Crane synchronization control method, device, system, electronic equipment and storage medium

Abstract

The present application is applicable to the technical field of bridge cranes, and provides a synchronous control method, device, system, electronic device and computer-readable storage medium for a multi-hook bridge crane. The method includes: receiving the single-machine status data of all control panels; obtaining the comprehensive status data of the crane according to the single-machine status data of all control panels; generating restriction instructions for all control panels according to the comprehensive status data; and sending the restriction instructions to the connected control panels. Since the status data of all control panels obtained by each synchronous control device through the bus are consistent, the comprehensive status data obtained by analysis is also consistent, and the restriction instructions further generated are also consistent. The present application can make the operating status of multiple hook integration mechanisms consistent and avoid safety hazards.

Description

Technical Field

[0001] The present application belongs to the technical field of bridge cranes, and in particular, relates to a synchronous control method, device, system, electronic equipment and computer-readable storage medium for a multi-hook bridge crane. Background Art

[0002] In existing bridge crane application sites, a bridge crane is usually equipped with two trolleys, each of which is equipped with a main hook and driven by the lifting mechanism on the trolley. This type of crane has the advantages of high efficiency and convenience in lifting large and long workpieces. In this application scenario, a one-transmit-two-receive remote control is used, and the two trolleys can be controlled separately or simultaneously, which is easy to operate.

[0003] Since the two trolleys are independently controlled by two independent electric cabinets, there is no data interaction. When the two trolleys are controlled and run simultaneously, if one of the trolleys stops due to reaching the limit, interference with the remote control signal, overload, etc., and the other trolley is still lifting according to the remote control command, the workpiece posture will be abnormal, posing a serious safety hazard. Summary of the invention

[0004] The embodiments of the present application provide a synchronous control method, device, system, electronic device and computer-readable storage medium for a multi-hook bridge crane, which can solve the problem of inconsistent states when multiple hooks in a multi-hook bridge crane are running simultaneously.

[0005] In a first aspect, an embodiment of the present application provides a synchronous control system for a multi-hook bridge crane, including a plurality of hook integrated mechanisms, each hook integrated mechanism including a driver, a synchronous control device and a control panel, wherein the driver is used to control a trolley, a small trolley, a hook and a lifting mechanism;

[0006] Each of the drivers is provided with a control board and a synchronous control device, and the synchronous control device is connected to the control board via a first bus;

[0007] The control board is used to send its own status data to the connected synchronous control device, and is also used to receive the restriction instruction from the synchronous control device, and is also used to control the driver according to the restriction instruction;

[0008] Each of the synchronous control devices is connected to the second bus, and is used to send the status data to the second bus, and is also used to receive status data from other synchronous control devices;

[0009] Each of the synchronous control devices is also used to obtain the comprehensive status data of the crane according to the status data of all the synchronous control devices and generate the restriction instruction.

[0010] In a second aspect, an embodiment of the present application provides a synchronous control method for a multi-hook bridge crane, which is applied to a synchronous control device, comprising:

[0011] Receiving stand-alone status data of all control boards, the stand-alone status data including stand-alone status data of connected control boards obtained through the first bus and stand-alone status data of at least one other control board obtained through the second bus;

[0012] Obtaining the comprehensive status data of the crane according to the single-machine status data of all control panels;

[0013] generating restriction instructions for all control panels according to the comprehensive status data;

[0014] The restriction instruction is sent to the connected control board.

[0015] The single-machine status data includes at least one of the lifting weight, operation instructions, single-machine limit information and single-machine fault information of the hook integrated mechanism of the control panel; the comprehensive status data includes at least one of the total load of the bridge, lifting status, comprehensive signal status, comprehensive limit information and comprehensive fault information;

[0016] Accordingly, the comprehensive status data of the crane is obtained according to the single-machine status data of all control panels, including at least one of the following situations:

[0017] Calculating the sum of the lifting weights of all hook integrated mechanisms to obtain the total load of the bridge;

[0018] If the operation instruction of any hook integrated mechanism is to stop operation, the lifting state is obtained as non-simultaneous operation;

[0019] If the single-machine limit information of any hook integrated mechanism is reaching the limit, then the comprehensive limit information is obtained as reaching the limit;

[0020] If the single machine fault information of any hook integrated mechanism indicates that a fault exists, then the comprehensive fault information obtained indicates that a fault exists.

[0021] Furthermore, based on the comprehensive status data, a restriction instruction for all control panels is generated, including:

[0022] If the total load of the bridge is greater than the rated load of the bridge, or if the lifting state is non-simultaneous operation, or if the comprehensive limit information is that the limit is reached, or if the comprehensive fault information is that a fault exists, then the restriction instruction is generated, and the restriction instruction is to stop operation.

[0023] As a possible implementation manner of the second aspect, after receiving the stand-alone status data of all control boards, the method further includes:

[0024] Create an array for storing the single-machine status data, online flags and communication timing values ​​of all control boards, and the length of the array is equal to the total number of control boards;

[0025] According to the preset network address of each of the synchronous control devices, the single machine status data is stored in the corresponding position of the array;

[0026] Setting the online flag of the synchronous control device stored in the corresponding position to true;

[0027] After resetting the communication timing value of the synchronous control device stored in the corresponding position, the communication timing is restarted.

[0028] Furthermore, before obtaining the comprehensive status data of the crane according to the single-machine status data of all control panels, the method further includes:

[0029] The synchronization control device with the online flag bit being true is stored in the online device queue;

[0030] The communication timing value of each synchronous control device in the online device queue is judged, and if the communication timing value is greater than a preset value, it is determined that the corresponding synchronous control device is offline;

[0031] Setting the online flag of the corresponding synchronous control device in the array to false and resetting the communication timing value;

[0032] According to the single machine status data of all control panels, the comprehensive status data of the crane is obtained, including:

[0033] The comprehensive status data of the crane is obtained based on the single machine status data whose online flag is true.

[0034] Further, after determining that the corresponding synchronization control device is offline, the method further includes:

[0035] Deleting the corresponding synchronization control device from the online device queue;

[0036] If the length of the online device queue is less than 2, it is determined that an abnormal situation exists.

[0037] In a third aspect, an embodiment of the present application provides a synchronous control device for a multi-hook bridge crane, comprising:

[0038] A communication module, used to receive the stand-alone status data of all control boards, wherein the status data includes the stand-alone status data of the connected control boards obtained through the first bus and the stand-alone status data of at least one other control board obtained through the second bus;

[0039] A comprehensive status judgment module, used to obtain the comprehensive status data of the crane according to the single machine status data of all control panels;

[0040] An instruction generation module, used for generating restriction instructions for all control panels according to the comprehensive status data;

[0041] The communication module is also used to send the restriction instruction to the connected control board.

[0042] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising a bus interface, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements a method as described in any one of the second aspects when executing the computer program.

[0043] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method as described in any one of the second aspects is implemented.

[0044] In a sixth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on an electronic device, the electronic device executes any one of the methods described in the second aspect above.

[0045] It can be understood that the beneficial effects of the second to sixth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here.

[0046] Compared with the prior art, the embodiments of the present application have the following beneficial effects: the synchronous control device of each hook integrated mechanism can obtain the status data of its own control panel and the status data of the control panels of other hook integrated mechanisms through the bus, thereby analyzing and obtaining the comprehensive status data of the crane; and generating restriction instructions for all control panels based on the comprehensive status data. Since the status data of all control panels obtained by each synchronous control device through the bus are consistent, the comprehensive status data obtained through analysis are also consistent, and the restriction instructions further generated are also consistent. The present application can make the operating status of multiple hook integrated mechanisms consistent and avoid safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0048] Figure 1 It is a structural schematic diagram of a synchronous control system of a multi-hook bridge crane provided in one embodiment of the present application;

[0049] Figure 2 is a flow chart of a synchronization control method provided by an embodiment of the present application;

[0050] Figure 3 This is a schematic diagram of data trends provided by an embodiment of the present application;

[0051] Figure 4 is a flow chart of a synchronization control method provided by another embodiment of the present application;

[0052] Figure 5 is a structural schematic diagram of a synchronous control device provided by an embodiment of the present application;

[0053] Figure 6 It is a schematic diagram of the structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0054] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0055] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0056] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0057] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0058] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0059] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0060] An embodiment of the present application provides a synchronous control system for a multi-hook bridge crane, which is applied to a scenario where multiple hooks are controlled simultaneously to perform collaborative operations, and can avoid safety hazards caused by inconsistent states among the multiple hooks.

[0061] Figure 1 Schematic diagram of the structure of the synchronous control system of the multi-hook bridge crane provided in this embodiment. Figure 1 As shown, the system includes a plurality of hook integrated mechanisms, each of which includes a drive, a synchronous control device and a control panel.

[0062] The driver is an integrated driver, used to control the trolley, car, hook and lifting mechanism. The driver also integrates peripheral devices and monitors. This configuration eliminates the need for electrical cabinets and peripheral devices, making the electrical cabinet structure simple and space-efficient.

[0063] Each driver is provided with a control board and a synchronous control device, and the synchronous control device is connected to the control board via a first bus. In this embodiment, the first bus is a 485 bus. In other application environments, other types of buses can also be selected and equipped with corresponding communication protocols. The driver is provided with a dedicated socket to provide working power for the synchronous control device.

[0064] The synchronous control device can be in any form such as an expansion card, a plug-in device, an integrated board, an electronic component, etc., and has a bus interface and a power interface.

[0065] The control board is used to send its own status data to the connected synchronous control device, to receive the restriction instruction from the synchronous control device, and to control the driver according to the restriction instruction.

[0066] Each synchronous control device is connected to the second bus to collect and process information. Specifically, each synchronous control device sends its own status data to the second bus and receives status data from other synchronous control devices. In this embodiment, the second bus is a CAN bus. In other application environments, other types of buses can be selected and corresponding communication protocols can be configured. Each synchronous control device is a host on the second bus.

[0067] When more synchronous control devices need to be added to the system, the configured synchronous control devices only need to be merged into the second bus without the need for separate programming.

[0068] Each synchronous control device is also used to obtain comprehensive status data of the crane based on status data of all synchronous control devices and generate restriction instructions.

[0069] The synchronous control device of each hook integrated mechanism can obtain the status data of its own control panel and the status data of the control panels of other hook integrated mechanisms through the bus, so as to analyze and obtain the comprehensive status data of the crane; and generate restriction instructions for all control panels based on the comprehensive status data. Since the status data of all control panels obtained by each synchronous control device through the bus are consistent, the comprehensive status data obtained by analysis are also consistent, and the restriction instructions further generated are also consistent. This embodiment can make the operating status of multiple hook integrated mechanisms consistent and avoid safety hazards. For example, when controlling the operation of multiple trolleys at the same time, when any trolley fails, reaches the limit, or is overloaded and stops, the other trolleys can also stop in time; when the operating signal of any trolley is disconnected, the other trolley can also stop in time.

[0070] Based on the synchronous control system provided in the above embodiment, this embodiment provides a synchronous control method for a multi-hook bridge crane, which is applied to a synchronous control device to achieve synchronous shutdown control of multiple hooks.

[0071] Figure 2 : is a flow chart of the synchronous control method of the multi-hook bridge crane provided in this embodiment. Figure 2 As shown, the method comprises the following steps:

[0072] S11, receiving the single machine status data of all control boards.

[0073] The single-machine status data is used to describe the status of a single hook integrated mechanism (including trolley, carriage, hook and lifting mechanism, etc.), including at least one of the lifting weight, operating instructions, single-machine signal status, single-machine limit information and single-machine fault information of the hook integrated mechanism belonging to the control panel.

[0074] The single machine status data includes the single machine status data of the connected control board obtained through the first bus, and the single machine status data of at least one other control board obtained through the second bus.

[0075] Figure 3 This is a schematic diagram of the data trend provided by this embodiment. Figure 3 As shown, the synchronous control device 1 is connected to the control board 1 through the first bus, and the single machine status data of the control board 1 can be obtained through the first bus, and the single machine status data of the control board 1 can also be sent to the outside through the second bus. The synchronous control devices 1~N are respectively connected to the second bus, and the synchronous control device 1 can obtain the single machine status data of the control boards 2~N through the second bus.

[0076] S12, obtaining the comprehensive status data of the crane according to the single machine status data of all control panels.

[0077] The comprehensive status data includes at least one of the total load of the bridge, lifting status, comprehensive signal status, comprehensive limit information and comprehensive fault information.

[0078] Obtaining comprehensive status data of the crane includes at least one of the following situations:

[0079] Calculate the sum of the lifting weights of all hook integrated mechanisms to obtain the total load of the bridge;

[0080] If the lifting weight of any hook integrated mechanism is overloaded, the comprehensive load condition is overloaded;

[0081] If the operation instruction of any hook integrated mechanism is to stop running, the lifting state is obtained as non-simultaneous operation;

[0082] If the single-machine limit information of any hook integrated mechanism is reaching the limit, the comprehensive limit information obtained is reaching the limit;

[0083] If the single-machine fault information of any hook integrated mechanism is that a fault exists, the comprehensive fault information obtained is that a fault exists;

[0084] If the single-machine signal status of any hook integrated mechanism is signal disconnection, the comprehensive signal status obtained is signal abnormality.

[0085] In addition to determining whether a single hook is overloaded, this embodiment also calculates the total load of the bridge, which can avoid the situation where a single hook is not overloaded but the total load of the bridge is overloaded.

[0086] S13, generating restriction instructions for all control boards based on the comprehensive status data.

[0087] If the total load of the bridge is greater than the rated load of the bridge, or the lifting status is non-simultaneous operation, or the comprehensive limit information is that the limit is reached, or the comprehensive fault information is that a fault exists, or the comprehensive signal status is a signal abnormality, a restriction instruction is generated, and the restriction instruction is to stop operation.

[0088] S14, sending a restriction instruction to a connected control board.

[0089] The synchronous control device sends the restriction instruction to the connected control board through the first bus. The control board reads the restriction instruction and responds to it.

[0090] For example, according to the single-machine status data from the synchronous control device 1, it can be known that the corresponding hook has reached the limit, while the other hooks have not reached the limit. After each synchronous control device performs an independent logical AND operation, the comprehensive limit information obtained is the result of reaching the limit. At this time, the limit instruction generated indicates that the control boards 1~N should stop running. Each synchronous control device sends the limit instruction to the control board connected to itself through the first bus. The control board reads the limit instruction and instructs the driver to stop driving each component to achieve shutdown.

[0091] In this embodiment, the comprehensive status data calculated by each synchronous control device based on the same single machine status data are the same, so the restriction instructions obtained are also the same. If the crane driver controls multiple hooks to lift at the same time through the remote control, when any of them encounters the above-mentioned situation that should be stopped, the other hooks will also receive the shutdown instruction according to the same comprehensive status data, avoiding the abnormal posture of the lifted workpiece caused by the asynchronism between the hooks.

[0092] The above-mentioned synchronous control device has independent computing and storage capabilities. Based on the above-mentioned embodiment, this embodiment exemplifies its storage and computing process.

[0093] Figure 4 FIG. 1 is a flow chart of a synchronous control method for a multi-hook bridge crane provided by another embodiment of the present application. Figure 4 As shown, the method comprises the following steps:

[0094] S211, receiving the single machine status data of all control boards.

[0095] The received single-machine status data is preliminarily processed. The preliminary processing includes assigning the acquired lifting weight, operating instructions, single-machine signal status, single-machine limit information and single-machine fault information to the corresponding state variables. It also includes resetting the communication timing value of the corresponding synchronous control device and restarting the communication timing, performing communication return frame counting, etc. when the single-machine status data is received.

[0096] S212, create an array.

[0097] Each synchronous control device creates an array in its own memory for storing the stand-alone status data, online flags and communication timing values ​​of all control boards. In other embodiments, other data structures may also be used for data storage, such as a data table.

[0098] The length of the array is equal to the total number of control boards. If a new synchronous control device is added, the length of the array should be expanded accordingly.

[0099] S213, according to the preset network address of each synchronous control device, the single machine state data is stored in the corresponding position of the array.

[0100] The system pre-configures a network address for each synchronous control device, and the network address of each synchronous control device is different.

[0101] For example, the length of the array Device[0,1,2,…,M-1] is M (M≥N), the system configures network addresses 1~N for synchronous control devices 1~N respectively, and the single-machine status data of synchronous control devices 1~N are stored in the array Device[1]~Device[N] positions respectively.

[0102] S214, setting the online flag of the synchronous control device stored in the corresponding position to true.

[0103] Correspondingly, the position of the array Device[1] also stores the online flag of the synchronous control device 1. If the synchronous control device 1 is online, the online flag is true. The same is true for other synchronous control devices.

[0104] S215, after resetting the communication timing value of the synchronous control device stored in the corresponding position, restart the communication timing.

[0105] As shown in step S211, when the stand-alone status data is received, the communication timing value of the corresponding synchronous control device is reset and the communication timing is restarted. The communication timing value is also stored in the array corresponding to the network address position of each synchronous control device.

[0106] S216, storing the synchronization control device with the online flag bit set to true into the online device queue.

[0107] According to whether the online flag is true or not, or according to whether the communication timing value is within a preset value, it is determined whether the synchronous control device is online and stored in the online device queue.

[0108] S217, judging whether the communication timing value is greater than a preset value, if so, determining that the corresponding synchronous control device is offline, executing step S218, otherwise determining that the corresponding synchronous control device is online, executing step S22.

[0109] Each time new stand-alone status data is received from any synchronous control device, its corresponding communication timing value will be reset synchronously. The communication timing value is the difference between the time when the stand-alone status data was last received and the current time, which is used to indicate the time interval for updating data.

[0110] The communication timing value of each synchronous control device in the online device queue is judged. If the communication timing value of a synchronous control device is greater than the preset value, it means that the synchronous control device has not provided the latest single-machine status data within the preset value of time and has timed out. It can be considered that the synchronous control device has been offline.

[0111] S218, setting the online flag of the corresponding synchronous control device in the array to false and resetting the communication timing value.

[0112] S219, deleting the corresponding synchronization control device from the online device queue.

[0113] Delete offline synchronization control devices and refresh online device queues synchronously.

[0114] S220, obtaining the comprehensive status data of the crane according to the single machine status data whose online flag is true.

[0115] After verification in steps S216 to S219, the online flag of the online synchronous control device in the array must be true. For multiple synchronous control devices still in the online device queue, the corresponding single machine status data is obtained from the array according to their network addresses, and the calculation of step S22 is performed.

[0116] S230, generating restriction instructions for all control panels according to the comprehensive status data;

[0117] S240, sending a restriction instruction to a connected control board.

[0118] It should be noted that after obtaining the online device queue in step S216 or updating the online device queue in step S219, the following steps are also included:

[0119] If the length of the online device queue is less than 2, it is determined that there is an abnormality. The abnormality may be a communication abnormality, or it may be a data reading and writing abnormality of the synchronous control device or control board, power supply abnormality, etc. The system needs to alarm for abnormal situations to facilitate staff to troubleshoot problems.

[0120] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0121] Corresponding to the synchronization control method and synchronization control system of the above embodiment, Figure 5 It is a structural diagram of a synchronous control device provided in an embodiment of the present application. For the convenience of explanation, only the parts related to the embodiment of the present application are shown.

[0122] The synchronous control device can be in any form such as an expansion card, a plug-in device, an integrated board, an electronic component, etc.

[0123] Reference Figure 5 , the device comprises:

[0124] The communication module 51 is used to receive the stand-alone status data of all control boards, the status data including the stand-alone status data of the connected control boards obtained through the first bus and the stand-alone status data of at least one other control board obtained through the second bus.

[0125] The comprehensive status judgment module 52 is used to obtain the comprehensive status data of the crane according to the single machine status data of all control panels.

[0126] The instruction generation module 53 is used to generate restriction instructions for all control boards according to the comprehensive status data.

[0127] The communication module 51 is also used to send the restriction instruction to the connected control board.

[0128] The communication module 51 further includes a bus interface unit, so that the synchronous control device can be connected to the control board via the first bus, and obtain the single-machine status data of other synchronous control devices via the second bus.

[0129] It should be noted that the information interaction, execution process and other contents between the above-mentioned modules are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0130] Figure 6 This is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Figure 6 As shown, the electronic device 6 of this embodiment includes: a bus interface 63, at least one processor 60 ( Figure 6 Only one is shown), a memory 61, and a computer program 62 stored in the memory 61 and executable on at least one processor 60, wherein the processor 60 implements the steps of any of the above-mentioned synchronization control method embodiments when executing the computer program 62.

[0131] The electronic device 6 can be in any form such as an expansion card, a plug-in device, an integrated board component, etc. Those skilled in the art can understand that Figure 6It is only an example of the electronic device 6 and does not constitute a limitation on the electronic device 6. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, etc.

[0132] The bus interface 63 includes a first bus interface 631 and a second bus interface 632 . The first bus interface 631 and the second bus interface 632 may be the same type of bus interfaces or different types of bus interfaces, and are configured according to actual conditions.

[0133] The processor 60 may be a microcontroller unit (MCU), a central processing unit (CPU), or other general-purpose processors, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0134] In some embodiments, the memory 61 may be an internal storage unit of the electronic device 6, such as a hard disk or a memory, or an external storage device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory 61 may include both an internal storage unit and an external storage device. The memory 61 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as program codes of a computer program. The memory 61 may also be used to temporarily store data that has been output or is to be output.

[0135] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0136] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0137] An embodiment of the present application provides a computer program product. When the computer program product runs on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0138] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the camera / terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0139] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0140] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0141] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0142] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0143] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A synchronous control method for a multi-hook bridge crane, applied to a synchronous control device, characterized in that: include: Receiving stand-alone status data of all control boards, the stand-alone status data including stand-alone status data of connected control boards obtained through the first bus and stand-alone status data of at least one other control board obtained through the second bus; Obtaining the comprehensive status data of the crane according to the single-machine status data of all control panels; generating restriction instructions for all control panels according to the comprehensive status data; sending the restriction instruction to the connected control board; The single-machine status data includes at least one of the lifting weight, operation instructions, single-machine limit information and single-machine fault information of the hook integrated mechanism of the control panel; the comprehensive status data includes at least one of the total load of the bridge, lifting status, comprehensive signal status, comprehensive limit information and comprehensive fault information; According to the single machine status data of all control panels, the comprehensive status data of the crane is obtained, including at least one of the following situations: Calculating the sum of the lifting weights of all hook integrated mechanisms to obtain the total load of the bridge; If the operation instruction of any hook integrated mechanism is to stop operation, the lifting state is obtained as non-simultaneous operation; If the single-machine limit information of any hook integrated mechanism is reaching the limit, then the comprehensive limit information is obtained as reaching the limit; If the single machine fault information of any hook integrated mechanism indicates that a fault exists, then the comprehensive fault information obtained indicates that a fault exists.

2. The synchronous control method according to claim 1, characterized in that: Generate restriction instructions for all control panels based on the comprehensive status data, including: If the total load of the bridge is greater than the rated load of the bridge, or if the lifting state is non-simultaneous operation, or if the comprehensive limit information is that the limit is reached, or if the comprehensive fault information is that a fault exists, then the restriction instruction is generated, and the restriction instruction is to stop operation.

3. The synchronous control method according to claim 1, characterized in that: After receiving the stand-alone status data of all control boards, it also includes: Create an array for storing the single-machine status data, online flags and communication timing values ​​of all control boards, and the length of the array is equal to the total number of control boards; According to the preset network address of each of the synchronous control devices, the single machine status data is stored in the corresponding position of the array; Setting the online flag of the synchronous control device stored in the corresponding position to true; After resetting the communication timing value of the synchronous control device stored in the corresponding position, the communication timing is restarted.

4. The synchronous control method according to claim 3, characterized in that: Before obtaining the comprehensive status data of the crane according to the single machine status data of all control panels, the method further includes: The synchronization control device with the online flag bit being true is stored in the online device queue; The communication timing value of each synchronous control device in the online device queue is judged, and if the communication timing value is greater than a preset value, it is determined that the corresponding synchronous control device is offline; Setting the online flag of the corresponding synchronous control device in the array to false and resetting the communication timing value; According to the single machine status data of all control panels, the comprehensive status data of the crane is obtained, including: The comprehensive status data of the crane is obtained based on the single machine status data whose online flag is true.

5. The synchronous control method according to claim 4, characterized in that: After determining that the corresponding synchronous control device is offline, the method further includes: Deleting the corresponding synchronization control device from the online device queue; If the length of the online device queue is less than 2, it is determined that an abnormal situation exists.

6. A synchronous control device for a multi-hook bridge crane, characterized in that: include: A communication module, used to receive the stand-alone status data of all control boards, wherein the status data includes the stand-alone status data of the connected control boards obtained through the first bus and the stand-alone status data of at least one other control board obtained through the second bus; A comprehensive status judgment module, used to obtain the comprehensive status data of the crane according to the single machine status data of all control panels; An instruction generation module, used for generating restriction instructions for all control panels according to the comprehensive status data; The communication module is further used to send the restriction instruction to the connected control board; The single-machine status data includes at least one of the lifting weight, operation instructions, single-machine limit information and single-machine fault information of the hook integrated mechanism of the control panel; the comprehensive status data includes at least one of the total load of the bridge, lifting status, comprehensive signal status, comprehensive limit information and comprehensive fault information; The comprehensive status judgment module is used to obtain the comprehensive status data of the crane according to the single-machine status data of all control panels, including at least one of the following situations: Calculating the sum of the lifting weights of all hook integrated mechanisms to obtain the total load of the bridge; If the operation instruction of any hook integrated mechanism is to stop operation, the lifting state is obtained as non-simultaneous operation; If the single-machine limit information of any hook integrated mechanism is reaching the limit, then the comprehensive limit information is obtained as reaching the limit; If the single machine fault information of any hook integrated mechanism indicates that a fault exists, then the comprehensive fault information obtained indicates that a fault exists.

7. A synchronous control system for a multi-hook bridge crane, characterized in that: It comprises a plurality of hook integrated mechanisms, each hook integrated mechanism comprises a driver, a synchronous control device and a control board, and the synchronous control device is used to execute the synchronous control method according to any one of claims 1 to 5; The driver is used to control the trolley, car, hook and lifting mechanism; Each of the drivers is provided with a control board and a synchronous control device, and the synchronous control device is connected to the control board via a first bus; The control board is used to send its own status data to the connected synchronous control device, and is also used to receive the restriction instruction from the synchronous control device, and is also used to control the driver according to the restriction instruction; Each of the synchronous control devices is connected to the second bus, and is used to send the status data to the second bus, and is also used to receive status data from other synchronous control devices; Each of the synchronous control devices is also used to obtain the comprehensive status data of the crane according to the status data of all the synchronous control devices and generate the restriction instruction.

8. An electronic device comprising a bus interface, a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 5 is implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

Images