An Automatic Measuring Method, Device and System for the Lifting Height of a Hoisting Object by a Crane

Abstract

The present invention discloses a method, device and system for automatically calculating the lifting height of a hoisted object by a crane. The method includes obtaining a first height of the hook from the ground measured in advance; obtaining the real-time load weight borne by the hook; judging whether the crane hoists a heavy object through the pre-obtained monitoring information; when it is judged that the crane hoists a heavy object, judging whether the hoisted object leaves the ground by measuring the change of the real-time load weight borne by the hook; when it is measured that the hoisted object leaves the ground, obtaining a second height of the hook from the ground at present; calculating the height of the hoisted object from the ground by subtracting the second height of the hook from the ground at the moment of leaving the ground from the first height of the hook from the ground measured in real time. The present invention solves the problem that the prior art cannot directly measure the height of the hoisted object from the ground. During hoisting, the height of the hoisted object from the ground can be automatically given, without manual measurement and calculation by the operator, thereby improving the hoisting efficiency and reducing the burden on the operator.

Description

Technical Field

[0001] The present invention relates to a method, device and system for automatically calculating the lifting height of a hoisted object by a crane, belonging to the technical field of cranes. Background Art

[0002] In general, crane hoisting operations involve hoisting a hoisted object to a certain height for installation, such as hoisting a wind turbine for wind power installation, hoisting a bridge deck, hoisting a central air conditioner on top of a building, etc. The installation position of the hoisted object is generally high or far away and not easy to observe. However, the height is known before hoisting. If there is a technical means to accurately display the height of the hoisted object from the ground in real time, it can effectively guide the operator's operation. At the same time, with the progress of technology, unmanned operation and remote auxiliary operation have begun to be applied to cranes. The height of the hoisted object from the ground is very important as an important attitude index. Currently, devices that monitor the rotation position of the hoist by means of encoders, counters, etc. and calculate the height of the hook from the ground have been widely used in the industry. However, since the height of the hoisting rope is different when the hook hoists different hoisted objects, and the height of the hoisted object itself is also different, there is currently no system for automatically calculating the height of the hoisted object from the ground.

[0003] Currently, the calculation of the height of the heavy object from the ground only gives the height of the hook from the ground, and then the operator calculates the height of the heavy object from the ground in real time according to the height between the hook and the hoisted object. Since there are many problems that the operator pays attention to during the hoisting process, such non-intuitive data undoubtedly increases the burden on the operator. Moreover, the height between the hook and the hoisted object needs to be measured every time hoisting is performed, and because the hoisted object is generally large, it is difficult to measure accurately. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a method, device and system for automatically calculating the lifting height of a hoisted object by a crane, which can automatically calculate the height of the hoisted object from the ground during hoisting, thereby improving the hoisting efficiency and reducing the burden on the operator.

[0005] To achieve the above object, the present invention is implemented by the following technical solutions:

[0006] In a first aspect, the present invention provides a method for automatically calculating the lifting height of a hoisted object by a crane, including:

[0007] Obtaining a first height of the hook from the ground measured in advance;

[0008] Obtaining the real-time load-bearing weight of the hook;

[0009] Judging whether the crane hoists a heavy object through the pre-obtained monitoring information;

[0010] When it is judged that the crane hoists a heavy object, judging whether the hoisted object leaves the ground by calculating the change in the real-time load-bearing weight of the hook;

[0011] When measuring the height of the lifted object from the ground, obtain the current second height of the hook from the ground;

[0012] Calculate the height of the lifted object from the ground by subtracting the second height of the hook from the ground at the moment of leaving the ground from the first height of the hook from the ground measured in real time.

[0013] Further, the judging whether the crane lifts a heavy object through the pre-obtained monitoring information includes:

[0014] Detect the direction movement of the electric control lever of the crane;

[0015] Judge whether the crane lifts a heavy object according to whether the direction movement of the electric control lever meets the movement conditions.

[0016] Further, when it is judged that the crane lifts a heavy object, judging whether the lifted object leaves the ground by measuring the change of the real-time load-bearing weight of the hook includes:

[0017] When it is judged that the crane lifts a heavy object, obtain the real-time load-bearing weight t of the hook at the current n moments 0 、t 1 、…t n ;

[0018] Obtain the height h of the hook from the ground corresponding to the n moments n ;

[0019] When t n is greater than the set no-load weight T e , compare the real-time load-bearing weight t of the hook at the nth moment and the (n - m)th moment (m≥1 and m < n) obtained n and t n-m , when t n -t n-m is less than the set weight difference threshold T δ , the system judges that the (n - m)th moment is the moment of leaving the ground.

[0020] Further, when measuring the height of the lifted object from the ground, obtaining the current second height of the hook from the ground includes:

[0021] Assign the height value hn - m corresponding to the moment of leaving the ground to obtain the current second height of the hook from the ground.

[0022] In a second aspect, the present invention provides an automatic measuring device for the lifting height of a lifted object by a crane, including:

[0023] A first acquisition unit for acquiring the first height of the hook from the ground measured in advance;

[0024] A second acquisition unit for acquiring the real-time load-bearing weight of the hook;

[0025] The first judgment unit is used to judge whether the crane is lifting a heavy object through the pre-acquired monitoring information;

[0026] The second judgment unit is used to judge whether the lifted object leaves the ground by measuring the change of the real-time load-bearing weight of the hook when it is judged that the crane is lifting a heavy object;

[0027] The third acquisition unit is used to acquire the second height of the hook from the ground at the current moment when it is measured that the lifted object leaves the ground;

[0028] The calculation unit is used to calculate the height of the lifted object from the ground by subtracting the second height of the hook from the ground at the moment of leaving the ground from the first height of the hook from the ground measured in real time.

[0029] In a third aspect, the present invention provides an automatic measurement system for the lifting height of a lifted object by a crane, including: a hook height measurement and operation unit, a moment limiter or a load limiter, a lifted object height from the ground operation unit, a lifting action monitoring unit, a data storage unit and a display unit, and each unit is connected by a communication bus or electrically connected.

[0030] In a fourth aspect, the present invention provides a measurement method for the automatic measurement system for the lifting height of a lifted object by a crane according to the above, including:

[0031] The hook height measurement and operation unit measures the accurate height h1 of the hook from the ground;

[0032] The moment limiter or the load limiter acquires the weight borne by the hook in real time;

[0033] The lifted object height from the ground operation unit judges whether the operator operates the crane to lift a heavy object according to the lifting action monitoring unit;

[0034] When it is judged that the crane is lifting a heavy object, it is measured whether the lifted object leaves the ground by the change of the real-time load-bearing weight of the hook. When the lifted object height from the ground operation unit measures that the lifted object leaves the ground, the data storage unit records the current height h0 of the hook from the ground;

[0035] Calculate the height h of the lifted object from the ground, that is, the height h1 of the hook from the ground measured in real time minus the height h0 of the hook from the ground at the moment of leaving the ground: h = h1 - h0.

[0036] Further, the lifted object height from the ground operation unit judges whether the operator operates the crane to lift a heavy object according to the lifting action monitoring unit, including:

[0037] When the lifted object height from the ground operation unit detects that the electric control lever moves in the lifting direction and meets the action conditions at the same time; or directly detects that the solenoid valve controlling the winch to lift is powered on; it is judged that the crane is lifting a heavy object.

[0038] Further, when it is determined that the crane is lifting a heavy object, the change in the real-time load-bearing weight of the hook is used to calculate whether the lifted object is off the ground. When the lifted object height calculation unit calculates that the lifted object is off the ground, the data storage unit records the current hook height h0 off the ground, including:

[0039] When it is determined that the crane is lifting a heavy object, the real-time load-bearing weight t of the hook at the current n moments is recorded in real time 0 、t 1 、…t n ;

[0040] The hook height h off the ground corresponding to the n moments is recorded in real time n ;

[0041] When t n is greater than the set no-load weight T e , compare the real-time load-bearing weights t n and t n-m of the hook at the nth moment and the (n - m)th moment (m ≥ 1 and m < n). When t n -t n-m is less than the set weight difference threshold T δ , the system determines that the (n - m)th moment is the moment of leaving the ground;

[0042] Assign the height value h n-m corresponding to the moment of leaving the ground to the hook height h0 off the ground.

[0043] Further, the height of the lifted object calculated in real time is displayed to the operator through the display.

[0044] Compared with the prior art, the beneficial effects achieved by the present invention:

[0045] 1. The present invention provides a method, device and system for automatically calculating the lifting height of a lifted object by a crane. By judging when the crane is lifting a heavy object and calculating the change in the real-time load-bearing weight of the hook, it is determined whether the lifted object is off the ground, so as to calculate the height of the lifted object off the ground, solving the problem that the prior art cannot directly calculate the height of the lifted object off the ground. During lifting, the height of the lifted object off the ground can be automatically given without manual measurement and calculation by the operator, thus improving the lifting efficiency and reducing the burden on the operator.

[0046] 2. The present invention provides a method, device and system for automatically calculating the lifting height of a lifted object by a crane. The present invention uses the torque limiter necessary for the crane as the basis for judging whether the hook is off the ground, with stable performance and no increase in hardware costs. At the same time, the system automatically judges the whole process without any manual operation and can display the height of the lifted object off the ground in real time, solving a key requirement of crane operators and improving labor productivity. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a schematic diagram of the height of the lifted object from the ground provided by an embodiment of the present invention;

[0048] Figure 2 It is a schematic structural diagram of an automatic measurement system for the lifting height of a lifted object by a crane provided by an embodiment of the present invention;

[0049] Figure 3 It is a schematic diagram of a method for calculating the height of a lifted object from the ground according to the change of the real-time load-bearing weight of a hook provided by an embodiment of the present invention. Specific implementation mode

[0050] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention and cannot be used to limit the protection scope of the present invention.

[0051] Embodiment 1. This embodiment introduces an automatic measurement method for the lifting height of a lifted object by a crane, including:

[0052] Obtain the first height of the hook from the ground measured in advance;

[0053] Obtain the real-time load-bearing weight of the hook;

[0054] Judge whether the crane lifts a heavy object through the pre-obtained monitoring information, including:

[0055] Detect the direction action of the electric control lever of the crane;

[0056] Judge whether the crane lifts a heavy object according to whether the direction action of the electric control lever meets the action conditions.

[0057] When it is judged that the crane lifts a heavy object, judge whether the lifted object leaves the ground by calculating the change of the real-time load-bearing weight of the hook, including:

[0058] When it is judged that the crane lifts a heavy object, obtain the real-time load-bearing weights t 0 、t 1 、…t n of the hook at the current n moments;

[0059] Obtain the hook height h n from the ground corresponding to the n moments;

[0060] When t n is greater than the set no-load weight T e , compare the real-time load-bearing weights t n and t n-m of the hook at the nth moment and the (n - m)th moment (m ≥ 1 and m < n), and when t n n-m - t δ is less than the set weight difference threshold T δWhen the time is n - m, the system determines that the moment n - m is the moment of leaving the ground.

[0061] When measuring that the lifted object leaves the ground, obtain the current second height of the hook from the ground; including:

[0062] Assign the height value h corresponding to the moment of leaving the ground n-m to obtain the current second height of the hook from the ground.

[0063] Calculate the height of the lifted object from the ground by subtracting the second height of the hook from the ground at the moment of leaving the ground from the first height of the hook from the ground measured in real time.

[0064] Embodiment 2. This embodiment provides an automatic measuring device for the lifting height of a lifted object by a crane, including:

[0065] A first acquisition unit for acquiring the first height of the hook from the ground measured in advance;

[0066] A second acquisition unit for acquiring the real-time load weight borne by the hook;

[0067] A first judgment unit for judging whether the crane lifts a heavy object through the pre-acquired monitoring information;

[0068] A second judgment unit for judging whether the lifted object leaves the ground by measuring the change in the real-time load weight borne by the hook when it is judged that the crane lifts a heavy object;

[0069] A third acquisition unit for acquiring the current second height of the hook from the ground when measuring that the lifted object leaves the ground;

[0070] A calculation unit for calculating the height of the lifted object from the ground by subtracting the second height of the hook from the ground at the moment of leaving the ground from the first height of the hook from the ground measured in real time.

[0071] Embodiment 3. This embodiment provides an automatic measuring system for the lifting height of a lifted object by a crane, including: a hook height measurement and operation unit, a moment limiter or a load limiter, a lifted object height from the ground operation unit, a lifting operation monitoring unit, a data storage unit, and a display unit. Each unit is connected by a communication bus or electrically connected.

[0072] Embodiment 4. This embodiment provides a measuring method for the automatic measuring system for the lifting height of a lifted object by a crane described in Embodiment 3, including:

[0073] The hook height measurement and operation unit measures the accurate height h1 of the hook from the ground;

[0074] The moment limiter or the load limiter acquires the weight borne by the hook in real time;

[0075] The lifting object ground clearance calculation unit determines whether the operator operates the crane to lift the heavy object according to the lifting action monitoring unit;

[0076] When it is determined that the crane lifts the heavy object, the change in the real-time load-bearing weight of the hook is used to calculate whether the lifting object leaves the ground. When the lifting object ground clearance calculation unit calculates that the lifting object leaves the ground, the data storage unit records the current ground clearance height h0 of the hook;

[0077] Calculate the ground clearance height h of the lifting object, which is the real-time measured ground clearance height h1 of the hook minus the ground clearance height h0 of the hook at the moment of leaving the ground: h = h1 - h0.

[0078] The following combines a preferred embodiment to illustrate the content involved in the above embodiments.

[0079] The hook height measurement and calculation unit calculates the accurate ground clearance height of the hook through the prior art. The moment limiter or load limiter gives the real-time load-bearing weight of the hook. When the calculation unit determines that the operator operates the crane to lift the heavy object according to the lifting action monitoring unit, it calculates whether the lifting object leaves the ground through the change in the real-time load-bearing weight of the hook. When the calculation unit calculates that the lifting object leaves the ground, the data storage unit records the current ground clearance height h0 of the hook. The ground clearance height h of the lifting object is the real-time measured ground clearance height h1 of the hook minus the ground clearance height h0 of the hook at the moment of leaving the ground: h = h1 - h0. The real-time calculated ground clearance height of the lifting object is displayed to the operator through the display.

[0080] The calculation unit can determine according to the lifting action monitoring unit that the operator operates the crane to lift the heavy object through the prior art. The method includes that the electric control system can directly judge according to the operation signal of the electric control lever, that is, when the calculation unit detects that the electric control lever moves in the lifting direction and meets the action conditions at the same time; or directly detects that the solenoid valve controlling the hoist to lift is powered on; the hydraulic control system can detect by setting a pressure switch in the hoist lifting circuit.

[0081] The method for the calculation unit to calculate the ground clearance height of the lifting object according to the change in the real-time load-bearing weight of the hook is as follows:

[0082] According to the lifting action monitoring unit, it is judged whether the operator operates the crane to lift the heavy object. When it is judged that the crane lifts the heavy object, the real-time load-bearing weight t of the hook at the current n moments is recorded in real time 0 、t 1 、…t n , and at the same time, the ground clearance height h of the hook corresponding to the n moments is recorded in real time n , when t n is greater than the set no-load weight T e , compare the real-time load-bearing weights t of the hook at the recorded nth moment and the (n - m)th moment (m ≥ 1 and m < n) n and tn-m , when t n -t n-m is less than the set weight difference threshold T δ , the system determines that the moment of n - m is the moment of leaving the ground, and assigns the height value h corresponding to this moment n-m to the hook height above the ground h0, and the height of the lifted object above the ground h = h1 - h0.

[0083] The present invention uses the torque limiter necessary for a crane as the basis for judging the hook leaving the ground, with stable performance and no additional hardware cost. At the same time, the system automatically judges throughout the process without any manual operation, and can display the height of the lifted object above the ground in real time, solving a key requirement of crane operators and improving labor productivity.

[0084] In this solution, a torque limiter or a load limiter is used to give the real-time load weight of the hook. Those skilled in the art can also use the direct power take-off method to measure the load weight of the hook, or can calculate the load weight of the hook by measuring the pressure of the hoisting system. These methods are still within the protection scope of the present invention.

[0085] The present invention compares the real-time load weights t of the hook at the recorded moment n and the moment n - m (m ≥ 1 and m < n) n and t n-m , when t n -t n-m is less than the set weight difference threshold T δ , the system determines that the moment of n - m is the moment of leaving the ground. The time interval for each moment is different in different systems, and can be any time value such as 50ms or 200ms, 1s, etc.; it is not necessarily just comparing one moment n with the moment n - m, and can also compare t n -t n-2、 t n -t n-3 and other multiple moments, and at the same time judge the moment of leaving the ground according to the difference changes between multiple moments, which is still within the coverage of this patent.

[0086] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and deformations can still be made, and these improvements and deformations should also be regarded as the protection scope of the present invention.

Claims

1. An automatic measuring method for the lifting height of a hoisted object by a crane, characterized in that, it includes: Obtain the first height of the hook from the ground measured in advance; Obtain the real-time load-bearing weight of the hook; Judge whether the crane hoists a heavy object through the pre-obtained monitoring information; When it is judged that the crane hoists a heavy object, judge whether the hoisted object leaves the ground by measuring the change in the real-time load-bearing weight of the hook; When it is measured that the hoisted object leaves the ground, obtain the second height of the hook from the ground at present; Calculate the height of the hoisted object from the ground by subtracting the second height of the hook from the ground at the moment of leaving the ground from the first height of the hook from the ground measured in real time; When it is judged that the crane hoists a heavy object, judge whether the hoisted object leaves the ground by measuring the change in the real-time load-bearing weight of the hook, including: When it is judged that the crane is lifting a heavy object, obtain the real-time load weight t of the hook at the current n moments 0 , t 1 , …t n ; Obtain the hook height h above the ground corresponding to n moments n ; When t n is greater than the set no-load weight T e , compare the real-time load weight t of the hook at the nth moment and the (n - m)th moment (m ≥ 1 and m < n) obtained n and t n-m . When t n - t n-m is less than the set weight difference threshold T δ , the system determines that the (n - m)th moment is the moment of leaving the ground.

2. The automatic measuring method for the lifting height of a hoisted object by a crane according to claim 1, characterized in that, Judging whether the crane hoists a heavy object through the pre-obtained monitoring information includes: Detect the direction action of the electric control lever of the crane; Judge whether the crane hoists a heavy object according to whether the direction action of the electric control lever meets the action conditions.

3. The automatic measuring method for the lifting height of a hoisted object by a crane according to claim 1, characterized in that, When it is measured that the hoisted object leaves the ground, obtaining the second height of the hook from the ground at present includes: Assign the height value h corresponding to the moment of leaving the ground n-m to obtain the second height of the hook from the ground at present.

4. An automatic measuring device for the lifting height of a hoisted object by a crane, characterized in that, it includes: A first obtaining unit for obtaining the first height of the hook from the ground measured in advance; A second obtaining unit for obtaining the real-time load-bearing weight of the hook; A first judging unit for judging whether the crane hoists a heavy object through the pre-obtained monitoring information; A second judging unit for judging whether the hoisted object leaves the ground by measuring the change in the real-time load-bearing weight of the hook when it is judged that the crane hoists a heavy object; including: When it is judged that the crane is lifting a heavy object, obtain the real-time load weight t of the hook at the current n moments 0 , t 1 , … t n ; Obtain the hook height h from the ground corresponding to n moments n ; When t n is greater than the set no-load weight T e , compare the real-time load weight t of the hook at the nth moment and the (n - m)th moment (m ≥ 1 and m < n) obtained n with t n-m . When t n - t n-m is less than the set weight difference threshold T δ , the system determines that the (n - m)th moment is the moment of leaving the ground; A third obtaining unit for obtaining the second height of the hook from the ground at present when it is measured that the hoisted object leaves the ground; A calculating unit for calculating the height of the hoisted object from the ground by subtracting the second height of the hook from the ground at the moment of leaving the ground from the first height of the hook from the ground measured in real time.

5. An automatic measuring system for the lifting height of a hoisted object by a crane, characterized in that, it includes: A hook height measurement and operation unit, a moment limiter or a lifting weight limiter, a hoisted object ground clearance height operation unit, a hoisting action monitoring unit, a data storage unit and a display unit, and each unit is connected by a communication bus or electrically connected; The measuring method of the automatic measuring system for the lifting height of a hoisted object by a crane includes: The hook height measurement and operation unit measures the accurate height h1 of the hook from the ground; The moment limiter or the lifting weight limiter obtains the weight borne by the hook in real time; The hoisted object ground clearance height operation unit judges whether the operator operates the crane to hoist a heavy object according to the hoisting action monitoring unit; When it is judged that the crane hoists a heavy object, judge whether the hoisted object leaves the ground by measuring the change in the real-time load-bearing weight of the hook. When the hoisted object ground clearance height operation unit measures that the hoisted object leaves the ground, the data storage unit records the current height h0 of the hook from the ground; specifically including: When it is determined that the crane is lifting a heavy object, the real-time bearing weight t of the hook at the current n moments is recorded in real time 0 , t 1 , …t n ; Record the hook height h above the ground corresponding to n moments in real time n ; When t n is greater than the set no-load weight T e , compare the real-time load weight t of the hook at the nth moment and the (n - m)th moment (m ≥ 1 and m < n) recorded n with t n-m . When t n - t n-m is less than the set weight difference threshold T δ , the system determines that the (n - m)th moment is the moment of leaving the ground; Assign the height value h corresponding to the moment of leaving the ground n-m to the height h0 of the lifting hook from the ground; Calculate the height h of the lifted object from the ground, which is the height h1 of the hook from the ground measured in real time minus the height h0 of the hook from the ground at the moment of leaving the ground: h = h1 - h0.

6. A measurement method for an automatic measurement system of the lifting height of a crane lifted object according to claim 5, characterized in that the height operation unit of the lifted object from the ground determines whether the operator operates the crane to lift the heavy object according to the lifting action monitoring unit, including: When the electric control lever is detected by the height operation unit of the loaded object from the ground to move in the lifting direction and the action conditions are met at the same time; or when it is directly detected that the solenoid valve controlling the winch to lift is energized; it is determined that the crane lifts the heavy object.

7. A measurement method for an automatic measurement system of the lifting height of a crane lifted object according to claim 6, characterized in that The height of the lifted object from the ground calculated in real time is displayed to the operator through the display.

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