CN116902838A - Control method and device for turntable leveling, lifting equipment and processor - Google Patents
Control method and device for turntable leveling, lifting equipment and processor Download PDFInfo
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- CN116902838A CN116902838A CN202310779591.6A CN202310779591A CN116902838A CN 116902838 A CN116902838 A CN 116902838A CN 202310779591 A CN202310779591 A CN 202310779591A CN 116902838 A CN116902838 A CN 116902838A
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- 238000000034 method Methods 0.000 title claims abstract description 69
- 239000000725 suspension Substances 0.000 claims abstract description 14
- 238000012360 testing method Methods 0.000 claims description 97
- 230000008569 process Effects 0.000 claims description 17
- 238000012549 training Methods 0.000 claims description 10
- 238000004088 simulation Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 8
- 238000004590 computer program Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 6
- 238000013528 artificial neural network Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000010801 machine learning Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
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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
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/84—Slewing gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/72—Counterweights or supports for balancing lifting couples
- B66C23/78—Supports, e.g. outriggers, for mobile cranes
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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
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The embodiment of the application provides a control method and device for leveling a turntable, lifting equipment and a processor, and belongs to the field of engineering machinery. The control method for leveling the turntable is applied to lifting equipment, wherein the lifting equipment comprises a turntable, supporting legs and a suspension arm, and the control method for leveling the turntable comprises the following steps: acquiring corresponding working condition data of the hoisting equipment under the working condition, wherein the working condition data comprise the lifting weight, the working length of the suspension arm, the elevation angle of the suspension arm, the rotation angle of the turntable and the external force moment; determining the target vertical extension amount of the supporting leg under the working condition according to the working condition data; and controlling the supporting legs to act according to the target vertical extension amount so as to realize the leveling of the turntable. The embodiment of the application can improve the operation safety of the hoisting equipment.
Description
Technical Field
The application relates to the field of engineering machinery, in particular to a control method and device for leveling a turntable, lifting equipment and a processor.
Background
In the field of engineering machinery, a crane is taken as an example of hoisting equipment, a turntable and a frame of the crane are connected through mutual meshing of large and small gears of a slewing bearing, and in order to prevent the crane from tipping danger during hoisting work, the stability of the turntable is a problem to be considered. After the crane is hung, the included angle formed by the deflection of the turntable bottom plate and the horizontal plane due to loading is called deflection, and the stability of the turntable is generally judged by the deflection of the turntable.
In order to maintain the safety of the operator and the vehicle when the crane is in operation, the crane needs to maintain the level of the turntable by adjusting the vertical extension of the legs before starting the operation. In an actual application scene, after a crane works, the gravity center of the crane is changed due to actions such as amplitude variation and rotation of an arm support, so that the deflection of a turntable is changed, if the deflection of the turntable exceeds an allowable value, damage to a slewing bearing gear of the turntable can be caused, and a vehicle can be overturned due to serious instability of the turntable. That is, the existing hoisting equipment still has the risk of unstability of the turntable in the working process, namely has the problem of low operation safety.
Disclosure of Invention
The embodiment of the application aims to provide a control method and device for leveling a turntable, lifting equipment, a processor and a storage medium, so as to solve the problem of low operation safety in the prior art.
In order to achieve the above object, a first aspect of an embodiment of the present application provides a control method for leveling a turntable, which is applied to a lifting device, the lifting device includes a turntable, a supporting leg, and a boom, and the control method includes:
acquiring corresponding working condition data of the hoisting equipment under the working condition, wherein the working condition data comprise the lifting weight, the working length of the suspension arm, the elevation angle of the suspension arm, the rotation angle of the turntable and the external force moment;
determining the target vertical extension amount of the supporting leg under the working condition according to the working condition data;
and controlling the supporting legs to act according to the target vertical extension amount so as to realize the leveling of the turntable.
In the embodiment of the application, determining the target vertical extension of the support leg under the working condition according to the working condition data comprises the following steps: and determining the target vertical extension according to the working condition data based on the corresponding relation between the pre-stored working condition data of the hoisting equipment and the vertical extension of the supporting leg.
In the embodiment of the application, based on the corresponding relation between the pre-stored working condition data of the hoisting equipment and the vertical extension of the supporting leg, the method for determining the target vertical extension according to the working condition data comprises the following steps: and determining a model based on the vertical extension of the support leg in the pre-training mode, and determining the target vertical extension of the support leg under the working condition according to the working condition data and the preset turntable deflection range.
In the embodiment of the application, the training process of the support leg vertical extension determination model comprises the following steps: acquiring a test data set corresponding to the hoisting equipment under a test working condition, wherein the test data set comprises test working condition data, test turntable deflection and test landing leg vertical extension corresponding to the test working condition respectively; comparing the deflection of the test turntable with a preset deflection range of the turntable; under the condition that the deflection of the test turntable is not in the preset deflection range of the turntable, the vertical extension of the test supporting leg is adjusted so that the deflection of the test turntable is in the preset deflection range of the turntable, and the adjusted vertical extension of the test supporting leg is obtained; and determining a support leg vertical extension determining model according to the test working condition data, the adjusted test support leg vertical extension and a preset turntable deflection range based on a preset fitting method.
In the embodiment of the application, based on the corresponding relation between the pre-stored working condition data of the hoisting equipment and the vertical extension of the supporting leg, the method for determining the target vertical extension according to the working condition data comprises the following steps: and determining the target vertical extension according to the working condition data based on a pre-stored corresponding relation table of the working condition data of the hoisting equipment and the vertical extension of the supporting leg.
In the embodiment of the application, the working conditions comprise a current working condition or a next working condition; acquiring working condition data corresponding to the lifting equipment under the working conditions, including: when the lifting equipment works, working condition data corresponding to the current working condition of the lifting equipment are obtained; or before the hoisting equipment performs operation, acquiring corresponding working condition data of the hoisting equipment under the next working condition.
A second aspect of an embodiment of the present application provides a processor configured to perform a control method for turntable leveling according to the above.
A third aspect of the embodiments of the present application provides a control device for leveling a turntable, applied to a lifting apparatus, the lifting apparatus including a turntable, a support leg, and a boom, the control device including:
the data acquisition module is used for acquiring working condition data corresponding to the hoisting equipment under the working condition, wherein the working condition data comprise the hoisting weight, the working length of the boom, the elevation angle of the boom, the rotation angle of the turntable and the external force moment;
the extension determining module is used for determining the target vertical extension of the supporting leg under the working condition according to the working condition data;
and the leveling control module is used for controlling the supporting leg to act according to the target vertical extension amount so as to level the turntable.
A fourth aspect of an embodiment of the present application provides a lifting apparatus comprising: a turntable; a support leg; a suspension arm; and a control device for turntable leveling according to the above.
A fifth aspect of an embodiment of the present application provides a machine-readable storage medium having stored thereon a program or instructions which, when executed by a processor, implement a control method for turntable leveling according to the above.
According to the technical scheme, the working condition data corresponding to the lifting equipment under the working condition are obtained, the working condition data comprise the lifting weight, the working length of the lifting arm, the elevation angle of the lifting arm, the rotation angle of the turntable and the external force moment, and the target vertical extension amount of the supporting leg under the working condition is determined according to the working condition data, so that the supporting leg is controlled to act according to the target vertical extension amount, and the leveling of the turntable is realized. According to the technical scheme, the deflection of the turntable after the lifting equipment works is considered, the target vertical extension of the supporting leg under the working condition can be determined according to the working condition data of the actual working condition of the lifting equipment, so that the vertical extension of the supporting leg can be controlled according to the target vertical extension, the leveling of the turntable is realized, the risk of instability of the turntable of the lifting equipment in the working process can be reduced, the working safety and the whole vehicle stability of the lifting equipment are improved, the safety protection form is diversified, the flexible working requirement of the lifting equipment can be further met, and the lifting capacity of the lifting equipment is improved.
Additional features and advantages of embodiments of the application will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain, without limitation, the embodiments of the application. In the drawings:
FIG. 1 schematically illustrates a flow chart of a control method for turntable leveling in an embodiment of the application;
FIG. 2 schematically illustrates a flow chart of a control method for turntable leveling in another embodiment of the application;
FIG. 3 is a schematic diagram showing a comparison curve of turntable skewness changes with turntable rotation angle before and after turntable skewness adjustment according to an embodiment of the application;
fig. 4 schematically shows a block diagram of a control device for turntable leveling in an embodiment of the application.
Detailed Description
The following describes the detailed implementation of the embodiments of the present application with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the application, are not intended to limit the application.
It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present application, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a 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 at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present application.
Fig. 1 schematically shows a flow chart of a control method for turntable leveling in an embodiment of the application. As shown in fig. 1, in an embodiment of the present application, a control method for leveling a turntable is provided and applied to a lifting device, where the lifting device includes a turntable, a supporting leg, and a suspension arm, and the control method is described as applied to a processor, and the control method may include the following steps:
step S102, working condition data corresponding to the hoisting equipment under the working condition are obtained, wherein the working condition data comprise the hoisting weight, the working length of the boom, the elevation angle of the boom, the rotation angle of the turntable and the external force moment.
And step S104, determining the target vertical extension of the support leg under the working condition according to the working condition data.
And S106, controlling the supporting leg to act according to the target vertical extension so as to level the turntable.
It will be appreciated that the lifting apparatus may comprise a crane or the like. The working condition data are working condition information of the crane under working conditions, and specifically can comprise a lifting weight, a lifting arm working length, a lifting arm elevation angle, a turntable rotating angle and an external force moment, wherein the lifting weight is the weight of a lifting weight lifted by a lifting arm of the lifting equipment, the lifting arm working length is the extending length of the lifting arm when in work, the lifting arm elevation angle is the lifting arm elevation angle, the turntable rotating angle is the rotating angle of the turntable, the external force moment is the moment generated by a load generating external force to the lifting equipment, the moment can comprise but is not limited to a lifting arm moment, a side load moment and the like, and the product value of the distance between the tail end of the lifting arm and the rotation center and the lifting weight can be determined as the lifting arm moment. The target vertical extension is a desired extension of a vertical cylinder of a leg of the lifting device capable of causing the turntable to be in a leveled state.
Specifically, the processor may acquire working condition data corresponding to the working condition of the hoisting device, where the working condition data includes a lifting weight, a working length of the boom, an elevation angle of the boom, a rotation angle of the turntable, and an external force moment, and the specific working condition data may be acquired by a corresponding sensor or other detection device, for example, a weight sensor, a length sensor, an angle sensor, and the like. The processor can further determine the target vertical extension of the support leg under the working condition according to the working condition data, for example, the processor can use the working condition data of the working condition as the input quantity of the neural network model based on the neural network model obtained by training in advance, so that the output quantity of the neural network model, namely the target vertical extension of the support leg under the working condition, can be obtained. Therefore, the processor can control the supporting leg of the lifting equipment to act according to the target vertical extension amount so as to realize the leveling of the turntable.
According to the control method for leveling the turntable, the corresponding working condition data of the hoisting equipment under the working condition are obtained, the working condition data comprise the lifting weight, the working length of the lifting arm, the elevation angle of the lifting arm, the rotation angle of the turntable and the external force moment, and the target vertical extension amount of the supporting leg under the working condition is determined according to the working condition data, so that the supporting leg is controlled to act according to the target vertical extension amount, and the leveling of the turntable is realized. According to the technical scheme, the deflection of the turntable after the lifting equipment works is considered, the target vertical extension of the supporting leg under the working condition can be determined according to the working condition data of the actual working condition of the lifting equipment, so that the vertical extension of the supporting leg can be controlled according to the target vertical extension, the leveling of the turntable is realized, the risk of instability of the turntable of the lifting equipment in the working process can be reduced, the working safety and the whole vehicle stability of the lifting equipment are improved, the safety protection form is diversified, the flexible working requirement of the lifting equipment can be further met, and the lifting capacity of the lifting equipment is improved.
In one embodiment, determining a target vertical extension of the leg under the operating conditions based on the operating condition data includes: and determining the target vertical extension according to the working condition data based on the corresponding relation between the pre-stored working condition data of the hoisting equipment and the vertical extension of the supporting leg.
It will be appreciated that the correspondence between the working condition data of the lifting device and the vertical extension of the support leg may be obtained and stored in advance, and the correspondence may be in the form of an algorithm model or a data table, and the correspondence is related to the working condition data (including the lifting weight, the working length of the boom, the elevation angle of the boom, the rotation angle of the turntable, and the external force moment) and the vertical extension of the support leg.
Specifically, the processor may determine the target vertical extension of the landing leg under the working condition according to the working condition data of the working condition based on a corresponding relationship between the pre-stored working condition data of the lifting device and the vertical extension of the landing leg.
In one embodiment, determining the target vertical extension from the operating condition data based on a pre-stored correspondence of the operating condition data of the lifting device to the vertical extension of the leg includes: and determining a model based on the vertical extension of the support leg in the pre-training mode, and determining the target vertical extension of the support leg under the working condition according to the working condition data and the preset turntable deflection range.
It will be appreciated that the preset turntable deflection range is a preset turntable deflection range in which the turntable is in a substantially leveled state, for example, a deflection of less than 1.2 degrees. The vertical extension determining model of the supporting leg is an algorithm model capable of determining the vertical extension of the supporting leg, the input quantity of the vertical extension determining model can comprise working condition data of the working condition of the lifting equipment and a preset rotating table deflection range, the output quantity of the vertical extension determining model can comprise the vertical extension of the supporting leg, the vertical extension determining model of the supporting leg can be obtained through a mathematical fitting algorithm (such as a neural network, machine learning and the like) in advance, and the vertical extension determining model of the supporting leg is related to the working condition data of the working condition of the lifting equipment (comprising the lifting weight, the working length of a lifting arm, the elevation angle of the lifting arm, the rotation angle of the rotating table and the external force moment), the deflection of the rotating table and the vertical extension of the supporting leg.
Specifically, the processor may determine the target vertical extension of the support leg under the working condition according to the working condition data and the preset turntable deflection range based on the support leg vertical extension determination model obtained by training in advance, that is, the working condition data and the preset turntable deflection range are used as the input quantity of the support leg vertical extension determination model, so that the output quantity of the support leg vertical extension determination model, that is, the target vertical extension of the support leg under the working condition, may be obtained.
In one embodiment, the training process of the leg vertical extension determination model may include: acquiring a test data set corresponding to the hoisting equipment under a test working condition, wherein the test data set comprises test working condition data, test turntable deflection and test landing leg vertical extension corresponding to the test working condition respectively; comparing the deflection of the test turntable with a preset deflection range of the turntable; under the condition that the deflection of the test turntable is not in the preset deflection range of the turntable, the vertical extension of the test supporting leg is adjusted so that the deflection of the test turntable is in the preset deflection range of the turntable, and the adjusted vertical extension of the test supporting leg is obtained; and determining a support leg vertical extension determining model according to the test working condition data, the adjusted test support leg vertical extension and a preset turntable deflection range based on a preset fitting method.
It will be appreciated that the test conditions are operating conditions of the lifting device that is functioning as a test, and may include, for example, test conditions and/or simulation conditions. The test data set is a data set under a test working condition, and specifically may include test working condition data corresponding to the test working condition, a test turntable deflection corresponding to the test working condition, and a test landing leg vertical projection corresponding to the test working condition, where the test working condition data is operation working condition data under the test working condition, the test turntable deflection is a turntable deflection under the test working condition, and the test landing leg vertical projection is a landing leg vertical projection under the test working condition. The preset fitting method is a predetermined model fitting method and may include, but is not limited to, neural networks, machine learning, etc.
Specifically, regarding the training process of the model for determining the vertical extension of the support leg, the processor may first obtain a test data set corresponding to the lifting device under the test working condition, where the test data set includes test working condition data, a test turntable offset, and a test support leg vertical extension corresponding to the test working condition, and compare the test turntable offset with a preset turntable offset range, and if the test turntable offset is not located in the preset turntable offset range, adjust the test support leg vertical extension so that the test turntable offset is located in the preset turntable offset range, so as to obtain an adjusted test support leg vertical extension, that is, to reduce the turntable offset, and appropriately adjust the vertical extension of each support leg, for example, in the whole rotation process of the turntable, if the offset in a certain direction is large, adjust the support leg in the direction downward on the basis of the initial extension, and vice versa. And the processor can determine a support leg vertical extension determining model based on a preset fitting method according to the test working condition data, the adjusted test support leg vertical extension and a preset turntable deflection range.
In one embodiment, determining the target vertical extension from the operating condition data based on a pre-stored correspondence of the operating condition data of the lifting device to the vertical extension of the leg includes: and determining the target vertical extension according to the working condition data based on a pre-stored corresponding relation table of the working condition data of the hoisting equipment and the vertical extension of the supporting leg.
It can be understood that the correspondence between the working condition data of the hoisting device and the vertical extension amount of the supporting leg may be in the form of a data table, that is, a correspondence table between the working condition data of the hoisting device and the vertical extension amount of the supporting leg, and the correspondence table may be obtained and stored in advance.
Specifically, the processor may search the correspondence table based on the pre-stored correspondence table between the working condition data of the hoisting device and the vertical extension amount of the support leg according to the working condition data, so as to determine the target vertical extension amount.
In one embodiment, the operating conditions may include current operating conditions; acquiring working condition data corresponding to the lifting equipment under the working conditions, including: when the lifting equipment works, working condition data corresponding to the current working condition of the lifting equipment are obtained.
It will be appreciated that the current operating conditions are those of the lifting apparatus in real time.
Specifically, when the lifting device performs a job (such as a lifting job), the processor may obtain working condition data corresponding to the lifting device under a current working condition.
In one embodiment, the operating conditions may include a next operating condition; acquiring working condition data corresponding to the lifting equipment under the working conditions, including: and before the lifting equipment performs operation, acquiring corresponding working condition data of the lifting equipment under the next working condition.
It will be appreciated that the next operating condition, i.e. the operating condition of the operation to be performed by the lifting device, may be preselected or predetermined.
Specifically, before the hoisting equipment performs the operation, the processor may acquire the working condition data corresponding to the hoisting equipment under the next working condition.
At present, in order to ensure the safety of crane operation, the whole vehicle needs to be leveled before hoisting. The leveling mode is mainly to keep the whole vehicle horizontal by adjusting different vertical projecting amounts of the supporting legs. After the hoisting work is carried out, the deflection of the turntable is not more than a critical value as a condition for judging the stability of the turntable (the critical values of deflection of the turntable with different tonnages are different). In general, the smaller the deflection, the more stable the turntable, the better the working stability of the crane and the higher the safety. However, after the crane works, the gravity center of the crane can be changed due to actions such as external wind load, amplitude variation and rotation of the arm support, so that the deflection of the turntable is overlarge, the stability of the turntable is affected, and finally, a rollover accident occurs. The existing leveling technology does not consider the deflection change of the turntable after the crane works, has low intelligent degree, and cannot reflect the deflection of the turntable in time and perform early warning judgment.
In order to solve the above problems, a specific embodiment of the present application provides a control method for leveling a turntable, which is used to control the vertical extension and retraction amount of each supporting leg in advance or in real time to maintain the deflection of the turntable after the crane works. The scheme can process and integrate the data into a turntable leveling control module, and the turntable leveling control module is transplanted to a vehicle-mounted system to intelligently control the deflection of the turntable.
The whole process can be divided into a plurality of parts including data input, module establishment, vehicle-mounted system and application scheme. Wherein, the data is input, the data includes but is not limited to test data, theoretical data and simulation data; after data input, the data can be processed and integrated into a database (digital prototype, digital twin, etc.) by a certain method (including but not limited to neural network, numerical fitting, machine learning, etc.); the database (digital prototype, digital twin, etc.) is named a turntable leveling module and is transplanted to the vehicle-mounted system, and finally, the application is performed. The method is applicable to all cranes, the input simulation and test data are only one example of the application, the data of the actual turntable leveling module can be obtained by various methods, including the methods of simulation and test data, test data batch table, theory and test data (the specific example described herein is only used for explaining the application and not limiting the application), and the whole flow is shown in fig. 2, and the main contents are as follows:
1) And acquiring deflection test data of 360 degrees of horizontal rotation of the turntable under different working conditions of the crane. Before the crane works, the vertical extension amount of the supporting leg is adjusted to enable the crane to be horizontal, and then the deflection of the turntable rotating horizontally for 360 degrees under different working conditions is collected to obtain an initial turntable deflection change curve;
2) And then, according to the change of the initial turntable deflection, aiming at reducing the turntable deflection, properly adjusting the vertical extension quantity of each supporting leg (in the whole rotation process of the turntable, if the deflection in a certain direction is large, the supporting legs in the direction are adjusted downwards on the basis of the initial extension quantity, and vice versa), and finally, the obtained turntable deflection is kept to float within a certain range. For example, for a wheeled crane, the deflection of the turntable after being adjusted according to the scheme of the application can float up and down by 1.2-1.3 degrees (as shown in figure 3) because the deflection of the same vehicle type can be changed by 1-1.5 degrees before being adjusted, so that the working safety of the crane is improved. The collected test working condition data comprise a lifting load Q, a working length l of a suspension arm, a working angle alpha of the suspension arm, a rotating angle theta of a rotary table, a deflection gamma of the rotary table, vertical extension amounts (l 1, l2, l3, l 4) of each supporting leg and the like aiming at different vehicle types. The data acquisition mainly comprises various sensors, such as a turntable inclination angle sensor, a supporting leg displacement sensor, a suspension arm elevation angle sensor and the like.
3) And collecting simulation calculation data under different working conditions. The simulation process comprises the following steps: the leg model is processed through three-dimensional software (comprising UG, solidWorks, catia, pro-e and the like, UG modeling is taken as an example here), then the processed leg model is imported into simulation software (comprising ansys, workbench, abaqus and the like, workbench is taken as an example here), and mesh division, physical model selection, boundary condition setting (according to data input by actual stress, such as lifting weight, turntable counterweight, external force moment, leg ground contact and the like), initialization condition setting, operation and post-processing are carried out. And outputting the variation result of the deflection of the turntable calculated by simulation along with the extension quantity of the supporting leg.
4) Comparing the test data and the simulation data of the deflection of the turntable, removing the data with larger phase difference in the comparison data to keep the consistency of the data, reducing the data error and increasing the accuracy of the data.
5) A turntable leveling control module is established, wherein the turntable leveling control module comprises previous test data and simulation calculation data, an implicit relation is established by a certain mathematical fitting method (such as a neural network, machine learning and the like) and reflects the relation between the turntable deflection and each working condition parameter, namely gamma= (Q, M, alpha, theta, l1, l2, l3, l4 and …), and when the values of parameters such as the lifting weight Q, the external force moment M, the turntable rotation angle theta, the boom elevation angle alpha and the like are determined in an existing working condition, the expression is changed into the relation between the turntable deflection and the vertical extension quantity of each supporting leg, namely gamma= (l 1, l2, l3 and l 4).
6) And transplanting the turntable leveling control module to a crane vehicle-mounted system. The data acquisition and transmission of the vehicle-mounted system can be realized through various sensors, such as a crane sensor, a boom elevation angle sensor, a turntable inclination angle sensor and the like.
7) And a crane turntable leveling control system. The system is designed into two application schemes, namely pre-compensation and real-time regulation and control. The user can select a scheme to apply according to the requirements.
8) The first is an advance compensation scheme, and before the crane performs hoisting operation, a user can select a working condition table to inquire (including a hoisting weight Q, an external force moment M, a boom elevation angle alpha, a turntable rotation angle theta and the like). The system calculates according to the selected working condition table, and the turntable leveling control system displays the vertical extension amount of each supporting leg under the current selected working condition through the set turntable deflection (for example, the deflection gamma <1.2 degrees under the working condition). On the projecting amount, the deflection of the turntable after 360-degree rotation is kept within a certain range, so that the safe operation of the crane is ensured.
9) The second is a real-time regulation scheme, when the crane carries out lifting work under a certain working condition, the turntable leveling control system calculates the extension amount of the support leg in real time according to working condition parameters acquired by various sensors (such as a lifting sensor, a suspension arm elevation angle sensor, a support leg displacement sensor, a turntable inclination angle sensor and the like) on the vehicle when the turntable rotates at an angle. With the rotation of the state or the change of the lifting load, the extension amount of the four supporting legs can also change all the time. When the working state is stable, the vertical extension amount of the supporting legs can be regulated and controlled, the deflection of the turntable under the working condition is reduced, and the safety of the lifting work is improved.
In summary, the technical scheme provided by the embodiment of the application is based on the relation between the deflection of the turntable and the extension quantity of the supporting legs when the pre-stored crane is in lifting load operation, and the inclination displacement generated by the whole crane when the crane is in operation is compensated or regulated in real time. The deflection of the turntable is kept within a safe range when the crane works by adjusting the vertical extension amount of the supporting legs. And the data are integrated into a turntable leveling control system, so that intelligent control is realized at the vehicle-mounted end. Based on test and simulation data, the turntable leveling control system enables the calculation of the vertical extension of the supporting leg to be accurate, and the vehicle-mounted system is quick in response. The control modes are various, and the flexible operation requirements of engineering mechanical equipment are met. And the deflection of the turntable is adjusted and corrected, so that the safety operation performance of the crane is improved, and the lifting capacity is improved.
Compared with the traditional control method for leveling the turntable, the control method for leveling the turntable provided by the embodiment of the application can compensate the deflection of the turntable in advance or correct the deflection of the turntable in real time, and the safety of crane operation is higher. Compared with the prior art, the intelligent control of the vertical extension of the supporting leg is realized by the technical scheme. Moreover, compared with single landing leg leveling, the technical scheme has two application schemes of advanced compensation and real-time regulation and control, and has stronger applicability.
The embodiment of the application also provides a processor configured to execute the control method for turntable leveling according to the above embodiment.
The embodiment of the application also provides a control device 400 for leveling a turntable, which is applied to lifting equipment, wherein the lifting equipment comprises the turntable, a supporting leg and a suspension arm, and the control device can comprise:
the data acquisition module 410 is configured to acquire working condition data corresponding to the working condition of the hoisting device, where the working condition data includes a lifting weight, a working length of the boom, an elevation angle of the boom, a rotation angle of the turntable, and an external force moment.
The protrusion determining module 420 is configured to determine a target vertical protrusion of the leg under the working condition according to the working condition data.
And the leveling control module 430 is used for controlling the supporting leg to act according to the target vertical extension so as to level the turntable.
According to the control device 400 for leveling the turntable, the working condition data corresponding to the lifting equipment under the working condition are obtained, the working condition data comprise the lifting weight, the working length of the lifting arm, the elevation angle of the lifting arm, the rotation angle of the turntable and the external force moment, and the target vertical extension amount of the supporting leg under the working condition is determined according to the working condition data, so that the supporting leg is controlled to act according to the target vertical extension amount, and the leveling of the turntable is realized. According to the technical scheme, the deflection of the turntable after the lifting equipment works is considered, the target vertical extension of the supporting leg under the working condition can be determined according to the working condition data of the actual working condition of the lifting equipment, so that the vertical extension of the supporting leg can be controlled according to the target vertical extension, the leveling of the turntable is realized, the risk of instability of the turntable of the lifting equipment in the working process can be reduced, the working safety and the whole vehicle stability of the lifting equipment are improved, the safety protection form is diversified, the flexible working requirement of the lifting equipment can be further met, and the lifting capacity of the lifting equipment is improved.
In one embodiment, the protrusion determination module 420 is further configured to: and determining the target vertical extension according to the working condition data based on the corresponding relation between the pre-stored working condition data of the hoisting equipment and the vertical extension of the supporting leg.
In one embodiment, the protrusion determination module 420 is further configured to: and determining a model based on the vertical extension of the support leg in the pre-training mode, and determining the target vertical extension of the support leg under the working condition according to the working condition data and the preset turntable deflection range.
In one embodiment, the protrusion determination module 420 is further configured to: acquiring a test data set corresponding to the hoisting equipment under a test working condition, wherein the test data set comprises test working condition data, test turntable deflection and test landing leg vertical extension corresponding to the test working condition respectively; comparing the deflection of the test turntable with a preset deflection range of the turntable; under the condition that the deflection of the test turntable is not in the preset deflection range of the turntable, the vertical extension of the test supporting leg is adjusted so that the deflection of the test turntable is in the preset deflection range of the turntable, and the adjusted vertical extension of the test supporting leg is obtained; and determining a support leg vertical extension determining model according to the test working condition data, the adjusted test support leg vertical extension and a preset turntable deflection range based on a preset fitting method.
In one embodiment, the protrusion determination module 420 is further configured to: and determining the target vertical extension according to the working condition data based on a pre-stored corresponding relation table of the working condition data of the hoisting equipment and the vertical extension of the supporting leg.
In one embodiment, the operating conditions include a current operating condition; the data acquisition module 410 is further configured to: when the lifting equipment works, working condition data corresponding to the current working condition of the lifting equipment are obtained.
In one embodiment, the operating conditions include a next operating condition; the data acquisition module 410 is further configured to: and before the lifting equipment performs operation, acquiring corresponding working condition data of the lifting equipment under the next working condition.
The embodiment of the application also provides hoisting equipment, which comprises: a turntable; a support leg; a suspension arm; and the control device for turntable leveling according to the above embodiment.
The embodiment of the application also provides a machine-readable storage medium, wherein a program or instructions are stored on the machine-readable storage medium, and when the program or instructions are executed by a processor, the control method for turntable leveling in the embodiment is realized.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.
Claims (10)
1. A control method for turntable leveling, characterized by being applied to a lifting apparatus including a turntable, a leg, and a boom, the control method comprising:
acquiring corresponding working condition data of the hoisting equipment under the working condition, wherein the working condition data comprise a hoisting weight, a working length of a boom, an elevation angle of the boom, a rotation angle of a turntable and external force moment;
determining the target vertical extension of the supporting leg under the working condition according to the working condition data;
and controlling the supporting legs to act according to the target vertical extension amount so as to level the turntable.
2. The control method according to claim 1, wherein the determining the target vertical extension amount of the leg under the operation condition according to the operation condition data includes:
and determining the target vertical extension according to the pre-stored corresponding relation between the working condition data of the hoisting equipment and the vertical extension of the supporting leg.
3. The control method according to claim 2, wherein the determining the target vertical extension amount based on the pre-stored correspondence between the operating condition data of the lifting device and the vertical extension amount of the leg according to the operating condition data includes:
and determining a model based on the vertical extension of the support leg in the pre-training mode, and determining the target vertical extension of the support leg under the working condition according to the working condition data and the preset turntable deflection range.
4. A control method according to claim 3, wherein the training process of the leg vertical extension determination model includes:
acquiring a test data set corresponding to the lifting equipment under a test working condition, wherein the test data set comprises test working condition data, test turntable deflection and test landing leg vertical extension corresponding to the test working condition respectively;
comparing the test turntable deflection with the preset turntable deflection range;
under the condition that the deflection of the test turntable is not in the deflection range of the preset turntable, the vertical extension of the test supporting leg is adjusted so that the deflection of the test turntable is in the deflection range of the preset turntable, and the adjusted vertical extension of the test supporting leg is obtained;
and determining a support leg vertical extension determining model according to the test working condition data, the adjusted test support leg vertical extension and the preset turntable deflection range based on a preset fitting method.
5. The control method according to claim 2, wherein the determining the target vertical extension amount based on the pre-stored correspondence between the operating condition data of the lifting device and the vertical extension amount of the leg according to the operating condition data includes:
and determining the target vertical extension according to the working condition data based on a pre-stored corresponding relation table of the working condition data of the hoisting equipment and the vertical extension of the supporting leg.
6. The control method of claim 1, wherein the operating conditions include a current operating condition or a next operating condition; the obtaining the working condition data corresponding to the lifting equipment under the working condition comprises the following steps:
when the lifting equipment works, working condition data corresponding to the current working condition of the lifting equipment are obtained; or alternatively
And before the lifting equipment performs operation, acquiring working condition data corresponding to the lifting equipment under the next working condition.
7. A processor, characterized by being configured to perform the control method for turntable leveling according to any one of claims 1 to 6.
8. A control device for turret leveling, characterized by being applied to a lifting apparatus comprising a turret, a leg and a boom, the control device comprising:
the data acquisition module is used for acquiring working condition data corresponding to the hoisting equipment under the working condition, wherein the working condition data comprise a hoisting weight, a working length of a boom, an elevation angle of the boom, a rotation angle of a turntable and external force moment;
the extension determining module is used for determining the target vertical extension of the supporting leg under the working condition according to the working condition data;
and the leveling control module is used for controlling the supporting leg to act according to the target vertical extension amount so as to level the turntable.
9. A lifting apparatus, comprising:
a turntable;
a support leg;
a suspension arm; and
the control device for turntable leveling of claim 8.
10. A machine-readable storage medium having stored thereon a program or instructions, which when executed by a processor, implement a control method for turntable leveling according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310779591.6A CN116902838A (en) | 2023-06-28 | 2023-06-28 | Control method and device for turntable leveling, lifting equipment and processor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310779591.6A CN116902838A (en) | 2023-06-28 | 2023-06-28 | Control method and device for turntable leveling, lifting equipment and processor |
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| CN202310779591.6A Pending CN116902838A (en) | 2023-06-28 | 2023-06-28 | Control method and device for turntable leveling, lifting equipment and processor |
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| CN (1) | CN116902838A (en) |
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