CN114772468A

CN114772468A - Control method and device of indicator light and hoisting machine

Info

Publication number: CN114772468A
Application number: CN202210575957.3A
Authority: CN
Inventors: 孙有辉; 刘文兵; 安术军
Original assignee: Hunan Sany Medium Lifting Machinery Co Ltd
Current assignee: Hunan Sany Medium Lifting Machinery Co Ltd
Priority date: 2022-05-25
Filing date: 2022-05-25
Publication date: 2022-07-22

Abstract

The application relates to the technical field of hoisting machinery, in particular to a control method and device of an indicator light and hoisting machinery. The control method of the indicator light is used for controlling a driving mechanism which is fixed on the hoisting machinery and connected with the indicator light so as to adjust the irradiation position of the indicator light, and comprises the following steps: firstly, acquiring working condition information of a hoisting machine, wherein the working condition information comprises equipment state information of the hoisting machine and environment state information of the hoisting machine; then, determining a light spot irradiation position based on the working condition information; based on the light spot irradiation position, the driving mechanism is controlled to move, so that the indicating lamp forms a prompting light spot at the light spot irradiation position, and the prompting light spot is used for indicating the falling position of the hanging object and/or the falling point position of the lifting hook. So set up, the suggestion facula position that so forms is more accurate, reminds workman in the region through the suggestion facula, leaves the thing position of falling and/or the lifting hook position of falling of hanging of estimating, reduces because of hanging the injury that the thing falls and cause.

Description

Control method and device of indicator light and hoisting machine

Technical Field

The application relates to the technical field of hoisting machinery, in particular to a control method and device of an indicator light and hoisting machinery.

Background

High falling objects are one of the main hazard sources in construction sites. The main danger source of the lifting machinery in the normal use process is a high falling object caused by the lifting hook and the striking injury of an object, in particular to the lifting process of bundled long rods and bulk materials. Especially, a large amount of material storage yards exist on the working surface of a construction site, and a large amount of construction workers working manually and semi-mechanically are in head-sinking operation. A large number of practical experiences show that a construction worker who performs operations such as template installation, steel bar processing, steel bar binding and the like by embedding the head can not pay attention to whether the hook is on the top of the head and a hanging object passes through the hook at all, so that the vigilance of a falling object danger source at the position of the top of the head is relaxed. From an ergonomic point of view, if the human vision needs to constantly switch the attention direction, the efficiency of manual operation is greatly reduced, and mistakes or injuries are easy to occur.

The manual control electric bell is installed at the position of a rotary transition joint of the existing hoisting machinery, and whistling is required when the hoisting machinery hoists. But in actual operation, the electric bell is difficult to play a warning role.

Disclosure of Invention

In view of the above, embodiments of the present application are directed to provide a method and an apparatus for controlling an indicator light, and a hoisting machine, so as to reduce injury caused by falling of a hoisted object by prompting workers in an area to leave an estimated hoisted object falling position and/or a hoisting hook falling point position through a light spot.

According to a first aspect of the embodiments of the present application, there is provided a method for controlling an indicator light, for controlling a driving mechanism that is fixed to a hoisting machine and connected to the indicator light, so as to adjust an irradiation position of the indicator light, the method for controlling the indicator light including:

acquiring working condition information of the hoisting machinery;

determining the working state of the hoisting machinery based on the working condition information;

determining a light spot irradiation position based on the working condition information;

and controlling the driving mechanism to move based on the light spot irradiation position so that the indicating lamp forms a prompting light spot at the light spot irradiation position, wherein the prompting light spot is used for indicating the falling position of the hanging object and/or the falling point position of the lifting hook.

In one embodiment, the working condition information comprises equipment state information of the hoisting machinery and environment state information of the hoisting machinery;

the determining the light spot irradiation position based on the working condition information comprises the following steps:

if the working state is the first type state, determining the light spot irradiation position based on the equipment state information;

and if the working state is the second type state, determining the light spot irradiation position based on the equipment state information and the environment state information.

In one embodiment, the equipment status information includes a rotational speed of a turntable of the hoisting machine; the environmental status information includes wind speed;

based on the working condition information, determining the working state of the hoisting machinery, comprising the following steps:

when the rotating speed of a rotary table of the lifting machine is lower than a preset speed and the wind speed is lower than a preset wind speed, determining that the working state of the lifting machine is a first-class state;

and when the rotating speed of the rotary table of the hoisting machine is not lower than the preset speed or the wind speed is not lower than the preset wind speed, determining that the working state of the hoisting machine is the second type state.

In one embodiment, the indicator light, the crane arm of the hoisting machine, the lifting hook of the hoisting machine and the vertical point of the lifting hook on the ground are coplanar;

when the operating condition is first kind of state, shine the position based on the facula, control the motion of actuating mechanism to make the pilot lamp shine the position at the facula and form suggestion facula, include:

based on the light spot irradiation position, the driving mechanism is controlled to move, and the pitch angle of the indicating lamp is adjusted, so that the indicating lamp forms a prompt light spot at the light spot irradiation position.

In one embodiment, the device state information includes: boom angle information and boom extension length;

determining a spot illumination position based on the device status information, comprising:

calculating the projection position of the lifting hook on the ground based on the angle information of the lifting arm and the stretching length of the lifting arm; wherein, the projected position is the light spot irradiation position.

In one embodiment, the device state information includes: the method comprises the following steps of (1) cargo boom angle information, cargo boom extension length, lifting hook height, an included angle between a lifting rope and a theoretical vertical line for lifting objects, rotary table rotation speed and lifting object weight; the environmental status information includes wind speed;

determining a spot illumination position based on the device state information and the environment state information, comprising:

determining the position information of the hoisted object based on the angle information of the crane boom, the extension length of the crane boom, the height of the lifting hook, the length of the lifting rope and the included angle between the lifting rope and the theoretical vertical line of the hoisted object;

determining the speed information of the hoisted object based on the rotation speed of the rotary table, the angle information of the crane boom, the extension length of the crane boom, the height of the lifting hook, the length of the hoisting rope and the included angle between the hoisting rope and the theoretical vertical line of the hoisted object;

estimating the position of a drop point of the hoisted object based on the position information, the speed information, the wind speed and the weight of the hoisted object; wherein, the drop point position of the hanging object is the light spot irradiation position.

In one embodiment, further comprising:

acquiring a manual control instruction; the manual control instruction is an instruction which is input by a user and is used for controlling the indicating lamp to irradiate the target position;

and based on the manual control instruction, the indicating lamp is controlled to irradiate the target position to form a prompt light spot.

According to a second aspect of the embodiments of the present application, there is provided a control device for an indicator light, for controlling a driving mechanism fixed on a hoisting machine and connected to the indicator light, so as to adjust an irradiation position of the indicator light, the control device for the indicator light comprising:

the acquisition module is used for acquiring the working condition information of the hoisting machinery;

the determining module is used for determining a light spot irradiation position based on the working condition information;

and the control module is used for controlling the driving mechanism to move based on the light spot irradiation position so that the indicator lamp forms a prompt light spot at the light spot irradiation position, and the prompt light spot is used for indicating the falling position of the hanging object and/or the falling point position of the lifting hook.

According to a third aspect of embodiments of the present application, there is provided an electronic apparatus, including: a processor; a memory for storing processor-executable instructions; the processor is configured to perform the method of any of the above embodiments.

According to a fourth aspect of embodiments of the present application, there is provided a computer-readable storage medium storing a computer program for executing the method of any one of the above embodiments.

According to a fifth aspect of embodiments of the present application, there is provided a hoisting machine, including:

hoisting the machine body;

the indicator light is arranged on the hoisting machinery body through the driving mechanism;

the information acquisition device is arranged on the hoisting machine body; the information acquisition device is used for acquiring the working condition information of the hoisting machinery;

and the control equipment is respectively in communication connection with the driving mechanism and the information acquisition device and is used for executing the method of any one of the embodiments.

In one embodiment, the information acquisition device includes a torque limiter; the control device includes a controller;

the moment limiter is used for acquiring working condition information of the hoisting machinery and sending the working condition information to the controller; the working condition information comprises equipment state information of the hoisting machinery and environment state information of the hoisting machinery;

the controller is used for receiving the working condition information and determining a light spot irradiation position based on the working condition information; and controlling the driving mechanism to move based on the light spot irradiation position so that the indicating lamp forms a prompting light spot at the light spot irradiation position, wherein the prompting light spot is used for indicating the falling position of the hanging object and/or the falling point position of the lifting hook.

In one embodiment, the drive mechanism comprises: a first driving unit and a second driving unit; the first driving unit is fixed on the hoisting machine, and the second driving unit is fixed on the first driving unit; the second driving unit is also used for fixing an indicator light; the first driving unit is used for driving the second driving unit to move so as to drive the indicator light to move, so that the pitch angle of the indicator light can be adjusted; the second driving unit is used for driving the indicator light to move so as to adjust the yaw angle of the indicator light.

According to the control method of the indicator lamp, firstly, working condition information of the hoisting machinery is obtained, wherein the working condition information comprises equipment state information of the hoisting machinery and environment state information of the hoisting machinery; then, determining a light spot irradiation position based on the working condition information; based on the light spot irradiation position, the driving mechanism is controlled to move, so that the indicating lamp forms a prompting light spot at the light spot irradiation position, and the prompting light spot is used for indicating the falling position of the hanging object and/or the falling point position of the lifting hook. So set up, in the scheme that this application embodiment provided, can shine the position based on operating mode information confirms the facula (wherein, the facula shines the position and falls position and/or lifting hook placement position for hanging the thing), has more pointed definite facula and shines the position, and control pilot lamp shines the facula and shines the position, forms the suggestion facula. The suggestion facula position that so forms is more accurate, reminds the workman in the region through the suggestion facula, leaves the object of hanging that predicts and falls position and/or lifting hook drop point position, reduces the injury that causes because of hanging the object and falling, can also remind the operator who lifts by crane machinery through the suggestion facula and hang the drop point of object, places for the operator and hangs the object and provide convenience.

Drawings

The above and other objects, features and advantages of the present application will become more apparent by describing in more detail embodiments of the present application with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numbers generally represent like parts or steps.

Fig. 1 is a schematic structural view of a hoisting machine according to an embodiment of the present disclosure.

Fig. 2 is a schematic circuit connection diagram of a hoisting machine according to an embodiment of the present disclosure.

Fig. 3 is a schematic flowchart illustrating a control method of an indicator light according to another embodiment of the present application.

Fig. 4 is a schematic diagram of a cue light spot according to another embodiment of the present application.

Fig. 5 is a schematic diagram illustrating equipment state information of a hoisting machinery part according to another embodiment of the present application.

Fig. 6 is a partial schematic flow chart of a control method of an indicator light according to another embodiment of the present application.

Fig. 7 is a partial schematic flow chart of a control method of an indicator light according to another embodiment of the present application.

Fig. 8 is a block diagram illustrating a control apparatus for an indicator light according to an embodiment of the present application.

Fig. 9 is a block diagram illustrating a structure of an electronic device according to an embodiment of the present application.

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. 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.

Summary of the application

High falling objects are one of the main hazard sources in construction sites. The main danger source of the hoisting machinery in the normal use process is the high falling object caused by the lifting hook and the object hitting injury, in particular to the hoisting process of bundled long rods and bulk materials. Especially, a large amount of material storage yards exist on the working surface of a construction site, and a large amount of construction workers working manually and semi-mechanically are in head-sinking operation. A large number of practical experiences show that a construction worker who performs operations such as template installation, steel bar processing, steel bar binding and the like by embedding the head can not pay attention to whether the hook is on the top of the head and a hanging object passes through the hook at all, so that the vigilance of a falling object danger source at the position of the top of the head is relaxed. From an ergonomic point of view, if the human vision needs to constantly switch the attention direction, the efficiency of manual operation is greatly reduced, and mistakes or injuries easily occur.

The existing hoisting machinery is provided with a manual control electric bell at a rotary transition joint, and whistling is required when the hoisting machinery is hoisted. But the electric bell is difficult to play a warning role in actual operation.

In order to solve the problems, the method provided by the application firstly calculates the falling position of the hanging object and/or the falling point position of the lifting hook, and then drives the indicator light to move through the driving mechanism, so that the indicator light forms a prompt light spot at the falling position of the hanging object and/or the falling point position of the lifting hook. Workers in the reminding area are reminded through the reminding light spots, leave the estimated falling position of the hoisted object and/or the falling point position of the lifting hook, reduce the damage caused by falling of the hoisted object, and can also remind the operator of the hoisting machinery of the falling point of the hoisted object through the reminding light spots, so that convenience is brought to the operator in placing the hoisted object.

Having described the basic principles of the present application, various non-limiting embodiments of the present application will now be described with reference to the accompanying drawings.

Exemplary hoisting machine

Fig. 1 is a schematic structural view of a hoisting machine according to an embodiment of the present disclosure. Fig. 2 is a schematic circuit connection diagram of a hoisting machine according to an embodiment of the present disclosure. Referring to fig. 1 and 2, the hoisting machine includes: a hoisting machine body 1; the indicator light 2 is arranged on the hoisting machinery body 1 through the driving mechanism 3; the information acquisition device is arranged on the hoisting machine body 1; the information acquisition device is used for acquiring the working condition information of the hoisting machinery; and the control equipment is used for controlling the driving mechanism 3 to move so as to drive the indicator lamp 2 to move, so that the indicator lamp 2 forms a prompt light spot at a falling position of a hanging object and/or a falling point position of a lifting hook. The hanging object falling position refers to a position where the hanging object falls when falling occurs in the process of lifting the hanging object by the lifting machine; the drop point position of the lifting hook refers to the position of the drop point of the lifted object on the premise that the lifted object does not fall in the process of lifting the lifted object by the lifting machine. So set up, can leave the hoist drop point position of prediction or hoist the thing position of falling through the workman in the suggestion facula warning region, reduce because of hanging the thing and fall the injury that causes, can also lift by crane mechanical operator through suggestion facula suggestion, the drop point of hanging the thing places for the operator and hangs the thing and facilitates.

Specifically, the information acquisition device comprises a moment limiter 4; it should be noted that the torque limiter 4 is generally a structure that the hoisting machine has for data collection and processing. The moment limiter 4 can detect the mass of the crane and the angle of the crane arm, and can display the rated load capacity, the actual load, the working radius and the angle of the crane arm. The moment limiter 4 can also monitor and detect the working condition of the crane in real time, has a diagnosis function, can alarm and safely control dangerous conditions quickly, can automatically record the dangerous working conditions during operation, and provides a basis for accident analysis and treatment. Based on this, the torque limiter 4 can obtain more comprehensive working condition information. Specifically, the control device includes a controller 5; after acquiring the working condition information of the hoisting machinery, the torque limiter 4 can send the working condition information to the controller 5; the working condition information comprises equipment state information of the hoisting machinery and environment state information of the hoisting machinery; the controller 5 is used for determining the light spot irradiation position based on the equipment state information when the working state is the first type state and determining the light spot irradiation position based on the equipment state information and the environment state information when the working state is the second type state; based on the light spot irradiation position, the driving mechanism 3 is controlled to move, so that the indicating lamp 2 forms a prompting light spot at the light spot irradiation position, and the prompting light spot is used for indicating the falling position of the hanging object and/or the falling point position of the lifting hook. So set up, can utilize the moment limiter 4 of lifting by crane machinery oneself, accomplish the collection work of information, later through controller 5 based on actuating mechanism 3 accomplishes the control to the position is shone to pilot lamp 2 to control pilot lamp 2 and shine the position at the facula and leave the suggestion facula, with the instruction object that hangs fall position and/or lifting hook placement position.

Specifically, in the solution provided in the embodiment of the present application, the driving mechanism 3 includes: a first driving unit and a second driving unit; the first driving unit is fixed on the hoisting machine, and the second driving unit is fixed on the first driving unit; the second driving unit is also used for fixing the indicator lamp 2; the first driving unit is used for driving the second driving unit to move so as to drive the indicator light 2 to move, so that the pitch angle of the indicator light 2 is adjusted; the second driving unit is used for driving the indicator light 2 to move so as to adjust the yaw angle of the indicator light 2. Specifically, first drive unit and second drive unit can the orthogonal setting to in 2 removal based on first drive unit and second drive unit drive pilot lamp, adjust the direction of illumination of pilot lamp 2, make pilot lamp 2 can shine and hang thing drop position and/or lifting hook drop point position, leave the suggestion facula. The first driving unit and the second driving unit can be arranged in a mechanical arm, a servo motor and a hydraulic power device.

Specifically, the installation position of the indicator light 2 can be coplanar with the crane boom, the lifting hook and the vertical point of the lifting hook on the ground. So set up, under the less weather of wind speed, during the rotatory operation of revolving stage slow speed, only need the angle of pitch of adjustment warning light can mark the possible placement of hanging the thing. Specifically, the indicator light 2 may be mounted in a hinged manner; the installation position of the indicator lamp 2 may be the arm end belly position of the main arm basic arm (the middle position of two working lamps irradiating the hook), that is: the indicator lamp 2 is installed on the bilateral symmetry plane of the arm end abdomen part of the basic arm.

Further, the actual drop point may deviate in the left-right direction under the influence of high turntable rotation speed (inertia effect of the hook/suspended object) or wind speed. The position approximate to the actual drop point can be obtained by calculation of the controller 5 according to data such as amplitude, height of a lifting hook, distance between the lifting hook and an arm head (length of a lifting rope), wind speed, rotating speed of a rotary table, weight of a lifted object and the like provided by the crane moment limiter 4(LMI), and the indicator light 2 is controlled to rotate by a corresponding angle in the rotating direction (yaw angle) and the pitching direction (pitch angle), so that the indicator light 2 can irradiate the falling position of the lifted object and/or the drop point position of the lifting hook, and a prompt light spot is left. By the arrangement, the falling position of the hoisted object and/or the falling point position of the lifting hook can be accurately calculated under the influence of high rotating speed of the rotary table and/or high wind speed, and then the indicator light 2 is controlled to rotate by a corresponding angle in the rotating direction (yaw angle) and the pitching direction (pitch angle), so that the indicator light 2 can accurately leave a prompt light spot at the falling position of the hoisted object and/or the falling point position of the lifting hook.

Exemplary method

Fig. 3 is a schematic flowchart of a control method of an indicator light according to an embodiment of the present application. The method of fig. 3 may be performed by a control apparatus in an exemplary hoisting machine of the present application. As shown in fig. 3, the method includes the following.

S310: and acquiring working condition information of the hoisting machinery, wherein the working condition information comprises the equipment state information of the hoisting machinery and the environment state information of the hoisting machinery.

It should be noted that, the specific manner of obtaining the working condition information of the hoisting machine may be to obtain the working condition information collected by the torque limiter.

S320: and determining the irradiation position of the light spot based on the working condition information.

Specifically, S320 includes: and determining the working state of the hoisting machine based on the working condition information.

Specifically, in the scheme provided by the application, the working states are divided into two types based on the situation when the light spot irradiation position is determined. One is a case where the spot irradiation position can be determined based on only the device state information, and the other is a case where the spot irradiation position needs to be determined based on the device state information and the environmental state information. Further, if the working state is the first type state, the light spot irradiation position is determined based on the equipment state information. And if the working state is the second type state, determining the light spot irradiation position based on the equipment state information and the environment state information.

It should be noted that, in step S320, the essence of determining the light spot irradiation position is to determine the hanging object falling position and/or the hook falling point position.

S330: based on the light spot irradiation position, the driving mechanism is controlled to move, so that the indicating lamp forms a prompting light spot at the light spot irradiation position, and the prompting light spot is used for indicating the falling position of the hanging object and/or the falling point position of the lifting hook.

Wherein, the suggestion facula can have striking light colour and light pattern in order to warn peripheral personnel. Specifically, the shape of the prompt light spot is as shown in fig. 4, the ground color of the prompt light spot may be red, the letters therein may be yellow, and the Chinese characters may be black.

Therefore, in the scheme provided by the application, different control strategies are adopted based on different working states of the hoisting machine, when the working state is the first type of state, the light spot irradiation position is determined based on the equipment state information, the influence of the environment state information on the light spot irradiation position (namely, the falling position of the hoisted object and/or the falling point position of the lifting hook) is ignored, the calculation complexity can be reduced, and the calculation speed is accelerated. When the working state is the second type state, the light spot irradiation position (namely, the falling position of the hanging object and/or the falling point position of the lifting hook) is determined based on the equipment state information and the environment state information, so that the more accurate light spot irradiation position can be calculated based on more comprehensive information. Then the indicating lamp is controlled to irradiate the position of the drop point of the hoisted object to form a prompting light spot, workers in the area are reminded through the prompting light spot to leave the estimated position of the drop point of the hoisted object, the damage caused by the drop of the hoisted object is reduced, the drop point of the hoisted object of an operator of the hoisting machine can be prompted through the prompting light spot, and the convenience is brought to the operator for placing the hoisted object.

In one embodiment, the operating condition information includes: the rotating speed and the wind speed of a rotary table of the hoisting machinery; based on the working condition information, determining the working state of the hoisting machine, including:

when the rotating speed of a rotary table of the lifting machine is lower than a preset speed and the wind speed is lower than a preset wind speed, determining that the working state of the lifting machine is a first-class state; and when the rotating speed of the rotary table of the hoisting machine is not lower than the preset speed or the wind speed is not lower than the preset wind speed, determining that the working state of the hoisting machine is the second type state.

It should be noted that, in the scheme provided in the embodiment of the present application, by setting the preset speed and the preset wind speed, when the rotation speed of the turntable is lower than the preset speed, the speed of the hoisted object is considered to be low, and the influence on the drop point can be ignored, and when the wind speed is lower than the preset wind speed, the influence of the wind speed on the drop point can be considered to be negligible. By the arrangement, when the rotating speed of the rotating platform of the hoisting machine is lower than the preset speed and the wind speed is lower than the preset wind speed, the influence of the speed and the wind speed of the hoisted object on the drop point can be ignored, and the working state at the moment is determined to be the first type state. When the rotating speed of the rotary table of the lifting machine is not lower than the preset speed or the wind speed is not lower than the preset wind speed, and the light spot irradiation position is determined at the moment, the object lifting speed and/or the wind speed need to be considered, and the working state of the lifting machine is determined to be the second state.

The specific computation and control logic for the first type of state is as follows.

When the indicator light is installed, the indicator light, a crane arm of the hoisting machinery, a lifting hook of the hoisting machinery and a vertical point of the lifting hook on the ground can be coplanar; specifically, the installation position of the indicator light may be an arm end abdomen position installed to the main arm basic arm in an articulated manner, and is placed in the middle position of two working lights irradiating the hook, that is: the indicator light is installed on the bilateral symmetry plane of the arm end abdomen of the basic arm. According to the arrangement, when the working state is the first-class state, the speed and the wind speed of the hoisted object are ignored, so that the indicator lamp, the crane arm of the hoisting machine, the lifting hook of the hoisting machine and the vertical point of the lifting hook on the ground are always coplanar, and the movement of the driving mechanism is controlled based on the light spot irradiation position, so that when the indicator lamp forms the prompt light spot at the light spot irradiation position, the movement of the driving mechanism can be controlled based on the light spot irradiation position, and the pitch angle of the indicator lamp is adjusted, so that the indicator lamp forms the prompt light spot at the light spot irradiation position. Only adjust the angle of pitch promptly, alright make the pilot lamp shine the position at the facula and form the suggestion facula, the process of regulation is more convenient.

Specifically, the device status information includes: boom angle information and boom extension length; in the specific implementation manner of step S320, if the operating state is the first type state, "determining the spot irradiation position based on the device state information" includes:

calculating the projection position of the lifting hook on the ground based on the angle information of the lifting arm and the extension length of the lifting arm; wherein, the projected position is the light spot irradiation position. It should be noted that, when the operating state is the first type state, the speed and the wind speed of the suspended object are ignored, so if the suspended object falls, it can be regarded that the suspended object does a vertically downward motion, and therefore, the projected position of the hook on the ground can be calculated, and the projected position is taken as the spot irradiation position. By the arrangement, the calculation process of the light spot irradiation position (namely, the falling position of the suspended object and/or the falling point position of the lifting hook) is simplified, and the calculation speed is increased.

For the second class of states, the specific computation and control logic is as follows.

The device state information includes: the method comprises the following steps of (1) cargo boom angle information, cargo boom extension length, lifting hook height, lifting rope length, included angle between a lifting rope and a lifting object theoretical perpendicular line, rotary table rotation speed and lifting object weight; specifically, referring to fig. 5, boom angle information (angle α in fig. 5), boom extension length, hook height, and sling length in the equipment status information are shown in fig. 5. The environmental status information includes wind speed;

in the specific implementation manner of step S320, if the operating state is the second type state, "determining the spot irradiation position based on the device state information and the environment state information", with reference to fig. 6, includes:

s610, determining the position information of the hoisted object based on the crane arm angle information, the crane arm extension length, the height of the lifting hook, the length of the hoisting rope and the included angle between the hoisting rope and the theoretical vertical line of the hoisted object.

It should be noted that after boom angle information, boom extension length, hook height, lifting rope length, and an included angle between a lifting rope and a theoretical vertical line of a hoisted object are clarified, position information of the hoisted object can be determined based on a trigonometric function. Specifically, a straight line parallel to the ground is determined based on an intersection point of a straight line where a crane boom is located and the ground and an intersection point of a straight line where a lifting rope of a lifting hook is located and the ground; the straight line, the straight line where the lifting arm is located and the straight line where the lifting hook lifting rope is located can enclose a triangle, on the basis that the lifting arm angle information and the crane arm extension length are known, the length and the angle information of a line section, intercepted by the triangle, of the straight line where the lifting hook lifting rope is located can be determined, the angle information of the line section, intercepted by the triangle, of the straight line where the lifting hook lifting rope is located can be determined based on the included angle between the lifting rope and the theoretical perpendicular line of the lifted object, then the position of the lifting hook can be determined based on three functions, and further the position information of the lifted object is determined. It should be noted that the above-mentioned schemes are merely exemplary, and there are various specific calculation methods.

And S620, determining the speed information of the hoisted object based on the rotating speed of the rotary table, the angle information of the boom, the extension length of the boom, the height of the lifting hook, the length of the lifting rope and the included angle between the lifting rope and the theoretical vertical line of the hoisted object.

In addition to the position information of the suspended load, the speed information of the suspended load may be determined based on the time-varying relationship of the position of the suspended load, or the speed information of the suspended load may be calculated based on the rotation speed of the turntable.

S630, estimating the position of a drop point of the hoisted object based on the position information of the hoisted object, the speed information of the hoisted object, the wind speed and the weight of the hoisted object; wherein, the position of the drop point of the hanging object is the light spot irradiation position.

It should be noted that, on the basis of determining the speed of the hoisted object, the force applied to the hoisted object by the wind speed may be analyzed, or the force applied to the hoisted object by the wind speed may be analyzed based on the wind speed, and then the falling trajectory of the hoisted object may be calculated based on the influence of gravity, the influence of inertia, and the influence of wind power, so as to determine the falling position of the hoisted object, that is, the light spot irradiation position.

In one embodiment, referring to fig. 7, a method for controlling an indicator light provided in an embodiment of the present application further includes:

s710, acquiring a manual control instruction; the manual control command is a command for controlling the indicator lamp to irradiate the target position, which is input by the user.

It should be noted that the target position may be a position of a drop point determined by the user, or may be a position that the user considers to need to mark based on other considerations.

And S720, controlling the indicator light to irradiate the target position based on the manual control instruction to form a prompt light spot.

It should be noted that, in practical applications, there may be some special situations that require manual operation to control the indicator lamp to illuminate the target position.

Exemplary devices

The embodiment of the apparatus of the present application can be used to execute the embodiment of the method of the present application. For details which are not disclosed in the embodiments of the apparatus of the present application, reference is made to the embodiments of the method of the present application.

Fig. 8 is a block diagram illustrating a control device for an indicator light according to an embodiment of the present application. As shown in fig. 8, the device is used for controlling a driving mechanism which is fixed on a hoisting machine and connected with an indicator light so as to adjust the irradiation position of the indicator light, and the control device of the indicator light comprises:

an obtaining module 801, configured to obtain working condition information of the hoisting machine;

a determining module 802, configured to determine a light spot irradiation position based on the operating condition information;

and the control module 803 is used for controlling the driving mechanism to move based on the light spot irradiation position, so that the indicator lamp forms a prompt light spot at the light spot irradiation position, and the prompt light spot is used for indicating a falling position of the hanging object and/or a falling point position of the lifting hook.

In one embodiment, the determining module 802 is specifically configured to determine the working state of the hoisting machine based on the working condition information; when the working state is the first type state, determining the light spot irradiation position based on the equipment state information; when the working state is the second type state, determining the light spot irradiation position based on the equipment state information and the environment state information;

the determining module 802 is specifically configured to:

and when the rotating speed of the rotary table of the hoisting machine is not lower than the preset speed or the wind speed is not lower than the preset wind speed, determining that the working state of the hoisting machine is the second state.

when the working state is the first type state, the control module 803 is specifically configured to:

the determining module 802 is specifically configured to:

when the working state is a first-class state, calculating the projection position of the lifting hook on the ground based on the angle information of the lifting arm and the extension length of the lifting arm; wherein, the projected position is the spot irradiation position.

the determining module 802 is specifically configured to:

when the working state is a second-type state, determining the position information of the hoisted object based on the angle information of the crane boom, the extension length of the crane boom, the height of the lifting hook, the length of the lifting rope and the included angle between the lifting rope and the theoretical vertical line of the hoisted object; determining the speed information of the hoisted object based on the rotation speed of the rotary table, the angle information of the boom, the extension length of the boom, the height of the lifting hook, the length of the hoisting rope and the included angle between the hoisting rope and the theoretical vertical line of the hoisted object; estimating the position of a drop point of the hoisted object based on the position information, the speed information, the wind speed and the weight of the hoisted object; wherein, the position of the drop point of the hanging object is the light spot irradiation position.

In one embodiment of the present invention,

the acquisition module is also used for acquiring a manual control instruction; the manual control instruction is an instruction which is input by a user and is used for controlling the indicating lamp to irradiate the target position;

and the control module is also used for controlling the indicator lamp to irradiate the target position based on the manual control instruction to form a prompt light spot.

Exemplary electronic device

Fig. 9 is a block diagram of an electronic device according to an embodiment of the present invention, where the electronic device may include: at least one processor 910, at least one communication interface 920, at least one memory 930, and at least one communication bus 940.

In the embodiment of the present invention, the number of the processor 910, the communication interface 920, the memory 930, and the communication bus 940 is at least one, and the processor 910, the communication interface 920, and the memory 930 complete the communication with each other through the communication bus 940; it will be appreciated that the communication connections shown for processor 910, communication interface 920, memory 930, and communication bus 940 are merely optional.

Processor 910 may be a central processing unit CPU, or an application Specific Integrated circuit asic, or one or more Integrated circuits configured to implement the control of the indicator lights provided herein.

The memory 930 may store an application program, and may include a high-speed RAM memory, and may further include a non-volatile memory (non-volatile memory), such as at least one disk memory.

The processor 910 is specifically configured to execute an application program in the memory, so as to implement any embodiment of the above-described method for controlling an indicator light.

Exemplary computer program product and computer-readable storage Medium

In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps in the method of controlling an indicator light according to various embodiments of the present application described in the above-mentioned "exemplary methods" section of this specification.

The computer program product may be used to write program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.

Furthermore, embodiments of the present application may also be a computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, cause the processor to perform the steps in the method of controlling an indicator light according to various embodiments of the present application described in the "exemplary methods" section above in this specification.

A computer-readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.

Claims

1. A control method of an indicator light is characterized in that the control method is used for controlling a driving mechanism which is fixed on a hoisting machine and is connected with the indicator light so as to adjust the irradiation position of the indicator light, and the control method of the indicator light comprises the following steps:

acquiring working condition information of the hoisting machinery;

and controlling the driving mechanism to move based on the light spot irradiation position so that the indicator lamp forms a prompt light spot at the light spot irradiation position, wherein the prompt light spot is used for indicating the falling position of the hanging object and/or the falling point position of the lifting hook.

2. The indicator lamp control method according to claim 1, wherein the working condition information comprises equipment state information of the hoisting machinery and environment state information of the hoisting machinery;

3. The indicator lamp control method according to claim 2, wherein the equipment state information includes a rotation speed of a turntable of a hoisting machine; the environmental status information includes wind speed;

the determining the working state of the hoisting machinery based on the working condition information comprises:

when the rotating speed of the rotating platform of the lifting machine is lower than a preset speed and the wind speed is lower than a preset wind speed, determining that the working state of the lifting machine is a first-class state;

and when the rotating speed of the rotating platform of the hoisting machine is not lower than a preset speed or the wind speed is not lower than a preset wind speed, determining that the working state of the hoisting machine is a second type state.

4. The indicator lamp control method according to claim 3, wherein the indicator lamp, the boom of the hoisting machine, the lifting hook of the hoisting machine, and a vertical point of the lifting hook on the ground are coplanar;

when the working state is a first-class state, the driving mechanism is controlled to move based on the light spot irradiation position, so that the indicator lamp forms a prompt light spot at the light spot irradiation position, and the method comprises the following steps:

and controlling the driving mechanism to move based on the light spot irradiation position, and adjusting the pitch angle of the indicator light so that the indicator light forms the prompt light spot at the light spot irradiation position.

5. The indicator light control method of claim 2, wherein the device status information comprises: boom angle information and boom extension length;

the determining the light spot irradiation position based on the device state information comprises:

calculating the projection position of the lifting hook on the ground based on the crane arm angle information and the crane arm extension length; wherein the projected position is the spot irradiation position.

6. The indicator light control method of claim 2, wherein the device status information comprises: the method comprises the following steps of (1) information of a crane boom angle, the extension length of the crane boom, the height of a lifting hook, the length of a lifting rope, the included angle between the lifting rope and a theoretical vertical line for lifting objects, the rotating speed of a rotary table and the weight of the lifted objects; the environmental status information includes wind speed;

the determining the spot irradiation position based on the device state information and the environment state information includes:

determining the position information of the hoisted object based on the angle information of the crane boom, the extension length of the crane boom, the height of a lifting hook, the length of a lifting rope and the included angle between the lifting rope and a theoretical vertical line of the hoisted object;

determining the speed information of the hoisted object based on the rotation speed of the rotary table, the angle information of the crane boom, the extension length of the crane boom, the height of a lifting hook, the length of a lifting rope and the included angle between the lifting rope and the theoretical vertical line of the hoisted object;

estimating the position of a drop point of the hoisted object based on the position information of the hoisted object, the speed information of the hoisted object, the wind speed and the weight of the hoisted object; and the drop point position of the hanging object is the light spot irradiation position.

7. The method of controlling an indicator light of claim 1, further comprising:

acquiring a manual control instruction; the manual control instruction is an instruction which is input by a user and is used for controlling the indicator lamp to irradiate the target position;

and controlling the indicator light to irradiate the target position based on the manual control instruction to form a prompt light spot.

8. A control device of an indicator light is characterized in that the control device is used for controlling a driving mechanism which is fixed on a hoisting machine and is connected with the indicator light so as to adjust the irradiation position of the indicator light, and the control device of the indicator light comprises:

the determining module is used for determining the light spot irradiation position based on the working condition information;

9. A hoisting machine, comprising:

hoisting the machine body;

the indicator light is arranged on the hoisting machine body through the driving mechanism;

a control device in communication with the drive mechanism and the information acquisition device, respectively, for performing the method of any of claims 1 to 7.

10. The hoisting machine of claim 9 wherein the information gathering device comprises a torque limiter; the control device includes a controller;

the moment limiter is used for acquiring working condition information of the hoisting machinery and sending the working condition information to the controller;