WO2023071207A1 - 双卷扬乱绳识别方法、装置、吊装机械、电子设备、计算机可读存储介质以及计算机产品 - Google Patents

双卷扬乱绳识别方法、装置、吊装机械、电子设备、计算机可读存储介质以及计算机产品 Download PDF

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Publication number
WO2023071207A1
WO2023071207A1 PCT/CN2022/097922 CN2022097922W WO2023071207A1 WO 2023071207 A1 WO2023071207 A1 WO 2023071207A1 CN 2022097922 W CN2022097922 W CN 2022097922W WO 2023071207 A1 WO2023071207 A1 WO 2023071207A1
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WIPO (PCT)
Prior art keywords
hoist
rope
calibration data
winch
disordered
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PCT/CN2022/097922
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English (en)
French (fr)
Inventor
李波
郑潜
刘志鹏
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湖南三一中型起重机械有限公司
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Publication of WO2023071207A1 publication Critical patent/WO2023071207A1/zh

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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
    • B66C15/00—Safety gear
    • B66C15/06—Arrangements or use of warning devices
    • B66C15/065—Arrangements or use of warning devices electrical
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains

Definitions

  • the disclosure relates to the technical field of hoisting machinery, and in particular to a method for identifying disordered ropes in double winches, a device for identifying disordered ropes in double hoisting, hoisting machinery, electronic equipment, computer-readable storage media, and computer products.
  • hoisting machines eg, cranes
  • hoisting height of the hoisting machines is also getting higher and higher.
  • hoisting machinery using double winches came into being.
  • This type of hoisting machine lifts and lowers the hook through the simultaneous operation of the first winch and the second winch, thereby realizing the lifting of the load.
  • the first hoist or the second hoist may have disordered ropes due to various reasons.
  • Rope scrambling can cause damage or accelerate damage to hoisting ropes (e.g. wire ropes).
  • the identification of disordered ropes needs to rely on manual inspection or video monitoring, which is not accurate enough and is prone to misjudgment.
  • the disclosure provides a method for identifying disordered ropes in double winches, a device for identifying disordered ropes in double hoists, hoisting machinery, electronic equipment, computer-readable storage media, and computer products, which can at least solve the above-mentioned problems.
  • the present disclosure provides a double hoist rope identification method, which includes: acquiring calibration data after each winding of the first hoist, wherein the calibration data includes the encoder sampling value of the first hoist and the second hoist The absolute value of the difference between the encoder sampling values of the winches, the first winch and the second winch are linked; all calibration data are processed according to the preset rules to obtain the processing results; and when the processing results meet the preset conditions , it is determined that the first hoist and/or the second hoist has a rope disorder.
  • obtaining the calibration data includes: obtaining the inclination of the hook after each winding of the first hoist; comparing the inclination of the hook with the preset inclination ; when the inclination angle of the hook is less than the preset inclination angle, record the calibration data under the corresponding number of turns; and when the inclination angle of the hook is greater than or equal to the preset inclination angle, control the movement of the first winch and the second winch until The inclination angle of the hook is less than the preset inclination angle, and the calibration data under the corresponding number of turns is recorded.
  • processing all calibration data according to preset rules to obtain processing results includes: sorting all calibration data according to acquisition time; grouping all sorted calibration data to obtain M groups of encoders A set of difference values, wherein M is a natural number greater than or equal to 2; and according to each set of encoder difference values, an average value of each set of encoder difference values is determined.
  • determining that the first hoist and/or the second hoist has a rope disorder includes: the difference between the mean values of the difference sets of two adjacent encoders When the absolute value of the value is greater than the first preset value and less than the second preset value, it is determined that the first winch or the second winch has a rope disorder; When the absolute value of the value is greater than or equal to the second preset value, it is determined that the first hoist and the second hoist have rope disorder at the same time.
  • the double hoist rope disorder identification method further includes: obtaining the first hoist The absolute value of the difference between the calibration data of the i-th circle and the i-1th circle of a winch, where i is a natural number greater than or equal to 2; the difference between the calibration data of the i-th circle and the i-1th circle When the absolute value of is greater than the third preset value, it is determined that the i-th circle is the number of circles in which rope disorder occurs.
  • the hoisting disordered rope identification method also includes: obtaining the maximum number of winding turns of each layer of the first hoisting; The number of layers and the corresponding number of turns in the number of layers where the rope scrambling occurs.
  • the double hoisting disordered rope identification method further includes: displaying the disordered rope position information, and/or Make an alarm.
  • the present disclosure also provides a double hoist rope disorder identification device, which includes: an acquisition module configured to acquire calibration data after each winding of the first hoist, wherein the calibration data includes the first hoist The absolute value of the difference between the encoder sampling value and the encoder sampling value of the second hoist, the first hoist is linked with the second hoist; the processing module is configured to process all calibration data according to preset rules to obtain processing results; and a determination module, configured to determine that the first hoist and/or the second hoist has a rope disorder when the processing result satisfies a preset condition.
  • the present disclosure also provides a hoisting machine.
  • the hoisting machine can be a crane.
  • the hoisting machine includes the double hoisting disordered rope identification device provided by the present disclosure.
  • the present disclosure also provides an electronic device, which includes a processor; and a memory, on which a computer program is stored.
  • the computer program is executed by the processor, the electronic device executes the double hoisting disorderly rope provided by the present disclosure. recognition methods.
  • the present disclosure also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is read and executed by a processor, the processor is made to perform the identification of double hoisting disordered ropes provided by the present disclosure. method.
  • the present disclosure also provides a computer product, which includes a computer program, and when the computer program is executed by a processor, the processor is made to execute the double hoist rope disorder identification method provided in the present disclosure.
  • the present disclosure has at least the following beneficial effects:
  • the absolute value of the difference between the encoder sampling value of the first hoist and the encoder sampling value of the second hoist is obtained. value as calibration data. That is to say, the number of winding circles of the first winch is equal to the number of all calibration data.
  • the embodiment of the present disclosure performs recognition of disordered ropes based on the encoder of the first winch and the encoder of the second winch. This implementation method will not cause misjudgment due to visual errors or differences in light intensity, and the recognition accuracy is high, and the probability of misjudgment is low.
  • FIG. 1 is a schematic flow chart of a method for identifying disordered ropes in double winches according to an embodiment of the present disclosure.
  • Fig. 2 is a schematic structural diagram of a double hoist rope disorder identification device according to an embodiment of the present disclosure.
  • FIG. 3 is a schematic structural diagram of an electronic device according to an embodiment of the disclosure.
  • Fig. 4 is a schematic structural diagram of a hoisting machine according to an embodiment of the present disclosure.
  • Fig. 5 is a structural schematic diagram of the hook part of the hoisting machine in Fig. 4 .
  • Fig. 6 shows the change trend of the difference between the encoder sampling values of the two hoists when there is no rope disorder during the linkage process of the two hoists.
  • Fig. 7 shows the variation trend of the difference between the encoder sampling values of the two hoists in the case of rope disorder during the linkage process of the two hoists.
  • a method S100 for identifying disordered ropes of double winches includes steps S110 to S130 .
  • the calibration data is obtained after each winding of the first hoist.
  • the calibration data may include the absolute value of the difference between the encoder sampling value of the first hoist and the encoder sampling value of the second hoist, and the first hoist is linked with the second hoist.
  • one of the first hoist and the second hoist may be the primary hoist and the other may be the secondary hoist.
  • the first hoist may be the primary hoist
  • the second hoist may be the secondary hoist.
  • the first hoist and the second hoist are linked (that is, coordinated operation) to realize the hoisting or falling of heavy objects.
  • step S120 all calibration data are processed according to preset rules to obtain processing results.
  • step S130 if the processing result satisfies the preset condition, it is determined that rope disorder occurs in the first hoist and/or the second hoist.
  • the method S100 for identifying disordered ropes in double winches may be executed by a control device of a hoisting machine (for example, a crane).
  • the control device may include a PLC, and the control device may be equipped with an input device such as a touch screen.
  • the control device can be electrically connected with the hoist, encoder and sensor on the crane.
  • the control device can not only be used to control the action of the winch, but also receive the data detected by the encoder and the sensor.
  • the encoder sampling value may be an angle value.
  • the encoder sampling of the first hoist is obtained.
  • the absolute value of the difference between the value and the sampling value of the encoder of the second hoist is used as the calibration data. That is to say, the number of winding circles of the first winch is equal to the number of all calibration data.
  • the embodiment of the present disclosure performs recognition of disordered ropes based on the encoder of the first winch and the encoder of the second winch. This implementation method will not cause misjudgment due to visual errors or differences in light intensity, and the recognition accuracy is high, and the probability of misjudgment is low.
  • step S110 includes: obtaining the inclination angle of the hook after each winding of the first winch; comparing the inclination angle of the hook with the preset inclination angle; and recording in the corresponding Calibration data under the number of turns; when the inclination angle of the hook is greater than or equal to the preset inclination angle, control the movement of the first hoist and the second hoist until the hook inclination angle is less than the preset inclination angle, and record the calibration under the corresponding number of turns data.
  • the inclination angle of the hook can be detected by an inclination sensor arranged on the hook.
  • the inclination sensor is electrically connected with the control device of the hoisting machine, so that the inclination data of the hook is sent to the control device in real time.
  • the inclination sensor can be fixed at the horizontal position of the hook by a bracket.
  • the hook when the first hoist and the second hoist jointly lift the hook, the hook needs to be hoisted smoothly. That is to say, during the lifting process, the hook needs to be kept horizontal at all times to avoid potential safety hazards caused by tilting. Therefore, when it is detected that the inclination angle of the hook is not in a horizontal state, it is necessary to control the movement of the first winch and the second hoist so that the inclination angle of the hook is in a horizontal state.
  • PID regulating can be used to adjust the actuators of the first hoist and the second hoist (for example, adjust the winding speed of the first hoist and the second hoist), so that The inclination angle of the hook can always be smaller than the preset inclination angle. In this way, it is possible to make the inclination angle of the hook less than the preset inclination angle under most of the number of turns.
  • the present disclosure does not specifically limit the method of adjusting the first hoist and the second hoist so that the inclination angle of the hook is smaller than the preset inclination angle, and other control methods may also be used.
  • the preset inclination angle may be 0.5 degrees.
  • the inclination angle of the hook is less than 0.5 degrees, record the calibration data under the corresponding number of turns.
  • the inclination angle of the hook is greater than or equal to 0.5 degrees, control the movement of the first hoist and the second hoist until the inclination angle of the hook is less than 0.5 degrees, and then record the calibration data under the corresponding number of turns.
  • the first hoist will directly record the calibration data of the corresponding number of turns when the inclination angle of the hook is less than the preset inclination angle after each winding in the process of receiving the rope, and when the inclination angle of the hook is greater than or equal to the preset inclination angle, First control the movement of the first hoist and the second hoist to adjust the preset inclination angle to be less than the preset inclination angle, and then record the calibration data under the corresponding number of turns until the calibration data recording of the last turn of the first hoist or the second hoist is completed .
  • the calibration data is recorded under the X circle (that is, the encoder sampling value of the first hoist at this time The absolute value of the difference between the sampling value of the encoder of the second hoist); after the first hoist winds the X+1 lap, if the inclination angle of the spreader is not less than the preset inclination angle, it will not be recorded under the X+1 lap Calibration data; after the X+2 turns of the first winch, if the inclination angle of the spreader is less than the preset inclination angle, the calibration data will be recorded at X+2 turns.
  • step S120 includes: sorting all the calibration data according to the acquisition time; grouping all the sorted calibration data to obtain M sets of encoder difference sets; The mean value of the set of device differences.
  • M is a natural number greater than or equal to 2.
  • the calibration data can be sorted according to the acquisition time, for example, sorted according to the acquisition time from first to last, or sorted according to the acquisition time from last to first.
  • the acquisition time of the calibration data corresponds to the serial number of the first hoist circle, that is to say, the sorting method is according to the circle of the first hoist For example, they can be sorted according to the serial number of the first hoisting circle from large to small, or they can be sorted according to the serial number of the first hoisting circle from small to large.
  • N calibration data After sorting all calibration data (N calibration data), these calibration data are grouped to obtain M sets of encoder difference sets. There are P encoder difference values in each set of encoder difference values, that is, a[1] ⁇ a[P], a[P+1] ⁇ a[2P]...a[N-P+1] ⁇ a[ N].
  • step S130 includes: when the absolute value of the difference between the mean values of the difference sets of adjacent two sets of encoders is greater than the first preset value and smaller than the second preset value, it is determined that the first hoist or the second hoist Rope disorder occurs in the second hoist; when the absolute value of the difference between the mean values of the difference sets of adjacent two sets of encoders is greater than or equal to the second preset value, it is determined that the rope disorder occurs in the first hoist and the second hoist at the same time.
  • the first preset value may be 30 degrees
  • the second preset value may be 40 degrees.
  • the absolute value of the difference between the mean values of the difference sets of adjacent two sets of encoders is less than or equal to 30 degrees, then it is not determined that the first winch or the second winch has a rope disorder.
  • the absolute value of the difference between the mean values of the two adjacent sets of encoder difference values is greater than 30 degrees and less than 40 degrees (for example, 37 degrees)
  • it is determined that the first winch or the second winch has a rope disorder.
  • the absolute value of the difference between the mean values of the difference sets of adjacent two sets of encoders is greater than or equal to 40 degrees (for example, 45 degrees)
  • first preset value and the second preset value does not specifically limit the first preset value and the second preset value.
  • the first preset value and the second preset value may also be set to other values.
  • the method S100 for identifying disordered ropes in double winches may further include step A and step B.
  • step A the absolute value of the difference between the calibration data between the i-th turn and the i-1th turn of the first winch is acquired.
  • i is a natural number greater than or equal to 2.
  • step B when the absolute value of the difference between the calibration data of the i-th turn and the i-1th turn is greater than the third preset value, it is determined that the i-th turn is the number of twisted rope turns.
  • the third preset value may be 30 degrees. After judging that the rope disorder occurs in the first winch or the second winch, it is necessary to further understand the number of turns of the rope disorder. At this time, it is necessary to compare the absolute value of the difference between the calibration data of two adjacent turns For comparison, that is, when the absolute value of the difference between the calibration data of the i-th circle and the i-1th circle is greater than 30 degrees, then the i-th circle is determined to be the number of rope disorder occurrences. For example, when the absolute value of the difference between the calibration data of the 300th lap and the 299th lap is greater than 30 degrees, it is determined that a rope disorder occurs in the 300th lap.
  • the embodiment of the present disclosure does not specifically limit the third preset value.
  • the third preset value may also be set to other values.
  • the rope disorder does not only occur in one place, as long as the absolute value of the difference between the calibration data of two adjacent turns is greater than the second preset value, it means that the rope disorder occurs in one place.
  • the method S100 for identifying disordered ropes in double hoisting may further include step C and step D.
  • step C the maximum winding number of each layer of the first winch is obtained.
  • step D according to the maximum number of winding turns and the number of turns of the disordered rope, the location information of the disordered rope is obtained.
  • the rope disorder position information includes the number of layers where the rope disorder occurs and the number of turns corresponding to the number of layers where the rope disorder occurs.
  • i the number of twisted rope turns
  • k the maximum winding number of each layer
  • L the number of twisted rope layers
  • i' the corresponding number of turns in the messy rope generated layers.
  • L QUOTIENT(i,k)+1
  • i' MOD(I,k).
  • the number of rope disorder occurrence layers is 8 layers
  • the corresponding number of turns in the number of rope disorder occurrence layers is 20 turns. That is, the rope disorder occurred on the 20th lap of the 8th floor.
  • the method S100 for identifying disordered ropes in double hoisting may further include step E.
  • step E the location information of the disordered rope is displayed, and/or an alarm is given.
  • the information about the location of the rope mess can be displayed through a display screen.
  • the alarming method may be to issue an alarm sound, for example, broadcasting "rope disorder occurs at 20 laps on the 7th floor".
  • the alarm method can also be to emit a red warning light.
  • the location information of the messy ropes is displayed on the display screen and broadcasted by a warning sound. Thereby, it is convenient to remind the operator.
  • the present disclosure also provides a double winch disordered rope identification device 200 , which includes an acquisition module 210 , a processing module 220 and an identification module 230 .
  • the obtaining module 210 is configured to obtain calibration data after each winding of the first hoist.
  • the calibration data includes the absolute value of the difference between the encoder sampling value of the first hoist and the encoder sampling value of the second hoist, and the first hoist and the second hoist are linked.
  • the processing module 220 is configured to process all calibration data according to preset rules to obtain processing results.
  • the determination module 230 is configured to determine that rope disorder occurs in the first winch and/or the second winch when the processing result satisfies the preset condition.
  • the present disclosure also provides an electronic device 300 , which includes a processor (processor) 310 , a communication interface (Communications Interface) 320 , a memory (memory) 330 and a communication bus 340 .
  • the processor 310 , the communication interface 320 , and the memory 330 communicate with each other through the communication bus 340 .
  • the processor 310 can call the logic instructions in the memory 330 to execute the double hoist rope identification method provided in the present disclosure.
  • the electronic device 300 in this embodiment may be a computer device such as a PLC or an industrial computer.
  • the present disclosure also provides a computer-readable storage medium on which a computer program is stored.
  • the processor is made to execute the double winch disordered rope identification method provided by the present disclosure.
  • the present disclosure also provides a computer product comprising a computer program.
  • the processor is made to execute the double winch disordered rope identification method provided by the present disclosure.
  • the present disclosure also provides a hoisting machine, which may include the double hoisting disordered rope identification device provided by the present disclosure.
  • the hoisting machine provided by the embodiments of the present disclosure will be illustrated below with reference to the accompanying drawings.
  • FIG. 4 is a schematic structural diagram of a hoisting machine 400 according to an embodiment of the present disclosure.
  • FIG. 5 is a schematic structural view of the hook part of the hoisting machine 400.
  • the hoisting machine 400 may be, for example, a crane.
  • the hoisting machine 400 includes two winches 410 , 420 and a hook 430 .
  • the two winches 410, 420 realize the lifting or lowering of the hook 430 by winding or releasing the ropes 440 and 450.
  • an inclination sensor 460 is provided on the hook 430 , and the inclination sensor 460 is used to detect the inclination angle of the hanger.
  • the method for identifying disordered ropes of double winches provided in the present disclosure can be applied to the hoisting machine 400 .
  • the hoisting machine 400 may include the double hoist rope disorder identification device provided in the present disclosure.
  • Fig. 6 shows the change trend of the difference between the encoder sampling values of the two hoists when there is no rope disorder during the linkage process of the two hoists.
  • Fig. 7 shows the variation trend of the difference between the encoder sampling values of the two hoists in the case of rope disorder during the linkage process of the two hoists.

Abstract

本公开提供了一种双卷扬乱绳识别方法、装置、吊装机械、电子设备、计算机可读存储介质以及计算机产品。该双卷扬乱绳识别方法包括：在第一卷扬每缠绕一圈后，获取标定数据，其中标定数据包括第一卷扬的编码器采样值与第二卷扬的编码器采样值的差值的绝对值，第一卷扬与第二卷扬联动；将所有标定数据按照预设规则进行处理，以获得处理结果；在处理结果满足预设条件的情况下，认定第一卷扬和/或第二卷扬发生乱绳。相对于相关技术中通过视觉进行乱绳的识别，本公开实施例基于第一卷扬的编码器以及第二卷扬的编码器进行乱绳的识别。这种实现方式不会因为视觉误差或者光照强度的不同而误判，识别精度较高，误判的概率较低。

Description

[根据细则37.2由ISA制定的发明名称]　双卷扬乱绳识别方法、装置、吊装机械、电子设备、计算机可读存储介质以及计算机产品 技术领域
本公开涉及吊装机械技术领域，具体涉及一种双卷扬乱绳识别方法、双卷扬乱绳识别装置、吊装机械、电子设备、计算机可读存储介质以及计算机产品。
背景技术
随着现代基建的推进，吊装机械(例如，起重机)起吊的载物越来越重，吊装机械的起吊高度也越来越高。为了满足起吊效率和起吊安全等应用需求，采用双卷扬的吊装机械应运而生。这类吊装机械通过第一卷扬和第二卷扬同时运行来升降吊钩，进而实现吊运载物。对于这类吊装机械，在工作过程中，第一卷扬或者第二卷扬会由于各种原因出现乱绳。乱绳会导致吊装绳索(例如，钢丝绳)损坏或加速损坏。在相关技术中，乱绳的识别需要依靠人工检查或视频监控，这种方式不够准确，容易误判。
发明内容
本公开提供一种双卷扬乱绳识别方法、双卷扬乱绳识别装置、吊装机械、电子设备、计算机可读存储介质以及计算机产品，其至少能够解决了上述问题。
一方面，本公开提供一种双卷扬乱绳识别方法，其包括：在第一卷扬每缠绕一圈后，获取标定数据，其中标定数据包括第一卷扬的编码器采样值与第二卷扬的编码器采样值的差值的绝对值，第一卷扬与第二卷扬联动；将所有标定数据按照预设规则进行处理，以获得处理结果；以及在处理结果满足预设条件时，认定第一卷扬和/或第二卷扬发生乱绳。
在一个可能的实现方式中，在第一卷扬每缠绕一圈后，获取标定数据包括：在第一卷扬每缠绕一圈后，获取吊钩倾角；将吊钩倾角与预设倾角进行比较；在吊钩倾角小于预设倾角的情况下，记录在对应圈数下的标定数据；以及在吊钩倾角大于或者等于预设倾角的情况下，控制第一卷扬和第二卷扬运动直至吊钩倾角小于预设倾角，并记录在对应圈数下的标定数据。
在一个可能的实现方式中，将所有标定数据按照预设规则进行处理，以获得处理结果包括：将所有标定数据按照获取时间进行排序；将排序后的所有标定数据进行分组，得到M组编码器差值集合，其中M为大于或者等于2的自然数；以及根据每组编码器差值集合，确定每组编码器差值集合的均值。
在一个可能的实现方式中，在处理结果满足预设条件的情况下，认定第一卷扬和/或第二卷扬发生乱绳包括：在相邻两组编码器差值集合的均值的差值的绝对值大于第一预设值且小于第二预设值的情况下，认定第一卷扬或第二卷扬发生乱绳；以及在相邻两组编码器差值集合的均值的差值绝对值大于或者等于第二预设值的情况下，认定第一卷扬和第二卷扬同时发生乱绳。
在一个可能的实现方式中，在当处理结果满足预设条件的情况下，认定第一卷扬和/或第二卷扬发生乱绳之后，该双卷扬乱绳识别方法还包括：获取第一卷扬在第i圈与第i-1圈下的标定数据的差值的绝对值，其中i为大于或者等于2的自然数；在第i圈与第i-1圈的标定数据的差值的绝对值大于第三预设值的情况下，认定第i圈为乱绳发生圈数。
在一个可能的实现方式中，在第i圈与第i-1圈的标定数据的差值的绝对值大于第三预设值的情况下，认定第i圈为乱绳发生圈数之后，双卷扬乱绳识别方法还包括：获取第一卷扬每层的最大缠绕圈数；以及根据最大缠绕圈数以及乱绳发生圈数，得到乱绳位置信息，其中乱绳位置信息包括乱绳发生层数以及在乱绳发生层数中对应的圈数。
在一个可能的实现方式中，在根据最大缠绕圈数以及乱绳发生圈数，得到乱绳位置信息之后，该双卷扬乱绳识别方法还包括：将乱绳位置信息进行显示，和/或进行报警。
另一方面，本公开还提供一种双卷扬乱绳识别装置，其包括：获取模块，配置为在第一卷扬每缠绕一圈后，获取标定数据，其中标定数据包括第一卷扬的编码器采样值与第二卷扬的编码器采样值的差值的绝对值，第一卷扬与第二卷扬联动；处理模块，配置为将所有标定数据按照预设规则进行处理，以获得处理结果；以及认定模块，配置为在处理结果满足预设条件的情况下，认定第一卷扬和/或第二卷扬发生乱绳。
另一方面，本公开还提供一种吊装机械。例如，该吊装机械可以为起重机。该吊装机械包括本公开提供的双卷扬乱绳识别装置。
另一方面，本公开还提供一种电子设备，其包括处理器；以及存储器，其上存储有计算机程序，当计算机程序被处理器执行时，使得电子设备执行本公开提供的双卷扬乱绳识别方法。
另一方面，本公开还提供一种计算机可读存储介质，存储介质上存储有计算机程序，当计算机程序被处理器读取并运行时，使得处理器执行本公开提供的双卷扬乱绳识别方法。
另一方面，本公开还提供一种计算机产品，其包括计算机程序，当计算机程序被处理器执行时，使得处理器执行本公开提供的双卷扬乱绳识别方法。
相对于现有技术，本公开至少具有以下有益效果：
在第一卷扬和第二卷扬联动起吊时，每当第一卷扬缠绕一圈后，获取第一卷扬的编码 器采样值与第二卷扬的编码器采样值的差值的绝对值作为标定数据。也就是说，第一卷扬的缠绕圈数等于所有标定数据的数量。将所有标定数据按照预设规则进行处理后，若处理结果满足预设条件，则认定第一卷扬和/或第二卷扬发生乱绳。相对于相关技术中通过视觉进行乱绳的识别，本公开实施例基于第一卷扬的编码器以及第二卷扬的编码器进行乱绳的识别。这种实现方式不会因为视觉误差或者光照强度的不同而误判，识别精度较高，误判的概率较低。
附图简要说明
为了更清楚地说明本公开实施例中的技术方案，下面对所需要使用的附图作简单的介绍。应当理解，下面描述中的附图仅是本公开的一部分些实施例。对于本领域普通技术人员来讲，还可以根据这些附图获得其他的附图。
图1为根据本公开一实施例的双卷扬乱绳识别方法的流程示意图。
图2为根据本公开一实施例的双卷扬乱绳识别装置的结构示意图。
图3为根据本公开一实施例的电子设备的机构示意图。
图4为根据本公开一实施例的吊装机械的结构示意图。
图5为图4中的吊装机械的吊钩部分的结构示意图。
图6示出了双卷扬联动过程中未出现乱绳的情况下，两个卷扬的编码器采样值的差值的变化趋势。
图7示出了双卷扬联动过程中出现乱绳的情况下，两个卷扬的编码器采样值的差值的变化趋势。
具体实施方式
为使本公开的目的、特征和优点能够更为明显易懂，下面结合附图对本公开的具体实施例做详细的说明。
如图1所示，根据本公开一实施例的双卷扬乱绳识别方法S100包括步骤S110至步骤S130。
在步骤S110中，在第一卷扬每缠绕一圈后，获取标定数据。这里，标定数据可以包括第一卷扬的编码器采样值和第二卷扬的编码器采样值的差值的绝对值，第一卷扬与第二卷扬联动。
在一个示例中，第一卷扬和第二卷扬中的一个可以为主卷扬，另一个可以为副卷扬。 在一个更具体的示例中，第一卷扬可以为主卷扬，第二卷扬可以为副卷扬。
在吊装机械运行时，第一卷扬和第二卷扬联动(即协同运行)，以实现重物的起吊或下落。
在步骤S120中，将所有标定数据按照预设规则进行处理，以获得处理结果。
在步骤S130中，在处理结果满足预设条件的情况下，认定第一卷扬和/或第二卷扬发生乱绳。
示例性地，双卷扬乱绳识别方法S100可以由吊装机械(例如，起重机)的控制装置执行。这里，控制装置可以包括PLC，并且控制装置可以配备诸如触控屏之类的输入设备。控制装置可与起重机上的卷扬机、编码器以及传感器等电性连接。该控制装置不仅可用于控制卷扬机的动作，还可接收编码器和传感器检测到的数据。
例如，在本实施例中，编码器采样值可以为角度值。在本实施例提供的双卷扬乱绳识别方法中，在第一卷扬和第二卷扬联动起吊钩时，每当第一卷扬缠绕一圈后，获取第一卷扬的编码器采样值与第二卷扬的编码器采样值的差值的绝对值作为标定数据。也就是说，第一卷扬的缠绕圈数等于所有标定数据的数量。将所有标定数据按照预设规则进行处理后，若处理结果满足预设条件，则认定第一卷扬和/或第二卷扬发生乱绳。相对于相关技术中通过视觉进行乱绳的识别，本公开实施例基于第一卷扬的编码器以及第二卷扬的编码器进行乱绳的识别。这种实现方式不会因为视觉误差或者光照强度的不同而误判，识别精度较高，误判的概率较低。
可选地，步骤S110包括：在第一卷扬每缠绕一圈后，获取吊钩倾角；将吊钩倾角与预设倾角进行比较；在吊钩倾角小于预设倾角的情况下，记录在对应圈数下的标定数据；在吊钩倾角大于或者等于预设倾角的情况下，控制第一卷扬和第二卷扬运动直至吊钩倾角小于预设倾角，并记录在对应圈数下的标定数据。
具体地，吊钩倾角可以由设置在吊钩上的倾角传感器检测获得。倾角传感器与吊装机械的控制装置电性连接，从而实时地将吊钩的倾角数据发送至控制装置。在一个示例中，倾角传感器可以通过支架固定在吊钩的水平位置。
应当理解，第一卷扬和第二卷扬联合起吊钩时，吊钩需要平稳起吊。也就是说，在起吊过程中，吊钩需要始终保持水平状态，以避免出现倾斜的情况而带来安全隐患。因此，当检测到吊钩倾角不处于水平状态时，需要控制第一卷扬和第二卷扬运动以使吊钩倾角处于水平状态。
作为一种示例性的实现方式，可以采用PID调节(PID regulating)来调节第一卷扬和第二卷扬的执行机构(例如，调节第一卷扬和第二卷扬的缠绕速度)，从而使得吊钩的倾角总能够小于预设倾角。以此方式，能够使得在绝大多数圈数下，吊钩的倾角能够小于预 设倾角。当然，本公开对于调节第一卷扬和第二卷扬的以使的吊钩的倾角小于预设倾角的方式不做具体限，也可以采用其它控制方式。
本公开对于预设倾角不做具体限定，本领域技术人员可以根据实际需求进行设定。例如，在某些实施例中，预设倾角可以为0.5度。在第一卷扬每缠绕一圈后，获取吊钩倾角。在吊钩倾角小于0.5度的情况下，记录在对应圈数下的标定数据。在吊钩倾角大于或者等于0.5度的情况下，控制第一卷扬和第二卷扬运动直至吊钩倾角小于0.5度，然后再记录对应圈数下的标定数据。
如此设置，第一卷扬在收绳过程中，每缠绕一圈后，在吊钩倾角小于预设倾角时直接记录对应圈数下的标定数据，在吊钩倾角大于或者等于预设倾角时，先控制第一卷扬和第二卷扬运动调节预设倾角小于预设倾角，再记录对应圈数下的标定数据，直至第一卷扬或者第二卷扬最后一圈下的标定数据记录完成。
作为一个非限制性的示例，在第一卷扬缠绕完第X圈后，若吊具倾角小于预设倾角，则在X圈下记录标定数据(即此时第一卷扬的编码器采样值与第二卷扬的编码器采样值的差值的绝对值)；在第一卷扬缠绕完第X+1圈后，若吊具倾角不小于预设倾角，则不在X+1圈下记录标定数据；在第一卷扬缠绕完第X+2圈后，若吊具倾角小于预设倾角，则在X+2圈下记录标定数据。
可选地，步骤S120包括：将所有标定数据按照获取时间进行排序；将排序后的所有标定数据进行分组，得到M组编码器差值集合；根据每组编码器差值集合，确定每组编码器差值集合的均值。这里，M为大于或者等于2的自然数。
应当理解，第一卷扬或者第二卷扬的缠绕圈数一般在几百圈以上，故标定数据的数量也在几百个以上。在本实施例中，为了快速判断是否出现乱绳，可以先按照标定数据的获取时间进行排序，例如按照获取时间从先到后进行排序，也可以按照获取时间从后到先进行排序。由于标定数据的获取是在第一卷扬每圈缠绕完成后得到的，故标定数据的获取时间是和第一卷扬圈数序号对应的，也就是说排序方式是按照第一卷扬的圈数序号进行的，例如按照第一卷扬圈数序号从大到小进行排序，也可以按照第一卷扬圈数序号从小到大进行排序。在将所有标定数据(N个标定数据)进行排序后，将这些标定数据进行分组，得到M组编码器差值集合。每组编码器差值集合中具有P个编码器差值，即a[1]～a[P]，a[P+1]～a[2P]…a[N-P+1]～a[N]。然后计算出每组编码器差值集合的均值，即B[1]、B[2]…B[M]。N可以选为能被M整除的数，即，N＝MP。若N不能被M整除，最后一组编码器差值集合可以不具有P个编码器差值。
可选地，步骤S130包括：在相邻两组编码器差值集合的均值的差值的绝对值大于第 一预设值且小于第二预设值的情况下，认定第一卷扬或第二卷扬发生乱绳；在相邻两组编码器差值集合的均值的差值的绝对值大于或者等于第二预设值时，认定第一卷扬和第二卷扬同时发生乱绳。
示例性地，第一预设值可以为30度，第二预设值可以为40度。在相邻的两组编码器差值集合的均值的差值的绝对值小于或者等于30度时，则不认定第一卷扬或第二卷扬发生乱绳。在相邻两组编码器差值集合的均值的差值的绝对值大于30度且小于40度(例如37度)的情况下，认定第一卷扬或第二卷扬发生乱绳。在相邻的两组编码器差值集合的均值的差值的绝对值大于或者等于40度时(例如45度)，认定第一卷扬和第二卷扬同时发生乱绳。
应当理解，对于第一预设值和第二预设值，本公开实施例不做具体限定。在其它实施例中，第一预设值和第二预设值也可以设置为其它数值。
可选地，在步骤S130后，双卷扬乱绳识别方法S100还可以包括步骤A和步骤B。
在步骤A中，获取第一卷扬在第i圈与第i-1圈下的标定数据的差值的绝对值。这里，i为大于或者等于2的自然数。
在步骤B中，在第i圈与第i-1圈的标定数据的差值的绝对值大于第三预设值时，认定第i圈为乱绳发生圈数。
示例性地，第三预设值可以为30度。在判断出第一卷扬或者第二卷扬发生乱绳后，需要进一步了解乱绳发生的圈数，此时需要将相邻两圈的标定数据的差值的绝对值与第三预设值进行比较，即当第i圈与第i-1圈的标定数据的差值的绝对值大于30度时，则认定第i圈为乱绳发生圈数。例如，第300圈和299圈的标定数据的差值的绝对值大于30度时，则认定第300圈发生乱绳。
应当理解，对于第三预设值，本公开实施例不做具体限定。在其它实施例中，第三预设值也可以设置为其它数值。
还应当理解，乱绳不止发生在一处，只要相邻两圈的标定数据的差值的绝对值大于第二预设值，则代表有一处发生乱绳。
可选地，在步骤B后，双卷扬乱绳识别方法S100还可以包括步骤C和步骤D。
在步骤C中，获取第一卷扬每层的最大缠绕圈数。
在步骤D中，根据最大缠绕圈数以及乱绳发生圈数，得到乱绳位置信息。这里，乱绳位置信息包括乱绳发生层数以及在乱绳发生层数中对应的圈数。
需要理解的是，卷扬在缠绕钢丝绳时，其会在卷筒上缠绕多层，当只知道乱绳发生的圈数时，其并不能直观的体现乱绳的具体位置信息。
具体地，设i为乱绳发生圈数，k为每层的最大缠绕圈数，L为乱绳发生层数，i'为乱绳发生层数中对应的圈数。则L＝QUOTIENT(i,k)+1，i'＝MOD(I,k)。例如，当i＝300，k＝40时，乱绳发生层数为8层,乱绳发生层数中的对应圈数为20圈。即，乱绳发生在第8层第20圈。
可选地，在步骤D后，双卷扬乱绳识别方法S100还可以包括步骤E。
在步骤E中，将乱绳位置信息进行显示，和/或进行报警。
在一个示例中，乱绳位置信息可以通过显示屏进行显示。在另一个示例中，报警方式可以为发出警示音，例如播报“7层20圈处发生乱绳”。在另一个示例中，报警方式也可以为发出红色警示光。
在本实施例中，在获得乱绳位置信息后，将乱绳位置信息通过显示屏进行显示，并通过警示音进行播报。由此，便于提醒操作人员。
如图2所示，本公开还提供一种双卷扬乱绳识别装置200，其包括获取模块210、处理模块220以及认定模块230。
获取模块210配置为在第一卷扬每缠绕一圈后，获取标定数据。这里，标定数据包括第一卷扬的编码器采样值与第二卷扬的编码器采样值的差值的绝对值，第一卷扬和第二卷扬联动。
处理模块220配置为将所有标定数据按照预设规则进行处理，以获得处理结果。
认定模块230配置为在处理结果满足预设条件的情况下，认定第一卷扬和/或第二卷扬发生乱绳。
如图3所示，本公开还提供一种电子设备300，其包括处理器(processor)310、通信接口(Communications Interface)320、存储器(memory)330和通信总线340。这里，处理器310，通信接口320，存储器330通过通信总线340完成相互间的通信。处理器310可以调用存储器330中的逻辑指令，以执行本公开提供的双卷扬乱绳识别方法。
例如，本实施例中的电子设备300可以为PLC、工控机等计算机设备。
在本公开还提供一种计算机可读存储介质，其上存储有计算机程序。当该计算机程序被处理器读执行时，使得该处理器执行本公开提供的双卷扬乱绳识别方法。
本公开还提供一种计算机产品，其包括计算机程序。当该计算机程序被处理器执行时，使得处理器执行本公开提供的双卷扬乱绳识别方法。
本公开还提供一种吊装机械，其可以包括本公开提供的双卷扬乱绳识别装置。下面结合附图，对本公开实施例提供的吊装机械进行举例说明。
图4为根据本公开一实施例的吊装机械400的结构示意图。图5为吊装机械400的吊 钩部分的结构示意图。吊装机械400例如可以为起重机。
如图4所示，吊装机械400包括两个卷扬410,420和吊钩430。两个卷扬410,420通过缠绕或释放绳索440和450来实现吊钩430的提升或下落。如图5所示，吊钩430上设有倾角传感器460，倾角传感器460用于检测吊具的倾角。
本公开提供的双卷扬乱绳识别方法可以应用在吊装机械400。或者，吊装机械400可以包括本公开提供的双卷扬乱绳识别装置。
图6示出了双卷扬联动过程中未出现乱绳的情况下，两个卷扬的编码器采样值的差值的变化趋势。图7示出了双卷扬联动过程中出现乱绳的情况下，两个卷扬的编码器采样值的差值的变化趋势。
如图6所示，在保持吊钩基本水平的情况下，若未发生乱绳现象，则随着双卷扬的运行，二者的编码器的采样值的差值的变化趋势较为平稳。也就是说，第一卷扬在第i圈的标定数据与在第i-1圈的标定数据的差值较小。
如图7所示，在保持吊钩基本水平的情况下，若发生了乱绳现象，则随着双卷扬的运行，二者的编码器的采样值的差值的变化趋势波动较大。也就是说，第一卷扬在第i圈的标定数据与在第i-1圈的标定数据的差值较大。
因此，可以根据第一卷扬在第i圈的标定数据与在第i-1圈的标定数据的差值的绝对值的大小来确定是否发生了乱绳现象。
应当理解，在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本公开的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
虽然本公开披露如上，但本公开的保护范围并非仅限于此。本领域技术人员在不脱离本公开的精神和范围的前提下，可进行各种变更与修改，这些变更与修改均将落入本公开的保护范围。

Claims (12)

  1. 一种双卷扬乱绳识别方法，其特征在于，包括：
    在第一卷扬每缠绕一圈后，获取标定数据，其中所述标定数据包括所述第一卷扬的编码器采样值与第二卷扬的编码器采样值的差值的绝对值，所述第一卷扬与所述第二卷扬联动；
    将所有所述标定数据按照预设规则进行处理，以获得处理结果；以及
    在所述处理结果满足预设条件的情况下，确定所述第一卷扬和/或所述第二卷扬发生乱绳。
  2. 根据权利要求1所述的双卷扬乱绳识别方法，其中所述在第一卷扬每缠绕一圈后，获取标定数据，包括：
    在所述第一卷扬每缠绕一圈后，获取吊钩倾角；
    将所述吊钩倾角与预设倾角进行比较；
    在所述吊钩倾角小于所述预设倾角的情况下，记录在对应圈数下的标定数据；以及
    在所述吊钩倾角大于或者等于所述预设倾角的情况下，控制所述第一卷扬和所述第二卷扬运动直至所述吊钩倾角小于所述预设倾角，并记录在对应圈数下的标定数据。
  3. 根据权利要求1或2所述的双卷扬乱绳识别方法，其中所述将所有所述标定数据按照预设规则进行处理，以获得处理结果，包括：
    将所有所述标定数据按照获取时间进行排序；
    将排序后的所有所述标定数据进行分组，得到M组编码器差值集合，其中M为大于或者等于2的自然数；以及
    确定每组编码器差值集合的均值。
  4. 根据权利要求3所述的双卷扬乱绳识别方法，其中所述在所述处理结果满足预设条件的情况下，认定所述第一卷扬和/或所述第二卷扬发生乱绳，包括：
    在相邻两组所述编码器差值集合的均值的差值的绝对值大于第一预设值且小于第二预设值的情况下，认定所述第一卷扬或所述第二卷扬发生乱绳；以及
    在相邻两组所述编码器差值集合的均值的差值的绝对值大于或者等于所述第二预设值的情况下，认定所述第一卷扬和所述第二卷扬同时发生乱绳。
  5. 根据权利要求1至4中任一项所述的双卷扬乱绳识别方法，其中在所述当所述处理结果满足预设条件，认定所述第一卷扬和/或所述第二卷扬发生乱绳之后，还包括：
    获取所述第一卷扬在第i圈与第i-1圈下的标定数据的差值的绝对值，其中i为大于或 者等于2的自然数；以及
    在第i圈与第i-1圈的标定数据的差值的绝对值大于第三预设值的情况下，认定第i圈为乱绳发生圈数。
  6. 根据权利要求5所述的双卷扬乱绳识别方法，其中在所述在第i圈与第i-1圈的标定数据的差值的绝对值大于第三预设值的情况下，认定第i圈为乱绳发生圈数之后，还包括：
    获取所述第一卷扬每层的最大缠绕圈数；以及
    根据所述最大缠绕圈数以及所述乱绳发生圈数，得到乱绳位置信息，其中所述乱绳位置信息包括乱绳发生层数以及在所述乱绳发生层数中对应的圈数。
  7. 根据权利要求6所述的双卷扬乱绳识别方法，其中在所述根据所述最大缠绕圈数以及所述乱绳发生圈数，得到乱绳位置信息之后，还包括：
    将所述乱绳位置信息进行显示，和/或进行报警。
  8. 一种双卷扬乱绳识别装置，其特征在于，包括：
    获取模块，配置为在第一卷扬每缠绕一圈后，获取标定数据，其中所述标定数据包括所述第一卷扬的编码器采样值与第二卷扬的编码器采样值的差值的绝对值，所述第一卷扬与所述第二卷扬联动；
    处理模块，配置为将所有所述标定数据按照预设规则进行处理，以获得处理结果；
    认定模块，配置为在所述处理结果满足预设条件的情况下，认定所述第一卷扬和/或所述第二卷扬发生乱绳。
  9. 一种吊装机械，其特征在于，包括如权利要求8所述的双卷扬乱绳识别装置。
  10. 一种电子设备，其特征在于，包括：
    处理器；以及
    存储器，其上存储有计算机程序，当所述计算机程序被所述处理器执行时，使得所述电子设备执行如权利要求1至7任一项所述的双卷扬乱绳识别方法。
  11. 一种计算机可读存储介质，其特征在于，所述存储介质上存储有计算机程序，当所述计算机程序被处理器读取并运行时，使得所述处理器执行如权利要求1至7任一项所述的双卷扬乱绳识别方法。
  12. 一种计算机产品，其特征在于，包括计算机程序，当所述计算机程序被处理器执行时，使得所述处理器执行如权利要求1至7任一项所述的双卷扬乱绳识别方法。
PCT/CN2022/097922 2021-10-28 2022-06-09 双卷扬乱绳识别方法、装置、吊装机械、电子设备、计算机可读存储介质以及计算机产品 WO2023071207A1 (zh)

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