CN113479775A - Crane hoisting identification method and system - Google Patents
Crane hoisting identification method and system Download PDFInfo
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- CN113479775A CN113479775A CN202110719067.0A CN202110719067A CN113479775A CN 113479775 A CN113479775 A CN 113479775A CN 202110719067 A CN202110719067 A CN 202110719067A CN 113479775 A CN113479775 A CN 113479775A
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- 238000000034 method Methods 0.000 title claims abstract description 44
- 230000008859 change Effects 0.000 claims abstract description 22
- 230000008569 process Effects 0.000 abstract description 16
- 238000009661 fatigue test Methods 0.000 abstract description 7
- 238000012423 maintenance Methods 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000010276 construction Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- 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
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- 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
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/007—Subject matter not provided for in other groups of this subclass by applying a load, e.g. for resistance or wear testing
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06M—COUNTING MECHANISMS; COUNTING OF OBJECTS NOT OTHERWISE PROVIDED FOR
- G06M7/00—Counting of objects carried by a conveyor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Theoretical Computer Science (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention provides a crane lifting load identification method and a crane lifting load identification system, wherein the crane lifting load identification method comprises the following steps: acquiring the self weight of a hook of a crane; acquiring the change of the operating state of a crane handle and the change of the lifting weight of a car coupler, and judging the state of the crane; and recording the hoisting times. According to the crane lifting load identification method provided by the invention, the judgment of the lifting process and the unloading process is obtained according to the change of the operating state of the crane handle and the change of the lifting weight of the car coupler by obtaining the self weight of the car coupler of the crane, so that the start and the end of a lifting process can be known, and the number of times of crane lifting load is obtained by accumulating and counting; the crane fatigue testing device is beneficial for managers to timely master the working state and working strength of the crane under management, arranges work arrangement, vehicle maintenance and the like, and can be applied to crane hoisting fatigue tests.
Description
Technical Field
The invention relates to the technical field of crane control, in particular to a crane hoisting identification method and a crane hoisting identification system.
Background
The crane is a lifting and carrying machine widely used in ports, workshops, electric power, construction sites and other places. The name crane is a uniform title for hoisting machinery. The main of cranes are also truck cranes, crawler cranes and tyre cranes. The crane is used for hoisting equipment, emergency rescue, hoisting, machinery and rescue.
In the hoisting fatigue test of the crane or the actual construction of the crane, the working arrangement and maintenance of the crane are required to be controlled in the hoisting process, and the data of the whole hoisting and loading process of the hoisting and unloading are required to be mastered, but the existing crane has no method capable of well detecting the hoisting and loading process of the crane.
Disclosure of Invention
The invention provides a crane hoisting identification method and a crane hoisting identification system, which are used for solving the defects that the whole hoisting process of hoisting and unloading of a crane cannot be obtained and counting cannot be carried out in the prior art, and the crane state can be judged according to the change of the handle operation state of the crane and the change of the hoisting weight of a car coupler, so that the accumulated times of hoisting can be obtained, and convenience is provided for experiments and vehicle detection.
The invention provides a crane hoisting identification method, which comprises the following steps:
acquiring the self weight of a hook of a crane;
acquiring the change of the operating state of a crane handle and the change of the lifting weight of a car coupler, and judging the state of the crane;
and recording the hoisting times.
According to the method for identifying the crane lifting load, the steps of acquiring the change of the operation state of the crane handle and the change of the lifting weight of the car coupler and judging the crane state comprise the following steps:
and (4) judging the lifting state: the lifting weight of the car coupler is increased, and the handle is hung in a lifting gear;
and (3) judging the unloading state: the handle is hung in a descending gear, and the hanging weight of the car coupler is recovered to the dead weight.
According to the crane hoisting identification method provided by the invention, the time interval between the hoisting state and the unloading state is greater than the preset time interval.
According to the crane hoisting identification method provided by the invention, the step of recording the hoisting times comprises the following steps: and recording the cycle times from the hoisting state to the unloading state.
According to the crane lifting load identification method provided by the invention, the step of acquiring the self weight of the crane coupler comprises the following steps:
recognizing a vehicle type;
identifying the lifting hook according to the CAN message;
the self weight of the hook was obtained from the comparison table.
The invention also provides a crane hoisting identification system, which comprises
The MCU module: acquiring data of a CAN bus, and transmitting the acquired data;
the microprocessor: and acquiring the data transmitted by the MCU module, analyzing the data, identifying the state of the crane and recording the hoisting times.
The crane sling identification system provided by the invention further comprises an embedded memory, wherein the embedded memory stores raw data from the microprocessor and a log generated by the crane state identification sling.
The crane hoisting identification system provided by the invention also comprises a global navigation satellite system, wherein the global navigation satellite system acquires crane positioning information, and the MCU module reads the positioning information of the global navigation satellite system and sends the positioning information to the microprocessor.
The crane hoisting identification system provided by the invention also comprises a gyroscope, wherein the gyroscope provides attitude information of a vehicle, the MCU module acquires the attitude information of the gyroscope and sends the attitude information to the microprocessor,
and the microprocessor combines the attitude information of the gyroscope and the positioning information of the global navigation satellite system to make scene decision.
According to the crane hoisting identification system provided by the invention, the microprocessor is connected with the background server through a network.
According to the crane lifting load identification method provided by the invention, the judgment of the lifting process and the unloading process is obtained according to the change of the operating state of the crane handle and the change of the lifting weight of the car coupler by obtaining the self weight of the car coupler of the crane, so that the start and the end of a lifting process can be known, and the number of times of crane lifting load is obtained by accumulating and counting; the crane fatigue testing device is beneficial for managers to timely master the working state and working strength of the crane under management, arranges work arrangement, vehicle maintenance and the like, and can be applied to crane hoisting fatigue tests.
Further, the invention also provides a crane hoisting identification system, which can realize the crane hoisting identification method of the invention, thus having the advantages of the crane hoisting identification method of the invention.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a crane hoisting identification method provided by the invention;
FIG. 2 is a second schematic flow chart of the crane hoisting identification method provided by the present invention;
FIG. 3 is a third schematic flow chart of a crane hoist identification method according to the present invention;
fig. 4 is a block diagram of a crane hoist identification system provided by the present invention.
Reference numerals:
100: an MCU module; 200: a CAN bus; 300: a microprocessor;
400: an embedded memory; 500: a global navigation satellite system; 600: a gyroscope;
700: and a background server.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the embodiments of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be configured in a specific orientation, and operate, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
An embodiment of the present invention will be described below with reference to fig. 1 to 4. It is to be understood that the following description is only exemplary embodiments of the present invention and is not intended to limit the present invention.
As shown in fig. 1, the present invention provides a method for identifying a crane hoist load, comprising:
s1: acquiring the self weight of a hook of a crane;
s2: acquiring the change of the operating state of a crane handle and the change of the lifting weight of a car coupler, and judging the state of the crane;
s3: and recording the hoisting times.
As shown in fig. 2, in an embodiment of the present invention, the step of determining the crane state for acquiring the change of the crane handle operation state and the change of the coupler lifting weight includes:
s11: and (4) judging the lifting state: the lifting weight of the car coupler is increased, and the handle is hung in a lifting gear;
s12: and (3) judging the unloading state: the handle is hung in a descending gear, and the hanging weight of the car coupler is recovered to the dead weight.
In other words, when it is recognized that the coupler lifting weight is increased and the handle is in the lifting gear, it is determined that the current crane state is the lifting state.
Only after the suspended state is recognized, the unloaded state can be recognized. And when the handle is recognized to be in a descending gear, and the lifting weight of the coupler is recovered to the dead weight, judging that the current crane state is an unloading state.
Therefore, when the primary hoisting state and the primary unloading state are recognized, the process that the crane completes the primary hoisting process is recorded.
Further, in an alternative embodiment of the invention, the time interval between the hoisting state and the unloading state is greater than a preset time interval.
In other words, the lifting state can be judged only after a certain time, and the error judgment caused by the shaking of the crane is prevented.
Furthermore, in another alternative embodiment of the present invention, the step of recording the number of suspended loads comprises: and recording the cycle times from the hoisting state to the unloading state.
Specifically, the number of times the crane completes the lifting process. And performing an accumulative counting principle.
Additionally, as shown in fig. 3, in an alternative embodiment of the present invention, the step of acquiring the self weight of the crane coupler includes:
s21: recognizing a vehicle type;
s22: identifying the lifting hook according to the CAN message;
s23: the self weight of the hook was obtained from the comparison table.
Specifically, under the condition of a known vehicle model, the lifting hook CAN be identified according to a specific CAN message, the weight of the lifting hook CAN be obtained according to a built-in comparison table, and preparation is made for the next step.
As shown in FIG. 4, the invention also provides a crane load recognition system, which comprises
The MCU module 100: acquiring data of the CAN bus 200 and transmitting the acquired data;
the microprocessor 300 is also called an MPU module: and acquiring data transmitted by the MCU module 100, analyzing the data, identifying the state of the crane and recording the hoisting times.
In other words, the CAN bus 200 is connected to the MCU module 100, and the MCU module 100 is connected to the microprocessor 300. The CAN bus 200 is also referred to as a controller area network.
The CAN bus 200 is connected to a control system of the crane, and CAN acquire various data of the whole crane.
In addition, a complete vehicle CAN matrix is built in the microprocessor 300, and an algorithm for crane state recognition is also built in the microprocessor. Analyzing various data required by the crane state identification algorithm, identifying and judging the vehicle state according to the data, and recording the accumulated hoisting times.
With continued reference to fig. 4, in an alternative embodiment of the present invention, the crane sling identification system further includes an embedded memory 400, also referred to as an EMMC module, wherein the embedded memory 400 stores raw data from the microprocessor 300 and a log generated by the crane state identification sling.
Specifically, the raw data referred to in the present invention includes data directly from the CAN bus 200.
The log generated by the crane state recognition crane according to the present invention includes crane state data and crane load frequency data, i.e. data analyzed and calculated by the microprocessor 300.
In other words, the embedded memory 400 is responsible for providing the microprocessor 300 with additional storage space for data transmitted by the CAN bus, data transmitted by the gnss 500, and other logs generated during program execution, and providing sufficient space for future expansion of service codes.
With continued reference to fig. 4, in one embodiment of the present invention, the crane overhead identification system further comprises a global navigation satellite system 500, also referred to as GNSS module, the global navigation satellite system 500 obtaining crane positioning information. The MCU module 100 reads the positioning information of the global navigation satellite system 500 and transmits the positioning information to the microprocessor 300.
Further, the global navigation satellite system 500 includes, but is not limited to, GPS and beidou navigation. The global navigation satellite system 500 provides high precision positioning for the crane.
The MCU module 100 reads the original positioning log output by the gnss 500, packages the original positioning log and sends the original positioning log to the microprocessor 300 for processing, and the microprocessor 300 obtains the real-time position information of the crane after analyzing the original positioning log.
With continued reference to fig. 4, in another embodiment of the present invention, the crane sling identification system further includes a gyroscope 600, the gyroscope 600 provides attitude information of the vehicle, and the MCU module 100 acquires the attitude information of the gyroscope 600 and transmits it to the microprocessor 300.
Further, the microprocessor 300 combines the attitude information of the gyroscope 600 and the positioning information of the global navigation satellite system 500 to make a decision of a scene.
In an alternative embodiment of the present invention, microprocessor 300 is connected to backend server 700 via a network. The hoisting frequency data, crane positioning information, attitude information and the like are remotely sent to a background server for real-time monitoring.
Further, the MCU module 100 is responsible for collecting data of the gnss 500, the gyroscope 600 and the CAN bus connected thereto, and packaging and transmitting the data to the microprocessor 300 for processing. And meanwhile, data are transmitted to the modules for setting corresponding working parameters and interaction of the CAN of the whole vehicle.
According to the crane lifting load identification method provided by the invention, the judgment of the lifting process and the unloading process is obtained according to the change of the operating state of the crane handle and the change of the lifting weight of the car coupler by obtaining the self weight of the car coupler of the crane, so that the start and the end of a lifting process can be known, and the number of times of crane lifting load is obtained by accumulating and counting; the crane fatigue testing device is beneficial for managers to timely master the working state and working strength of the crane under management, arranges work arrangement, vehicle maintenance and the like, and can be applied to crane hoisting fatigue tests.
Further, the invention also provides a crane hoisting identification system, which can realize the crane hoisting identification method of the invention, thus having the advantages of the crane hoisting identification method of the invention.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A crane hoisting identification method is characterized by comprising the following steps:
acquiring the self weight of a hook of a crane;
acquiring the change of the operating state of a crane handle and the change of the lifting weight of a car coupler, and judging the state of the crane;
and recording the hoisting times.
2. The method for identifying the crane load according to claim 1, wherein the step of acquiring the change of the operating state of the crane handle and the change of the weight lifted by the coupler and determining the crane state comprises:
and (4) judging the lifting state: the lifting weight of the car coupler is increased, and the handle is hung in a lifting gear;
and (3) judging the unloading state: the handle is hung in a descending gear, and the hanging weight of the car coupler is recovered to the dead weight.
3. The crane hoist identification method of claim 2, wherein a time interval between the hoist state and the unload state is greater than a preset time interval.
4. The crane hoist identification method according to claim 2, wherein the step of recording the number of hoists comprises: and recording the cycle times from the hoisting state to the unloading state.
5. The method for identifying a crane hoist according to claim 1, wherein the step of acquiring a self weight of a crane coupler includes:
recognizing a vehicle type;
identifying the lifting hook according to the CAN message;
the self weight of the hook was obtained from the comparison table.
6. A crane lifting load recognition system is characterized by comprising
The MCU module: acquiring data of a CAN bus, and transmitting the acquired data;
the microprocessor: and acquiring the data transmitted by the MCU module, analyzing the data, identifying the state of the crane and recording the hoisting times.
7. The crane sling identification system according to claim 6, further comprising an embedded memory storing raw data from said microprocessor and a log generated by the crane status identification sling.
8. The crane sling identification system as recited in claim 6 or 7, further comprising a global navigation satellite system, wherein said global navigation satellite system obtains crane positioning information, and wherein said MCU module reads said global navigation satellite system positioning information and transmits said positioning information to said microprocessor.
9. The crane hoist identification system of claim 8, further comprising a gyroscope providing attitude information of a vehicle, the MCU module acquiring the attitude information of the gyroscope and transmitting to the microprocessor,
and the microprocessor combines the attitude information of the gyroscope and the positioning information of the global navigation satellite system to make scene decision.
10. The crane hoist identification system of any one of claims 6 to 9, wherein the microprocessor is connected to a background server via a network.
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