Deformation detection method and device for tower crane load-bearing rope, calculation equipment and medium

Abstract

The embodiments of the present application relate to the field of intelligent control technology, and to a deformation detection method and device, computing equipment and medium for the load-bearing rope of a tower crane. The specific implementation scheme is: pre-set a mark position and a starting position in the operation scene of the load-bearing rope, and measure the first distance between the mark position and the starting position; in the process of the load-bearing operation of the load-bearing rope, obtain the encoder value corresponding to the mark position; wherein the encoder value is used to record the moving distance of the load-bearing rope, and the encoder value corresponding to the mark position is the value recorded by the encoder when the tower crane hook runs to the mark position; according to the encoder value corresponding to the mark position and the encoder value corresponding to the pre-determined starting position, obtain the second distance; compare the second distance with the first distance to obtain the deformation of the load-bearing rope. The embodiments of the present application can accurately detect the deformation of the load-bearing rope of the tower crane, prevent rope breakage accidents caused by plastic deformation of the load-bearing rope, and improve the safety performance of the tower crane.

Description

Technical Field

[0001] The invention relates to the field of intelligent control technology, and in particular to a method and device for detecting deformation of a load-bearing rope of a tower crane, a computing device and a medium. Background Art

[0002] In mechanical equipment such as tower cranes and elevators, the load-bearing ropes may undergo plastic deformation due to long-term use or overload. In this case, the load-bearing ropes are prone to entanglement, and the breaking tension of the load-bearing ropes will decrease, the load-bearing capacity will be reduced, and the load-bearing ropes are prone to breakage, which can easily cause safety accidents. How to accurately detect the deformation of the load-bearing ropes in mechanical equipment is a problem that needs to be solved urgently. Summary of the invention

[0003] In view of the above problems in the prior art, the embodiments of the present application provide a deformation detection method and device, a computing device and a medium for the load-bearing rope of a tower crane. Distance calibration can be performed by setting a mark position and a start position and the corresponding encoder value. On this basis, by obtaining the encoder value corresponding to the mark position, the deformation amount of the load-bearing rope of the tower crane can be accurately detected, thereby preventing rope breakage accidents caused by plastic deformation of the load-bearing rope and improving the safety performance of the tower crane.

[0004] To achieve the above-mentioned purpose, the first aspect of the present application provides a method for detecting deformation of a load-bearing rope of a tower crane, comprising:

[0005] Pre-setting a marking position and a starting position in the operation scene of the load-bearing rope, and measuring a first distance between the marking position and the starting position;

[0006] During the load-bearing operation of the load-bearing rope, the encoder value corresponding to the mark position is obtained; wherein the encoder value is used to record the moving distance of the load-bearing rope, and the encoder value corresponding to the mark position is the value recorded by the encoder when the tower crane hook runs to the mark position;

[0007] Obtaining a second distance according to the encoder value corresponding to the mark position and the encoder value corresponding to the start position determined in advance;

[0008] The second distance is compared with the first distance to obtain the deformation amount of the load-bearing rope.

[0009] As a possible implementation manner of the first aspect, the process of predetermining the encoder value corresponding to the start bit includes:

[0010] Obtaining a calibration encoder value, wherein the calibration encoder value is an encoder value corresponding to the mark position obtained during the no-load operation of the load-bearing rope;

[0011] According to the first distance and the calibrated encoder value, an encoder value corresponding to the start position is obtained.

[0012] As a possible implementation of the first aspect, the load-bearing rope includes a load-bearing rope arranged on a tower crane;

[0013] The step of presetting the marking position and the starting position in the operation scene of the load-bearing rope includes: setting the horizontal position of the boom of the tower crane as the starting position, and setting the horizontal position of the preset position of the cab of the tower crane as the marking position;

[0014] The obtaining of the encoder value corresponding to the flag bit includes:

[0015] Using a laser sensor baffle disposed on the tower crane hook to receive a laser signal, the laser signal is emitted by a laser sensor disposed at a preset position of the cab;

[0016] When the laser sensor baffle receives the laser signal, it triggers the reading of the encoder value corresponding to the mark position.

[0017] As a possible implementation manner of the first aspect, the method further includes:

[0018] Pre-setting a limit position in the operation scenario of the load-bearing rope, the limit position being a position at a distance of a preset threshold from the marking position in the running direction of the load-bearing rope;

[0019] According to the calibrated encoder value and the preset threshold, the encoder value corresponding to the limit is obtained;

[0020] When it is detected that the encoder value is the encoder value corresponding to the limit, the laser sensor is turned on.

[0021] As a possible implementation manner of the first aspect, the method further includes:

[0022] After turning on the laser sensor, detecting the value of the encoder to determine the running direction of the load-bearing rope;

[0023] When the tower crane hook moves away from the marking position, the laser sensor is turned off.

[0024] As a possible implementation manner of the first aspect, the method further includes:

[0025] The receiving force sensor detects the tension of the load-bearing rope during the load-bearing operation;

[0026] The deformation property of the load-bearing rope is determined according to the tension, the deformation amount, and the pre-determined relationship between the tension and the corresponding deformation amount exerted on the load-bearing rope.

[0027] As a possible implementation manner of the first aspect, the deformation property includes elastic deformation and plastic deformation, and the method further includes:

[0028] When it is determined that the deformation property of the load-bearing rope is plastic deformation, a warning message is issued.

[0029] The second aspect of the present application provides a deformation detection device for a tower crane load-bearing rope, comprising:

[0030] A setting unit, used to pre-set a marking position and a starting position in an operation scenario of the load-bearing rope, and measure a first distance between the marking position and the starting position;

[0031] An acquisition unit is used to acquire the encoder value corresponding to the mark position during the load-bearing operation of the load-bearing rope; wherein the encoder value is used to record the moving distance of the load-bearing rope, and the encoder value corresponding to the mark position is the value recorded by the encoder when the tower crane hook runs to the mark position;

[0032] A first processing unit, configured to obtain a second distance according to an encoder value corresponding to the mark position and a pre-determined encoder value corresponding to the start position;

[0033] The second processing unit is used to compare the second distance with the first distance to obtain the deformation of the load-bearing rope.

[0034] As a possible implementation manner of the second aspect, the first processing unit is further configured to:

[0035] Obtaining a calibration encoder value, wherein the calibration encoder value is an encoder value corresponding to the mark position obtained during the no-load operation of the load-bearing rope;

[0036] According to the first distance and the calibrated encoder value, an encoder value corresponding to the start position is obtained.

[0037] As a possible implementation of the second aspect, the load-bearing rope includes a load-bearing rope arranged on a tower crane;

[0038] The setting unit is used to: set the horizontal position of the boom of the tower crane as the starting position, and set the horizontal position of the preset position of the cab of the tower crane as the marking position;

[0039] The acquisition unit is used for:

[0040] Using a laser sensor baffle disposed on the tower crane hook to receive a laser signal, the laser signal is emitted by a laser sensor disposed at a preset position of the cab;

[0041] When the laser sensor baffle receives the laser signal, it triggers the reading of the encoder value corresponding to the mark position.

[0042] As a possible implementation manner of the second aspect, the device further includes a control unit, wherein the control unit is configured to:

[0043] Pre-setting a limit position in the operation scenario of the load-bearing rope, the limit position being a position at a distance of a preset threshold from the marking position in the running direction of the load-bearing rope;

[0044] According to the calibrated encoder value and the preset threshold, the encoder value corresponding to the limit is obtained;

[0045] When it is detected that the encoder value is the encoder value corresponding to the limit, the laser sensor is turned on.

[0046] As a possible implementation manner of the second aspect, the control unit is further configured to:

[0047] After turning on the laser sensor, detecting the value of the encoder to determine the running direction of the load-bearing rope;

[0048] When the tower crane hook moves away from the marking position, the laser sensor is turned off.

[0049] As a possible implementation manner of the second aspect, the apparatus further includes a determining unit, wherein the determining unit is configured to:

[0050] The receiving force sensor detects the tension of the load-bearing rope during the load-bearing operation;

[0051] The deformation property of the load-bearing rope is determined according to the tension, the deformation amount, and the pre-determined relationship between the tension and the corresponding deformation amount exerted on the load-bearing rope.

[0052] As a possible implementation manner of the second aspect, the deformation property includes elastic deformation and plastic deformation, and the device further includes a warning unit, wherein the warning unit is used to:

[0053] When it is determined that the deformation property of the load-bearing rope is plastic deformation, a warning message is issued.

[0054] A third aspect of the present application provides a computing device, including:

[0055] Communication interface;

[0056] at least one processor connected to the communication interface; and

[0057] At least one memory is connected to the processor and stores program instructions, and when the program instructions are executed by the at least one processor, the at least one processor executes any method described in the first aspect above.

[0058] A fourth aspect of the present application provides a computer-readable storage medium having program instructions stored thereon, wherein when the program instructions are executed by a computer, the computer executes any of the methods described in the first aspect.

[0059] These and other aspects of the invention will become apparent from the following description of the embodiment(s). BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The following further illustrates the various features of the present invention and the relationship between the various features with reference to the accompanying drawings. The accompanying drawings are all exemplary, some features are not shown in actual proportion, and some drawings may omit the conventional features in the field involved in the present application and are not necessary for the present application, or additionally show the features that are not necessary for the present application. The combination of the various features shown in the accompanying drawings is not intended to limit the present application. In addition, throughout this specification, the same figure numerals refer to the same content. The specific description of the drawings is as follows:

[0061] Figure 1 A schematic diagram of an embodiment of a method for detecting deformation of a load-bearing rope of a tower crane provided in an embodiment of the present application;

[0062] Figure 2 A schematic diagram of an embodiment of a method for detecting deformation of a load-bearing rope of a tower crane provided in an embodiment of the present application;

[0063] Figure 3 A schematic diagram of a tower crane according to an embodiment of a method for detecting deformation of a load-bearing rope of a tower crane provided in an embodiment of the present application;

[0064] Figure 4 A functional schematic diagram of an edge controller of an embodiment of a method for detecting deformation of a load-bearing rope of a tower crane provided in an embodiment of the present application;

[0065] Figure 5 A schematic diagram of an edge controller algorithm flow chart of an embodiment of a method for detecting deformation of a load-bearing rope of a tower crane provided in an embodiment of the present application;

[0066] Figure 6 A schematic diagram of the edge controller architecture of an embodiment of a method for detecting deformation of a load-bearing rope of a tower crane provided in an embodiment of the present application;

[0067] Figure 7A schematic diagram of an embodiment of a deformation detection device for a load-bearing rope of a tower crane provided in an embodiment of the present application;

[0068] Figure 8 A schematic diagram of an embodiment of a deformation detection device for a load-bearing rope of a tower crane provided in an embodiment of the present application;

[0069] Fig. 9 A schematic diagram of a computing device provided for an embodiment of the present application. DETAILED DESCRIPTION

[0070] The words "first, second, third, etc." or module A, module B, module C and other similar terms in the specification and claims are only used to distinguish similar objects and do not represent a specific ordering of the objects. It is understandable that the specific order or sequence can be interchanged where permitted so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0071] In the following description, the numbers representing the steps, such as S110, S120, etc., do not necessarily mean that the steps must be executed in this manner. If permitted, the order of the previous and next steps can be interchanged, or they can be executed simultaneously.

[0072] The term "comprising" as used in the description and claims should not be interpreted as being limited to what is listed thereafter; it does not exclude other elements or steps. Therefore, it should be interpreted as specifying the presence of the features, integers, steps or components mentioned, but does not exclude the presence or addition of one or more other features, integers, steps or components and groups thereof. Therefore, the expression "a device comprising means A and B" should not be limited to a device consisting of components A and B only.

[0073] References to "one embodiment" or "an embodiment" in this specification mean that a particular feature, structure, or characteristic described in conjunction with the embodiment is included in at least one embodiment of the present invention. Therefore, the phrases "in one embodiment" or "in an embodiment" appearing in various places in this specification do not necessarily refer to the same embodiment, but may refer to the same embodiment. In addition, in one or more embodiments, the particular features, structures, or characteristics can be combined in any appropriate manner, as would be apparent to one of ordinary skill in the art from this disclosure.

[0074] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of this application. In the event of any inconsistency, the meaning described in this specification or the meaning derived from the contents recorded in this specification shall prevail. In addition, the terms used herein are only for the purpose of describing the embodiments of the present application and are not intended to limit the present application. In order to accurately describe the technical content in this application and to accurately understand the present invention, the following explanations or definitions are given to the terms used in this specification before describing the specific embodiments:

[0075] 1) Force sensor: A device that converts the magnitude of force into a related electrical signal. Force is the direct cause of changes in the movement of matter. Force sensors can detect mechanical quantities such as tension, pull, pressure, weight, torque, internal stress and strain.

[0076] 2) Elastic deformation: It refers to the change of relative position between points of a solid due to external force. When the external force is removed, the solid returns to its original state, which is called "elastic deformation".

[0077] 3) Plastic deformation: The so-called elastic deformation is a deformation that can return to its original shape after the external force is removed. If the deformation of an object is too large and exceeds a certain limit, even if the external force is removed, the object cannot completely return to its original shape. This limit is called the elastic limit. Beyond this limit, the deformation of the object is called plastic deformation. The effects of external force on materials are nothing more than deformation and fracture. Deformation is divided into elastic deformation and plastic deformation. The former refers to the disappearance of deformation after the external force is removed when the stress is small. The latter refers to the situation that when the stress reaches a certain level, the deformation cannot completely disappear after the external force is removed, but there is still a part of residual deformation, that is, plastic deformation occurs.

[0078] 4) Software Defined Radio (SDR): is a radio broadcast communication technology that is based on software-defined wireless communication protocols rather than being implemented through hard wiring.

[0079] The following first introduces the existing method, and then introduces the technical solution of the present application in detail.

[0080] In mechanical equipment such as tower cranes and elevators, the load-bearing ropes may undergo plastic deformation due to long-term use or overload. In this case, the load-bearing ropes are prone to entanglement, and the breaking tension of the load-bearing ropes will decrease, the load-bearing capacity will be reduced, and the load-bearing ropes are prone to breakage, which can easily cause safety accidents. How to accurately detect the deformation of the load-bearing ropes in mechanical equipment is a problem that needs to be solved urgently.

[0081] The prior art has the following defects: it is impossible to detect the deformation of the load-bearing rope in the mechanical equipment, and accidents may be caused by rope breakage due to the plastic deformation of the load-bearing rope, and the safety performance of the mechanical equipment is poor.

[0082] Based on the technical problems existing in the above-mentioned prior art, the present application provides a method for detecting the deformation of the load-bearing rope of a tower crane. The method performs distance calibration by setting a mark position and a start position and a corresponding encoder value, and by obtaining the encoder value corresponding to the mark position, the deformation of the load-bearing rope in mechanical equipment such as a tower crane can be accurately detected, and accidents caused by rope breakage due to plastic deformation of the load-bearing rope can be effectively prevented, thereby solving the technical problem mentioned in the prior art that accidents are easily caused by rope breakage due to plastic deformation of the load-bearing rope.

[0083] Figure 1 The following is a schematic diagram of an embodiment of a method for detecting deformation of a load-bearing rope of a tower crane provided in an embodiment of the present application. In one implementation, the method for detecting deformation of a load-bearing rope of a tower crane may be executed in an edge controller. Figure 1 As shown, the deformation detection method of the tower crane load-bearing rope may include:

[0084] Step S110, pre-setting a marking position and a starting position in the operation scene of the load-bearing rope, and measuring a first distance between the marking position and the starting position;

[0085] Step S120, during the load-bearing operation of the load-bearing rope, obtaining the encoder value corresponding to the mark position; wherein the encoder value is used to record the moving distance of the load-bearing rope, and the encoder value corresponding to the mark position is the value recorded by the encoder when the tower crane hook runs to the mark position;

[0086] Step S130, obtaining a second distance according to the encoder value corresponding to the mark position and the encoder value corresponding to the start position determined in advance;

[0087] Step S140, comparing the second distance with the first distance to obtain the deformation of the load-bearing rope.

[0088] In power equipment, construction machinery, various machine tools and industrial automation systems, the load-bearing ropes of mechanical equipment may break due to plastic deformation if they are used for a long time or are overloaded. Therefore, it is necessary to accurately detect the deformation of the load-bearing ropes in mechanical equipment. In mechanical equipment, a power device can be used to drive the load-bearing ropes to move the object to be transported from the initial position to the final position. For example, load-bearing ropes are used to transport heavy objects in a vertical direction in a tower crane; load-bearing ropes are used to transport cars in a vertical direction in an elevator. In some other application scenarios of mechanical equipment, load-bearing ropes can also be used to carry heavy objects on a horizontal plane or an inclined plane, and the running direction of the load-bearing ropes can also be horizontal or at a certain angle to the horizontal direction.

[0089] In step S110, in order to accurately detect the deformation of the load-bearing rope of the tower crane, the marking position and the starting position can be set in advance in the operation scene of the load-bearing rope. During the detection process, these two positions can be used as two relative positions of the rope load-bearing operation. In the subsequent process, the detection data can be obtained when the rope load-bearing operation reaches the marking position, and then the deformation of the load-bearing rope can be obtained by referring to the detection data of the starting position. Among them, the key and important positions or joint pivot positions can be selected in the operation scene of the load-bearing rope and set as the marking position and the starting position. After setting, the first distance between the marking position and the starting position is measured.

[0090] The encoder installed in the tower crane can record the moving distance of the load-bearing rope. For example, the encoder value in the tower crane can record the angle of the load-bearing rope wrapped around the drum. In the angle system, one-360th of the circumference is defined as an angle of 1 degree. The encoder value can be further converted to obtain the number of turns of the load-bearing rope wrapped around the drum and the moving distance of the load-bearing rope. Among them, the encoder value can be the angle of the load-bearing rope wrapped around the drum obtained by comparing the current state of the load-bearing rope with the initial state. The initial state can be set according to the system parameters. According to the structural design parameters of the tower crane and the recording accuracy of the encoder and other parameters, the conversion relationship between the encoder value and the moving distance of the load-bearing rope can be obtained.

[0091] In step S120, during the load-bearing operation of the load-bearing rope, deformation will be generated due to the tension on the rope. When the end point of the load-bearing rope runs to the mark position, the encoder value corresponding to the mark position can be obtained. In the application scenario of a tower crane, the end point of the load-bearing rope can be the position where the tower crane hook is located.

[0092] In step S130, the encoder value corresponding to the mark position obtained in step S120 is subtracted from the encoder value corresponding to the pre-determined start position, and the difference is converted into the moving distance of the load-bearing rope to obtain the second distance.

[0093] Taking a tower crane as an example, the distance between the marking position and the starting position in the operation scene is a constant, and this distance is the first distance measured in step S110. The load-bearing operation causes the load-bearing rope to deform, that is, the length of the load-bearing rope when bearing load will be longer than when unloaded, and the deformation of the load-bearing rope will increase as the tension received increases. When the load-bearing rope becomes longer, the angle and number of turns of the load-bearing rope wound on the drum caused by the hook moving the first distance from the marking position to the starting position will also decrease. Therefore, the second distance converted according to the difference in the encoder values ​​in step S130 is different from the first distance measured in step S110. And the difference is related to the size of the deformation of the load-bearing rope. In step S140, the second distance is subtracted from the first distance to obtain the deformation of the load-bearing rope.

[0094] The embodiments of the present application can accurately detect the deformation of the load-bearing ropes in mechanical equipment such as tower cranes, thereby effectively preventing accidents caused by rope breakage due to plastic deformation of the load-bearing ropes, thereby improving the safety performance of the mechanical equipment.

[0095] Figure 2 This is a schematic diagram of an embodiment of a method for detecting deformation of a tower crane load-bearing rope provided in an embodiment of the present application. Figure 2 As shown, in one embodiment, the process of predetermining the encoder value corresponding to the start bit includes:

[0096] Step S210, obtaining a calibration encoder value, wherein the calibration encoder value is an encoder value corresponding to the mark position obtained during the no-load operation of the load-bearing rope;

[0097] Step S220, obtaining the encoder value corresponding to the start position according to the first distance and the calibrated encoder value.

[0098] As mentioned above, calculating the second distance in step S130 requires pre-determining the encoder value corresponding to the starting position. In step S210, the power device can be used to drive the load-bearing rope to run without load, and the encoder value corresponding to the marking position is obtained when the load-bearing rope runs to the marking position.

[0099] The relationship between the encoder value corresponding to the mark position, the encoder value corresponding to the start position and the first distance is as follows: According to the conversion relationship between the encoder value and the moving distance of the load-bearing rope, the difference between the encoder values ​​corresponding to the mark position and the start position can be converted into the first distance. Therefore, in step S220, the encoder value corresponding to the start position can be obtained according to the first distance and the encoder value corresponding to the mark position obtained in step S210.

[0100] In one embodiment, the load-bearing rope comprises a load-bearing rope provided on a tower crane;

[0101] The step of presetting the marking position and the starting position in the operation scene of the load-bearing rope includes: setting the horizontal position of the boom of the tower crane as the starting position, and setting the horizontal position of the preset position of the cab of the tower crane as the marking position;

[0102] The obtaining of the encoder value corresponding to the flag bit includes:

[0103] Using a laser sensor baffle disposed on the tower crane hook to receive a laser signal, the laser signal is emitted by a laser sensor disposed at a preset position of the cab;

[0104] When the laser sensor baffle receives the laser signal, it triggers the reading of the encoder value corresponding to the mark position.

[0105] Figure 3 A schematic diagram of a tower crane according to an embodiment of a method for detecting deformation of a load-bearing rope of a tower crane provided in an embodiment of the present application. Figure 3 The meanings of the various numbers in the figure are as follows: 1 represents the intersection of the lower edge of the tower crane boom and the tower body; 2 represents the laser sensor; 3 represents the baffle; 4 represents the weight sensor. Figure 3 As shown, the tower crane can carry heavy objects in the vertical direction. In the embodiment of the present application, the starting position and the marking position can be marked on a vertical line, and two horizontal positions at different heights perpendicular to the vertical line are used as the starting position and the marking position. Figure 3 , set the horizontal position of the tower crane boom as the starting position, and the position labeled 1 is a point on the horizontal line where the starting position is located.

[0106] In one example, laser sensors can be installed at pre-set locations on the cab of a tower crane. Figure 3 , the laser sensor can be installed at the preset position at the position marked 2 below the cab. The direction of the tower crane boom is horizontal, and the laser sensor also emits laser in the horizontal direction, which can ensure that the laser emission direction is parallel to the tower crane boom. The horizontal position where the preset position of the tower crane cab is located can be set as the mark position, and the position marked 2 is a point on the horizontal line where the mark position is located. Install the laser sensor baffle 3 on the hook. The laser sensor can form a switch with the baffle on the hook. When the hook runs to the horizontal line where the mark position is located, the laser sensor baffle receives the laser signal, which can trigger the encoder value corresponding to the mark position to be read.

[0107] in addition, Figure 3If the position numbered 1 and the position numbered 2 are on a vertical line, the distance between the two positions is the first distance. When measuring the first distance in step S110, the vertical distance L between the laser sensor and the tower crane boom can be measured, and this distance is the first distance. The first distance can be used as an algorithm reference value in subsequent processing.

[0108] See also Figure 2 After measuring the first distance, when the hook runs to the mark position during the unloaded operation of the load-bearing rope, the edge controller can obtain the encoder value corresponding to the mark position. Then, through the conversion relationship, the encoder value corresponding to the start position is obtained according to the first distance and the encoder value corresponding to the mark position. Specifically, the following formula (1) can be used to calculate the encoder value corresponding to the start position:

[0109] Loa=a1 / 4096*π*d / 2-o1 / 4096*π*d / 2 (1)

[0110] Among them, Loa represents the distance from point O to point A, that is, the first distance; point O represents the position where number 1 is located; point A represents the position where number 2 is located; a1 represents the encoder value of point A, that is, the encoder value corresponding to the mark position; d represents the sum of the diameter of the roller and the error coefficient; o1 represents the encoder value of point O, that is, the encoder value corresponding to the starting position.

[0111] When the encoder records the operating data, the 360 ​​degrees of the circumference are divided into 4096 parts. The load-bearing rope is wound on the drum. When the angle of rotation of the drum increases by one part, the recorded encoder value is also increased by 1. In addition, the load-bearing rope of the tower crane in the above example is set in a driving device including a movable pulley. Although the use of a movable pulley saves effort, the distance moved by the power is twice the distance the hook is raised, that is, the wasted distance. Therefore, the coefficient "2" in formula (1) represents the multiple of the distance moved by the power generated by the movable pulley.

[0112] Similarly, formula (1) can be used to calculate not only the encoder value corresponding to the start position, but also the encoder value near point A. The distance of all paths passed by the hook can be calculated by the encoder value recorded during the operation of the hook.

[0113] In one embodiment, the method further comprises:

[0114] Pre-setting a limit position in the operation scenario of the load-bearing rope, the limit position being a position at a distance of a preset threshold from the marking position in the running direction of the load-bearing rope;

[0115] According to the calibrated encoder value and the preset threshold, the encoder value corresponding to the limit is obtained;

[0116] When it is detected that the encoder value is the encoder value corresponding to the limit, the laser sensor is turned on.

[0117] See also Figure 3 , point A is the position where the number 2 is located, and it is also a point on the horizontal line where the mark position is located. Limit points B and C can be added on the vertical line where point A is located and the distance from point A is the preset threshold. Among them, point B is the lower point of point A, and point C is the upper point of point A. The encoder values ​​of points B and C are A±Δ respectively. Among them, "Δ" represents the difference in the encoder values ​​between points B and C and point A; "±" is related to the setting of the encoder. If the encoder value corresponding to the lower point is relatively small, the encoder value of point B is A-Δ. Limit points B and C can be used as soft switches. For example, every time the hook reaches the horizontal position where point B is located, the edge controller will be triggered, so that the edge controller will turn on the laser sensor and start searching for the baffle of the hook. In this way, when the hook reaches the horizontal position where point A is located, the baffle can receive the laser signal.

[0118] See also Figure 2 The same method can be used to obtain the encoder values ​​corresponding to point B and point C using formula (1). In formula (1), the first distance is used as the algorithm reference value, and the encoder value corresponding to the start position is obtained based on the calibrated encoder value, that is, the encoder value corresponding to the mark position. Similarly, the preset threshold can be used as the algorithm reference value, and the encoder values ​​corresponding to point B and point C can be obtained based on the calibrated encoder value, that is, the encoder value corresponding to the mark position. When the edge controller detects that the encoder value is the encoder value corresponding to point B or point C, it turns on the laser sensor and starts searching for the baffle of the hook.

[0119] In one embodiment, the method further comprises:

[0120] After turning on the laser sensor, detecting the value of the encoder to determine the running direction of the load-bearing rope;

[0121] When the tower crane hook moves away from the marking position, the laser sensor is turned off.

[0122] As mentioned above, the distance of all paths passed by the hook can be calculated through the encoder values ​​recorded during the operation of the hook. After the hook reaches the limit and turns on the laser sensor, the edge controller can detect the value of the encoder to determine the running direction of the load-bearing rope. For example, the limit point B is the point below the mark point A. When the hook reaches the horizontal position where point B is located, the laser sensor is turned on, and then the running direction of the hook is detected. If the hook passes the horizontal position where point B is located and moves downward away from point A at this time, the laser sensor is turned off. Alternatively, if the hook passes the horizontal position where point B is located from bottom to top and does not reach the horizontal position where point A is located, and moves downward away from point A, the laser sensor is turned off. If the running direction of the hook after passing point B at this time is towards point A, then when the hook reaches the horizontal position where point A is located, the baffle receives the laser signal, triggering the acquisition of the encoder value corresponding to point A.

[0123] In one embodiment, the method further comprises:

[0124] The receiving force sensor detects the tension of the load-bearing rope during the load-bearing operation;

[0125] The deformation property of the load-bearing rope is determined according to the tension, the deformation amount, and the pre-determined relationship between the tension and the corresponding deformation amount exerted on the load-bearing rope.

[0126] In various application scenarios, the direction of the load-bearing rope can be vertical, horizontal, or at a certain angle to the horizontal. In the example of a tower crane, the direction of the load-bearing rope is usually vertical. In this case, the tension on the load-bearing rope during the load-bearing operation is equal to the weight of the hoisted object. Figure 3 , a wireless weight sensor can be installed on the hook to measure the weight of the hoisted items.

[0127] During the load-bearing operation of the load-bearing rope, on the one hand, the encoder value can be obtained when the hook reaches the horizontal position where point A is located. According to the conversion relationship between the encoder value and the moving distance of the load-bearing rope, specifically, according to formula (2) similar to formula (1), the encoder value a1' corresponding to point A in the current state and the encoder value o1 corresponding to the pre-determined starting position can be substituted into formula (2) to calculate the current second distance La. Formula (2) is as follows:

[0128] La=a1' / 4096*π*d / 2-o1 / 4096*π*d / 2 (2)

[0129] Among them, La represents the second distance; point O represents the position of number 1; point A represents the position of number 2; a1' represents the current encoder value of point A, that is, the encoder value corresponding to the mark position; d represents the sum of the diameter of the roller and the error coefficient; o1 represents the encoder value of point O, that is, the encoder value corresponding to the starting position.

[0130] After the current second distance La is calculated, the deformation of the load-bearing rope can be obtained by subtracting the second distance from the first distance.

[0131] On the other hand, the weight of the hoisted objects can be obtained at any time through wireless weight sensors and transmitted to the edge controller in real time.

[0132] On the other hand, the relationship between the tension on the load-bearing rope and the corresponding deformation can be measured in advance. For example, ropes of the same material can be tested to draw a curve of the relationship between the tension on the load-bearing rope and the corresponding deformation. The normal deformation range caused by a certain tension value can be estimated.

[0133] In one implementation, the calculated deformation of the current load-bearing rope can be compared with the normal deformation range under the same tension. If the deformation of the aforementioned load-bearing rope is within the normal deformation range, the deformation property of the load-bearing rope is determined to be elastic deformation; if the deformation of the aforementioned load-bearing rope exceeds the normal deformation range, the deformation property of the load-bearing rope is determined to be plastic deformation.

[0134] In another implementation, the deformation of the load-bearing rope can be tested again after the weight is unloaded. If it is found that the length of the load-bearing rope cannot be restored to its original length when it is unloaded after the weight is unloaded, it is determined that the deformation nature of the load-bearing rope is plastic deformation.

[0135] In the above two implementation methods, by comparing the encoder value corresponding to the mark position in the current state with the encoder value corresponding to the mark position in the no-load state, the change value of the encoder value corresponding to the mark position can be associated with the size of the deformation variable, and the deformation properties of the load-bearing rope can be determined based on the change value of the encoder value corresponding to the mark position.

[0136] In one embodiment, the deformation property includes elastic deformation and plastic deformation, and the method further includes:

[0137] When it is determined that the deformation property of the load-bearing rope is plastic deformation, a warning message is issued.

[0138] When it is determined that the deformation property of the load-bearing rope is plastic deformation, it is reminded that the load-bearing rope may undergo plastic deformation due to overload, which can effectively prevent accidents caused by rope breakage due to plastic deformation of the load-bearing rope, thereby improving the safety performance of mechanical equipment such as tower cranes.

[0139] In another implementation, the elastic limit of the load-bearing rope can also be estimated. If the weight of the hoisted object obtained by the wireless weight sensor exceeds the elastic limit, a warning message can be given to indicate that the load-bearing rope may undergo plastic deformation due to overloading.

[0140] Figure 4 This is a functional diagram of an edge controller of an embodiment of a method for detecting deformation of a load-bearing rope of a tower crane provided in an embodiment of the present application. Figure 4 As shown, the edge controller communicates wirelessly with other components through software-defined radio SDR and 4G and 5G. The functions implemented by the edge controller include: receiving encoder values, controlling the laser sensor to turn on and off, receiving detection information from the wireless weight sensor, and realizing distance calibration through algorithms. Among them, realizing distance calibration may include: setting the mark position A and the start position O, setting the limit position B and the limit position C; controlling the laser sensor to turn on when the end point of the load-bearing rope runs to the limit position, and obtaining the encoder value when the end point of the load-bearing rope runs to the mark position through the switch realized by the laser sensor baffle; comparing the changes in the encoder data of the mark position to obtain the change mark position a; receiving the weight information of the hoisted object detected by the wireless weight sensor; judging whether the deformation of the load-bearing rope is within the elastic limit according to the weight information of the hoisted object and the change mark position a.

[0141] Figure 5 This is a schematic diagram of an edge controller algorithm flow chart of an embodiment of a method for detecting deformation of a tower crane load-bearing rope provided in an embodiment of the present application. Figure 5 As shown, the edge controller controls the laser sensor to be turned on when the end point of the load-bearing rope runs to the limit position through the algorithm module, and obtains the encoder value through the encoder data acquisition module when the end point of the load-bearing rope runs to the mark position. On the other hand, the weight sensor transmits the weight information of the hoisted object detected to the algorithm module of the edge controller in real time through the weight sensor data acquisition module. The algorithm module of the edge controller processes the above-mentioned received data to obtain the deformation amount of the load-bearing rope, and further determines the deformation property of the load-bearing rope. The algorithm module of the edge controller stores the above-mentioned received data and the results of the data processing in the data recording module. When it is determined that the deformation property of the load-bearing rope is plastic deformation, a warning message is issued through the alarm control module.

[0142] Figure 6 This is a schematic diagram of the edge controller architecture of an embodiment of the method for detecting deformation of a tower crane load-bearing rope provided in an embodiment of the present application. Figure 6As shown in the figure, on the one hand, the edge controller communicates with the encoder and motor in the tower crane model through ModbusRTU (Remote Terminal Unit). On the other hand, the edge controller communicates with the linkage station through ModbusTCP (Transmission Control Protocol) and remote IO (input and output), and can control other linked devices. The edge controller can be used as the underlying software system, and the edge operating system, Windows operating system, real-time system, IDE (Integrated Development Environment), RTE (Runtime environment) and PLC (Programmable Logic Controller) controller application can be installed on its upper layer. The code can be edited through the PLC to realize the control logic.

[0143] like Figure 7 As shown, the present application also provides a corresponding embodiment of a deformation detection device for a tower crane load-bearing rope. Regarding the beneficial effects or technical problems solved by the device, please refer to the description in the methods corresponding to each device, or refer to the description in the content of the invention, which will not be repeated here.

[0144] In an embodiment of the deformation detection device for the load-bearing rope of the tower crane, the device comprises:

[0145] The setting unit 100 is used to pre-set a marking position and a starting position in the operation scene of the load-bearing rope, and measure a first distance between the marking position and the starting position;

[0146] The acquisition unit 200 is used to acquire the encoder value corresponding to the mark position during the load-bearing operation of the load-bearing rope; wherein the encoder value is used to record the moving distance of the load-bearing rope, and the encoder value corresponding to the mark position is the value recorded by the encoder when the tower crane hook runs to the mark position;

[0147] The first processing unit 300 is used to obtain a second distance according to the encoder value corresponding to the mark position and the encoder value corresponding to the start position determined in advance;

[0148] The second processing unit 400 is used to compare the second distance with the first distance to obtain the deformation of the load-bearing rope.

[0149] In one implementation, the first processing unit 300 is further configured to:

[0150] Obtaining a calibration encoder value, wherein the calibration encoder value is an encoder value corresponding to the mark position obtained during the no-load operation of the load-bearing rope;

[0151] According to the first distance and the calibrated encoder value, an encoder value corresponding to the start position is obtained.

[0152] In one embodiment, the load-bearing rope comprises a load-bearing rope provided on a tower crane;

[0153] The setting unit 100 is used to: set the horizontal position of the boom of the tower crane as the starting position, and set the horizontal position of the preset position of the cab of the tower crane as the marking position;

[0154] The acquisition unit 200 is used for:

[0155] Using a laser sensor baffle disposed on the tower crane hook to receive a laser signal, the laser signal is emitted by a laser sensor disposed at a preset position of the cab;

[0156] When the laser sensor baffle receives the laser signal, it triggers the reading of the encoder value corresponding to the mark position.

[0157] like Figure 8 As shown, in one embodiment, the device further includes a control unit 500, and the control unit 500 is used to:

[0158] Pre-setting a limit position in the operation scenario of the load-bearing rope, the limit position being a position at a distance of a preset threshold from the marking position in the running direction of the load-bearing rope;

[0159] According to the calibrated encoder value and the preset threshold, the encoder value corresponding to the limit is obtained;

[0160] When it is detected that the encoder value is the encoder value corresponding to the limit, the laser sensor is turned on.

[0161] In one embodiment, the control unit 500 is further configured to:

[0162] After turning on the laser sensor, detecting the value of the encoder to determine the running direction of the load-bearing rope;

[0163] When the tower crane hook moves away from the marking position, the laser sensor is turned off.

[0164] In one implementation, the apparatus further includes a determining unit 600, wherein the determining unit 600 is configured to:

[0165] The receiving force sensor detects the tension of the load-bearing rope during the load-bearing operation;

[0166] The deformation property of the load-bearing rope is determined according to the tension, the deformation amount, and the pre-determined relationship between the tension and the corresponding deformation amount exerted on the load-bearing rope.

[0167] In one embodiment, the deformation property includes elastic deformation and plastic deformation, and the device further includes a warning unit 700, and the warning unit 700 is used to:

[0168] When it is determined that the deformation property of the load-bearing rope is plastic deformation, a warning message is issued.

[0169] Fig. 9 9 is a schematic structural diagram of a computing device 900 provided in an embodiment of the present application. The computing device 900 includes: a processor 910 , a memory 920 , and a communication interface 930 .

[0170] It should be understood that Fig. 9 The communication interface 930 in the computing device 900 shown in FIG. 9 may be used to communicate with other devices.

[0171] The processor 910 may be connected to a memory 920. The memory 920 may be used to store the program code and data. Therefore, the memory 920 may be a storage unit inside the processor 910, or an external storage unit independent of the processor 910, or a component including a storage unit inside the processor 910 and an external storage unit independent of the processor 910.

[0172] Optionally, the computing device 900 may further include a bus. The memory 920 and the communication interface 930 may be connected to the processor 910 via a bus. The bus may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc.

[0173] It should be understood that in the embodiment of the present application, the processor 910 may adopt a central processing unit (CPU). The processor may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. Alternatively, the processor 910 may adopt one or more integrated circuits to execute relevant programs to implement the technical solutions provided in the embodiment of the present application.

[0174] The memory 920 may include a read-only memory and a random access memory, and provides instructions and data to the processor 910. A portion of the processor 910 may also include a nonvolatile random access memory. For example, the processor 910 may also store information on the device type.

[0175] When the computing device 900 is running, the processor 910 executes the computer-executable instructions in the memory 920 to perform the operating steps of the above method.

[0176] It should be understood that the computing device 900 according to the embodiment of the present application can correspond to the corresponding subjects in the methods according to the embodiments of the present application, and the above-mentioned and other operations and / or functions of each module in the computing device 900 are respectively for implementing the corresponding processes of each method of the present embodiment. For the sake of brevity, they will not be repeated here.

[0177] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0178] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0179] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0180] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0181] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0182] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0183] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the program is used to execute a method for generating diversified questions, which includes at least one of the solutions described in the above embodiments.

[0184] The computer storage medium of the embodiment of the present application can adopt any combination of one or more computer-readable media. Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples (non-exhaustive lists) of computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this document, computer-readable storage media can be any tangible medium containing or storing programs, which can be used by instruction execution systems, devices or devices or used in combination with them.

[0185] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0186] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0187] Computer program code for performing the operation of the present application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., using an Internet service provider to connect through the Internet).

[0188] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present application is described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may also include more other equivalent embodiments without departing from the concept of the present invention, all of which belong to the protection scope of the present invention.

Claims

1. A method for detecting deformation of a tower crane load-bearing rope, characterized in that: include: Pre-setting a marking position and a starting position in the operation scene of the load-bearing rope, and measuring a first distance between the marking position and the starting position; During the load-bearing operation of the load-bearing rope, the encoder value corresponding to the mark position is obtained; wherein the encoder value is used to record the moving distance of the load-bearing rope, and the encoder value corresponding to the mark position is the value recorded by the encoder when the tower crane hook runs to the mark position; Obtaining a second distance according to the encoder value corresponding to the mark position and the encoder value corresponding to the start position determined in advance; The second distance is compared with the first distance to obtain the deformation amount of the load-bearing rope.

2. The method according to claim 1, characterized in that The process of predetermining the encoder value corresponding to the start bit includes: Obtaining a calibration encoder value, wherein the calibration encoder value is an encoder value corresponding to the mark position obtained during the no-load operation of the load-bearing rope; According to the first distance and the calibrated encoder value, an encoder value corresponding to the start position is obtained.

3. The method according to claim 2, characterized in that The load-bearing ropes include load-bearing ropes arranged on the tower crane; The step of presetting the marking position and the starting position in the operation scene of the load-bearing rope includes: setting the horizontal position of the boom of the tower crane as the starting position, and setting the horizontal position of the preset position of the cab of the tower crane as the marking position; The obtaining of the encoder value corresponding to the flag bit includes: Using a laser sensor baffle disposed on the tower crane hook to receive a laser signal, the laser signal is emitted by a laser sensor disposed at a preset position of the cab; When the laser sensor baffle receives the laser signal, it triggers the reading of the encoder value corresponding to the mark position.

4. The method according to claim 3, characterized in that The method further comprises: Pre-setting a limit position in the operation scenario of the load-bearing rope, the limit position being a position at a distance of a preset threshold from the marking position in the running direction of the load-bearing rope; According to the calibrated encoder value and the preset threshold, the encoder value corresponding to the limit is obtained; When it is detected that the encoder value is the encoder value corresponding to the limit, the laser sensor is turned on.

5. The method according to claim 4, characterized in that The method further comprises: After turning on the laser sensor, detecting the value of the encoder to determine the running direction of the load-bearing rope; When the tower crane hook moves away from the marking position, the laser sensor is turned off.

6. The method according to any one of claims 1 to 5, characterized in that The method further comprises: The receiving force sensor detects the tension of the load-bearing rope during the load-bearing operation; The deformation property of the load-bearing rope is determined according to the tension, the deformation amount, and the pre-determined relationship between the tension and the corresponding deformation amount exerted on the load-bearing rope.

7. The method according to claim 6, characterized in that The deformation properties include elastic deformation and plastic deformation, and the method further includes: When it is determined that the deformation property of the load-bearing rope is plastic deformation, a warning message is issued.

8. A deformation detection device for a tower crane load-bearing rope, characterized in that: include: A setting unit, used to pre-set a marking position and a starting position in an operation scenario of the load-bearing rope, and measure a first distance between the marking position and the starting position; An acquisition unit is used to acquire the encoder value corresponding to the mark position during the load-bearing operation of the load-bearing rope; wherein the encoder value is used to record the moving distance of the load-bearing rope, and the encoder value corresponding to the mark position is the value recorded by the encoder when the tower crane hook runs to the mark position; A first processing unit, configured to obtain a second distance according to an encoder value corresponding to the mark position and a pre-determined encoder value corresponding to the start position; The second processing unit is used to compare the second distance with the first distance to obtain the deformation of the load-bearing rope.

9. A computing device, characterized in that include: Communication interface; at least one processor connected to the communication interface; as well as At least one memory connected to the processor and storing program instructions, wherein when the program instructions are executed by the at least one processor, the at least one processor executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having program instructions stored thereon, characterized in that: When the program instructions are executed by a computer, the computer executes the method according to any one of claims 1 to 7.

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