period setting primary adjustment period, below with first
How explanation controls the movement of monkey 200 according to the speed change curves for the secondary adjustment period.
According to the speed change curves, in 0≤t<t1The first preset time period in range controls monkey 200
Speed be changed to the first pre-set velocity along straight line.That is, in 0≤t<t1The first preset time period in range, lifting
Machine trolley 200 still accelerates, and the container 30 for showing as hauling 300 carry of suspender moves to t1Time point, and acceleration
It remains unchanged.
Correspondingly, in t1≤t<t2The second preset time period in range, the speed of monkey 200 remain unchanged, i.e.,
Monkey 200 is in t1≤t<t2The second preset time period in range remains a constant speed traveling.
Correspondingly, in speed change curves as shown in Figure 4, in t2≤t<t3It the third period in range, controls
The speed of heavy-duty machine trolley 200 changes to the second pre-set velocity along straight line by the first pre-set velocity.That is, in t2≤t<t3Model
The interior third period is enclosed, monkey 200 still accelerates, and in t3The speed at time point, monkey 200 is
Second pre-set velocity, wherein the second pre-set velocity is equal in magnitude and contrary with the first pre-set velocity, that is to say, that lifting
Machine trolley 200 is by t2Time point starts reversely to give it the gun, i.e. acceleration of the monkey 200 in third preset time period
It is contrary with acceleration of the monkey 200 in the first preset time period, it is first due to the from the performance in speed
One pre-set velocity is decelerated to 0 and then further accelerates to the second pre-set velocity, that is, the process reversely given it the gun, and crane is small
Acceleration of the vehicle 200 in acceleration and the first preset time period in third preset time period it is equal in magnitude；Also, work as
When 200 speed of heavy-duty machine trolley is 0, monkey 200 is located at the mobile threshold values position in the adjustment period for the first time.
Correspondingly, in t3≤t<t4The 4th preset time period in range, the speed of monkey 200 remain unchanged, i.e.,
Monkey 200 is in t3≤t<t4The 4th preset time period in range remains a constant speed traveling.
Correspondingly, in speed change curves as shown in Figure 4, in t4≤t≤t5The 5th preset time period in range,
It is 0 that the speed for controlling monkey 200 is changed by the second pre-set velocity.That is, in t4≤t≤t5The 5th in range
Preset time period, monkey 200 still has acceleration, but the acceleration in the 5th preset time period and third are default
Acceleration in period it is contrary, from the point of view of the size of velocity amplitude, the velocity amplitude of monkey 200 show as by
Decrescence it is small until be 0；Also, acceleration of the monkey 200 in the 5th preset time period and monkey 200 are the
Acceleration in one preset time period is identical, i.e. direction and size is all the same；Also, in t5Time point, monkey 200
In the position of mobile threshold values.
That is, monkey 200 becomes in the speed of predetermined period according to speed change curves as shown in Figure 3
It turns to：
Wherein, v indicates the speed of monkey 200, v0Indicate the initial velocity of monkey 200, a1Indicate lifting
Acceleration of the machine trolley 200 in the first preset time period, 0≤t<t1Indicate the first preset time period, v1Indicate monkey
200 speed at the end of the first preset time period, t1≤t<t2Indicate the second preset time period, a3Indicate monkey 200
Acceleration in third preset time period, t2≤t<t3Indicate third preset time period, v3Indicate monkey 200 the
Speed at the end of three preset time periods, t3≤t<t4Indicate the 4th preset time period, a5Indicate monkey 200 the 5th
Acceleration in preset time period, t4≤t≤t5Indicate the 5th preset time period, t indicates the time.
Likewise, it is appreciated that the above-mentioned velocity variations feelings for only enumerating monkey 200 in the adjustment period for the first time
Condition, in subsequent second adjustment period, third time adjustment period until in the n-th adjustment period, monkey
200 move also according to above-mentioned velocity variations rule, and difference is only that, adjust in subsequent second of adjustment period, third time
Complete cycle, the acceleration value of monkey 200 was gradually reduced, and moves to preset until n-th adjusts the period
When velocity amplitude be gradually reduced, and the mobile threshold values in each predetermined period is also gradually reduced.
Optionally, as another embodiment, by the period of predetermined period be divided into continuous first preset time period,
Second preset time period, third preset time period and the 4th preset time period, i.e.,：Predetermined period is divided into continuous four sections,
Referring to Fig. 5, Fig. 5 shows the another kind in predetermined period of 10 control method of crane provided by the embodiment of the present invention
Speed change curves schematic diagram says a predetermined period setting primary adjustment period for adjusting the period for the first time below
The bright movement that monkey 200 how is controlled according to the speed change curves.
According to the speed change curves, in 0≤t<t1The first preset time period in range controls monkey 200
Speed be changed to the first pre-set velocity along straight line.That is, in 0≤t<t1The first preset time period in range, lifting
Machine trolley 200 still accelerates, and the container 30 for showing as hauling 300 carry of suspender moves to t1Time point, and acceleration
It remains unchanged.
Correspondingly, in t1≤t<t2The second preset time period in range, the speed of monkey 200 remain unchanged, i.e.,
Monkey 200 is in t1≤t<t2The second preset time period in range remains a constant speed traveling.
Correspondingly, in speed change curves as shown in Figure 5, in t2≤t<t3It the third period in range, controls
The speed of heavy-duty machine trolley 200 changes to the second pre-set velocity along straight line by the first pre-set velocity.That is, in t2≤t<t3Model
The interior third period is enclosed, monkey 200 still accelerates, and in t3The speed at time point, monkey 200 is
Second pre-set velocity, wherein the second pre-set velocity is equal in magnitude and contrary with the first pre-set velocity, that is to say, that lifting
Machine trolley 200 is by t2Time point starts reversely to give it the gun, i.e. acceleration of the monkey 200 in third preset time period
It is contrary with acceleration of the monkey 200 in the first preset time period, it is first due to the from the performance in speed
One pre-set velocity is decelerated to 0 and then further accelerates to the second pre-set velocity, that is, the process reversely given it the gun, and crane is small
Acceleration of the vehicle 200 in acceleration and the first preset time period in third preset time period it is equal in magnitude；Also, work as
When 200 speed of heavy-duty machine trolley is 0, monkey 200 is located at the mobile threshold values position in the adjustment period for the first time.
Correspondingly, in speed change curves as shown in Figure 5, in t3≤t≤t4The 4th preset time period in range,
It is 0 that the speed for controlling monkey 200 is changed by the second pre-set velocity.That is, in t3≤t≤t4The 4th in range
Preset time period, monkey 200 still has acceleration, but the acceleration in the 4th preset time period and third are default
Acceleration in period it is contrary, from the point of view of the size of velocity amplitude, the velocity amplitude of monkey 200 show as by
Decrescence it is small until be 0；Also, acceleration of the monkey 200 in the 4th preset time period and monkey 200 are the
Acceleration in one preset time period is identical, i.e. direction and size is all the same；Also, in t3≤t≤t4The 4th in range is default
Period, monkey 200 show as the position that mobile threshold values is moved to by preset.
That is, monkey 200 becomes in the speed of predetermined period according to speed change curves as shown in Figure 3
It turns to：
Wherein, v indicates the speed of monkey 200, v0Indicate the initial velocity of monkey 200, a1Indicate lifting
Acceleration of the machine trolley 200 in the first preset time period, 0≤t<t1Indicate the first preset time period, v1Indicate monkey
200 speed at the end of the first preset time period, t1≤t<t2Indicate the second preset time period, a3Indicate monkey 200
Acceleration in third preset time period, t2≤t<t3Indicate third preset time period, v3Indicate monkey 200 the
Speed at the end of three preset time periods, a4Indicate acceleration of the monkey 200 in the 4th preset time period, t3≤t≤
t4Indicate the 4th preset time period, t indicates the time.
Likewise, it is appreciated that the above-mentioned velocity variations feelings for only enumerating monkey 200 in the adjustment period for the first time
Condition, in subsequent second adjustment period, third time adjustment period until in the n-th adjustment period, monkey
200 move also according to above-mentioned velocity variations rule, and difference is only that, adjust in subsequent second of adjustment period, third time
Complete cycle, the acceleration value of monkey 200 was gradually reduced, and moves to preset until n-th adjusts the period
When velocity amplitude be gradually reduced, and the mobile threshold values in each predetermined period is also gradually reduced.
Based on above-mentioned design, a kind of 200 control method of monkey provided by the embodiment of the present invention, by directly controlling
Monkey 200 processed is moved according to preset speed change curves, so that monkey 200 is in predetermined period about pre-
Set up an office reciprocating motion, and then the container 30 of 200 carry of monkey is enable to stop after continuous multiple predetermined periods
It waves, realizes that the anti-of crane 10 shakes, compared with the prior art, monkey 200 can be made to stop in specified preset
And prevent shaking.
Referring to Fig. 6, Fig. 6 shows one of a kind of monkey control device 240 provided by the embodiment of the present invention
Kind of schematic diagram, in embodiments of the present invention, the monkey control device 240 include velocity measuring module 241 and
Rate control module 242.
Velocity measuring module 241 is used to detect the speed of monkey 200.
Rate control module 242 is used to control the speed of the monkey 200 according to preset speed change curves,
So that the monkey 200 in predetermined period about preset move back and forth, wherein the monkey 200 away from
Maximum distance from the preset is mobile threshold value of the monkey 200 in the predetermined period, and any
In two adjacent predetermined periods, mobile threshold values of the monkey 200 in a upper predetermined period is greater than next pre-
If the mobile threshold value in the period.
In embodiment provided herein, it should be understood that disclosed device and method, it can also be by other
Mode realize.The apparatus embodiments described above are merely exemplary, for example, the flow chart and block diagram in attached drawing are shown
The architecture, function and operation in the cards of device according to an embodiment of the present invention, method and computer program product.
In this regard, each box in flowchart or block diagram can represent a part of a module, section or code, the mould
A part of block, program segment or code includes one or more executable instructions for implementing the specified logical function.Also it answers
When note that function marked in the box can also be to be different from being marked in attached drawing in some implementations as replacement
The sequence of note occurs.For example, two continuous boxes can actually be basically executed in parallel, they sometimes can also be by opposite
Sequence execute, this depends on the function involved.It is also noted that each box in block diagram and or flow chart and
The combination of box in block diagram and or flow chart can use the dedicated hardware based system for executing defined function or movement
System is to realize, or can realize using a combination of dedicated hardware and computer instructions.
In addition, each functional module in embodiments of the present invention can integrate one independent part of formation together,
It can be modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) execute the method for the embodiment of the present invention all or part of the steps.And it is preceding
The storage medium stated includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory
The various media that can store program code such as (RAM, Random Access Memory), magnetic or disk.
In conclusion a kind of crane, monkey provided by the embodiment of the present invention and its control method and device,
It is moved by directly controlling monkey 200 according to preset speed change curves, so that monkey 200 is in default week
It is moved back and forth in phase about preset, and then enables the container 30 of 200 carry of monkey continuous multiple default
Stop waving after period, realizes that the anti-of crane 10 shakes, compared with the prior art, monkey 200 can be made specified
It stops and prevents shaking in preset.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (10)
1. a kind of monkey control method, which is characterized in that the method includes：
The speed of the monkey is controlled according to preset speed change curves, so that the monkey is in default week
It is moved back and forth in phase about preset, wherein maximum distance of the monkey apart from the preset is the lifting
Mobile threshold value of the machine trolley in the predetermined period, and in two predetermined periods of arbitrary neighborhood, the monkey
Mobile threshold values in a upper predetermined period is greater than the mobile threshold value in next predetermined period.
2. the method as described in claim 1, which is characterized in that the predetermined period include continuous first preset time period,
Second preset time period and third preset time period, it is described to control the monkey according to preset speed change curves
Speed, so that the step of monkey moves back and forth in predetermined period about preset, including：
According to the preset speed change curves, the speed of the monkey is controlled in first preset time period
The first pre-set velocity is changed to along straight line；
According to the preset speed change curves, the speed of the monkey is controlled in second preset time period
The second pre-set velocity is changed to along straight line, wherein second pre-set velocity and first pre-set velocity are equal in magnitude and square
To on the contrary, acceleration of the monkey in second preset time period and the monkey described first
Acceleration magnitude in preset time period is equal and contrary；
According to the preset speed change curves, the speed of the monkey is controlled in the third preset time period
Variation is 0, wherein acceleration of the monkey in the third preset time period and the monkey are in institute
The acceleration stated in the first preset time period is identical.
3. method according to claim 2, which is characterized in that the monkey is in the speed of the predetermined period：
Wherein, v indicates the speed of the monkey, v0Indicate the initial velocity of the monkey, a1It indicates described to rise
Acceleration of the heavy-duty machine trolley in the first preset time period, 0≤t<t1Indicate first preset time period, v1It indicates described to rise
Speed of heavy-duty machine trolley at the end of first preset time period, a2Indicate the monkey when described second is default
Between acceleration in section, t1≤t<t2Indicate second preset time period, v2Indicate that the monkey is pre- described second
If the speed at the end of the period, a3Indicate acceleration of the monkey in the third preset time period, t2≤t
≤t3Indicate the third preset time period, t indicates the time.
4. the method as described in claim 1, which is characterized in that the predetermined period include continuous first preset time period,
Second preset time period, third preset time period, the 4th preset time period and the 5th preset time period, it is described according to preset speed
Degree change curve controls the speed of the monkey, so that the monkey is past about preset in predetermined period
The step of moving again, including：
According to the preset speed change curves, the speed of the monkey is controlled in first preset time period
The first pre-set velocity is changed to along straight line；
According to the preset speed change curves, the speed of the monkey is controlled in second preset time period
It is constant；
According to the preset speed change curves, the speed of the monkey is controlled in the third preset time period
The second pre-set velocity is changed to along straight line, wherein second pre-set velocity and first pre-set velocity are equal in magnitude and square
To on the contrary, acceleration of the monkey in the third preset time period and the monkey described first
Acceleration magnitude in preset time period is equal and contrary；
According to the preset speed change curves, the speed of the monkey is controlled in the 4th preset time period
It is constant, wherein the 4th preset time period is equal to second preset time period；
According to the preset speed change curves, the speed of the monkey is controlled in the 5th preset time period
Variation is 0, wherein acceleration of the monkey in the 5th preset time period and the monkey are in institute
The acceleration stated in the first preset time period is identical, and the monkey when velocity variations of the monkey are 0
Positioned at the preset.
5. method as claimed in claim 4, which is characterized in that the monkey is in the speed of the predetermined period：
Wherein, v indicates the speed of the monkey, v0Indicate the initial velocity of the monkey, a1It indicates described to rise
Acceleration of the heavy-duty machine trolley in the first preset time period, 0≤t<t1Indicate first preset time period, v1It indicates described to rise
Speed of heavy-duty machine trolley at the end of first preset time period, t1≤t<t2Indicate second preset time period, a3It indicates
Acceleration of the monkey in the third preset time period, t2≤t<t3Indicate the third preset time period, v3
Indicate speed of the monkey at the end of third preset time period, t3≤t<t4Indicate the described 4th it is default when
Between section, a5Indicate acceleration of the monkey in the 5th preset time period, t4≤t≤t5Indicate the described 5th
Preset time period, t indicate the time.
6. the method as described in claim 1, which is characterized in that the predetermined period include continuous first preset time period,
Second preset time period, third preset time period and the 4th preset time period, it is described to be controlled according to preset speed change curves
The speed of the monkey, so that the step of monkey moves back and forth in predetermined period about preset,
Including：
According to the preset speed change curves, the speed of the monkey is controlled in first preset time period
The first pre-set velocity is changed to along straight line；
According to the preset speed change curves, the speed of the monkey is controlled in second preset time period
It is constant；
According to the preset speed change curves, the speed of the monkey is controlled in the third preset time period
The second pre-set velocity is changed to along straight line, wherein second pre-set velocity and first pre-set velocity are equal in magnitude and square
To on the contrary, acceleration of the monkey in the third preset time period and the monkey described first
Acceleration magnitude in preset time period is equal and contrary；
According to the preset speed change curves, the speed of the monkey is controlled in the 4th preset time period
Variation is 0, wherein acceleration of the monkey in the 4th preset time period and the monkey are in institute
The acceleration stated in the first preset time period is identical, and the monkey when velocity variations of the monkey are 0
Positioned at the preset.
7. method as claimed in claim 6, which is characterized in that the monkey is in the speed of the predetermined period：
Wherein, v indicates the speed of the monkey, v0Indicate the initial velocity of the monkey, a1It indicates described to rise
Acceleration of the heavy-duty machine trolley in the first preset time period, 0≤t<t1Indicate first preset time period, v1It indicates described to rise
Speed of heavy-duty machine trolley at the end of first preset time period, t1≤t<t2Indicate second preset time period, a3It indicates
Acceleration of the monkey in the third preset time period, t2≤t<t3Indicate the third preset time period, v3
Indicate speed of the monkey at the end of third preset time period, a4Indicate the monkey described
Acceleration in 4th preset time period, t3≤t≤t4Indicate the 4th preset time period, t indicates the time.
8. a kind of monkey control device, which is characterized in that described device includes：
Velocity measuring module, for detecting the speed of monkey；
Rate control module, for controlling the speed of the monkey according to preset speed change curves, so that described
Monkey moves back and forth in predetermined period about preset, wherein the monkey is apart from the preset
Maximum distance is mobile threshold value of the monkey in the predetermined period, and in two predetermined periods of arbitrary neighborhood
In, mobile threshold values of the monkey in a upper predetermined period is greater than the mobile threshold value in next predetermined period.
9. a kind of monkey, which is characterized in that including：
Memory, for storing one or more programs；
Processor；
When one or more of programs are executed by the processor, such as side of any of claims 1-7 is realized
Method.
10. a kind of crane, which is characterized in that the crane includes monkey as claimed in claim 9.
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| CN111320079A (en) * | 2020-02-24 | 2020-06-23 | 湖南天桥嘉成智能科技有限公司 | Positioning and anti-swing unmanned vehicle control method |
| CN112960550A (en) * | 2021-01-28 | 2021-06-15 | 唐山钢铁集团微尔自动化有限公司 | Anti-swing control method for crown block during manual operation |
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| CN108840242B (en) | 2019-08-16 |
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