CN117342444A - Method, controller and tower crane for determining vertical height of suspended object - Google Patents

Method, controller and tower crane for determining vertical height of suspended object Download PDF

Info

Publication number
CN117342444A
CN117342444A CN202311433175.7A CN202311433175A CN117342444A CN 117342444 A CN117342444 A CN 117342444A CN 202311433175 A CN202311433175 A CN 202311433175A CN 117342444 A CN117342444 A CN 117342444A
Authority
CN
China
Prior art keywords
height
suspended object
data
tower
vertical height
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311433175.7A
Other languages
Chinese (zh)
Inventor
黄征宇
全廷立
杨小军
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zoomlion Construction Crane Co Ltd
Original Assignee
Zoomlion Construction Crane Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zoomlion Construction Crane Co Ltd filed Critical Zoomlion Construction Crane Co Ltd
Priority to CN202311433175.7A priority Critical patent/CN117342444A/en
Publication of CN117342444A publication Critical patent/CN117342444A/en
Pending legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • 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
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

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

Abstract

The application discloses a method, a controller and a tower crane for determining the vertical height of a suspended object. The method comprises the following steps: under the condition that the suspended object is lifted from the foundation surface, determining the ground-leaving state of the suspended object; under the condition that the ground leaving state of the suspended object is an initial ground leaving state, obtaining topographic information data, the current lowering height of the lifting hook and tower height data of the tower crane; and determining the self vertical height of the suspended object according to the topographic information data, the current lowering height and the tower height data. The self vertical height of the suspended object is determined through the topographic information data, the current lowering height and the tower height data, so that the accuracy of the self vertical height of the suspended object can be improved while the detection flow of the self vertical height of the suspended object is simplified.

Description

Method, controller and tower crane for determining vertical height of suspended object
Technical Field
The application relates to the technical field of tower cranes, in particular to a method for determining the vertical height of a suspended object, a controller and a tower crane.
Background
At present, the prior art determines the self vertical height of the suspended object based on real-time torque data of a frequency converter. The tower crane needs to run the lifting hook to the upper stop limit before lifting, and clears the sampling value of the encoder, and the process is complex in operation and does not belong to a normal lifting flow. Moreover, due to the differences of the structure, assembly, machining precision and the like of the tower crane, even if different tower cranes are under the same working condition, the possibility of large difference exists in the acquired real-time torque data, and the self vertical height error of the suspended object is further caused to be large. Therefore, the method for determining the vertical height of the suspended object in the prior art has the problems of complex operation and larger error.
Disclosure of Invention
The embodiment of the application aims to provide a method, a controller and a tower crane for determining the vertical height of a suspended object, which are used for solving the problems of complex operation and larger error of the method for determining the vertical height of the suspended object in the prior art.
To achieve the above object, a first aspect of the present application provides a method for determining a vertical height of a suspended object, applied to a controller, the method comprising:
under the condition that the suspended object is lifted from the foundation surface, determining the ground-leaving state of the suspended object;
under the condition that the ground leaving state of the suspended object is an initial ground leaving state, obtaining topographic information data, the current lowering height of the lifting hook and tower height data of the tower crane;
and determining the self vertical height of the suspended object according to the topographic information data, the current lowering height and the tower height data.
In this embodiment of the present application, determining a ground-off state of a suspended object includes:
acquiring weight data of the suspended object at intervals of a preset sampling period;
judging whether the difference value of the weight data of adjacent preset sampling periods is smaller than a preset threshold value or not;
and under the condition that the difference value of the weight data of the adjacent preset sampling periods is smaller than a preset threshold value, determining the ground-leaving state of the suspended object as an initial ground-leaving state.
In this application embodiment, confirm the self vertical height of hanging the thing according to topography information data, current height and the tower height data, include:
according to the topographic information data, determining the current position height of the suspended object and the position height of the tower crane foundation respectively;
and determining the self vertical height of the suspended object according to the current position height of the suspended object, the position height of the tower crane foundation, the current lowering height and the tower height data.
In the embodiment of the application, the self vertical height of the suspended object meets the formula (1):
h＝H 2 +H 3 -H 1 -S； (1)
wherein H is the vertical height of the suspended object, H 1 To the height of the current position of the suspended object, H 2 For the position height of the tower crane foundation H 3 And S is the current lowering height as tower height data.
In this application embodiment, the controller respectively with display device and play to rise the stopper communication, display device and building information model system communication acquire topography information data, lifting hook's present height of lowering and the tower height data of tower machine include:
receiving topographic information data transmitted by the display device, wherein the topographic information data is transmitted to the display device by the building information model system;
receiving tower height data transmitted by a display device; and
and receiving the current lowering height of the lifting hook sent by the lifting limiter.
In an embodiment of the present application, the method further includes:
the weight data and the self vertical height of the suspended object are sent to the display device in real time, so that the weight data and the self vertical height of the suspended object are displayed through the display device.
A second aspect of the present application provides a controller comprising:
a memory configured to store instructions; and
and a processor configured to recall instructions from the memory and, when executing the instructions, to implement the above-described method for determining the vertical height of the suspended object itself.
A third aspect of the present application provides a tower crane comprising:
a controller;
the lifting hook is connected with the suspended object and is configured to carry out suspended load on the suspended object.
In this embodiment of the present application, the tower crane further includes:
the lifting limiter is communicated with the controller and is configured to collect the current lowering height of the lifting hook;
a display device in communication with the controller and configured to transmit topographical information data to the controller and to display weight data of the suspended object and a self vertical height of the suspended object in real time;
the building information model system, in communication with the display device, is configured to transmit terrain information data to the display device.
A fourth aspect of the present application provides a machine-readable storage medium having stored thereon instructions for causing a machine to perform the above-described method for determining the vertical height of a suspended object itself.
According to the technical scheme, the ground-leaving state of the suspended object is determined under the condition that the suspended object is lifted from the foundation surface. Under the condition that the ground leaving state of the suspended object is the initial ground leaving state, topographic information data, the current lowering height of the lifting hook and tower height data of the tower crane are obtained, and then the self vertical height of the suspended object is determined according to the topographic information data, the current lowering height and the tower height data. The method and the device determine the self vertical height of the suspended object based on the topographic information data, the current lowering height and the tower height data, and can improve the accuracy of the self vertical height of the suspended object while simplifying the detection flow of the self vertical height of the suspended object.
Additional features and advantages of embodiments of the present application will be set forth in the detailed description that follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the present application and are incorporated in and constitute a part of this specification, illustrate embodiments of the present application and together with the description serve to explain, without limitation, the embodiments of the present application. In the drawings:
FIG. 1 schematically illustrates a system block diagram of a tower crane according to an embodiment of the present application;
FIG. 2 schematically illustrates a flow chart of a method for determining the vertical height of a suspended object itself, according to an embodiment of the present application;
FIG. 3 schematically illustrates a flow chart of a method for determining the vertical height of a suspended object itself, according to an embodiment of the present application;
fig. 4 schematically shows a block diagram of a controller according to an embodiment of the present application.
Description of the reference numerals
1. Controller 2 display device
3. Lifting limiter 4 lifting frequency converter
5. Lifting capacity sensor 6 actuating mechanism
7. Building information model system
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the specific implementations described herein are only for illustrating and explaining the embodiments of the present application, and are not intended to limit the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.
It should be noted that, in the embodiment of the present application, directional indications (such as up, down, left, right, front, and rear … …) are referred to, and the directional indications are merely used to explain the relative positional relationship, movement conditions, and the like 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 regarded as not exist and not within the protection scope of the present application.
Fig. 1 schematically shows a system block diagram of a tower crane according to an embodiment of the present application. As shown in fig. 1, the tower crane comprises a controller 1, a display device 2, a lifting limiter 3, a lifting frequency converter 4, a lifting weight sensor 5 and an actuating mechanism 6. Wherein the actuator 6 comprises a spool and a motor. The controller 1 is respectively communicated with the display device 2, the lifting limiter 3, the lifting frequency converter 4 and the lifting weight sensor 5. Specifically, the controller 1 may communicate with the display device 2 via a user datagram protocol (User Datagram Protocol, UDP), and with the lifting limiter 3, the lifting frequency converter 4, and the lifting weight sensor 5 via a controller area network (Controller Area Network, CAN), respectively. The display device 2 communicates with a building information model system 7. The display device 2 may acquire the topographic information data from the building information model system 7 and transmit the topographic information data to the controller 1. The display device 2 can display weight data of the suspended object and the vertical height of the suspended object in real time. The lifting limiter 3 may be used to collect the current lowering height of the hook. The lifting frequency converter 4 can drive the actuating mechanism 6 to operate so as to drive the steel wire rope and the lifting hook to move up and down, thereby realizing the lifting function. The lifting weight sensor 5 is a measuring device for measuring weight data of the suspended object. Thus, by means of the above-described device, the controller 1 can determine the own vertical height of the suspended object.
Fig. 2 schematically shows a flow diagram of a method for determining the vertical height of a suspended object itself according to an embodiment of the present application. As shown in fig. 2, an embodiment of the present application provides a method for determining a vertical height of a suspended object, which is applied to a controller, and the method may include the following steps:
step 201, determining the ground-leaving state of a suspended object under the condition that the suspended object is lifted from a foundation surface;
step 202, under the condition that the ground leaving state of the suspended object is an initial ground leaving state, obtaining topographic information data, the current lowering height of the lifting hook and tower height data of the tower crane;
and 203, determining the self vertical height of the suspended object according to the topographic information data, the current lowering height and the tower height data.
Because the tower crane in the prior art needs to control the lifting hook to run at the upper stop limit position and clear the sampling value of the encoder, the operation is complicated and does not belong to a normal lifting process. In addition, in the prior art, the influence of the differences of the tower crane structure, assembly, machining precision and the like on the torque data is not considered, and whether the suspended object is lifted off the ground is judged by taking the torque data at a preset speed as a reference value, so that the problem that the determined self vertical height error of the suspended object is large exists. Therefore, in the embodiment of the application, the controller can determine the self vertical height of the suspended object. First, in the case where the suspended object is lifted from the foundation surface, the controller can determine the ground-off state of the suspended object. The foundation surface refers to the position of the suspended object before the suspended load is carried out. The ground-leaving state of the suspended object comprises an initial ground-leaving state and a complete ground-leaving state. The initial ground-off state refers to a critical state when the suspended object is about to leave the foundation surface. The complete ground-leaving state refers to a state when the suspended object is suspended. Under the condition that the ground leaving state of the suspended object is the initial ground leaving state, the controller can acquire the topographic information data sent by the display device, the current lowering height of the lifting hook sent by the lifting limiter and the tower height data of the tower crane sent by the display device. After the topographic information data, the current lowering height and the tower height data are obtained, the controller can determine the self vertical height of the suspended object according to the topographic information data, the current lowering height and the tower height data. It should be noted that, in the embodiment of the present application, the vertical height of the suspended object refers to the height between the bottom of the suspended object and the lower edge of the lifting hook, including the length of the lifting rope. Therefore, the detection flow of the self vertical height of the suspended object can be simplified, and the detection accuracy of the self vertical height of the suspended object can be improved.
According to the technical scheme, the ground-leaving state of the suspended object is determined under the condition that the suspended object is lifted from the foundation surface. Under the condition that the ground leaving state of the suspended object is the initial ground leaving state, topographic information data, the current lowering height of the lifting hook and tower height data of the tower crane are obtained, and then the self vertical height of the suspended object is determined according to the topographic information data, the current lowering height and the tower height data. The method and the device determine the self vertical height of the suspended object based on the topographic information data, the current lowering height and the tower height data, and can improve the accuracy of the self vertical height of the suspended object while simplifying the detection flow of the self vertical height of the suspended object.
In an embodiment of the present application, determining the ground-off state of the suspended object may include:
acquiring weight data of the suspended object at intervals of a preset sampling period;
judging whether the difference value of the weight data of adjacent preset sampling periods is smaller than a preset threshold value or not;
and under the condition that the difference value of the weight data of the adjacent preset sampling periods is smaller than a preset threshold value, determining the ground-leaving state of the suspended object as an initial ground-leaving state.
In the embodiment of the application, the controller can determine the ground-leaving state of the suspended object. The controller can acquire weight data of the suspended object at intervals of a preset sampling period through the lifting weight sensor. The preset sampling period can be adjusted according to actual conditions. The controller may determine a difference in weight data of adjacent preset sampling periods and determine whether the difference in weight data of adjacent preset sampling periods is less than a preset threshold. The preset threshold value can be adjusted according to actual conditions. And under the condition that the difference value of the weight data of the adjacent preset sampling periods is smaller than a preset threshold value, determining the ground-leaving state of the suspended object as an initial ground-leaving state. In addition, the controller can also determine the ground-off state of the suspended object through the change of the torque data or the current data. Therefore, the ground-leaving state of the suspended object can be determined, and the vertical height of the suspended object can be conveniently determined subsequently.
In this application embodiment, the controller respectively with display device and play to rise the stopper communication, display device and building information model system communication acquire topography information data, lifting hook's present height of lowering and the tower height data of tower machine can include:
receiving topographic information data transmitted by the display device, wherein the topographic information data is transmitted to the display device by the building information model system;
receiving tower height data transmitted by a display device; and
and receiving the current lowering height of the lifting hook sent by the lifting limiter.
In the embodiment of the application, the controller can acquire topographic information data, the current lowering height of the lifting hook and tower height data of the tower crane. The controller is respectively communicated with the display device and the lifting limiter, and the display device is communicated with the building information model system. The controller can receive the topographic information data and the tower height data transmitted by the display device. Wherein the terrain information data is transmitted by the building information model system to the display device. And, the controller can receive the current lowering height of the lifting hook sent by the lifting limiter. Thus, the controller can acquire the topographic information data, the current lowering height and the tower height data, so that the controller can determine the self vertical height of the suspended object according to the topographic information data, the current lowering height and the tower height data.
In this embodiment of the present application, determining the self vertical height of the suspended object according to the topographic information data, the current lowering height and the tower height data may include:
according to the topographic information data, determining the current position height of the suspended object and the position height of the tower crane foundation respectively;
and determining the self vertical height of the suspended object according to the current position height of the suspended object, the position height of the tower crane foundation, the current lowering height and the tower height data.
In the embodiment of the application, the controller can determine the self vertical height of the suspended object according to the topographic information data, the current lowering height and the tower height data. The controller can respectively determine the current position height of the suspended object and the position height of the tower crane foundation according to the topographic information data, and then determine the self vertical height of the suspended object according to the current position height of the suspended object, the position height of the tower crane foundation, the current lowering height and the tower height data. The current position height of the suspended object refers to the height of the current position of the suspended object relative to the sea level. In this way, the vertical height of the suspended object itself can be determined.
In the embodiment of the application, the vertical height of the suspended object can satisfy the formula (1):
h＝H 2 +H 3 -H 1 -S； (1)
wherein H is the vertical height of the suspended object, H 1 To the height of the current position of the suspended object, H 2 For the position height of the tower crane foundation H 3 And S is the current lowering height as tower height data.
In the embodiment of the application, after the topographic information data is acquired, the controller can respectively determine the current position height of the suspended object and the position height of the tower crane foundation according to the topographic information data, and then determine the self vertical height of the suspended object according to the current position height of the suspended object, the position height of the tower crane foundation, the current lowering height and the tower height data. In this way, the vertical height of the suspended object itself can be determined.
In an embodiment of the present application, the method may further include:
the weight data and the self vertical height of the suspended object are sent to the display device in real time, so that the weight data and the self vertical height of the suspended object are displayed through the display device.
In the embodiment of the application, the controller can send the weight data of the suspended object and the vertical height of the suspended object to the display device in real time. Therefore, the weight data and the self vertical height of the suspended object can be displayed through the display device, so that constructors can conveniently check the weight data and the self vertical height of the suspended object.
Fig. 3 schematically shows a flow chart of a method for determining the vertical height of a suspended object itself according to an embodiment of the present application. As shown in fig. 3, in an embodiment of the present application, a method for determining a vertical height of a suspended object includes:
s1, starting lifting by an executing mechanism;
s2, under the condition that the difference value of weight data of adjacent preset sampling periods is smaller than a preset threshold value, acquiring the current lowering height of the lifting hook;
s3, respectively determining the current position height of the suspended object and the position height of the tower crane foundation according to the topographic information data;
s4, determining the self vertical height of the suspended object by combining the current position height of the suspended object, the position height of the tower crane foundation, the current lowering height and the tower height data.
In one embodiment of the present application, the hoisted object is hoisted from the base surface when the actuator drives the wire rope and the lifting hook to move up and down. The controller can acquire weight data of the suspended object at intervals of a preset sampling period. The controller may acquire a current lowering height of the hook in case that a difference of weight data of adjacent preset sampling periods is less than a preset threshold. According to the topographic information data of the building information model system, the controller can respectively determine the current position height of the suspended object and the position height of the tower crane foundation. And, the controller can obtain the tower height data of tower machine from display device. And finally, combining the current position height of the suspended object, the position height of the tower crane foundation, the current lowering height and the tower height data, the controller can determine the self vertical height of the suspended object.
Fig. 4 schematically shows a block diagram of a controller according to an embodiment of the present application. As shown in fig. 4, an embodiment of the present application provides a controller, which may include:
a memory 410 configured to store instructions; and
the processor 420 is configured to call instructions from the memory 410 and when executing the instructions, to implement the method for determining the vertical height of a suspended object itself described above.
Specifically, in embodiments of the present application, the processor 420 may be configured to:
under the condition that the suspended object is lifted from the foundation surface, determining the ground-leaving state of the suspended object;
under the condition that the ground leaving state of the suspended object is an initial ground leaving state, obtaining topographic information data, the current lowering height of the lifting hook and tower height data of the tower crane;
and determining the self vertical height of the suspended object according to the topographic information data, the current lowering height and the tower height data.
Further, the processor 420 may be further configured to:
acquiring weight data of the suspended object at intervals of a preset sampling period;
judging whether the difference value of the weight data of adjacent preset sampling periods is smaller than a preset threshold value or not;
and under the condition that the difference value of the weight data of the adjacent preset sampling periods is smaller than a preset threshold value, determining the ground-leaving state of the suspended object as an initial ground-leaving state.
Further, the processor 420 may be further configured to:
according to the topographic information data, determining the current position height of the suspended object and the position height of the tower crane foundation respectively;
and determining the self vertical height of the suspended object according to the current position height of the suspended object, the position height of the tower crane foundation, the current lowering height and the tower height data.
In the embodiment of the application, the self vertical height of the suspended object meets the formula (1):
h＝H 2 +H 3 -H 1 -S； (1)
wherein H is the vertical height of the suspended object, H 1 To the height of the current position of the suspended object, H 2 For the position height of the tower crane foundation H 3 And S is the current lowering height as tower height data.
Further, the processor 420 may be further configured to:
receiving topographic information data transmitted by the display device, wherein the topographic information data is transmitted to the display device by the building information model system;
receiving tower height data transmitted by a display device; and
and receiving the current lowering height of the lifting hook sent by the lifting limiter.
Further, the processor 420 may be further configured to:
the weight data and the self vertical height of the suspended object are sent to the display device in real time, so that the weight data and the self vertical height of the suspended object are displayed through the display device.
According to the technical scheme, the ground-leaving state of the suspended object is determined under the condition that the suspended object is lifted from the foundation surface. Under the condition that the ground leaving state of the suspended object is the initial ground leaving state, topographic information data, the current lowering height of the lifting hook and tower height data of the tower crane are obtained, and then the self vertical height of the suspended object is determined according to the topographic information data, the current lowering height and the tower height data. The method and the device determine the self vertical height of the suspended object based on the topographic information data, the current lowering height and the tower height data, and can improve the accuracy of the self vertical height of the suspended object while simplifying the detection flow of the self vertical height of the suspended object.
As shown in fig. 1, an embodiment of the present application further provides a tower crane, which may include:
a controller 1;
a lifting hook (not shown) is connected with the suspended object and is configured to hoist the suspended object.
In the present embodiment, the tower crane may include a controller 1 and a hook. The controller 1 may perform a method for determining the self-vertical height of the suspended object, thereby determining the self-vertical height of the suspended object. The lifting hook is connected with the suspended object and can carry out suspended load on the suspended object.
As shown in fig. 1, in an embodiment of the present application, the tower crane may further include:
a lifting limiter 3 in communication with the controller 1 and configured to collect a current lowering height of the hook;
a display device 2, which is in communication with the controller 1 and is configured to transmit topographic information data to the controller 1 and to display weight data of the suspended object and a self vertical height of the suspended object in real time;
the building information model system 7, which is in communication with the display device 2, is configured to transmit the terrain information data to the display device 2.
In the embodiment of the application, the tower crane comprises a controller 1, a display device 2, a lifting limiter 3, a lifting frequency converter 4, a lifting weight sensor 5 and an actuating mechanism 6. The controller 1 is respectively communicated with the display device 2, the lifting limiter 3, the lifting frequency converter 4 and the lifting weight sensor 5. The display device 2 communicates with a building information model system 7. The display device 2 may acquire the topographic information data from the building information model system 7 and transmit the topographic information data to the controller 1. The display device 2 can display weight data of the suspended object and the vertical height of the suspended object in real time. In addition, through the man-machine interaction module of the display device 2, the controller 1 can acquire tower height data of the tower crane. The lifting limiter 3 may be used to collect the current lowering height of the hook. The lifting frequency converter 4 can drive the actuating mechanism 6 to operate so as to drive the steel wire rope and the lifting hook to move up and down, thereby realizing the lifting function. The lifting weight sensor 5 is a measuring device for measuring weight data of the suspended object. Thus, by the device, the controller can determine the self vertical height of the suspended object.
The embodiment of the application also provides a machine-readable storage medium, wherein the machine-readable storage medium is stored with instructions for causing a machine to execute the method for determining the vertical height of the suspended object.
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 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 changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims (10)

1. A method for determining the vertical height of a suspended object, characterized in that it is applied to a controller, said method comprising:
under the condition that a suspended object is lifted from a foundation surface, determining the ground-leaving state of the suspended object;
under the condition that the ground leaving state of the suspended object is an initial ground leaving state, obtaining topographic information data, the current lowering height of the lifting hook and tower height data of the tower crane;
and determining the self vertical height of the suspended object according to the topographic information data, the current lowering height and the tower height data.
2. The method of claim 1, wherein the determining the lift-off status of the crane comprises:
acquiring weight data of the suspended object every other preset sampling period;
judging whether the difference value of the weight data of adjacent preset sampling periods is smaller than a preset threshold value or not;
and under the condition that the difference value of the weight data of the adjacent preset sampling periods is smaller than a preset threshold value, determining the ground-leaving state of the suspended object as an initial ground-leaving state.
3. The method of claim 1, wherein said determining the self-vertical height of the crane from the terrain information data, current lowering height and tower height data comprises:
according to the topographic information data, determining the current position height of the suspended object and the position height of the tower crane foundation respectively;
and determining the self vertical height of the suspended object according to the current position height of the suspended object, the position height of the tower crane foundation, the current lowering height and the tower height data.
4. A method according to claim 3, wherein the self vertical height of the crane satisfies formula (1):
h＝H 2 +H 3 -H 1 -S； (1)
wherein H is the vertical height of the suspended object, H 1 For the height of the current position of the suspended object, H 2 For the position height of the tower crane foundation, H 3 And S is the current lowering height for the tower height data.
5. The method of claim 1, wherein the controller is in communication with a display device and a lifting limiter, respectively, the display device being in communication with a building information model system, the obtaining terrain information data, a current lowering height of the hook, and tower height data of the tower crane comprising:
receiving the topographic information data transmitted by the display device, wherein the topographic information data is transmitted to the display device by the building information model system;
receiving the tower height data transmitted by the display device; and
and receiving the current lowering height of the lifting hook sent by the lifting limiter.
6. The method of claim 5, wherein the method further comprises:
and sending the weight data and the self vertical height of the suspended object to the display device in real time so as to display the weight data and the self vertical height of the suspended object through the display device.
7. A controller, comprising:
a memory configured to store instructions; and
a processor configured to invoke the instructions from the memory and when executing the instructions is capable of implementing the method for determining the vertical height of a suspended object itself according to any one of claims 1 to 6.
8. A tower crane, comprising:
the controller of claim 7;
the lifting hook is connected with a lifting object and is configured to lift the lifting object.
9. The tower crane of claim 8, further comprising:
the lifting limiter is communicated with the controller and is configured to collect the current lowering height of the lifting hook;
a display device in communication with the controller configured to transmit topographical information data to the controller, and to display in real time weight data of the suspended object and a self-vertical height of the suspended object;
a building information model system, in communication with the display device, is configured to transmit the terrain information data to the display device.
10. A machine-readable storage medium having stored thereon instructions for causing a machine to perform the method for determining the vertical height of a suspended object according to any one of claims 1 to 6.
CN202311433175.7A 2023-10-31 2023-10-31 Method, controller and tower crane for determining vertical height of suspended object Pending CN117342444A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311433175.7A CN117342444A (en) 2023-10-31 2023-10-31 Method, controller and tower crane for determining vertical height of suspended object

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311433175.7A CN117342444A (en) 2023-10-31 2023-10-31 Method, controller and tower crane for determining vertical height of suspended object

Publications (1)

Publication Number Publication Date
CN117342444A true CN117342444A (en) 2024-01-05

Family

ID=89362943

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311433175.7A Pending CN117342444A (en) 2023-10-31 2023-10-31 Method, controller and tower crane for determining vertical height of suspended object

Country Status (1)

Country Link
CN (1) CN117342444A (en)

Similar Documents

Publication Publication Date Title
CN110844810B (en) Method and equipment for protecting load moment of tower crane
CN115535887A (en) Tower crane, control method and device thereof, processor and cloud management platform
CN110645936B (en) Method and device for measuring lifting height of multilayer winding drum and storage medium
CN117342444A (en) Method, controller and tower crane for determining vertical height of suspended object
CN108706481B (en) Suspension hook hovering control method and device and frequency converter
CN106185634B (en) A kind of derrick crane and its preventing colliding with top control method, device and system
CN115385247A (en) Control method, processor and device for tower crane and tower crane
CN115744634B (en) Tower crane, control method and device thereof, processor and cloud management platform
CN109264583B (en) Crane operation duration monitoring system and monitoring method
CN103879881A (en) Safe running control method, device and system of hoisting hook of crane and crane
CN115010019A (en) Telescopic arm mechanical equipment control device, control method and telescopic arm mechanical equipment
CN110980556B (en) Control method and device for jacking and leveling of tower crane and tower crane
CN113526350B (en) Control method and device for engineering machinery, processor and engineering machinery
CN116750653A (en) Tower crane height determining method and device
CN112723203A (en) Control method and device for anti-back-tilting oil cylinder of arm support and engineering machinery
CN114162721B (en) Control method for turning over heavy objects under double-hook working condition of crane and crane
CN116119538A (en) Control method and control device for engineering machinery, processor and engineering machinery
CN116161551A (en) Method for detecting height of lifting hook, crane, storage medium and controller
CN117430028A (en) Control device for crane, controller, crane and storage medium
CN113401802B (en) Method and device for estimating operation safety level of tower crane
CN117361332A (en) Control system and control method for lifting hook movement
CN117388888A (en) Method and device for determining perpendicularity of tower body, storage medium, processor and tower crane
CN108100902A (en) Intelligent parking method, apparatus, system and crane
CN116812768A (en) Control method of tower crane with movable counterweight, controller and tower crane
CN117023399A (en) Synchronous control method and device for multi-lifting mechanism of tower crane and machine-readable storage medium

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination