CN113697674A - Crane control system, control method and device thereof, and electronic equipment - Google Patents
Crane control system, control method and device thereof, and electronic equipment Download PDFInfo
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- CN113697674A CN113697674A CN202110943316.4A CN202110943316A CN113697674A CN 113697674 A CN113697674 A CN 113697674A CN 202110943316 A CN202110943316 A CN 202110943316A CN 113697674 A CN113697674 A CN 113697674A
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- crane
- signal acquisition
- control system
- current
- crane control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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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
- 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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- 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
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/42—Control devices non-automatic
- B66D1/46—Control devices non-automatic electric
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a crane control system, a control method and a control device thereof and electronic equipment, wherein the system comprises: the method comprises the following steps: the control panel, weighing sensor and hang the thing device, wherein, integrated setting signal acquisition module, switching signal output module and loop wheel machine controller on the control panel, signal acquisition module and switching signal output module all are connected with the loop wheel machine controller, and weighing sensor is connected with signal acquisition module, and weighing sensor is used for detecting waiting to hang the object, hangs the control signal of thing device according to the loop wheel machine controller to the messenger waits to hang the object and removes. The control circuit of the invention has compact and simple structure, can reduce the occupied space of the whole structure, does not need to be provided with excessive wiring ports, leads the signal processing of the circuit to be simpler, can realize the real-time detection function and can ensure the moving safety of the object to be hung. In addition, the failure rate and the production cost can be reduced, and the production efficiency can be improved.
Description
Technical Field
The invention relates to the technical field of crane control, in particular to a crane control system, a control method and a control device thereof and electronic equipment.
Background
A crane is also called a crane, and is widely applied to a series of heavy-duty products such as ships, equipment, machinery, molds and the like. The crane mainly comprises a power device and a support. With the rapid development of the offshore wind power industry, the offshore platform hoisting operation is more frequent, and the use of offshore cranes is more and more.
At present, offshore cranes are classified into a hydraulic drive type and a motor drive type, wherein a motor drive type offshore crane control system generally uses a PLC as a controller. The PLC receives signals of the operating handle and the limit switch, controls the frequency converter to drive the hoisting motor to operate, drives the steel wire rope to move upwards and downwards, and realizes the vertical movement of the lifting hook-carried goods.
In the above related art, the offshore crane control system is configured by using the PLC as a controller, and the offshore crane control system of this type of structure is configured to be connected to an external analog input unit, a weighing sensor, a rotary encoder, a transmitter, and the like by adding an input point of the PLC. However, the circuit signal processing is also complex due to the complex circuit structure of the PLC controller, and the PLC controller has a large volume, which obviously results in a large occupied space of the whole structure of the crane control system, a high failure rate, a high production cost and a poor production efficiency.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the defects of complex circuit structure, large occupied space of the whole structure, high failure rate, high production cost and poor production efficiency of the crane control system in the prior art, so that the crane control system, the control method and the device thereof and the electronic equipment are provided.
According to a first aspect, the present invention provides a crane control system comprising: the control panel is integrated with a signal acquisition module, a switch signal output module and a crane controller, the signal acquisition module and the switch signal output module are connected with the crane controller, the weighing sensor is connected with the signal acquisition module, the weighing sensor is used for detecting an object to be lifted, and the crane device is used for moving the object to be lifted according to a control signal of the crane controller.
In one embodiment, a plurality of switch buttons are provided on the crane controller.
In one embodiment, the crane control system further includes: and the operating handle is connected with the signal acquisition module.
In one embodiment, the signal acquisition module comprises: and the switch signal acquisition submodule, the differential signal acquisition submodule and the analog signal acquisition submodule are respectively connected with the crane controller.
In one embodiment, the sling device includes: the device comprises a frequency converter, a motor, a steel wire rope reel, a rotary encoder, a steel wire rope, a fixed pulley and a lifting hook.
In one embodiment, an input end of the frequency converter is connected to the switching signal output module, an output end of the frequency converter is connected to an input end of the motor, and an output end of the motor is connected to the wire rope reel.
In one embodiment, an input end of the rotary encoder is connected to the differential signal acquisition submodule, an output end of the rotary encoder is connected to a reel of the wire rope reel, a first end of the wire rope is wound in the wire rope reel, and a second end of the wire rope is connected to the hook through the fixed pulley.
In one embodiment, the weighing sensor is arranged on a middle shaft of the fixed pulley and connected with the analog signal acquisition submodule.
In one embodiment, the crane control system according to the embodiment of the present invention further includes: and the alarm is connected with the switch signal output module.
In one embodiment, the crane control system according to the embodiment of the present invention further includes: the crane supporting structure is provided with the object hanging device, the control panel, the weighing sensor, the alarm and the electric cabinet, and the frequency converter, the alarm and the control panel are installed in the electric cabinet.
According to a second aspect, an embodiment of the present invention further provides a crane control method, which is used in the crane control system described in the first aspect or any one of the embodiments of the first aspect, and includes the following steps:
in response to receiving a starting operation instruction, the crane controller executes a starting self-checking operation;
the control signal acquisition module acquires the current displacement, the current moving speed and the current moving direction of the object to be hung in real time through the object hanging device and detects the current weight of the object to be hung in real time through the weighing sensor;
if the current weight meets the preset hoisting weight condition, controlling the object to be hoisted to move according to the uploaded movement operation instruction;
in the process of moving the object to be hung, determining whether dangerous conditions exist in the current displacement, the current moving speed and the current moving direction;
and if the object to be lifted has a dangerous condition, controlling the object to be lifted to stop moving, and simultaneously outputting an alarm signal to the outside through the signal output module.
In one embodiment, the step of acquiring, by the control signal acquisition module, the current displacement, the current moving speed, and the current moving direction of the object to be lifted in real time through the object lifting device, and detecting, by the weighing sensor, the current weight of the object to be lifted in real time includes:
the control differential signal acquisition submodule detects the current displacement, the current moving speed and the current moving direction of the object to be hung in real time through a rotary encoder, and the control analog signal acquisition submodule detects the current weight of the object to be hung in real time through a weighing sensor.
According to a third aspect, the present invention also provides a computer-readable storage medium storing computer instructions for causing a computer to execute the crane control method according to the second aspect or any one of the embodiments of the second aspect.
According to a fourth aspect, an embodiment of the present invention provides an electronic device, including: the crane control system according to any one of the first aspect or any one of the first aspect embodiments, a memory and a processor, wherein the crane control system, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the crane control method according to any one of the second aspect or any one of the second aspect embodiments.
The technical scheme of the invention has the following advantages:
the invention provides a crane control system, a control method and a control device thereof and electronic equipment, wherein the system comprises: the method comprises the following steps: the control panel, weighing sensor and hang the thing device, wherein, integrated setting signal acquisition module, switching signal output module and loop wheel machine controller on the control panel, signal acquisition module and switching signal output module all are connected with the loop wheel machine controller, and weighing sensor is connected with signal acquisition module, and weighing sensor is used for detecting waiting to hang the object, hangs the control signal of thing device according to the loop wheel machine controller to the messenger waits to hang the object and removes. The control circuit of the invention has compact and simple structure, can reduce the occupied space of the whole structure, does not need to be provided with excessive wiring ports, leads the signal processing of the circuit to be simpler, can realize the real-time detection function and can ensure the moving safety of the object to be hung. In addition, the failure rate and the production cost can be reduced, and the production efficiency can be improved.
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 some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic structural diagram of a crane control system according to an embodiment of the present invention;
FIG. 2 is a control circuit diagram of a crane control system in an embodiment of the present invention;
FIG. 3 is a flow chart of a crane control method in an embodiment of the present invention;
fig. 4 is a hardware diagram of an electronic device according to an embodiment of the present invention.
Reference numerals:
11-crane support structure; 12-a control panel; 13-an electric cabinet; 14-a load cell;
15-operating a handle; 16-hanging device 17-alarm;
120-a signal acquisition module; 121-crane controller; 122-a switching signal output module;
161-frequency converter; 162-a motor; 163-wire rope drum; 164-a rotary encoder;
165-a rotary encoder; 166-a fixed pulley; 167-hook;
1201-switch signal acquisition submodule; 1202-a differential signal acquisition submodule;
1203-analog signal acquisition submodule.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood 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 present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting 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 present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two elements may be directly connected or indirectly connected through an intermediate medium, or may be communicated with each other inside the two elements, or may be wirelessly connected or wired connected. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
With the rapid development of the offshore wind power industry, the offshore platform hoisting operation is more frequent, and the use of offshore cranes is more and more. In the related art, most of the offshore crane control systems are formed by adopting a PLC (programmable logic controller) as a controller. This kind of marine loop wheel machine control system of structure, because PLC controller circuit structure is complicated, cause circuit signal processing also comparatively complicated, simultaneously, the PLC controller is bulky, leads to loop wheel machine control system to have overall structure occupation space great, and the fault rate is higher, and manufacturing cost is higher, the relatively poor problem of production efficiency.
In view of this, an embodiment of the present invention provides a crane control system, as shown in fig. 1, a control panel 12, a load cell 14 and a crane device 16, wherein a signal acquisition module 120, a switch signal output module 122 and a crane controller 121 are integrally disposed on the control panel 12, the signal acquisition module 120 and the switch signal output module 122 are both connected to the crane controller 121, the load cell 14 is connected to the signal acquisition module 120, the load cell 14 is configured to detect an object to be lifted, and the crane device 16 moves the object to be lifted according to a control signal of the crane controller 121.
Specifically, the crane controller 121 may be a CPU controller (single chip microcomputer). The switching signal output module 122 may be a switching interface circuit or a digital I/O interface circuit commonly used in the art. The switching signal output module 122 is configured to output a switching control signal output by the crane controller 121.
In one embodiment, in fig. 1, the crane control system in the embodiment of the present invention further includes: a crane support structure 11 is provided with a crane device 16, a control panel 12, and a load cell 14 on the crane support structure 11.
In one embodiment, in fig. 1, in the crane control system according to the embodiment of the present invention, a plurality of switch buttons are provided on the crane controller 121. For example: the plurality of switch keys may include a start button, a raise button, a lower button, and an emergency stop button. The buttons may be electrically connected to the signal acquisition module 120 by a wired connection.
In another embodiment, in fig. 1, the method further includes: an operating handle 15, wherein the operating handle 15 is connected with the signal acquisition module 120. Specifically, for example: the operating handle 15 is provided with a start button, an up button, a down button, and an emergency stop button, which may be electrically connected to the signal acquisition module 120 by a wired connection.
In fig. 1, the crane support structure 11 is a mechanical structure that can be supported on an offshore platform for crane operation. The control panel 12 may be a PCB circuit board. The load cell 14 may be a pin-type sensor for detecting the current weight of the object to be lifted. The operation handle 15 may be an operation device for hand-held use, and the hanging device 16 may be a frequency converter 161, a motor 162, a wire reel 163, a rotary encoder 164, a wire 165, a fixed pulley 166, and a hook 167. Thereby, converter 161 receives the on-off control signal of switching signal output module 122 output and rotates through changing mains frequency drive motor 162, and motor 162 operation drives wire rope reel 163 rotatory, and then drives wire rope 165 and go upward or transfer to make the lifting hook 167 of fixing at wire rope 165 tip move along with wire rope 165, realize that lifting hook 167 carries the object of waiting to hang and moves up and down.
Through integrated setting signal acquisition module, switching signal output module and loop wheel machine controller on the control panel for control circuit compact structure is simple, and at to a great extent, overall structure occupation space can be reduced, need not to set up too much wiring port, thereby can make circuit signal processing also comparatively succinct, finally can avoid frequent trouble to take place, finally reaches reduction in production cost and production efficiency's purpose.
In an implementation manner, in the crane control system in the embodiment of the present invention, as shown in fig. 2, the signal acquisition module 120 further includes: the switching signal acquisition submodule 1201, the differential signal acquisition submodule 1202 and the analog signal acquisition submodule 1203 are respectively connected with the crane controller 121.
The switch signal collecting sub-module 1201 is configured to collect signals of a start button, an up button, a down button, or an emergency stop button sent by the crane controller 121 or the operating handle 15, and send the collected signals of the start button, the up button, the down button, or the emergency stop button to the crane controller 121 connected thereto. The switching signal collection sub-module 1201 may be formed of a switching circuit commonly used in the art.
The differential signal acquisition submodule 1202 is configured to acquire the current displacement, the current moving speed, and the current moving direction of the object to be hoisted detected in real time by the rotary encoder 164 in the object hoisting device 16, and send the acquired current displacement, current moving speed, and current moving direction of the object to be hoisted to the crane controller 121 connected thereto. The differential signal acquisition submodule 1202 may also be formed of a differential circuit commonly used in the art.
The analog signal acquisition submodule 1203 is configured to acquire the current weight of the object to be lifted detected by the weighing sensor 14 in real time, and send the acquired current weight to the crane controller 121 connected to the weighing sensor. The analog signal acquisition sub-module 1203 here may also be formed of an analog circuit commonly used in the art.
In fig. 2, the switching signal acquisition submodule 1201, the differential signal acquisition submodule 1202 and the analog signal acquisition submodule 1203 are all connected to the crane controller 121 and are integrally arranged on the control panel 12, so that the circuit structure is simple and compact.
In one embodiment, in the crane control system according to the embodiment of the present invention, in fig. 2, an input end of the switching signal collecting submodule 1201 is connected to the operating handle 15, and an output end of the switching signal collecting submodule 1201 is connected to the crane controller 121.
In one embodiment, the crane control system in the embodiment of the present invention, in fig. 1 and 2, the object lifting device 16 for assisting the object to be lifted to move further includes: frequency converter 161, motor 162, wire rope reel 163, rotary encoder 164, wire rope 165, fixed pulley 166 and hook 167. The input end of the frequency converter 161 is connected to the switching signal output module 122, the output end of the frequency converter 161 is connected to the input end of the motor 162, and the output end of the motor 162 is connected to the wire rope reel 163. The input end of the rotary encoder 164 is connected with the differential signal acquisition submodule 1202, the output end of the rotary encoder 164 is connected with the reel of the steel wire rope reel 163, the first end of the steel wire rope 165 is wound in the steel wire rope reel 163, and the second end of the steel wire rope 165 is connected with the hook 167 through the fixed pulley 166. And the weighing sensor 14 is arranged on the central shaft of the fixed pulley 166 and is connected with the analog signal acquisition submodule 1203. The rotary encoder 164 can detect the current displacement, the current moving direction and the current moving speed of the object to be hung borne by the hook 167 in real time, and does not need to be provided with more devices for detection, so the structure is simple and the cost is low.
In one embodiment, the crane control system in the embodiment of the present invention, in fig. 2, further includes: the alarm 17, the alarm 17 is connected with the switch signal output module 122. In fig. 1, the alarm 17, the frequency converter 161 and the control panel 12 are mounted in an electric cabinet 13, and the electric cabinet 13 is disposed on the crane support structure 11. The alarm 17 is used for sending out an alarm signal when the current weight of the object to be lifted is overloaded or the current moving speed and the current moving direction of the object to be lifted are dangerous.
Therefore, in the crane control system in the embodiment of the invention, the signal acquisition module, the switch signal output module and the crane controller are integrated through the control panel, the circuit structure is simple and compact, and the occupied space of the whole structure can be reduced. And the current weight, the current displacement, the current moving speed and the current moving direction of the object to be hung can be monitored in real time. Therefore, the crane control system in the embodiment of the invention has complete functions, low cost and convenient batch production. To a great extent, frequent faults can be avoided, and the production efficiency is improved.
Based on the same conception, an embodiment of the present invention provides a crane control method, which is used for a crane control system in the above-mentioned embodiment, as shown in fig. 3, and includes the following steps:
step S31: and responding to the received starting operation instruction, and executing starting self-checking operation by the crane controller.
Specifically, the starting operation command here is a starting control signal sent by the crane controller. Or a starting control signal sent by a starting button arranged on the operating handle, when an operator presses the starting button on the operating handle, the crane control system is electrified through the crane controller to execute starting self-checking operation for hanging the object to be hung.
Step S32: the control signal acquisition module acquires the current displacement, the current moving speed and the current moving direction of the object to be hung in real time through the object hanging device and detects the current weight of the object to be hung in real time through the weighing sensor.
The signal acquisition module herein comprises: the switch signal acquisition submodule, the differential signal acquisition submodule and the analog signal acquisition submodule.
The object hanging device comprises: the device comprises a frequency converter, a motor, a steel wire rope reel, a rotary encoder, a steel wire rope, a fixed pulley and a lifting hook.
The weighing sensor is arranged on a middle shaft of the fixed pulley and connected with the analog signal acquisition submodule to detect the current weight of the object to be hung in real time.
In an embodiment, the step S32 of the control signal acquiring module acquiring, by the lifting device, the current displacement, the current moving speed, the current moving direction of the object to be lifted in real time, and detecting, by the weighing sensor, the current weight of the object to be lifted in real time performs the following operations:
the control differential signal acquisition submodule detects the current displacement, the current moving speed and the current moving direction of the object to be hung in real time through a rotary encoder, and the control analog signal acquisition submodule detects the current weight of the object to be hung in real time through a weighing sensor.
Because the input end of the rotary encoder is connected with the differential signal acquisition submodule and the output end of the rotary encoder is connected with the reel of the steel wire rope reel, the rotary encoder can determine the current displacement, the current moving speed and the current moving direction of the object to be hung according to the pulse signals sent by the rotary encoder. Acquiring the winding and unwinding length of the steel wire rope in the steel wire rope winding drum according to the number of the pulse signals so as to determine the current displacement of the object to be hung; the speed of the object to be lifted moving upwards or downwards is obtained through the speed of the pulse signal; the level of the pulse signal is used for knowing whether the motor rotates forwards or backwards so as to determine whether the object to be lifted moves upwards or downwards.
Step S33: and if the current weight meets the preset load bearing condition, controlling the object to be lifted to move according to the uploaded movement operation instruction.
The predetermined sling weight condition may be a maximum weight specification of the object allowed to be suspended by the hook. For example: the preset hoisting weight condition is less than or equal to 200kg, if the current weight of the object to be hoisted is less than or equal to the preset weight, the requirement is met, otherwise, the overload condition of the object to be hoisted is indicated. The movement operation command can be uploaded through the operation handle or the crane controller. The move operation instruction here includes an upward move or a downward move. If the current weight meets the preset load bearing condition, the object to be hung can be controlled to move upwards according to the upward movement operation instruction, and the object to be hung can be controlled to move downwards according to the downward movement operation instruction.
Obviously, the current weight does not accord with the preset bearing weight condition, the object to be hung is controlled to stop moving, and an overload signal is sent outwards, in fig. 2, the overload signal can be transmitted to the alarm through the switch signal output module to send out an audible and visual prompt outwards.
Step S34: and in the process of moving the object to be hung, determining whether dangerous conditions exist in the current displacement, the current moving speed and the current moving direction.
For example: under the condition that the object to be lifted is not overloaded and in the process that the object to be lifted moves upwards, a switch signal output module in the control panel outputs a switch control signal to a frequency converter, and the frequency converter controls a motor to operate in the forward direction to drive a steel wire rope to operate upwards, so that the object to be lifted, which is lifted by the lifting hook, also moves upwards. And in the upward movement process of the object to be hung, the rotary encoder detects the displacement of the object to be hung suspended by the hook in real time, when the object to be hung moves to a set upper limit displacement, dangerous conditions exist when the object to be hung continuously moves, meanwhile, the rotary encoder detects the current moving direction and the current moving speed of the object to be hung suspended by the hook in real time, and if the current moving speed and the current moving direction are inconsistent with the control signal of the frequency converter, the current conditions of the object to be hung belong to dangerous conditions.
For the same reason, for example: under the condition that the object to be lifted is not overloaded and in the process that the object to be lifted moves downwards, a switch signal output module in a control panel outputs a control signal to a frequency converter, and the frequency converter controls a motor to run reversely to drive a steel wire rope to run downwards, so that the object to be lifted and lifted by a lifting hook also moves downwards. And in the downward movement process of the object to be hung, the rotary encoder detects the displacement of the object to be hung suspended by the hook in real time, when the object to be hung moves to a set lower limit displacement, dangerous conditions exist when the object to be hung continuously moves, meanwhile, the rotary encoder detects the current moving direction and the current moving speed of the object to be hung suspended by the hook in real time, and if the current moving speed and the current moving direction are inconsistent with the control signal of the frequency converter, the current conditions of the object to be hung also belong to dangerous conditions.
Step S35: and if the object to be lifted has a dangerous condition, controlling the object to be lifted to stop moving, and simultaneously outputting an alarm signal to the outside through the signal output module.
Specifically, no matter the object to be hung carried by the hook moves upwards or downwards, when the object to be hung moves to a set upper limit position or a set lower limit position, the operation is continued, a dangerous condition is indicated, and the object to be hung is controlled to stop moving. Meanwhile, a signal is output to the alarm through the switch signal output module to give an alarm. In addition, the rotary encoder detects the current moving direction and the current moving speed of the object to be hung suspended by the hook in real time, and if the current moving direction and the current moving speed are inconsistent with the control signal of the frequency converter, the crane controller controls the frequency converter to stop outputting, and meanwhile, the output signal gives an alarm for alarming.
Therefore, the crane control method in the embodiment of the invention is used for the crane control system in the embodiment, the control circuit has a simple and compact structure, the circuit signal processing is simpler, the real-time detection of the current moving speed, the current moving direction, the current moving displacement and the current weight of the object to be lifted borne by the lifting hook can be realized, the moving safety of the object to be lifted is ensured, the frequent occurrence of faults can be reduced, and the cost is lower.
In view of this, the embodiment of the present invention further provides an electronic device, as shown in fig. 4, the electronic device may include a processor 41, a memory 42 and a crane control system 43, where the processor 41, the memory 42 and the crane control system 43 may be connected by a bus or in other ways, and fig. 4 illustrates the connection by the bus.
The processor 41 may be a Central Processing Unit (CPU). The Processor 41 may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, or combinations thereof.
The memory 42, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules. The processor 41 executes various functional applications and data processing of the processor by running non-transitory software programs, instructions and modules stored in the memory 42, that is, implements the crane control method in the above-described method embodiment.
The memory 42 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by the processor 41, and the like. Further, the memory 42 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 42 may optionally include memory located remotely from processor 41, which may be connected to processor 41 via a network. Examples of such networks include, but are not limited to, the power grid, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 42 and, when executed by the processor 41, perform a crane control method as in the embodiment shown in fig. 3.
The details of the electronic device may be understood by referring to the corresponding related descriptions and effects in the embodiments shown in the drawings, and are not described herein again.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD), a Solid State Drive (SSD), or the like; the storage medium may also comprise a combination of memories of the kind described above.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (14)
1. A crane control system, comprising: the control panel is integrated with a signal acquisition module, a switch signal output module and a crane controller, the signal acquisition module and the switch signal output module are connected with the crane controller, the weighing sensor is connected with the signal acquisition module, the weighing sensor is used for detecting an object to be lifted, and the crane device is used for moving the object to be lifted according to a control signal of the crane controller.
2. The crane control system of claim 1 wherein a plurality of switch buttons are provided on the crane controller.
3. The crane control system of claim 1, further comprising: and the operating handle is connected with the signal acquisition module.
4. The crane control system of claim 1, wherein the signal acquisition module comprises: and the switch signal acquisition submodule, the differential signal acquisition submodule and the analog signal acquisition submodule are respectively connected with the crane controller.
5. The crane control system of claim 4, wherein the hoist device comprises: the device comprises a frequency converter, a motor, a steel wire rope reel, a rotary encoder, a steel wire rope, a fixed pulley and a lifting hook.
6. The crane control system as claimed in claim 5, wherein the input end of the frequency converter is connected to the switching signal output module, the output end of the frequency converter is connected to the input end of the motor, and the output end of the motor is connected to the wire rope reel.
7. The crane control system as claimed in claim 6, wherein the input end of the rotary encoder is connected to the differential signal acquisition submodule, the output end of the rotary encoder is connected to the reel of the wire rope reel, the first end of the wire rope is wound in the wire rope reel, and the second end of the wire rope is connected to the hook through the fixed pulley.
8. The crane control system as claimed in claim 7, wherein the load cell is disposed on the middle shaft of the fixed pulley and connected to the analog signal acquisition submodule.
9. The crane control system of claim 8, further comprising: and the alarm is connected with the switch signal output module.
10. The crane control system of claim 9, further comprising: the crane supporting structure is provided with the object hanging device, the control panel, the weighing sensor, the alarm and the electric cabinet, and the frequency converter, the alarm and the control panel are installed in the electric cabinet.
11. A crane control method for a crane control system as claimed in any one of claims 1 to 10, comprising the steps of:
in response to receiving a starting operation instruction, the crane controller executes a starting self-checking operation;
the control signal acquisition module acquires the current displacement, the current moving speed and the current moving direction of the object to be hung in real time through the object hanging device and detects the current weight of the object to be hung in real time through the weighing sensor;
if the current weight meets the preset hoisting weight condition, controlling the object to be hoisted to move according to the uploaded movement operation instruction;
in the process of moving the object to be hung, determining whether dangerous conditions exist in the current displacement, the current moving speed and the current moving direction;
and if the object to be lifted has a dangerous condition, controlling the object to be lifted to stop moving, and simultaneously outputting an alarm signal to the outside through the signal output module.
12. The crane control method according to claim 11, wherein the step of the control signal acquisition module acquiring the current displacement, the current moving speed and the current moving direction of the object to be lifted in real time through the crane device and detecting the current weight of the object to be lifted in real time through the weighing sensor comprises the steps of:
the control differential signal acquisition submodule detects the current displacement, the current moving speed and the current moving direction of the object to be hung in real time through a rotary encoder, and the control analog signal acquisition submodule detects the current weight of the object to be hung in real time through a weighing sensor.
13. A computer-readable storage medium storing computer instructions for causing a computer to perform the crane control method of any one of claims 11 to 12.
14. An electronic device, comprising: a crane control system as claimed in any one of claims 1 to 10, a memory and a processor, the crane control system, the memory and the processor being communicatively connected to each other, the memory having stored therein computer instructions, the processor being operable by executing the computer instructions to perform the crane control method as claimed in any one of claims 11 to 12.
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