Crane trolley torsion detection and control method

Abstract

The present invention provides a method for detecting and controlling the torsion of the crane's trolley, which includes the following steps: Use the first laser ranging device installed at one end of the trolley's main girder to detect the distance Ld1 between the first laser ranging device and the reflector, and feed the obtained distance Ld1 back to the controller; Use the second laser ranging device installed at the other end of the trolley's main girder to detect the distance Ld2 between the second laser ranging device and the reflector, and feed the obtained distance Ld2 back to the controller; The controller calculates the difference between Ld1 and Ld2 and obtains the difference △Ld, where △Ld = Ld1 - Ld2. If △Ld is within the first distance difference range, the crane operates normally; If △Ld exceeds the second distance difference range, the controller controls the trolley of the crane to stop running, and the first distance difference range is within the second distance difference range. This method for detecting and controlling the torsion of the crane's trolley can improve the operating safety of the crane.

Description

Technical Field

[0001] The present invention relates to the technical field of cranes, and particularly to a method for detecting and controlling the torsion of a crane's trolley. Background Art

[0002] When a crane travels along the track direction, due to reasons such as improper adjustment of the wheel sets at both end beams and asynchronous drive units, the wheel sets at the on-line operation end beams will be asynchronous, the trolley wheels and guide wheels will be abnormally worn, the crane box body will twist during operation, and the travel track will move due to the twisting of the crane during operation. When it deteriorates to a certain extent, it will cause damage to the steel structure of the crane, affect the working performance, and more seriously, the wheel sets of the crane will derail, resulting in a crane falling accident, thus affecting the operation safety of the crane. Summary of the Invention

[0003] In view of the above-mentioned disadvantages of the prior art, the technical problem to be solved by the present invention is to provide a method for detecting and controlling the torsion of a crane's trolley that can improve the operation safety of the crane.

[0004] To achieve the above object, the present invention provides a method for detecting and controlling the torsion of a crane's trolley, including the following steps:

[0005] Use the first laser ranging device installed at one end of the main beam of the trolley to detect the distance Ld1 between the first laser ranging device and the reflector, and feed the obtained distance Ld1 back to the controller;

[0006] Use the second laser ranging device installed at the other end of the main beam of the trolley to detect the distance Ld2 between the second laser ranging device and the reflector, and feed the obtained distance Ld2 back to the controller;

[0007] The controller calculates the difference between Ld1 and Ld2 and obtains the difference △Ld, △Ld = Ld1 - Ld2. If △Ld is within the first distance difference range, the crane operates normally; if △Ld exceeds the second distance difference range, the controller controls the trolley of the crane to stop running, and the first distance difference range is within the second distance difference range.

[0008] Further, if △Ld exceeds the first distance difference range and is within the second distance difference range, the controller controls the prompting device to emit a reminder signal, and the controller controls the running speed of the trolley of the crane to be less than or equal to the set speed.

[0009] Further, if △Ld exceeds the second distance difference range, the controller controls the alarm device to emit an alarm signal.

[0010] Further, the reflector is installed on the anti-collision head of the crane.

[0011] Further, the method for detecting and controlling the torsion of the crane's trolley also includes a trolley wheel adjustment step: adjusting the torsion angle α of the trolley wheels according to △Ld until the difference between the actual walking distance L1 and the theoretical walking distance L2 of the trolley wheels is within a set range when the trolley wheels run N circles; where N is a natural number and N > 0, L2 = N × π × D, and D is the diameter of the trolley wheels.

[0012] Further, the trolley wheel adjustment step further includes the following steps:

[0013] When the crane's hoist is at the middle position of the trolley's main girder, the trolley moves forward N circles and then stops. The first laser distance measuring device and the second laser distance measuring device respectively measure the values of Ld1 and Ld2.

[0014] When the crane's hoist is at one end of the trolley's main girder, the trolley moves forward N circles and then stops. The first laser distance measuring device and the second laser distance measuring device respectively measure the values of Ld1 and Ld2.

[0015] When the crane's hoist is at the other end of the trolley's main girder, the trolley moves forward N circles and then stops. The first laser distance measuring device and the second laser distance measuring device respectively measure Ld1 and Ld2.

[0016] Further, the trolley wheel adjustment step further includes a step of obtaining the torsion angle α of the trolley wheels: calculating the torsion angle α of the trolley wheels according to the relationship formula tanα = |Ld1 - Ld2| / Ln, where Ln is the distance between the center lines of the trolley wheels at one end of the trolley's main girder and the center lines of the trolley wheels at the other end of the trolley's main girder.

[0017] Further, the trolley wheel adjustment step further includes the following steps:

[0018] Obtain the actual walking distance L1 of the trolley wheels when the trolley wheels first run N circles;

[0019] According to the calculation formula Obtain the adjustment value h of the gasket thickness of the bearing, where DL is the distance between the center lines of the two bearings of the trolley wheels;

[0020] Then adjust the gasket thickness of the bearing of the trolley wheels according to the calculated h.

[0021] Further, the method for detecting and controlling the torsion of the crane's trolley also includes a preparation step: obtaining the initial inclination angle β of the edge of the guide wheel relative to the center line of the trolley wheels,

[0022] When the crane is in the starting stage or the stopping stage, if the difference between α and β is within the set range, the controller controls the prompting device to send out an abnormal prompting signal;

[0023] When the crane is in normal operation, if the difference between α and β is within the set range, the controller controls the running speed of the crane's trolley to be less than or equal to the first set speed;

[0024] When the crane is in normal operation, if α = β, the controller controls the running speed of the crane's trolley to be less than or equal to the second set speed, and the second set speed is less than the first set speed.

[0025] Furthermore, obtaining the initial inclination angle β includes the following steps:

[0026] Measure the distance De between two guide wheels located on both sides of the track respectively, and measure the distance Df between the center line of the guide wheel and the center line of the trolley wheel along the track direction. According to tanβ = De / 2Df, the initial inclination angle β is obtained through conversion.

[0027] As described above, the method for detecting and controlling the torsion of the crane's trolley involved in the present invention has the following beneficial effects:

[0028] In this method for detecting and controlling the torsion of the crane's trolley, the distance Ld1 between the corresponding position at one end of the trolley girder and the reflector is detected by the first laser ranging device installed at one end of the trolley girder, and at the same time, the distance Ld2 between the corresponding position at the other end of the trolley girder and the reflector is detected by the second laser ranging device installed at the other end of the trolley girder. Then, by comparing the difference between the two with the set distance difference range, the torsion situation of the crane's trolley is judged. If △Ld is within the first distance difference range, it means that the torsion situation of the crane's trolley is within the safe and allowable range, and at this time the crane operates normally; if △Ld exceeds the second distance difference range, and the first distance difference range is within the second distance difference range, it means that the torsion situation of the crane's trolley is already relatively serious. At this time, the controller controls the crane's trolley to stop running, preventing serious wear between the trolley wheels and the track, etc., and preventing safety accidents such as derailment and falling of the crane, improving the operating safety of the crane. Brief Description of the Drawings

[0029] Figure 1 It is a schematic diagram of the relative position relationship between the trolley wheels, guide wheels and the track in the embodiment of the present invention.

[0030] Explanation of Element Numbers

[0031] 1 Trolley wheel

[0032] 11 Bearing

[0033] 2 Guide wheel

[0034] 3 Track Detailed Embodiment

[0035] The following specific embodiments illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0036] It should be noted that the structures, ratios, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those skilled in the art to understand and read, and are not used to limit the implementation conditions of the present invention. Therefore, they do not have technical essential significance. Any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" cited in this specification are only for convenience of description and are not used to limit the implementation scope of the present invention. The change or adjustment of their relative relationships, without substantial change in the technical content, should also be regarded as the scope in which the present invention can be implemented.

[0037] This embodiment provides a method for detecting and controlling the torsion of the crane trolley, including the following steps:

[0038] Use the first laser ranging device installed at one end of the main girder of the trolley to detect the distance Ld1 between the first laser ranging device and the reflector, and feed the obtained distance Ld1 back to the controller;

[0039] Use the second laser ranging device installed at the other end of the main girder of the trolley to detect the distance Ld2 between the second laser ranging device and the reflector, and feed the obtained distance Ld2 back to the controller;

[0040] The controller calculates the difference between Ld1 and Ld2 and obtains the difference △Ld, △Ld = Ld1 - Ld2. If △Ld is within the first distance difference range, the crane runs normally; if △Ld exceeds the second distance difference range, the controller controls the trolley of the crane to stop running, and the first distance difference range is located within the second distance difference range.

[0041] The method for detecting and controlling the torsion of the trolley of this crane uses the first laser ranging device installed at one end of the main girder of the trolley to detect the distance Ld1 between the corresponding position at one end of the main girder of the trolley and the reflector, and at the same time uses the second laser ranging device installed at the other end of the main girder of the trolley to detect the distance Ld2 between the corresponding position at the other end of the main girder of the trolley and the reflector. Then, by comparing the difference between the two with the set distance difference range, the torsion condition of the trolley of the crane is judged. If △Ld is within the first distance difference range, it indicates that the torsion condition of the trolley of the crane is within the safe and allowable range, and at this time the crane operates normally; if △Ld exceeds the second distance difference range and the first distance difference range is within the second distance difference range, it indicates that the torsion condition of the trolley of the crane is already relatively serious. At this time, the controller controls the trolley of the crane to stop running, preventing serious wear between the trolley wheels 1 and the track 3, etc., and preventing safety accidents such as derailment and falling of the crane, improving the operating safety of the crane.

[0042] Specifically, the first distance difference range is the safe range, and the second distance difference range is the limit range. If △Ld exceeds the first distance difference range and is within the second distance difference range, the controller controls the prompting device to send a reminder signal, and the controller controls the running speed of the trolley of the crane to be less than or equal to the set speed, that is, the controller controls the trolley of the crane to run at a speed limit. If △Ld exceeds the second distance difference range, the controller controls the alarm device to send an alarm signal, that is, while the controller controls the trolley of the crane to stop running, it sends an alarm signal to prompt the staff to make corresponding adjustments to the torsion condition of the trolley of the crane in a timely manner. And the controller controls the trolley of the crane to stop running by disconnecting the trolley running control circuit. In addition, in this embodiment, the reflector is installed on the anti-collision head of the crane, and the anti-collision head is relatively fixed to the track 3 and is located at one end of the track 3. When the trolley of the crane runs along the two tracks 3, the position of the reflector is fixed. The reflector can specifically be two, which are respectively located at one end of the two tracks 3 and correspond to the first laser ranging device and the second laser ranging device respectively.

[0043] In this embodiment, the controller is specifically a PLC controller. The first laser ranging device and the second laser ranging device are respectively installed above both ends of the main girder of the crane and respectively correspond to the center lines of the crane wheels 1 on both sides. The first laser ranging device constantly measures the distance Ld1 between it and the reflector and transmits the measured distance Ld1 to the PLC controller. The second laser ranging device constantly measures the distance Ld2 between it and the reflector and transmits the measured distance Ld2 to the PLC controller. After calculation by the mathematical model in the PLC controller, it is compared with the set distance difference range. In this embodiment, the measured Ld1 and Ld2 are uploaded to the upper computer through the PLC controller. After being calculated by the mathematical model in the upper computer system, it is output to the HMI screen to guide the equipment maintenance personnel to adjust the crane wheels 1 at which position and propose specific correction data, so as to solve the problem of the crane running torsion caused by the tiny cumulative error that cannot be measured.

[0044] In the method for detecting and controlling the torsion of the crane trolley in this embodiment, it further includes the step of adjusting the crane wheels: adjusting the torsion angle α of the crane wheels 1 according to △Ld until when the crane wheels 1 run N circles, the difference between the actual walking distance L1 of the crane wheels 1 and the theoretical walking distance L2 of the crane wheels 1 is within the set range; where N is a natural number and N>0, L2 = N×π×D, and D is the diameter of the crane wheels 1. When the crane wheels 1 run N circles, the actual walking distance L1 of the crane wheels 1 can be obtained from the difference between the detection data before and after the laser detection device.

[0045] The step of adjusting the crane wheels in this embodiment further includes the following steps:

[0046] When the crane trolley is at the middle position of the main girder of the crane, the crane trolley runs forward N circles and then stops, and the first laser ranging device and the second laser ranging device respectively measure the measured values of Ld1 and Ld2;

[0047] When the crane trolley is at one end of the main girder of the crane, the crane trolley runs forward N circles and then stops, and the first laser ranging device and the second laser ranging device respectively measure the measured values of Ld1 and Ld2;

[0048] When the crane trolley is at the other end of the main girder of the crane, the crane trolley runs forward N circles and then stops, and the first laser ranging device and the second laser ranging device respectively measure the measured values of Ld1 and Ld2.

[0049] The step of adjusting the crane wheels in this embodiment further includes the step of obtaining the torsion angle of the crane wheels 1 as α: calculating the torsion angle α of the crane wheels 1 according to the relational expression tanα = |Ld1 - Ld2| / Ln, where Ln is the distance between the center lines of the crane wheels 1 at one end of the main girder of the crane and the center lines of the crane wheels 1 at the other end of the main girder of the crane. At the same time, the step of adjusting the crane wheels further includes the following steps:

[0050] Obtain the actual traveling distance L1 of the large vehicle wheel 1 when the large vehicle wheel 1 runs N circles first;

[0051] According to the calculation formula Obtain the shim thickness adjustment value h of the bearing 11, where DL is the distance between the center lines of the two bearings 11 of the large vehicle wheel 1;

[0052] Then adjust the shim thickness of the bearing 11 of the large vehicle wheel 1 according to the calculated h, so as to realize the adjustment of the torsion angle α of the large vehicle wheel 1 according to △Ld, and this adjustment method can accurately and quickly adjust the torsion angle α of the large vehicle wheel 1 to zero or within the set allowable range.

[0053] At the same time, the large vehicle torsion detection and control method in this embodiment further includes a preparation step: obtain the initial inclination angle β of the edge of the guide wheel 2 relative to the center line of the large vehicle wheel 1,

[0054] Furthermore, when the crane is in the starting stage or the stopping stage, if the difference between α and β is within the set range, the controller controls the prompting device to send out an abnormal prompt signal;

[0055] When the crane is in normal operation, if the difference between α and β is within the set range, the controller controls the running speed of the large vehicle of the crane to be less than or equal to the first set speed;

[0056] When the crane is in normal operation, if α = β, the controller controls the running speed of the large vehicle of the crane to be less than or equal to the second set speed, and the second set speed is less than the first set speed.

[0057] Obtaining the initial inclination angle β in this embodiment includes the following steps:

[0058] Measure the distance De between the two guide wheels 2 located on both sides of the track 3 respectively, and measure the distance Df between the center line of the guide wheel 2 and the center line of the large vehicle wheel 1 along the direction of the track 3. According to tanβ = De / 2Df, the initial inclination angle β is obtained through conversion.

[0059] As Figure 1 shown, the preparation step in this embodiment specifically includes the following steps:

[0060] 1.1. Measure the straight-line distance Lg between the two tracks 3 of the crane; measure the distance Ln between the center lines of the large vehicle wheels 1 at one end of the large vehicle main beam and the center lines of the large vehicle wheels 1 at the other end of the large vehicle main beam. Initially adjust so that Lg = Ln, and input the distance Lg and the distance Ln into the human-computer interaction computer database. The controller reads the human-computer interaction computer database, obtains Lg and Ln, and saves the corresponding data into the control program.

[0061] 1.2. When the crane's trolley is in the free state, i.e., the brake is open, the first laser distance measuring device maintains a horizontal straight-line distance from the reflector installed on the anti-collision head of the crane as the initial value Ld1; the second laser distance measuring device maintains a horizontal straight-line distance from the reflector installed on the anti-collision head of the crane as the initial value Ld2. At this time, Ld1 and Ld2 are basically equal, and the specific values are respectively entered into the database of the human-machine interaction computer. The PLC controller reads the data of the human-machine interaction computer and saves it into the control program.

[0062] 1.3. Measure the diameter D of each trolley wheel 1. The four trolley wheels 1 on the same side as the guide wheel 2 are respectively marked as Dd11, Dd12, Dd13, and Dd14, and the four trolley wheels 1 on the other side are respectively marked as Dd21, Dd22, Dd23, and Dd24. When the crane's trolley is in the free state, conspicuous arrows are marked on the vertical line of each trolley wheel 1 and the track 3. The specific values are respectively entered into the database of the human-machine interaction computer. The PLC controller reads the data of the human-machine interaction computer and saves it into the control program.

[0063] 1.4. Measure the distance DL between the center lines of the two bearings 11 of the trolley wheel 1. The specific value is entered into the database of the human-machine interaction computer. The PLC controller reads the data of the human-machine interaction computer and saves it into the control program.

[0064] 1.5. Measure the distance De between the two guide wheels 2 located on both sides of the track 3 respectively, and measure the distance Df between the center line of the guide wheel 2 and the center line of the trolley wheel 1 along the direction of the track 3. According to tanβ = De / 2Df, the initial inclination angle β is obtained through conversion. This value is obtained by adjusting the angle of the guide wheel 2 and is used as the reference value for judging the torsion of the crane. The specific value is entered into the database of the human-machine interaction computer. The PLC controller reads the data of the human-machine interaction computer and saves it into the control program.

[0065] The adjustment steps of the trolley wheel 1 in this embodiment specifically include the following steps:

[0066] 2.1. When the crane's trolley is at the center position of the main girder of the trolley, after the middle position of the crane's trolley is confirmed on the human-machine interaction computer HMI interface, the crane's trolley runs forward at the first gear speed. After the trolley wheel 1 runs 10 circles, it stops. The measured values of Ld1 and Ld2 are entered on the human-machine interaction computer HMI interface.

[0067] 2.2. When the crane's trolley is at the extreme limit position at the end of the main girder of the trolley with the guide wheel 2, after the position of the crane's trolley is confirmed on the human-machine interaction computer HMI interface, the crane's trolley runs forward at the first gear speed. After the trolley wheel 1 runs 10 circles, it stops. The measured values of Ld1 and Ld2 are entered on the human-machine interaction computer HMI interface.

[0068] 2.3 When the crane trolley is at the extreme limit position at the other end of the main girder of the crane, after the position of the crane trolley is confirmed on the human-machine interface computer HMI, the crane gantry runs forward at the first gear speed. After the gantry wheels 1 run 10 circles, they stop, and the measured values of Ld1 and Ld2 are entered on the human-machine interface computer HMI.

[0069] 2.4 When the crane trolley is in three positions, the first laser ranging device and the second laser ranging device will generate two different values; when in the middle position, Ld1 > Ld2 or Ld1 < Ld2; when at one end position of the main girder of the crane, Ld1 > Ld2 or Ld1 < Ld2; when at the other end position of the main girder of the crane, Ld1 > Ld2 or Ld1 < Ld2.

[0070] When the crane trolley is in the middle position, the pressure of the crane trolley weight distributed to the wheel set is basically the same. When the crane gantry runs, the two values generated by the laser ranging device are respectively compared with the theoretical traveling distance L2. First, check whether the actual traveling distance L1 of the gantry wheel 1 on the same side as the guide wheel 2 is close to the theoretical traveling distance L2. Then, verify again when the crane trolley reaches the extreme position at the end of the main girder of the crane with the guide wheel 2. When most of the weight of the crane trolley is concentrated on the wheel set at this end, the pressure of the wheel set will be greater. When the crane gantry runs, Ld1 > Ld2 or Ld1 < Ld2 will be more obvious. This set of data is used as the basis for adjusting the inclination angle of the gantry wheel 1 on the same side as the guide wheel 2. When the gantry wheel 1 on the same side as the guide wheel 2 is adjusted and the actual traveling distance L1 of the gantry wheel 1 on the same side as the guide wheel 2 is the same as the theoretical traveling distance L2, the crane trolley is driven to the extreme position at the other end of the main girder of the crane to verify the wheel set at this end again. When most of the weight of the crane trolley is concentrated on the wheel set at the other end, the pressure of the wheel set will be greater. When the crane gantry runs, Ld1 > Ld2 or Ld1 < Ld2 will be more obvious. This set of data is used as the basis for adjusting the inclination angle of the gantry wheel 1 at the other end of the main girder of the crane.

[0071] 2.5 The cumulative error of the gantry wheel 1 of the crane running 10 circles is converted into an α angle, tanα = |Ld1 - Ld2| / Ln. According to the product of the α angle and the distance DL between the two center lines of the bearings 11 of the gantry wheel 1, the cumulative error length of the gantry wheel 1 running is converted. The cumulative error length is divided by the straight-line distance of the wheel running to obtain the thickness of the shim that needs to be adjusted in the horizontal direction of the wheel bearing 11, that is, the shim thickness adjustment value h.

[0072] In this embodiment, the method for detecting and controlling the torsion of the crane gantry includes the on-line operation control stage, which specifically includes the following:

[0073] 3.1 When the crane is in the start-up and shutdown phases, when the real-time deviation α angle calculated by the host computer and the controller based on the value detected by the laser ranging device is close to the β angle, the system issues an abnormal prompt, indicating that the operators and equipment managers need to pay attention or adjust the trolley brake and check the mechanical device.

[0074] 3.2 When the crane is running normally, when the real-time deviation α angle is close to the β angle, after receiving the control information from the host computer, the PLC controller issues a command to limit the high-speed operation of the crane, restricting the high-speed operation of the trolley of the crane.

[0075] 3.3 When the crane is running normally, when the real-time deviation α angle is equal to the β angle and the value mutates irregularly within multiple scan cycles of the PLC controller, with the distance comparison value fluctuating greatly and small, after receiving the control information from the host computer, the PLC controller issues a command allowing only the low-speed operation of the trolley of the crane, and prompts that the equipment state of the trolley of the crane has mutated and it is necessary to maintain the equipment in a timely manner.

[0076] In this embodiment, the detection and control method for the trolley torsion of the crane solves the abnormal wear between the trolley wheels 1, the guide wheels 2 and the track 3 caused by the trolley torsion of the crane, and prevents major malignant accidents such as derailment and falling of the crane.

[0077] This detection and control method for the trolley torsion of the crane relates to the crane in on-line operation, the technical method for detecting and controlling the torsion of the box body in real time; the control technology for the state mutation during the operation of the equipment; it effectively solves the abnormal wear of the trolley wheels 1 caused by the torsion of the crane box body and prevents major malignant accidents such as derailment and falling of the crane. This detection and control method for the trolley torsion of the crane can also be used as a technical means for inspection and evaluation after the installation of the crane equipment or the replacement of the trolley wheels 1, and can be applied to the metallurgical field.

[0078] This embodiment fully studies the operating state of the crane, extracts and summarizes the core detection and adjustment control technology method, improves the deficiencies of the crane control method, reduces the economic losses caused by abnormal wear of the wheel set, and effectively prevents the occurrence of malignant accidents of the crane. The detection and control method for the trolley torsion of the crane in this embodiment has carried out relevant function experiments on the unmanned overhead crane in a certain factory area and achieved good benefits.

[0079] In summary, the present invention effectively overcomes various shortcomings in the prior art and has high industrial utilization value.

[0080] The above embodiments are only illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A method for detecting and controlling the torsion of the crane's trolley, characterized in that, it includes the following steps: Use the first laser ranging device installed at one end of the main girder of the trolley to detect the distance Ld1 between the first laser ranging device and the reflector, and feed back the obtained distance Ld1 to the controller; Use the second laser ranging device installed at the other end of the main girder of the trolley to detect the distance Ld2 between the second laser ranging device and the reflector, and feed back the obtained distance Ld2 to the controller; The controller calculates the difference between the distance Ld1 and the distance Ld2, and obtains the difference △Ld, where △Ld = Ld1 - Ld2. If the difference △Ld is within the first distance difference range, the crane operates normally; if the difference △Ld exceeds the second distance difference range, the controller controls the trolley of the crane to stop running. The first distance difference range is the safe range, the second distance difference range is the limit range, and the first distance difference range is located within the second distance difference range; It also includes the step of adjusting the trolley wheels: Adjust the torsion angle α of the trolley wheels (1) according to the difference △Ld until the difference between the actual walking distance L1 and the theoretical walking distance L2 of the trolley wheels (1) is within the set range when the trolley wheels (1) run N circles; where N is a natural number and N > 0, and L2 = N × π × D, and D is the diameter of the trolley wheels (1); The step of adjusting the trolley wheels also includes the step of obtaining the torsion angle α of the trolley wheels (1): Calculate the torsion angle α of the trolley wheels (1) according to the relationship tanα = |Ld1 - Ld2| / Ln, where Ln is the distance between the center lines of the trolley wheels (1) at one end of the main girder of the trolley and the center lines of the trolley wheels (1) at the other end of the main girder of the trolley; It further includes a preparation step: obtaining an initial inclination angle of the edge of the guide wheel (2) relative to the center line of the carriage wheel (1). β ; When the crane is in the start-up stage or the shutdown stage, if the difference between the torsion angle α and the initial inclination angle β is within a set range, the controller controls the prompting device to emit an abnormal prompting signal; When the crane is in normal operation, if the difference between the torsional angle α and the initial inclination angle β is within a set range, the controller controls the running speed of the crane trolley to be less than or equal to a first set speed; When the crane is in normal operation, if α = β the controller controls the running speed of the crane's trolley to be less than or equal to a second set speed, and the second set speed is less than the first set speed; Obtain the initial tilt angle β including the following steps: Measure the distance De between the two guide wheels (2) respectively located on both sides of the track (3), and measure the distance Df between the center line of the guide wheel (2) and the center line of the trolley wheel (1) along the direction of the track (3). According to tan β = De / 2Df, and through conversion, the initial inclination angle β is obtained.

2. The method for detecting and controlling the torsion of the crane's trolley according to claim 1, characterized in that, if the difference △Ld exceeds the first distance difference range and is within the second distance difference range, the controller controls the device to emit a reminder signal, and the controller controls the running speed of the trolley of the crane to be less than or equal to the set speed.

3. The method for detecting and controlling the torsion of the crane's trolley according to claim 1, characterized in that, if the difference △Ld exceeds the second distance difference range, the controller controls the alarm device to emit an alarm signal.

4. The method for detecting and controlling the torsion of the crane's trolley according to claim 1, characterized in that, the reflector is installed on the anti-collision head of the crane.

5. The method for detecting and controlling the torsion of the crane's trolley according to claim 1, characterized in that, the step of adjusting the trolley wheels also includes the following steps: When the crane's trolley is at the middle position of the main girder of the trolley, the trolley of the crane runs forward N circles and then stops, and the first laser ranging device and the second laser ranging device respectively measure the measured values of the distances Ld1 and Ld2; When the crane trolley is at one end of the main girder of the crane, the crane truck runs forward for N laps and then stops. The first laser ranging device and the second laser ranging device respectively measure the measured values of the distance Ld1 and the distance Ld2; When the crane trolley is at the other end of the main girder of the crane, the crane truck runs forward for N laps and then stops. The first laser ranging device and the second laser ranging device respectively measure the measured values of the distance Ld1 and the distance Ld2.

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