Crane shutdown and emergency control method, emergency control system, and crane

Abstract

The present application relates to the technical field of cranes, and specifically provides a crane shutdown and emergency control method, an emergency control system, and a crane. During application, it judges the hardware status of the handle, judges the communication status between the upper vehicle controller and the handle, judges whether a shutdown signal is received, judges the speed command sending process between the upper vehicle controller and the motor controller, and judges the communication status between the upper vehicle controller and the motor controller. When problems occur in the above-mentioned status or process, a shutdown signal is sent to the motor controller in a timely manner, and the hoisting motor can be controlled to stop in time according to the signal or status, avoiding accidents during the process of the spreader lifting goods caused by the hoisting motor executing incorrect operations.

Description

Technical Field

[0001] This application relates to the technical field of cranes, and particularly to a crane shutdown and emergency control method, an emergency control system, and a crane. Background Art

[0002] At present, the electrification of construction machinery has become a national strategic development goal. The electrification of cranes is in a rapid development stage, and the electrification of the upper carriage has also entered a rapid development stage. In an electric crane, there is an upper carriage controller and a motor controller. The upper carriage controller is communicatively connected to the handle to obtain the control signal generated by the handle. The upper carriage controller then converts the control signal into a target speed signal and sends it to the motor controller. The motor controller controls the hoisting motor to work according to the target speed signal, so as to perform the hoisting work. Among them, when a fault occurs in the handle and / or the upper carriage controller or a communication fault occurs, if the motor continues to operate, it may cause an accident. How to take appropriate countermeasures when a fault occurs in the handle and / or the upper carriage controller or a communication fault occurs is a technical problem that needs to be solved in this field. Summary of the Invention

[0003] In view of this, this application provides a crane shutdown and emergency control method, an emergency control system, and a crane, which can take appropriate countermeasures when a fault occurs in the handle and / or the upper carriage controller or a communication fault occurs.

[0004] In a first aspect, a crane shutdown control method provided by this application is applied to an upper carriage controller in a crane. Among them, the crane shutdown control method includes: if the hardware of the handle is abnormal, sending a shutdown signal to the motor controller; or, if there is a communication abnormality between the upper carriage controller and the handle, sending a shutdown signal to the motor controller.

[0005] When this aspect is in use, the hardware state of the handle is judged, and the communication state between the upper carriage controller and the handle is judged. When there is a problem with the above state or process, a shutdown signal is sent to the motor controller in a timely manner, avoiding accidents during the process of the hoisting motor performing incorrect work and the spreader hoisting goods.

[0006] In combination with the first aspect, in a possible implementation manner, it further includes: obtaining the control signal sent by the handle; generating a target speed signal corresponding to the control signal according to a pre-stored speed algorithm model; and sending the target speed signal to the motor controller.

[0007] In combination with the first aspect, in a possible implementation, the crane further includes a brake electrically connected to the upper vehicle controller, and the brake is used to brake the spreader of the crane; wherein, the crane shutdown control method further includes: if the shutdown signal has been sent to the motor controller, controlling the brake to brake the spreader.

[0008] In the second aspect, the present application provides a crane emergency control method, which is applied to a motor controller in a crane; wherein, the crane emergency control method includes: if a shutdown signal is obtained, controlling the hoisting motor to shut down; or, if there is an abnormality in the transmission of the speed command between the upper vehicle controller and the motor controller, controlling the hoisting motor to shut down; or, if there is a communication abnormality with the upper vehicle controller, controlling the hoisting motor to shut down.

[0009] In this aspect, judging whether a shutdown signal is received, judging the process of sending the speed command between the upper vehicle controller and the motor controller, and judging the communication status between the upper vehicle controller and the motor controller can timely control the hoisting motor to shut down according to the signal or status, avoiding accidents during the process of the spreader lifting goods due to the hoisting motor performing incorrect operations.

[0010] In combination with the second aspect, in a possible implementation, the step of "if there is an abnormality in the transmission of the speed command between the upper vehicle controller and the motor controller, controlling the hoisting motor to shut down" includes: obtaining the target speed signal sent by the upper vehicle controller, where the target speed signal is calculated by the upper vehicle controller according to the control signal sent by the handle; obtaining the control signal sent by the handle, and generating a comparison speed signal corresponding to the control signal according to a pre-stored speed algorithm model; and if the target speed signal and the comparison speed signal do not match, controlling the hoisting motor to shut down.

[0011] In combination with the second aspect, in a possible implementation, the step of "if there is a communication abnormality with the upper vehicle controller, controlling the hoisting motor to shut down" includes: if the target speed signal sent by the upper vehicle controller is not obtained within a third preset duration, controlling the hoisting motor to shut down, where the target speed signal is calculated by the upper vehicle controller according to the control signal sent by the handle.

[0012] In combination with the second aspect, in a possible implementation, the crane further includes an emergency controller communicatively connected to the motor controller; wherein, the crane emergency control method further includes: obtaining a load lowering operation request signal generated when the emergency controller is triggered; and if a shutdown signal is obtained, or if there is an abnormality in the transmission of the speed command between the upper vehicle controller and the motor controller, or if there is a communication abnormality with the upper vehicle controller, then responding to the load lowering operation request signal and controlling the hoisting motor to drive the lifting appliance to lower the load.

[0013] In combination with the second aspect, in a possible implementation, the crane further includes a brake, and the crane emergency control method further includes: if the brake is in a braking working state, then power off the hoisting motor.

[0014] In a third aspect, the present application provides a crane emergency control system, which is applied to a crane. The crane emergency control system includes: a handle; a hoisting motor; an upper vehicle controller communicatively connected to the handle; and a motor controller communicatively connected to the handle, the upper vehicle controller, and the hoisting motor respectively; wherein, if there is a hardware abnormality in the handle, then the upper vehicle controller sends a shutdown signal to the motor controller, and the motor controller controls the hoisting motor to shut down; if there is a communication abnormality between the upper vehicle controller and the handle, then the upper vehicle controller sends a shutdown signal to the motor controller, and the motor controller controls the hoisting motor to shut down; if there is an abnormality in the transmission of the speed command between the upper vehicle controller and the motor controller, then the motor controller controls the hoisting motor to shut down; if there is a communication abnormality between the motor controller and the upper vehicle controller, then the motor controller controls the hoisting motor to shut down.

[0015] The crane emergency control system in the third aspect includes the technical contents of the first aspect and the second aspect. Therefore, the technical effects of the third aspect will not be elaborated here.

[0016] In a fourth aspect, the present application provides a crane, including: a lifting appliance; a hoisting motor configured to drive the lifting appliance to lift and lower; and the aforementioned crane emergency control system, wherein the crane emergency control system is communicatively connected to the hoisting motor.

[0017] The crane in the fourth aspect includes the crane emergency control system in the third aspect. Therefore, the technical effects of the fourth aspect will not be elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The figure shows a schematic diagram of the method steps of a crane shutdown control method provided by an embodiment of the present application.

[0019] Figure 2 The figure shows a schematic diagram of the method steps of a crane shutdown control method provided by another embodiment of the present application.

[0020] Figure 3 The figure shows a schematic diagram of the method steps of a crane shutdown control method provided by another embodiment of the present application.

[0021] Figure 4 The figure shows a schematic diagram of the method steps of a crane emergency control method provided by another embodiment of the present application.

[0022] Figure 5 The figure shows a schematic diagram of the method steps of a crane emergency control method provided by another embodiment of the present application.

[0023] Figure 6 The figure shows a schematic diagram of the method steps of a crane emergency control method provided by another embodiment of the present application.

[0024] Figure 7 The figure shows a schematic diagram of the method steps of a crane emergency control method provided by another embodiment of the present application.

[0025] Figure 8 The figure shows a schematic diagram of the structure of a crane emergency control system provided by an embodiment of the present application.

[0026] Figure 9 The figure shows a schematic diagram of the application process of the present application.

[0027] Figure 10 The figure shows a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0028] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0029] Exemplary crane shutdown control method

[0030] The present application provides a crane shutdown control method. In one embodiment, the method is applied to a crane, which includes a handle, an upper vehicle controller, a motor controller, a hoisting motor, and a spreader. The handle is communicatively connected to the upper vehicle controller and the motor controller respectively. The upper vehicle controller is communicatively connected to the motor controller. The motor controller is communicatively connected to the hoisting motor, and the hoisting motor is configured to drive the spreader to lift and lower.

[0031] Figure 1 The figure shows a schematic diagram of the method steps of a crane shutdown control method provided by an embodiment of the present application. In one embodiment, this method is applied to the upper vehicle controller in the crane, such as Figure 1 shown, the crane shutdown control method includes:

[0032] Step 110: Determine whether the hardware of the handle is abnormal. If so, send a shutdown signal to the motor controller.

[0033] In this step, if the hardware of the handle fails, it may cause the operator to be unable to send a control signal through the handle, or the handle may send an incorrect control signal due to its own hardware problem when the operator manipulates the handle. At this time, a shutdown signal is sent to the motor controller. Specifically, the shutdown signal can be a zero-speed signal. After the motor controller obtains the zero-speed signal, it controls the speed of the hoisting motor to be adjusted to zero. The motor controller can control the hoisting motor to stop according to the shutdown signal, so that the spreader no longer performs work, avoiding the spreader performing incorrect hoisting work when the handle cannot send a correct command.

[0034] Specifically, in one embodiment, if the upper vehicle controller does not obtain the control signal sent by the handle within the first preset duration, the upper vehicle controller sends a shutdown signal to the motor controller. In application, based on the fact that the upper vehicle controller does not receive the control signal within the first preset duration, it is determined that the handle fails. This can simplify the judgment process of the handle failure and more simply determine whether the handle fails. Specifically, the first preset duration can be set to a value between 0.5 s and 1 s. If it exceeds this duration, it is determined that the handle fails and cannot send a control signal.

[0035] Step 120: Determine whether the communication between the upper vehicle controller and the handle is abnormal, and then send a shutdown signal to the motor controller.

[0036] In this step, if the communication line between the handle and the upper vehicle controller fails, resulting in the handle being unable to send a control signal to the upper vehicle controller, or the communication delay between the handle and the upper vehicle controller is relatively large, at this time, it is necessary to control the hoisting motor to stop to avoid accidents during the process of the spreader hoisting goods.

[0037] When this embodiment is used, the hardware state of the handle is judged, and the communication state between the upper vehicle controller and the handle is judged. When there are problems with the above states or processes, a shutdown signal is sent to the motor controller in a timely manner, avoiding accidents during the process of the hoisting motor performing incorrect work and the spreader hoisting goods.

[0038] Specifically, in one embodiment, if the on-vehicle controller fails to obtain the control signal sent by the handle within the second preset duration, a shutdown signal is sent to the motor controller. In application, based on the fact that the on-vehicle controller does not receive the control signal within the second preset duration, it is determined that a communication failure or a large communication delay occurs between the handle and the on-vehicle controller. This can simplify the judgment process of the communication failure or high communication delay between the handle and the on-vehicle controller, and more simply determine whether a communication failure or high communication delay occurs. Specifically, the second preset duration can be set to a value between 0.5 s and 1 s. If the duration is exceeded, it is determined that a communication failure or a large communication delay occurs between the handle and the on-vehicle controller.

[0039] Figure 2 The following shows a schematic diagram of the method steps of a crane shutdown control method provided by another embodiment of the present application. In one embodiment, as Figure 2 shown, the crane shutdown control method further includes:

[0040] Step 130: Obtain the control signal sent by the handle.

[0041] Step 140: Generate a target speed signal corresponding to the control signal according to the pre-stored speed algorithm model.

[0042] Step 150: Send the target speed signal to the motor controller.

[0043] In this embodiment, the on-vehicle controller pre-stores a speed algorithm model. When the on-vehicle controller receives the control signal, it can calculate the target speed signal corresponding to the control signal based on the speed algorithm model. In the subsequent process, if the motor controller obtains the target speed signal, the motor controller controls the hoisting motor to rotate at the target speed according to the target speed signal. Specifically, different opening degrees of the handle correspond to different control signals. When the operator operates the handle, the operator will operate the handle to reach different opening degrees, thereby generating different control signals. Different control signals correspond to different target speed signals, and the speed algorithm model can obtain the corresponding target speed signal according to the control signal.

[0044] In one embodiment, the crane further includes a brake electrically connected to the on-vehicle controller, and the brake is used to brake the spreader of the crane;

[0045] Figure 3 The following shows a schematic diagram of the method steps of a crane shutdown control method provided by another embodiment of the present application. Among them, as Figure 3 shown, the crane shutdown control method further includes:

[0046] Step 160: Determine whether a shutdown signal has been sent to the motor controller. If so, control the brake to brake the spreader.

[0047] In this embodiment, when the hoisting motor stops, the brake performs the braking work on the spreader to prevent the spreader from falling and causing accidents. Specifically, the brake includes a brake shoe, and the brake shoe can be activated when the spreader needs to be braked.

[0048] Exemplary crane emergency control method

[0049] Figure 4 The figure shows a schematic diagram of the method steps of a crane emergency control method provided by another embodiment of the present application. The present application also provides a crane emergency control method, which is applied to the motor controller in the aforementioned crane. In one embodiment, as Figure 4 shown, the crane emergency control method includes:

[0050] Step 210: Determine whether a stop signal is obtained. If so, control the hoisting motor to stop.

[0051] Step 220: Determine whether there is an abnormality in the transmission of the speed command between the upper car controller and the motor controller. If so, control the hoisting motor to stop.

[0052] In this step, when the communication between the upper car controller and the handle is normal, if the upper car controller cannot send the speed command to the motor controller normally, the motor controller may not receive the speed command or receive an incorrect speed command, which may cause the motor controller to control the hoisting motor to perform incorrect work. At this time, the motor controller controls the hoisting motor to stop to prevent the hoisting motor from performing incorrect work and causing accidents during the process of the spreader lifting goods. Among them, if the upper car controller cannot send the speed command to the motor controller normally, for example, the communication line between the upper car controller and the motor controller may be faulty, or the upper car controller may send an incorrect speed command to the motor controller.

[0053] Step 230: Determine whether the communication with the upper car controller is abnormal, and then control the hoisting motor to stop.

[0054] In this step, when there is a hardware failure in the upper car controller itself or a communication line failure between the upper car controller and the motor controller, the communication between the motor controller and the upper car controller is abnormal. The upper car controller cannot send the speed command to the motor controller or cannot send the correct speed command. To prevent the motor controller from controlling the hoisting motor to perform incorrect work, the hoisting motor is controlled to stop at this time to prevent the hoisting motor from performing incorrect work and causing accidents during the process of the spreader lifting goods.

[0055] In this embodiment, by determining whether a shutdown signal is received, judging the process of sending the speed command between the upper vehicle controller and the motor controller, and judging the communication status between the upper vehicle controller and the motor controller, the hoisting motor can be timely controlled to stop according to the signal or status, avoiding accidents during the process of the spreader lifting goods caused by the hoisting motor performing incorrect operations.

[0056] Figure 5 The figure shows a schematic diagram of the method steps of a crane emergency control method provided by another embodiment of the present application. In one embodiment, as Figure 5 shown, step 220 includes:

[0057] Step 221, obtain the target speed signal sent by the upper vehicle controller. The target speed signal is calculated by the upper vehicle controller according to the control signal sent by the handle.

[0058] Step 222, obtain the control signal sent by the handle, and generate a comparison speed signal corresponding to the control signal according to the pre-stored speed algorithm model.

[0059] In this step, the speed algorithm model is also written into the motor controller, or the speed algorithm model is pre-stored in the motor controller. The motor controller is also communicatively connected to the handle, so that the motor controller can obtain the control signal, and the motor controller calculates the comparison speed signal corresponding to the control signal based on the speed algorithm model.

[0060] Step 223, judge whether the target speed signal and the comparison speed signal match. If not, control the hoisting motor to stop.

[0061] In this step, by comparing the target speed signal obtained by the upper vehicle controller and the comparison speed signal obtained by the motor controller, it can be ensured that the motor controller controls the hoisting motor to work more accurately, avoiding the motor controller controlling the hoisting motor according to the wrong target speed signal. Specifically, the difference between the target speed signal and the comparison speed signal can be compared. When the difference is less than or equal to the preset difference, the target speed signal and the comparison speed signal are relatively close, and it can be determined that the target speed signal and the comparison speed signal match; when the difference is greater than the preset difference, it is determined that the target speed signal and the comparison speed signal do not match.

[0062] Figure 6 The figure shows a schematic diagram of the method steps of a crane emergency control method provided by another embodiment of the present application. In one embodiment, as Figure 6 shown, step 230 includes:

[0063] Step 231: Determine whether the target speed signal sent by the upper vehicle controller is obtained within the third preset time period. If not, control the hoisting motor to stop. The target speed signal is calculated by the upper vehicle controller based on the manipulation signal sent by the handle.

[0064] In this embodiment, if a fault occurs or the communication delay is large between the upper vehicle controller and the motor controller, the motor controller may not receive the target speed signal or receive it with a high delay, that is, the speed command sent from the upper vehicle controller to the motor controller is abnormal. At this time, the motor controller sends a deceleration stop command to the hoisting motor to avoid a hoisting accident. Specifically, the third preset time period can be set to a value between 0.5 s and 1 s, and if it exceeds this time period, it is determined that there is a communication fault or a large communication delay.

[0065] In one embodiment, the crane further includes an emergency controller, and the emergency controller is communicatively connected to the motor controller.

[0066] Figure 7 The figure shows a schematic diagram of the method steps of a crane emergency control method provided by another embodiment of the present application. As Figure 7 shown, the crane emergency control method further includes:

[0067] Step 240: Obtain the lifting load lowering operation request signal generated when the emergency controller is triggered.

[0068] In this step, the emergency controller can be set at a position convenient for operation. For example, it can be set on the instrument panel of the crane. When the operator interacts with the emergency controller, after the emergency controller generates the lifting load lowering operation request signal, the emergency controller then sends the lifting load lowering operation request signal to the motor controller.

[0069] Step 250: Determine whether a stop signal is obtained. If so, respond to the lifting load lowering operation request signal and control the hoisting motor to drive the lifting appliance to lower the lifting load.

[0070] Step 251: Determine whether the speed command sent from the upper vehicle controller to the motor controller is abnormal. If so, respond to the lifting load lowering operation request signal and control the hoisting motor to drive the lifting appliance to lower the lifting load.

[0071] Step 252: Determine whether the communication with the upper vehicle controller is abnormal. If so, respond to the lifting load lowering operation request signal and control the hoisting motor to drive the lifting appliance to lower the lifting load.

[0072] In this step, when the motor controller responds to the lifting load lowering operation request signal, it sends a control command to the hoisting motor. This control command can cause the hoisting motor to work to drive the lifting appliance to lower the lifting load, that is, when the hoisting motor obtains this control command, it performs the rotational action of lowering the lifting appliance.

[0073] In one embodiment, as Figure 7 shown, after step 240, the crane emergency control method further includes:

[0074] Step 260, determine whether the hoisting motor is in a working state. If so, the motor controller ignores the load lowering operation request signal.

[0075] This embodiment can avoid the emergency controller being accidentally touched when the hoisting motor is working normally, resulting in the motor controller controlling the hoisting motor to lower the load.

[0076] In one embodiment, as Figure 3 shown, the crane emergency control method further includes:

[0077] Step 270, determine whether the brake is in a braking working state. If so, cut off the power supply to the hoisting motor.

[0078] In this embodiment, when the brake brakes the spreader, the power supply to the hoisting motor can be cut off. At this time, the brake brakes the spreader, and the hoisting motor can be powered off to save energy.

[0079] In addition, when the motor controller responds to the load lowering operation request signal, the crane restores power supply to the hoisting motor. That is, when the operator triggers the emergency controller, the hoisting motor is re-energized to lower the spreader.

[0080] Exemplary crane emergency control system

[0081] Figure 8 The following shows a schematic structural diagram of a crane emergency control system provided by an embodiment of the present application. The present application also provides a crane emergency control system, which is applied to a crane. In one embodiment, as Figure 8 shown, the crane emergency control system includes a handle 801, a hoisting motor 802, an upper vehicle controller 803, and a motor controller 804. The upper vehicle controller 803 is communicatively connected to the handle 801. The motor controller 804 is communicatively connected to the handle 801, the upper vehicle controller 803, and the hoisting motor 802 respectively. Among them, if the hardware of the handle 801 is abnormal, the upper vehicle controller 803 sends a stop signal to the motor controller 804, and the motor controller 804 controls the hoisting motor 802 to stop. If there is an abnormal communication between the upper vehicle controller 803 and the handle 801, the upper vehicle controller 803 sends a stop signal to the motor controller 804, and the motor controller 804 controls the hoisting motor 802 to stop. If there is an abnormal transmission of the speed command between the upper vehicle controller 803 and the motor controller 804, the motor controller 804 controls the hoisting motor 802 to stop.

[0082] In this embodiment, if the hardware of the handle 801 fails, it may cause the operator to be unable to send a control signal through the handle 801, or the handle 801 may send an incorrect control signal due to its own hardware problem when the operator operates the handle 801. At this time, the motor controller 804 controls the hoisting motor to stop, so that the spreader no longer performs work, avoiding the spreader performing incorrect hoisting work when the handle 801 cannot issue a correct command.

[0083] If the communication line between the handle 801 and the upper vehicle controller 803 fails, resulting in the handle 801 being unable to send a control signal to the upper vehicle controller 803, or if the communication delay between the handle 801 and the upper vehicle controller 803 is relatively large, it is necessary to control the hoisting motor to stop at this time to avoid accidents during the process of the spreader hoisting goods.

[0084] When the communication between the upper vehicle controller 803 and the handle 801 is normal, if the upper vehicle controller 803 cannot send a rotation speed command to the motor controller 804 normally, the motor controller 804 may not receive the rotation speed command or receive an incorrect rotation speed command, which may cause the motor controller 804 to control the hoisting motor 802 to perform incorrect work. At this time, the motor controller 804 controls the hoisting motor 802 to stop, avoiding accidents during the process of the hoisting motor 802 performing incorrect work and the spreader hoisting goods. Among them, if the upper vehicle controller 803 cannot send a rotation speed command to the motor controller 804 normally, for example, the communication line between the upper vehicle controller 803 and the motor controller 804 may fail, or the upper vehicle controller 803 may send an incorrect rotation speed command to the motor controller 804.

[0085] When a hardware failure occurs in the upper vehicle controller 803 itself, the upper vehicle controller 803 cannot send a rotation speed command to the motor controller 804 or cannot send a correct rotation speed command. In order to avoid the motor controller 804 controlling the hoisting motor to perform incorrect work, the hoisting motor is controlled to stop at this time, avoiding accidents during the process of the hoisting motor performing incorrect work and the spreader hoisting goods.

[0086] When this embodiment is in use, it judges the hardware state of the handle 801, judges the communication state between the upper vehicle controller 803 and the handle 801, judges the process of sending the rotation speed command between the upper vehicle controller 803 and the motor controller 804, and judges the hardware state of the upper vehicle controller 803. When problems occur in the above states or processes, the hoisting motor 802 is controlled to stop in time, avoiding accidents during the process of the hoisting motor 802 performing incorrect work and the spreader hoisting goods.

[0087] Figure 9 The following is a schematic flow diagram of the application of the present application. In the actual use of the present application, as Figure 9As shown, after the upper vehicle of the electric crane starts, it is determined whether there is a signal from the handle. If there is a signal, the upper vehicle controller receives the handle control signal and calculates the corresponding target speed. If there is no signal from the handle, the upper vehicle controller sends a zero speed signal (i.e., a stop signal) to the motor controller. When the motor controller does not receive the handle signal and receives the zero speed signal at the same time, the motor controller controls the hoisting motor to decelerate and stop. When the upper vehicle controller sends the target speed signal, it is determined whether the upper vehicle controller successfully sends the target speed signal to the motor controller. If the sending is not successful, and the motor controller receives the handle control signal but does not receive the target speed signal, the motor controller controls the hoisting motor to decelerate and stop. If the upper vehicle controller successfully sends the target speed signal, the motor controller receives the handle control signal, calculates and compares the speed signals, and then compares the comparison speed signal with the target speed signal. If the two do not match, the motor controller controls the hoisting motor to decelerate and stop. If the two match, it controls the hoisting motor to execute the target speed. When the hoisting motor stops, if the emergency controller is triggered, the motor controller controls the hoisting motor to lower the lifted load.

[0088] Exemplary crane

[0089] The present application also provides a crane. In one embodiment, the crane includes a lifting appliance, a hoisting motor, and the aforementioned crane emergency control system. The hoisting motor is configured to drive the lifting appliance to move up and down. Among them, the crane emergency control system is communicatively connected to the hoisting motor.

[0090] When the crane in this embodiment is working, the crane emergency control system judges the hardware state of the handle, judges the communication state between the upper vehicle controller and the handle, judges the speed command sending process between the upper vehicle controller and the motor controller, and judges the hardware state of the upper vehicle controller. When there are problems with the above states or processes, it timely controls the hoisting motor to stop, avoiding accidents during the process of the lifting appliance hoisting goods due to the hoisting motor performing incorrect operations.

[0091] Exemplary electronic device

[0092] Next, with reference to Figure 10 to describe the electronic device according to an embodiment of the present application. Figure 10 The following shows a schematic structural diagram of an electronic device provided by an embodiment of the present application.

[0093] As Figure 10 shown, the electronic device 90 includes one or more processors 901 and a memory 902.

[0094] The processor 901 may be a central processing unit (CPU) or other forms of processing units with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 90 to perform desired functions.

[0095] The memory 902 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory, etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 901 may run the program instructions to implement the crane emergency control method of each embodiment of the present application described above or other desired functions. Various contents such as error parameters of the crane emergency control method may also be stored in the computer-readable storage medium.

[0096] In one example, the electronic device 90 may further include: an input device 903 and an output device 904, and these components are interconnected through a bus system and / or other forms of connection mechanisms (not shown).

[0097] The input device 903 may include, for example, a keyboard, a mouse, a rocker, a touch screen, and the like.

[0098] The output device 904 may output various information to the outside, including the determined motion data, etc. The output device 904 may include, for example, a display, a communication network, and remote output devices connected thereto, and the like.

[0099] Of course, for simplicity, Figure 10 only some of the components related to the present application in the electronic device 90 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application scenarios, the electronic device 90 may further include any other appropriate components.

[0100] In addition to the above methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions that, when run by a processor, cause the processor to execute the steps in the crane emergency control method according to various embodiments of the present application described in this specification.

[0101] The computer program product may be written in any combination of one or more programming languages for programming code to perform the operations of the embodiments of the present application. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The programming code may be executed entirely on the operator's computing device, partially on the operator's device, executed as a stand-alone software package, partially on the operator's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0102] In addition, an embodiment of the present application may also be a computer-readable storage medium having computer program instructions stored thereon, and when the computer program instructions are run by a processor, the processor is caused to execute the steps in the crane emergency control method according to various embodiments of the present application in this specification.

[0103] The computer-readable storage medium may employ any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0104] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, advantages, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, advantages, effects, etc. are essential for each embodiment of the present application. In addition, the above-disclosed specific details are only for illustrative purposes and for ease of understanding, and are not limitations. The above details do not limit the present application to necessarily implement using the above specific details.

[0105] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including," "comprising," "having," etc. are open-ended terms meaning "including but not limited to" and can be used interchangeably with each other. The word "or" and "and" used herein refer to the phrase "and / or" and can be used interchangeably with it, unless the context clearly indicates otherwise. The phrase "such as" used herein refers to the phrase "such as but not limited to" and can be used interchangeably with it.

[0106] It should also be noted that in the devices, equipment, and methods of this application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of this application.

[0107] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0108] The above are only the preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent replacements, etc. made within the spirit and principles of this application shall be included within the protection scope of this application.

Claims

1. A crane shutdown control method, characterized in that, An upper vehicle controller applied to a crane; Among them, the crane shutdown control method includes: If the upper vehicle controller does not receive the control signal sent by the handle within the first preset duration and determines that the hardware of the handle is abnormal, then send a shutdown signal to the motor controller; or, If the upper vehicle controller does not receive the control signal sent by the handle within the second preset duration and determines that the communication between the upper vehicle controller and the handle is abnormal, then send a shutdown signal to the motor controller.

2. The crane shutdown control method according to claim 1, wherein It also includes: Obtain the control signal sent by the handle; Generate a target speed signal corresponding to the control signal according to the pre-stored speed algorithm model; And Send the target speed signal to the motor controller.

3. The crane shutdown control method according to claim 1, characterized in that The crane also includes a brake electrically connected to the upper vehicle controller, and the brake is used to brake the spreader of the crane; Among them, the crane shutdown control method also includes: If the shutdown signal has been sent to the motor controller, then control the brake to brake the spreader.

4. A crane emergency control method, characterized in that, A motor controller applied to a crane; Among them, the crane emergency control method includes: If a shutdown signal is obtained, then control the hoisting motor to stop; or, If the speed command transmission between the upper vehicle controller and the motor controller is abnormal, then control the hoisting motor to stop; or, If the communication with the upper vehicle controller is abnormal, then control the hoisting motor to stop; The "if the speed command transmission between the upper vehicle controller and the motor controller is abnormal, then control the hoisting motor to stop" includes: Obtain the target speed signal sent by the upper vehicle controller, where the target speed signal is calculated by the upper vehicle controller according to the control signal sent by the handle; Obtain the control signal sent by the handle, and generate a comparison speed signal corresponding to the control signal according to the pre-stored speed algorithm model; and If the target speed signal and the comparison speed signal do not match, then control the hoisting motor to stop; The "if the communication with the upper vehicle controller is abnormal, then control the hoisting motor to stop" includes: If the target speed signal sent by the upper vehicle controller is not obtained within the third preset duration, then control the hoisting motor to stop.

5. The crane emergency control method according to claim 4, wherein The crane also includes an emergency controller communicatively connected to the motor controller; Among them, the crane emergency control method also includes: Obtain the load lowering operation request signal generated when the emergency controller is triggered; and If a shutdown signal is obtained, or if the speed command transmission between the upper vehicle controller and the motor controller is abnormal, or if the communication with the upper vehicle controller is abnormal, then respond to the load lowering operation request signal and control the hoisting motor to drive the spreader to lower the load.

6. The crane emergency control method according to claim 4, wherein The crane also includes a brake, and the crane emergency control method also includes: If the brake is in the braking working state, then cut off the power supply of the hoisting motor.

7. Crane emergency control system, characterized in that, Applied to a crane, the crane emergency control system includes: Handle; Hoisting motor; Upper vehicle controller, communicatively connected to the handle; and The motor controller is communicatively connected to the handle, the on-vehicle controller, and the hoisting motor respectively; Wherein, if the on-vehicle controller does not receive the control signal sent by the handle within the first preset duration and determines that the hardware of the handle is abnormal, the on-vehicle controller sends a shutdown signal to the motor controller, and the motor controller controls the hoisting motor to shut down; If the on-vehicle controller does not receive the control signal sent by the handle within the second preset duration and determines that the communication between the on-vehicle controller and the handle is abnormal, the on-vehicle controller sends a shutdown signal to the motor controller, and the motor controller controls the hoisting motor to shut down; Obtain the target speed signal sent by the on-vehicle controller, where the target speed signal is calculated by the on-vehicle controller according to the control signal sent by the handle; Obtain the control signal sent by the handle, and generate a comparison speed signal corresponding to the control signal according to the pre-stored speed algorithm model; and If the target speed signal does not match the comparison speed signal, control the hoisting motor to shut down; If the motor controller does not obtain the target speed signal sent by the on-vehicle controller within the third preset duration, control the hoisting motor to shut down.

8. A crane, characterized in that, Comprising: A spreader; A hoisting motor configured to drive the spreader to lift and lower; And The crane emergency control system according to claim 7, wherein the crane emergency control system is communicatively connected to the hoisting motor.

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