CN115924750A

CN115924750A - Crane control method and crane control system

Info

Publication number: CN115924750A
Application number: CN202110970483.8A
Authority: CN
Inventors: 金洲; 王科庆; 辛星; 周伟; 陈宇; 龚文兵; 朱磊; 李立
Original assignee: Luoyang Jianguang Special Equipment Co ltd; China Petroleum and Chemical Corp
Current assignee: Luoyang Jianguang Special Equipment Co ltd; China Petroleum and Chemical Corp
Priority date: 2021-08-23
Filing date: 2021-08-23
Publication date: 2023-04-07

Abstract

The invention provides a crane control method and a crane control system, comprising the following steps: acquiring the height of the material above the water surface in the water-containing accumulation tank; if the height of the materials above the water surface is larger than a first preset height, determining a grabbing point in the water-containing accumulation pool based on the height of the materials above the water surface, and controlling a crane to grab the materials according to the grabbing point and move to a coke draining area; determining that the heights of the materials above the water surface are all smaller than a first preset height; determining a grabbing operation grid in the water-containing accumulation pool based on grab bucket parameters of the crane, and controlling the crane to grab and move the materials in the grabbing operation grid to coke accumulation; after the materials in the coke stacking and draining area are dried, the material height of the coke stacking and draining area is obtained; and determining a grabbing position in the coke piling and draining area based on the height of the material in the coke piling and draining area, and controlling a crane to grab the material according to the grabbing position and move the material to the belt conveyor. The invention has the advantages of all-weather automatic grabbing, high working efficiency and prolonged service life of the device.

Description

Crane control method and crane control system

Technical Field

The invention relates to the technical field of crane control, in particular to a crane control method, a crane control system and a machine readable storage medium.

Background

The bridge type grab bucket crane of the delayed coking device is generally operated manually, the operation site is positioned in a cab below a girder of the crane, and an operator manually controls the crane to operate in the cab.

Because the cab is positioned in the high air, an operator needs to climb a higher traveling crane and enter the cab to operate, and certain threat is brought to the personal safety of the operator; in addition, when the crane is operated, the position of the cart, the position of the trolley, the lifting height of the grab bucket and the operation position are judged and controlled by the human eyes of an operator according to self experience, and due to the fact that the field environment is poor, misjudgment is easily caused, the operation is not standardized enough, the randomness is large, the positioning accuracy of the crane is low, the action amplitude of starting, stopping, accelerating, decelerating and the like is large, the crane is not favorable for stable operation, more equipment faults and hardware damage are easily caused, and certain safety risk exists; moreover, the signals have no history record, so that the running state data of the equipment is not recorded, and the effective supervision of the operation process is lacked.

Disclosure of Invention

The invention aims to provide a crane control method and a crane control system, which are used for solving the problems that the crane adopts manual control to work, the environment is poor, the randomness is high, the positioning accuracy of the crane is low, the action amplitude of starting, stopping, accelerating, decelerating and the like is large, the crane is not beneficial to stable operation, more equipment faults are easily caused, and hardware is damaged.

In order to achieve the above object, an embodiment of the present invention provides a crane control method for controlling a bridge-type grab bucket crane to grab and move a material in a water-containing stacking tank to a coke-stacking draining area, and after the material is dried, controlling the crane to grab the material from the coke-stacking draining area to a belt conveyor, where the bridge-type grab bucket crane includes a bridge frame, a crane cart, a crane trolley, and a grab bucket, and the method includes:

acquiring the height of the material above the water surface in the water-containing stacking pond;

if the height of the materials above the water surface is larger than a first preset height, determining a grabbing point in the water-containing accumulation pool based on the height of the materials above the water surface, and controlling a crane to grab the materials according to the grabbing point and move to a coke draining area;

determining that the heights of the materials above the water surface are all smaller than a first preset height;

determining a grabbing operation grid in the water-containing accumulation pool based on grab bucket parameters of the crane, and controlling the crane to grab and move materials in the grabbing operation grid to a coke piling draining area;

after the materials in the coke stacking and draining area are dried, the material height of the coke stacking and draining area is obtained;

and determining a grabbing position in the coke piling and draining area based on the material height of the coke piling and draining area, and controlling a crane to grab the material according to the grabbing position and move to the belt conveyor.

Optionally, obtaining the height of the material above the water level in the water-containing stacking pond comprises:

establishing a three-dimensional image of the water-containing accumulation pool based on a reference surface by taking the current water surface of the water-containing accumulation pool as the reference surface;

and acquiring the height of the material above the water surface in the water-containing stacking pond based on the three-dimensional image of the water-containing stacking pond.

Optionally, the determining a grabbing point in the hydrous accumulation pool based on the height of the material above the water surface includes:

sequencing all the material heights above the water surface from large to small according to the height values;

determining the position corresponding to the height of the materials above the water surface at the head of the sequence as a grabbing point of the current grabbing action, and controlling a crane to grab the materials according to the grabbing point and move to a coke piling and draining area until the height of the materials above the water surface corresponding to the grabbing point is smaller than a first preset height;

and sequentially performing material grabbing according to the sequencing of the height of the materials above the water surface until all the heights of the materials above the water surface are smaller than a first preset height.

Optionally, the method further includes:

in the process of material grabbing, acquiring the total weight of a grab bucket in real time, wherein the total weight of the grab bucket comprises the self weight of the grab bucket and the weight of materials in the grab bucket;

under the condition that the total weight of the grab bucket is greater than the first weight, the grab bucket is controlled to be opened to a first opening degree until the total weight of the grab bucket is less than the first weight, and the grab bucket is controlled to be folded to an initial grabbing opening degree;

under the condition that the total weight of the grab bucket is smaller than the second weight, controlling the grab bucket to grab the material at the next grabbing point;

the second weight is less than the first weight.

Optionally, the determining a grabbing operation grid in the hydrous accumulation pool based on the crane grab parameter includes:

determining the maximum grabbing area when the grab bucket is opened to the maximum;

dividing the water-containing accumulation pool into a plurality of grabbing operation grids with the same area based on the maximum grabbing area, wherein the area of each grabbing operation grid is smaller than the maximum grabbing area;

and establishing a coordinate system by taking the starting position of the movement of the crane as a coordinate origin, and determining the coordinate position of the central point of each grabbing operation grid as the grabbing execution position of the crane.

Optionally, the controlling the crane to grab and move the material in the grabbing operation grid to the coke stacking draining area includes:

sequencing all the grabbing operation grids to obtain a grabbing sequence;

performing first grabbing on each grabbing operation grid according to the grabbing sequence and the first grabbing depth;

after the first grabbing of all the grabbing operation grids is completed, controlling the crane to carry out second grabbing on each grabbing operation grid according to the grabbing sequence and the second grabbing depth until the second grabbing of all the grabbing operation grids is completed;

wherein the first grip depth is smaller than the second grip depth.

Optionally, the method further includes:

in the process of executing material grabbing of each grabbing operation grid, acquiring the total weight of a grab bucket in real time, wherein the total weight of the grab bucket comprises the self weight of the grab bucket and the weight of materials in the grab bucket;

under the condition that the total weight of the grab bucket is greater than the third weight, the grab bucket is controlled to be opened to a second opening degree until the total weight of the grab bucket is less than the third weight, and the grab bucket is controlled to be closed to an initial grabbing opening degree;

under the condition that the total weight of the grab bucket is less than the fourth weight, controlling the grab bucket to execute material grabbing for the next grabbing operation grid according to the grabbing sequence;

the fourth weight is less than the third weight.

Optionally, after the material in the coke stacking and draining area is dried, the material height of the coke stacking and draining area is obtained, including:

establishing a three-dimensional image in a coke piling and draining area;

and acquiring the material height of the reactor coke draining area based on the three-dimensional image in the reactor coke draining area.

Optionally, the grabbing position in the coke tar leaching area is determined based on the height of the material in the coke tar leaching area, and the crane is controlled to grab the material according to the grabbing position and move to the belt conveyor, including:

sequencing the material heights of all the coke stacking and draining areas from large to small according to the height values;

determining the position corresponding to the height of the material at the first sequencing position as a grabbing position of the current grabbing action, and controlling a crane to grab the material according to the grabbing position and move to the belt conveyor until the height of the material corresponding to the grabbing position is smaller than a second preset height;

and sequentially performing material grabbing according to the material height sequence of the coke stacking and draining areas until the material height of all the coke stacking and draining areas is smaller than a second preset height.

The second aspect of the present invention further provides a crane control system, where the crane is a bridge-type grab crane, and includes a bridge frame, a crane cart, a crane trolley and a grab, the crane control system controls the crane to execute a material grabbing action by using any one of the above methods, and the crane control system includes:

the data acquisition unit is arranged on the crane and used for acquiring operation information, and the operation information comprises: the method comprises the following steps of (1) operating environment information, position information of a crane truck, position information of a crane trolley, height information of a grab bucket, opening and closing information of the grab bucket and load information of the grab bucket;

the crane control unit is arranged on the crane and used for sending the operation information to the central control unit and responding to a control command sent by the central control unit to control the crane cart and the crane trolley to move, stop the crane and lift and open and close the grab bucket;

and the central control unit is used for generating a corresponding control instruction according to the operation information and sending the control instruction to the crane control unit.

Optionally, the system further includes:

the remote control unit is connected with the crane control unit and used for sending a control instruction to the crane control unit to control the crane cart and the crane trolley to move, the crane to stop and the grab bucket to lift and close;

and the video monitoring unit is arranged on the crane, is connected with the central control unit and is used for acquiring video data in the operation process of the crane.

Optionally, the data acquisition unit includes:

the environment scanning module is used for acquiring operation environment information;

the first position detection module is used for acquiring the position information of the crane cart;

the second position detection module is used for acquiring the position information of the trolley;

the grab bucket height and opening and closing detection module is used for acquiring the height information of the grab bucket and the opening and closing information of the grab bucket;

and the grab bucket weight detection module is used for acquiring the load information of the grab bucket.

Optionally, the environment scanning module is a three-dimensional laser scanner and is arranged on the crane cart; the first position detection module and the second position detection module are respectively a scale, a detection pointer and an encoder.

In another aspect, the present disclosure provides a machine-readable storage medium having instructions stored thereon for causing a machine to perform the crane control method described above.

This technical scheme is through being located the surface of water in the water-containing piling tank more than, below the surface of water and the pile coke tar stripping district petroleum coke sets up different methods of snatching, realizes that the hoist is all-weather automatic snatchs, adopts this technical scheme's method of snatching, can guarantee the operating efficiency to, can furthest snatch the petroleum coke that is located the water-containing piling tank to pile coke tar stripping district, can furthest snatch the dry petroleum coke that is located the stripping district to belt feeder department.

In addition, an automatic grabbing method is adopted, manual control grabbing is replaced, safety risks are reduced, the operation of the whole machine is more standardized, equipment faults caused by irregular operation are avoided, and the service life of the equipment is prolonged.

Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:

FIG. 1 is a flow chart of a crane control method provided by the present invention;

FIG. 2 is a schematic illustration of a grabbing job grid of the crane control method provided by the present invention;

FIG. 3 is a schematic diagram of a crane control system provided by the present invention;

fig. 4 is a schematic diagram of the installation position of part of the crane control system provided by the invention.

Description of the reference numerals

2-a data acquisition unit; 3-a crane control unit; 4-a central control unit;

5-a remote control unit; 6-a video monitoring unit; 11-a bridge frame;

12-crane cart; 13-a trolley; 14-a grab bucket;

21-environment scanning module, 22-first position detection module; 23-a second position detection module;

24-a grab bucket height and opening and closing detection module; 25-grab bucket weight detection module.

Detailed Description

The following describes in detail embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.

In the embodiments of the present invention, unless otherwise specified, the use of the directional terms such as "upper, lower, left, and right" generally refer to the directions or positional relationships shown in the drawings, or the directions or positional relationships that the products of the present invention are usually placed when in use.

The terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

The terms "parallel", "perpendicular", etc. do not require that the components be absolutely parallel or perpendicular, but may be slightly inclined. For example, "parallel" merely means that the directions are more parallel relative to "perpendicular," and does not mean that the structures are necessarily perfectly parallel, but may be slightly tilted.

The terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal, vertical or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

Furthermore, the terms "substantially", and the like are intended to indicate that the relative terms are not necessarily strictly required, but may have some deviation. For example: "substantially equal" does not mean absolute equality, but it is difficult to achieve absolute equality in actual production and operation, and certain deviations generally exist. Thus, in addition to absolute equality, "substantially equal" also includes the above-described case where there is some deviation. In this case, unless otherwise specified, terms such as "substantially", and the like are used in a similar manner to those described above.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.

In the petroleum coke production process, after the coke is discharged from a coke tower, the coke is discharged to a water-containing accumulation pool under the action of hydraulic cutting, the water-containing accumulation pool is cooled, and a part of petroleum coke which is not completely cooled still needs to be subjected to spray cooling measures, after the cooling, the petroleum coke is grabbed and moved to a coke piling draining and drying area through a crane, the petroleum coke is dried, and after the drying is finished, the petroleum coke is grabbed and moved to a crusher hopper to be crushed by the crane.

In the prior art, a crane is usually controlled manually, and because a cab is located in the air, an operator needs to climb a higher crane and enter the cab to operate, so that personal safety of the operator is threatened; in addition, when the crane is operated, the position of the cart, the position of the trolley, the lifting height of the grab bucket and the operation position are judged and controlled by the human eyes of an operator according to self experience, and due to the fact that the field environment is poor, misjudgment is easily caused, the operation is not standardized enough, the randomness is large, the positioning accuracy of the crane is low, the action amplitude of starting, stopping, accelerating, decelerating and the like is large, the crane is not favorable for stable operation, more equipment faults and hardware damage are easily caused, and certain safety risk exists; in addition, the signals have no history record, so that the running state data of the equipment is not recorded, and the effective supervision on the operation process is lacked, therefore, an automatic control method is provided, so that the crane can automatically grab the petroleum coke.

Fig. 1 is a flowchart of a crane control method provided by the present invention, and as shown in fig. 1, the present invention provides a crane control method for controlling a bridge-type grab bucket crane to grab and move a material in a hydrous accumulation pool to a coke-stacking draining area, and controlling the crane to grab the material from the coke-stacking draining area to a belt conveyor after the material is dried, wherein the bridge-type grab bucket crane comprises a bridge frame, a crane cart, a crane trolley and a grab bucket, and the method comprises:

101, obtaining the height of a material above the water surface in an aqueous accumulation pool;

102, if the height of the materials above the water surface is larger than a first preset height, determining a grabbing point in the water-containing stacking tank based on the height of the materials above the water surface, and controlling a crane to grab the materials according to the grabbing point and move to a coke draining area;

103, determining that the heights of the materials above the water surface are all smaller than a first preset height;

104, determining a grabbing operation grid in the water-containing accumulation pool based on grab bucket parameters of the crane, and controlling the crane to grab and move the materials in the grabbing operation grid to a coke piling and draining area;

105, after the materials in the coke stacking and draining area are dried, obtaining the height of the materials in the coke stacking and draining area;

and 106, determining a grabbing position in the coke piling and draining area based on the height of the material in the coke piling and draining area, and controlling a crane to grab the material according to the grabbing position and move the material to the belt conveyor.

Specifically, under the condition that part of petroleum coke stacked in the water-containing stacking tank may be located above the water surface of the water-containing stacking tank, when the condition exists, a first preset height can be set according to an actual operating environment, then the height of the petroleum coke located above the water surface of the water-containing stacking tank is obtained, the petroleum coke is compared with the first preset height, all points where the height of materials above the water surface is greater than the first preset height are determined as grabbing points, and then a crane is controlled to grab and move the petroleum coke to a coke draining area according to the grabbing points, so that the height of the materials in the water-containing stacking tank is smaller than the first preset height; under the condition that the heights of all materials above the water surface of the water-containing accumulation pool are smaller than a first preset height, determining a grabbing operation grid in the water-containing accumulation pool based on the parameters of a grab bucket of a crane, and controlling the crane to grab and move the materials in the grabbing operation grid to a coke-stacking draining area; after the materials in the coke stacking and draining area are dried, the height of the coke stacking and draining materials is obtained; the grabbing position in the coke piling and draining area is determined based on the material height of the coke piling and draining area, the crane is controlled to grab the material according to the grabbing position and move to the belt conveyor for smashing and then transporting, specifically, the material in the coke piling and draining area can be dried through physical drying methods such as wind power, and the material is grabbed and moved to the belt conveyor after preset drying time.

Further, the above-water-level material height in the water-containing stacking pond is obtained, and the method comprises the following steps:

Specifically, if the height of the material above the water surface is larger than a first preset height, the current water surface of the water-containing accumulation pool is used as a reference surface, the first preset height also adopts the current water surface as the reference surface, and a three-dimensional image of the water-containing accumulation pool is obtained by using the reference surface, so that the height of the material above the current water surface can be obtained, and a grabbing point is determined according to the height of the material above the current water surface and the first preset height for grabbing.

In the grabbing process, as the number of petroleum cokes in the water-containing accumulation pool is reduced, the volume of the petroleum cokes is gradually reduced, the real-time water level in the water-containing accumulation pool is reduced, but the height of the reference surface determined before grabbing starts is kept unchanged in the subsequent grabbing process.

Further, the determining a grab point within the aqueous stacking pond based on the height of the material above the water surface comprises:

Specifically, the height of all materials above the water surface is obtained according to a determined reference surface, all the heights of the materials above the water surface are sequenced from large to small according to height values, the position corresponding to the height of the material above the water surface at the head of the sequencing is determined as a grabbing point of the current grabbing action, a crane is controlled to grab the material according to the grabbing point and move to a coke piling and draining dry area until the height of the material above the water surface corresponding to the grabbing point is smaller than a first preset height, and the material above the water surface, which is smaller than the first preset height, is not grabbed.

The process of grabbing the material above the water level is as follows: determining a grabbing point with the highest current height, wherein the material height of the grabbing point with the highest height is greater than a first preset height; reading the height value of the point position, and calculating the grabbing height of the grab bucket based on the read height value; and controlling the crane cart and the crane trolley to move to corresponding positions of the grabbing points, descending the grab bucket according to the calculated grabbing height, simultaneously opening the grab bucket, and controlling the grab bucket to close after the grab bucket moves to the grabbing height to finish current grabbing. In the embodiment, the grab bucket is opened to the maximum opening, the positions of the crane trolley and the crane trolley are controlled, the central point of the grabbing area formed in the grab bucket is aligned with the highest point of the grabbing point, the grab bucket is controlled to descend, the highest point of the grabbing point and the lowest point of the grab bucket are positioned at the same level or the highest point of the grabbing point is directly positioned in the grab bucket, the grab bucket is controlled to be closed, and grabbing is completed until the height of the material above the water surface corresponding to the grabbing point is smaller than a first preset height; more specifically, the volume of the material located at the gripping point can also be calculated, and the gripping is controlled according to the volume of the gripping point.

In another embodiment, sorting all the material heights above the water surface from large to small according to the height values; determining the height corresponding position of the materials above the water surface at the head of the sorting as a grabbing point of the current grabbing action, controlling a crane to grab the materials according to the grabbing point and move to a coke piling and draining area, re-acquiring the heights of the materials above a reference surface after grabbing the materials once, sorting the materials from large to small, determining the point with the highest height as the grabbing point of the next grabbing action, controlling the crane to grab the materials according to the grabbing point and move to the coke piling and draining area until the heights of the materials above the water surface corresponding to all grabbing points are smaller than a first preset height.

Further, the method further comprises:

under the condition that the total weight of the grab bucket is smaller than the second weight, controlling the grab bucket to execute material grabbing aiming at the next grabbing point;

the second weight is less than the first weight.

Specifically, in the process of executing the grabbing of the materials above the water surface, the material volumes of different point positions may be different, and the accumulated shapes are also different, so that the amount of the materials grabbed each time may have a certain difference, in order to avoid that the grabbing bucket finishes the current grabbing, the excessive materials in the grabbing bucket cause overweight, and the too few materials in the grabbing bucket cause grabbing failure, the first weight and the second weight are set after grabbing, and it is ensured that the amount of the grabbed materials can meet the requirements, wherein the first weight can be set to 95% of the rated maximum load of the crane, and the second weight can be set to 50% of the rated maximum load of the crane. Therefore, grabbing is completed at the grab bucket, in the process of lifting the grab bucket, the total weight of the grab bucket can be obtained, if the total weight of the grab bucket is greater than the first weight, the fact that the material amount in the grab bucket is overweight is indicated, if the material amount is adopted for transportation, the threat is generated on a mechanical mechanism of a crane, equipment damage is possibly caused, and certain potential safety hazards exist.

Under the condition that the total weight of the grab bucket is smaller than the second weight, the situation that the grabbing of the materials in the grab bucket is insufficient is indicated, and the possible reason is that the height of the materials at the grabbing point is higher and exceeds the first preset height, but the total volume is smaller, at the moment, a new grabbing point needs to be determined according to the height of the materials above the water surface, and then the grab bucket is controlled to grab the materials at the next grabbing point.

Further, the determining a grabbing operation grid in the hydrous accumulation pool based on the crane grab bucket parameters comprises:

Specifically, after the heights of the materials above the water surface are all smaller than a first preset height, because part of the materials in the water-containing accumulation pool are grabbed and moved to a coke draining area, the water surface in the water-containing accumulation pool descends, and part of the materials may be higher than the real-time water surface height, at this time, the heights of the materials are relatively uniform, and the materials can be understood to be all in a height area below the same first preset height or completely lower than a reference surface; an X-Y coordinate system is established by taking the starting point position of the crane as the origin of coordinates, the origin of coordinates at the moment is the intersection point of the crane cart and the crane trolley, the origin of coordinates is positioned at the outermost edge of the bridge, and the bridge is taken as the X axis, namely the moving direction of the crane cart; the movement direction of the trolley is taken as an axis Y; the real-time position coordinates of the crane cart can be obtained through the coordinates on the X axis, and the real-time position coordinates of the crane trolley can be obtained through the coordinates on the Y axis; after an X-Y coordinate system is established, each grabbing grid is located in the X-Y coordinate system, the coordinate position of the central point of each grabbing operation grid is determined to serve as the grabbing execution position of the crane and the grabbing execution position of the crane based on the X-Y coordinate system, and when the grab bucket is controlled to be in the maximum opening degree during grabbing, the position of the central point of the grab bucket coincides with the coordinate position of the central point of each grabbing operation grid, so that accurate grabbing is achieved.

Further, the control crane grabs the material that will snatch in the operation net and moves to the burnt dry area of piling includes:

sequencing all the grabbing operation grids to obtain a grabbing sequence;

wherein the first grip depth is smaller than the second grip depth.

Specifically, all the grabbing operation grids are sequenced to obtain a grabbing sequence, fig. 2 is a schematic diagram of the grabbing operation grids of the crane control method provided by the invention, and as shown in fig. 2, each grabbing operation grid is sequentially sequenced into 1, 2, 3, 4, right, and 15 according to a mode that adjacent grids are sequenced first. At this time, the heights of the materials above the water surface are all smaller than a first preset height, the heights of the materials are uniform, and the materials can be understood as being all located in a height area below the same first preset height or being completely lower than a reference surface, so that the grab bucket can be controlled to grab each grabbing operation grid for N (N is a positive integer) times according to the grabbing sequence and the preset grabbing depth, and after each grabbing operation grid is grabbed for one time, the grabbing operation grids can be grabbed for the second time, the grabbing depth is different for each time, the grabbing depth is increased progressively along with the grabbing times, and the increasing amount of the grabbing depth for each time is the same; furthermore, all grabbing operation grids can be grabbed for the first time, the second time and the Nth time until the grabbing of the materials in the water-containing accumulation pool is completed; the grabbing depth of the last grabbing is the maximum descending depth of the grab bucket, and when the grab bucket is positioned at the maximum descending depth, the grab bucket is controlled to be closed and cannot collide with the bottom of the water-containing accumulation pool; specifically, the first grabbing depth may be set according to the reference surface, so that when the grab bucket is located at the first grabbing depth, the grab bucket is in a maximum opening state, and the lowest point of the grab bucket is located on the reference surface; the second grabbing depth of the second grabbing can be determined according to the movement radius of the grab bucket during opening and closing, and the second grabbing depth is the sum of the first grabbing depth and the movement radius of the grab bucket during opening and closing.

Further, the method further comprises:

the fourth weight is less than the third weight.

Specifically, in the process of grabbing materials of each grabbing operation grid, as the situation that the materials of the grabbing operation grid are grabbed below the water surface may exist, at the moment, the height of the materials below the water surface cannot be accurately judged, the grabbing method is adopted, firstly, the heights of the materials at the moment are all smaller than a first preset height and are relatively uniform, the materials can be understood to be all located in a height area below the same first preset height or are completely lower than a reference surface, for the grabbing, the grid with the first sequence in the grabbing grids is grabbed, after the coordinate motion of the grabbing operation grid is in place, the grab bucket is controlled to be opened and is in a maximum opening state, the grab bucket is controlled to descend to the first grabbing depth, at the moment, the lowest point of the grab bucket is located on the reference surface, the grab bucket is controlled to be closed, the grab bucket is slowly lifted, the total weight of the grab bucket is obtained in real time, and when the total weight of the grab bucket is greater than a third weight, the grab bucket is controlled to be opened to a second opening degree until the total weight of the grab bucket is smaller than a third weight, the grab bucket is controlled to be folded to an initial opening degree, the grab bucket is moved to a safe grabbing and is moved to a draining area for the unloading process; controlling the grab bucket to reach the second grid of the sequence for grabbing, wherein the first grabbing depth is still set at the moment, controlling the grab bucket to be opened and be in a maximum opening state after the grab bucket moves in place, controlling the grab bucket to descend to the first grabbing depth, controlling the grab bucket to be closed, slowly lifting the grab bucket, and acquiring the total weight of the grab bucket in real time; meanwhile, according to the grabbing sequence, the grab bucket is controlled to grab and judge the third grid in the sequence according to the first grabbing depth until the grabbing of each grabbing operation grid is finished; and setting a second grabbing depth, and carrying out second grabbing according to the grabbing and judging steps until the grabbing of the materials in the water-containing accumulation pool is completed.

Since part of the motion is completed in the water during the grabbing process, the gravity of the water in the grab bucket, the resistance of the water outside the grab bucket, and the buoyancy need to be considered when grabbing, therefore, in this embodiment, a third weight and a fourth weight are set, wherein the third weight may be set as the rated maximum load of the crane, and the second weight may be set as 55% of the rated maximum load of the crane.

Further, after the material in the coke tar leaching zone is dried, the height of the material in the coke tar leaching zone is obtained, and the method comprises the following steps:

establishing a three-dimensional image in a coke piling and draining area;

and acquiring the material height of the coke piling and draining area based on the three-dimensional image in the coke piling and draining area.

Specifically, after petroleum coke is grabbed and moved to the coke stacking and draining area, the bottom surface of the coke stacking and draining area is used as a datum plane, so that a three-dimensional image of the coke stacking and draining area is obtained, and the material height value of the coke stacking and draining area can be obtained through the three-dimensional image.

Further, the position of grabbing in the burnt trunk area is confirmed to the material height based on burnt trunk area of heap, and control hoist snatchs the material according to grabbing the position and removes to belt feeder department, includes:

determining the position corresponding to the height of the material at the first sorting position as a grabbing position of the current grabbing action, and controlling a crane to grab the material according to the grabbing position and move the material to the belt conveyor until the height of the material corresponding to the grabbing position is smaller than a second preset height;

Specifically, the material heights of all the coke stacking and draining areas are obtained according to the determined three-dimensional image of the coke stacking and draining areas, the coke stacking and draining areas are sorted from large to small according to the height values, the position corresponding to the material height above the water surface at the first sorting position is determined as the grabbing position of the current grabbing action, the crane is controlled to grab the material according to the grabbing position and move to the belt conveyor until the material height corresponding to the grabbing position is smaller than a second preset height, and the material height smaller than the second preset height is not grabbed.

The process of grabbing the materials in the coke piling and draining area comprises the following steps: determining a grabbing position with the highest current height, wherein the material height of the grabbing position with the highest current height is larger than a second preset height; reading the height value of the bit value, and calculating the grabbing height of the grab bucket based on the read height value; and controlling the crane trolley and the crane trolley to move to the corresponding positions of the grabbing positions, descending the grab bucket according to the calculated grabbing height, simultaneously opening the grab bucket, and controlling the grab bucket to be closed after the grab bucket moves to the grabbing height to finish the current grabbing. In the embodiment, the grab bucket is opened to the maximum opening degree, the positions of the crane trolley and the crane trolley are controlled, the central point of the grabbing area formed in the grab bucket is aligned with the highest point of the grabbing position, the grab bucket is controlled to descend, the highest point of the grabbing position and the lowest point of the grab bucket are positioned at the same level or the highest point of the grabbing position is directly positioned in the grab bucket, the grab bucket is controlled to be closed, and grabbing is completed until the height of the material above the water surface corresponding to the grabbing position is smaller than a second preset height; more specifically, the volume of the material on the grabbing position can be calculated, and grabbing is controlled according to the volume of the grabbing position.

In another embodiment, the material heights of all the coke stacking and draining areas can be sequenced from large to small according to the height values; determining the material height corresponding position of the first sorting position as a grabbing position of the current grabbing action, controlling a crane to grab the materials according to the grabbing position and move to the belt conveyor, re-acquiring the material heights above the reference surface to sort the materials from large to small after the single grabbing, determining the point with the highest material height as the grabbing position of the next grabbing action, and controlling the crane to grab the materials according to the grabbing point and move to the belt conveyor until the material heights corresponding to all the grabbing positions are smaller than a second preset height.

In the process of grabbing the material in the coke draining dry area, the material volumes of different grabbing positions are possibly different, and the accumulated shapes are also different, so that the quantity of the material grabbed every time may have a certain difference, in order to avoid that the material in the grab bucket is too heavy and the material in the grab bucket is too little to cause grabbing failure after the grab bucket finishes current grabbing, a first weight and a second weight are set after grabbing, and the quantity of the grabbed material can meet the requirement, wherein the first weight can be set to 95% of the rated maximum load of the crane, and the second weight can be set to 50% of the rated maximum load of the crane. Therefore, grabbing is completed at the grab, the total weight of the grab can be obtained in the process of lifting the grab, if the total weight of the grab is larger than the first weight, it is indicated that the material amount in the grab is overweight, if the material amount is adopted for transportation, the mechanical mechanism of the crane is threatened, equipment damage is possibly caused, and certain potential safety hazards exist.

Under the condition that the total weight of the grab bucket is less than the second weight, the situation that the material in the grab bucket is not enough to be grabbed is shown, the possible reason is that the material height of the grabbing point is higher and exceeds the second preset height, but the total volume is smaller, at the moment, a new grabbing position needs to be determined according to the material height of the coke piling and draining area, and then the grab bucket is controlled to grab the material at the next grabbing position.

FIG. 3 is a schematic structural diagram of a crane control system provided by the present invention, and FIG. 4 is a schematic installation position diagram of a part of the crane control system provided by the present invention; as shown in fig. 3 and 4, the present invention further provides a crane control system, where the crane is a bridge type grab crane, and includes a bridge 11, a crane cart 12, a crane trolley 13, and a grab 14, and the crane control system controls the crane to perform a material grabbing action by using the above method, and includes:

the data acquisition unit 2 is arranged on the crane and used for acquiring operation information, and the operation information comprises: work environment information, position information of the crane truck 12, position information of the crane truck 13, height information of the grapple 14, opening and closing information of the grapple 14, and load information of the grapple 14;

the crane control unit 3 is arranged on the crane and used for sending the operation information to the central control unit 4 and responding to a control instruction issued by the central control unit 4 to control the crane cart 12 and the crane trolley 13 to move, stop the crane and lift and open and close the grab bucket 14;

and the central control unit 4 is configured to generate a corresponding control instruction according to the operation information and send the control instruction to the crane control unit 3.

Specifically, the crane cart 12 is arranged on the bridge 11 and can not move on the bridge 11, the trolley 13 is arranged on the crane cart 12 and can move along with the crane cart 12, the trolley 13 can also move on the crane cart 12 independently, the trolley 13 is also provided with a grab bucket 14, the grab bucket can move up and down to change the height and realize the opening and closing of the grab bucket 14, the crane cart 12, the trolley 13 and the grab bucket 14 are all controlled in speed through a frequency converter and a motor, a preset speed control strategy is adopted, the acceleration and deceleration are reasonable, the crane runs stably and evenly, and the crane cart and the trolley can be guaranteed to accurately stop at a preset position; the encoder for controlling the lifting and the opening and closing of the grab bucket 14 is provided with a group of gears, is arranged at the shaft end of the non-driving end of the lifting opening and closing roller, and drives the encoder to operate through the roller shaft so as to realize accurate control; in addition, the crane cart 12 is also provided with a cab and an electric room, and the cab is a field operation control device and has a function of controlling the whole cart; the electric room is responsible for distributing the power of the whole vehicle and processing and transmitting control commands; the power supply power of the crane cart and the crane trolley adopts the form of sliding contact lines or towing lines; in addition, in order to ensure the operation safety, the personnel channels are provided with handrail handrails, so that the safety of operators when getting on and off the crane is ensured; a lighting lamp is arranged below the bridge frame 11, an insulating rubber sheet and a cab door switch are arranged in a cab, each transmission part of the crane is provided with a protective cover, each railing door is also provided with a safety limit switch, and a stop and a limit switch are arranged at the end of a stroke to limit the displacement of the crane; the roof is provided with an anemoscope which gives an alarm when the wind speed is higher than the preset wind speed; encoders are arranged at two ends of the crane cart 12 and used for judging whether the crane cart is inclined or not according to the readings of the two encoders, so that safety accidents are avoided.

In addition, the crane control unit 3 and the central control unit 4 can be set as PLC controllers, the central control unit 4 is used for core safety and basic function control, the crane control unit 3 is used for conventional data processing and management data collection, and orderly operation among modules of different safety levels of the control system is ensured through system hierarchical management; the central control unit 4 is provided with a full-automatic control module for realizing full-automatic control and semi-automatic control of the crane; the central control unit 4 can also be connected to an upper computer.

Further, the system further comprises:

the remote control unit 5 is connected with the crane control unit 3 and used for sending a control instruction to the crane control unit 3 and controlling the crane cart 12 and the crane trolley 13 to move, the crane to stop and the grab bucket 14 to lift and open and close;

and the video monitoring unit 6 is arranged on the crane, is connected with the central control unit 4 and is used for acquiring video data in the operation process of the crane.

Specifically, the remote control unit is used for realizing the field control of an operator; the video monitoring units are used for collecting video data in the operation process of the crane, can be arranged in a plurality of numbers, are respectively positioned on the bridge 11, the crane cart 12 and the crane trolley 13, and transmit the data to the central control unit for storage. In addition, the control priority of the crane is cab control, field remote control, remote full-automatic control and remote manual control in sequence.

In another embodiment, the crane control system is further provided with a wireless communication unit (not shown) for transmitting data and control instructions of each unit of the crane, and specifically, the crane control system can be realized by adopting a 5GHz wireless network and has the characteristics of redundant configuration and undisturbed switching, the transmission form has the characteristics of low cost, simple networking and the like, and the signal stability can be further improved after the directional antenna and the redundant configuration are adopted; the video monitoring unit 6 and the collected video data are also transmitted by adopting a wireless communication unit.

Further, the data acquisition unit 2 includes:

an environment scanning module 21, configured to obtain job environment information;

a first position detection module 22 for acquiring position information of the crane cart 12;

the second position detection module 23 is configured to obtain position information of the trolley 13;

a grab bucket height and open/close detection module 24 for acquiring height information of the grab bucket 14 and open/close information of the grab bucket 14;

and the grab bucket weight detection module 25 is used for acquiring the load information of the grab bucket 14.

Specifically, the height and opening/closing detection module 24 of the grab bucket is set as an encoder, the height and opening/closing condition of the grab bucket 14 can be accurately obtained through the rotation position of the encoder, in addition, the weight detection module 25 of the grab bucket can be set as a weighing sensor and is installed in a bearing seat of a lifting opening/closing roller, and the actual load capacity of the grab bucket is obtained through a set of signal conversion module.

In another embodiment, if two crane trucks 12 are installed on the same bridge 11, a radar collision avoidance system may be installed, and the radar collision avoidance system transmits the collected distance information of the two parallel crane trucks 12 to the field PLC, so as to avoid collision avoidance when the two crane trucks 12 are running simultaneously.

Further, the environment scanning module 21 is a three-dimensional laser scanner, and is disposed on the crane cart 12; the first position detection module 22 and the second position detection module 23 are respectively a scale, a detection pointer and an encoder.

Specifically, the environment scanning module 21 is a three-dimensional laser scanner, is used for collecting operation environment information, is arranged on the crane cart 12, and is mainly used for collecting 3D position information of materials in the hydrous accumulation pool so as to determine the height of the materials; the first position detection module 22 and the second position detection module 23 are both a scale, a detection pointer and an encoder, the real-time positions of the crane cart 12 and the crane cart 13 are obtained through the scale and the detection pointer, the real-time positions are compared and judged with the positions obtained by the encoder, the scale used for obtaining the position of the crane cart 12 is arranged on the bridge 11, and the detection pointer is arranged on a steel beam at the end part of the crane cart 12 above the scale; the graduated scale for obtaining the position of the crane trolley 13 is arranged on a rail beam railing support of the crane trolley 12, a detection pointer is arranged on a steel beam at the end part of the crane trolley 13 above the graduated scale, specifically, a graduated scale accurate positioning system is adopted for position detection, and the electromagnetic induction principle is adopted for detecting the displacement of the mobile equipment; when alternating current is introduced into the vernier pointer coil, an alternating magnetic field is generated near the vernier pointer, the graduated scales are approximately positioned in an alternating and uniformly distributed magnetic field, and each pair of graduated scale core wires can generate induced electromotive force; the signal of the scale generator is transmitted to the induction loop line of the scale ruler in an electromagnetic coupling mode; the scale analyzer compares the phases of the received signals; the signal phase of the crossed line is the same as that of the parallel line, the address is '0', the signal phase of the crossed line is opposite to that of the parallel line, and the address is '1', so that the sensed address information is gray code arrangement, the position of a vernier pointer in the length direction of a graduated scale is determined, the non-contact type position detection without abrasion is adopted, the service life is long, the pollution resistance is strong, the installation is simple and convenient to replace, the field environment does not need to be changed, the stability is high, the reliability is high, multiple signal output modes are selected, and the reverse polarity protection function, the lightning protection, the radio frequency interference prevention and the static prevention are realized.

In another aspect, the present disclosure also provides a machine-readable storage medium having stored thereon instructions for causing a machine to execute the crane control method described above.

Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.

It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.

Those skilled in the art can understand that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to perform all or part of the steps in 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 (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.

Claims

1. A crane control method is used for controlling a bridge type grab bucket crane to grab and move materials in a water-containing stacking pool to a coke stacking draining area, and controlling the crane to grab the materials from the coke stacking draining area to a belt conveyor after the materials are dried, wherein the bridge type grab bucket crane comprises a bridge frame, a crane cart, a crane trolley and a grab bucket, and is characterized in that the method comprises the following steps:

2. The crane control method as claimed in claim 1, wherein said obtaining the height of the material above the water level in the hydrous stacker comprises:

3. The crane control method as claimed in claim 2, wherein said determining a grab point in the hydrous stacker based on the height of material above the water level comprises:

sequencing all the heights of the materials above the water surface from large to small according to the height values;

determining the position corresponding to the height of the materials above the water surface at the first sorting position as a grabbing point of the current grabbing action, and controlling a crane to grab the materials according to the grabbing point and move to a coke piling and draining area until the height of the materials above the water surface corresponding to the grabbing point is smaller than a first preset height;

4. The crane control method as claimed in claim 3, further comprising:

the second weight is less than the first weight.

5. The crane control method as claimed in claim 1, wherein said determining a grabbing job grid within the hydrous accumulation pool based on crane grapple parameters comprises:

6. The crane control method of claim 5, wherein controlling the crane to move the material grappling within the grappling grid to the coke dump draining zone comprises:

sequencing all the grabbing operation grids to obtain a grabbing sequence;

wherein the first grip depth is smaller than the second grip depth.

7. The crane control method as claimed in claim 6, further comprising:

the fourth weight is less than the third weight.

8. The crane control method as claimed in claim 1, wherein obtaining the material height of the coke draining zone after the material in the coke draining zone to be stacked is dried comprises:

establishing a three-dimensional image in a coke piling and draining area;

9. The crane control method of claim 8, wherein the determining the grabbing position in the coke draining area based on the material height of the coke draining area, and controlling the crane to grab the material to the belt conveyor according to the grabbing position comprises:

10. A crane control system, the crane being a bridge grab crane comprising a bridge, a crane cart, a trolley and a grab, wherein the crane control system controls the crane to perform a material grabbing action using the method of any one of claims 1-9, the crane control system comprising:

11. The crane control system of claim 10, further comprising:

12. The crane control system of claim 11, wherein the data acquisition unit comprises:

the first position detection module is used for acquiring position information of the crane cart;

13. The crane control system as claimed in claim 12, wherein the environment scanning module is a three-dimensional laser scanner provided on the crane cart; the first position detection module and the second position detection module are respectively a scale, a detection pointer and an encoder.

14. A machine-readable storage medium having instructions stored thereon for causing a machine to perform the crane control method of any one of claims 1-9 herein.