Control method, device, equipment and computer storage medium for tower crane slewing mechanism

Abstract

The present application discloses a control method, device, equipment and computer storage medium for a slewing mechanism of a tower crane, which receives a control instruction for the slewing mechanism of a target tower crane, determines the target speed change time of the slewing mechanism according to the control instruction; determines the target speed change mode of the slewing mechanism according to the control instruction; if the target speed change mode is a first sinusoidal curve change mode, calculates the first speed change curve of the slewing mechanism based on the target speed change time and the first sinusoidal curve change mode, and controls the operation of the slewing mechanism according to the first speed change curve. The present application calculates the first speed change curve through the target speed change time and the first sinusoidal curve change mode and controls the operation of the slewing mechanism according to the first speed change curve, so that the starting speed of the slewing mechanism is fast, and the running distance is reduced during deceleration, and the running distance is increased during acceleration, thereby effectively improving the working efficiency of the slewing mechanism of the tower crane.

Description

Technical Field

[0001] The present application relates to the technical field of tower crane control, and in particular to a control method, device, equipment and computer storage medium for a tower crane slewing mechanism. Background Art

[0002] When the tower crane slewing mechanism is started and stopped by the tower crane slewing inverter, in order to prevent sudden changes in speed, it is generally started and stopped by a linear acceleration and deceleration control method, or started or stopped by an S-curve acceleration and deceleration control method. During the acceleration and deceleration phase of the tower crane slewing mechanism using linear acceleration and deceleration, the acceleration remains unchanged, and the acceleration is 0 at a constant speed; when the S-curve acceleration and deceleration is used, the acceleration gradually increases from 0 to the maximum acceleration, and after a certain period of time, it gradually decreases to 0. When the acceleration is reduced to 0, the target speed is reached. However, the requirements for the application of the tower crane slewing mechanism are: fast starting speed, long movement distance during acceleration and short movement distance during deceleration. The linear acceleration and deceleration control method does not change the acceleration during acceleration and deceleration, and the start and deceleration are not fast; the S-curve acceleration and deceleration control method has an acceleration of 0 at the beginning, so although it is relatively gentle at the start, there are problems of slow start and slow deceleration. As a result, the above two traditional control methods cannot meet the application requirements of the tower crane slewing mechanism, resulting in low working efficiency of the tower crane slewing mechanism. Summary of the invention

[0003] The main purpose of the present application is to provide a control method, device, equipment and computer storage medium for a tower crane slewing mechanism, aiming to solve the technical problem that the traditional control method leads to low working efficiency of the tower crane slewing mechanism.

[0004] To achieve the above-mentioned purpose, the embodiment of the present application provides a control method for a tower crane slewing mechanism, and the control method for a tower crane slewing mechanism comprises:

[0005] receiving a control instruction for a slewing mechanism of a target tower crane, and determining a target speed change time of the slewing mechanism according to the control instruction;

[0006] determining a target speed change mode of the slewing mechanism according to the control instruction;

[0007] If the target speed change mode is a first sinusoidal change mode, a first speed change curve of the rotary mechanism is calculated based on the target speed change time and the first sinusoidal change mode, and the rotary mechanism is controlled to operate according to the first speed change curve.

[0008] Preferably, the step of calculating the first speed change curve of the rotary mechanism based on the target speed change time and the first sinusoidal curve change mode comprises:

[0009] Obtaining a speed calculation formula corresponding to the first sinusoidal curve change mode;

[0010] Obtaining the initial speed and target speed in the control instruction;

[0011] A first speed change curve of the rotary mechanism is calculated according to the initial speed, the target speed, the target speed change time and the speed calculation formula.

[0012] Preferably, the step of determining the target speed change time of the rotary mechanism according to the control instruction comprises:

[0013] Obtaining a target speed change time pattern in the control instruction;

[0014] The target speed change time of the slewing mechanism is determined according to the target speed change time pattern.

[0015] Preferably, the target speed change time mode is a first speed change time mode or a second speed change time mode, the first speed change time mode is a rated frequency mode, and the second speed change time mode is a time-invariant mode; the step of determining the target speed change time of the rotary mechanism according to the target speed change time mode comprises:

[0016] If the target speed change time mode is the first speed change time mode, obtaining a first time for controlling the rotating mechanism to change speed from static to rated speed, and determining a target speed change time for the rotating mechanism to change speed from the rated speed to the target speed according to the first time;

[0017] If the target speed change time mode is the second speed change time mode, the second time for controlling the rotary mechanism to change speed from the initial speed to the target speed is obtained as the target speed change time.

[0018] Preferably, the step of determining the target speed change time for the slewing mechanism to change from the rated speed to the target speed according to the first time comprises:

[0019] Obtaining a time calculation formula corresponding to the first speed change time mode;

[0020] A target speed change time for the rotary mechanism to change from the rated speed to the target speed is determined according to the time calculation formula, the first time, the rated speed and the target speed.

[0021] Preferably, after the step of determining the target speed change mode of the slewing mechanism according to the control instruction, the step further includes:

[0022] If the target speed change mode is a second sinusoidal change mode, a second speed change curve of the rotary mechanism is calculated based on the target speed change time and the second sinusoidal change mode, and the rotary mechanism is controlled to operate according to the second speed change curve.

[0023] Preferably, the first sinusoidal curve variation pattern is a sinusoidal curve variation pattern between 0 and π / 2, and the second sinusoidal curve variation pattern is a sinusoidal curve variation pattern between -π / 2 and π / 2.

[0024] To achieve the above-mentioned purpose, the present application also provides a control device for a tower crane slewing mechanism, the control device for the tower crane slewing mechanism comprising:

[0025] A receiving module, used for receiving a control instruction for a slewing mechanism of a target tower crane, and determining a target speed change time of the slewing mechanism according to the control instruction;

[0026] A determination module, used to determine a target speed change mode of the rotary mechanism according to the control instruction;

[0027] A calculation module is used to calculate a first speed change curve of the rotary mechanism based on the target speed change time and the first sinusoidal change mode if the target speed change mode is a first sinusoidal change mode, and control the operation of the rotary mechanism according to the first speed change curve.

[0028] Furthermore, to achieve the above-mentioned purpose, the present application also provides a control device for a tower crane slewing mechanism, the control device for the tower crane slewing mechanism comprising a memory, a processor, and a control program for the tower crane slewing mechanism stored in the memory and executable on the processor, and the control program for the tower crane slewing mechanism implements the steps of the above-mentioned tower crane slewing mechanism control method when executed by the processor.

[0029] Furthermore, to achieve the above-mentioned purpose, the present application also provides a computer storage medium, on which a control program of a tower crane slewing mechanism is stored, and when the control program of the tower crane slewing mechanism is executed by a processor, the steps of the above-mentioned tower crane slewing mechanism control method are implemented.

[0030] Furthermore, to achieve the above-mentioned purpose, the present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned tower crane slewing mechanism control method when executed by a processor.

[0031] The embodiment of the present application provides a control method, device, equipment and computer storage medium for a slewing mechanism of a tower crane, receiving a control instruction for a slewing mechanism of a target tower crane, determining a target speed change time of the slewing mechanism according to the control instruction; determining a target speed change mode of the slewing mechanism according to the control instruction; if the target speed change mode is a first sinusoidal curve change mode, calculating a first speed change curve of the slewing mechanism based on the target speed change time and the first sinusoidal curve change mode, and controlling the slewing mechanism to operate according to the first speed change curve. The present application can determine the target speed change time and the target speed change mode of the slewing mechanism according to the control instruction for the slewing mechanism of the target tower crane, and when the target speed change mode is the first sinusoidal curve change mode, calculating the first speed change curve based on the first sinusoidal curve change mode and the target speed change time, and when the slewing mechanism is controlled to operate according to the first speed change curve, the starting speed of the slewing mechanism is fast, and the running distance is reduced during deceleration, and the running distance is increased during acceleration, thereby effectively improving the working efficiency of the slewing mechanism of the tower crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the structure of the hardware operating environment involved in the control method embodiment of the tower crane slewing mechanism of this application;

[0033] Figure 2 This is a flow chart of a first embodiment of a control method for a tower crane slewing mechanism of the present application;

[0034] Figure 3 This is a schematic diagram of the first scene of the first embodiment of the control method of the tower crane slewing mechanism of the present application;

[0035] Figure 4 This is a schematic diagram of the second scenario of the first embodiment of the control method for the slewing mechanism of a tower crane of the present application;

[0036] Figure 5 This is a flow chart of a second embodiment of a control method for a tower crane slewing mechanism of the present application;

[0037] Figure 6 A schematic flow chart of a third embodiment of a control method for a tower crane slewing mechanism of the present application;

[0038] Figure 7 This is a functional module diagram of a preferred embodiment of the control device for the slewing mechanism of a tower crane of the present application.

[0039] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0040] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0041] The embodiment of the present application provides a control method, device, equipment and computer storage medium for a slewing mechanism of a tower crane, receiving a control instruction for a slewing mechanism of a target tower crane, determining a target speed change time of the slewing mechanism according to the control instruction; determining a target speed change mode of the slewing mechanism according to the control instruction; if the target speed change mode is a first sinusoidal curve change mode, calculating a first speed change curve of the slewing mechanism based on the target speed change time and the first sinusoidal curve change mode, and controlling the slewing mechanism to operate according to the first speed change curve. The present application can determine the target speed change time and the target speed change mode of the slewing mechanism according to the control instruction for the slewing mechanism of the target tower crane, and when the target speed change mode is the first sinusoidal curve change mode, calculating the first speed change curve based on the first sinusoidal curve change mode and the target speed change time, and when the slewing mechanism is controlled to operate according to the first speed change curve, the starting speed of the slewing mechanism is fast, and the running distance is reduced during deceleration, and the running distance is increased during acceleration, thereby effectively improving the working efficiency of the slewing mechanism of the tower crane.

[0042] like Figure 1 As shown, Figure 1 It is a schematic diagram of the control device structure of the tower crane slewing mechanism in the hardware operating environment involved in the embodiment of the present application.

[0043] In the subsequent description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present application, and have no specific meanings. Therefore, "module", "component" or "unit" can be used in a mixed manner.

[0044] The control device of the tower crane slewing mechanism in the embodiment of the present application may be a PC, or may be a portable terminal device such as a tablet computer or a portable computer.

[0045] like Figure 1As shown, the control device of the tower crane slewing mechanism may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0046] Those skilled in the art will understand that Figure 1 The control device structure of the tower crane slewing mechanism shown in the figure does not constitute a limitation on the control device of the tower crane slewing mechanism, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0047] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a control program for the tower crane slewing mechanism.

[0048] exist Figure 1 In the device shown, the network interface 1004 is mainly used to connect to the backend server and perform data communication with the backend server; the user interface 1003 is mainly used to connect to the client (user end) and perform data communication with the client; and the processor 1001 can be used to call the control program of the tower crane slewing mechanism stored in the memory 1005 and perform the following operations:

[0049] receiving a control instruction for a slewing mechanism of a target tower crane, and determining a target speed change time of the slewing mechanism according to the control instruction;

[0050] determining a target speed change mode of the slewing mechanism according to the control instruction;

[0051] If the target speed change mode is a first sinusoidal change mode, a first speed change curve of the rotary mechanism is calculated based on the target speed change time and the first sinusoidal change mode, and the rotary mechanism is controlled to operate according to the first speed change curve.

[0052] Further, the step of calculating the first speed change curve of the rotary mechanism based on the target speed change time and the first sinusoidal curve change mode includes:

[0053] Obtaining a speed calculation formula corresponding to the first sinusoidal curve change mode;

[0054] Obtaining the initial speed and target speed in the control instruction;

[0055] A first speed change curve of the rotary mechanism is calculated according to the initial speed, the target speed, the target speed change time and the speed calculation formula.

[0056] Furthermore, the step of determining the target speed change time of the rotary mechanism according to the control instruction includes:

[0057] Obtaining a target speed change time pattern in the control instruction;

[0058] The target speed change time of the slewing mechanism is determined according to the target speed change time pattern.

[0059] Further, the target speed change time mode is a first speed change time mode or a second speed change time mode, the first speed change time mode is a rated frequency mode, and the second speed change time mode is a time-invariant mode; the step of determining the target speed change time of the rotary mechanism according to the target speed change time mode comprises:

[0060] If the target speed change time mode is the first speed change time mode, obtaining a first time for controlling the rotating mechanism to change speed from static to rated speed, and determining a target speed change time for the rotating mechanism to change speed from the rated speed to the target speed according to the first time;

[0061] If the target speed change time mode is the second speed change time mode, the second time for controlling the rotary mechanism to change speed from the initial speed to the target speed is obtained as the target speed change time.

[0062] Further, the step of determining the target speed change time for the slewing mechanism to change from the rated speed to the target speed according to the first time includes:

[0063] Obtaining a time calculation formula corresponding to the first speed change time mode;

[0064] A target speed change time for the rotary mechanism to change from the rated speed to the target speed is determined according to the time calculation formula, the first time, the rated speed and the target speed.

[0065] Further, after the step of determining the target speed change mode of the slewing mechanism according to the control instruction, the processor 1001 can be used to call the control program of the tower crane slewing mechanism stored in the memory 1005, and perform the following operations:

[0066] If the target speed change mode is a second sinusoidal change mode, a second speed change curve of the rotary mechanism is calculated based on the target speed change time and the second sinusoidal change mode, and the rotary mechanism is controlled to operate according to the second speed change curve.

[0067] Further, the first sinusoidal curve variation pattern is a sinusoidal curve variation pattern between 0 and π / 2, and the second sinusoidal curve variation pattern is a sinusoidal curve variation pattern between -π / 2 and π / 2.

[0068] In order to better understand the above technical solution, exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0069] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0070] Reference Figure 2 , Figure 2 The present invention provides a flow chart of a control method for a tower crane slewing mechanism according to the first embodiment of the present invention. In this embodiment, the control method for the tower crane slewing mechanism includes the following steps:

[0071] Step S10, receiving a control instruction for a slewing mechanism of a target tower crane, and determining a target speed change time of the slewing mechanism according to the control instruction;

[0072] The control method of the slewing mechanism of the tower crane in this embodiment is applied to the control system of the tower crane. For the convenience of description, the control system of the slewing mechanism of the tower crane is referred to as the system in the following. The tower crane is a tower crane, or a tower crane, which has a large operating space and is mainly used for the vertical and horizontal transportation of materials and the installation of building components in house construction. It consists of three parts: a metal structure, a working mechanism and an electrical system. The metal structure includes a tower body, a boom and a base, etc. The working mechanism has four parts: lifting, amplitude change, rotation and walking. The electrical system includes a motor, a controller, a distribution cabinet, a connection line, a signal and a lighting device, etc., wherein the slewing mechanism is used to control the rotation of the tower crane. Specifically, the system takes the tower crane that needs to be controlled at present as the target tower crane. In order to improve the working efficiency of the tower crane, the system can detect in real time whether there is a control instruction for controlling the slewing mechanism of the target tower crane issued by the tower crane operator based on the tower crane's operating device. If a control instruction for controlling the slewing mechanism is detected, the control instruction is received. Further, the system can parse the received control instruction to obtain the control parameters contained in the control instruction, wherein the control parameters in this embodiment may include the rotation direction of the rotary mechanism, the change of the rotation gear (for example, from the second gear to the third gear), the selected speed change time mode, the time of the speed change, etc., wherein in the change of the rotation gear, different gears represent different speeds, so the speed corresponding to the gear before adjustment can be used as the initial speed, and the speed corresponding to the gear after adjustment can be used as the target speed. After completing the parsing of the control instruction, the target speed change time of the rotary mechanism is determined according to the speed change time mode in the parsed data. In this embodiment, the speed change time mode may include a first speed change time mode and a second speed change time mode, wherein the first speed change time mode is a rated frequency mode, and the second speed change time mode is a time-invariant mode.

[0073] Therefore, when the target speed change time mode is determined to be the first speed change time mode or the second speed change time mode, the target speed change time of the slewing mechanism can be determined according to the determined first speed change time mode or the second speed change time mode, so as to calculate the first speed change curve of the slewing mechanism based on the target speed change time and the determined first sinusoidal curve change mode, and control the operation of the slewing mechanism according to the first speed change curve, so that the starting speed of the slewing mechanism is fast, the running distance is reduced during deceleration, and the running distance is increased during acceleration, so as to effectively improve the working efficiency of the slewing mechanism of the tower crane.

[0074] Step S20, determining a target speed change mode of the rotary mechanism according to the control instruction;

[0075] It can be understood that in this embodiment, the speed change mode includes a first sinusoidal curve change mode and a second sinusoidal curve change mode. The first sinusoidal curve change mode is a sinusoidal curve change mode between 0 and π / 2, which can be expressed as a sinusoidal curve [0, π / 2] mode; the second sinusoidal curve change mode is a sinusoidal curve change mode between -π / 2 and π / 2, which can be expressed as a sinusoidal curve [-π / 2, π / 2] mode. Among them, the sinusoidal curve [0, π / 2] mode means that when the initial speed V0 changes to the target speed V1, the speed changes according to the trajectory of the sinusoidal curve [0, π / 2]; the sinusoidal curve [-π / 2, π / 2] mode means that when the initial speed V0 changes to the target frequency V1, the speed changes according to the trajectory of the sinusoidal curve [-π / 2, π / 2]. In this embodiment, the operating device of the tower crane can be provided with selection buttons corresponding to each speed change mode, and the operator can select the corresponding speed change mode according to the needs. Therefore, after parsing the control instruction, it is possible to identify from the parsed data whether the target speed change mode selected by the operator is the first sinusoidal curve change mode or the second sinusoidal curve change mode. In a specific embodiment of the present application, it is possible to determine whether the speed change mode selected by the operator is the first sinusoidal curve change mode. If so, the first sinusoidal curve change mode is determined as the target speed change mode; if not, the second sinusoidal curve change mode is determined as the target speed change mode. In this way, the target speed change mode of the slewing mechanism is accurately obtained, which is convenient for subsequent calculation of the first speed change curve of the slewing mechanism according to the target speed change mode and the target speed change time, and the operation of the slewing mechanism is controlled according to the first speed change curve. The starting speed of the slewing mechanism is fast, and the running distance is reduced during deceleration, and the running distance is increased during acceleration, which effectively improves the working efficiency of the slewing mechanism of the tower crane.

[0076] Step S30: If the target speed change mode is a first sinusoidal change mode, a first speed change curve of the rotary mechanism is calculated based on the target speed change time and the first sinusoidal change mode, and the rotary mechanism is controlled to operate according to the first speed change curve.

[0077] It can be understood that the present embodiment is pre-set with speed calculation formulas corresponding to each speed change mode, and the present embodiment at least includes a speed calculation formula corresponding to the first sinusoidal curve change mode and a calculation formula corresponding to the second sinusoidal curve change mode. Therefore, after determining the target speed change mode of the slewing mechanism according to the control instruction, if the target speed change mode is determined to be the first sinusoidal curve change mode, the speed calculation formula corresponding to the first sinusoidal curve change mode can be obtained; at the same time, the initial speed and target speed in the control instruction are obtained; and the first speed change curve of the slewing mechanism is calculated according to the initial speed, target speed, target speed change time and other parameters combined with the speed calculation formula, wherein the target speed change time is determined according to the rated frequency mode or the time-invariant mode. After obtaining the first speed change curve of the slewing mechanism, the slewing mechanism operation can be controlled according to the speed corresponding to each time point in the first speed change curve, so that the starting speed of the slewing mechanism is fast, and the running distance is reduced during deceleration, and the running distance is increased during acceleration, effectively improving the working efficiency of the slewing mechanism of the tower crane.

[0078] Reference Figure 3 , Figure 3 This is a schematic diagram of the first scene of the first embodiment of the control method of the tower crane slewing mechanism of the present application. In a specific embodiment of the present application, a waveform comparison diagram of the first speed change curve and the linear acceleration and deceleration curve is provided, wherein the horizontal axis is time, and its coordinate axis value at least includes a numerical range with 0 as the starting point, 50 as the end point and a time interval of 5, and the vertical axis is speed, and its coordinate axis value at least includes a numerical range with 0 as the starting point, 50 as the end point and a time interval of 10, waveform 1 is the linear acceleration and deceleration curve, and waveform 2 is the first speed change curve. It can be seen that, relative to the linear acceleration and deceleration method, at the beginning of the sine curve [0, π / 2] (i.e., the first speed change curve), the acceleration is the maximum acceleration, and then the acceleration gradually decreases, and the speed gradually increases. When the speed reaches the target speed of 50, the acceleration drops to 0. During the entire acceleration process, the sine curve [0, π / 2] starts accelerating faster, and in the same time, the running distance after reaching the target speed will be longer, that is, the acceleration is faster; during the entire deceleration process, the sine curve [0, π / 2] starts decelerating faster, and in the same time, the running distance when reaching 0 speed will be shorter, that is, the deceleration is also faster. Therefore, for the rotary mechanism, the use of the sine curve [0, π / 2] will have better dynamic performance during the acceleration and deceleration process.

[0079] Furthermore, after the step of determining the target speed change mode of the slewing mechanism according to the control instruction, the step further includes:

[0080] Step S40: If the target speed change mode is a second sinusoidal change mode, a second speed change curve of the rotary mechanism is calculated based on the target speed change time and the second sinusoidal change mode, and the rotary mechanism is controlled to operate according to the second speed change curve.

[0081] It can be understood that since the present embodiment is pre-set with speed calculation formulas corresponding to various speed change modes, that is, the present embodiment at least includes a speed calculation formula corresponding to the first sinusoidal curve change mode and a calculation formula corresponding to the second sinusoidal curve change mode. Therefore, after determining the target speed change mode of the rotary mechanism according to the control instruction, if the target speed change mode is determined to be the second sinusoidal curve change mode, the speed calculation formula corresponding to the second sinusoidal curve change mode can be obtained; at the same time, the initial speed and target speed in the control instruction are obtained; and the second speed change curve of the rotary mechanism is calculated according to the initial speed, target speed, target speed change time and other parameters combined with the speed calculation formula, wherein the target speed change time is determined according to the rated frequency mode or the time-invariant mode. After obtaining the first speed change curve of the rotary mechanism, the operation of the rotary mechanism can be controlled according to the speed corresponding to each time point in the first speed change curve, so that the operating speed curve of the rotary mechanism is softer, which can improve the operator's operating experience.

[0082] Specifically, the step of calculating the second speed change curve of the rotary mechanism based on the target speed change time and the second sinusoidal curve change mode includes:

[0083] Step S41, obtaining a target speed calculation formula corresponding to the second sinusoidal curve change mode;

[0084] Step S42, obtaining the initial speed and target speed in the control instruction;

[0085] Step S43, calculating a first speed change curve of the rotary mechanism according to the initial speed, the target speed, the target speed change time and the target speed calculation formula.

[0086] After determining the target speed change mode of the rotary mechanism according to the control instruction, if it is determined that the target speed change mode is the second sinusoidal change mode, the speed calculation formula corresponding to the second sinusoidal change mode is searched according to the second sinusoidal change mode. The target speed calculation formula corresponding to the second sinusoidal change mode is shown as follows in this embodiment:

[0087]

[0088] Among them, Vx is the speed of the rotary mechanism at time t, wherein the speed of this embodiment can specifically be the rotation speed, that is, the speed of the rotary mechanism, Tact is the time required for the change between V0 and V1, that is, the target speed change time; V1 is the target speed, V0 is the initial speed, t∈[0, Tact], Tact>0.

[0089] At the same time, after completing the parsing of the control instruction, the change of the rotation gear can be obtained from the parsed data, that is, the initial gear (the gear before adjustment) and the target gear (the gear after adjustment) are determined, and the speed corresponding to the initial gear is obtained as the initial speed, and the speed corresponding to the target gear is obtained as the target speed.

[0090] Furthermore, after obtaining the parameters such as the initial speed, target speed, target speed change time, and the target speed calculation formula corresponding to the second sinusoidal curve change mode, the speed calculation can be performed by combining the target speed calculation formula corresponding to the second sinusoidal curve change mode with the obtained parameters, and the speed corresponding to each time point in the target speed change time is calculated respectively, and the second speed change curve for controlling the operation of the rotary mechanism is formed by all speed information. The specific calculation process can be: inputting the parameters such as the initial speed, target speed, target speed change time into the target speed calculation formula corresponding to the second sinusoidal curve change mode for calculation, and calculating the speed corresponding to each time point in the target speed change time respectively. In order to control the operation of the rotary mechanism according to the speed corresponding to each time point in the second speed change curve, the operating speed curve of the rotary mechanism is softer, which can improve the operator's operating experience.

[0091] Reference Figure 4 , Figure 4 This is a schematic diagram of the second scene of the first embodiment of the control method of the tower crane slewing mechanism of the present application. In a specific embodiment of the present application, a waveform comparison diagram of the second speed change curve and the linear acceleration and deceleration curve is provided, wherein the horizontal axis is time, and its coordinate axis value at least includes a numerical range with 0 as the starting point, 50 as the end point and a time interval of 5, and the vertical axis is speed, and its coordinate axis value at least includes a numerical range with 0 as the starting point, 50 as the end point and a time interval of 10, waveform 1 is the linear acceleration and deceleration curve, and waveform 2 is the second speed change curve. It can be seen that the acceleration of the second speed change curve is 0 at the beginning, reaches the maximum acceleration at an angle of 0 degrees, and then the acceleration slowly decreases and returns to 0. At this time, the speed just reaches the target speed, and the entire acceleration and deceleration process is relatively gentler than the linear acceleration and deceleration curve and the S curve.

[0092] The present embodiment provides a control method, device, equipment and computer storage medium for a slewing mechanism of a tower crane, receiving a control instruction for a slewing mechanism of a target tower crane, determining a target speed change time of the slewing mechanism according to the control instruction; determining a target speed change mode of the slewing mechanism according to the control instruction; if the target speed change mode is a first sinusoidal curve change mode, calculating a first speed change curve of the slewing mechanism based on the target speed change time and the first sinusoidal curve change mode, and controlling the operation of the slewing mechanism according to the first speed change curve. The present application can respectively determine the target speed change time and the target speed change mode of the slewing mechanism according to the control instruction for the slewing mechanism of the target tower crane, and when the target speed change mode is the first sinusoidal curve change mode, calculate the first speed change curve based on the first sinusoidal curve change mode and the target speed change time, and when the slewing mechanism is controlled to operate according to the first speed change curve, the starting speed of the slewing mechanism is fast, and the running distance is reduced during deceleration, and the running distance is increased during acceleration, thereby effectively improving the working efficiency of the slewing mechanism of the tower crane.

[0093] Further, refer to Figure 5 Based on the first embodiment of the control method for the slewing mechanism of a tower crane of the present application, a second embodiment of the control method for the slewing mechanism of a tower crane of the present application is proposed. In the second embodiment, the step of determining the target speed change time of the slewing mechanism according to the control instruction includes:

[0094] Step S11, obtaining a target speed change time pattern in the control instruction;

[0095] Step S12, determining the target speed change time of the rotary mechanism according to the target speed change time pattern.

[0096] After receiving the control instruction of the slewing mechanism of the target tower crane and completing the analysis of the control instruction, the speed change time mode selected by the operator can be identified from the analyzed data. In this embodiment, it is determined whether the speed change time mode selected by the operator is the first speed change time mode or the second speed change time mode, and more specifically, it is determined whether the speed change time mode selected by the operator is the rated frequency mode or the time constant mode. Among them, the rated frequency mode means that the time from 0 to the rated frequency (that is, the rated speed, which is the speed set in advance according to actual needs) is T, and the time required for the change between other speeds V0 and V1 is calculated according to the following formula:

[0097]

[0098] Among them, Tact is the time required for the change from V0 to V1, that is, the target speed change time; V1 is the target speed, V0 is the initial speed, Vnorm is the rated frequency (that is, rated speed), and T is the time for the rotary mechanism to accelerate from 0 to the rated frequency. This time can be a preset value or a value entered by the user.

[0099] The time-invariant mode means that no matter how much the speed difference between V0 and V1 is, the total time for the frequency V0 to change to V1 is the time value T set in advance or input by the user, that is, Tact=T.

[0100] Furthermore, the target speed change time of the slewing mechanism can be determined according to the determined first speed change time mode or the second speed change time mode (i.e., the rated frequency mode or the time-invariant mode), so as to calculate the first speed change curve of the slewing mechanism based on the target speed change time and the determined first sinusoidal curve change mode, and control the operation of the slewing mechanism according to the first speed change curve, so that the starting speed of the slewing mechanism is fast, the running distance is reduced during deceleration, and the running distance is increased during acceleration, so as to effectively improve the working efficiency of the slewing mechanism of the tower crane.

[0101] Specifically, in this embodiment, the target speed change time mode may be a first speed change time mode or a second speed change time mode, wherein the first speed change time mode is a rated frequency mode, and the second speed change time mode is a time-invariant mode; the step of determining the target speed change time of the rotary mechanism according to the target speed change time mode comprises:

[0102] Step A, if the target speed change time mode is the first speed change time mode, obtaining a first time for controlling the rotating mechanism to change speed from static to rated speed, and determining a target speed change time for the rotating mechanism to change speed from the rated speed to the target speed according to the first time;

[0103] After obtaining the target speed change time mode in the control instruction, if it is determined that the target speed change time mode is the first speed change time mode, that is, the target speed change time mode is the rated frequency mode, then the time for controlling the slewing mechanism to change from static to rated speed is obtained as the first time, and further the target speed change time for the slewing mechanism to change from rated speed to target speed is determined based on the first time obtained. The specific determination process refers to step A1-step A2. In order to calculate the first speed change curve of the slewing mechanism based on the target speed change time and the determined first sinusoidal curve change mode, and control the operation of the slewing mechanism according to the first speed change curve, so that the starting speed of the slewing mechanism is fast, and the running distance is reduced during deceleration, and the running distance is increased during acceleration, which effectively improves the working efficiency of the slewing mechanism of the tower crane.

[0104] Further, the step of determining the target speed change time for the slewing mechanism to change from the rated speed to the target speed according to the first time includes:

[0105] Step A1, obtaining a time calculation formula corresponding to the first speed change time mode;

[0106] Step A2, determining the target speed change time for the rotary mechanism to change from the rated speed to the target speed according to the time calculation formula, the first time, the rated speed and the target speed.

[0107] After obtaining the first time for controlling the slewing mechanism to change speed from static to rated speed, further obtain the time calculation formula corresponding to the first speed change time mode, that is, the rated frequency mode, wherein the time calculation formula corresponding to the rated frequency mode is as shown in the following formula:

[0108]

[0109] Among them, Tact is the time required for the change from V0 to V1, that is, the target speed change time; V1 is the target speed, V0 is the initial speed, Vnorm is the rated frequency (that is, rated speed), and T is the time for the rotary mechanism to accelerate from 0 to the rated frequency. This time can be a preset value or a value entered by the user.

[0110] Furthermore, the acquired first time, rated speed, target speed and other parameters are input into the time calculation formula corresponding to the rated frequency mode for calculation, so as to obtain the target speed change time of the rotary mechanism from the rated speed to the target speed.

[0111] Step B: If the target speed change time mode is the second speed change time mode, then the second time for controlling the rotary mechanism to change from the initial speed to the target speed is obtained as the target speed change time.

[0112] After obtaining the target speed change time mode in the control instruction, if it is determined that the target speed change time mode is the second speed change time mode, that is, the target speed change time mode is the time-invariant mode, since in the time-invariant mode, no matter how much the speed difference between V0 and V1 is, the total time for the frequency V0 to change to V1 is a pre-set or user-entered time value, the second time for controlling the slewing mechanism to change from the initial speed V0 to the target speed V1 can be directly obtained as the target speed change time. In order to calculate the first speed change curve of the slewing mechanism based on the target speed change time and the determined first sinusoidal curve change mode, and control the operation of the slewing mechanism according to the first speed change curve, so that the starting speed of the slewing mechanism is fast, and the running distance is reduced during deceleration, and the running distance is increased during acceleration, which effectively improves the working efficiency of the tower crane slewing mechanism.

[0113] This embodiment can accurately determine the target speed change time of the slewing mechanism according to the target speed change time mode, so as to calculate the first speed change curve of the slewing mechanism based on the target speed change time and the determined first sinusoidal curve change mode, and control the operation of the slewing mechanism according to the first speed change curve, so that the starting speed of the slewing mechanism is fast, the running distance is reduced during deceleration, and the running distance is increased during acceleration, so as to effectively improve the working efficiency of the slewing mechanism of the tower crane.

[0114] Further, refer to Figure 6 Based on the first embodiment of the control method of the tower crane slewing mechanism of the present application, a third embodiment of the control method of the tower crane slewing mechanism of the present application is proposed. In the third embodiment, the step of calculating the first speed change curve of the slewing mechanism based on the target speed change time and the first sinusoidal curve change mode includes:

[0115] Step S31, obtaining a speed calculation formula corresponding to the first sinusoidal curve change mode;

[0116] Step S32, obtaining the initial speed and target speed in the control instruction;

[0117] Step S33, calculating a first speed change curve of the rotary mechanism according to the initial speed, the target speed, the target speed change time and the speed calculation formula.

[0118] After determining the target speed change mode of the rotary mechanism according to the control instruction, if it is determined that the target speed change mode is the first sinusoidal change mode, the speed calculation formula corresponding to the first sinusoidal change mode is searched according to the first sinusoidal change mode. The speed calculation formula corresponding to the first sinusoidal change mode is shown as follows in this embodiment:

[0119]

[0120] Among them, Vx is the speed of the rotary mechanism at time t, wherein the speed of this embodiment can specifically be the rotation speed, that is, the speed of the rotary mechanism, Tact is the time required for the change between V0 and V1, that is, the target speed change time; V1 is the target speed, V0 is the initial speed, t∈[0, Tact], Tact>0.

[0121] At the same time, after completing the parsing of the control instruction, the change of the rotation gear can be obtained from the parsed data, that is, the initial gear (the gear before adjustment) and the target gear (the gear after adjustment) are determined, and the speed corresponding to the initial gear is obtained as the initial speed, and the speed corresponding to the target gear is obtained as the target speed.

[0122] Further, after obtaining the parameters such as the initial speed, the target speed, the target speed change time, and the speed calculation formula corresponding to the first sinusoidal curve change mode, the speed calculation can be performed by combining the obtained parameters with the speed calculation formula corresponding to the first sinusoidal curve change mode, respectively calculating the speed corresponding to each time point in the target speed change time, and forming a first speed change curve for controlling the operation of the slewing mechanism from all speed information. The specific calculation process can be: inputting the parameters such as the initial speed, the target speed, the target speed change time into the speed calculation formula corresponding to the first sinusoidal curve change mode for calculation, respectively calculating the speed corresponding to each time point in the target speed change time. In order to control the operation of the slewing mechanism according to the speed corresponding to each time point in the first speed change curve, the starting speed of the slewing mechanism is fast, and the running distance is reduced during deceleration, and the running distance is increased during acceleration, effectively improving the working efficiency of the slewing mechanism of the tower crane.

[0123] This embodiment can accurately calculate the first speed change curve of the slewing mechanism according to the acquired initial speed, target speed, determined target speed change time and speed calculation formula, so as to facilitate controlling the operation of the slewing mechanism according to the speed corresponding to each time point in the first speed change curve, so that the starting speed of the slewing mechanism is fast, and the running distance is reduced during deceleration and increased during acceleration, thereby effectively improving the working efficiency of the slewing mechanism of the tower crane.

[0124] Furthermore, the present application also provides a control device for a tower crane slewing mechanism.

[0125] Reference Figure 7 , Figure 7 This is a functional module diagram of the first embodiment of the control device for the slewing mechanism of a tower crane of the present application.

[0126] The control device of the tower crane slewing mechanism comprises:

[0127] A receiving module 10 is used to receive a control instruction for a slewing mechanism of a target tower crane, and determine a target speed change time of the slewing mechanism according to the control instruction;

[0128] A determination module 20, configured to determine a target speed change mode of the rotary mechanism according to the control instruction;

[0129] The calculation module 30 is used to calculate the first speed change curve of the rotary mechanism based on the target speed change time and the first sinusoidal change mode if the target speed change mode is the first sinusoidal change mode, and control the operation of the rotary mechanism according to the first speed change curve.

[0130] In addition, the present application also provides a computer storage medium on which a control program for a tower crane slewing mechanism is stored. When the control program for the tower crane slewing mechanism is executed by a processor, the steps of each embodiment of the control method for the tower crane slewing mechanism are implemented.

[0131] In addition, the present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of each embodiment of the above-mentioned tower crane slewing mechanism control method.

[0132] In the embodiments of the control device, computer-readable storage medium and computer program product of the tower crane slewing mechanism of the present application, all the technical features of the above-mentioned embodiments of the control method of the tower crane slewing mechanism are included, and the description and explanation content are basically the same as those of the above-mentioned embodiments of the control method of the tower crane slewing mechanism, and will not be repeated here.

[0133] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0134] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0135] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD), and includes several instructions to enable a terminal device (which can be a fixed terminal, such as an IoT smart device, including smart air conditioners, smart lights, smart power supplies, smart routers and other smart homes; it can also be a mobile terminal, including smart phones, wearable networked AR / VR devices, smart speakers, self-driving cars and many other networked devices) to execute the methods described in the various embodiments of the present application.

[0136] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A control method for a tower crane slewing mechanism, characterized in that: The control method of the tower crane slewing mechanism comprises: receiving a control instruction for a slewing mechanism of a target tower crane, and determining a target speed change time of the slewing mechanism according to the control instruction; determining a target speed change mode of the slewing mechanism according to the control instruction; If the target speed change mode is a first sinusoidal change mode, a first speed change curve of the rotary mechanism is calculated based on the target speed change time and the first sinusoidal change mode, and the rotary mechanism is controlled to operate according to the first speed change curve.

2. The control method of the tower crane slewing mechanism according to claim 1, characterized in that: The step of calculating the first speed change curve of the rotary mechanism based on the target speed change time and the first sinusoidal curve change mode comprises: Obtaining a speed calculation formula corresponding to the first sinusoidal curve change mode; Obtaining the initial speed and target speed in the control instruction; A first speed change curve of the rotary mechanism is calculated according to the initial speed, the target speed, the target speed change time and the speed calculation formula.

3. The control method of the tower crane slewing mechanism according to claim 1, characterized in that: The step of determining the target speed change time of the rotary mechanism according to the control instruction comprises: Obtaining a target speed change time pattern in the control instruction; The target speed change time of the slewing mechanism is determined according to the target speed change time pattern.

4. The control method of the tower crane slewing mechanism according to claim 3, characterized in that: The target speed change time mode is a first speed change time mode or a second speed change time mode, the first speed change time mode is a rated frequency mode, and the second speed change time mode is a time-invariant mode; The step of determining the target speed change time of the rotary mechanism according to the target speed change time pattern comprises: If the target speed change time mode is the first speed change time mode, obtaining a first time for controlling the rotating mechanism to change speed from static to rated speed, and determining a target speed change time for the rotating mechanism to change speed from the rated speed to the target speed according to the first time; If the target speed change time mode is the second speed change time mode, the second time for controlling the rotary mechanism to change speed from the initial speed to the target speed is obtained as the target speed change time.

5. The control method for the tower crane slewing mechanism according to claim 4, characterized in that: The step of determining the target speed change time of the rotary mechanism changing from the rated speed to the target speed according to the first time comprises: Obtaining a time calculation formula corresponding to the first speed change time mode; The target speed change time for the rotary mechanism to change from the rated speed to the target speed is determined according to the time calculation formula, the first time, the rated speed and the target speed.

6. The control method for the tower crane slewing mechanism according to claim 1, characterized in that: After the step of determining the target speed change mode of the slewing mechanism according to the control instruction, the following step is further included: If the target speed change mode is a second sinusoidal change mode, a second speed change curve of the rotary mechanism is calculated based on the target speed change time and the second sinusoidal change mode, and the rotary mechanism is controlled to operate according to the second speed change curve.

7. The control method of the tower crane slewing mechanism according to claim 1, characterized in that: The first sinusoidal curve variation pattern is a sinusoidal curve variation pattern between 0 and π / 2, and the second sinusoidal curve variation pattern is a sinusoidal curve variation pattern between -π / 2 and π / 2.

8. A control device for a tower crane slewing mechanism, characterized in that: The control device of the tower crane slewing mechanism comprises: A receiving module, used for receiving a control instruction for a slewing mechanism of a target tower crane, and determining a target speed change time of the slewing mechanism according to the control instruction; A determination module, used to determine a target speed change mode of the rotary mechanism according to the control instruction; A calculation module is used to calculate a first speed change curve of the rotary mechanism based on the target speed change time and the first sinusoidal change mode if the target speed change mode is a first sinusoidal change mode, and control the operation of the rotary mechanism according to the first speed change curve.

9. A control device for a tower crane slewing mechanism, characterized in that: The control device of the tower crane slewing mechanism includes a memory, a processor, and a control program of the tower crane slewing mechanism stored in the memory and executable on the processor. When the control program of the tower crane slewing mechanism is executed by the processor, the steps of the control method of the tower crane slewing mechanism as described in any one of claims 1 to 7 are implemented.

10. A computer storage medium, characterized in that: The computer storage medium stores a control program for the tower crane slewing mechanism. When the control program for the tower crane slewing mechanism is executed by the processor, the steps of the tower crane slewing mechanism control method according to any one of claims 1 to 7 are implemented.

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