Double-beam crane control device and method for lifting gas engine unit in power plant

Abstract

The invention relates to the technical field of hoisting equipment control, in particular to a double-beam crane control device for a lifting gas engine unit of a power plant, which comprises the following modules: a load stabilizing module for monitoring the tension difference and the swing amplitude of a hoisting cable in real time and starting an automatic adjusting function when the tension difference and the swing amplitude exceed a set threshold value; the path planning module is used for generating a hoisting path according to the weight and the size of the gas engine unit and adjusting the path when an obstacle or working condition change is detected; the dynamic balance module is used for monitoring the vertical offset and the vibration condition of the gas engine unit, and the alarm prompting module is used for sending out an acousto-optic warning signal when an abnormal condition occurs in the hoisting process; according to the method, intelligent feedback control, self-adaptive path planning and high-precision positioning technologies are introduced, so that the defects in the aspects of load stability, dynamic balance control and complex working condition adaptability in the prior art are overcome, and the safety and high efficiency of the gas engine unit in the hoisting process are ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of lifting equipment control, and in particular relates to a control device and method for a double-beam crane for lifting a gas engine group in a power plant. Background Art

[0002] In modern industrial production, double-girder cranes, as essential lifting equipment, play a key role in the installation and transportation of gas-fired engine units in power plants. With the increasing demand for intelligent and efficient lifting systems in industrial equipment, the safe and stable installation of heavyweight, high-precision gas-fired engine units has become a hot topic of research. However, existing double-girder crane control devices and methods still have many shortcomings when it comes to lifting such precision equipment, particularly in terms of load stability, operational accuracy, and adaptability to complex operating conditions.

[0003] A search revealed patent publication number CN113734982B, which discloses a European-style double-girder crane. This technology uses a hydraulic push rod in conjunction with a support arm to adjust the spacing between the lifting cables, thereby achieving stable lifting of larger cargo and reducing sway. However, this solution primarily targets the lifting of general cargo and fails to fully consider the high requirements for dynamic balance and positioning accuracy during the lifting process for precision equipment such as gas engine units. Furthermore, the hydraulic push rod's telescopic control lacks an intelligent feedback mechanism, making real-time adjustments impossible in complex working conditions (such as uneven surfaces or sudden vibrations). This results in reduced load stability and makes it difficult to meet the requirements for high-precision, high-safety lifting.

[0004] Another patent with the publication number CN113942939B discloses a double-beam crane and an article conveying system using the crane. This technology monitors the position deviation of the lifting trolley in real time and automatically adjusts it through the cooperation of the distance monitoring module, the controller and the motor frequency conversion module, thereby avoiding the tipping of the lifting trolley and improving the safety of article conveying. However, this solution mainly focuses on the lateral stability control of the lifting trolley, and pays less attention to the vertical load positioning accuracy and dynamic balance optimization. When lifting heavy equipment such as gas engine units, if the vertical vibration and offset are not effectively controlled, it may cause equipment damage or cause safety accidents. In addition, this solution does not involve intelligent path planning and adaptive control functions, and it is difficult to meet the requirements of efficient operation under complex working conditions.

[0005] These issues demonstrate that existing double-girder crane control devices and methods, when used to hoist gas-fired engine units, generally suffer from insufficient load stability, limited dynamic balance control capabilities, and a low level of intelligence. Therefore, developing a double-girder crane control device and method that improves load stability and operational efficiency through intelligent feedback control, adaptive path planning, and high-precision positioning technology has significant practical significance and application value. This device and method can effectively meet the high-precision and high-safety requirements of power plant gas-fired engine unit hoisting. Summary of the Invention

[0006] The purpose of the present invention is to provide a double-girder crane control device and method for lifting gas engine units in power plants. By introducing intelligent feedback control, adaptive path planning and high-precision positioning technology, the shortcomings of the existing technology in load stability, dynamic balance control and adaptability to complex working conditions are addressed, thereby ensuring the safety and efficiency of the gas engine unit lifting process.

[0007] The technical solutions of the present invention are as follows: On one hand, the present invention provides a double-beam crane control device for lifting a gas engine group in a power plant, which includes a load stabilization module, a path planning module, a dynamic balancing module, an alarm prompt module, a parking processing module and an exit determination module.

[0008] The load stabilization module of this device monitors and adjusts the load status of the gas engine unit in real time during the hoisting process to prevent instability caused by external interference or equipment vibration. Specifically, when the tension difference of the hoisting cable exceeds a first set threshold and lasts for a first set time, the load stabilization module triggers a flag position and initiates the automatic adjustment function. In the case of uneven ground or sudden vibration, dynamic load balancing is achieved by fine-tuning the hoisting cable length and simultaneously optimizing the position of the hoisting trolley.

[0009] For equipment that is not equipped with a tension sensor, the swing amplitude of the lifting cable is used as the judgment basis. When the swing amplitude exceeds the second set threshold and the duration exceeds the second set time, the load stabilization module also triggers the flag position and starts the compensation mechanism.

[0010] The system's path planning module generates an optimal lifting path based on the gas engine unit's weight, size, and the complexity of the lifting environment. During the lifting process, if obstacles or changes in operating conditions are detected, the system automatically adjusts the path to ensure a smooth transition between the trolley and hook movements. Furthermore, when the lifting height exceeds a third set threshold, the system prioritizes a vertical lift path to minimize the impact of horizontal movement on load stability.

[0011] The dynamic balancing module of this device monitors the vertical offset and vibration of the gas engine unit in real time and dynamically compensates for these deviations through the coordinated lateral movement of the trolley and adjustment of the lifting cables. Specifically, when the vertical offset of the gas engine unit exceeds a fourth set threshold, the dynamic balancing module triggers an enhanced compensation function and adjusts the trolley's speed and acceleration to ensure load stability. If the offset continues to exceed a fifth set threshold for a period exceeding a third set time, the system enters an emergency adjustment state, limiting the trolley's maximum speed.

[0012] The device's alarm module is designed to alert the operator and surrounding personnel if an abnormal situation occurs during the lifting process. Specifically, when the trigger flag of the load stabilization module or dynamic balancing module is set, the system will illuminate the warning light in the lifting area and alert the operator through audible and visual alarms. If there are unavoidable obstacles or working conditions in the lifting path, the system will reinforce the warning with a high-frequency buzzer and flashing lights. In addition, once the alarm module is activated, the system will not automatically terminate the alarm state until the operator manually cancels it.

[0013] The parking control module of this device is used to control the lifting system in stages after the gas engine unit reaches the target position and is hoisted. Specifically, after the hook is completely unloaded, the system automatically locks the lifting trolley position and activates the parking brake within the sixth set time. Simultaneously, the system checks the slack of the hoisting cable within the seventh set time to ensure the equipment is safely docked.

[0014] The device's exit determination module monitors operator intervention and system status in real time throughout the entire lifting process. When the exit conditions are met, the system automatically exits control. Specifically, if the operator proactively adjusts the trolley position or hook height during the lifting process, and the adjustment exceeds an eighth threshold, the exit condition is determined to have been met and the relevant flags are reset. If the gas engine unit is securely positioned and the lifting cables are completely slack, the system determines the exit condition has been met and automatically resets all flags.

[0015] The present invention further provides a method for controlling a double-girder crane for lifting a gas engine unit in a power plant, comprising the following steps: (1) Load stability: The load stability module monitors the tension difference and swing amplitude of the lifting cable in real time, and activates the automatic adjustment function when it exceeds the set threshold to ensure the dynamic balance of the load.

[0016] (2) Path planning: The path planning module generates the optimal lifting path and automatically adjusts the path when obstacles or working conditions are detected to ensure the smoothness and safety of the lifting process.

[0017] (3) Dynamic balancing: The vertical offset and vibration of the gas engine group are monitored in real time through the dynamic balancing module, and dynamic compensation is performed through the coordinated adjustment of the hoisting trolley and the lifting cable.

[0018] (4) Alarm prompt: When an abnormal situation occurs during the lifting process, the alarm prompt module will send out an audible and visual warning signal to remind the operator and surrounding staff to pay attention to safety.

[0019] (5) Parking process: After the gas engine unit reaches the target position, the parking process module will lock the position of the crane trolley in stages, activate the parking brake function, and check the slack state of the lifting cable.

[0020] (6) Exit judgment: During the entire lifting process, the operator intervention and system status are monitored in real time. When the exit conditions are met, the control state is automatically exited.

[0021] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention effectively improves the stability and safety of double-girder cranes during gas engine assembly hoisting by monitoring load status in real time, optimizing the hoisting path, dynamically adjusting balance parameters, and incorporating alarm prompts and parking functions. This method can adapt to complex working conditions, ensure the efficiency and accuracy of the hoisting process, and avoid safety accidents caused by unstable loads or operational errors. 2. The path planning module of the present invention automatically generates the optimal lifting path based on load characteristics (weight, size) and environmental complexity, and dynamically adjusts the path in real time when obstacles or changes in working conditions are detected, ensuring a smooth transition of the motion trajectory, reducing manual planning time and pauses caused by path adjustment, and improving work efficiency. When the lifting height exceeds the threshold, the system gives priority to the vertical lifting path, minimizing the horizontal movement distance and its adverse effects on load stability, thereby shortening the operation time under high lifting conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present invention, but do not constitute a limitation of the embodiments of the present invention. In the accompanying drawings: Figure 1 A module structure diagram of a double-girder crane control device for lifting a gas engine group in a power plant according to an embodiment of the present invention is shown, in which main components such as a load stabilization module, a path planning module, and a dynamic balancing module are marked.

[0023] Figure 2 The flowchart of the load stabilization module according to one embodiment of the present invention is shown, and the logical process of monitoring and adjusting the tension difference and swing amplitude of the hoisting cable is described in detail.

[0024] Figure 3 The diagram shows an operating mechanism of a path planning module according to an embodiment of the present invention, illustrating the implementation of hoisting path generation and dynamic adjustment.

[0025] Figure 4 A compensation control flow chart of a dynamic balancing module according to an embodiment of the present invention is shown, focusing on the process of vertical offset monitoring and coordinated adjustment.

[0026] Figure 5 The triggering conditions and warning signal output logic diagram of the alarm prompt module according to an embodiment of the present invention are shown, and the sound and light alarm processing flow in abnormal situations is clarified.

[0027] Figure 6 The flowchart of the operation of the parking processing module and the exit determination module according to an embodiment of the present invention is shown, which describes the determination logic of the crane trolley locking, parking brake activation and system exit conditions. DETAILED DESCRIPTION

[0028] The present invention provides a double-beam crane control device and method for lifting gas engine groups in power plants, which realizes intelligent control of the lifting process through the coordinated work of the load stabilization module, path planning module, dynamic balancing module, alarm prompt module, parking processing module and exit judgment module. Figure 1 To the attached Figure 6 Specific embodiments of the present invention are described in detail.

[0029] like Figure 1 As shown, the double-girder crane control device of the present invention comprises multiple functional modules that work together to ensure safe and efficient lifting operations. In practical applications, this device is suitable for lifting gas engine units within power plants, particularly in complex lifting environments or with heavy loads. The following describes each module in detail, combining its functions and operating principles.

[0030] First of all, the load stabilization module is one of the cores of the entire system. Its main function is to monitor and adjust the tension difference and swing amplitude of the lifting cable in real time to maintain the dynamic balance of the load. Figure 2As shown, the load stabilization module's workflow consists of the following steps: First, tension sensors installed on the hoisting cables acquire real-time tension data and calculate the tension difference between the cables. If the tension difference exceeds a first set threshold and persists for a first set time, the load stabilization module triggers a flag and initiates the automatic adjustment function. The system then fine-tunes the length of the hoisting cables and optimizes the position of the trolley based on the magnitude and direction of the tension difference to achieve dynamic balance of the load. For equipment without tension sensors, the system uses the swing amplitude of the hoisting cables as a criterion. If the swing amplitude exceeds a second set threshold and persists for a second set time, the load stabilization module also triggers a flag and initiates a compensation mechanism. This compensation mechanism adjusts the length of the hoisting cables and the lateral movement of the trolley to restore the load to a balanced state. Through this process, the load stabilization module effectively addresses external disturbances such as uneven ground or sudden vibrations, ensuring the stability of the hoisting process.

[0031] The role of the path planning module is to generate the optimal lifting path and dynamically adjust the path when obstacles or working conditions are detected. Figure 3 As shown in the figure, the operating mechanism of the path planning module is as follows: First, the system generates an initial lifting path based on the weight, size and complexity of the gas engine group and the lifting environment. During the lifting process, if obstacles or changes in working conditions are detected in the path, such as the presence of other equipment or personnel activities in the lifting area, the system will automatically adjust the path and ensure a smooth transition of the movement trajectory of the hoisting trolley and hook. In addition, when the lifting height exceeds the third set threshold, the system will give priority to the vertical lifting path to reduce the impact of horizontal movement on load stability. The path planning module also has adaptive capabilities, which can continuously optimize the lifting path based on the real-time monitored working condition information, thereby improving lifting efficiency and reducing safety risks.

[0032] The main function of the dynamic balancing module is to monitor the vertical position deviation and vibration of the gas engine group in real time, and to perform dynamic compensation through the lateral movement of the lifting trolley and the coordinated adjustment of the lifting cable. Figure 4As shown, the compensation control process of the dynamic balancing module is divided into the following steps: First, the system obtains the vertical offset of the gas engine group through the displacement sensor installed on the hook. If the vertical offset exceeds the fourth set threshold, the dynamic balancing module will trigger the enhanced compensation function and ensure the stability of the load by adjusting the speed and acceleration of the hoisting trolley. If the offset continues to exceed the fifth set threshold and the time exceeds the third set time, the system enters the emergency adjustment state and limits the maximum speed of the hoisting trolley to prevent the load from shaking violently. In addition, the dynamic balancing module can also adjust the tension distribution of the lifting cable according to the vibration frequency and amplitude of the gas engine group, thereby further improving the stability of the load. The design of this module fully considers the dynamic balance requirements under complex working conditions and can achieve precise load control under different working conditions.

[0033] The alarm prompt module is used to send warning signals to operators and surrounding staff when abnormal situations occur during the lifting process. Figure 5 As shown, the trigger conditions and warning signal output logic of the alarm prompt module are as follows: When the trigger flag of the load stabilization module or dynamic balancing module is set, the system will illuminate the warning light in the lifting area and alert the operator through audible and visual alarms. If there are unavoidable obstacles or working conditions in the lifting path, such as high-voltage power lines or other dangerous equipment in the lifting area, the system will reinforce the warning with a high-frequency buzzer and flashing lights. In addition, once the alarm prompt module is activated, the system will not automatically end the alarm state until the operator manually cancels it. This design effectively prevents safety accidents caused by operator negligence and ensures the safety of the lifting process.

[0034] The parking processing module is used to control the lifting system in stages after the gas engine unit reaches the target position and is hoisted. Figure 6 As shown in the figure, the parking process module operates as follows: After the hook is completely unloaded, the system automatically locks the trolley position and engages the parking brake within the sixth set time. Simultaneously, the system checks the slack of the hoisting cables within the seventh set time to ensure the equipment is safely docked. This process is designed to prevent equipment damage or safety accidents caused by insufficiently relaxed hoisting cables.

[0035] The exit judgment module is used to monitor the operator intervention and system status in real time during the entire lifting process. When the exit conditions are met, the system will automatically exit the control state. Figure 6As shown, the exit determination module operates as follows: During the hoisting process, if the operator proactively adjusts the trolley position or hook height, and the adjustment exceeds the eighth set threshold, the exit condition is determined to be met and the relevant flags are reset. If the gas engine unit is securely positioned and the hoisting cables are completely slack, the system determines that the exit condition is met and automatically resets all flags. This module's design ensures that the system exits control promptly after the hoisting is completed, thus avoiding unnecessary resource usage.

[0036] The present invention further proposes a control method for a double-girder crane used to lift a gas-fired engine unit in a power plant. The method comprises the following steps: First, a load stabilization module monitors the tension difference and swing amplitude of the lifting cable in real time. When the tension difference and swing amplitude exceed a set threshold, an automatic adjustment function is activated to ensure dynamic load balance. Second, a path planning module generates an optimal lifting path and automatically adjusts the path when obstacles or operating conditions are detected, ensuring a smooth and safe lifting process. Third, a dynamic balancing module monitors the vertical offset and vibration of the gas-fired engine unit in real time and dynamically compensates for them through coordinated adjustment of the hoist trolley and lifting cable. Finally, if an abnormality occurs during the lifting process, an alarm module issues an audible and visual warning signal to alert the operator and surrounding personnel. After the gas-fired engine unit reaches its target position, a parking control module locks the trolley position in stages, activates the parking brake, and checks the slack of the lifting cable. Finally, throughout the lifting process, operator intervention and system status are monitored in real time, and the control state is automatically exited when exit conditions are met.

[0037] The device and method proposed in this invention effectively improve the stability and safety of double-girder cranes used in gas engine assembly hoisting by monitoring load status in real time, optimizing the hoisting path, dynamically adjusting balance parameters, and incorporating alarm and parking functions. This method can adapt to complex working conditions, ensure the efficiency and accuracy of the hoisting process, and avoid safety accidents caused by unstable loads or operational errors.

[0038] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

[0039] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0040] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A double-beam crane control device for lifting gas engine groups in power plants, characterized in that: Includes the following modules: The load stabilization module monitors the tension difference and swing amplitude of the lifting cables in real time and initiates automatic adjustment when the set threshold is exceeded; The path planning module generates a lifting path based on the weight and size of the gas engine unit and adjusts the path when obstacles or changes in operating conditions are detected. The dynamic balancing module monitors the vertical offset and vibration of the gas engine unit and compensates for them through coordinated adjustments of the hoisting trolley and lifting cables. The alarm prompt module issues audible and visual warning signals when abnormal conditions occur during the lifting process. Parking processing module, used to lock the lifting trolley position in stages and activate the parking brake function after the gas engine group reaches the target position; The exit judgment module is used to monitor operator intervention and system status during the entire lifting process and exit the control state when the conditions are met.

2. The double-girder crane control device according to claim 1, characterized in that: The load stabilization module triggers a flag position when the tension difference of the hoisting cable exceeds a first set threshold and lasts for more than a first set time, and starts an automatic adjustment function.

3. The double-girder crane control device according to claim 1, characterized in that: When the load stabilization module is not equipped with a tension sensor, it uses the swing amplitude of the lifting cable as a judgment basis. When the swing amplitude exceeds a second set threshold and the duration exceeds a second set time, the flag is triggered and the compensation mechanism is started.

4. The double-girder crane control device according to claim 1, characterized in that: The path planning module preferentially selects a vertical lifting path when the hoisting height exceeds a third set threshold to reduce the impact of horizontal movement on load stability.

5. The double-girder crane control device according to claim 1, characterized in that: The dynamic balancing module triggers the enhanced compensation function when the vertical offset exceeds a fourth set threshold, and limits the maximum speed of the lifting trolley when the offset continues to exceed a fifth set threshold and the time exceeds a third set time.

6. The double-girder crane control device according to claim 1, characterized in that: The alarm prompt module lights up the warning light in the hoisting area and reminds the operator through sound and light alarm when the trigger mark position is set. When there are unavoidable obstacles or working condition risks in the hoisting path, a high-frequency buzzer and flashing lights are used to reinforce the prompt.

7. The double-girder crane control device according to claim 1, characterized in that: The parking processing module automatically locks the position of the lifting trolley and activates the parking brake function within a sixth set time after the hook is completely unloaded, and checks the slack state of the lifting cable within a seventh set time.

8. The double-girder crane control device according to claim 1, characterized in that: The exit determination module determines that the exit condition is met and resets the relevant flag when the operator actively adjusts the position of the lifting trolley or the hook height and the adjustment range exceeds an eighth set threshold.

9. A method for controlling a double-beam crane for lifting a gas engine unit in a power plant, characterized in that: The following steps are involved: The load stabilization module monitors the tension difference and swing amplitude of the lifting cable in real time and activates the automatic adjustment function when the set threshold is exceeded; the path planning module generates the optimal lifting path and adjusts the path when obstacles or working conditions are detected; the dynamic balancing module monitors the vertical offset and vibration of the gas engine unit in real time and compensates for them through the coordinated adjustment of the hoisting trolley and lifting cable; the alarm prompt module issues audible and visual warning signals when abnormal conditions occur during the lifting process; the parking processing module locks the hoisting trolley position in stages and activates the parking brake function after the gas engine unit reaches the target position; the exit judgment module monitors operator intervention and system status throughout the lifting process and exits the control state when conditions are met.

10. The double-girder crane control method according to claim 9, characterized in that: The exit determination module determines that the exit condition is met and automatically resets all flags when the gas engine group is safely placed and the hoisting cable is completely relaxed.

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