Multi-point synchronous hoisting control system and method for prefabricated part

Abstract

The invention relates to a multi-point synchronous hoisting control system and method for a prefabricated part, which are used for solving the technical problem of instability of a hoisting system caused by asynchronous multi-hoisting-point hoisting of the current prefabricated part. Comprising a speed measurement module, an acceleration measurement module, a data acquisition module and a data processing module. The speed measurement module is mounted on a hook pulley block, adopts a rotary encoder to measure the rotating speed, calculates the rope winding speed of the hoisting system through the rotating speed of the pulley block, and is connected with the data acquisition module through a data line; the acceleration measurement module adopts a three-axis acceleration sensor and is used for measuring accelerations in the X direction, the Y direction and the Z direction, the three-axis acceleration sensor is installed on a lifting hook of each lifting point in a magnetic attraction mode, and the measured accelerations are transmitted to the data acquisition module in a wireless mode; the data acquisition module is mounted on a lifting arm of a lifting system, and transmits measured data to the data processing module through a data line of a corresponding path at regular time; and the data processing module controls synchronous lifting of the multiple lifting points according to the speed difference relation between the lifting points.

Description

Technical Field

[0001] The invention belongs to the technical field of prefabricated component hoisting, and in particular relates to a prefabricated component multi-point synchronous hoisting control system and method. Background Art

[0002] With the deepening of the concept of industrialized construction in the construction industry, factory prefabrication and mechanized installation have become a common construction method. The components are manufactured and processed in the factory, and hoisted on site, which shortens the construction period and reduces the environmental impact that may be caused by on-site construction. In the hoisting operation of large prefabricated components, the balance of the components is an important technical problem that needs to be solved during the hoisting process. If the components are hoisted unsteadily, the components will not be hoisted to the predetermined position, causing uneven force on the hoisting points, which will bring safety hazards to the hoisting process. In the existing technical solutions, during the collaborative operation of multiple tower cranes, the ground commanders and tower crane operators often control the tower cranes based on their experience. During the hoisting process, it is difficult to ensure the synchronization of each hoisting point, which can easily lead to instability of the hoisting system.

[0003] Therefore, how to provide a control system and method for multi-point synchronous lifting of prefabricated components is a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0004] In view of the technical problem that the current asynchronous lifting of prefabricated components at multiple lifting points easily causes the lifting system to become unstable, the present invention provides a control system and method for the multi-point synchronous lifting of prefabricated components based on lifting point acceleration.

[0005] In order to solve the above technical problems, the present invention includes the following technical solutions:

[0006] A prefabricated component multi-point synchronous lifting control system includes a speed measurement module, an acceleration measurement module, a data acquisition module and a data processing module.

[0007] The speed measurement module is installed on the hook pulley block, and uses a rotary encoder to measure the speed, and calculates the rope collection speed V of the lifting system through the pulley block speed n i ,V i =n*r, where r is the radius of the pulley block, and the speed measurement module is connected to the data acquisition module through a data line;

[0008] The acceleration measurement module uses a three-axis acceleration sensor to measure the acceleration in three directions of space: X, Y and Z. ix 、a iy 、a iz ,The three-axis acceleration sensor is magnetically mounted on each hanging point hook, and the measured acceleration is wirelessly transmitted to the data acquisition module;

[0009] The data acquisition module is installed on the lifting arm of the lifting system, and regularly transmits the data measured at each lifting point to the data processing module through the data line of the corresponding path;

[0010] The data processing module controls the synchronous lifting of multiple lifting points according to the speed difference relationship between the two lifting points.

[0011] Furthermore, the data processing module includes an integration module and a difference module. The integration module uses the matrix [a ix ,a iy ,a iz ] relationship to obtain the acceleration direction, and at the same time obtain the velocity direction and the velocity V in each direction ix0 、V iy0 、V iz0 , the velocity values ​​in each direction during the hoisting process of the lifting point are obtained by integrating the measured velocity and acceleration: V ix =V ix0 +∫a ix dt,V iy＝ V iy0 +∫a iy dt,V iz＝ V iz0 +∫a iz dt,V 2 =V ix 2 +V iy 2 +V iz 2 The differential module compares the speed and acceleration in each direction between the two lifting points, and uses the output signal of the differential module as the control signal to control the lifting machinery corresponding to each lifting point to ensure synchronous lifting of multiple lifting points.

[0012] The present invention also provides a method for multi-point synchronous hoisting of prefabricated components, and provides the multi-point synchronous hoisting control system for prefabricated components as a backup. The method comprises:

[0013] Step S1: The rotation speed of the pulley block of the lifting system is measured by a rotary encoder installed on each pulley block of the lifting system, thereby obtaining the rope collection speed V of the corresponding lifting point. i =n*r, where r is the radius of the pulley block;

[0014] Step S2: The acceleration of each hanging point in each direction, X, Y, and Z, is measured by a three-axis acceleration sensor installed at each hanging point. The matrix [a ix ,a iy ,a iz ]Get the acceleration direction;

[0015] Step S3: The speed of each lifting point is obtained by integrating the obtained speed and acceleration; the output signal obtained by the differential relationship between the two lifting points is used as a control signal to control the lifting machinery corresponding to each lifting point to ensure the synchronization of the lifting points of the prefabricated component, thereby ensuring the stability of the component lifting process.

[0016] Furthermore, in step S3, the calculation formula for obtaining the velocity of each suspension point by integrating the obtained velocity and acceleration is: ix =V ix0 +∫a ix dt,V iy＝ V iy0 +∫a iy dt,V iz＝ V iz0 +∫a iz dt,V 2 =V ix 2 +V iy 2 +V iz 2 .

[0017] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0018] The present invention provides a multi-point synchronous lifting control system for prefabricated components, comprising a speed measuring module, an acceleration measuring module, a data acquisition module and a data processing module. The speed measuring module is installed on a hook pulley block, uses a rotary encoder to measure the rotation speed, and calculates the rope-collecting speed of the lifting system through the rotation speed of the pulley block. The speed measuring module is connected to the data acquisition module through a data line; the acceleration measuring module uses a three-axis acceleration sensor to measure the acceleration in three directions of space, X, Y and Z. The three-axis acceleration sensor is magnetically installed on the hooks of each lifting point, and the measured acceleration is transmitted to the data acquisition module by wireless means; the data acquisition module is installed on the lifting arm of the lifting system, and regularly transmits the measured data of each lifting point to the data processing module through the data line of the corresponding path; the data processing module controls the synchronous lifting of multiple lifting points according to the speed differential relationship between the lifting points. The multi-point synchronous lifting system and method of prefabricated components based on the lifting point acceleration of the present invention adopts the method of measuring the acceleration at the lifting point, obtaining the speed through the integration algorithm, and then controlling the speed of each lifting point to ensure the lifting synchronization of each lifting point. The acceleration integration method can be used to pre-control the synchronization of the lifting system, thereby improving the immediacy and sensitivity of the synchronization control of the lifting system. Moreover, the synchronization of the lifting system during the lifting of the prefabricated components can be effectively guaranteed, thereby improving the stability during the lifting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the structure of a multi-point synchronous lifting control system for prefabricated components in Embodiment 1 of the present invention;

[0020] Figure 2 This is a schematic diagram of the distribution of lifting points in a multi-point synchronous lifting control system for prefabricated components in Embodiment 1 of the present invention;

[0021] Figure 3 This is a control schematic diagram of a multi-point synchronous lifting control system for prefabricated components in Embodiment 1 of the present invention.

[0022] In the figure:

[0023] 10-speed measurement module, 20-acceleration measurement module, 30-prefabricated component, 40-data acquisition module, 50-integration module, 60-differential module. DETAILED DESCRIPTION

[0024] The following is a further detailed description of a prefabricated component multi-point synchronous lifting control system and method provided by the present invention in conjunction with the accompanying drawings and specific embodiments. According to the following description, the advantages and features of the present invention will become clearer. It should be noted that the accompanying drawings are all in a very simplified form and use non-precise proportions, which are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention. For the convenience of description, the "upper" and "lower" described below are consistent with the upper and lower directions of the accompanying drawings, but this cannot be a limitation of the technical solution of the present invention.

[0025] Embodiment 1

[0026] Combine the following Figures 1 to 3 , the structural composition of the prefabricated component multi-point synchronous lifting control system of the present invention is described in detail.

[0027] Please refer to Figures 1 to 3 A prefabricated component multi-point synchronous lifting control system includes a speed measuring module 10, an acceleration measuring module 20, a data acquisition module 40 and a data processing module. The speed measuring module 10 is installed on the hook pulley block, and a rotary encoder is used to measure the rotation speed. The rope collection speed of the lifting system is calculated by the pulley block rotation speed. The speed measuring module 10 is connected to the data acquisition module through a data line.

[0028] The acceleration measurement module 20 uses a three-axis acceleration sensor to measure acceleration in three directions, X, Y and Z, of space. The three-axis acceleration sensor is magnetically mounted on the hook of each lifting point, and the measured acceleration is transmitted wirelessly to the data acquisition module 40; the data acquisition module 40 is installed on the boom of the lifting system, and regularly transmits the measured data of each lifting point to the data processing module through the data line of the corresponding channel. The data processing module controls the synchronous lifting of multiple lifting points according to the speed differential relationship between the two lifting points.

[0029] In this embodiment, more preferably, the data processing module includes an integration module 50 and a difference module 60. The integration module uses the matrix [aix ,a iy ,a iz ] to get the acceleration direction, and at the same time get the velocity direction and the velocity V in each direction ix0 、V iy0 、V iz0 , the velocity value V of the lifting point during the lifting process is obtained by integrating the measured velocity and acceleration ix =V ix0 +∫a ix dt,V iy＝ V iy0 +∫a iy dt,V iz＝ V iz0 +∫a iz dt,V 2 =V ix 2 +V iy 2 +V iz 2 The differential module compares the speed and acceleration in each direction between the two lifting points, and uses the output signal of the differential module as the control signal to control the lifting machinery corresponding to each lifting point to ensure synchronous lifting of multiple lifting points.

[0030] Please continue to refer to Figures 1 to 3 The present invention also provides a method for multi-point synchronous lifting of prefabricated components, and provides the multi-point synchronous lifting control system for prefabricated components as a backup, the method comprising:

[0031] Step S1: The rotation speed of the pulley block of the lifting system is measured by a rotary encoder installed on each pulley block of the lifting system, thereby obtaining the rope collection speed V of the corresponding lifting point. i =n*r, where r is the radius of the pulley block;

[0032] Step S2: The acceleration of each hanging point in each direction, X, Y, and Z, is measured by a three-axis acceleration sensor installed at each hanging point. The matrix [a ix ,a iy ,a iz ]Get the acceleration direction;

[0033] Step S3: The speed of each lifting point is obtained by integrating the obtained speed and acceleration; the output signal obtained by the differential relationship between the two lifting points is used as a control signal to control the lifting machinery corresponding to each lifting point to ensure the synchronization of the lifting points of the prefabricated component 30, thereby ensuring the stability of the lifting process of the prefabricated component 30.

[0034] In this embodiment, more preferably, the calculation formula for obtaining the speed of each suspension point by integrating the obtained speed and acceleration in step S3 is: ix=V ix0 +∫a ix dt,V iy＝ V iy0 +∫a iy dt,V iz＝ V iz0 +∫a iz dt,V 2 =V ix 2 +V iy 2 +V iz 2 .

[0035] The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. The above embodiments only express several embodiments of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A multi-point synchronous hoisting control system for prefabricated components, characterized in that: It includes speed measurement module, acceleration measurement module, data acquisition module and data processing module. The speed measurement module is installed on the hook pulley block, and uses a rotary encoder to measure the speed, and calculates the rope collection speed V of the lifting system through the pulley block speed n i ,V i =n*r, where r is the radius of the pulley block, and the speed measurement module is connected to the data acquisition module through a data line; The acceleration measurement module uses a three-axis acceleration sensor to measure acceleration in three directions: X, Y and Z. The three-axis acceleration sensor is magnetically mounted on the hooks of each hanging point, and the measured acceleration is transmitted to the data acquisition module wirelessly; The data acquisition module is installed on the lifting arm of the lifting system, and regularly transmits the data measured at each lifting point to the data processing module through the data line of the corresponding path; The data processing module controls the synchronous lifting of multiple lifting points according to the speed difference relationship between the two lifting points.

2. The prefabricated component multi-point synchronous lifting control system according to claim 1 is characterized in that: The data processing module includes an integration module and a difference module. The integration module forms a matrix [a ix ,a iy ,a iz ] to get the acceleration direction, and at the same time get the velocity direction and the velocity V in each direction ix0 、V iy0 、V iz0 , the velocity value V in each direction during the hoisting process of the lifting point is obtained by integrating the measured velocity and acceleration ix =V ix0 +∫a ix dt,V iy＝ V iy0 +∫a iy dt,V iz＝ V iz0 +∫a iz dt, V 2 =V ix 2 +V iy 2 +V iz 2 The differential module compares the speed and acceleration in each direction between the two lifting points, and uses the output signal of the differential module as the control signal to control the lifting machinery corresponding to each lifting point to ensure synchronous lifting of multiple lifting points.

3. A method for multi-point synchronous lifting of prefabricated components, providing the multi-point synchronous lifting control system for prefabricated components according to claim 1 or 2 as a backup, characterized in that: The method comprises: Step S1: The rotation speed of the pulley block of the lifting system is measured by a rotary encoder installed on each pulley block of the lifting system, thereby obtaining the rope collection speed V of the corresponding lifting point. i , where V i =n*r, r is the radius of the pulley block; Step S2: The acceleration of each hanging point in each direction, X, Y, and Z, is measured by a three-axis acceleration sensor installed at each hanging point. The matrix [a ix ,a iy ,a iz ]Get the acceleration direction; Step S3: The speed of each lifting point is obtained by integrating the obtained speed and acceleration; the output signal obtained by the speed difference relationship between the two lifting points is used as a control signal to control the lifting machinery corresponding to each lifting point to ensure the synchronization of the lifting points of the prefabricated component, thereby ensuring the stability of the component lifting process.

4. The method according to claim 3, characterized in that The calculation formula for the speed of each suspension point obtained by integrating the obtained speed and acceleration in step S3 is: ix =V ix0 +∫a ix dt,V iy＝ V iy0 +∫a iy dt,V iz＝ V iz0 +∫a iz dt,V 2 =V ix 2 +V iy 2 +V iz 2 .

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