CN116730200A - Cable hoisting method, system, computer equipment and storage medium - Google Patents
Cable hoisting method, system, computer equipment and storage medium Download PDFInfo
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
- B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
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- Engineering & Computer Science (AREA)
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- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The application relates to the technical field of cable hoisting, in particular to a cable hoisting method, a system, computer equipment and a storage medium, wherein the method comprises the following steps: acquiring coordinates of initial positions and coordinates of target positions of two crane lifting points on a component; respectively obtaining target motion tracks of the two crane hanging points according to the coordinates of the initial positions of the two crane hanging points and the coordinates of the target positions; respectively acquiring actual coordinates of lifting points of the two cranes in the lifting process to generate an actual motion track; predicting coordinates of the two crane lifting points according to the actual motion trail to obtain predicted lifting point coordinates; and controlling traction windlass and/or hoisting windlass of the two cranes according to the deviation of the predicted hoisting point coordinates and the target motion trail, and correcting the actual motion trail until the component is hoisted to the target position. According to the application, the deviation of the component can be corrected continuously in the hoisting process, so that the accuracy of the hoisting position of the component is ensured, and the hoisting efficiency is improved.
Description
Technical Field
The application relates to the technical field of cable hoisting, in particular to a cable hoisting method, a system, computer equipment and a storage medium.
Background
The bridge is an important national infrastructure, the construction scale of the bridge in China is huge, and the construction quantity of the large-span bridge is large. The construction methods of cantilever pouring, cantilever stage hoisting and the like are important construction methods of a large-span bridge, the most critical construction scheme of the method is cable hoisting, and a to-be-constructed member is hoisted to a constructed member through a cable crane, so that the to-be-constructed member and the constructed member are closed.
In the cable hoisting process, automatic control is mainly and manual control is auxiliary, but the automatic control in the hoisting process can only hoist the component to a rough position, and the subsequent accurate adjustment also needs manual control. As the bridge span and the rated hoist weight of the cable hoist continue to increase, the components of the hoist also continue to increase. For large-scale components, double cranes are often used for collaborative hoisting, and if the difference between the components and adjacent splicing positions is large, the manual adjustment process is complicated, so that the hoisting efficiency is affected.
The information disclosed in this background section is only for enhancement of understanding of the general background of the application and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The application provides a cable hoisting method, a system, computer equipment and a storage medium, thereby effectively solving the problems in the background technology.
In order to achieve the above purpose, the technical scheme adopted by the application is as follows: a cable hoisting method comprises the following steps:
acquiring coordinates of initial positions and coordinates of target positions of two crane lifting points on a component;
respectively obtaining target motion tracks of the two crane hanging points according to the coordinates of the initial positions of the two crane hanging points and the coordinates of the target positions;
respectively acquiring actual coordinates of lifting points of the two cranes in the lifting process to generate an actual motion track;
predicting coordinates of the two crane lifting points according to the actual motion trail to obtain predicted lifting point coordinates;
controlling traction windlass and/or hoisting windlass of the two cranes according to the deviation of the predicted hoisting point coordinates and the target motion trail, and correcting the actual motion trail until the component is hoisted to the target position;
the actual coordinates of the two crane lifting points are respectively acquired in the lifting process, and an actual motion track is generated, and the method comprises the following steps:
acquiring actual coordinates of the two crane hanging points at a set frequency to obtain a plurality of coordinate points;
fitting a plurality of coordinate points to obtain a fitting curve, wherein the fitting curve is the actual motion track;
and (3) performing curve fitting on all the acquired coordinate points every time one coordinate point is acquired in hoisting, and predicting the coordinate of the hoisting point corresponding to the next acquisition time after the current coordinate point according to the fitted curve to obtain the predicted coordinate of the hoisting point.
Further, the fitting the plurality of coordinate points includes:
the coordinate points are obtained as(x i ，z i )WhereiniIs 1 to 1n；
Correspondingly generating n functionsComprising:
；
wherein x to x (n-1) Is a term in the polynomial, j is 1 to n, a 10 To the point ofa n(n-1) The coefficients to be solved;
the abscissa of a plurality of acquired coordinate pointsx i Substituting the functions respectively, and making:
；
solving the coefficient a in the n functions 10 To the point ofa n(n-1) Obtaining curves corresponding to n functions；
Generating a fitting curve：
。
Further, the controlling the traction winch and/or the hoisting winch of the two cranes according to the deviation between the predicted hoisting point coordinates and the target motion trail comprises:
according to the two predicted hanging point coordinates, taking the point closest to the predicted hanging point on the target motion track as a target point coordinate;
subtracting the horizontal coordinate and the vertical coordinate of the predicted lifting point from the horizontal coordinate and the vertical coordinate of the target point corresponding to the lifting point respectively to obtain an x-axis component controlled by the traction winch and a z-axis component controlled by the hoisting winch, which are respectively corresponding to the two cranes;
the traction winches of the two cranes are controlled according to the x-axis component, and the hoisting winches of the two cranes are controlled according to the z-axis component.
Further, the controlling the traction winch and/or the hoisting winch of the two cranes includes:
acquiring an x-axis component corresponding to each acquisition time, and constructing a relation function of the x-axis component and timex(t)；
Acquiring a z-axis component corresponding to each acquisition time, and constructing a relation function of the z-axis component and timez(t)；
Respectively collecting the relation function S of the actual rotation speed and time of the traction winch 1 (t) a relation function S of the actual rotation speed of the hoisting machine and time 2 （t）；
Respectively superposing a compensating rotation speed on the traction winch and the hoisting winch，/>；
；
；
；
；
Wherein, K is a proportionality coefficient,T i as an integral coefficient of the power supply,T d as a result of the differential coefficient,is a unit time rotary displacement of the traction winch, and +.> 2πR 1 S 1 (t)，R 1 For the radius of rotation of the traction winch +.>Is a unit time rotary displacement of the hoisting winch, and +.> 2πR 2 S 2 (t)，R 2 Is the radius of rotation of the hoisting winch.
The application also includes a cable hoist system, using a method as described above, comprising:
the coordinate acquisition module is used for acquiring the coordinates of the initial positions of the two crane lifting points on the component and the coordinates of the target positions;
the track acquisition module is used for respectively acquiring target motion tracks of the two crane hanging points according to the coordinates of the initial positions of the two crane hanging points and the coordinates of the target positions;
the track generation module is used for respectively acquiring actual coordinates of the two crane lifting points in the lifting process and generating an actual motion track;
the prediction module predicts the coordinates of the two crane hanging points according to the actual motion trail to obtain predicted hanging point coordinates;
and the deviation rectifying module is used for controlling the traction winch and/or the hoisting winch of the two cranes according to the deviation between the predicted lifting point coordinates and the target motion trail, and rectifying the actual motion trail until the component is lifted to the target position.
The application also includes a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, which processor implements the method as described above when executing the computer program.
The application also includes a storage medium having stored thereon a computer program which, when executed by a processor, implements a method as described above.
The beneficial effects of the application are as follows: according to the application, the coordinates of the initial positions of the two crane lifting points on the component and the coordinates of the target positions are obtained, the coordinates of the initial positions are the component lifting positions, the target positions are the positions of the component and the erected component in closure, and then the target movement track is obtained according to the construction environment and the like during lifting. And then, respectively acquiring actual coordinates of the lifting points of the two cranes in the lifting process to generate an actual motion track, predicting the next-step coordinates of the lifting points according to the actual motion track, judging the deviation from the target motion track according to the predicted coordinates of the lifting points, controlling a traction winch and/or a lifting winch of the cranes according to the deviation, rectifying the actual motion track until the components are lifted to the target position, and rectifying the components continuously in the lifting process to ensure the accuracy of the lifting positions of the components, reduce the steps and processes of manual control and improve the lifting efficiency. And the actual motion track is predicted, the deviation is corrected according to the predicted lifting point coordinates, the hoisting of the component is not required to be stopped, and the hoisting process is continued after the deviation is corrected, so that the deviation can be corrected in the process of maintaining the hoisting, and the hoisting efficiency is further improved under the condition of ensuring the accurate hoisting position.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.
FIG. 1 is a flow chart of the method of the present application;
FIG. 2 is a schematic illustration of the predicted suspension points obtained;
FIG. 3 is a schematic diagram of the x-axis and z-axis components of a predicted suspension point and target point;
FIG. 4 is a schematic diagram of the system of the present application;
fig. 5 is a schematic structural diagram of a computer device.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments.
As shown in fig. 1 to 3: a cable hoisting method comprises the following steps:
acquiring coordinates of initial positions and coordinates of target positions of two crane lifting points on a component;
respectively obtaining target motion tracks of the two crane hanging points according to the coordinates of the initial positions of the two crane hanging points and the coordinates of the target positions;
respectively acquiring actual coordinates of lifting points of the two cranes in the lifting process to generate an actual motion track;
predicting coordinates of the two crane lifting points according to the actual motion trail to obtain predicted lifting point coordinates;
and controlling traction windlass and/or hoisting windlass of the two cranes according to the deviation of the predicted hoisting point coordinates and the target motion trail, and correcting the actual motion trail until the component is hoisted to the target position.
The method comprises the steps of obtaining the coordinates of initial positions of two crane lifting points on a component and the coordinates of target positions, wherein the coordinates of the initial positions are component lifting positions, the target positions are positions of the component and the erected component in closure, and then obtaining target motion tracks according to construction environments and the like during lifting. And then, respectively acquiring actual coordinates of the lifting points of the two cranes in the lifting process to generate an actual motion track, predicting the next-step coordinates of the lifting points according to the actual motion track, judging the deviation from the target motion track according to the predicted coordinates of the lifting points, controlling a traction winch and/or a lifting winch of the cranes according to the deviation, rectifying the actual motion track until the components are lifted to the target position, and rectifying the components continuously in the lifting process to ensure the accuracy of the lifting positions of the components, reduce the steps and processes of manual control and improve the lifting efficiency. And the actual motion track is predicted, the deviation is corrected according to the predicted lifting point coordinates, the hoisting of the component is not required to be stopped, and the hoisting process is continued after the deviation is corrected, so that the deviation can be corrected in the process of maintaining the hoisting, and the hoisting efficiency is further improved under the condition of ensuring the accurate hoisting position.
The coordinates of the lifting points can be obtained through GPS, beidou navigation and the like, and the coordinates of the lifting points can also be obtained through laser positioning, and only transverse movement and movement in the height direction can be carried out in the lifting process, so that when a coordinate system is established, only a plane coordinate system is required to be established, the plane coordinate system comprises an x axis and a z axis, the x axis direction is used for controlling a traction winch, the z axis direction is used for controlling a lifting winch, and the two cranes are respectively transversely moved and lifted by the traction winch and the winch which are arranged at two ends of a cable.
In this embodiment, in the hoisting process, actual coordinates of two crane hoisting points are respectively collected, and an actual motion track is generated, including:
acquiring actual coordinates of the two crane hanging points at a set frequency to obtain a plurality of coordinate points;
fitting the coordinate points to obtain a fitting curve, wherein the fitting curve is an actual motion track.
Wherein, fit a plurality of coordinate points, include:
the coordinate points are obtained as(x i ，z i )WhereiniIs 1 to 1n；
Correspondingly generating n functionsComprising:
；
wherein x to x (n-1) Is a term in the polynomial, j is 1 to n, a 10 To the point ofa n(n-1) The coefficients to be solved;
the abscissa of a plurality of acquired coordinate pointsx i Substituting the functions respectively, and making:
；
solving the coefficient a in the n functions 10 To the point ofa n(n-1) Obtaining curves corresponding to n functions；
Generating a fitting curve：
。
In the actual hoisting process, the obtained coordinates of the hoisting points are points, and the actual motion trail cannot be directly obtained, so that the coordinates of the next point cannot be predicted, therefore, the points need to be fitted, and after a curve is fitted, the fitted curve is the actual motion curve, so that the points are predicted according to the actual motion curve.
The traditional point fitting is regression analysis, least square method and the like, but the point fitting method cannot correspond to the actual motion track, so that the prediction cannot be accurately performed. In this embodiment, n polynomial functions are established, and then the abscissa coordinates of the n collected coordinate points are respectively substituted into the n functions, and each function takes a value of 1 at the abscissa position of the corresponding point, and takes a value of 0 at the abscissa position of the other points, for example: three points (x 1 ,z 1 ），（x 2 ,z 2 ），（x 3 ,z 3 ) Three functions are generated:
；
the first curve is at x 1 The value of the position is 1, the values of the other two points are 0, and 3 points are respectively substituted into f 1 The method comprises the following steps:
；
calculating coefficient a 10 To a 12 Thereby obtaining a curve f 1 Similarly, the second curve is at x 2 The value of the position is 1, the values of the other two points are 0, and 3 points are respectively substituted into f 2 The method comprises the following steps:
；
calculating coefficient a 20 To a 22 Thereby obtaining a curve f 2 The method comprises the steps of carrying out a first treatment on the surface of the The third curve is at x 3 The value of the position is 1, the values of the other two points are 0, and 3 points are respectively substituted into f 3 The method comprises the following steps:
；
calculating coefficient a 30 To a 32 Thereby obtaining a curve f 3 。
The three curves are then multiplied by the corresponding ordinate respectively: z 1 f 1 (x)、z 2 f 2 (x)、z 3 f 3 (x) And superposing the two curves to obtain a final fitted smooth curve: f (x) =z 1 f 1 (x)+ z 2 f 2 (x)+z 3 f 3 (x) A. The application relates to a method for producing a fibre-reinforced plastic composite Similarly, if the number of the collected points is 256, 256 polynomials of 255 times are generated, 256 points are respectively substituted into the 256 curves, the value of the curve at the abscissa of the corresponding point is 1, the value of the abscissa of the other points is 0, so that 256 curves are solved, the 256 curves are respectively multiplied by the ordinate of the corresponding point and overlapped, and the curves respectively passing through the 256 points can be obtained, namely the fitted curves.
By the fitting mode, the fitted curve can be ensured to pass through each acquired coordinate point, so that the coordinate of the next point predicted according to the fitted curve is more accurate, and the deviation correcting effect is ensured.
And performing curve fitting on all acquired coordinate points every time one coordinate point is acquired in hoisting, predicting a hoisting point coordinate corresponding to the next acquisition moment after the current coordinate point, and obtaining the predicted hoisting point coordinate.
When the coordinates of the predicted hanging point are determined, the coordinates are acquired at a fixed frequency, so that the time interval between the two acquisition points is constant, the distance of the hanging point moving on the x axis at the time interval is calculated through the time interval and the current rotation speed of the traction winch, the abscissa of the predicted hanging point is determined, and the corresponding ordinate is obtained according to the fitted curve, so that the coordinates of the predicted hanging point are obtained. Or calculating the distance of the lifting point moving on the z axis at the time interval by the time interval and the current rotating speed of the hoisting winch, so as to determine the ordinate of the predicted lifting point, and obtaining the corresponding abscissa according to the fitted curve, so as to obtain the coordinate of the predicted lifting point.
In this embodiment, controlling the traction winch and/or the hoisting winch of the two cranes according to the deviation between the predicted hoisting point coordinates and the target motion trajectory includes:
according to the two predicted hanging point coordinates, taking the point closest to the predicted hanging point on the target motion track as a target point coordinate;
subtracting the horizontal coordinate and the vertical coordinate of the predicted lifting point from the horizontal coordinate and the vertical coordinate of the target point corresponding to the lifting point respectively to obtain an x-axis component controlled by the traction winch and a z-axis component controlled by the hoisting winch, which are respectively corresponding to the two cranes;
the traction winches of the two cranes are controlled according to the x-axis component, and the hoisting winches of the two cranes are controlled according to the z-axis component.
Because the lifting point moves in two directions, namely, the movement in the transverse x-axis direction and the movement in the z-axis direction in the height, and the movement in the two directions is controlled by the traction winch and the lifting winch respectively, when deviation correction is carried out, the deviation in the x-axis direction and the deviation in the z-axis direction on the lifting point of the crane are required to be determined respectively, so that the traction winch and the lifting winch are controlled respectively, and the accuracy in the lifting process of the component is ensured.
Wherein, control the traction hoist and/or the hoisting hoist of two loop wheel machines, include:
acquiring an x-axis component corresponding to each acquisition time, and constructing a relation function of the x-axis component and timex(t)The method comprises the steps that a corresponding value of an x-axis component can be obtained at each acquisition moment, so that a relationship function takes time as an abscissa and a corresponding x-axis component as an ordinate to obtain a plurality of discrete points, and the relationship function is obtained in a way of differentiating the discrete point values and reflects the functions of the x-axis components corresponding to different acquisition moments;
the corresponding z-axis component of each acquisition time is obtained in the same way, and a relation function of the z-axis component and time is constructedz(t)The relation function takes time as an abscissa and the corresponding z-axis component as an ordinate, so that the function of the z-axis component corresponding to different acquisition moments is embodied;
respectively collecting the relation function S of the actual rotation speed and time of the traction winch 1 (t) actual hoisting windlassRelation function S of rotation speed and time 2 (t); the relation function of the actual rotation speed and time takes time as an abscissa, the real-time speed of the collected winch is taken as an ordinate, the corresponding relation of the real-time speed and time of the winch is reflected, speed sensors are arranged on the traction winch and the hoisting winch, the real-time speed can be collected, and the collected real-time speed and time can be corresponding. The relation between the real-time speed and the time of the winch is reflected in the deviation condition of the real-time speed and the set speed after the superposition of the compensating rotation speed and the set speed is calculated subsequently.
Respectively superposing a compensating rotation speed on the traction winch and the hoisting winch，/>；
；
；
；
；
Wherein, K is a proportionality coefficient,T i as an integral coefficient of the power supply,T d as a result of the differential coefficient,is a unit time rotary displacement of the traction winch, and +.> 2πR 1 S 1 (t)，R 1 For the radius of rotation of the traction winch +.>Is a unit time rotary displacement of the hoisting winch, and +.> 2πR 2 S 2 (t)，R 2 Is the radius of rotation of the hoisting winch.
By separately collecting the x-axis component versus time functionsx(t)The method comprises the steps of carrying out a first treatment on the surface of the And a function of the z-axis component versus timez (t)The method comprises the steps of carrying out a first treatment on the surface of the Therefore, the relation between the deviation and the time is determined, and in the adjusting process, a compensation rotation speed is overlapped on the actual rotation speeds set by the traction winch and the hoisting winch, so that the deviation correcting control can be realized in the hoisting process, for example, the predicted hoisting point position is higher, the rotation speed of the hoisting winch can be lowered by overlapping the compensation rotation speed on the basis of the originally set hoisting winch speed, the component is adjusted, the overlapped compensation rotation speed corresponds to the relation between the x-axis component and the z-axis component and the time, the fluctuation of the component in the adjusting process can be reduced, the shaking of the component is reduced, and the hoisting process is smoother.
Because the track of the component is changed in real time in the hoisting process, if deviation of the current track of the component and the target track is adopted to correct the deviation, hysteresis is caused to the compensation speed given by the deviation correction, and because the component moves to the next position from the current position, the movement of the component is required to be predicted to adjust an advance, in the process of the movement of the component, the coordinates of the hoisting point on the component are acquired in real time at a fixed acquisition frequency, and each time one point is acquired, namely, all acquired coordinate points are fitted, and the next coordinate point is predicted, so that the deviation correction is carried out.
For example, in the rising process of the component, the lifting winch is about to reach a set height, at the moment, the lifting winch is decelerated, if the current height of the component is lower than the height on the target track, if the deviation of the current position and the target position is adopted, the lifting winch needs to increase the speed, the deviation rectifying process has hysteresis and cannot accurately rectify, and if the predicted coordinate point is adopted, the coordinate of the next acquisition point is predicted to be lower than the target point, but based on the fact that the lifting winch is about to decelerate, a compensation speed is superposed on the basis of the target speed of the lifting winch, so that the deceleration is lower than the target speed, namely, the deviation rectifying is carried out while the winch keeps decelerating, thereby the adjustment of the advance is carried out, and the accuracy of the adjustment is ensured. The frequency of the acquired coordinate points can be set, such as 30 frames per second, 60 frames per second, etc.
As shown in fig. 4, the embodiment further includes a cable hoisting system, and the method includes:
the coordinate acquisition module is used for acquiring the coordinates of the initial positions of the two crane lifting points on the component and the coordinates of the target positions;
the track acquisition module is used for respectively acquiring target motion tracks of the two crane hanging points according to the coordinates of the initial positions of the two crane hanging points and the coordinates of the target positions;
the track generation module is used for respectively acquiring actual coordinates of the two crane lifting points in the lifting process and generating an actual motion track;
the prediction module predicts coordinates of the two crane lifting points according to the actual motion trail to obtain predicted lifting point coordinates;
and the deviation rectifying module is used for controlling the traction winch and/or the hoisting winch of the two cranes according to the deviation between the predicted lifting point coordinates and the target motion trail, and rectifying the actual motion trail until the component is lifted to the target position.
The method comprises the steps of obtaining the coordinates of initial positions of two crane lifting points on a component and the coordinates of target positions, wherein the coordinates of the initial positions are component lifting positions, the target positions are positions of the component and the erected component in closure, and then obtaining target motion tracks according to construction environments and the like during lifting. The method comprises the steps of respectively collecting actual coordinates of lifting points of two cranes in the lifting process, generating an actual motion track, predicting the coordinates of the next step of the lifting points according to the actual motion track, judging the deviation from a target motion track according to the coordinates of the predicted lifting points, controlling a traction winch and/or a lifting winch of the cranes according to the deviation, rectifying the actual motion track until a component is lifted to a target position, and rectifying the deviation of the component continuously in the lifting process, so that the accuracy of the lifting position of the component is ensured, steps and processes of manual control are reduced, and the lifting efficiency is improved. And the actual motion track is predicted, the deviation is corrected according to the predicted lifting point coordinates, the hoisting of the component is not required to be stopped, and the hoisting process is continued after the deviation is corrected, so that the deviation can be corrected in the process of maintaining the hoisting, and the hoisting efficiency is further improved under the condition of ensuring the accurate hoisting position.
Please refer to fig. 5, which illustrates a schematic structure of a computer device according to an embodiment of the present application. The computer device 400 provided in the embodiment of the present application includes: a processor 410 and a memory 420, the memory 420 storing a computer program executable by the processor 410, which when executed by the processor 410 performs the method as described above.
The embodiment of the present application also provides a storage medium 430, on which storage medium 430 a computer program is stored which, when executed by the processor 410, performs a method as above.
The storage medium 430 may be implemented by any type or combination of volatile or nonvolatile Memory devices, such as a static random access Memory (Static Random Access Memory, SRAM), an electrically erasable Programmable Read-Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), an erasable Programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), a Programmable Read-Only Memory (PROM), a Read-Only Memory (ROM), a magnetic Memory, a flash Memory, a magnetic disk, or an optical disk.
In the description of the present application, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. The meaning of "a plurality of" is two or more, unless specifically defined otherwise.
In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily for the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (7)
1. The cable hoisting method is characterized by comprising the following steps of:
acquiring coordinates of initial positions and coordinates of target positions of two crane lifting points on a component;
respectively obtaining target motion tracks of the two crane hanging points according to the coordinates of the initial positions of the two crane hanging points and the coordinates of the target positions;
respectively acquiring actual coordinates of lifting points of the two cranes in the lifting process to generate an actual motion track;
predicting coordinates of the two crane lifting points according to the actual motion trail to obtain predicted lifting point coordinates;
controlling traction windlass and/or hoisting windlass of the two cranes according to the deviation of the predicted hoisting point coordinates and the target motion trail, and correcting the actual motion trail until the component is hoisted to the target position;
the actual coordinates of the two crane lifting points are respectively acquired in the lifting process, and an actual motion track is generated, and the method comprises the following steps:
acquiring actual coordinates of the two crane hanging points at a set frequency to obtain a plurality of coordinate points;
fitting a plurality of coordinate points to obtain a fitting curve, wherein the fitting curve is the actual motion track;
and (3) performing curve fitting on all the acquired coordinate points every time one coordinate point is acquired in hoisting, and predicting the coordinate of the hoisting point corresponding to the next acquisition time after the current coordinate point according to the fitted curve to obtain the predicted coordinate of the hoisting point.
2. The cable hoisting method of claim 1, wherein said fitting a plurality of said coordinate points comprises:
the coordinate points are obtained as(x i ，z i )WhereiniIs 1 to 1n；
Correspondingly generating n functionsComprising:
；
wherein x to x (n-1) Is a term in the polynomial, j is 1 to n, a 10 To the point of a n(n-1) The coefficients to be solved;
the abscissa of a plurality of acquired coordinate pointsx i Substituting the functions respectively, and making:
；
solving the coefficient a in the n functions 10 To the point of a n(n-1) Obtaining curves corresponding to n functions；
Generating a fitting curve：
。
3. The cable hoisting method as claimed in claim 1, wherein the controlling the traction winch and/or the hoisting winch of the two cranes according to the deviation of the predicted hoisting point coordinates from the target motion trajectory comprises:
according to the two predicted hanging point coordinates, taking the point closest to the predicted hanging point on the target motion track as a target point coordinate;
subtracting the horizontal coordinate and the vertical coordinate of the predicted lifting point from the horizontal coordinate and the vertical coordinate of the target point corresponding to the lifting point respectively to obtain an x-axis component controlled by the traction winch and a z-axis component controlled by the hoisting winch, which are respectively corresponding to the two cranes;
the traction winches of the two cranes are controlled according to the x-axis component, and the hoisting winches of the two cranes are controlled according to the z-axis component.
4. A cable hoisting method as claimed in claim 3, characterized in that the control of the traction and/or hoisting winches of the two cranes comprises:
acquiring an x-axis component corresponding to each acquisition time, and constructing a relation function of the x-axis component and timex(t)；
Acquiring a z-axis component corresponding to each acquisition time, and constructing a relation function of the z-axis component and timez(t)；
Respectively collecting the relation function S of the actual rotation speed and time of the traction winch 1 (t) a relation function S of the actual rotation speed of the hoisting machine and time 2 （t）；
Respectively superposing a compensating rotation speed on the traction winch and the hoisting winch，/>；
；
；
；
；
Wherein, K is a proportionality coefficient,T i as an integral coefficient of the power supply,T d as a result of the differential coefficient,is a unit time rotary displacement of the traction winch, and +.> 2πR 1 S 1 (t)，R 1 For the radius of rotation of the traction winch +.>Is a unit time rotary displacement of the hoisting winch, and +.> 2πR 2 S 2 (t)，R 2 Is the radius of rotation of the hoisting winch.
5. A cable hoisting system, characterized in that a method as claimed in any one of claims 1 to 4 is used, comprising:
the coordinate acquisition module is used for acquiring the coordinates of the initial positions of the two crane lifting points on the component and the coordinates of the target positions;
the track acquisition module is used for respectively acquiring target motion tracks of the two crane hanging points according to the coordinates of the initial positions of the two crane hanging points and the coordinates of the target positions;
the track generation module is used for respectively acquiring actual coordinates of the two crane lifting points in the lifting process and generating an actual motion track;
the prediction module predicts the coordinates of the two crane hanging points according to the actual motion trail to obtain predicted hanging point coordinates;
and the deviation rectifying module is used for controlling the traction winch and/or the hoisting winch of the two cranes according to the deviation between the predicted lifting point coordinates and the target motion trail, and rectifying the actual motion trail until the component is lifted to the target position.
6. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any of claims 1-4 when executing the computer program.
7. A storage medium having stored thereon a computer program which, when executed by a processor, implements the method of any of claims 1-4.
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