CN113620191A - Crane operation protection method, device and system and crane - Google Patents
Crane operation protection method, device and system and crane Download PDFInfo
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- 238000004590 computer program Methods 0.000 claims description 10
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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
- B66C23/88—Safety 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
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
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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
- B66C2700/00—Cranes
- B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
- B66C2700/084—Protection measures
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Abstract
The invention discloses a crane operation protection method, device and system and a crane, and relates to the field of engineering machinery. The crane operation protection method comprises the following steps: predicting the action to be executed by the crane according to the operation track of the crane; determining performance data related to actions to be executed by the crane in prestored crane performance data according to real-time working condition data of the crane; predicting the performance of the crane according to the associated performance data; and executing the protection operation when the working performance of the crane reaches the predicted performance. According to the embodiment of the invention, the performance corresponding to the operation to be executed by the crane can be predicted according to the operated condition of the crane and the current working condition, so that an operator can know the limit states of the crane at a plurality of positions in the operation process according to the prediction result, and the operation safety and efficiency are improved.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to a crane operation protection method, a device and a system and a crane.
Background
The crane is a multi-action hoisting machine, also called a crane, which vertically lifts and horizontally carries heavy objects within a certain range. A moment limiter is usually configured on the crane as an important safety protection device of the crane.
The moment limiter automatically limits the moment of the crane according to actual working conditions and sensor data acquired in real time and a specific hoisting characteristic curve, and the crane is prevented from moving towards a dangerous direction.
In the related art, after receiving the working condition information of the crane, the torque limiter calculates the information of the current actual working amplitude, weight, torque and the like of the crane by combining the sensor data (angle, arm length, pressure and the like). The controller carries out safety logic control according to the information so as to ensure the safety of the hoisting operation.
Disclosure of Invention
After further analysis of the related technology, the inventor finds that, at present, the torque limiter can only perform action limitation when the current working state of the crane triggers an extreme value, and the extreme value is an extreme value corresponding to a limited condition, for example, the maximum hanging weight of a certain type of crane is 20t, and the maximum hanging weight of a certain type of crane is 25t under a certain arm length condition. When the operator uses the crane, the operator cannot predict the operation limit, so the operator cannot know the operation limit when the crane is in or is about to be in a dangerous state, the operation is not stopped or decelerated in time, and a dangerous condition is caused. In addition, the limit state of the operator on the working condition and the performance of the crane is not clear, so that the working condition is switched for multiple times in actual use to achieve the hoisting target, and the working efficiency is reduced.
The embodiment of the invention aims to solve the technical problem that: how to improve the operating efficiency and the operating safety of the crane.
According to a first aspect of some embodiments of the present invention, there is provided a crane operation protecting method, comprising: predicting the action to be executed by the crane according to the operation track of the crane; determining performance data related to actions to be executed by the crane in prestored crane performance data according to real-time working condition data of the crane; predicting the performance of the crane according to the associated performance data; and executing the protection operation when the working performance of the crane reaches the predicted performance.
In some embodiments, determining the performance data associated with the action to be performed by the crane from the pre-stored crane performance data comprises: determining a first correlation performance table according to the working condition setting data of the crane and prestored crane performance data; and determining a first associated performance area in the associated performance table as performance data associated with the action to be executed by the crane according to the real-time working condition data of the crane and the predicted action to be executed by the crane.
In some embodiments, predicting the performance of the crane from the associated performance data comprises: and carrying out interpolation or fitting on the associated performance data to obtain the predicted performance of the crane.
In some embodiments, the working trajectory comprises at least one of a luffing working motion trajectory, a slewing working motion trajectory, or a telescoping working motion trajectory.
In some embodiments, the protection operation comprises at least one of limiting the motion of the crane, slowing down, or outputting an alarm signal.
In some embodiments, the crane operation protection method further comprises: and outputting the predicted performance of the crane to a man-machine interaction module of the crane.
In some embodiments, the crane operation protection method further comprises: determining performance data associated with the setting data of the working conditions in prestored crane performance data according to the input setting data of the working conditions of the crane, wherein the associated performance information comprises an extreme value of amplitude of the working conditions, an extreme value of arm length and an extreme value of weight; determining at least one of a height extreme value or an angle extreme value of the crane under the working condition according to the performance data associated with the setting data of the working condition and the structural parameter data of the crane; and outputting the determined at least one extreme value to a man-machine interaction module of the crane.
In some embodiments, the determining the performance data associated with the setting data of the working condition comprises: determining a second correlation performance table according to the input working condition setting data of the crane and prestored crane performance data; and determining a second associated performance area in the associated performance table according to the current state data of the crane, wherein the second associated performance area is used as the performance data associated with the setting data of the working condition.
In some embodiments, the crane performance includes at least one of hoist weight, amplitude, slew angle, arm length, and the like.
According to a second aspect of some embodiments of the present invention, there is provided a crane operation protecting device comprising: the motion prediction module is configured to predict the motion to be executed by the crane according to the operation track of the crane; the system comprises a correlation data determining module, a data processing module and a data processing module, wherein the correlation data determining module is configured to determine performance data correlated with actions to be executed by the crane in prestored crane performance data according to real-time working condition data of the crane; a performance prediction module configured to predict performance of the crane from the associated performance data; and the protection module is configured to execute protection operation when the working performance of the crane reaches the predicted performance.
In some embodiments, the associated data determining module is further configured to determine, according to the input set data of the working conditions of the crane, performance data associated with the set data of the working conditions in the pre-stored crane performance data, wherein the associated performance information includes an extreme value of amplitude of the working conditions, an extreme value of arm length, and an extreme value of weight; the crane operation protection device further comprises: an extreme value determination module configured to determine at least one of a height extreme value or an angle extreme value of the crane under the operating condition according to the performance data associated with the setting data of the operating condition and the structural parameter data of the crane; an output module configured to output the determined at least one extreme value to a human-machine interaction module of the crane.
According to a third aspect of some embodiments of the present invention, there is provided a crane operation protecting device comprising: a memory; and a processor coupled to the memory, the processor configured to perform any of the foregoing crane operation protection methods based on instructions stored in the memory.
According to a fourth aspect of some embodiments of the present invention there is provided a crane operation protection system comprising: any one of the above-mentioned crane operation protection devices; and the man-machine interaction module is configured to display the performance of the crane predicted by the crane operation protection device.
In some embodiments, the human-machine interaction module is further configured to receive operator-input setting data of the operating conditions of the crane.
In some embodiments, the crane operation protection system further comprises: a storage module configured to store at least one of crane performance data or crane structural parameter data.
In some embodiments, the crane operation protection system further comprises: the data acquisition module comprises at least one of a pressure detection element, a length detection element, an angle detection element, a wind speed detection element and a levelness detection element and is configured to acquire real-time working condition data of the crane.
In some embodiments, the crane operation protection system further comprises: and the safety control module is configured to execute protection operation when the working performance of the crane reaches the predicted performance.
In some embodiments, the crane operation protection system is located in a torque limiter of the crane.
According to a fifth aspect of some embodiments of the present invention there is provided a crane comprising any one of the crane operation protection systems described above.
According to a sixth aspect of some embodiments of the present invention, there is provided a computer readable storage medium having a computer program stored thereon, wherein the program when executed by a processor implements any of the aforementioned crane operation protecting methods.
Some embodiments of the above invention have the following advantages or benefits: according to the embodiment of the invention, the performance corresponding to the operation to be executed by the crane can be predicted according to the operated condition of the crane and the current working condition, so that an operator can know the limit states of the crane at a plurality of positions in the operation process according to the prediction result, and the operation safety and efficiency are improved.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in 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 only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 schematically shows a working scenario of a crane.
FIG. 2 illustrates a flow diagram of a crane operation protection method according to some embodiments of the invention.
Fig. 3A, 3B, and 3C schematically show performance estimation results.
FIG. 4A illustrates a flow diagram of an extremum predicting method according to some embodiments of the invention.
Fig. 4B exemplarily shows the calculation result of the extreme values of the various performance parameters of the crane.
FIG. 5 illustrates a schematic diagram of a crane operation protection device according to some embodiments of the present invention.
FIG. 6 illustrates a schematic diagram of a crane operation protection system according to some embodiments of the present invention.
FIG. 7 illustrates a schematic structural diagram of a crane according to some embodiments of the present invention.
Fig. 8 shows a schematic view of a crane operation protection device according to further embodiments of the present invention.
Fig. 9 illustrates a schematic diagram of a crane operation protection device according to further embodiments of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. 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.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
The inventor has realized through analysis that during the hoisting operation of the crane, in order to be able to comply with the construction requirements, the capacity range of the crane needs to be determined more finely. For example, since the environment for hoisting operation of a crane is complicated, it is desirable to estimate the maximum and minimum amplitude ranges, the lifting height ranges, the maximum lifting capacity, and other properties that can be achieved by the crane before the hoisting operation. Fig. 1 schematically shows a working scenario of a crane. Let us assume that in this scenario, the hoist objective is to move object a from point B to point C, and the distance between the two points is known B, C. This requires that the lifting capacity of the crane at any point in section BC be greater than the weight of object a. In the working process of the crane, the hoisting capacity of the crane is not constant along with the change of the working condition and the posture of the crane. Therefore, the inventor provides a scheme for predicting the performance of the crane by combining the track and the working condition of the crane, so that an operator can know the performance of the crane at a plurality of operating positions under the specific working condition. An embodiment of the crane operation protecting method of the present invention is described below with reference to fig. 2.
FIG. 2 illustrates a flow diagram of a crane operation protection method according to some embodiments of the invention. As shown in fig. 2, the crane work protection method of the embodiment includes steps S202 to S208.
In step S202, an operation to be performed by the crane is predicted from the work trajectory of the crane.
In some embodiments, the working trajectory comprises at least one of a luffing working motion trajectory, a slewing working motion trajectory, or a telescoping working trajectory. For example, if the jib length and the slewing angle of the crane are not changed during a period of time, but the luffing angle continuously decreases and the amplitude continuously increases, it can be determined that the current and upcoming motion of the crane is a luffing descent motion. For another example, if the arm length, the luffing angle, and the amplitude of the crane are not changed during a period of time, but the slewing angle continues to increase, it can be determined that the current and upcoming motion of the crane is a right slewing motion. For another example, if the slewing angle, the luffing angle, and the luffing width of the crane are not changed and the jib length continues to increase over a period of time, it may be determined that the current and upcoming motion of the crane is an jib extending motion.
In some embodiments, one or more operation tracks corresponding to the actions can be preset so as to predict the actions to be executed by the crane in a matching manner.
In step S204, performance data associated with the action to be performed by the crane among the pre-stored crane performance data is determined according to the real-time working condition data of the crane.
In some embodiments, real-time condition data of the crane may be obtained by at least one of a pressure detection element, a length detection element, an angle detection element, a wind speed detection element, or a levelness detection element.
In some embodiments, the pre-stored crane performance data includes a plurality of files, each file may be, for example, a crane performance table corresponding to crane performance information under one operating condition or one crane model. The real-time working condition data may include current state data of the crane, such as a current arm length, a rotation angle, a luffing angle, and the like, and may also include working condition setting data currently used by the crane, such as a working condition type, an arm extending form, a multiplying power, a counterweight, a support leg, a rotation area, and the like. The pre-stored crane performance data may be read from a torque limiter or other memory module. One example of a crane performance table may be found in table 1.
TABLE 1
In some embodiments, a first correlation performance table is determined according to the working condition setting data of the crane and prestored crane performance data; and determining a first associated performance area in the associated performance table according to the real-time working condition data of the crane and the predicted action to be executed by the crane, wherein the first associated performance area is used as performance data associated with the action to be executed by the crane under the current working condition.
In step S206, the crane performance is predicted from the associated performance data.
In some embodiments, the performance of the crane includes a hoist weight performance, i.e., a maximum hoist weight value. In addition, the performance of amplitude, rotation angle, arm length and the like can be included.
For example, the crane performs luffing action. The crane performs luffing operations from 80 ° to 50 ° according to a known working trajectory. While according to the known work objectives the crane also needs to perform a luffing operation of 50 to 30 to be able to accomplish the required hoisting weight. In this case, the performance of the crane involved in the luffing operation of 50 ° to 30 ° in the associated data can be queried.
In some embodiments, when the associated data directly includes the crane performance, the corresponding data is directly read therefrom.
In some embodiments, further calculations are required when the associated performance data does not include the required performance data. In some embodiments, the associated performance data is interpolated or fitted to obtain a predicted performance of the crane. For example, when the performance of the crane involved in the luffing operation of 50 ° to 30 ° is required, and only data corresponding to 20 °, 40 ° and 60 ° are included in the associated performance data, more values of the performance data of the crane involved in the luffing operation of 50 ° to 30 °, such as performance data corresponding to 30 °, 35 °, 45 °, and so on, can be obtained by interpolation or fitting.
In some embodiments, the predicted crane performance may be output to the human-machine interaction module, e.g., performance may be output for several discrete state points in the future. FIGS. 3A, 3B, and 3C show diagrams of performance estimates. The amplitude motion trajectory refers to a variation curve of the amplitude variation angle, the amplitude and the actual weight in a preset time according to time, and fig. 3A shows a performance estimation result of the amplitude variation action. The swing motion trajectory refers to a change curve of a swing angle and an actual weight according to time within a predetermined time, and fig. 3B shows a performance estimation result of the swing motion. FIG. 3C shows performance estimates for the telescoping action. Therefore, the operator can more intuitively know the performance of the crane corresponding to the action to be executed, and the operation safety and the operation efficiency are further improved.
In step S208, when the work performance of the crane reaches the predicted performance, the protection operation is performed.
In some embodiments, the protection operation comprises at least one of limiting the motion of the crane, slowing down, or outputting an alarm signal. In some embodiments, the alert includes a warning when an extreme condition is approached, e.g., a warning light turns yellow, an icon or text prompts the current condition, and an automatic deceleration is performed; alarms when extreme positions are exceeded, e.g. warning lights turn red, icons and text indicate the current status and stop the associated action.
By the method of the embodiment, the performance corresponding to the operation to be executed by the crane can be predicted according to the operated condition of the crane and the current working condition, so that an operator can know the limit states of the crane at a plurality of positions in the operation process according to the prediction result, and the operation safety and efficiency are improved.
Embodiments of the present invention may also predict multiple limits of crane operation before performing the operation, so that the operator can determine in advance whether the operation is feasible. Still taking fig. 1 as an example, in the crane operation process, it needs to be satisfied that the amplitude value corresponding to B, C point is within the allowable amplitude range, and the angle value corresponding to B, C is within the allowable range. Therefore, the invention also provides a scheme for predicting the limit value so as to provide more information for the safe and efficient operation of the operator. An embodiment of the extremum predicting method of the present invention is described below with reference to fig. 4A.
FIG. 4A illustrates a flow diagram of an extremum predicting method according to some embodiments of the invention. As shown in fig. 4A, the extremum predicting method of this embodiment includes steps S402 to S406.
In step S402, according to the input setting data of the working condition of the crane, determining performance data associated with the setting data of the working condition in the pre-stored crane performance data, wherein the associated performance information includes an extreme value of amplitude of the working condition, an extreme value of arm length, and an extreme value of weight. For example, the extreme value of the amplitude may include at least one of a maximum value or a minimum value of the amplitude.
In some embodiments, the operator may input the setting data of the operating conditions through an interactive interface of the crane. The setting data of the working conditions include, for example, one or more of the type of working conditions, boom form, magnification, counterweight, leg, swing area, and the like.
In some embodiments, a second correlation performance table is determined according to the input working condition setting data of the crane and the prestored crane performance data; and determining a second associated performance area in the associated performance table according to the current state data of the crane, wherein the second associated performance area is used as the performance data associated with the setting data of the working condition.
The current state data of the crane comprises, for example, one or more of the arm length, luffing angle, amplitude, height, slewing angle or pressure. If the subsequent operation is directly carried out in the current state, the corresponding extreme value can be directly predicted so as to improve the operation efficiency of the operator. Of course, the operator may input the state values of the arm length, the amplitude angle, the amplitude, the height, the pivot angle, the pressure, and the like corresponding to the subsequent operation, and perform prediction based on the state data input by the operator, so as to improve the flexibility of prediction.
In some embodiments, the performance data associated with the set-up data for the operating conditions further includes arm length, weight, etc. information to describe the performance parameters or other parameters of the crane under various arm length, weight conditions.
In step S404, at least one of the extreme height value or the extreme angle value of the crane under the working condition is determined according to the performance data associated with the setting data of the working condition and the structural parameter data of the crane.
In some embodiments, the height extreme value and the angle extreme value can be calculated through a preset functional relationship. For example, according to the length and the amplitude of the crane arm, the corresponding hoisting height and the angle of the crane arm can be calculated by utilizing the trigonometric function relation. The structural parameters of the crane describe information such as relative positions, distances, etc. of key components, key operating points, etc. of the crane, so that physical quantities used or calculated in the calculation can be corrected. For example, in calculating an angle using the arm length and the amplitude, since the amplitude is a distance from the turning center of the crane to a position directly below the hoist weight, it is necessary to remove the distance from the turning center to the rear hinge point of the telescopic arm in order to obtain a more accurate calculation result.
In step S406, the determined at least one extreme value is output to a human-machine interaction module of the crane.
Fig. 4B exemplarily shows the calculation result of the extreme values of the various performance parameters of the crane. As shown in fig. 4B, the arm length of the crane is 18.1 m; the current amplitude is 12.3m, and the maximum amplitude and the minimum amplitude are 15.6m and 3.0m respectively; the current angle is 35.1 degrees, and the maximum angle and the minimum angle are 78 degrees and 31.1 degrees respectively; the current height is 12.4m, and the maximum height is 19.7 m; the current sling weight was 22t and the maximum sling weight was 45 t. The calculation result can be displayed on the screen of the crane.
By the method of the embodiment, an operator of the crane can more intuitively know the limit operating performance of the crane under specific working condition setting so as to prejudge whether the current working condition setting can meet the operation requirement. If the condition can not be met, an operator can change the working condition setting or the working target in time, and the working efficiency of the crane is improved.
An embodiment of the crane operation protecting device of the present invention is described below with reference to fig. 5.
FIG. 5 illustrates a schematic diagram of a crane operation protection device according to some embodiments of the present invention. As shown in fig. 5, the crane work protection apparatus 500 of this embodiment includes: an action prediction module 5100 configured to predict the action to be executed by the crane according to the operation track of the crane; the associated data determining module 5200 is configured to determine performance data associated with an action to be executed by the crane in the pre-stored crane performance data according to the real-time working condition data of the crane; a performance prediction module 5300 configured to predict performance of the crane based on the associated performance data; a protection module 5400 configured to perform a protection operation in a case where the work performance of the crane reaches the predicted performance.
In some embodiments, the associated data determining module 5200 is further configured to determine a first associated performance table based on the operating condition setting data of the crane and pre-stored crane performance data; and determining a first associated performance area in the associated performance table as performance data associated with the action to be executed by the crane according to the real-time working condition data of the crane and the predicted action to be executed by the crane.
In some embodiments, the performance prediction module 5300 is further configured to interpolate or fit the correlated performance data to obtain a predicted performance of the crane.
In some embodiments, the working trajectory comprises at least one of a luffing working motion trajectory, an angular working motion trajectory, or a telescoping working motion trajectory.
In some embodiments, the protection operation comprises at least one of limiting the motion of the crane, slowing down, or outputting an alarm signal.
In some embodiments, the crane operation protection device 500 further comprises: an output module 5500 configured to output the predicted performance of the crane to a human-machine interaction module of the crane.
In some embodiments, the associated data determining module 5200 is further configured to determine, according to the input setting data of the operating condition of the crane, performance data associated with the setting data of the operating condition from the pre-stored crane performance data, wherein the associated performance information includes an extreme value of amplitude of the operating condition, an extreme value of arm length, and an extreme value of weight; the crane operation protecting apparatus 500 further includes: an extreme value determination module 5600 configured to determine at least one of a height extreme value or an angle extreme value of the crane under the operating condition based on the performance data associated with the set data of the operating condition and the structural parameter data of the crane; an output module 5500 configured to output the determined at least one extreme value to a human-machine interaction module of the crane.
In some embodiments, the associated data determining module 5200 is further configured to determine a second associated performance table according to the input operating condition setting data of the crane and the pre-stored crane performance data; and determining a second associated performance area in the associated performance table according to the current state data of the crane, wherein the second associated performance area is used as the performance data associated with the setting data of the working condition.
In some embodiments, the performance data associated with the set-up data for the operating condition further includes at least one of arm length or weight.
In some embodiments, the crane work protection device 500 is located in a torque limiter of the crane.
An embodiment of the crane operation protection system of the present invention is described below with reference to fig. 6.
FIG. 6 illustrates a schematic diagram of a crane operation protection system according to some embodiments of the present invention. As shown in fig. 6, the crane work protection system 60 of this embodiment includes: a crane operation protection device 610, the specific implementation of which can refer to the crane operation protection device 500 in the embodiment of fig. 5; and a human-machine interaction module 620 configured to display the crane performance predicted by the crane operation protection device.
In some embodiments, the human-machine-interaction module 620 is further configured to receive operator-input setting data of the operating conditions of the crane.
In some embodiments, human-machine-interaction module 620 is further configured to display extreme values of the crane.
In some embodiments, the crane operation protection system 60 further comprises: a storage module 630 configured to store at least one of crane performance data or crane structural parameter data.
In some embodiments, the crane operation protection system 60 further comprises: the data acquisition module 640 comprises at least one of a pressure detection element, a length detection element, an angle detection element, a wind speed detection element and a levelness detection element, and is configured to acquire real-time working condition data of the crane.
In some embodiments, the crane operation protection system 60 further comprises: and a safety control module 650 configured to perform a protection operation in case the working performance of the crane reaches the predicted performance.
In some embodiments, the operator may first set a range of constrained factors such as the type of operating condition to be used, the length, etc. via the human-machine interaction module. Then, the crane operation protection device is combined with performance data, structural parameter data and current real-time acquisition data prestored in the storage module, extreme value prediction is carried out on the set working condition, the set working condition is displayed to a user through the man-machine interaction module, the risk prediction is carried out on the action to be carried out by the user, and then whether working condition adjustment is needed or not is selected. After the crane starts hoisting operation, the crane operation protection device performs performance prediction of N points in real time by combining the motion track, real-time working condition data, pre-stored structure parameters and performance data so as to ensure that the crane is always in a safe state in the operation process.
FIG. 7 illustrates a schematic structural diagram of a crane according to some embodiments of the present invention. As shown in fig. 7, the crane 70 of this embodiment includes a crane operation protection system 71, and the specific implementation thereof may refer to the crane operation protection system 60, which is not described herein again.
Fig. 8 shows a schematic view of a crane operation protection device according to further embodiments of the present invention. As shown in fig. 8, the crane work protection apparatus 80 of this embodiment includes: a memory 810 and a processor 820 coupled to the memory 810, the processor 820 being configured to execute the crane operation protection method of any of the preceding embodiments based on instructions stored in the memory 810.
Fig. 9 illustrates a schematic diagram of a crane operation protection device according to further embodiments of the present invention. As shown in fig. 9, the crane work protection apparatus 90 of this embodiment includes: the memory 910 and the processor 920 may further include an input/output interface 930, a network interface 940, a storage interface 950, and the like. These interfaces 930, 940, 950 and the memory 910 and the processor 920 may be connected, for example, by a bus 960. The input/output interface 930 provides a connection interface for input/output devices such as a display, a mouse, a keyboard, and a touch screen. The network interface 940 provides a connection interface for various networking devices. The storage interface 950 provides a connection interface for external storage devices such as an SD card and a usb disk.
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, wherein the program is implemented to implement any one of the above-mentioned crane operation protection methods when executed by a processor.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (20)
1. A crane operation protection method comprises the following steps:
predicting the action to be executed by the crane according to the operation track of the crane;
determining performance data related to the action to be executed by the crane in prestored crane performance data according to the real-time working condition data of the crane;
predicting the performance of the crane according to the associated performance data;
and executing protection operation when the working performance of the crane reaches the predicted performance.
2. The crane operation protection method according to claim 1, wherein the determining of the performance data associated with the action to be performed by the crane from the pre-stored crane performance data according to the real-time working condition data of the crane comprises:
determining a first correlation performance table according to the working condition setting data of the crane and prestored crane performance data;
and determining a first associated performance area in the associated performance table according to the real-time working condition data of the crane and the predicted action to be executed by the crane, wherein the first associated performance area is used as performance data associated with the action to be executed by the crane.
3. The crane operation protection method as claimed in claim 1, wherein said predicting the crane performance from the associated performance data comprises:
and interpolating or fitting the associated performance data to obtain the predicted performance of the crane.
4. The crane operation protection method as claimed in claim 1, wherein the operation trajectory comprises at least one of a luffing operation motion trajectory, a slewing operation motion trajectory, or a telescoping operation motion trajectory.
5. The crane operation protection method as claimed in claim 1, wherein the protection operation comprises at least one of limiting a motion of the crane, decelerating or outputting an alarm signal.
6. The crane operation protection method as claimed in claim 1, further comprising:
and outputting the predicted performance of the crane to a human-computer interaction module of the crane.
7. The crane operation protection method as claimed in claim 1, further comprising:
according to the input setting data of the working condition of the crane, determining performance data which is associated with the setting data of the working condition in the prestored crane performance data, wherein the associated performance information comprises an amplitude extreme value, an arm length extreme value and a weight extreme value of the working condition;
determining at least one of a height extreme value or an angle extreme value of the crane under the working condition according to the performance data associated with the setting data of the working condition and the structural parameter data of the crane;
and outputting the determined at least one extreme value to a human-computer interaction module of the crane.
8. The crane operation protection method according to claim 7, wherein the determining of the performance data associated with the setting data of the operating condition in the pre-stored crane performance data according to the input setting data of the operating condition of the crane comprises:
determining a second correlation performance table according to the input working condition setting data of the crane and prestored crane performance data;
and determining a second associated performance area in the associated performance table according to the current state data of the crane, wherein the second associated performance area is used as the performance data associated with the setting data of the working condition.
9. The crane operation protecting method according to claim 7 or 8, wherein the crane performance includes at least one of hoisting weight, amplitude, rotation angle, arm length and the like.
10. A crane operation protection device comprising:
the motion prediction module is configured to predict the motion to be executed by the crane according to the operation track of the crane;
the relevant data determining module is configured to determine performance data relevant to the action to be executed by the crane in prestored crane performance data according to the real-time working condition data of the crane;
a performance prediction module configured to predict performance of the crane from the correlated performance data;
a protection module configured to perform a protection operation if the performance of the crane reaches a predicted performance.
11. The crane operation protection device of claim 10, wherein:
the related data determining module is further configured to determine performance data related to the set data of the working conditions in the prestored crane performance data according to the input set data of the working conditions of the crane, wherein the related performance information comprises an extreme value of the amplitude of the working conditions, an extreme value of the arm length and an extreme value of the weight;
the crane operation protection device further comprises:
an extreme value determination module configured to determine at least one of a height extreme value or an angle extreme value of the crane under the working condition according to the performance data associated with the setting data of the working condition and the structural parameter data of the crane;
an output module configured to output the determined at least one extreme value to a human-machine interaction module of the crane.
12. A crane operation protection device comprising:
a memory; and
a processor coupled to the memory, the processor configured to perform the crane operation protection method of any of claims 1-9 based on instructions stored in the memory.
13. A crane operation protection system comprising:
a crane operation protecting device as claimed in any one of claims 10 to 12;
a human-machine interaction module configured to display the performance of the crane predicted by the crane operation protection device.
14. The crane operation protection system of claim 13, wherein the human-machine interaction module is further configured to receive operator input setting data for operating conditions of the crane.
15. The crane operation protection system of claim 13, further comprising:
a storage module configured to store at least one of crane performance data or structural parameter data of the crane.
16. The crane operation protection system of claim 13, further comprising:
the data acquisition module comprises at least one of a pressure detection element, a length detection element, an angle detection element, a wind speed detection element and a levelness detection element and is configured to acquire real-time working condition data of the crane.
17. The crane operation protection system of claim 13, further comprising:
a safety control module configured to perform a protection operation in case the performance of the operation of the crane reaches a predicted performance.
18. The crane operation protection system of claim 13, wherein the crane operation protection system is located in a torque limiter of the crane.
19. A crane, comprising:
the crane operation protection system of any one of claims 13 to 18.
20. A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, implements a crane operation protection method as claimed in any one of claims 1 to 9.
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| CN202010388388.2A CN113620191A (en) | 2020-05-09 | 2020-05-09 | Crane operation protection method, device and system and crane |
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| CN202010388388.2A CN113620191A (en) | 2020-05-09 | 2020-05-09 | Crane operation protection method, device and system and crane |
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