CN115096256B

CN115096256B - Tower crane height detection method and device, computing equipment and storage medium

Info

Publication number: CN115096256B
Application number: CN202210700647.XA
Authority: CN
Inventors: 刘洲印; 郭丽萍; 施宏杰; 王云峰; 荣强强
Original assignee: Beijing Shuili Intelligent Building Technology Co ltd; Kyland Technology Co Ltd
Current assignee: Beijing Shuili Intelligent Building Technology Co ltd; Kyland Technology Co Ltd
Priority date: 2022-06-20
Filing date: 2022-06-20
Publication date: 2024-06-07
Anticipated expiration: 2042-06-20
Also published as: CN115096256A

Abstract

The embodiment of the application relates to the technical field of intelligent control, and relates to a tower crane height detection method and device, computing equipment and a storage medium. The specific implementation scheme is as follows: a bearing rope is arranged in the tower crane, and a starting position for height detection is preset in an operation scene of the bearing rope; acquiring the maximum value of the encoder value in the process of running the bearing rope for multiple times; wherein the encoder value is used for recording the moving distance of the bearing rope; and obtaining the height detection value of the tower crane according to the maximum value and the encoder value corresponding to the initial position which is determined in advance. The embodiment of the application can measure the accurate height detection value of the tower crane, the detection value can provide important equipment parameters for engineering design and control, the system fault caused by the deviation of the equipment parameters can be avoided, and the reliability of the system is improved.

Description

Tower crane height detection method and device, computing equipment and storage medium

Technical Field

The invention relates to the technical field of intelligent control, in particular to a tower crane height detection method and device, computing equipment and a storage medium.

Background

In engineering and control processes for mechanical devices, the height of the mechanical device is often required as an important device parameter. For example, the height of the machinery is often an important basis for setting the level of wind protection. Taking a tower crane as an example, the conventional height measurement method comprises the following steps: when the verticality of a certain tower crane is measured, a theodolite is firstly erected at a position which is 1.5 times away from the height of the tower crane. Aiming at the top of the tower crane, and using a theodolite to cast. Then a mark is made and the horizontal distance from the bottom is measured. And observing the two measured returns by a forward and backward mirror point-casting method, and taking an average value. The measurement method can only be used for roughly measuring the verticality, cannot accurately read out the value of the verticality error, has larger measurement error and cannot meet the precision requirements of engineering design and control.

Disclosure of Invention

In view of the above problems in the prior art, embodiments of the present application provide a method and apparatus for detecting a height of a tower crane, a computing device, and a storage medium, where by setting a start position and a corresponding encoder value, and obtaining the highest value of the encoder values during multiple operations of a load rope, an accurate height detection value of the tower crane can be measured, and the detection value can provide important device parameters for engineering design and control, so that system faults caused by deviation of the device parameters can be avoided, and reliability of the system is improved.

To achieve the above object, according to a first aspect of the present application, there is provided a method for detecting a height of a tower crane, in which a load-bearing rope is provided, the method comprising:

Setting a starting position of height detection in an operation scene of the bearing rope in advance;

Acquiring the maximum value of the encoder value in the process of running the bearing rope for multiple times; wherein the encoder value is used for recording the moving distance of the bearing rope; wherein the maximum value comprises a maximum value or a minimum value; if the encoder makes an addition record in the process of carrying the heavy objects upwards by the tower crane, acquiring the minimum value of the encoder value; if the encoder makes a reduction record in the process of carrying the heavy objects upwards by the tower crane, obtaining the maximum value of the encoder value;

and obtaining the height detection value of the tower crane according to the maximum value and the encoder value corresponding to the initial position which is determined in advance.

As a possible implementation manner of the first aspect, the process of pre-determining the encoder value corresponding to the start bit includes:

setting a marking position in an operation scene of the bearing rope in advance, and measuring a first distance between the marking position and the starting position;

Obtaining a calibration encoder value, wherein the calibration encoder value is an encoder value corresponding to the marking position obtained in the process of no-load running of the load-bearing rope; the encoder value corresponding to the marking bit is a value recorded by an encoder when the lifting hook of the tower crane runs to the marking bit;

And obtaining the encoder value corresponding to the start bit according to the first distance and the calibrated encoder value.

As a possible implementation manner of the first aspect, the obtaining the height detection value of the tower crane according to the maximum value and the encoder value corresponding to the pre-determined start position further includes:

during the running process of the bearing rope, the encoder value corresponding to the marking position is obtained;

obtaining a second distance according to the encoder value corresponding to the marking bit and the encoder value corresponding to the initial bit which is measured in advance;

Comparing the second distance with the first distance to obtain the deformation amount of the bearing rope;

and obtaining the height detection value of the tower crane according to the deformation quantity, the maximum value and the encoder value corresponding to the initial position which is measured in advance.

As a possible implementation manner of the first aspect, the load-bearing rope includes a load-bearing rope disposed on a tower crane;

the method for setting the initial position of the height detection in the running scene of the bearing rope in advance comprises the following steps: setting the horizontal position of a large arm of the tower crane as a starting position;

The step of presetting a marking position in an operation scene of the bearing rope comprises the following steps: setting the horizontal position of the preset position of the cab of the tower crane as a marking position;

The obtaining the encoder value corresponding to the flag bit includes:

receiving a laser signal by using a laser sensor baffle arranged on a tower crane lifting hook, wherein the laser signal is emitted by a laser sensor arranged at a preset position of the cab;

When the laser sensor baffle receives a laser signal, the encoder value corresponding to the marking bit is triggered and read.

As a possible implementation manner of the first aspect, the method further includes:

Setting limit in the running scene of the bearing rope in advance, wherein the limit is a position at which the distance between the bearing rope and the marking position in the running direction is a preset threshold value;

Obtaining the encoder value corresponding to the limit according to the calibrated encoder value and the preset threshold;

And under the condition that the encoder value is detected to be the encoder value corresponding to the limit, starting the laser sensor.

Detecting the value of the encoder after the laser sensor is started to determine the running direction of the load-bearing rope;

and closing the laser sensor when the lifting hook of the tower crane runs away from the marking position.

And correcting the height detection value of the tower crane according to the installation standard parameters of the tower crane to obtain the height standard value of the tower crane.

The second aspect of the application provides a tower crane height detection device, in which a bearing rope is arranged, the device comprising:

The setting unit is used for presetting a starting position of height detection in an operation scene of the bearing rope;

The acquisition unit is used for acquiring the maximum value of the encoder value in the process of running the bearing rope for multiple times; wherein the encoder value is used for recording the moving distance of the bearing rope; wherein the maximum value comprises a maximum value or a minimum value; if the encoder makes an addition record in the process of carrying the heavy objects upwards by the tower crane, acquiring the minimum value of the encoder value; if the encoder makes a reduction record in the process of carrying the heavy objects upwards by the tower crane, obtaining the maximum value of the encoder value;

and the processing unit is used for obtaining the height detection value of the tower crane according to the maximum value and the encoder value corresponding to the initial position which is determined in advance.

As a possible implementation manner of the second aspect, the setting unit is configured to: setting a marking position in an operation scene of the bearing rope in advance, and measuring a first distance between the marking position and the starting position;

The acquisition unit is further configured to: obtaining a calibration encoder value, wherein the calibration encoder value is an encoder value corresponding to the marking position obtained in the process of no-load running of the load-bearing rope; the encoder value corresponding to the marking bit is a value recorded by an encoder when the lifting hook of the tower crane runs to the marking bit;

the processing unit is further configured to: and obtaining the encoder value corresponding to the start bit according to the first distance and the calibrated encoder value.

As a possible implementation manner of the second aspect, the obtaining unit is further configured to: during the running process of the bearing rope, the encoder value corresponding to the marking position is obtained;

the processing unit is used for:

As a possible implementation manner of the second aspect, the load-bearing rope includes a load-bearing rope disposed on a tower crane;

The setting unit is used for: setting the horizontal position of a large arm of the tower crane as a starting position; setting the horizontal position of the preset position of the cab of the tower crane as a marking position;

The acquisition unit is used for:

As a possible implementation manner of the second aspect, the apparatus further includes a control unit, where the control unit is configured to:

As a possible implementation manner of the second aspect, the control unit is further configured to:

As a possible implementation manner of the second aspect, the processing unit is further configured to:

A third aspect of the application provides a computing device comprising:

A communication interface;

at least one processor coupled to the communication interface; and

At least one memory coupled to the processor and storing program instructions that, when executed by the at least one processor, cause the at least one processor to perform the method of any of the first aspects described above.

A fourth aspect of the application provides a computer readable storage medium having stored thereon program instructions which when executed by a computer cause the computer to perform the method of any of the first aspects above.

These and other aspects of the invention will be apparent from and elucidated with reference to the embodiment(s) described hereinafter.

Drawings

The various features of the application and the connections between the various features are further described below with reference to the figures. The figures are exemplary, some features are not shown in actual scale, and some features that are conventional in the art to which the application pertains and are not essential to the application may be omitted from some figures, or additional features that are not essential to the application may be shown, and the combination of features shown in the figures is not meant to limit the application. In addition, throughout the specification, the same reference numerals refer to the same. The specific drawings are as follows:

FIG. 1 is a schematic diagram of an embodiment of a method for detecting a height of a tower crane according to an embodiment of the present application;

FIG. 2 is a schematic diagram of an embodiment of a method for detecting a height of a tower crane according to an embodiment of the present application;

FIG. 3 is a schematic diagram of an embodiment of a method for detecting a height of a tower crane according to an embodiment of the present application;

fig. 4 is a schematic diagram of a tower crane according to an embodiment of the method for detecting a height of a tower crane according to the present application;

FIG. 5 is a schematic functional diagram of an edge controller according to an embodiment of a method for detecting a height of a tower crane according to the present application;

FIG. 6 is a schematic flowchart of an algorithm of an edge controller according to an embodiment of a method for detecting a height of a tower crane according to the present application;

Fig. 7 is a schematic diagram of an edge controller architecture of an embodiment of a tower crane height detection method according to the present application;

FIG. 8 is a schematic diagram of an embodiment of a tower crane height detection apparatus according to an embodiment of the present application;

FIG. 9 is a schematic diagram of an embodiment of a tower crane height detection apparatus according to an embodiment of the present application;

FIG. 10 is a schematic diagram of a computing device provided by an embodiment of the present application.

Detailed Description

The terms first, second, third, etc. or module a, module B, module C and the like in the description and in the claims, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order, and it is to be understood that the specific order or sequence may be interchanged if permitted to implement embodiments of the application described herein in other than those illustrated or described.

In the following description, reference numerals indicating steps such as S110, S120 … …, etc. do not necessarily indicate that the steps are performed in this order, and the order of the steps may be interchanged or performed simultaneously where allowed.

The term "comprising" as used in the description and claims should not be interpreted as being limited to what is listed thereafter; it does not exclude other elements or steps. Thus, it should be interpreted as specifying the presence of the stated features, integers, steps or components as referred to, but does not preclude the presence or addition of one or more other features, integers, steps or components, or groups thereof. Thus, the expression "a device comprising means a and B" should not be limited to a device consisting of only components a and B.

Reference in the specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. Thus, appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment, but may. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments as would be apparent to one of ordinary skill in the art from this disclosure.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. If there is a discrepancy, the meaning described in the present specification or the meaning obtained from the content described in the present specification is used. In addition, the terminology used herein is for the purpose of describing embodiments of the application only and is not intended to be limiting of the application. For the purpose of accurately describing the technical content of the present application, and for the purpose of accurately understanding the present application, the following explanation or definition is given for terms used in the present specification before the explanation of the specific embodiments:

1) Programmable logic controller (PLC, programmable Logic Controller): a programmable memory is used in which instructions for performing logic operations, sequence control, timing, counting, arithmetic operations, etc., are stored, and various types of machinery or production processes are controlled by digital or analog inputs and outputs.

2) Software defined radio (SDR, software Defined Radio): is a radio broadcast communication technology that is based on a software defined wireless communication protocol rather than being implemented by hard-wiring.

The prior art method is described first, and then the technical scheme of the application is described in detail.

In engineering and control processes for mechanical devices, the height of the mechanical device is often required as an important device parameter. For example, the height of the machinery is often an important basis for setting the level of wind protection. Taking a tower crane as an example, the conventional height measurement method comprises the following steps: when the verticality of a certain tower crane is measured, a theodolite is firstly erected at a position which is 1.5 times away from the height of the tower crane. Aiming at the top of the tower crane, and using a theodolite to cast. Then a mark is made and the horizontal distance from the bottom is measured. And observing the two measured returns by a forward and backward mirror point-casting method, and taking an average value.

If obstacles exist beside the tower crane, people cannot approach the bottom of the building, the people can aim at the top of the building first and throw the building to a place which is relatively flat and close to the building. Then drawing a short line, aiming the instrument at the bottom of the building, putting the instrument at the same place, and drawing a short line. And finally, obtaining the height of the tower crane by a forward and backward mirror casting method.

The prior art has the following defects: the measurement method can only perform rough measurement of verticality, cannot accurately read out the value of verticality error, and has larger measurement error. Because the deviation of the equipment parameters easily causes system faults, the precision requirements of engineering design and control cannot be met.

Based on the technical problems in the prior art, the application provides a method for detecting the height of a tower crane. According to the method, the initial position and the corresponding encoder value are set, and the maximum value of the encoder value in the process of multiple operation of the bearing rope is obtained, so that the height of the tower crane can be accurately detected, system faults caused by deviation of equipment parameters can be effectively prevented, and the technical problem that the error of the height detection of the tower crane is large in the prior art can be solved.

Fig. 1 is a schematic diagram of an embodiment of a tower crane height detection method according to an embodiment of the present application. In one embodiment, the tower crane height detection method may be performed in an edge controller. As shown in fig. 1, the tower crane height detection method may include:

step S110, presetting a starting position for height detection in an operation scene of a bearing rope;

Step S120, acquiring the maximum value of the encoder value in the process of running the bearing rope for multiple times; wherein the encoder value is used for recording the moving distance of the bearing rope; wherein the maximum value comprises a maximum value or a minimum value; if the encoder makes an addition record in the process of carrying the heavy objects upwards by the tower crane, acquiring the minimum value of the encoder value; if the encoder makes a reduction record in the process of carrying the heavy objects upwards by the tower crane, obtaining the maximum value of the encoder value;

and step S130, obtaining the height detection value of the tower crane according to the maximum value and the encoder value corresponding to the pre-determined start position.

In the mechanical equipment, a power device can be used for driving the bearing rope to run, so that the object to be carried is moved from an initial position to a final position. For example, load-carrying ropes are used in a tower crane to transport weights in the vertical direction.

In step S110, in order to accurately detect the height of the tower crane, a start position may be set in advance in the running scene of the load rope. The start position can be used as a reference position for the height detection of the tower crane. The resulting height detection value may be the height difference from the ground to the start position. In the subsequent process, the detection data of the start position can be referred to, and the height detection value of the tower crane can be obtained. Wherein, can select the key important position or joint pivot position to set up as the start bit in the running scene of load rope.

An encoder provided in the machine may record the distance of movement of the load carrying rope. For example, the encoder values in the tower may record the angle at which the load carrying rope is wound on the drum. The 360 th of the circumferential angle is defined in the angle system as an angle of 1 degree. The number of windings of the load-bearing rope in the drum and the moving distance of the load-bearing rope can be further obtained through conversion by the encoder values. Wherein the encoder value may be the angle that the load carrying rope has been wound in the drum as a result of the current state being compared to the initial state. The initial state may be set according to system parameters. According to structural design parameters of the tower crane, recording precision of the encoder and other parameters, the conversion relation between the encoder value and the moving distance of the bearing rope can be obtained.

Taking a tower crane as an example, the starting point for hoisting work load is usually to start the load upwards from the ground. The lowest and highest points of the position of the weight during carrying of the load carrying rope correspond to the maximum and minimum values of the encoder values. The lowest point of the position of the weight during carrying may correspond to the maximum value or the minimum value of the encoder value according to the counting setting of the encoder. If the encoder makes an additive record in the upward carrying process of the weight, the lowest point of the position of the weight corresponds to the minimum value of the encoder value; if the encoder makes a count-down record during the upward carrying of the weight, the lowest point of the weight position corresponds to the maximum value of the encoder value. In step S120, the highest value of the encoder value corresponding to the lowest point of the position where the weight is located is obtained.

In addition, the lowest point of the position of the weight in the carrying process of the load-bearing rope can be the ground; in another case, the hoisting personnel can lift the heavy object to a certain height and then hang the heavy object on the lifting hook of the tower crane, so that the lowest point can have a certain height from the ground; in yet another case, changes due to the operating scenario may have an impact on the acquired encoder values. Therefore, in step S120, the maximum value of the encoder value of the current operation may be obtained during multiple operations of the load-bearing rope. Clustering is carried out on the highest value of the encoder values obtained in a period of time, abnormal data in the highest value is removed, and a normal data set under the same operation scene is obtained. And taking the highest value of the highest values as the highest value of encoder values after a plurality of operations in all the highest value records of the normal data set. This maximum corresponds to the position closest to the ground.

In step S130, the maximum value of the encoder values after the plurality of runs and the encoder value corresponding to the start position measured in advance are obtained in step S120, and the conversion relationship between the encoder value and the moving distance of the load rope is referred to, so that the height detection value of the tower crane can be obtained. Specifically, the encoder value corresponding to the start bit may be differenced by the maximum value. And converting the difference value into a distance through a conversion relation, namely the height detection value of the tower crane.

Taking a tower crane as an example, when the lifting hook descends, the distance from the lifting hook to the large arm can be recorded in real time by utilizing the edge controller, and the maximum value is recorded. If the encoder makes a count-down record during the upward carrying of the weight, the maximum value of the encoder value is recorded. An array may be built into the control program of the edge controller to store the recorded data. When a plurality of groups of data are close to the maximum value, the lifting hook can be calculated to lift the article on the ground for a plurality of times through an algorithm. The current tower crane height can be calculated indirectly by using the maximum value.

The embodiment of the application can measure the accurate height detection value of mechanical equipment such as a tower crane and the like, can provide important equipment parameters for engineering design and control, can avoid system faults caused by the deviation of the equipment parameters, and improves the reliability of the system.

Fig. 2 is a schematic diagram of an embodiment of a tower crane height detection method according to the present application. As shown in fig. 2, in one embodiment, the process of pre-determining the encoder value corresponding to the start bit includes:

step S210, a marking position is preset in an operation scene of a bearing rope, and a first distance between the marking position and the starting position is measured;

Step S220, obtaining a calibration encoder value, wherein the calibration encoder value is an encoder value corresponding to the marking position obtained in the no-load operation process of the load-bearing rope; the encoder value corresponding to the marking bit is a value recorded by an encoder when the lifting hook of the tower crane runs to the marking bit;

Step S230, obtaining the encoder value corresponding to the start bit according to the first distance and the calibrated encoder value.

In the embodiment of the application, the encoder value corresponding to the start position is determined in advance before the height of the tower crane is detected. In step S210, a flag bit may be set in advance in the running scene of the load rope. In the detection process, the marking position and the starting position can be used as two relative positions of the rope bearing operation, detection data can be obtained from the rope bearing idle operation to the marking position in the subsequent process, and then the encoder value corresponding to the starting position is obtained by referring to the first distance. Wherein, can select the key important position or joint pivot position to set up as the mark position in the running scene of load rope. The first distance between the mark bit and the start bit is measured after the setting.

In step S220, the power device may be used to drive the load cable to run idle, and the encoder value corresponding to the marking position is obtained when the end point of the load cable runs to the marking position. In the application scenario of the tower crane, the end point of the load-bearing rope may be the position of the tower crane hook.

The relation among the encoder value corresponding to the marker bit, the encoder value corresponding to the start bit and the first distance is as follows: according to the conversion relation between the encoder value and the moving distance of the load-bearing rope, the difference between the encoder value corresponding to the marking bit and the starting bit can be converted into a first distance. Therefore, in step S230, the encoder value corresponding to the start bit can be obtained according to the first distance and the encoder value corresponding to the flag bit obtained in step S220.

Fig. 3 is a schematic diagram of an embodiment of a tower crane height detection method according to the present application. In one embodiment, as shown in fig. 3, the obtaining the height detection value of the tower crane according to the encoder value corresponding to the maximum value and the predetermined start position further includes:

Step S310, acquiring an encoder value corresponding to the marking bit in the running process of the bearing rope;

Step S320, obtaining a second distance according to the encoder value corresponding to the marking bit and the encoder value corresponding to the initial bit which is measured in advance;

Step S330, comparing the second distance with the first distance to obtain the deformation amount of the bearing rope;

And step 340, obtaining the height detection value of the tower crane according to the deformation quantity, the maximum value and the encoder value corresponding to the initial position measured in advance.

In the course of the load-bearing operation of the load-bearing rope, deformation occurs as a result of the rope being subjected to tensile forces. In the detection process, the mark position and the start position can be used as two relative positions of the bearing operation of the rope, detection data can be obtained when the bearing operation of the rope reaches the mark position, and then the deformation quantity of the bearing rope can be obtained by referring to the detection data of the start position.

In step S310, when the hook of the tower crane is operated to the marking position, the encoder value corresponding to the marking position may be acquired.

In step S320, the encoder value corresponding to the marker bit obtained in step S310 is subtracted from the encoder value corresponding to the predetermined start bit, and the difference is converted into the movement distance of the load-bearing rope, thereby obtaining the second distance.

Taking the tower crane as an example, the distance between the marker bit and the start bit in the operation scene is a constant, i.e. the first distance measured in step S210. The bearing operation causes the bearing rope to deform, namely the length of the bearing rope when bearing is longer than that of the bearing rope when no load is applied, and the deformation amount of the bearing rope is increased along with the increase of the applied tensile force. In the case of a longer load-bearing rope, the angle and number of windings of the load-bearing rope around the drum, which are produced by the hook moving a first distance from the marking position to the starting position, will also be reduced. The second distance converted from the difference value of the encoder values in step S320 is thus different from the first distance measured in step S210. And the gap is related to the magnitude of the deformation of the load carrying ropes. In step S330, the deformation amount of the load-bearing rope can be obtained by making a difference between the second distance and the first distance.

Because the deformation of the bearing rope can generate errors on the height detection value of the tower crane, the deformation of the bearing rope needs to be measured to carry out error correction on the height detection value. In step S340, the encoder values after the plurality of runs may be differenced from the encoder values corresponding to the start bits. And converting the difference value into a distance through a conversion relation, and subtracting the deformation of the bearing rope from the converted distance to obtain the height detection value of the tower crane.

In the embodiment of the application, the deformation amount of the bearing rope is utilized to carry out error correction on the height detection value, so that the finally detected height detection value of the tower crane is more accurate, and the reliability of the system is further improved.

In one embodiment, the load carrying rope comprises a load carrying rope disposed on a tower crane;

The obtaining the encoder value corresponding to the flag bit includes:

Fig. 4 is a schematic diagram of a tower crane according to an embodiment of the method for detecting a height of a tower crane according to the present application. The meaning of the individual reference numerals in fig. 4 is as follows: 1 represents the intersection point of the lower edge of a large arm of the tower crane and a tower body; 2 represents a laser sensor; 3 denotes a baffle. As shown in fig. 4, the tower crane can carry the weight in the vertical direction, and in the embodiment of the present application, the start position and the mark position can be marked on one vertical line, and the horizontal positions of two different heights perpendicular to the vertical line are taken as the start position and the mark position. Referring to fig. 4, the horizontal position of the tower crane boom is set as the start position, and the position marked with 1 is a point on the horizontal line where the start position is located.

In one example, the laser sensor may be installed at a preset location in the tower crane cab. Referring to fig. 4, the preset position may be a position of the lower side of the cab, which is denoted by reference numeral 2, to which the laser sensor is mounted. The direction of the tower crane boom is horizontal, and the laser sensor emits laser in the horizontal direction, so that the laser emission direction and the tower crane boom can be kept parallel. The horizontal position of the preset position of the cab of the tower crane can be set as a marking position, and the position with the reference number of 2 is a point on the horizontal line of the marking position. The laser sensor bezel 3 is mounted on the hook. The laser sensor may form a switch with a flap on the hook. When the lifting hook runs to the horizontal line where the marking position is located, the laser sensor baffle receives a laser signal, and the encoder value corresponding to the marking position can be triggered and read.

In addition, the position marked 1 and the position marked 2 in fig. 4 are on a vertical line, and the distance between the two positions is the first distance. In step S210, the first distance is measured, and the vertical distance L between the laser sensor and the tower crane boom is the first distance. The first distance may be used as an algorithm reference in subsequent processing.

Referring back to fig. 2, after the first distance is measured, the encoder value corresponding to the marking position can be obtained by the edge controller when the lifting hook runs to the marking position in the process of no-load running of the load-bearing rope. And then obtaining the encoder value corresponding to the start bit according to the encoder value corresponding to the first distance and the mark bit through a conversion relation. Specifically, the encoder value corresponding to the start bit may be calculated using the following equation (1):

Loa＝a1/4096*π*d/2-o1/4096*π*d/2 (1)

Wherein Loa represents the distance from the O point to the A point, namely a first distance; the O-point represents the location of reference number 1; the point A represents the position of the reference numeral 2; a1 represents the encoder value of the point A, namely the encoder value corresponding to the marking bit; d represents the sum of the diameter of the roller and the error coefficient; o1 represents the encoder value of the O-point, i.e. the encoder value corresponding to the start bit.

When the encoder records the operation data, 360 degrees of the peripheral angle are divided into 4096 parts. The bearing rope is wound on the roller, and the number of the recorded encoder is correspondingly increased by 1 when the rotation angle of the roller is increased by one part. In addition, the load-carrying ropes of the tower crane in the above example are provided in a drive device comprising a travelling block. The use of the movable pulley saves the labor, but the distance of the power movement is 2 times the distance the hook is raised, i.e., the distance spent, so the coefficient "2" in the formula (1) represents a multiple of the distance of the power movement generated by the movable pulley.

Similarly, the encoder value corresponding to the start bit can be calculated by the formula (1), and the encoder value near the point a can be obtained by the same method. The distance of all paths traversed by the hook can be deduced from the encoder values recorded during the hook operation.

In addition, referring back to fig. 3, the amount of deformation of the load bearing ropes may be detected during load bearing operation of the load bearing ropes. Specifically, during the course of the load-bearing rope load-bearing operation, the encoder value can be obtained when the lifting hook reaches the horizontal position where the point A is located. According to the conversion relation between the encoder value and the moving distance of the load-bearing rope, the obtained encoder value a1' corresponding to the point A in the current state and the encoder value o1 corresponding to the pre-determined starting position can be substituted into the formula (2) according to the formula (2) similar to the formula (1), and the current second distance La is calculated. The formula (2) is as follows:

La＝a1'/4096*π*d/2-o1/4096*π*d/2 (2)

Wherein La represents the second distance; the O-point represents the location of reference number 1; the point A represents the position of the reference numeral 2; a1' represents the encoder value of the current point A, namely the encoder value corresponding to the marking bit; d represents the sum of the diameter of the roller and the error coefficient; o1 represents the encoder value of the O-point, i.e. the encoder value corresponding to the start bit.

After the current second distance La is obtained through calculation, the current second distance is differenced from the first distance, and the deformation quantity of the bearing rope can be obtained.

If the current second distance is equal to the first distance, it may be that the load bearing capacity of the load bearing rope is small and no significant detectable deformation occurs.

In one embodiment, the method further comprises:

Referring to fig. 4, point a, where reference numeral 2 is located, is also a point on the horizontal line where the marker bit is located. The limiting points B and C can be additionally arranged on the vertical line where the point A is located and at the position where the distance from the point A is a preset threshold value. Wherein, the point B is the lower point of the point A, and the point C is the upper point of the point A. Encoder values at points B and C are a±Δ, respectively. Wherein "Δ" represents the difference in encoder values between points B and C and points a; "±" is related to the encoder setup. If the encoder value corresponding to the lower point is relatively small, the encoder value of the B point is A-delta. The limiting points B and C can be used as soft switches, for example, when the lifting hook reaches the horizontal position of the point B each time, the edge controller is triggered, so that the edge controller opens the laser sensor at the moment, and starts to search for the baffle plate of the lifting hook. Thus, when the lifting hook reaches the horizontal position where the point A is located, the baffle plate can receive the laser signal.

Referring to fig. 2 and equation (1), encoder values corresponding to points B and C may be obtained using the same method. In the formula (1), the first distance is used as an algorithm reference value, and the encoder value corresponding to the start bit is obtained according to the encoder value corresponding to the marked bit which is the calibrated encoder value. Similarly, the preset threshold value can be used as an algorithm reference value, and encoder values corresponding to the point B and the point C are obtained according to the encoder values corresponding to the calibration encoder values, namely the marking bits. And under the condition that the edge controller detects that the value of the encoder is the value of the encoder corresponding to the point B or the point C, starting the laser sensor and starting to search for the baffle of the lifting hook.

In one embodiment, the method further comprises:

As mentioned above, the distances of all paths traversed by the hooks can be deduced from the encoder values recorded during the operation of the hooks. After the lifting hook reaches a limit to open the laser sensor, the edge controller can detect the numerical value of the encoder to determine the running direction of the load-bearing rope. For example, the limit point B is a point below the mark point a, and when the hook reaches the horizontal position where the point B is located, the laser sensor is turned on, and then the running direction of the hook is detected. If the hook is now moved downwards away from point A past the horizontal position at point B, the laser sensor is turned off. Or if the lifting hook does not reach the horizontal position of the point A after passing through the horizontal position of the point B from bottom to top and moves downwards to be far away from the point A, the laser sensor is turned off. If the lifting hook moves towards the point A in the running direction after passing through the point B, the baffle receives a laser signal when the lifting hook reaches the horizontal position of the point A, and the encoder value corresponding to the point A is triggered to be acquired.

In one embodiment, the method further comprises:

Still taking a tower crane as an example, the hoisting work may not be carried out by attaching the ground each time, and the height detection value has errors. Therefore, the height detection value of the tower crane can be corrected through the installation standard parameters of the tower crane, and the height standard value of the tower crane is obtained. The installation criteria parameters of the tower crane may include specific properties of the tower crane height. The tower crane height can be estimated in integer by specific attributes of the tower crane height. For example, specific attributes of tower crane height may include: the tower crane height is an integer value; and each standard knot is 2m, the height data is also an integer when the standard knot is added.

When the tower crane is installed with the standard section, the height can be increased. In the operation scene of the tower crane, a plurality of operators can operate the tower crane to install standard knots at different times according to the requirements of various engineering operations. And the reasons such as missing operation records or untimely operation records can also cause operators to not know whether the tower crane is provided with standard knots or not, and how many standard knots are provided, so that the accurate data of the current tower crane height can not be obtained. Under the condition, the tower crane height detection method provided by the embodiment of the application can be adopted, and the height of the tower crane is calculated in real time by utilizing the edge controller, so that an operator can accurately acquire the accurate data of the current tower crane height without worrying about whether the tower crane is provided with standard sections or not, and the number of standard sections are installed, thereby avoiding system faults caused by the deviation of equipment parameters and improving the reliability of the system.

In one example, the original height of the tower crane is 50m and the current height detection value is 71.6m. The increased height 21.6m may be due to the standard knot installed. Each standard knot is 2m, the number of knots of the installation standard knot is 21.6 m/2=10.8 knots. The lifting operation may not be carried out every time, and the height detection value has an error. And correcting the height detection value according to the installation standard parameters, wherein the nearest integer of 10.8 knots is 11 knots, and the finally obtained height standard value of the tower crane is 72m.

Fig. 5 is a schematic functional diagram of an edge controller according to an embodiment of a tower crane height detection method according to the present application. As shown in fig. 5, the edge controller communicates wirelessly with other components through software defined radio SDR and 4G, 5G. The functions implemented by the edge controller include: and receiving the encoder value, controlling the laser sensor to be turned on and off, and realizing distance calibration through an algorithm. Wherein, the distance calibration can comprise: setting a marking position A and a starting position O, and setting a limit B and a limit C; when the lifting hook of the tower crane runs to the limit, the laser sensor is controlled to be turned on, and a switch realized by the laser sensor baffle obtains the encoder value when the lifting hook of the tower crane runs to the mark position; the distances of all paths passed by the lifting hook can be calculated through the encoder values recorded in the running process of the bearing rope; obtaining Max value (maximum value) of the encoder value; and obtaining the height detection value of the tower crane according to the encoder value corresponding to the maximum value and the start position.

Fig. 6 is a schematic flowchart of an algorithm flow of an edge controller according to an embodiment of a tower crane height detection method according to the present application. As shown in fig. 6, the edge controller controls the laser sensor to be turned on when the lifting hook of the tower crane runs to the limit through the algorithm module, and obtains the encoder value through the encoder data acquisition module when the lifting hook of the tower crane runs to the marking position. And the algorithm module of the edge controller processes the received data to obtain a height detection value of the tower crane, and can further correct the height detection value to obtain a height standard value of the tower crane. And the algorithm module of the edge controller stores the received data and the processing result of the data into the data recording module.

Fig. 7 is a schematic diagram of an edge controller architecture of an embodiment of a tower crane height detection method according to the present application. As shown in fig. 7, in one aspect, the edge controller communicates with the encoder and motor in the tower model via a ModbusRTU (Remote Terminal Unit ). On the other hand, the edge controller communicates with the linkage station through ModbusTCP (Transmission Control Protocol ) and remote IO (input output), so as to control other linked devices. The edge controller may be used as a bottom software system, and an edge operating system, a Windows operating system, a real-time system, an IDE (INTEGRATED DEVELOPMENT ENVIRONMENT, an integrated development environment), an RTE (Runtime environment, an operating environment), and a PLC (Programmable Logic Controller ) controller application may be installed on the top layer. The control logic may be implemented by a PLC editing code.

As shown in fig. 8, the present application further provides an embodiment of a tower crane height detecting device, and regarding the beneficial effects or the technical problems to be solved of the device, reference may be made to the description in the method corresponding to each device, or reference may be made to the description in the summary of the application, which is not repeated herein.

In an embodiment of the tower crane height detection device, a load rope is arranged in the tower crane, and the device comprises:

a setting unit 100, configured to set a start position of the height detection in advance in an operation scene of the load-bearing rope;

The obtaining unit 200 is configured to obtain the highest value of the encoder values during multiple operations of the load-bearing rope; wherein the encoder value is used for recording the moving distance of the bearing rope; wherein the maximum value comprises a maximum value or a minimum value; if the encoder makes an addition record in the process of carrying the heavy objects upwards by the tower crane, acquiring the minimum value of the encoder value; if the encoder makes a reduction record in the process of carrying the heavy objects upwards by the tower crane, obtaining the maximum value of the encoder value;

And the processing unit 300 is used for obtaining the height detection value of the tower crane according to the maximum value and the encoder value corresponding to the initial position which is determined in advance.

In one embodiment, the setting unit 100 is configured to: setting a marking position in an operation scene of the bearing rope in advance, and measuring a first distance between the marking position and the starting position;

The acquisition unit 200 is further configured to: obtaining a calibration encoder value, wherein the calibration encoder value is an encoder value corresponding to the marking position obtained in the process of no-load running of the load-bearing rope; the encoder value corresponding to the marking bit is a value recorded by an encoder when the lifting hook of the tower crane runs to the marking bit;

the processing unit 300 is further configured to: and obtaining the encoder value corresponding to the start bit according to the first distance and the calibrated encoder value.

In one embodiment, the obtaining unit 200 is further configured to: during the running process of the bearing rope, the encoder value corresponding to the marking position is obtained;

The processing unit 300 is configured to:

The setting unit 100 is configured to: setting the horizontal position of a large arm of the tower crane as a starting position; setting the horizontal position of the preset position of the cab of the tower crane as a marking position;

The acquisition unit 200 is configured to:

As shown in fig. 9, in one embodiment, the apparatus further comprises a control unit 400, the control unit 400 being configured to:

In one embodiment, the control unit 400 is further configured to:

In one embodiment, the processing unit 300 is further configured to:

Fig. 10 is a schematic diagram of a computing device 900 provided by an embodiment of the application. The computing device 900 includes: processor 910, memory 920, and communication interface 930.

It should be appreciated that the communication interface 930 in the computing device 900 shown in fig. 10 may be used to communicate with other devices.

Wherein the processor 910 may be coupled to a memory 920. The memory 920 may be used to store the program codes and data. Accordingly, the memory 920 may be a storage unit internal to the processor 910, an external storage unit independent of the processor 910, or a component including a storage unit internal to the processor 910 and an external storage unit independent of the processor 910.

Optionally, computing device 900 may also include a bus. The memory 920 and the communication interface 930 may be connected to the processor 910 through a bus. The bus may be a peripheral component interconnect standard (PERIPHERAL COMPONENT INTERCONNECT, PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, or the like. The buses may be classified as address buses, data buses, control buses, etc.

It should be appreciated that in embodiments of the present application, the processor 910 may employ a central processing unit (central processing unit, CPU). The processor may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL processors, DSPs), application SPECIFIC INTEGRATED Circuits (ASICs), off-the-shelf programmable gate arrays (field programmable GATE ARRAY, FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. Or the processor 910 may employ one or more integrated circuits for executing associated programs to perform techniques provided by embodiments of the present application.

The memory 920 may include read only memory and random access memory and provide instructions and data to the processor 910. A portion of the processor 910 may also include nonvolatile random access memory. For example, the processor 910 may also store information of the device type.

When the computing device 900 is running, the processor 910 executes computer-executable instructions in the memory 920 to perform the operational steps of the methods described above.

It should be understood that the computing device 900 according to the embodiments of the present application may correspond to a respective subject performing the methods according to the embodiments of the present application, and that the above and other operations and/or functions of the respective modules in the computing device 900 are respectively for implementing the respective flows of the methods according to the embodiments, and are not described herein for brevity.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.

In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The embodiments of the present application also provide a computer-readable storage medium having stored thereon a computer program for executing a diversified problem generating method when executed by a processor, the method comprising at least one of the aspects described in the respective embodiments above.

The computer storage media of embodiments of the application may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but 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 computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer 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. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ 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 computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).

Note that the above is only a preferred embodiment of the present application and the technical principle applied. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, while the application has been described in connection with the above embodiments, the application is not limited to the above embodiments, but may include many other equivalent embodiments without departing from the spirit of the application, which fall within the scope of the application.

Claims

1. A method for detecting the height of a tower crane, characterized in that a bearing rope is arranged in the tower crane, the method comprising:

Obtaining a height detection value of the tower crane according to the maximum value and the encoder value corresponding to the initial position which is determined in advance;

the process of pre-determining the encoder value corresponding to the start bit includes:

obtaining an encoder value corresponding to the start bit according to the first distance and the calibrated encoder value;

and obtaining a height detection value of the tower crane according to the maximum value and the encoder value corresponding to the initial position, which is determined in advance, and further comprising:

2. The method of claim 1, wherein the load carrying ropes comprise load carrying ropes disposed on a tower crane;

The obtaining the encoder value corresponding to the flag bit includes:

3. The method according to claim 2, wherein the method further comprises:

4. A method according to claim 3, characterized in that the method further comprises:

5. The method according to any one of claims 1 to 4, further comprising:

6. A tower crane height detection device, characterized in that, be provided with the load rope in the tower crane, the device includes:

the processing unit is used for obtaining the height detection value of the tower crane according to the maximum value and the encoder value corresponding to the initial position which is determined in advance;

the setting unit is used for: setting a marking position in an operation scene of the bearing rope in advance, and measuring a first distance between the marking position and the starting position;

The processing unit is further configured to: obtaining an encoder value corresponding to the start bit according to the first distance and the calibrated encoder value;

The acquisition unit is further configured to: during the running process of the bearing rope, the encoder value corresponding to the marking position is obtained;

the processing unit is further configured to: obtaining a second distance according to the encoder value corresponding to the marking bit and the encoder value corresponding to the initial bit which is measured in advance;

7. A computing device, comprising:

A communication interface;

at least one processor coupled to the communication interface; and

At least one memory coupled to the processor and storing program instructions that, when executed by the at least one processor, cause the at least one processor to perform the method of any of claims 1-5.

8. A computer readable storage medium having stored thereon program instructions, which when executed by a computer cause the computer to perform the method of any of claims 1-5.