CN116924238A - Method, system, medium and equipment for identifying load lifting off or falling on ground in working process of tower crane - Google Patents

Method, system, medium and equipment for identifying load lifting off or falling on ground in working process of tower crane Download PDF

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Publication number
CN116924238A
CN116924238A CN202310854548.1A CN202310854548A CN116924238A CN 116924238 A CN116924238 A CN 116924238A CN 202310854548 A CN202310854548 A CN 202310854548A CN 116924238 A CN116924238 A CN 116924238A
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CN
China
Prior art keywords
load
ground
lifting
weight
tower crane
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Pending
Application number
CN202310854548.1A
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Chinese (zh)
Inventor
刘嘉喆
全廷立
郑捷
王�锋
肖碧宇
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Zoomlion Construction Crane Co Ltd
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Zoomlion Construction Crane Co Ltd
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Publication date
Application filed by Zoomlion Construction Crane Co Ltd filed Critical Zoomlion Construction Crane Co Ltd
Priority to CN202310854548.1A priority Critical patent/CN116924238A/en
Publication of CN116924238A publication Critical patent/CN116924238A/en
Pending legal-status Critical Current

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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
    • 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
    • B66C13/23—Circuits for controlling the lowering of the load
    • 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

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

The application relates to the technical field of tower crane hoisting, and discloses a method, a system, a medium and equipment for identifying the ground lifting or falling of a load in the operation of a tower crane, wherein the method comprises the following steps: acquiring weight measurement data of the load detected by the weight sensor in real time; judging whether the tower crane is in a loaded state according to the weight measurement data; if the tower crane is in the loaded state, acquiring the height data of the load in real time; calculating a weight up rate of change from the weight measurement data and the height data; and identifying that the load is in a ground-leaving state or a ground-contacting state based on the lifting weight change rate. According to the application, the load is identified in the ground-leaving state or the ground-touching state according to the change rate of the lifting weight, so that the ground-leaving or ground-touching condition of the material in the hoisting operation is detected in real time, an operator can conveniently and timely adjust the working state of the tower crane according to the ground-leaving or ground-touching condition of the material, and the unbalanced safety risk of the tower crane in the hoisting operation is effectively reduced.

Description

Method, system, medium and equipment for identifying load lifting off or falling on ground in working process of tower crane
Technical Field
The application relates to the technical field of tower crane lifting, in particular to a method, a system, a medium and equipment for identifying the lifting off or falling on the ground of a load in the operation of a tower crane.
Background
The tower crane is widely used material transporting machinery on construction sites, is called tower crane for short, and mainly comprises a tower body, a crane arm and a balance arm. The boom is used for lifting and transporting materials and is usually equipped with a lifting hook or other lifting device for hanging and transporting materials; the balance arm is used for balancing the whole structure of the tower crane, and is provided with a balance weight, so that the balance and stability of the tower crane are kept through the balance weight.
In the prior art, the balancing weights include a fixed balancing weight, which is generally mounted at the end of a balancing arm, and a movable balancing weight, which is movable back and forth on a guide rail of the balancing arm. In the process of lifting materials by the crane arm, the materials can be lifted to leave the ground by the crane arm under the two conditions of ground leaving and falling, and the materials are lifted to the ground by the crane arm. When the fixed counterweight is used on the balance arm, the moment on one side of the crane arm is not required to be balanced when the crane arm is used for hoisting materials, so that the safety risk of unbalanced tower crane caused by over-high speed when the materials hoisted on the crane arm are lifted off the ground or fall to the ground is not required to be considered; if the movable counterweight is used on the balance arm, the movable counterweight is movable, so that if the material hoisted on the crane arm is over-fast in the process of leaving the ground or falling to the ground, the inertia of the material is too large, the tower crane cannot be balanced in time through the movable counterweight, and the unbalanced safety risk of the tower crane occurs, so that the recognition technology of leaving the ground and falling to the ground is particularly important in the tower crane using the movable counterweight.
At present, if a movable counterweight is used for a balance arm, in order to facilitate the balance and stability of a tower crane when materials are lifted or landed, an operator needs to adjust the working state of the tower crane in time according to actual conditions, for example, in order to ensure proper speed when the materials are lifted or landed, the operator needs to adjust the height of a lifting hook, if the height of the lifting hook is too high or too low, the lifting hook can possibly make the lifting speed when the materials are lifted or landed too fast, and the unbalanced safety risk of the tower crane is increased.
Disclosure of Invention
The application aims to provide a method, a system, a medium and equipment for identifying the lifting or falling of a load to the ground in the operation of a tower crane.
In order to achieve the above object, a first aspect of the present application provides a method for identifying a load lifting off or falling to the ground in operation of a tower, including:
acquiring weight measurement data of the load detected by the weight sensor in real time;
judging whether the tower crane is in a loaded state according to the weight measurement data;
if the tower crane is in the loaded state, acquiring the height data of the load in real time;
calculating a weight up rate of change from the weight measurement data and the height data;
and identifying that the load is in a ground-leaving state or a ground-contacting state based on the lifting weight change rate.
Preferably, the determining whether the tower crane is in a loaded state according to the weight measurement data includes:
determining a belt load capacity threshold according to the rated lifting capacity of the tower crane;
and if the weight measurement data is greater than or equal to the loading capacity threshold value, judging that the tower crane is in the loading state.
Preferably, the determining the threshold value of the belt load capacity according to the rated lifting capacity of the tower crane comprises:
multiplying the rated lifting capacity by a preset coefficient to obtain a load judgment value;
and taking the load judging value as the load capacity threshold value.
Preferably, said calculating a rate of change of lifting weight from said weight measurement data and said height data comprises:
acquiring first weight measurement data of the load at a first position, and acquiring second weight measurement data of the load at a second position with a preset distance, wherein the weight change value is obtained by subtracting the first weight measurement data from the second weight measurement data;
calculating the product of the rated lifting weight of the tower crane and the preset distance;
dividing the weight change value by the product to obtain the lifting weight change rate.
Preferably, the identifying the load in the ground-off state or the ground-contacting state based on the lifting weight change rate includes:
determining the hoisting direction of the load, wherein the hoisting direction comprises a hoisting direction and a landing direction;
and when the hoisting direction of the load is the hoisting direction, judging that the load is in the ground-leaving state if the hoisting weight change rate is smaller than the ground-leaving threshold value in a preset time period.
Preferably, the identifying the load in the ground-off state or the ground-contacting state based on the lifting weight change rate further includes:
and when the hoisting direction of the load is the landing direction, identifying a ground contact state based on the hoisting weight change rate or the weight measurement data.
Preferably, when the hoisting direction of the load is the landing direction, the identifying the ground contact state based on the hoisting weight change rate or the weight measurement data includes:
if the lifting weight change rate is larger than the landing threshold value in a preset time period, judging that the load is in the ground contact state;
or (b)
And if the weight measurement data is smaller than the product of the weight of the load and the preset proportion, judging that the load is in the ground contact state.
The application provides a recognition system for lifting a load to a ground or falling to the ground in the working process of a tower crane, which comprises a controller, a weight sensor and a lifting encoder, wherein the weight sensor and the lifting encoder are electrically connected with the controller;
the weight sensor is used for detecting weight measurement data of a load in real time and transmitting the weight measurement data to the controller;
the lifting encoder is used for detecting the height data of the load in real time and transmitting the Gao Dushu data to the controller;
the controller is used for judging whether the tower crane is in a loaded state according to the obtained weight measurement data, calculating the lifting weight change rate according to the weight measurement data and the height data when the tower crane is in the loaded state, and identifying that the load is in a ground-leaving state or a ground-touching state based on the lifting weight change rate.
A third aspect of the present application provides a computer readable storage medium having stored therein a computer program which, when loaded and executed by a processor, is configured to perform the method for identifying a load lift off or a load fall on a ground in a tower operation as described above.
A fourth aspect of the present application provides a computer device comprising a memory, a processor and a computer program stored in the memory and capable of running on the processor, when loaded and executing the computer program, being configured to execute the method for identifying a load lift off or a load fall on a ground in operation of a tower as described above.
Through the technical scheme, when the tower crane is in a loaded state, the lifting weight change rate is calculated according to the height data of the load and the weight measurement data of the load, and the lifting weight change rate can be used for identifying the lifting load in a ground-leaving state or a ground-touching state, so that the ground-leaving or ground-touching condition of the material in hoisting operation can be detected in real time, an operator can conveniently and timely adjust the working state of the tower crane according to the ground-leaving or ground-touching condition of the material, and the unbalanced safety risk of the tower crane in hoisting operation is effectively reduced.
Additional features and advantages 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 the application, and are incorporated in and constitute a part of this specification, illustrate the application and together with the description serve to explain, without limitation, the application. In the drawings:
FIG. 1 is a schematic illustration of a tower crane having a stationary counterweight for the counterweight arm in accordance with an embodiment of the application.
Fig. 2 is an overall flowchart of a method for identifying a load lifting off or falling to the ground in a working process of the tower according to an embodiment of the present application.
Reference numerals illustrate:
1-a tower body; 2-balancing arms; 3-a boom; 4-an amplitude-variable trolley; 5-lifting hook.
Detailed Description
The following describes specific embodiments of the present application in detail 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.
In the present application, unless otherwise indicated, terms of orientation such as "left and right" are used to refer generally to left and right as shown in FIG. 1.
In order to facilitate better understanding of the scheme, the application scenario of the present application is described as follows:
referring to fig. 1, the tower crane includes a tower body 1, a balance arm 2, and a boom 3. Specifically, the tower body 1 is a vertical column shown in fig. 1, and is fixed on the ground, the balance arm 2 and the crane arm 3 are both positioned at the top of the tower body 1, the balance arm 2 is positioned at the left side of the tower body 1, and the crane arm 3 is positioned at the right side of the tower body 1. The balance arm 2 is provided with a balance weight, the fixed balance weight shown in fig. 1 is usually arranged at the tail end of the balance arm 2, the movable balance weight can move along a guide rail on the balance arm 2, and the lifting arm 3 is provided with a luffing trolley 4, a lifting hook 5 and the like for lifting materials. The tower crane is provided with a lifting mechanism and an amplitude variation mechanism, and the following working procedure of the tower crane adopting the movable counterweight is illustrated by taking the process that the material is lifted by the lifting arm 3 as an example: firstly, the material is lifted by the lifting hook 5 on the lifting arm 3, and lifted by the lifting mechanism, and the material moves along the lifting arm 3 by the amplitude changing mechanism, and in the process of moving the material along the lifting arm 3, the moment on one side of the lifting arm 3 changes, so that the movable counterweight needs to move along the guide rail of the balance arm 2, and the tower crane is balanced.
The embodiment of the application discloses a method for identifying the ground contact of a load lifting off or falling to the ground in the operation of a tower crane.
Referring to fig. 2, a method for identifying whether a load is lifted off or falls to the ground in the operation of a tower crane comprises the following steps:
s110, acquiring weight measurement data of the load detected by the weight sensor in real time.
In this embodiment, the weight sensor is used to detect the tension on the hook on the boom, and the tension on the hook is used as the weight of the load on the hook, and the weight measurement data is the tension on the hook.
S120, judging whether the tower crane is in a loaded state according to the weight measurement data.
The load state is used for indicating whether a load exists on the lifting hook of the lifting arm of the tower crane, and the load state can be obtained according to the weight measurement data because the weight measurement data are tensile forces on the lifting hook.
And S130, if the tower crane is in a loaded state, acquiring the height data of the load in real time.
And if the tower crane is in a loaded state, indicating that the load is lifted at the moment, acquiring the height data of the load in real time.
And S140, calculating the lifting weight change rate according to the weight measurement data and the height data.
The hoisting capacity refers to the amount of force generated by the weight of the load when the hoisting mechanism is lifted or lowered. The device indicates the load which the lifting mechanism needs to bear in the operation process, and the device generally acts on the lifting mechanism in the form of gravity. The weight change rate is used for representing the percentage of the lifting quantity difference of the lifting mechanism in the lifting or descending process to the rated lifting quantity difference of the lifting mechanism, when the lifting arm lifts the load, the weight on the lifting hook is larger and larger along with the lift-off of the load, at the moment, the weight is larger along with the increase of the lifting height, and the weight change rate is larger. When the weight is completely separated from the ground, the weight on the lifting hook is not increased along with the increase of the height, and the weight change rate is smaller. Specifically, the lifting weight change rate is calculated from the weight measurement data and the height data.
And S150, identifying that the load is in a ground-leaving state or a ground-contacting state based on the change rate of the lifting weight.
The load is lifted in the ground-leaving state, in the lifting process, the height data is gradually increased, and the lifting force of the lifting hook is gradually increased, so that the measured weight measurement data is gradually increased, and the ground-leaving state can be identified according to the lifting weight change rate obtained by calculating the weight measurement data and the height data; the load is in the process that falls in the ground contact state, and in the process of falling, the height data diminishes gradually, and lifting hook pulling force diminishes gradually, indicates that the weight measurement data of measurement can diminish gradually, then can be according to the lifting weight change rate that is calculated by weight measurement data and height data to ground contact state discernment.
According to the identification method for lifting off or falling to the ground of the load in the working process of the tower crane, when the tower crane is in the loaded state, the lifting weight change rate is calculated according to the height data of the load and the weight measurement data of the load, namely, the lifting weight change rate can be used for identifying the lifting off or falling to the ground state according to the lifting weight change rate, the real-time detection of the off or falling to the ground condition of the material in the lifting operation is realized, and further an operator can conveniently and timely adjust the working state of the tower crane according to the off or falling to the ground condition of the material, so that the unbalanced safety risk of the tower crane in the lifting operation is effectively reduced.
In one implementation manner of the embodiment, the method for judging whether the tower crane is in a loading state according to the weight measurement data includes the following steps:
s210, determining a belt load capacity threshold according to the rated lifting capacity of the tower crane.
And the load capacity threshold value is a critical value for judging whether the tower crane is in a load state or not, and is determined according to the rated lifting capacity of the tower crane.
Specifically, according to the rated lifting capacity of the tower crane, a belt load capacity threshold value is determined, and the method comprises the following steps:
s211, multiplying the rated lifting capacity by a preset coefficient to obtain a load judgment value.
S212, taking the load judgment value as a load capacity threshold value.
In this embodiment, the coefficient is preset, the load judgment value obtained by multiplying the rated lifting capacity of the tower crane by the coefficient is taken as the load threshold, for example, when the measured value of the weight reaches 5% of the rated lifting capacity, the tower crane is considered to be in an empty state, that is, no load is placed on the lifting hook, and the load judgment value=5% of the rated lifting capacity at this time is taken as the load threshold.
And S220, if the weight measurement data is greater than or equal to the belt load capacity threshold value, judging that the tower crane is in a belt load state.
If the weight measurement data is greater than or equal to the load capacity threshold value, judging that the tower crane is in a load state; and if the weight measurement data is smaller than the belt load capacity threshold value, judging that the tower crane is in an idle state.
According to the identification method for the lifting off or falling on the ground of the load in the working process of the tower crane, which is provided by the embodiment, whether the tower crane is in the loaded state or not is conveniently determined through the loaded threshold value, and the judgment accuracy of the loaded state is improved.
In one implementation of the present example, the weight-on-weight change rate is calculated from the weight measurement data and the height data, comprising the steps of:
s310, acquiring first weight measurement data of the load at a first position, and acquiring second weight measurement data of the load at a second position with a preset distance, wherein the first weight measurement data is subtracted from the second weight measurement data to obtain a weight change value.
In this embodiment, the preset distance is the difference between the first position and the second position, and the preset distance is a positive number.
Specifically, if the movement direction of the load is upward, a first height at which the first position is located is set to be h 1 The preset distance is deltah, and the first weight measurement data is m 1 The second weight measurement data is m 2 The second height of the second position with the preset distance is h 1 +Δh, weight change value=m 2 -m 1 。
If the movement direction of the load is downward, setting the first height of the first position as h 1 The preset distance is deltah, and the first weight measurement data is m 1 The second weight measurement data is m 2 The second height of the second position with the preset distance is h 1 Δh, weight change value=m 2 -m 1 。
S320, calculating the product of the rated lifting weight of the tower crane and the preset distance.
S330, dividing the weight change value by the product to obtain the lifting weight change rate.
Wherein T is rated Is the rated lifting weight of the tower crane.
In the process of lifting the load, the height data gradually become larger, and the lifting force of the lifting hook gradually becomes larger, which indicates that the weight measurement data gradually becomes larger, and the weight measurement data is positive at the moment, and the lifting weight change rate is due to the fact that the preset distance is positiveIs a positive number; in the process of loading and landing, the height data is gradually reduced, the lifting force of the lifting hook is gradually reduced, the weight measurement data is indicated to be gradually reduced, at the moment, the weight measurement data is negative, and the lifting weight change rate is>And is negative.
According to the identification method for the lifting off or falling off of the load in the working process of the tower crane, the falling state or off state of the load can be conveniently determined through calculation of the lifting weight change rate.
In one implementation manner of the present embodiment, the method for identifying the load in the ground-off state or the ground-contacting state based on the change rate of the lifting weight includes the following steps:
s410, determining the hoisting direction of the load, wherein the hoisting direction comprises a hoisting direction and a landing direction.
In this embodiment, the hoisting direction of the load may be determined by the obtained running speed of the hoisting mechanism or by the operating gear of the operator. The positive value of the running speed of the lifting mechanism indicates that the lifting mechanism is running upwards, and the negative value of the running speed of the lifting mechanism indicates that the lifting mechanism is running downwards; the operating gear is used for controlling the running direction of the lifting mechanism, so that the lifting direction of the load can be determined directly through the operating gear. The lifting mechanism moves upwards to indicate that the lifting direction is the lifting direction, and the lifting mechanism moves downwards to indicate that the lifting direction is the landing direction.
And S420, when the hoisting direction of the load is the hoisting direction, judging that the load is in a ground-leaving state if the hoisting weight change rate is smaller than the ground-leaving threshold value in a preset time period.
In the loaded state of the tower crane, when the hoisting direction of the load is the hoisting direction, if the hoisting weight change rate is smaller than a preset ground-leaving threshold value in a preset time period, judging that the load is in a ground-leaving state; if the change rate of the lifting weight does not satisfy the above condition, it is determined that the load is not in the off-ground state.
According to the identification method for lifting off or falling to the ground of the load in the working process of the tower crane, the lifting direction is firstly determined, whether the load is in the off-ground state or not is determined according to the lifting direction and the lifting weight change rate, and an operator can conveniently acquire the off-ground state of the load in time and operate the tower crane.
In one implementation manner of this embodiment, the method further includes the following steps of:
and S510, when the hoisting direction of the load is the landing direction, identifying the ground contact state based on the hoisting weight change rate or the weight measurement data.
When the hoisting direction of the load is the landing direction, the ground contact state is identified according to the hoisting weight change rate or weight measurement data.
Specifically, in an embodiment, when the hoisting direction of the load is the landing direction, if the hoisting weight change rate is greater than the landing threshold value in a preset time period, determining that the load is in the ground contact state; if the change rate of the lifting weight does not satisfy the above condition, it is determined that the load is not in the ground contact state.
In another embodiment, when the hoisting direction of the load is the landing direction, if the weight measurement data is smaller than the product of the weight of the load and the preset proportion, determining that the load is in the touchdown state; if the weight measurement data does not satisfy the above condition, it is determined that the load is not in the ground contact state.
For example, if the weight measurement data is less than 80% of the weight of the load, it is determined that the load has touched the ground, i.e., the load is in a touched state.
The ground clearance threshold and the ground landing threshold can also be obtained by calculating static parameters of the tower crane, namely, the weight measurement data is a threshold m with load capacity load Recording the height change delta h when the hoisting direction is the hoisting direction 0 Calculating to obtain the average change rate of the current lifting weightThen leave ground threshold +.>And a floor thresholdThe following is shown:
according to the identification method for the ground contact state of the load lifting and falling in the working process of the tower crane, which is provided by the embodiment, the ground contact state is identified through two modes of the lifting weight change rate or the weight measurement data, and the accuracy of the ground contact state identification is effectively improved.
The embodiment of the application also discloses a recognition system for lifting the load off or falling to the ground in the working process of the tower crane, which comprises a controller, a weight sensor and a lifting encoder, wherein the weight sensor and the lifting encoder are electrically connected with the controller;
the weight sensor is used for detecting weight measurement data of the load in real time and transmitting the weight measurement data to the controller;
the lifting encoder is used for detecting the height data of the load in real time and transmitting the height data to the controller;
the controller is used for judging whether the tower crane is in a loading state according to the obtained weight measurement data, calculating the weight lifting rate according to the weight measurement data and the height data when the tower crane is in the loading state, and identifying that the load is in a ground-leaving state or a ground-touching state based on the weight lifting rate.
According to the identification method for lifting off or falling to the ground of the load in the working process of the tower crane, when the tower crane is in the loaded state, the lifting weight change rate is calculated according to the height data of the load and the weight measurement data of the load, namely, the lifting weight change rate can be used for identifying the lifting off or falling to the ground state according to the lifting weight change rate, the real-time detection of the off or falling to the ground condition of the material in the lifting operation is realized, and further an operator can conveniently and timely adjust the working state of the tower crane according to the off or falling to the ground condition of the material, so that the unbalanced safety risk of the tower crane in the lifting operation is effectively reduced.
The embodiment of the application also discloses a computer readable storage medium, and the computer readable storage medium stores a computer program, wherein the computer program adopts the method for identifying the lifting of the load from the ground or the falling to the ground in the working process of the tower in the embodiment when being executed by a processor.
The computer program may be stored in a computer readable medium, where the computer program includes computer program code, where the computer program code may be in a source code form, an object code form, an executable file form, or some middleware form, etc., and the computer readable medium includes any entity or device capable of carrying the computer program code, a recording medium, a usb disk, a removable hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a Random Access Memory (RAM), an electrical carrier signal, a telecommunication signal, a software distribution medium, etc., where the computer readable medium includes, but is not limited to, the above components.
The method for identifying the lifting or falling of the load in the working process of the tower crane in the embodiment is stored in the computer readable storage medium and is loaded and executed on a processor so as to facilitate the storage and application of the method.
The embodiment of the application also discloses a computer device which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the identification method of the load lifting ground or the falling ground in the working process of the tower crane in the embodiment is adopted when the processor executes the computer program.
The computer device may be a desktop computer, a notebook computer, or a cloud server, and the computer device includes, but is not limited to, a processor and a memory, for example, the computer device may further include an input/output device, a network access device, and a bus.
The processor may be a Central Processing Unit (CPU), or of course, according to actual use, other general purpose processors, digital Signal Processors (DSP), application Specific Integrated Circuits (ASIC), ready-made programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc., and the general purpose processor may be a microprocessor or any conventional processor, etc., which is not limited in this respect.
The memory may be an internal storage unit of the computer device, for example, a hard disk or a memory of the computer device, or an external storage device of the computer device, for example, a plug-in hard disk, a Smart Memory Card (SMC), a secure digital card (SD), or a flash memory card (FC) provided on the computer device, or the like, and may be a combination of the internal storage unit of the computer device and the external storage device, where the memory is used to store a computer program and other programs and data required by the computer device, and the memory may also be used to temporarily store data that has been output or is to be output, which is not limited by the present application.
The recognition method of the lifting or falling of the load in the working process of the tower crane in the embodiment is stored in the memory of the computer equipment through the computer equipment, and is loaded and executed on the processor of the computer equipment, so that the computer equipment is convenient to use.
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 preferred embodiments of the present application have been described in detail above with reference to the accompanying drawings, but the present application is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present application within the scope of the technical concept of the present application, and all the simple modifications belong to the protection scope of the present application. For example, the change amount of the weight measurement value of the weight sensor may be replaced with the change amount of the torque measurement value of the tower crane measured by the torque sensor, or the change amount of the weight measurement value of the weight sensor may be replaced with the change amount of the output torque of the motor, or the change amount of the lifting weight per unit distance of the lifting mechanism may be used as the basis for judging the lift-off and landing of the load, and the change amount of the lifting weight per unit time of the lifting mechanism may be replaced with the basis for judging the lift-off and landing of the load.
In addition, the specific features described in the above embodiments may be combined in any suitable manner without contradiction. The various possible combinations of the application are not described in detail in order to avoid unnecessary repetition.
Moreover, any combination of the various embodiments of the application can be made without departing from the spirit of the application, which should also be considered as disclosed herein.

Claims (10)

1. The method for identifying the ground contact of the lifting of the load in the working process of the tower crane is characterized by comprising the following steps of:
acquiring weight measurement data of the load detected by the weight sensor in real time;
judging whether the tower crane is in a loaded state according to the weight measurement data;
if the tower crane is in the loaded state, acquiring the height data of the load in real time;
calculating a weight up rate of change from the weight measurement data and the height data;
and identifying that the load is in a ground-leaving state or a ground-contacting state based on the lifting weight change rate.
2. The method for identifying a load lifting off or falling to the ground in operation of a tower crane according to claim 1, wherein the determining whether the tower crane is in a loaded state according to the weight measurement data comprises:
determining a belt load capacity threshold according to the rated lifting capacity of the tower crane;
and if the weight measurement data is greater than or equal to the loading capacity threshold value, judging that the tower crane is in the loading state.
3. The method for identifying a load lift off or a drop on ground in operation of a tower crane according to claim 2, wherein determining the threshold load capacity according to the rated lift capacity of the tower crane comprises:
multiplying the rated lifting capacity by a preset coefficient to obtain a load judgment value;
and taking the load judging value as the load capacity threshold value.
4. The method for identifying a load lift off or a drop on ground in operation of a tower crane according to claim 1, wherein the calculating a lift-weight change rate from the weight measurement data and the height data comprises:
acquiring first weight measurement data of the load at a first position, and acquiring second weight measurement data of the load at a second position with a preset distance, wherein the weight change value is obtained by subtracting the first weight measurement data from the second weight measurement data;
calculating the product of the rated lifting weight of the tower crane and the preset distance;
dividing the weight change value by the product to obtain the lifting weight change rate.
5. The method for identifying a load lifting off or falling to the ground in operation of the tower crane according to claim 1, wherein the identifying the load in the off-ground state or the ground state based on the rate of change of the lifting weight comprises:
determining the hoisting direction of the load, wherein the hoisting direction comprises a hoisting direction and a landing direction;
and when the hoisting direction of the load is the hoisting direction, judging that the load is in the ground-leaving state if the hoisting weight change rate is smaller than the ground-leaving threshold value in a preset time period.
6. The method for identifying a load lifting off or falling to the ground in operation of a tower according to claim 5, wherein said identifying the load in the off-ground state or the ground state based on the rate of change of the lifting weight further comprises:
and when the hoisting direction of the load is the landing direction, identifying a ground contact state based on the hoisting weight change rate or the weight measurement data.
7. The method for recognizing a ground contact state of a load lifted off or falling to the ground in operation of the tower crane according to claim 6, wherein when the lifting direction of the load is the ground contact direction, recognizing a ground contact state based on the lifting weight change rate or the weight measurement data comprises:
if the lifting weight change rate is larger than the landing threshold value in a preset time period, judging that the load is in the ground contact state;
or (b)
And if the weight measurement data is smaller than the product of the weight of the load and the preset proportion, judging that the load is in the ground contact state.
8. The utility model provides an identification system that load rises to lift off ground or whereabouts ground in tower work, its characterized in that: the lifting device comprises a controller, a weight sensor and a lifting encoder, wherein the weight sensor and the lifting encoder are electrically connected with the controller;
the weight sensor is used for detecting weight measurement data of a load in real time and transmitting the weight measurement data to the controller;
the lifting encoder is used for detecting the height data of the load in real time and transmitting the Gao Dushu data to the controller;
the controller is used for judging whether the tower crane is in a loaded state according to the obtained weight measurement data, calculating the lifting weight change rate according to the weight measurement data and the height data when the tower crane is in the loaded state, and identifying that the load is in a ground-leaving state or a ground-touching state based on the lifting weight change rate.
9. A computer readable storage medium having a computer program stored therein, wherein the computer program, when loaded and executed by a processor, employs the method for identifying load lifting off or falling on a ground in operation of a tower according to any one of claims 1 to 7.
10. A computer device comprising a memory, a processor and a computer program stored in the memory and capable of running on the processor, characterized in that the computer program is loaded and executed by the processor by using the method for identifying a load lift off or a load fall on a ground in operation of a tower according to any one of claims 1 to 7.
CN202310854548.1A 2023-07-12 2023-07-12 Method, system, medium and equipment for identifying load lifting off or falling on ground in working process of tower crane Pending CN116924238A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310854548.1A CN116924238A (en) 2023-07-12 2023-07-12 Method, system, medium and equipment for identifying load lifting off or falling on ground in working process of tower crane

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310854548.1A CN116924238A (en) 2023-07-12 2023-07-12 Method, system, medium and equipment for identifying load lifting off or falling on ground in working process of tower crane

Publications (1)

Publication Number Publication Date
CN116924238A true CN116924238A (en) 2023-10-24

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