CN109279511B - Crane hoisting control method and system - Google Patents
Crane hoisting control method and system Download PDFInfo
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- CN109279511B CN109279511B CN201811418174.4A CN201811418174A CN109279511B CN 109279511 B CN109279511 B CN 109279511B CN 201811418174 A CN201811418174 A CN 201811418174A CN 109279511 B CN109279511 B CN 109279511B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- 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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- 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
- B66C23/82—Luffing gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/84—Slewing gear
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention relates to the technical field of automatic control of cranes, and discloses a crane hoisting control method and a crane hoisting control system, wherein the crane hoisting control method comprises the following steps: acquiring initial state information of a crane and a hook target position corresponding to first hoisting operation, wherein the initial state information comprises an initial rotation angle, amplitude and hook initial position of the crane relative to the first hoisting operation; determining a hoisting path according to the initial state information and the target position of the lifting hook, wherein the hoisting path comprises a rotation angle to be executed by the crane, a variable amplitude and the height of the lifting hook; and controlling the crane to execute the first hoisting operation according to the hoisting path, and finishing the first hoisting operation when the lifting hook of the crane reaches the target position of the lifting hook. Therefore, the hoisting operation can be automatically carried out safely and reliably, the manual operation intensity can be reduced, and manual misoperation can be reduced.
Description
Technical Field
The invention relates to the technical field of automatic control of cranes, in particular to a crane hoisting control method and system.
Background
The hoisting operation control of the crane is the core content of a crane control system, and during the hoisting operation, the real-time coordination control on the hoisting, amplitude variation and rotation is needed, and the target positioning of the hoisted load is realized by continuously adjusting the rotation angle, amplitude variation and the height of a lifting hook.
The existing control system mainly depends on manual matching operation of operators on hoisting, amplitude variation and rotation when hoisting operation of the crane is carried out. Firstly, the crane hook is controlled to be positioned to the initial position of the hoisted load, and then the target positioning of the hoisted load is realized by continuously adjusting the rotation angle, the amplitude and the height of the hook. In the whole hoisting operation process, operators need to pay attention to the safety state and the surrounding environment of the whole crane in real time, and accidents caused by the safety overrun of the crane or the collision of surrounding obstacles are avoided. The manual cooperation mode has at least the following technical defects: firstly, the existing control mode is complex to operate, has very high requirements on operators and has rich operation experience; secondly, the automation degree is low, and the labor intensity of operators is increased; thirdly, the whole operation process excessively depends on subjective judgment of people, and misoperation is easy to occur; fourthly, the operation quality varies from person to person, and certain influence is caused on the safe use of the crane; fifthly, hoisting operation cannot be performed in a dangerous operation environment due to low automation degree.
Along with the development of control technology, the automation and intelligence degree of the crane is higher and higher, so that how to intelligently realize automatic hoisting, reduce the manual operation intensity and reduce manual misoperation becomes a hot problem of research in the industry at present.
Disclosure of Invention
The invention aims to provide a crane hoisting control method and system, which are used for realizing automatic hoisting operation of a crane, reducing manual operation intensity and reducing manual misoperation.
In order to achieve the above object, the present invention provides a crane hoisting control method, including: acquiring initial state information of a crane and a hook target position corresponding to first hoisting operation, wherein the initial state information comprises an initial rotation angle, amplitude and hook initial position of the crane relative to the first hoisting operation; determining a hoisting path according to the initial state information and the target position of the lifting hook, wherein the hoisting path comprises a rotation angle to be executed by the crane, a variable amplitude and the height of the lifting hook; and controlling the crane to execute the first hoisting operation according to the hoisting path, and finishing the first hoisting operation when the lifting hook of the crane reaches the target position of the lifting hook.
Preferably, the acquiring of the initial state information of the crane and the target position of the hook corresponding to the first hoisting operation includes one or more of the following operations: receiving user operation, and determining an initial hook position and a target hook position corresponding to the received user operation; and communicating with a remote terminal to receive the initial position of the hook and the target position of the hook; and determining the initial position of the lifting hook based on first positioning information detected by a first positioning module preset at the hook of the crane, and determining the target position of the lifting hook based on second positioning information detected by a second positioning module preset at the position of a lifted object.
Preferably, the controlling the crane to perform the first hoisting operation according to the hoisting path includes: detecting the length of a real-time hoisting steel wire rope based on a hoisting detection device which is arranged in a winding drum of the crane and rotates concentrically with the winding drum; detecting a real-time lifting angle of the lifting arm based on a variable amplitude detection device arranged on the lifting arm of the crane; detecting a real-time rotation angle based on a rotation detection device installed at a rotation center of the crane; and triggering an electromagnetic valve group to control the crane to execute the height, amplitude variation amplitude and rotation angle of the lifting hook to be executed based on the detected length of the real-time hoisting steel wire rope, the detected lifting angle of the real-time lifting arm and the detected real-time rotation angle.
Preferably, when the distance between the initial position of the hook and the target position of the hook exceeds a preset distance threshold, the hoisting path further includes a crane displacement, wherein the controlling the crane to perform the first hoisting operation according to the hoisting path includes: and triggering an engine electronic control unit of the crane to control the crane to perform crane displacement towards the direction of the target position of the lifting hook.
Preferably, after the first hoisting operation is completed when the hook of the crane reaches the hook target position, the method further comprises: carry out reciprocating type hoist and mount operation many times, include: determining a secondary hoisting initial position and a secondary hoisting target position of a second hoisting operation after the first hoisting operation based on a pre-configured position step length, the initial position of the lifting hook and the target position of the lifting hook; acquiring a rotation angle, amplitude of variation and height of a lifting hook when the crane is ready to execute the second hoisting operation, thereby determining second initial state information of the crane about the second hoisting operation; determining a secondary hoisting path for the second hoisting operation based on the second initial state information and the secondary hoisting target position, wherein the secondary hoisting path comprises a rotation angle, a variable amplitude and a hook height to be executed in the second hoisting operation; and controlling the crane to execute secondary hoisting operation according to the secondary hoisting path.
Preferably, the controlling the crane to perform the first hoisting operation according to the hoisting path includes: detecting whether an obstacle exists in a working area of the crane during the hoisting operation; when the presence of the obstacle is detected, performing operations of one or more of: and executing an alarm action, and re-planning the hoisting path to bypass the obstacle.
Preferably, the detecting whether an obstacle exists in the working area of the crane includes: detecting whether an obstacle exists in a working area of the crane when hoisting operation is performed based on an obstacle avoidance detection module, wherein the obstacle avoidance detection module comprises a sensor arranged at a boom and/or a rotary table of the crane, and the sensor comprises but is not limited to one or more of the following: ultrasonic sensors, laser sensors, and machine vision sensors.
Preferably, the controlling the crane to perform the hoisting operation according to the hoisting path includes: and detecting the load weight of the hoisted article, and controlling the rotation speed, the amplitude variation speed and the hoisting speed of the crane in the hoisting operation process according to the detected load weight and the preconfigured lateral load threshold value of the crane.
Another aspect of the embodiments of the present invention provides a crane hoisting control system, including: the device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring initial state information of a crane and a hook target position corresponding to first hoisting operation, and the initial state information comprises an initial rotation angle, amplitude and hook initial position of the crane relative to the first hoisting operation; the hoisting path determining unit is used for determining a hoisting path according to the initial state information and the target position of the lifting hook, wherein the hoisting path comprises a rotation angle to be executed by the crane, a variable amplitude and the height of the lifting hook; and the hoisting operation executing unit is used for controlling the crane to execute the first hoisting operation according to the hoisting path and finishing the first hoisting operation when the lifting hook of the crane reaches the target position of the lifting hook.
Preferably, the crane hoisting control system further comprises: the winding detection device is arranged in a winding drum of the crane, rotates concentrically with the winding drum and is used for detecting the length of a real-time winding steel wire rope; the amplitude detection device is arranged on the suspension arm of the crane and is used for detecting the lifting angle of the suspension arm in real time; the rotation detection device is arranged at the rotation center of the crane and is used for detecting a real-time rotation angle; and the electromagnetic valve group is used for triggering and controlling the crane to execute the height, amplitude and rotation angle of the lifting hook to be executed by the hoisting operation execution unit based on the detected length of the real-time hoisting steel wire rope, the detected lifting angle of the real-time lifting arm and the detected real-time rotation angle.
Preferably, when the distance between the initial position of the hook and the target position of the hook exceeds a set distance threshold, the hoisting path further includes crane displacement, wherein the hoisting operation execution unit is further configured to trigger an engine electronic control unit of the crane to control the crane to execute the crane displacement.
Preferably, the crane hoisting control system further comprises: the obstacle avoidance detection module is used for detecting whether an obstacle exists in a working area of the crane during hoisting operation, wherein the obstacle avoidance detection module comprises a sensor arranged at a boom and/or a rotary table of the crane, and the sensor comprises but is not limited to one or more of the following: ultrasonic sensors, laser sensors, and machine vision sensors.
According to the technical scheme, the initial state information and the target position of the lifting hook are obtained, and the lifting path comprising the rotation angle to be executed, the amplitude and the height of the lifting hook is determined according to the initial state information and the target position of the lifting hook, so that the crane can execute lifting operation according to the lifting path, the lifting operation can be safely and reliably carried out automatically, the manual operation intensity can be reduced, and manual misoperation can be reduced; moreover, the automatic hoisting process does not involve manual operation, the hoisting operation in a dangerous operation environment can be realized, and the application range of the hoisting operation is enlarged.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a crane hoisting control method according to an embodiment of the present invention;
fig. 2 is an example of a crane to which a crane hoisting control method according to an embodiment of the present invention is applied;
FIG. 3 is a flow chart of a crane hoisting control method according to an embodiment of the invention;
FIG. 4 is an exemplary schematic flow chart diagram of a crane hoist control method in accordance with an embodiment of the present invention;
FIG. 5 is a block diagram of a crane hoist control system according to an embodiment of the present invention;
fig. 6 is a schematic structural connection principle diagram of a crane hoisting control system according to an embodiment of the invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
In the present invention, unless otherwise specified, the use of directional words such as "upper, lower, left, right", "inside, outside" and the like generally indicates directional information in the drawings, and is not intended to limit the scope of the present invention, and may also indicate other directional information than the directional information shown in the drawings.
As shown in fig. 1, a crane hoisting control method according to an embodiment of the present invention includes:
and S11, acquiring initial state information of the crane and a target position of the lifting hook corresponding to the first lifting operation, wherein the initial state information comprises an initial rotation angle, a variable amplitude and an initial position of the lifting hook of the crane relative to the first lifting operation.
The implementation subject of the method according to the embodiment of the present invention may be implemented based on a processor or a control unit, and the processor or the control unit may be a part originally belonging to the crane (e.g., a crane main frame), and may also be attached to the crane as a new device, which still falls within the protection scope of the embodiment of the present invention. In addition, it is allowable to configure some peripheral modules or peripheral functions for the processor or the control unit, and for example, additional sensing detection functions, remote communication functions, etc. should also fall within the scope of the present invention.
Regarding the initial gyration angle and the amplitude of the amplitude in the initial state information in the embodiment of the present invention, it may be obtained based on the sensor detection; in addition, regarding the manner of acquiring the initial position and the target position of the hook in the first hoisting operation, it may be realized by one or more of the following manners: firstly, receiving user operation, and determining an initial hook position and a target hook position corresponding to the received user operation; as an example, it may be that the initial hook position and the target hook position are selected by a user operation on a user interaction means of the crane, such as a user interaction interface. Secondly, the system is communicated with a remote terminal (such as a mobile phone, a remote controller and the like) to receive the initial position and the target position of the hook; as an example, it may be that the user inputs the initial position of the hook and the target position of the hook through a mobile phone, and the obtaining of the initial position of the hook and the target position of the hook is realized through communication interaction of the mobile phone and the control unit or the processor of the crane. It will be appreciated that the initial hook position and the target hook position may be defined by three dimensional (x, y and z axis) coordinates, whereby the respective initial hook position and target hook position may be determined by a user local or remote selection operation.
In some alternative and additional embodiments, it may also be that the positioning of the hook position is achieved by GPS positioning technology. As an example, one aspect thereof may be that first positioning information is detected or collected by a first positioning module provided at a hook of the crane (e.g., near the hook), and is determined as a hook initial position; another aspect of this may be second positioning information detected or collected by a second positioning module preconfigured at the hoisted item and determined as the hook target position. Therefore, when the hoisting article needs to be hoisted, the second positioning module can be arranged at the position of the hoisting article in advance, and automatic calibration of the initial position and the target position of the lifting hook during hoisting operation is facilitated.
And S12, determining a hoisting path according to the initial state information and the target position of the lifting hook, wherein the hoisting path comprises a rotation angle to be executed by the crane, a variable amplitude and the height of the lifting hook.
Specifically, the hoisting process involves the rotation, amplitude variation and lifting hook of the crane, so that the initial rotation angle, amplitude variation amplitude, initial hook position and target hook position in the initial state information are compared to determine the rotation angle, amplitude variation amplitude and hook height to be executed by the crane.
And S13, controlling the crane to execute a first hoisting operation according to the hoisting path.
Specifically, the crane can be controlled to carry out hoisting operation according to the rotation angle to be executed, the amplitude and the height of the lifting hook, so that the corresponding rotation angle can be rotated in the whole hoisting operation process, the amplitude of the amplitude is correspondingly changed, and the height of the lifting hook can be correspondingly increased or decreased.
As shown in fig. 2, an example of a crane to which the method according to the embodiment of the present invention is applied is that a hoisting detection device 2 is provided for the crane, which is mounted on a hoisting drum through a coupling, and rotates concentrically with the hoisting drum, and sends a collected drum position signal and a collected frequency signal to a control unit or a processor through a CAN (Controller Area Network) bus, thereby calculating a real-time or current length of a hoisting wire rope, a hoisting retraction speed, and a hook height; in addition, the rotation detection device 3 is installed at the rotation center of the crane, and is used for detecting the rotation angle and sending the rotation angle to the control unit or the processor through the CAN bus. In addition, the amplitude variation detection device 4 is installed on the suspension arm and used for detecting the lifting angle of the suspension arm and further calculating the amplitude variation. The solenoid valve block (not shown) includes a swing, luffing and hoist control solenoid valve for controlling the swing, luffing and hoisting actions of the crane.
Therefore, in some embodiments, the control unit or processor applying the method of the embodiment of the present invention may detect the real-time hoisting wire rope length based on the hoisting detection device 2, detect the real-time boom raising angle based on the luffing detection device 4 installed on the boom of the crane, and detect the real-time slewing angle based on the slewing detection device 3 installed at the slewing center of the crane; and then, the control unit or the processor triggers the electromagnetic valve group to control the crane to execute the height, amplitude and rotation angle of the lifting hook to be executed based on the detected length of the real-time hoisting steel wire rope, the real-time lifting angle and the real-time rotation angle of the lifting arm. Therefore, the hoisting operation of the corresponding hoisting path is completed.
In the process of automatic hoisting operation, the operation process includes rotation, amplitude variation and lifting hook action of the crane, and it should be noted that the execution sequence of the three actions is not limited, and the three actions can be any execution sequence in sequence to realize positioning of the hook to a target position in a three-dimensional space, so as to execute the hoisting operation.
In some application scenarios, when the distance between the initial position of the hook corresponding to the hoisting operation and the target position of the hook is large, the hoisting path for performing the hoisting operation should cover the moving process of the crane, for example, when a preset distance threshold is exceeded, where the distance threshold may be a distance threshold value indicating that the crane is recommended to perform a moving action, and may also be a threshold value corresponding to that the crane must perform a moving action, and the like. At this time, an Electronic Control Unit (ECU) of the crane may be triggered to Control the crane to perform crane displacement toward the target position of the hook, so as to shorten the distance between the hook and the target position, for example, when the crane displacement is performed, the distance between the position of the hook and the target position of the hook is less than or equal to a distance threshold, and then the crane controls the crane to perform operations of rotating, luffing and lifting the hook, thereby completing the lifting operation in the application scenario.
In some embodiments, in order to avoid the dangerous condition of vehicle rollover, the crane should limit the walking speed and the rotation speed when implementing automatic hoisting operation. Specifically, a side load threshold value indicating no rollover risk may be preset, then the load weight of the hoisted article is detected, and the rotation speed, the amplitude variation speed and the hoisting speed of the crane in the process of performing the hoisting operation are controlled according to the detected load weight and the preconfigured side load threshold value of the crane. As an example, the maximum rotation speed, the amplitude change speed and the winding speed of the crane without tipping can be calculated according to the load weight and the side load threshold value. Thereby limiting the working speed in the automatic hoisting operation below the maximum speed.
And S14, when the hook of the crane reaches the target position of the hook, completing the first hoisting operation.
In some preferred embodiments, the crane may encounter obstacles in the process of performing automatic hoisting, and thus the obstacles in the road need to be avoided. Specifically, it may be that whether an obstacle exists in a working area of the crane when the hoisting operation is performed is detected, and then when the obstacle exists, one or more of the following operations are performed: and executing an alarm action, and re-planning the hoisting path to bypass the obstacle.
As an example, it may be that when an obstacle is detected, an audible and visual alarm or a remote alarm is given to remind a worker to clear the obstacle, or a hoisting path is re-planned. As shown in fig. 2, the crane is further provided with an obstacle avoidance detection module 1, which has a plurality of sensors respectively arranged at the boom and/or the turntable of the crane, and as shown in fig. 2, the obstacle avoidance detection module is respectively arranged at the tail part, the middle part, the head part and other positions of the turntable of the crane, and is used for detecting whether an obstacle exists in an operation area, so as to ensure the safety of the crane in the automatic hoisting operation process; in addition, the type of the sensor in the embodiment of the present invention may be diversified, and for example, it may be a sensing device such as an ultrasonic sensor, a laser sensor, a machine vision detection sensor, or the like. As an example of replanning the lifting path, for example, the vehicle encounters an obstacle in the working area of the turntable during traveling, and the traveling direction of the crane should be changed, and the vehicle encounters an obstacle in the working area of the boom during rotation, which may be by rotating in a reverse direction to avoid the obstacle, and the like.
In some application scenarios, when there are multiple articles to be hoisted, the crane needs to automatically perform reciprocating multiple hoisting operations, so it is desirable that the object can self-learn the hoisting operations and automatically perform reciprocating hoisting without the user having to reset the corresponding target position and initial position for each hoisted article. Therefore, after the process shown in fig. 1, an embodiment of the present invention further provides a crane hoisting control method shown in fig. 3, which specifically includes:
and S31, determining a secondary hoisting initial position and a secondary hoisting target position of the second hoisting operation after the first hoisting operation based on the pre-configured position step length, the initial position of the lifting hook and the target position of the lifting hook.
The setting of the position step length may be set according to a hoisting operation application scenario, for example, according to the size of hoisted articles, when a plurality of hoisted articles are arranged in close sequence, the size of the articles may be set as the position step length, so that after one article is hoisted, another article next to the article can be directly positioned, and a secondary hoisting operation is performed on the another article.
And S32, acquiring the rotation angle, the amplitude of variation and the height of the lifting hook when the crane is ready to execute the second hoisting operation, thereby determining second initial state information of the crane about the second hoisting operation.
And the second initial state information comprises a rotation angle, amplitude of variation and height of the lifting hook to be executed in the second hoisting operation of the crane.
And S33, determining a secondary hoisting path aiming at the second hoisting operation based on the second initial state information and the secondary hoisting target position, wherein the secondary hoisting path comprises a rotation angle, a variable amplitude and a lifting hook height to be executed in the second hoisting operation.
And S34, controlling the crane to execute secondary hoisting operation according to the secondary hoisting path.
For the details of the steps in the embodiment method shown in fig. 3, reference may be made to the details of the steps in the embodiment method shown in fig. 1, and therefore, the details are not repeated herein.
The embodiment of the invention adopts an automatic control strategy, determines the target position parameters of the hoisting load by setting or learning the target position, automatically plans the hoisting path according to the current state information of the crane, and automatically controls the hoisting load of the crane to reach the target position. The limitation that the traditional scheme completely depends on manual control of operators is changed, the labor intensity of the operators is reduced, and safety accidents caused by subjective errors of the operators are reduced. The convenience, the safety and the working efficiency of system operation are greatly improved.
As shown in fig. 4, an exemplary principle flow of a crane hoisting control method according to an embodiment of the present invention includes:
selecting an automatic hoisting operation mode; the automatic hoisting operation mode can be divided into a local operation mode and a wireless remote operation mode so as to implement remote control and diagnosis of the crane. Preferably, the hoisting operation can also be configured with a circular automatic hoisting mode, and the system can implement automatic circular reciprocating hoisting operation according to the memorized automatic hoisting path. Reading a hoisting initial position and a hoisting target position, then starting automatic hoisting, further planning an initial path and a target path, and firstly calling an empty hook positioning subprogram when executing the hoisting path; when the empty hook reaches the initial position, judging whether the hoisting is ready; and when the hoisting is ready, the load positioning subprogram is executed, and the hoisted object is conveyed to the target position to finish unloading, so that the automatic hoisting operation is realized. Further, when the circular automatic hoisting mode is selected, the circular reciprocating type hoisting operation can be performed on a plurality of objects.
In the embodiment of the invention, the crane adopts an automatic hoisting control method, adopts a manual input and automatic learning mode to calibrate the target position parameter of the crane, and the crane automatically plans the hoisting path according to the current state information and the target position parameter. In addition, the crane is automatically controlled to reach a target position according to the hoisting path, the action speed can be automatically matched according to the hoisting load and the position distance in the automatic hoisting operation process, and the system is automatically matched with the rotating speed of the engine in the automatic hoisting operation process. Furthermore, in the automatic hoisting operation process, multiple safety protections such as anti-collision safety protection, amplitude and load overrun are set, and a control method of manual or automatic hooking and unhooking is adopted. Furthermore, two operation modes of local operation and wireless remote operation are designed to implement remote control and diagnosis of the crane, and a circular automatic hoisting mode is also designed to implement automatic circular reciprocating hoisting operation according to a memorized automatic hoisting path.
As shown in fig. 5, a crane hoisting control system 50 according to an embodiment of the present invention includes: the acquiring unit 501 is configured to acquire initial state information of a crane and a target position of a hook corresponding to a first hoisting operation, where the initial state information includes an initial rotation angle, a variable amplitude and an initial position of the hook of the crane with respect to the first hoisting operation; a hoisting path determining unit 502, configured to determine a hoisting path according to the initial state information and the target position of the hook, where the hoisting path includes a rotation angle, a variable amplitude, and a hook height of a crane to be executed; and a hoisting operation executing unit 503, configured to control the crane to execute the first hoisting operation according to the hoisting path, and complete the first hoisting operation when the hook of the crane reaches the hook target position.
In some embodiments, the crane hoist control system further comprises: the winding detection device is arranged in a winding drum of the crane, rotates concentrically with the winding drum and is used for detecting the length of a real-time winding steel wire rope; the amplitude detection device is arranged on the suspension arm of the crane and is used for detecting the lifting angle of the suspension arm in real time; the rotation detection device is arranged at the rotation center of the crane and is used for detecting a real-time rotation angle; and the electromagnetic valve group is used for triggering and controlling the crane to execute the height, amplitude and rotation angle of the lifting hook to be executed by the hoisting operation execution unit based on the detected length of the real-time hoisting steel wire rope, the detected lifting angle of the real-time lifting arm and the detected real-time rotation angle.
In some embodiments, when the distance between the initial position of the hook and the target position of the hook exceeds a set distance threshold, the hoisting path further includes a crane displacement, wherein the hoisting operation executing unit is further configured to trigger an electronic engine control unit of the crane to control the crane to execute the crane displacement.
In some embodiments, the crane hoist control system further comprises: the obstacle avoidance detection module is used for detecting whether an obstacle exists in a working area of the crane during hoisting operation, wherein the obstacle avoidance detection module comprises a sensor arranged at a boom and/or a rotary table of the crane, and the sensor comprises but is not limited to one or more of the following: ultrasonic sensors, laser sensors, and machine vision sensors.
For more details of the system according to the embodiment of the present invention, reference may be made to the above description on the crane hoisting control method, and the same or corresponding technical effects as those of the crane hoisting control method can be obtained, so that no further description is provided herein.
As shown in fig. 6, the crane hoisting control system according to an embodiment of the present invention includes a control unit 5, an obstacle avoidance detection module, a hoisting detection device 2, a rotation detection device 3, a variable amplitude detection device 4, a wireless receiver 6, a remote operation device 7, an electromagnetic valve group 8, a human-computer interface and safety monitoring 9, and an engine ECU 11. The crane hoisting control system adopts a CAN bus topological structure, the control unit 5 monitors all input signals in real time, performs logic operation processing, and performs output control on the electromagnetic valve group 8. The obstacle avoidance detection module 1 is respectively installed at the tail part, the middle part and the head part of the rotary table of the crane, is used for detecting whether obstacles exist in an operation area or not, ensures the safety of the automatic hoisting operation process of the crane, and can be a sensing device such as an ultrasonic sensor, a laser sensor and machine vision detection. The winch detection device 2 is installed on a winding drum of a winch through a coupler, rotates concentrically with the winding drum, sends acquired position signals and frequency signals of the winding drum to the control unit 5 through a CAN bus, and is used for calculating the length of a current winch steel wire rope, further calculating the winding and unwinding speed of the winch and the height of a lifting hook. The rotation detection device 3 is installed at the rotation center, and is used for detecting the rotation angle and sending the rotation angle to the control unit 5 through a CAN bus. The amplitude variation detection device 4 is installed on the suspension arm and used for detecting the lifting angle of the suspension arm and further calculating the amplitude variation. The electromagnetic valve group 8 comprises a rotary, amplitude-variable and winch control electromagnetic valve. The human-computer interface and safety monitoring device 9 is a whole vehicle information interaction center, can display the state information of the whole vehicle, such as the suspended load weight, the amplitude variation angle and the like, and can implement safety protection, such as overload and overrun.
The engine ECU11 communicates with the control unit 5 through the CAN bus, and the control unit 5 analyzes and processes various state information of the engine and simultaneously transfers various operation information to the engine ECU11, such as engine start, engine stall, throttle signal, and the like.
In order to facilitate the operation, the system is designed with two operation modes of local operation and wireless remote operation. The wireless receiver 7 on the one hand communicates and interacts via the wireless internet or a dedicated wireless transmitter. On the one hand, the communication is carried out with the control unit 5 via a CAN bus. And remote information interaction is carried out, and remote control and diagnosis of the crane can be implemented.
In the embodiment of the invention, the initial position and the target position parameters of the initial hoisting load are determined, namely three position parameter values of a rotation angle, a variable amplitude and a lifting hook height corresponding to the initial position and the target position are determined. The position parameters can be determined by means of manual input and automatic learning. After the position parameters are determined, the system automatically plans initial and target paths, namely determines control strategies such as rotation, amplitude variation, hoisting direction, action sequence, action speed, engine speed and the like according to the current state information of the crane. And automatically controlling the rotation, amplitude variation and winding output according to the initial path planned by the system, and controlling the lifting hook to be positioned at the position of the lifted load. And finishing the automatic operation of the empty hook in place, simultaneously prompting to carry out the hooking operation, and waiting until the hooking operation is finished. The hook operation is set with a manual mode and an automatic mode, the hook operation can be manual auxiliary operation or can be automatically completed through other devices, and a lifting ready instruction is fed back to the system manually or automatically. After the system receives the instruction, the system further automatically controls the lifting hook, namely the load, to the target position according to the target path, and the automatic operation of the load in place is completed. Meanwhile, the system sends an unloading operation instruction, the unloading operation is also provided with a manual operation mode and an automatic operation mode, the unloading operation can be manual auxiliary operation or can be automatically completed through other devices, and an unloading completion instruction is manually or automatically fed back to the system. The system is designed with a circular automatic hoisting mode, and the system automatically and circularly operates according to the memorized automatic hoisting path by selecting the mode. The system designs multiple intelligent controls including anti-collision safety protection, amplitude and load overrun protection, automatic association control of speed, load and position, self-adaptive control of the rotating speed of the engine and the like. Local and remote operation modes are designed simultaneously, wherein the remote operation mode is particularly suitable for dangerous operation environments. Therefore, intelligent automatic hoisting control of the crane is realized, the labor intensity of operators is greatly reduced, and the safety, convenience and efficiency of operation are improved.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.
Those skilled in the art will understand that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.
Claims (11)
1. A hoisting control method of a crane comprises the following steps:
acquiring initial state information of a crane and a hook target position corresponding to first hoisting operation, wherein the initial state information comprises an initial rotation angle, amplitude and hook initial position of the crane relative to the first hoisting operation;
determining a hoisting path according to the initial state information and the target position of the lifting hook, wherein the hoisting path comprises a rotation angle to be executed by the crane, a variable amplitude and the height of the lifting hook;
controlling the crane to perform the first hoisting operation according to the hoisting path, and
when the lifting hook of the crane reaches the target position of the lifting hook, finishing the first lifting operation;
after the first hoisting operation is completed when the hook of the crane reaches the hook target position, the method further comprises:
carry out reciprocating type hoist and mount operation many times, include:
determining a secondary hoisting initial position and a secondary hoisting target position of a second hoisting operation after the first hoisting operation based on a pre-configured position step length, the initial position of the lifting hook and the target position of the lifting hook;
acquiring a rotation angle, amplitude of variation and height of a lifting hook when the crane is ready to execute the second hoisting operation, thereby determining second initial state information of the crane about the second hoisting operation;
determining a secondary hoisting path for the second hoisting operation based on the second initial state information and the secondary hoisting target position, wherein the secondary hoisting path comprises a rotation angle, a variable amplitude and a hook height to be executed in the second hoisting operation;
and controlling the crane to execute secondary hoisting operation according to the secondary hoisting path.
2. The crane hoisting control method according to claim 1, wherein the acquiring of the initial state information of the crane and the target position of the hook corresponding to the first hoisting operation comprises one or more of the following operations:
receiving user operation, and determining an initial hook position and a target hook position corresponding to the received user operation; and
communicating with a remote terminal to receive an initial position of the hook and a target position of the hook; and
the initial position of the lifting hook is determined based on first positioning information detected by a first positioning module preset at a hook of the crane, and the target position of the lifting hook is determined based on second positioning information detected by a second positioning module preset at a hoisted article.
3. The crane hoisting control method according to claim 1, wherein the controlling the crane to perform the first hoisting operation according to the hoisting path comprises:
detecting the length of a real-time hoisting steel wire rope based on a hoisting detection device which is arranged in a winding drum of the crane and rotates concentrically with the winding drum;
detecting a real-time lifting angle of the lifting arm based on a variable amplitude detection device arranged on the lifting arm of the crane;
detecting a real-time rotation angle based on a rotation detection device installed at a rotation center of the crane;
and triggering an electromagnetic valve group to control the crane to execute the height, amplitude variation amplitude and rotation angle of the lifting hook to be executed based on the detected length of the real-time hoisting steel wire rope, the detected lifting angle of the real-time lifting arm and the detected real-time rotation angle.
4. The crane hoisting control method according to claim 3, wherein the hoisting path further comprises a crane displacement when the distance between the initial position of the hook and the target position of the hook exceeds a preset spacing threshold, wherein the controlling the crane to perform the first hoisting operation according to the hoisting path comprises:
and triggering an engine electronic control unit of the crane to control the crane to perform crane displacement towards the direction of the target position of the lifting hook.
5. The crane hoisting control method according to claim 1, wherein the controlling the crane to perform the first hoisting operation according to the hoisting path comprises:
detecting whether an obstacle exists in a working area of the crane during the hoisting operation;
when the presence of the obstacle is detected, performing operations of one or more of:
performs an alarm action, an
Re-planning the hoist path to bypass the obstacle.
6. The crane hoisting control method according to claim 5, wherein the detecting whether an obstacle exists in the working area of the crane comprises:
detecting whether an obstacle exists in a working area of the crane when hoisting operation is performed based on an obstacle avoidance detection module, wherein the obstacle avoidance detection module comprises a sensor arranged at a boom and/or a rotary table of the crane, and the sensor comprises but is not limited to one or more of the following: ultrasonic sensors, laser sensors, and machine vision sensors.
7. The method of claim 1, wherein said controlling said crane to perform a hoist operation according to said hoist path comprises:
and detecting the load weight of the hoisted article, and controlling the rotation speed, the amplitude variation speed and the hoisting speed of the crane in the hoisting operation process according to the detected load weight and the preconfigured lateral load threshold value of the crane.
8. A crane hoist control system comprising:
the device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring initial state information of a crane and a hook target position corresponding to first hoisting operation, and the initial state information comprises an initial rotation angle, amplitude and hook initial position of the crane relative to the first hoisting operation;
the hoisting path determining unit is used for determining a hoisting path according to the initial state information and the target position of the lifting hook, wherein the hoisting path comprises a rotation angle to be executed by the crane, a variable amplitude and the height of the lifting hook;
and the hoisting operation executing unit is used for controlling the crane to execute the first hoisting operation according to the hoisting path and finishing the first hoisting operation when the lifting hook of the crane reaches the target position of the lifting hook.
9. The crane hoist control system of claim 8, further comprising:
the winding detection device is arranged in a winding drum of the crane, rotates concentrically with the winding drum and is used for detecting the length of a real-time winding steel wire rope;
the amplitude detection device is arranged on the suspension arm of the crane and is used for detecting the lifting angle of the suspension arm in real time;
the rotation detection device is arranged at the rotation center of the crane and is used for detecting a real-time rotation angle;
and the electromagnetic valve group is used for triggering and controlling the crane to execute the height, amplitude and rotation angle of the lifting hook to be executed by the hoisting operation execution unit based on the detected length of the real-time hoisting steel wire rope, the detected lifting angle of the real-time lifting arm and the detected real-time rotation angle.
10. The crane hoisting control system according to claim 9, wherein the hoisting path further comprises a crane displacement when the distance between the initial position of the hook and the target position of the hook exceeds a set distance threshold, and wherein the hoisting operation execution unit is further configured to trigger an engine electronic control unit of the crane to control the crane to execute the crane displacement.
11. The crane hoist control system of claim 8, further comprising:
the obstacle avoidance detection module is used for detecting whether an obstacle exists in a working area of the crane during hoisting operation, wherein the obstacle avoidance detection module comprises a sensor arranged at a boom and/or a rotary table of the crane, and the sensor comprises but is not limited to one or more of the following: ultrasonic sensors, laser sensors, and machine vision sensors.
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| CN111708356B (en) * | 2019-03-02 | 2022-08-09 | 周口师范学院 | Automatic path planning system and method for crane |
| CN110422774A (en) * | 2019-07-16 | 2019-11-08 | 三一汽车起重机械有限公司 | Hanging method and Lift-on/Lift-off System |
| CN111017726B (en) * | 2019-11-19 | 2020-08-21 | 中联重科股份有限公司 | Crane hook positioning method, device and system and engineering machinery |
| CN110835055A (en) * | 2019-11-29 | 2020-02-25 | 三一汽车起重机械有限公司 | Counterweight hoisting method and device and engineering machinery |
| CN111689395A (en) * | 2020-05-14 | 2020-09-22 | 河北雷萨重型工程机械有限责任公司 | Crane, control system and method for vertical and horizontal movement of lifting hook of crane and vehicle |
| CN111891922B (en) * | 2020-07-17 | 2022-09-30 | 徐州重型机械有限公司 | Crane operation real-time navigation system and method |
| CN112141890A (en) * | 2020-08-19 | 2020-12-29 | 太原重工股份有限公司 | Automatic unhooking method and system for crane |
| CN112069698B (en) * | 2020-09-27 | 2024-04-19 | 中国化学工程第六建设有限公司 | BIM-based hoisting simulation construction method and system |
| CN112551397A (en) * | 2020-11-23 | 2021-03-26 | 长沙中联消防机械有限公司 | Control method and system for aerial ladder vehicle arm support and aerial ladder vehicle |
| CN112811317A (en) * | 2020-12-30 | 2021-05-18 | 江西中天智能装备股份有限公司 | Accurate positioning device for automatic operation of tower crane and control method thereof |
| CN112850499B (en) * | 2020-12-31 | 2022-03-04 | 中联重科股份有限公司 | Hoisting control method and system and engineering machinery |
| WO2022141458A1 (en) * | 2020-12-31 | 2022-07-07 | 中联重科股份有限公司 | Hoisting control method and system, and engineering machine |
| CN114148916B (en) * | 2021-10-11 | 2024-04-26 | 大连益利亚科技发展有限公司 | Intelligent lifting hook using method and device, electronic equipment and storage medium |
| CN113955640A (en) * | 2021-10-19 | 2022-01-21 | 中联恒通机械有限公司 | Lifting appliance accurate positioning system and method based on machine vision |
| CN115092838B (en) * | 2022-06-21 | 2023-09-15 | 张家港市申联建设机械有限公司 | Tower crane operation parameter control method, system, device and storage medium |
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| CN103640980B (en) * | 2013-11-19 | 2015-09-23 | 中联重科股份有限公司 | The method of controlling security of tower machine, device, system and tower machine |
| CN103663188B (en) * | 2013-12-20 | 2015-09-16 | 中联重科股份有限公司 | The control method of arm tower crane and operation thereof, device and system |
| CN105836623B (en) * | 2016-06-14 | 2018-06-26 | 徐州重型机械有限公司 | Crane quantitative control methodin, device and system |
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