A method and system for preventing sway during crane operation, and a crane

Abstract

This application relates to the field of construction machinery, and particularly to a method and system for preventing the sway of a traveling crane and a crane. This anti-sway system for the traveling crane includes a male guide post, a female guide post, a sling attitude detection device, and a control device. The male guide post is connected to the sling, and the female guide post is connected to the trolley frame. The female guide post and the male guide post are inserted and matched under the drive of the hoisting mechanism. The sling attitude detection device senses the swinging state of the sling and generates corresponding detection data. The control device is electrically connected to the sling attitude detection device and the hoisting mechanism of the crane, receives the detection data transmitted by the sling attitude detection device, and generates a control command according to the detection data. The male guide post and the female guide post adopted by this system are suitable for a wide range of scenarios. By means of the data transmission between the sling attitude detection device and the control device, it is judged whether there is an abnormality in the hoisting process of the current sling. If necessary, the hoisting of the sling is stopped to ensure the anti-sway effect.

Description

Technical Field

[0001] The present application relates to the field of construction machinery, and particularly to a method and system for preventing the swing of a traveling crane and a crane. Background Art

[0002] Currently, the anti-swing of intelligent traveling cranes in cranes mostly adopts the following structural forms: using continuously mating upper and lower male and female rigid guide columns to prevent the swing of the spreader during the operation of the trolley and the crane; or by collecting the swing length and swing angle of the spreader and combining algorithms to achieve electronic anti-swing to suppress the swing of the spreader. The above two methods have the following deficiencies respectively: 1) The continuously mating rigid guide columns are not suitable for factory environments with a lifting height greater than 5m, and the structure is complex and difficult to maintain; 2) The electronic anti-swing form is more suitable for manually operating the traveling crane, and the anti-swing positioning efficiency is lower than that of the rigid guide column anti-swing. Therefore, there is an urgent need to seek a better method and structure for preventing the swing of the traveling crane. Summary of the Invention

[0003] In view of this, the present application provides a method and system for preventing the swing of a traveling crane and a crane, which solve or improve the technical problems of low versatility of common anti-swing structures or poor anti-swing positioning effect in the prior art.

[0004] According to one aspect of the present application, there is provided a traveling crane anti-swing system, which includes: a male guide column connected to the spreader; a female guide column connected to the trolley frame, and the female guide column is inserted and mated with the male guide column under the drive of the hoisting mechanism; a spreader attitude detection device for detecting the swing state of the spreader and generating detection data; and a control device electrically connected to the spreader attitude detection device and the hoisting mechanism, the control device receiving the detection data and generating a control instruction according to the detection data, and the control instruction being used to control the hoisting mechanism to lift or stop.

[0005] In a possible implementation manner, the spreader attitude detection device includes: a laser distance sensor connected to the spreader; a laser reflector connected to the trolley frame, and the center of the laser reflector is disposed opposite to the ranging center of the laser distance sensor.

[0006] In a possible implementation manner, the laser distance measuring device is disposed outside the wire rope of the hoisting mechanism on the spreader.

[0007] In a possible implementation manner, the laser reflector is of a disc structure.

[0008] In a possible implementation, the spreader attitude detection device further includes: a support body, one end of the support body is connected to the lower surface of the trolley frame, and the other end is connected to the laser reflector.

[0009] In a possible implementation, the crane anti-sway system includes: at least two male guide posts and at least two female guide posts, and the number of the male guide posts is equal to that of the female guide posts; wherein, at least two of the male guide posts are arranged in central symmetry about the center of the spreader, and at least two of the female guide posts are arranged in central symmetry about the center of the trolley frame.

[0010] According to a second aspect of the present application, the present application further provides a crane anti-sway method, which is applied to the above crane anti-sway system, and includes: the control device obtains a lifting signal of the spreader; the control device obtains the spreader height information and the spreader attitude information detected by the spreader attitude detection device according to the lifting signal; the control device generates detection information according to the spreader height information, the spreader attitude information and the preset lifting information of the spreader, and the detection information is used to indicate whether the spreader attitude is normal; wherein, when the detection information is the spreader attitude normal information, the control device generates an operation instruction and sends the operation instruction to the lifting mechanism, and the operation instruction is used to control the operation of the lifting mechanism; and the lifting mechanism controls the spreader to lift according to the operation instruction until the male guide post and the female guide post form a plug-in fit.

[0011] In a possible implementation, when the detection information is the spreader attitude abnormal information, the crane anti-sway method further includes: when the detection information is the spreader attitude abnormal information, the control device generates a stop instruction and transmits the stop instruction to the lifting mechanism, and the stop instruction is used to control the lifting mechanism to stop; the lifting mechanism controls the spreader to stop lifting according to the stop instruction; the control device continuously obtains the spreader height information and the spreader attitude information detected by the spreader attitude detection device within a preset time interval; the control device continuously generates the detection information according to the spreader height information and the spreader attitude information; and when within the preset time interval, the detection information is continuously the spreader attitude normal information, the control device generates the operation instruction; when within the preset time interval, the detection information is the spreader attitude abnormal information, the control device generates a fault alarm information.

[0012] In a possible implementation, the crane anti-sway method is executed at least once when the spreader height is equal to a preset height value.

[0013] According to the third aspect of the present application, the present application further provides a crane, which includes: a spreader; a trolley frame; a hoisting mechanism; and the traveling anti-sway system as described in any one of the above, wherein the traveling anti-sway system is arranged between the spreader and the trolley frame and is electrically connected to the hoisting mechanism.

[0014] The present application provides a traveling anti-sway method, system and crane. The traveling anti-sway system includes: a male guide post, a female guide post, a spreader attitude detection device and a control device. The male guide post is connected to the spreader, the female guide post is connected to the trolley frame, and the female guide post and the male guide post are inserted and matched under the drive of the hoisting mechanism; the spreader attitude detection device is arranged between the spreader and the trolley frame and is used to sense the swinging state of the spreader and generate corresponding detection data; the control device is electrically connected to the spreader attitude detection device and the hoisting mechanism of the crane. The control device receives the detection data transmitted by the spreader attitude detection device and generates a control instruction according to the detection data, and the control instruction is used to control the hoisting mechanism to hoist or stop. This anti-sway system adopts a rigid male guide post and a female guide post with non-continuous cooperation, and uses the insertion and cooperation of the two to achieve the anti-sway purpose of intelligent traveling. It is suitable for a wide range of scenarios. During the hoisting process of the spreader, the data transmission between the spreader attitude detection device and the control device is used in real time, so that the control device can judge whether there are problems such as instability and excessive swinging angle in the current hoisting process of the spreader. When there are the above problems and they affect the insertion of the male guide post and the female guide post, the control device can stop hoisting in time, reducing the probability of collision or failure to form an insertion between the male guide post and the female guide post, and ensuring the anti-sway effect of the male guide post and the female guide post on the premise of ensuring the safe operation of the crane. Description of the Drawings

[0015] Figure 1 The figure shows a schematic diagram of the mechanism of the traveling anti-sway system provided by an embodiment of the present application.

[0016] Figure 2 The figure shows a schematic flowchart of the traveling anti-sway method provided by another embodiment of the present application.

[0017] Figure 3 The figure shows a schematic flowchart of the spreader attitude abnormal detection method in the traveling anti-sway method provided by another embodiment of the present application.

[0018] Figure 4 The figure shows a schematic diagram of the structure of an electronic device provided by an embodiment of the present application.

[0019] Description of the reference numerals: 1, spreader; 2, trolley frame; 10, male guide post; 20, female guide post; 31, laser distance sensor; 32, laser reflector; 600, electronic device; 601, processor; 602, memory; 603, input device; 604, output device. Detailed implementation manners

[0020] In the description of this application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically defined. In the embodiments of this application, all directional indications (such as up, down, left, right, front, back, top, bottom...) are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will change accordingly. In addition, the terms "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally further include steps or units not listed, or may optionally further include other steps or units inherent to these processes, methods, products or devices.

[0021] In addition, the mention of "embodiment" in this article means that the specific features, structures or characteristics described in connection with the embodiment may be included in at least one embodiment of this application. The appearance of this phrase at various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0022] Overview of the application

[0023] Most of the anti-sway of the intelligent traveling crane in the crane adopts the following several structural forms: using continuously mating upper and lower male and female rigid guide columns to prevent the sway of the spreader during the operation of the trolley and the crane; or by collecting the swing length and swing angle of the spreader and combining algorithms to achieve electronic anti-sway to suppress the sway of the spreader. The above two anti-sway methods both have their own deficiencies:

[0024] 1) The continuously mating rigid guide columns are not suitable for factory environments with a lifting height greater than 5m, and the structure is complex and the maintenance is troublesome;

[0025] 2) The electronic anti-sway form is more suitable for manually operating the traveling crane, and its anti-sway positioning efficiency is low compared with the rigid guide column.

[0026] To solve the problems existing in the above anti-sway methods, the present invention provides a traveling crane anti-sway method, system and crane. The traveling crane anti-sway system specifically includes: a male guide post 10, a female guide post 20, a spreader attitude detection device and a control device. The male guide post 10 is connected to the spreader 1, the female guide post 20 is connected to the trolley frame 2, and the female guide post 20 and the male guide post 10 are inserted and matched under the drive of the hoisting mechanism; the spreader attitude detection device is arranged between the spreader 1 and the trolley frame 2 for sensing the swinging state of the spreader 1 and generating corresponding detection data; the control device is electrically connected to the spreader attitude detection device and the hoisting mechanism of the crane. The control device receives the detection data transmitted by the spreader attitude detection device and generates a control command according to the detection data. This control command is used to control the hoisting mechanism to hoist or stop. This traveling crane anti-sway system adopts a non-continuous mating rigid male guide post 10 and female guide post 20, and uses the insertion and mating of the two to achieve the anti-sway purpose of the intelligent traveling crane. In addition, during the hoisting process of the spreader 1, the data transmission between the spreader attitude detection device and the control device is used in real time, so that the control device can judge whether there are problems such as instability and excessive swinging angle during the current hoisting process of the spreader 1. When there are the above problems and they affect the insertion of the male guide post 10 and the female guide post 20, the control device can stop hoisting in time, reducing the probability of collision or failure to form an insertion between the male guide post 10 and the female guide post 20. On the premise of ensuring the safe operation of the crane, the anti-sway effect of the male guide post 10 and the female guide post 20 is ensured.

[0027] 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 making creative efforts belong to the scope of protection of the present application.

[0028] Figure 1 The following shows the schematic diagram of the mechanism of the traveling crane anti-sway system provided by an embodiment of the present application. As Figure 1As shown in the figure, this anti-sway system for a traveling crane specifically includes a male guide post 10, a female guide post 20, a spreader attitude detection device, and a control device. Among them, the male guide post 10 is connected to the spreader 1 of the crane, and the female guide post 20 is connected to the side of the traveling crane trolley frame 2 facing the spreader 1. The male guide post 10 and the female guide post 20 are arranged opposite to each other when the spreader 1 is not lifted by the hoisting mechanism. After the spreader 1 is lifted, the two gradually form a plug-in fit. The freedom of the spreader 1 to move in its front-back, left-right directions is restricted by the clearance fit between the male guide post 10 and the female guide post 20, thereby achieving the smooth operation of the traveling crane. The spreader attitude detection device is arranged between the spreader 1 and the trolley frame 2, and is used to detect the swinging state of the spreader 1 and generate corresponding detection data. Among them, the detection data includes, for example, the current height information of the spreader 1, the current swinging attitude, etc. The control device is electrically connected to the spreader attitude detection device and the hoisting mechanism. The control device receives the detection data sensed by the spreader attitude detection device in real time, and generates a control instruction according to the detection data. This control instruction is generated after the control device calculates and analyzes the detection data, and is used to control the hoisting mechanism to lift or stop.

[0029] After the control device compares the detection data with the preset safety data, it judges whether there are problems such as instability and excessive swinging angle in the lifting process of the current spreader 1. When there are the above problems and they affect the plug-in connection between the male guide post 10 and the female guide post 20, the control device can stop the lifting in time, reducing the probability of collision or failure to form a plug-in connection between the male guide post 10 and the female guide post 20. On the premise of ensuring the safe operation of the crane, the anti-sway effect of the male guide post 10 and the female guide post 20 is ensured. Moreover, the male guide post 10 and the female guide post 20 are not in continuous cooperation. The use of this anti-sway system is not restricted by the height of the workshop, and the applicable scenarios are more extensive.

[0030] It should be noted that for the plug-in fit between the male guide post 10 and the female guide post 20, the male guide post 10 can be inserted into the female guide post 20, or the female guide post 20 can be inserted into the male guide post 10. The specific plug-in method should depend on the specific application scenario, and this application does not make further limitations in this regard.

[0031] It is worth mentioning that the control device in the above system can be the local programmable logic controller (Programmable Logic Controller, abbreviated as PLC) of the intelligent traveling crane, such as Siemens S7-200 SMART. The detection data collected by the spreader attitude detection device, after high-frequency filtering processing, is transmitted to the local PLC via a bus (Profinet) or optical fiber, thereby realizing the communication transmission of data.

[0032] In a possible implementation manner, such as Figure 1As shown in the figure, the spreader attitude detection device may include: a laser distance sensor 31 and a laser reflector 32. Among them, the laser distance sensor 31 can be connected to the spreader 1, and the laser reflector 32 can be connected to the side of the trolley frame 2 facing the spreader 1, and the center of the laser reflector 32 is arranged opposite to the ranging center of the laser distance sensor 31. The laser distance sensor 31 can be a laser ranging device such as a point laser rangefinder. It emits laser on the spreader 1 and cooperates with the laser reflector 32 located on the trolley frame 2. After the laser is emitted to the laser reflector 32 and reflected, the current height of the spreader 1 is detected in real time according to the reflection duration of the laser, and at the same time, the deviation of the spreader 1 in the X-axis and Y-axis directions is judged according to the position where the laser reaches the laser reflector 32. The laser reflector 32 or the laser distance sensor 31 transmits the detected detection data to the control device, so that the control device can compare the real-time detection data with the preset data, thereby judging whether the current attitude of the spreader 1 is normal. If it is normal, the spreader 1 is continued to be lifted. If it is abnormal, the machine is stopped in time for processing, improving the accuracy of the cooperation between the male end 10 of the guide post and the female end 20 of the guide post.

[0033] It should be noted that the installation positions of the above-mentioned laser distance sensor 31 and laser reflector 32 are not unique. In actual installation, their positions can also be interchanged, that is, the laser distance sensor 31 is connected to the trolley frame 2, and the laser reflector 32 is connected to the spreader 1, as long as the center positions of the two are opposite to each other. Therefore, the present application does not make specific limitations on this.

[0034] Specifically, as Figure 1 shown in the figure, the laser ranging device is arranged outside the wire rope of the hoisting mechanism on the spreader 1, and the distance from the wire rope is 150 mm - 25 mm. Installing the laser ranging device outside the space formed by the wire ropes as above can reduce the influence on the detection of the rotation attitude of the spreader 1 in the Z-axis direction.

[0035] It should be understood that the above-mentioned arrangement of the laser ranging device and the laser reflector 32 outside the space formed by the wire ropes is the preferred implementation mode of the present application. When the two are arranged inside the space formed by the wire ropes, the function of detecting the attitude of the spreader 1 can also be achieved, but it will affect the normal lifting of the spreader 1. Therefore, no matter what arrangement method the laser ranging device and the laser reflector 32 adopt, they are all within the protection scope of the present application.

[0036] In another possible implementation, as Figure 1As shown, the laser reflector 32 can be in a disc shape, and its radius can be 50 - 80 mm. The disc structure can play a more effective and objective detection role for the laser emitted by the laser ranging device, and the above radius range can reasonably detect the swing range of the spreader 1. When the swing amplitude of the spreader 1 is too large, the laser beam will hit outside the disc. At this time, by sensing that the laser spot does not fall on the disc, the control device can determine that the spreader 1 is in a violent swing state. It is not difficult to understand that the radius of the disc determines the maximum allowable swing angle when the spreader 1 is lifted. If the radius of the disc is too large, the maximum allowable swing angle value will also be too large, which is likely to cause the male end 10 of the guide post to collide with the female end 20 of the guide post or fail to form a plug-in fit, so that the anti-sway function for the overhead crane cannot be achieved. If the radius of the disc is too small, the maximum allowable swing angle during the lifting process of the spreader 1 will be too small, which is likely to cause the spreader 1 to stop for maintenance when it can operate normally, delaying the construction period.

[0037] Optionally, as Figure 1 shown, the spreader attitude detection device may further include a support body. One end of this support body is connected to the lower surface of the trolley frame 2, and the other end is connected to the laser reflector 32. Through this support body, the laser reflector 32 is arranged at a certain distance from the lower surface of the trolley frame 2, preferably 150 - 300 mm. Leaving a certain space between the laser reflector 32 and the lower surface of the trolley frame 2 can improve the convenience of subsequent daily maintenance by the staff.

[0038] It should be understood that the installation method of attaching the laser reflector 32 to the lower surface of the trolley frame 2 is also within the protection scope of this application.

[0039] In a possible implementation manner, as Figure 1 shown, this overhead crane anti-sway system includes at least two male ends 10 of the guide posts and at least two female ends 20 of the guide posts, but the number of the male ends 10 of the guide posts and the female ends 20 of the guide posts should be equal so that each male end 10 of the guide post can be plugged into and cooperate with the corresponding female end 20 of the guide post. Among them, at least two male ends 10 of the guide posts are arranged in central symmetry about the center of the spreader 1, and at least two female ends 20 of the guide posts are arranged in central symmetry about the center of the trolley frame 2. It should be understood that four male ends 10 of the guide posts and four female ends 20 of the guide posts are shown in the figure, which is only a preferred embodiment of this application. The specific number of the male ends 10 of the guide posts and the female ends 20 of the guide posts should depend on the specific application scenario, and this application does not make further limitations in this regard.

[0040] Next, the overhead crane anti-sway method provided by another aspect of this application will be described in conjunction with Figure 2-3 to describe the overhead crane anti-sway method provided by another aspect of this application.

[0041] Figure 2 Shown is a schematic flow chart of the overhead crane anti-sway method provided by another embodiment of this application. As Figure 2As shown, the anti-sway method for the traveling crane provided in this application is applied to the traveling crane anti-sway system in the above embodiment, and specifically may include the following steps:

[0042] Step 100: The control device acquires the lifting signal of the spreader.

[0043] The control device can be the intelligent traveling crane local PLC in the above embodiment; the lifting signal is a prompt signal transmitted to the control device when the lifting mechanism performs a lifting operation on the spreader.

[0044] Step 200: The control device acquires the spreader height information and the spreader attitude information detected by the spreader attitude detection device according to the lifting signal.

[0045] The spreader height information is the information representing the current horizontal height of the spreader; the spreader attitude information includes the offset angle information of the spreader in the X-axis, Y-axis, and Z-axis directions, etc. The above two types of information are both detected and acquired by the spreader attitude detection device. After receiving the lifting signal, the control device triggers a detection action and automatically starts communicating with the spreader attitude detection device to obtain the spreader state information during the lifting process in real time, discover abnormalities in time, improve operation safety, and implement subsequent anti-sway actions.

[0046] Step 300: The control device generates detection information according to the spreader height information, the spreader attitude information, and the spreader preset lifting information.

[0047] The detection information is used to indicate whether the spreader attitude is normal, including spreader attitude normal information and spreader attitude abnormal information. The spreader preset lifting information is the spreader height data pre-input in the control device, which can be the height value in the absolute encoder of the lifting mechanism and the allowable offset values in each direction of the spreader, etc. The control device compares the received real-time spreader height information and the spreader attitude information with the spreader preset lifting information. When the error value obtained after comparison exceeds the highest threshold, such as the error is greater than 150 millimeters, it is determined that the current spreader lifting is abnormal, and the spreader lifts too fast or too slowly; if the error value is less than or equal to 150 millimeters, it is determined that the current spreader lifting is normal.

[0048] The control instructions include a running instruction for controlling the operation of the lifting mechanism and a stop instruction for controlling the lifting mechanism to stop.

[0049] Among them, when the detection information is the spreader attitude normal information,

[0050] Execute the following steps:

[0051] Step 410: When the detection information is the spreader attitude normal information, the control device generates a running instruction and sends the running instruction to the lifting mechanism.

[0052] The operation instruction is an instruction for controlling the operation of the hoisting mechanism. According to whether the lifting state of the spreader is normal or not, it controls the spreader to continue lifting or stop lifting, ensuring the operation safety of the spreader. At the same time, it ensures that the male end of the guide post can finally be inserted and matched with the female end of the guide post, achieving the anti-sway purpose of the intelligent crane. Among them, when the detection information shows that the current running attitude of the spreader is normal, it means that there is no excessive risk for the spreader to continue lifting, and the control device only needs to allow the hoisting mechanism to operate.

[0053] Step 500: The hoisting mechanism controls the spreader to lift until the male end of the guide post is inserted and matched with the female end of the guide post.

[0054] When the male end of the guide post is inserted and matched with the female end of the guide post, the degrees of freedom of the spreader in all directions during the running of the crane can be restricted, thereby improving the anti-sway effect.

[0055] The anti-sway method for the crane provided in this application includes: the control device obtains the lifting signal of the spreader; the control device obtains the spreader height information and spreader attitude information detected by the spreader attitude detection device according to the lifting signal; the control device generates detection information according to the spreader height information, spreader attitude information, and spreader preset lifting information, and the detection information is used to indicate whether the spreader attitude is normal; among them, when the detection information is the spreader attitude normal information, the control device generates an operation instruction and sends the operation instruction to the hoisting mechanism, and the operation instruction is used to control the operation of the hoisting mechanism; the hoisting mechanism controls the spreader to lift until the male end of the guide post is inserted and matched with the female end of the guide post. This anti-sway method for the crane is applied to the anti-sway system of the crane in the above-mentioned embodiment. It adopts the rigid male end and female end of the guide post with non-continuous matching, and uses the insertion and matching of the two to achieve the anti-sway purpose of the intelligent crane. It has a wide range of applicable scenarios. During the lifting process of the spreader, the data transmission between the spreader attitude detection device and the control device is used in real time, enabling the control device to judge whether there are problems such as instability and excessive swing angle during the current lifting process of the spreader. When there are the above problems and they affect the insertion of the male end and female end of the guide post, the control device can stop lifting in time, reducing the probability of collision or failure to form an insertion between the male end and female end of the guide post, and ensuring the anti-sway effect of the male end and female end of the guide post on the premise of ensuring the safe operation of the crane.

[0056] In a possible implementation manner, Figure 3 The following shows the schematic flowchart of the spreader attitude abnormal detection method in the anti-sway method for the crane provided in another embodiment of this application. As Figure 2 and Figure 3 shown, when the detection information in step 300 is the spreader attitude abnormal information, the following steps are executed:

[0057] Step 420: When the detection information is the spreader attitude abnormal information, the control device generates a stop instruction and transmits the stop instruction to the hoisting mechanism.

[0058] The stop instruction is an instruction used to control the hoisting mechanism to stop. When the spreader attitude is abnormal, it indicates that the current swing amplitude of the spreader is too large. Continuing to hoist may cause the male end of the guide post and the female end of the guide post to be unable to cooperate or even collide. At this time, the control device should stop the operation of the hoisting mechanism, and wait until the swing slows down or the equipment maintenance is completed before continuing to hoist the spreader to ensure the safe progress of the operation.

[0059] Step 421: The control device continuously obtains the spreader height information and the spreader attitude information detected by the spreader attitude detection device within a preset time interval.

[0060] Step 422: The control device continuously generates detection information according to the spreader height information and the spreader attitude information.

[0061] The preset time interval is preferably 20 seconds. That is, after the spreader stops hoisting, the control device continuously obtains the real-time attitude information of the spreader within 20 seconds to determine whether the spreader can restore a relatively stable attitude in a short time. It should be understood that other time intervals such as 15 seconds, 25 seconds, 30 seconds, etc. can be preset as the preset time interval, and the specific duration should depend on the specific parameters of the equipment. The present application does not make further limitations in this regard.

[0062] When within the preset time interval, from a certain moment to the end of the preset time interval, the spreader attitude normal information can be continuously detected, then execute Step 4231:

[0063] Step 4231: When the detection information is continuously the spreader attitude normal information within the preset time interval, the control device generates a running instruction.

[0064] However, when within the preset time interval, the detected information is always the spreader attitude abnormal information, then execute Step 4232:

[0065] Step 4232: When the detection information is the spreader attitude abnormal information within the preset time interval, the control device generates a fault alarm information.

[0066] For example, if the information indicating that the spreader attitude has returned to normal can be generated according to the detection data within 20 seconds, and such detection data continues until the end of 20 seconds, it means that the spreader is no longer swinging violently at this time, and the spreader can be continued to be hoisted, and the hoisting mechanism can complete the subsequent steps accordingly; but if the spreader attitude cannot be judged to be normal within 20 seconds, or only the spreader attitude is normal for an instant, it means that the current spreader is still shaking violently, and a fault alarm information such as beeping, text prompt or voice prompt should be generated in time, and the equipment should be stopped, switched to the manual mode in time, and manually maintained, etc.

[0067] Specifically, such as Figure 1As shown, the above detection process can be executed once, twice, or multiple times during the lifting process of the spreader. It is worth mentioning that when the height of the spreader meets the preset height value, such as when the distance between the end of the male guide post and the end of the female guide post is 1m at the height where the spreader is located, it is more important to detect and judge the attitude of the spreader. At this time, the attitude of the spreader at this distance basically determines whether the male guide post and the female guide post can be smoothly inserted.

[0068] According to the third aspect of the present application, the present application also provides a crane. This crane includes: a spreader, a trolley frame, a lifting mechanism, and a traveling anti-sway system as described in any of the above embodiments. The traveling anti-sway system is arranged between the spreader and the trolley frame and is electrically connected to the lifting mechanism.

[0069] Since this crane includes the above-mentioned traveling anti-sway system, it can adopt a rigid male guide post and a female guide post with non-continuous cooperation, and use the insertion cooperation between the two to achieve the anti-sway purpose of intelligent traveling. It has a wide range of applicable scenarios. During the lifting process of the spreader, by means of the data transmission between the spreader attitude detection device and the control device in real time, the control device can judge whether there are problems such as instability or excessive swing angle during the current lifting process of the spreader. When there are the above problems and they affect the insertion of the male guide post and the female guide post, the control device can stop the lifting in time, reducing the probability of collision or failure to form an insertion between the male guide post and the female guide post, and ensuring the anti-sway effect between the male guide post and the female guide post on the premise of ensuring the safe operation of the crane.

[0070] Next, refer to Figure 4 to describe the electronic device according to the embodiments of the present application. Figure 4 The following shows a schematic structural diagram of an electronic device provided by an embodiment of the present application.

[0071] As Figure 4 shown, the electronic device 600 includes one or more processors 601 and a memory 602.

[0072] The processor 601 can be a central processing unit (CPU) or other forms of processing units with data processing capabilities and / or information execution capabilities, and can control other components in the electronic device 600 to perform desired functions.

[0073] The memory 602 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 information may be stored on the computer-readable storage media, and the processor 601 may run the program information to implement the vehicle anti-sway method or other desired functions of the various embodiments of the present application described above.

[0074] In one example, the electronic device 600 may further include: an input device 603 and an output device 604, and these components are interconnected through a bus system and / or other forms of connection mechanisms (not shown).

[0075] The input device 603 may include, for example, a keyboard, a mouse, etc.

[0076] The output device 604 may output various information to the outside. The output device 604 may include, for example, a display, a communication network, and remote output devices connected thereto, etc.

[0077] Of course, for simplicity, Figure 4 only some of the components related to the present application in the electronic device 600 are shown, and components such as buses, input / output interfaces, etc. are omitted. In addition, according to specific application scenarios, the electronic device 600 may further include any other appropriate components.

[0078] In addition to the above methods and devices, the embodiments of the present application may also be computer program products, which include computer program information, and when the computer program information is run by a processor, the processor is caused to execute the steps in the vehicle anti-sway method according to various embodiments of the present application described in this specification.

[0079] The computer program products may be written in any combination of one or more programming languages to write program codes for performing 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 program codes may be executed completely on the user computing device, partially on the user device, executed as an independent software package, partially on the user computing device and partially on a remote computing device, or completely on a remote computing device or server.

[0080] In addition, an embodiment of the present application may also be a computer-readable storage medium storing computer program information, which, when run by a processor, causes the processor to execute the steps in the anti-sway method for a vehicle according to various embodiments of the present application described in this specification.

[0081] The computer-readable storage medium may adopt 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, for example, include 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 (a non-exhaustive list) of the readable storage medium include: an electrical connection with 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.

[0082] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, benefits, effects, etc. are essential for each embodiment of the present application. In addition, the specific details disclosed above are only for the purposes of illustration and facilitating understanding, and are not limitations. These details do not limit the present application to necessarily adopt the above specific details for implementation.

[0083] The block diagrams of the devices, apparatuses, equipment, and systems involved in the present application are only illustrative examples and do not intend 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 words, meaning "including but not limited to", and can be used interchangeably with each other. The word "or" and "and" used herein refer to the word "and / or" and can be used interchangeably with each other, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to" and can be used interchangeably with each other.

[0084] It should also be noted that in the devices, equipment, and methods of the present application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of the present application.

[0085] The foregoing description of the disclosed aspects enables any person skilled in the art to make or use the present 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 the present application. Thus, the present application is not intended to be limited to the aspects shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0086] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A vehicle anti-sway system, characterized in that, Comprising: A male guide post (10), which is connected to the spreader (1); A female guide post (20), which is connected to the trolley frame (2), and the female guide post (20) is inserted and matched with the male guide post (10) under the drive of the hoisting mechanism; A spreader attitude detection device, which is used to detect the swing state of the spreader (1) and generate detection data; And A control device, which is electrically connected to the spreader attitude detection device and the hoisting mechanism. The control device receives the detection data and generates a control instruction according to the detection data. The control instruction is used to control the hoisting mechanism to hoist or stop; Wherein, the detection data includes spreader height information and spreader attitude information; The control device generates detection information according to the spreader height information, the spreader attitude information and the preset hoisting information of the spreader. The detection information is used to indicate whether the spreader attitude is normal; When the detection information is the spreader attitude abnormal information, the control device generates a stop instruction and transmits the stop instruction to the hoisting mechanism. The stop instruction is used to control the hoisting mechanism to stop; The hoisting mechanism controls the spreader to stop hoisting according to the stop instruction; After the spreader stops hoisting, the control device continuously obtains the spreader height information and the spreader attitude information detected by the spreader attitude detection device within a preset time interval; The control device continuously generates detection information according to the spreader height information and the spreader attitude information; and When the detection information is continuously the spreader attitude normal information within the preset time interval, the control device generates a running instruction; When the detection information is the spreader attitude abnormal information within the preset time interval, the control device generates a fault alarm information.

2. The anti-sway system for a traveling crane according to claim 1, wherein The spreader attitude detection device includes: A laser distance sensor (31), which is connected to the spreader (1); A laser reflector (32), which is connected to the trolley frame (2), and the center of the laser reflector (32) is oppositely arranged with the ranging center of the laser distance sensor (31).

3. The anti-sway system for a traveling crane according to claim 2, wherein The laser distance sensor (31) is arranged outside the wire rope of the hoisting mechanism on the spreader (1).

4. The anti-sway system for a traveling crane according to claim 2, characterized in that, The laser reflector (32) is of a disc structure.

5. The anti-sway system for a traveling crane according to claim 4, wherein, The spreader attitude detection device further includes: A support body, one end of which is connected to the lower surface of the trolley frame (2), and the other end is connected to the laser reflector (32).

6. The anti-sway system for a traveling crane according to claim 1, characterized in that, The traveling crane anti-sway system includes: at least two male guide posts (10) and at least two female guide posts (20), and the number of the male guide posts (10) is equal to that of the female guide posts (20); Wherein, at least two male guide posts (10) are centrosymmetrically arranged about the center of the spreader (1), and at least two female guide posts (20) are centrosymmetrically arranged about the center of the trolley frame (2).

7. A method for preventing the swinging of a traveling crane, characterized in that, Applied to the traveling crane anti-sway system according to claim 1, including: The control device obtains the lifting signal of the spreader; The control device obtains the spreader height information and the spreader attitude information detected by the spreader attitude detection device according to the lifting signal; The control device generates detection information according to the spreader height information, the spreader attitude information and the spreader preset lifting information, and the detection information is used to indicate whether the spreader attitude is normal; Wherein, when the detection information is the spreader attitude normal information, the control device generates an operation instruction and sends the operation instruction to the lifting mechanism, and the operation instruction is used to control the operation of the lifting mechanism; and The lifting mechanism controls the spreader to lift according to the operation instruction until the male end of the guide post and the female end of the guide post form a plug-in fit; When the detection information is the spreader attitude abnormal information, the control device generates a stop instruction and transmits the stop instruction to the lifting mechanism, and the stop instruction is used to control the lifting mechanism to stop; The lifting mechanism controls the spreader to stop lifting according to the stop instruction; After the spreader stops lifting, the control device continuously obtains the spreader height information and the spreader attitude information detected by the spreader attitude detection device within a preset time interval; The control device continuously generates the detection information according to the spreader height information and the spreader attitude information; and When the detection information is continuously the spreader attitude normal information within the preset time interval, the control device generates the operation instruction; When the detection information is the spreader attitude abnormal information within the preset time interval, the control device generates a fault alarm information.

8. The anti-sway method for a traveling crane according to claim 7, wherein The anti-sway method of the overhead crane is performed at least once when the spreader height is equal to a preset height value.

9. A crane, characterized in that, Including: Spreader (1); Trolley frame (2); Lifting mechanism; And The overhead crane anti-sway system according to any one of claims 1-6, the overhead crane anti-sway system is arranged between the spreader (1) and the trolley frame (2) and is electrically connected to the lifting mechanism.

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