Method and system for motion control of hoisting equipment

Abstract

The application provides a motion control method and system of hoisting equipment, and belongs to the technical field of engineering machinery. The method comprises the following steps: determining that the record of the weight sample value of the heavy object hoisted by the hoisting equipment is periodic; determining a vibration period corresponding to the record of the weight sample value, and predicting a motion-intervenable position or a motion-intervenable moment of the heavy object through the vibration period; and performing safety control of the hoisting equipment at the moment corresponding to the motion-intervenable position or before the motion-intervenable moment is reached. The application can be used for safety guarantee of engineering machinery.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery, in particular to a movement control method of a hoisting device, a movement control system of a hoisting device, an electronic device, an engineering machinery and a computer readable storage medium. BACKGROUND

[0002] In order to realize higher hoisting height, the crane can be selected as a long boom type or be additionally installed, for example, the truck crane assembles a lengthened arm to realize higher hoisting height, meanwhile, the work flexibility is increased and the cost is reduced. The lengthened arm is not the original boom, usually, the lengthened arm can be fixedly connected with the original boom through buckles and bolts, and the lengthened arms are connected with each other to form a new boom, during the hoisting work of the heavy object using the boom, the gravity of the heavy object is transmitted to the connection position of the lengthened arm to generate a shear force, which is easy to cause mechanical fatigue damage. In addition, the long boom or the lengthened arm is exposed to the sun, due to the difference between the thermal expansion and the cold contraction of the two sides, or due to the influence of the wind, the lengthened arm can be bent, at this time, the suspended heavy object can generate transverse vibration beyond the projection plane of the boom, at this time, the super heavy object caused by the superposition of vibration in different directions can cause irreversible actual damage to the rope (such as steel wire rope) and the connection position of the lengthened arm, and the repeated and continuous damage can cause equipment damage and work safety risk.

[0003] At present, in the hoisting work of the crane lengthened arm and the rope, safety measures are taken through device alarm prompt and manual intervention, however, these safety measures are difficult to analyze and reasonably control the vibration of the heavy object, and it is difficult to avoid actual damage, therefore, the crane boom and the rope need to be protected to realize the hoisting work safety of the lengthened arm and the long boom. SUMMARY

[0004] The purpose of the present application is to provide a movement control method and system of a hoisting device, to avoid the actual damage of the boom and the rope caused by the violent vibration of the heavy object in the lengthened arm and the long boom hoisting work, and to improve the hoisting work safety and stability of the long boom hoisting device.

[0005] In order to realize the above purpose, the embodiment of the present application provides a movement control method of a hoisting device, the movement control method comprises:

[0006] determining that the record of the weight sampling value of the heavy object hoisted by the hoisting device is periodic;

[0007] determining a vibration period corresponding to the record of the weight sampling value, and predicting a movement intervention position or a movement intervention time of the heavy object through the vibration period;

[0008] At a time corresponding to the position where the movement can be interfered with or before the time when the movement can be interfered with is reached, safety control of the lifting equipment is performed.

[0009] Specifically, before determining that the recording of the weight sampling values ​​of the heavy object hoisted by the lifting equipment is periodic, the motion control method further includes:

[0010] Determine whether the boom of the lifting equipment is in a dangerous condition of lateral bending.

[0011] Specifically, determining that the boom of the lifting equipment is in a dangerous working condition of lateral bending includes at least one of the following:

[0012] Determine that the operating environment temperature of the lifting equipment exceeds the configured temperature threshold;

[0013] Determine that the wind speed in the operating environment of the lifting equipment exceeds the configured wind speed threshold;

[0014] Determines whether the jib lateral bend of the crane exceeds the configured lateral bend threshold.

[0015] Specifically, determining that the boom of the lifting equipment is in a dangerous working condition further includes:

[0016] Calculating a cumulative amount of the sampled temperature relative to the reference temperature, a first proportional measure of the working environment wind speed relative to the configured wind speed threshold, and a second proportional measure of the boom lateral bend relative to the reference lateral bend;

[0017] calculating a weighted statistic of the accumulated amount, the first proportional metric, and the second proportional metric;

[0018] It is determined that the weighted statistic exceeds a configured statistic threshold.

[0019] Specifically, determining that the recording of the weight sampling value of the heavy object lifted by the lifting equipment is periodic includes:

[0020] The records of the weight extreme values ​​are determined periodically, wherein the weight extreme values ​​are the maximum and / or minimum values ​​of the weight sampling values ​​of the heavy object hoisted by the hoisting equipment within the sampling time range.

[0021] Specifically, the record of determining the extreme weight value is periodic, wherein the method of obtaining the extreme weight value includes:

[0022] Dividing the sampling time range into sampling periods of configured length;

[0023] Determine the weight mean corresponding to each sampling period respectively;

[0024] Each weight extreme value is determined by recording the neighborhood of the weight mean and the weight sampling values.

[0025] Specifically, the determining that the record of the weight extreme value is periodic comprises:

[0026] determining a maximum value record point and a minimum value record point through the record of the weight extreme value, wherein the maximum value record point comprises a sampling time and an order at which the maximum value occurs, and the minimum value record point comprises a sampling time and a corresponding order at which the minimum value occurs;

[0027] performing linear regression on the maximum value record point and the minimum value record point, respectively;

[0028] determining that a relative inclination degree of two straight lines obtained after the linear regression does not exceed a configured relative inclination range;

[0029] determining that the record of the weight extreme value is periodic.

[0030] Specifically, the determining of the vibration period corresponding to the record of the weight sampling value comprises:

[0031] calculating the vibration period corresponding to the record of the weight extreme value through the two straight lines.

[0032] Specifically, the determining of the vibration period corresponding to the record of the weight sampling value comprises:

[0033] converting the weight sampling value corresponding to each sampling time in the record of the weight sampling value into a frequency distribution in a frequency domain;

[0034] calculating an average value of a distribution value corresponding to a frequency in the frequency distribution;

[0035] determining a main frequency in the frequency distribution, wherein the main frequency is a frequency band corresponding to a distribution value in the frequency distribution that is far more than the average value;

[0036] calculating the vibration period through the main frequency.

[0037] Specifically, the predicting of the motion of the weight through the vibration period comprises:

[0038] determining a mechanical wave vibration equation of the weight through the vibration period and the weight sampling value;

[0039] predicting a limit overweight motion position and a limit weightless motion position of the weight through the mechanical wave vibration equation;

[0040] determining that a motion position between the limit overweight motion position and the limit weightless motion position is the motion interferable position of the weight.

[0041] Specifically, the determining the movement position between the limit overweight movement position and the limit underweight movement position as the movement intervention position of the weight includes:

[0042] Selecting the movement position in the neighborhood of the limit overweight movement position and the neighborhood of the limit underweight movement position as the movement intervention position of the weight.

[0043] Specifically, the determining the movement position between the limit overweight movement position and the limit underweight movement position as the movement intervention position of the weight includes:

[0044] Configuring a movement non-intervention position range between the limit overweight movement position and the limit underweight movement position;

[0045] Selecting the movement position between the first boundary position and the limit underweight movement position as the first movement intervention position, and

[0046] Selecting the movement position between the second boundary position and the limit overweight movement position as the second movement intervention position, wherein,

[0047] The first boundary position is a boundary position in the movement non-intervention position range close to the limit underweight movement position,

[0048] The second boundary position is a boundary position in the movement non-intervention position range close to the limit overweight movement position,

[0049] The first movement intervention position and the second movement intervention position are the movement intervention positions of the weight.

[0050] Specifically, the predicting the movement intervention position or the movement intervention time of the weight through the vibration period includes:

[0051] Predicting the time when the weight sampling value of the weight appears a maximum value and the time when the weight sampling value appears a minimum value through the vibration period;

[0052] Taking the time when the minimum value appears as a first time when the weight is in the limit underweight movement position, and taking the time when the maximum value appears as a second time when the weight is in the limit overweight movement position;

[0053] Selecting the time in the neighborhood of the first time and the neighborhood of the second time as the movement intervention time.

[0054] Specifically, the performing the safety control of the hoisting equipment before the time corresponding to the movement intervention position or the movement intervention time is reached includes:

[0055] performing a rope take-up operation of a hoist of the hoisting apparatus, wherein

[0056] The motion-intervention-allowable position includes a first motion position in a neighborhood of the limit weight-loss motion position, and a time corresponding to the first motion position belongs to a vibration stage from limit weight-loss to limit weight-gain in the vibration cycle.

[0057] Specifically, the performing the safety control of the hoisting apparatus before the time corresponding to the motion-intervention-allowable position or the motion-intervention-allowable time arrives further includes:

[0058] performing a rope take-up operation of a hoist of the hoisting apparatus, wherein

[0059] The motion-intervention-allowable position further includes a second motion position in a neighborhood of the limit weight-gain motion position, a time corresponding to the second motion position belongs to the vibration stage, and the rope release operation is performed after the time corresponding to the second motion position arrives.

[0060] Specifically, the performing the safety control of the hoisting apparatus before the time corresponding to the motion-intervention-allowable position or the motion-intervention-allowable time arrives further includes:

[0061] performing a stop operation of a hoist of the hoisting apparatus between the time corresponding to the first motion position and the time corresponding to the second motion position.

[0062] Specifically, the performing the safety control of the hoisting apparatus before the time corresponding to the motion-intervention-allowable position or the motion-intervention-allowable time arrives includes:

[0063] performing a rope take-up operation of a hoist of the hoisting apparatus, wherein

[0064] The motion-intervention-allowable time includes a third time in a neighborhood of the first time, and the third time belongs to a vibration stage from limit weight-loss to limit weight-gain in the vibration cycle.

[0065] Specifically, the performing the safety control of the hoisting apparatus before the time corresponding to the motion-intervention-allowable position or the motion-intervention-allowable time arrives further includes:

[0066] performing a rope take-up operation of a hoist of the hoisting apparatus, wherein

[0067] The motion-intervenable moment further includes a fourth moment in the vicinity of the second moment, the fourth moment belongs to the vibration stage, and the rope-releasing operation is performed after the fourth moment arrives.

[0068] Specifically, after the safety control of the hoisting equipment is performed, the motion control method further includes:

[0069] The record of the weight extreme value is determined to be convergent, wherein the weight extreme value is a maximum value and a minimum value of a weight sample value of a weight of a heavy object hoisted by the hoisting equipment in a sampling time range.

[0070] Embodiments of the present application provide a motion control system of a hoisting equipment, which comprises:

[0071] A detection module is configured to determine that a record of a weight sample value of a heavy object hoisted by the hoisting equipment is periodic;

[0072] A calculation module is configured to determine a vibration period corresponding to the record of the weight sample value, and predict a motion-intervenable position or a motion-intervenable moment of the heavy object through the vibration period.

[0073] A control module is configured to perform a safety control of the hoisting equipment at a moment corresponding to the motion-intervenable position or before the motion-intervenable moment arrives.

[0074] In another aspect, embodiments of the present application provide an electronic device, which comprises:

[0075] At least one processor;

[0076] A memory connected to the at least one processor;

[0077] The memory stores instructions executable by the at least one processor, and the at least one processor implements the foregoing method by executing the instructions stored in the memory.

[0078] In another aspect, embodiments of the present application provide an engineering machine, which has the foregoing electronic device.

[0079] In another aspect, embodiments of the present application provide a computer-readable storage medium, which stores computer instructions, and when the computer instructions are run on a computer, the computer executes the foregoing method.

[0080] The application determines simple vibration of the weight by analyzing periodicity of the weight sampling value, determines vibration period based on the periodic sampling record, and decides the time of intervention of safety control based on the vibration period, so as to effectively avoid applying safety control to the weight at unreasonable time such as limit overweight, prevent external force from intensifying vibration, rope breakage and actual damage of the boom; the application further determines whether the complex vibration condition such as dangerous working condition of side bending of the hoisting equipment occurs, and obtains the vibration period through the distribution characteristics of the weight sampling value in the frequency domain when the condition occurs, so as to decide the time of intervention of safety control according to the vibration period.

[0081] Other features and advantages of the embodiments of the application will be described in detail in the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0082] The accompanying drawings are included to provide a further understanding of the embodiments of the application, and constitute a part of the specification, and are used together with the following detailed description to explain the embodiments of the application, but do not constitute a limitation on the embodiments of the application. In the drawings:

[0083] Figure 1 It is a schematic diagram of the exemplary stressed lengthening boom and wire rope hoisting scene of the embodiments of the application;

[0084] Figure 2 It is a schematic diagram of the main method steps of the embodiments of the application;

[0085] Figure 3 It is a four-part contrast schematic diagram of the exemplary working environment scene corresponding to the model (a), the geometric distribution of the hoisting boom when side bending and when not side bending (b), and the vibration model when not side bending (c) and the vibration model when side bending (d) of the embodiments of the application;

[0086] Figure 4 It is an exemplary weight sampling point and curve schematic diagram of the embodiments of the application;

[0087] Figure 5 It is an exemplary frequency distribution curve schematic diagram of the embodiments of the application;

[0088] Figure 6 It is an exemplary linear regression straight line schematic diagram of the embodiments of the application;

[0089] Figure 7 It is an exemplary weight real-time sampling value and fitted vibration waveform curve schematic diagram of the embodiments of the application;

[0090] Figure 8Three-part contrast schematic diagram of example hoist tightening intervention on the gravity center height of the weight, example hoist releasing intervention on the gravity center height of the weight, and example intervention control of the gravity center height in the case of marked hoist control direction and object movement direction (a), (b), and (c) of the embodiment of the present application;

[0091] Figure 9 Example motion control step schematic diagram of the embodiment of the present application;

[0092] Figure 10 Example main module schematic diagram of the embodiment of the present application. DETAILED DESCRIPTION

[0093] The specific embodiments of the embodiments of the present application are described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application.

[0094] Embodiment 1

[0095] As Figure 1 , the boom projection plane can be the plane in which the boom and the boom are projected on the ground. In the boom projection plane, the boom hangs a weight with gravity G, and the weight can have mechanical vibration similar to a pendulum. The weight tightens the steel wire rope, and the steel wire rope generates elastic force T1. The elastic force T1 compresses the lengthened arm connection to generate elastic potential energy, which can cause mechanical vibration of the lengthened arm connection. The superposition of the above two vibrations (dashed lines in the figure) generates shear force T2 on the connection, which can cause damage to the connection. At the same time, due to the superposition of the vibrations, the weight appears to be overweight, generating additional force F. Finally, due to the superposition effect of the vibrations, the amplitude increases, and the value of T1 increases accordingly. When T1 exceeds the limit, it may cause hidden dangers to the safety of the steel wire rope.

[0096] The embodiment of the present application provides a motion control method of a hoisting device, such as Figure 2 The motion control method can include:

[0097] Determining that the record of the weight sampling value of the weight lifted by the hoisting device is periodic;

[0098] Determining a vibration period corresponding to the record of the weight sampling value, and predicting a motion-intervenable position or a motion-intervenable time of the weight through the vibration period;

[0099] Performing safety control of the hoisting device at a time corresponding to the motion-intervenable position or before the motion-intervenable time arrives.

[0100] In some embodiments, the hoisting equipment can have a wire rope winch, which can have a deceleration function. After the hoisting equipment is installed with an extended arm, the weight of the suspended load is sampled, and a record of the weight sampling value is obtained. The record of the weight sampling value can include a time domain record of the weight sampling value and time, can also include a frequency domain record of the frequency distribution converted from the weight sampling value and time, and can further include a characteristic value record extracted from the time domain record and / or the frequency domain record, such as maximum value and / or minimum value, maximum value and / or minimum value, average value, similar characteristics, and corresponding time information and frequency information, etc. On the basis of the record of the weight sampling value, the vibration period can be obtained, and the movement position of the load can be predicted and determined (the vibration stage of the movement position from the overloading to the unloading, or from the unloading to the overloading, can be determined according to the vibration period), and the stress condition of the hoisting equipment corresponding to the movement position of the load, so that the movement intervention position or the movement intervention time of the load can be determined according to the predicted movement position of the load and the corresponding time. The movement intervention position can be the movement position in the vibration stage from the unloading to the overloading, and the movement intervention time can be the time in the vibration stage from the unloading to the overloading. The safety control of the winch can be performed at the movement intervention time or before the time corresponding to the movement intervention position. The safety control can have multiple device operations, which can be executed at full speed, decelerated, and / or completely stopped.

[0101] In the actual situation of the hoisting operation of the hoisting equipment, as shown in Figure 3 Part (a) of the above, under the influence of the sun and the wind, when the extended arm is bent sideways, as shown in Figure 3 Part (b) of the above and part (d) of the above vibration model, due to the superposition of mechanical vibration in multiple directions, the original mechanical vibration of the load in the two-dimensional plane projected by the arm frame (as shown in Figure 3 Part (c) of the above) becomes a curved motion in three-dimensional space (the spatial coordinate system can be the origin O, X-axis, Y-axis and Z-axis), and at the same time, transverse shear force is generated at the connection of the arm frame. The superposition of vibration can cause the load to be overloaded, which can cause irreversible damage to the connection and the wire rope.

[0102] The motion control method of the embodiment of the application can further comprise: determining that the lifting arm of the hoisting device is in a dangerous working condition of side bending, which can be performed before determining that the record of the weight sample value of the weight hoisted by the hoisting device is periodic; wherein the XOY plane can be the projection plane of the boom, the dangerous working condition can be the case that the weight has superimposed vibration that is not in the XOY plane, and there can be superimposed vibration in the X-axis, Y-axis and Z-axis directions, for example, there is a large wind speed in the working environment, or the lifting arm (also referred to as the lifting boom, which can be a type of arm that has been installed with an extension arm or a long arm) side bends, which can cause superimposed vibration in the three-axis directions, and the vibration in any one of the three-axis directions in this case cannot be ignored. In the normal case, the weight and the boom can have superimposed vibration in two-axis directions in the projection plane of the boom, and at this time, the vibration of the boom and the weight is superimposed, which can be defined as a normal working condition or a non-dangerous working condition, and the motion control method described above also needs to be performed in the normal working condition or the non-dangerous working condition.

[0103] By performing the safety control of the winch, the vibration of the projection plane of the boom can be effectively controlled, and if there is superimposed vibration in the third-axis direction, the superimposed vibration can interfere with the control strategy, and therefore, it can be determined whether there is a dangerous working condition in priority, and the related factors of the dangerous working condition can include the working environment temperature, the working environment wind speed, the side bending amount of the lifting arm and the service time of the hoisting device, and the corresponding threshold value can be configured for each of the factors, and after any one of the related factors exceeds the corresponding threshold value, it can be determined that there is a dangerous working condition. Specifically, for determining the dangerous working condition, it can be determined that the working environment temperature of the hoisting device exceeds the configured temperature threshold value, that the working environment wind speed of the hoisting device exceeds the configured wind speed threshold value, and that the side bending amount of the lifting arm of the hoisting device exceeds the configured side bending amount threshold value.

[0104] In some exemplary embodiments, all or part of the related factors can also be combined to determine whether there is a dangerous working condition after weighted statistics, for example, whether the hoisting device is in a dangerous working condition can be determined by using the real-time weight of the weight, the calculated value of the working radius, the environmental temperature and the sampling temperature, and the real-time wind speed and other information.

[0105] Temperature detection can be performed. For example, in combination with the actual temperature in the subtropical and temperate zones of the Northern Hemisphere in summer, when the temperature exceeds 30℃, the lifting arm can side bend due to long-term exposure to the sun, the higher the temperature, the shorter the time required for side bending, and when the temperature exceeds 37℃, it can be considered that the lifting arm has been exposed to the sun for a long time. Specifically, given the temperature-related factor p1, the effect of the temperature (obtained by sampling) at a certain time t needs to be considered The cumulative amount or cumulative effect from t0 to t (t is greater than t0, and τ is any time between t0 and t) is The temperature-related factor p1 is specifically:

[0106]

[0107] Where temp is the instantaneous ambient temperature T at sampling time t t (It can be used as an exemplary implementation of the working environment temperature based on the instantaneous temperature value, and the instantaneous temperature value can be corresponding to the last sampling moment in a sampling time period), T τ is the temperature sampling value (or sampling temperature) recorded at any time τ from time t0 to time t, c1 and c2 are configured constant parameters. For example, c1 is 28 (the reference temperature can be determined according to the actual environment) to balance the weight of each temperature accumulation from 30 degrees to 37 degrees, and c2 is 144000. In some cases, if the sampling temperature T τ The sampling period is 200 milliseconds, and the sampling temperature T τ When the temperature is 30°C and the lifting equipment is exposed to the sun for a total of 2 hours (36,000 sampling cycles), it can be determined that side bending has occurred. At this time, p1=1.

[0108] The wind speed test of the working environment can be performed. Wind speed is a continuously changing quantity. When the wind speed of the working environment S W When the wind speed exceeds 8.3m / s, it will affect the safety of the lifting operation. You can configure the wind speed threshold to 8.3 and give the wind speed correlation factor p1:

[0109]

[0110] Among them, S W ≥0, S W / 8.3 is the first proportional measurement of the working environment wind speed relative to the configured wind speed threshold.

[0111] The lateral bending amount can be estimated. The operating radius R is a theoretical value calculated based on the angle sensor and length sensor. The theoretical weight of the heavy object is M0. When the boom bends sideways, a lateral distance r is generated (i.e., the amount of lateral bending of the boom and the lateral bending related factor). The actual moment of the heavy object, the force arm R1, and R and r approximately satisfy the right triangle relationship (such as Figure 3 The arrow in the dotted box shown in part (b) is relative to the arrow not in the dotted box), and the actual weight M1 satisfies the relationship:

[0112]

[0113] The estimation method of the lateral distance r can be determined as follows:

[0114]

[0115] Wherein, the theoretical value of weight M0 is estimated by continuous sampling, M1 and M0 are both average values of a period of sampling, M0 is the average value of N time points before a period of time, M1 is the average value of N time points before the current time t, the time interval of two samplings is Δ, then:

[0116]

[0117]

[0118] Wherein, m i is the real-time weight value at time i. Since the real-time weight value is also affected by some actual situation related factors (such as sensor detection accuracy), the lateral distance r generated when considering as a side bending may have some errors. Therefore, when the lateral distance r is too small, it is not enough to show that side bending occurs; when the lateral distance r reaches the minimum threshold ε0, there is still a certain probability that side bending does not occur; only when the lateral distance r reaches the upper threshold ε1 can the side bending be directly confirmed.

[0119] Therefore, given the lateral distance factor p3:

[0120]

[0121] Wherein, ε0 takes 0.5m, ε1 takes 1.0m, the value of the threshold can be determined by the reference side bending amount determined by the structure parameters of the crane, is the second proportional measure of the side bending amount of the lifting arm relative to the reference side bending amount.

[0122] A dangerous working condition evaluation model can be constructed. The evaluation model can be a weighted statistical model. After calculating the three factors p1, p2, p3, give the weights ω1, ω2, ω3 respectively, which satisfy the condition ω1+ω2+ω3=1, and give the comprehensive factor, that is, the weighted statistic:

[0123] p=ω1p1+ω2p2+ω3p3

[0124] Wherein, when p≥0.75, it is determined that the lifting arm of the hoisting equipment is in a dangerous working condition, and 0.75 is the configured statistical threshold, which can be appropriately increased or decreased according to the actual performance of the test. In some cases, the evaluation model can also use a classifier model, such as constructing related factors as features, and using a trained support vector machine or neural network model for classification.

[0125] When determining that the lifting arm of the lifting equipment is not in a dangerous working condition, there is a superposition of two vibrations: the vibration of the weight and the vibration of the arm frame. That is, the real-time weight should have significant periodic characteristics (periodic characteristics or periodicity), and the occurrence of maximum and minimum values ​​also has significant periodic characteristics. In some exemplary implementations, after sampling for a period of time, the maximum and minimum points of the weight sampling value and their corresponding moments i are extracted respectively. The longer the sampling time, the higher the computational complexity, while the shorter the sampling time, the less obvious the characteristics. Therefore, it is particularly important to reasonably select the sampling time. According to the calculation formula of the period of the pendulum:

[0126]

[0127] Among them, T C is the vibration period, l is the pendulum length or the length of the suspension rope. It can be determined that the swaying period of the heavy object suspended in the air is related to the length of the suspension wire rope. The sampling period of the real-time weight reaches 4 cycles and there will be obvious characteristics. Therefore, the maximum length l of the wire rope suspending the heavy object under the working condition is estimated. max , a general sampling period can be calculated. For example, a single period may not exceed 20 seconds, and the sampling time may be 80 seconds (400 times), which can effectively reflect whether the weight sampling value has a periodic feature.

[0128] For example, the weight sampling value can be considered as a superposition of the two aforementioned vibration waveforms and Gaussian white noise, and the real-time weight has a normal deviation of approximately 5%. Therefore, the sampling time range can be divided into sampling periods of a configured length, and the weight mean corresponding to each sampling period is determined. Then, the weight extremes are determined by recording the neighborhood of the weight mean and the weight sampling values.

[0129] The average weight is calculated for 200 sampling points (the sampling period of the configuration length of the example) (mean) and use this average weight As the zero point, the positive and negative deviations are divided into sections every 5% (this is an example, adjustable, and can be used as a neighborhood of the weight mean). For a paragraph, By segmenting and classifying the sampled data, the processed data (such as Figure 4 middle dashed line) than the original value ( Figure 4 If the same extreme value appears at multiple times, the middle time of this period is taken as the time of the maximum value. Due to the presence of Gaussian white noise in the sampling value, if the absolute value of the extreme point (the record of the maximum or minimum value) is within ±5% of the mean, it is not an extreme point. Figure 4The maximum values ​​appear at 9, 11, 27, 41, 43, 61, 75, 92, and 94, and the minimum values ​​appear at 34, 37, 50, 52, 68, 99, and 101.

[0130] After determining the extreme points, the maximum value recording points and the minimum value recording points can be determined by recording the weight extreme values, wherein the maximum value recording points include the sampling time and order of the occurrence of the maximum values, and the minimum value recording points include the sampling time and corresponding order of the occurrence of the minimum values; linear regression of the maximum value recording points and the minimum value recording points is performed respectively; it is determined that the relative inclination of the two straight lines obtained after linear regression does not exceed the configured relative inclination range; it is determined that the recording of the weight extreme values ​​is periodic, wherein the relative inclination can include the angle difference between the angles between the two straight lines and the horizontal axis or the slope difference of the straight lines, and the relative inclination range can be the angle difference threshold range or the slope difference threshold range accordingly.

[0131] Using the order of occurrence as the independent variable (horizontal axis) and the time of occurrence as the target value (vertical axis), we can obtain the maximum and minimum recorded points. By performing linear regression, we can effectively predict the next occurrence of an extreme point. If the periodic characteristics are obvious, the slopes of the two lines of maximum and minimum values ​​should be close. Since direct comparison of slopes is prone to misjudgment when the slope is large, the slope can be converted into an angle. By setting an angle difference threshold range, if the angle difference is determined to fall within this angle difference range, the periodic characteristics are determined to be obvious. Safety control can be intervened based on the vibration period under non-hazardous working conditions. It can also provide a basis for intervention in safety control under hazardous working conditions. If the angle difference is determined to fall outside this angle difference range, the periodic characteristics are determined to be insignificant. It can be determined that safety control intervention is not necessary for the time being, and the weight sampling value can be recorded again.

[0132] After determining that the lifting equipment is in a dangerous working condition and the record of weight sampling values ​​has periodic characteristics, the weight sampling values ​​corresponding to each sampling moment in the record of weight sampling values ​​can be converted into a frequency distribution in the frequency domain, and the average value of the distribution values ​​corresponding to the frequency in the frequency distribution is calculated, and the main frequency in the frequency distribution is determined, wherein the main frequency is the frequency band corresponding to the distribution values ​​in the frequency distribution that far exceeds the average value (for example, higher than 150% of the average value); then, the vibration period is calculated through the main frequency.

[0133] In some exemplary implementations, a Fourier transform, such as a one-dimensional discrete real number fast Fourier transform, may be performed on the weight sampling values ​​and the time instants corresponding to the weight sampling values ​​in at least the aforementioned four periods to obtain a frequency distribution. In some cases, a Laplace transform or a Z transform may also be used. Since at least four periods have been estimated during sampling, the frequency domain area of ​​the first 1 / 4 of the result (such as Figure 5The main frequency can be determined by taking the window function of the frequency distribution (as shown in the middle part of the solid line box), that is, the part of the frequency distribution is concerned. Figure 5 From the figure, the main frequency of the waveform is obviously prominent compared with the noise. A predetermined threshold is needed to extract the main frequency domain to infer the period. In combination with the previous maximum values, the time of the next maximum value point can be inferred.

[0134] After the frequency domain transformation, the obtained frequency domain distribution may be difficult to extract the main frequency by the predetermined threshold (or not prominent enough). The calculated period may have a large deviation, and using it as a control basis may have safety risks. For example Figure 5 As shown in the figure, if the amplitude difference between each frequency is not large (such as most of the sampling values in the non-rectangular area), it can be considered that the signal-to-noise ratio is too low. At this time, the average value of the distribution value of each frequency can be obtained. If the distribution value of the main frequency (if there are multiple frequencies or frequency bands, select the maximum distribution value) cannot exceed 150% of the average value, the main frequency is noise, and no safety control is performed. If the main frequency exceeds 150% of the average value, there is a main frequency, and safety control needs to be performed.

[0135] After determining that safety control needs to be performed, the vibration period can be calculated. As shown in Figure 6 According to the record of the time of the extreme value point and the straight line of linear regression, the period can be obtained by the slope or the included angle (or the relative distance of any point on the straight line L1 corresponding to the maximum value to the straight line L2 corresponding to the minimum value in the vertical direction, or other geometric characteristics). For complex situations such as dangerous working conditions, the frequency domain distribution can be obtained by using fast Fourier transform, and the period can also be calculated according to the main frequency. Using the period and the time of the previous extreme value points, the time of the next maximum and minimum value can be predicted, such as extending the two straight lines in Figure 6 The period obtained by using fast Fourier transform is more accurate than the period of the simple vibration, and the period of the simple vibration is more susceptible to noise interference. For example, the sampling values corresponding to the sampling number sequences of 9 and 11, 41 and 43, 34 and 37, 50 and 52 in the time domain are actually the same extreme value point affected by noise, which will affect the judgment of the period characteristics of the simple vibration in the time domain. However, since the vibration period is obtained by using the simple vibration, it has been determined that the current is not in a dangerous working condition. Therefore, even if there is a misjudgment, the overall control safety is less affected.

[0136] Before performing the security control, the motion of the heavy object can be intervened at a position or a time by the vibration period. A mechanical wave vibration equation of the heavy object is determined by the vibration period and the weight sample value (a weight extreme value can be taken); extreme overweight motion positions and extreme weightless motion positions of the heavy object are predicted by the mechanical wave vibration equation; and a motion position between the extreme overweight motion positions and the extreme weightless motion positions is determined as the motion position of the heavy object that can be intervened.

[0137] In some exemplary embodiments, as Figure 7 Taking a simple mechanical vibration as an example:

[0138] The weight sample value change is written as a mechanical wave y=sin(ωt+b)+m, where t is a sampling time, ω is an angular frequency, b is a phase, and m is a coefficient;

[0139] The sampling value is used to convert a current vibration position (also a motion position) z=sin(ωt+b) of the heavy object, and a dimension can be recorded or not configured to be recorded;

[0140] After the above two steps, the vibration position of the heavy object is irrelevant to the absolute value of the weight, but particularly, the heavy object has an overweight or weightless state at some vibration positions:

[0141] When z<0, the heavy object is weightless, when z=-1, the heavy object reaches a maximum point of weightlessness, which can be an extreme weightless motion position,

[0142] When z>0, the heavy object is overweight, when z=1, the heavy object reaches a maximum point of overweight, which can be an extreme overweight motion position, and the extreme value and the minimum value can correspond to Figure 7 A and B points.

[0143] As Figure 8When z changes from -1 to 1, the weight changes from a weightless state to an overweight state, and the actual tension on the wire rope will become larger and larger, and the tension is the largest when it is at the extreme overweight position. Since the function of the winch is to offset the original vibration, it should be ensured that the direction of the winch pulling the rope corresponds to the direction of the change in the height of the weight (relative to the ground). That is, when the weight moves from weightless to overweight (the height decreases), the winch should be controlled to tighten the rope (such as Figure 8 (a) and (c) of the figure) to reduce the potential energy that can be converted into kinetic energy, thereby reducing the converted kinetic energy. The reduced kinetic energy will also reduce the impulse to the boom at the extreme overweight position, and it is also necessary to avoid the generation of external forces that intensify the vibration of the heavy object. Before the tension increases to the maximum tension, the winch release rope should be controlled (such as Figure 8 (b) in the middle) to reduce the impact or impulse of the tension on the connection of the boom. If the process changes from z = 1 to z = -1, the external force applied to the wire rope may exacerbate the vibration. The specific reason is that, taking the aforementioned XOY plane as an example, the vibration of the weight can be decomposed. Assuming that the X-axis is the horizontal direction (away from and close to the lifting equipment) of the weight's decomposed movement direction, and the Y-axis is the vertical direction (height) of the weight's decomposed movement direction, when the X-axis vibration occurs, when the weight moves to the lowest point, the centripetal force will act on the wire rope, resulting in obvious overweight. When the Y-axis vibration occurs, when the weight reaches the lowest point, it will tighten the wire rope, resulting in obvious overweight. From this, we can determine that if the winch applies an external force to the wire rope during the movement from z = 1 to z = -1, it will have no effect on the X-axis vibration, but will have an effect on the Y-axis vibration. The wire rope tension T is greater than the weight G of the weight. After the wire rope is tightened, the portion of the tension that exceeds the weight is (TG), which will cause the weight to move in the opposite direction. If the wire rope is then subjected to an additional force T' (the winch's control operation), and the direction of the weight's movement driven by the winch is the same as the direction of the weight's movement during actual vibration, the magnitude of the additional force will reach T + T' - G. Therefore, in addition to avoiding applying external force during the change from z = 1 to z = -1, it is also necessary to avoid dangerous actions (such as indiscriminately controlling the winch), avoid misjudging the timing of safety control intervention, and continuously monitor the convergence of the weight's vibration so that safety control operations can be terminated in a timely manner.

[0144] Based on the above analysis, on the one hand, the motion intervention position can be selected in the neighborhood of the limit overweight motion position and the neighborhood of the limit weightlessness motion position. The neighborhood size can be configured according to the control system of the actual hoisting equipment and its boom, for example, (-1, -0.5) and (0.5, 1), or (-1, -0.4) and (0.4, 1), etc. The neighborhood boundary can be used as a predetermined position threshold, which can be adjusted according to the specific performance of the actual control at the predetermined position threshold. The predetermined position threshold can be selected as -0.5 in the neighborhood of the limit weightlessness motion position. The motion intervention position can further include 0.5 in the neighborhood of the limit overweight motion position. In some cases, the configured safety control can be performed after the time corresponding to the position in the motion intervention position. On the other hand, the motion non-intervention position range can be selected. The safety control in the motion non-intervention position range may not achieve a certain intervention result for the heavy object vibration control. The safety control can not be performed in the motion non-intervention position range, for example, stopping the winch, and the safety control can be performed outside the motion non-intervention position range. The motion non-intervention position range can also be configured according to the control system of the actual hoisting equipment and its boom, for example, [-0.5, 0.5], [-0.4, 0.4], etc. If [-0.5, 0.5] is selected, the first boundary can be -0.5, and the second boundary can be 0.5. The first motion intervention position is -0.5, and the second motion intervention position is 0.5.

[0145] After determining the motion intervention position, the rope tightening operation of the winch of the hoisting equipment can be performed first, wherein the motion intervention position includes a first motion position in the neighborhood of the limit weightlessness motion position, and the time corresponding to the first motion position belongs to the vibration stage from limit weightlessness to limit overweight in the vibration cycle. After performing the rope tightening operation of the winch of the hoisting equipment, the rope release operation of the winch of the hoisting equipment can be performed, wherein the motion intervention position further includes a second motion position in the neighborhood of the limit overweight motion position, the time corresponding to the second motion position belongs to the vibration stage, and the rope release operation is performed after the time corresponding to the second motion position.

[0146] Since the control has real-time requirements, in order to avoid the control from having side effects, the first motion position can be taken as -0.5, and the second motion position can be taken as 0.5 (both do not necessarily take values equal in absolute value, for example, the first motion position is taken as -0.5, and the second motion position is taken as 0.6), which can be adjusted according to the specific performance of the weight vibration control. When the current motion direction of the weight is predicted as z = -1 to z = 1 according to the vibration period, if z < -0.5, the force on the connection between the wire rope and the lengthened arm is the smallest, and before the time corresponding to z = -0.5, the rope tightening operation of the winch can be performed, which can be performed at any time before the time, and the wire rope tightening operation is advanced as a safety control intervention to offset the impulse of the weight gravity, in some cases, the tightening start execution time can be the time adjacent to the time corresponding to z = -0.5; if z > 0.5, the weight starts to tighten the wire rope, and the weight simultaneously generates pressure on the connection between the lengthened arm, after the time corresponding to z = 0.5, the winch can be released, similarly, the release of the winch can be performed at any time after the time, and in some cases, the release start execution time can be the time adjacent to the time corresponding to z = 0.5; and if -0.5 ≤ z ≤ 0.5, the winch can be stopped between the time corresponding to z = -0.5 and the time corresponding to z = 0.5, that is, the winch is in a stopped state.

[0147] After the safety control intervention, it can be determined that the record of the weight extreme value converges, wherein the weight extreme value is the maximum value and the minimum value of the weight sample value of the weight lifted by the hoisting equipment within the sampling time range. At this time, the record of the weight extreme value can be realized in a fast manner, for example, two sequences are used to record the maximum value and the minimum value appearing at the corresponding sequence position respectively, and the convergence of the sequence of the maximum value and the sequence of the minimum value is detected to determine whether there is convergence (or whether it is in a convergent state). If the safety control intervention time of the winch is correct, the extreme point should be in a convergent state, and if it is found that the extreme point has a divergence situation, the control should be ended immediately; it should be noted that the convergence can have various definitions depending on the specific judgment manner, for example, the difference between the maximum value and / or the minimum value in the sequence and the weight average value is decreasing, the average value of the difference is decreasing, the difference between the maximum value and the minimum value is decreasing, the average value of the difference is decreasing, and the convergence curve of the maximum value record point and the minimum value record point is a specific definition.

[0148] In some exemplary embodiments, if the motion of the weight vibration under dangerous working conditions belongs to a complex situation, the maximum point and the minimum point can be predicted according to the period in this case, and the motion position point of the weight sample value appearing the minimum value is taken as the limit weight loss motion position, that is, z = -1, and the first time t aAnd the limit weight loss motion position is a minimum point, the motion position point where the weight sampling value appears a maximum value is a limit overweight motion position, that is, z = 1, and the second time t b And the limit overweight motion position is a maximum point, and the control mode is similar to the simple mechanical vibration. Specifically, the motion intervention time can include a third time and a fourth time; if the first time t a is taken as a neighborhood of (t a , t c1 ), the third time can be taken as t c1 , and in the vibration stage from the limit weight loss to the limit overweight, when the current time is before the third time, the rope tightening operation of the hoisting device can be performed; if the second time is taken as a neighborhood of (t c2 , t b ), the fourth time can be taken as t c2 , and in the vibration stage from the limit weight loss to the limit overweight (the fourth time also belongs to the vibration stage), when the current time is after the fourth time t c2 , the rope release operation of the hoisting device can be performed, wherein t c2 -t c1 = ε c21 , and ε c21 > 0, t c2 and ε c21 , or t c1 and ε c21 , or t c2 and t c1 The specific numerical value can be predetermined first, and then adjusted and determined according to the actual control performance; if the current time is between the third time t c1 and the fourth time t c2 , the hoisting can be stopped.

[0149] After the intervention of the safety control, similar to the simple mechanical vibration, it can be determined that the record of the weight extreme value converges, wherein the weight extreme value is the maximum value and the minimum value of the weight sampling value of the weight lifted by the hoisting device within the sampling time range. At this time, the record of the weight extreme value can be realized in the record mode of the sequence, and each time the extreme point is detected, the extreme point is put into the sequence, and the convergence of the maximum value sequence and the minimum value sequence is detected to determine whether to terminate the control. If the intervention time of the hoisting safety control is correct, the extreme point should be in a convergent state, and if it is found that the extreme point is divergent, the control should be ended immediately.

[0150] In an exemplary embodiment disclosed in the embodiment of the present application, as Figure 9 , the motion control method of the embodiment of the present application can have the following steps:

[0151] S101) performing weight sampling of the heavy object, recording weight sampling values;

[0152] S102) detecting whether the lifting arm of the hoisting device is in a dangerous working condition;

[0153] S103) determining whether the record of the weight sampling values is detected to have a periodic feature, if it is determined in this step S103) that the periodic feature is not detected, returning to step S101), if it is detected in step S102) that the dangerous working condition exists and it is detected in this step S103) that the periodic feature exists, performing step S104), if it is detected in step S102) that the dangerous working condition does not exist and it is detected in step S103) that the periodic feature exists, performing step S106);

[0154] S104) performing one-dimensional discrete real fast Fourier transform corresponding to the weight sampling values and the time, obtaining a frequency distribution;

[0155] S105) determining whether the frequency distribution has a main frequency, if the main frequency exists, determining that the motion feature exists, performing step S106), if the main frequency does not exist, determining that the motion feature does not exist, returning to step S101);

[0156] S106) obtaining a vibration period according to the main frequency in the frequency distribution or obtaining a vibration period according to the record of the weight sampling values having the periodic feature, predicting the motion of the heavy object can be intervened at the position or the time;

[0157] S107) determining whether the current time meets the control condition, wherein the control condition (which can be multiple) can include a condition related to the time corresponding to the motion-intervenable position or the motion-intervenable time, for example, the control condition can include whether the current time meets before, after, itself and / or between two times of the aforementioned (motion-intervenable) time;

[0158] S108) if the current time meets the control condition, performing the safety control corresponding to the control condition met by the current time, and performing the weight sampling of the heavy object, recording the weight sampling values, if the weight extreme value after performing the safety control does not meet the control condition (the weight extreme value is divergent), ending the further safety control, returning to step S101), if the weight extreme value after performing the safety control meets the control condition (the weight extreme value is convergent), the safety control can be performed again according to the control condition met by the current time.

[0159] In step S108), the control condition may also include determining whether the weight extreme value is convergent or divergent after executing the safety control. For the safety control executed, it can be a complete control such as one or two times (for example). The complete control may include winch tightening and winch release. Each actual moment is taken as the current moment and may have participated in the control condition judgment multiple times. For example, if the current moment is before the third moment, the winch is tightened. If the current moment is after the fourth moment, the winch is released. It can be regarded as a complete control. In some cases, if the current moment is between the third moment and the fourth moment, the winch is stopped. This operation can be added and regarded as a complete control. The moments corresponding to the positions where the movement can be interfered with can be implemented in the manner of the third moment and the fourth moment.

[0160] The above sequence of steps may be exemplary and not a sequence limited by the embodiments of the present invention, and may be adjusted according to actual conditions such as specific equipment, operational requirements, and program logic design corresponding to the method. It should be noted that the winch tightening (or tensioning) and winch releasing operations may be predefined based on the actual equipment characteristics of the winch and rope of the lifting equipment, such as tightening operations and releasing operations. For example, tightening operations (increasing the force on the rope to a specific force or retracting a length of the rope) and releasing operations (reducing the force on the rope to a specific force or lowering a length of the rope) may be defined based on measurements such as force and / or rope length. The examples here are not limited implementation methods and may be implemented in an appropriate manner according to the actual equipment characteristics.

[0161] The embodiment of the present invention continuously samples the weight value of the heavy object and models the weight change as mechanical vibration. When the gravitational potential energy of the heavy object is large, the wire rope intervenes in advance to slow down the vibration of the heavy object to offset the gravitational impulse, which can reduce the maximum momentum of the heavy object during vibration and achieve the effect of protecting the connection between the wire rope and the extension arm. Since vibration in reality is the superposition of vibrations in multiple directions, the frequency domain characteristics of the vibration are extracted through fast Fourier transform and used as the basis for control, which has higher accuracy. Since fast Fourier transform occupies system resources, the two motion modes are identified in combination with external variables (ambient temperature and sampling temperature, real-time wind speed, operating radius, etc.), thereby improving the execution efficiency of the safety device. Conventional protection for the boom connection relies more on early warning prompts and manual intervention to ensure safety, which is difficult to play a role in lifting operations, almost impossible to cope with dangerous working conditions, and difficult to effectively ensure the safety of equipment and personnel; the conventional way to protect the wire rope is to indiscriminately perform rope and boom configuration operations when it is detected that the tension may exceed the tension that the wire rope can bear. It is difficult to determine whether the performed operation will not further aggravate the vibration of the heavy object. Once the operation causes the vibration of the heavy object to be aggravated, it is difficult to avoid irreversible damage to the connection between the wire rope and the boom, and even lead to safety accidents.

[0162] Example 2

[0163] Embodiments of the present application belong to the same inventive concept as Embodiment 1, and provide a motion control system of a hoisting device, which comprises:

[0164] a detection module configured to determine that the record of the weight sample values of the heavy object hoisted by the hoisting device is periodic;

[0165] a calculation module configured to determine a vibration period corresponding to the record of the weight sample values, and predict a motion-intervenable position or a motion-intervenable time of the heavy object through the vibration period;

[0166] a control module configured to perform safety control of the hoisting device at a time corresponding to the motion-intervenable position or before the motion-intervenable time arrives.

[0167] In some specific implementations, as Figure 10 , the detection module can be a working state detection module, the working state detection module inputs relevant working information (including real-time weight of the heavy object, working radius calculation value, environmental air temperature and sampling temperature, real-time wind speed, etc.) as input quantities into the calculation module, the calculation module can be a safety algorithm calculation module, the safety algorithm calculation module identifies the danger degree under the current working condition, and makes a prediction on the motion state of the heavy object when necessary, formulates a winch control strategy (control conditions met at the current time and safety control corresponding to the control conditions), and finally outputs the control strategy to the control module, and the control module can be a winch control module.

[0168] The detection module, the calculation module and the control module can be implemented based on one or more controllers and / or electronic devices with processors according to the controller and / or processor calculation and instruction processing capabilities used by the control system of the specific hoisting equipment, and actual conditions such as hoisting operation requirements. For example, the calculation module and the control module use one controller (or electronic device with processor) respectively, the detection module can be in the same controller (or electronic device with processor) as the calculation module or the control module, the two controllers can be interconnected through a CAN bus, and the communication mode can adopt a CAN bus message form. The controller of the calculation module sends the calculation result to the controller of the control module, and the controller of the control module drives the motor to execute the winch control in real time. In addition, in some cases, the controller can have a plurality of serial data interfaces and level signal pins with definable functions, etc. Therefore, in addition to the CAN message form, physical connection can also be used. The communication mode of the controller can be, for example: 1) voltage signal transmission can be realized by current or voltage level change through an electrical line; 2) switch signal transmission can be realized by building a double control switch through a solenoid valve or a relay. In some cases, the control module and the calculation module can also be implemented in a digital electronic circuit system, an integrated circuit system, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), an application specific standard product (ASSP), a system on a chip (SoC), a complex programmable logic device (CPLD), computer hardware, firmware, software, and / or a combination thereof.

[0169] Embodiment 3

[0170] The embodiments of the present application and embodiments 1 and 2 belong to the same inventive concept. The embodiments of the present application provide an electronic device, a construction machine and a computer readable storage medium.

[0171] The electronic device is intended to represent various forms of devices with instruction processing and calculation capabilities, such as computers, industrial computers and servers, etc. The processor and the memory can be implemented in the form of a system on a chip (SoC or MCU) or directly using an assembled circuit board with a connection interface. The memory stores instructions executable by at least one processor, and the at least one processor implements the motion control method in the aforementioned embodiment 1 by executing the instructions stored in the memory. The construction machine can have the aforementioned electronic device. The construction machine can include hoisting equipment, such as truck cranes, all-terrain cranes and crawler cranes, etc. The computer readable storage medium can be non-transitory and can be configured with a computer program that implements the motion control method in the aforementioned embodiment 1 and realizes safety assurance when executed by a processor.

[0172] The optional implementation of the embodiments of the present application is described in detail above in combination with the drawings, but the embodiments of the present application are not limited to the specific details in the above implementation. Within the technical concept of the embodiments of the present application, the technical solutions of the embodiments of the present application can be variously and simply modified, and all the simple modifications belong to the protection scope of the embodiments of the present application.

[0173] In addition, it should be noted that each specific technical feature described in the above specific implementation can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, the various possible combinations are not described again in the embodiments of the present application.

[0174] Those skilled in the art can understand that all or part of the steps of the methods described in the above embodiments can be completed by using a program instructing related hardware. The program is stored in a storage medium and includes a plurality of instructions for enabling a single-chip microcomputer, a chip or a processor to perform all or part of the steps of the methods described in the embodiments of the present application. The aforementioned storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk and various storage media that can store program codes.

[0175] In addition, the various different implementations of the embodiments of the present application can also be combined in any manner, as long as they do not contradict the idea of the embodiments of the present application, and they should also be considered as disclosed by the embodiments of the present application.

Claims

1. A motion control method of a hoisting apparatus, characterized by, The motion control method comprises: determining that the record of the weight sample values of the heavy object hoisted by the hoisting device is periodic; determining a vibration period corresponding to the record of the weight sample values, and predicting a motion-intervenable position or a motion-intervenable time of the heavy object through the vibration period; the motion-intervenable position is a motion position in a weight-loss-to-overweight vibration stage, and the motion-intervenable time is a time in the weight-loss-to-overweight vibration stage; performing safety control of the hoisting device at a time corresponding to the motion-intervenable position or before the motion-intervenable time arrives; wherein, before the determination that the record of the weight sample values of the heavy object hoisted by the hoisting device is periodic, the motion control method further comprises: determining that the hoisting arm of the hoisting device is in a dangerous working condition of side bending; wherein, the determination that the record of the weight sample values of the heavy object hoisted by the hoisting device is periodic comprises: determining that the record of the weight extreme values is periodic, wherein the weight extreme values are the maximum value and / or the minimum value of the weight sample values of the heavy object hoisted by the hoisting device within a sampling time range; wherein, the determination that the record of the weight extreme values is periodic comprises: determining a maximum value record point and a minimum value record point through the record of the weight extreme values, wherein the maximum value record point comprises a sampling time and an order at which the maximum value appears, and the minimum value record point comprises a sampling time and a corresponding order at which the minimum value appears; respectively performing linear regression on the maximum value record point and the minimum value record point; determining that the relative inclination degree of the two straight lines obtained after linear regression does not exceed a configured relative inclination range; determining that the record of the weight extreme values is periodic.

2. The motion control method of a hoisting apparatus according to claim 1, characterized by, The determination that the hoisting arm of the hoisting device is in a dangerous working condition of side bending comprises at least one of the following: determining that the air temperature of the working environment of the hoisting device exceeds a configured temperature threshold value; determining that the wind speed of the working environment of the hoisting device exceeds a configured wind speed threshold value; determining that the side bending amount of the hoisting arm of the hoisting device exceeds a configured side bending amount threshold value.

3. The motion control method of a hoisting apparatus according to claim 2, characterized by, The determination that the hoisting arm of the hoisting device is in a dangerous working condition of side bending further comprises: calculating an accumulated amount of a sampling temperature relative to a reference temperature, a first proportional degree measure of the working environment wind speed relative to the configured wind speed threshold value, and a second proportional degree measure of the hoisting arm side bending amount relative to a reference side bending amount; calculating a weighted statistical amount of the accumulated amount, the first proportional degree measure, and the second proportional degree measure; determining that the weighted statistical amount exceeds a configured statistical amount threshold value.

4. The motion control method of a hoisting apparatus according to claim 1, characterized by, The determination that the record of the weight extreme values is periodic, wherein the obtaining method of the weight extreme values comprises: dividing the sampling time range into sampling time periods of a configured length; respectively determining weight average values corresponding to each sampling time period; determining each weight extreme value through the neighborhood of the weight average values and the record of the weight sample values.

5. The motion control method of a hoisting apparatus according to claim 4, characterized by, The determination of the vibration period corresponding to the record of the weight sample values comprises: calculating the vibration period corresponding to the record of the weight extreme values through the two straight lines.

6. The motion control method of a hoisting apparatus according to claim 1, characterized by, The determination of the vibration period corresponding to the record of the weight sample values comprises: Converting the weight sampling value corresponding to each sampling time in the record of the weight sampling value into a frequency distribution in a frequency domain; Calculating an average value of the distribution value corresponding to the frequency in the frequency distribution; Determining a main frequency in the frequency distribution, wherein the main frequency is a frequency band corresponding to the distribution value in the frequency distribution far exceeding the average value; Calculating a vibration period through the main frequency.

7. The motion control method of a hoisting apparatus according to claim 5 or 6, characterized by, The prediction of the motion of the heavy object through the vibration period can be a motion-intervenable position or a motion-intervenable time, comprising: Determining a mechanical wave vibration equation of the heavy object through the vibration period and the weight sampling value; Predicting a limit overweight motion position and a limit weightless motion position of the heavy object through the mechanical wave vibration equation; Determining a motion position between the limit overweight motion position and the limit weightless motion position as the motion-intervenable position of the heavy object.

8. The motion control method of a hoisting apparatus according to claim 7, characterized by, The determination of the motion-intervenable position between the limit overweight motion position and the limit weightless motion position as the motion-intervenable position of the heavy object, comprising: Selecting a motion position in a neighborhood of the limit overweight motion position and a neighborhood of the limit weightless motion position as the motion-intervenable position of the heavy object.

9. The motion control method of a hoisting apparatus according to claim 7, characterized by, The determination of the motion-intervenable position between the limit overweight motion position and the limit weightless motion position as the motion-intervenable position of the heavy object, comprising: Configuring a motion-non-intervenable position range between the limit overweight motion position and the limit weightless motion position; Selecting a motion position between a first boundary position and the limit weightless motion position as a first motion-intervenable position, and Selecting a motion position between a second boundary position and the limit overweight motion position as a second motion-intervenable position, wherein, The first boundary position is a boundary position in the motion-non-intervenable position range close to the limit weightless motion position, The second boundary position is a boundary position in the motion-non-intervenable position range close to the limit overweight motion position, The first motion-intervenable position and the second motion-intervenable position are the motion-intervenable positions of the heavy object.

10. The motion control method of a hoisting apparatus according to claim 5 or 6, characterized by, The prediction of the motion-intervenable position or the motion-intervenable time of the heavy object through the vibration period, comprising: Predicting a time when the weight sampling value of the heavy object appears a maximum value and a time when the weight sampling value appears a minimum value through the vibration period; Taking the time when the weight sampling value appears the minimum value as a first time when the heavy object is in the limit weightless motion position, and taking the time when the weight sampling value appears the maximum value as a second time when the heavy object is in the limit overweight motion position; Selecting a time in a neighborhood of the first time and a neighborhood of the second time as a motion-intervenable time.

11. The motion control method for lifting equipment according to claim 8, characterized in that: The execution of the safety control of the hoisting equipment before the time corresponding to the motion-intervenable position or the motion-intervenable time is reached, comprising: Performing a rope tightening operation of a hoist of the hoisting equipment, wherein, The motion-intervenable position comprises a first motion position in a neighborhood of the limit weightless motion position, and the time corresponding to the first motion position belongs to a vibration stage from limit weightless to limit overweight in the vibration period.

12. The motion control method of a hoisting apparatus according to claim 11, characterized by, The performing the safety control of the hoisting device before the time corresponding to the motion-intervenable position or the motion-intervenable time arrives further comprises: performing a rope slackening operation of a hoist of the hoisting device after the performing the rope tightening operation of the hoist of the hoisting device, wherein The motion-intervenable position further comprises a second motion position in a neighborhood of the limit overweight motion position, a time corresponding to the second motion position belongs to the vibration stage, and the rope slackening operation is performed after the time corresponding to the second motion position arrives.

13. The motion control method of a hoisting apparatus according to claim 12, characterized by, The performing the safety control of the hoisting device before the time corresponding to the motion-intervenable position or the motion-intervenable time arrives further comprises: performing a stopping operation of a hoist of the hoisting device between the time corresponding to the first motion position and the time corresponding to the second motion position.

14. The motion control method of a hoisting apparatus according to claim 10, characterized by, The performing the safety control of the hoisting device before the time corresponding to the motion-intervenable position or the motion-intervenable time arrives comprises: performing a rope tightening operation of a hoist of the hoisting device, wherein The motion-intervenable time comprises a third time in a neighborhood of the first time, and the third time belongs to a vibration stage from limit underweight to limit overweight in the vibration cycle.

15. The motion control method of a hoisting apparatus according to claim 14, characterized by, The performing the safety control of the hoisting device before the time corresponding to the motion-intervenable position or the motion-intervenable time arrives further comprises: performing a rope slackening operation of a hoist of the hoisting device after the performing the rope tightening operation of the hoist of the hoisting device, wherein The motion-intervenable time further comprises a fourth time in a neighborhood of the second time, the fourth time belongs to the vibration stage, and the rope slackening operation is performed after the fourth time arrives.

16. The motion control method of a hoisting apparatus according to claim 1, characterized by, After the performing the safety control of the hoisting device, the motion control method further comprises: determining that a record of weight extreme values converges, wherein the weight extreme values are maximum and minimum values of weight sample values of a weight of a heavy object hoisted by the hoisting device in a sampling time range.

17. A motion control system for a hoisting apparatus, characterized by The motion control system comprises: The detection module is configured to determine that the record of the weight sample value of the load hoisted by the hoisting device is periodic; wherein, before the determination that the record of the weight sample value of the load hoisted by the hoisting device is periodic, the method further comprises: determining that the hoisting arm of the hoisting device is in a dangerous working condition of side bending; wherein, the determination that the record of the weight sample value of the load hoisted by the hoisting device is periodic comprises: determining that the record of the weight extreme value is periodic, wherein the weight extreme value is the maximum value and / or the minimum value of the weight sample value of the load hoisted by the hoisting device within a sampling time range; wherein, the determination that the record of the weight extreme value is periodic comprises: determining the maximum value record point and the minimum value record point through the record of the weight extreme value, wherein the maximum value record point comprises the sampling time and the order at which the maximum value occurs, and the minimum value record point comprises the sampling time and the corresponding order at which the minimum value occurs; performing linear regression on the maximum value record point and the minimum value record point, respectively; determining that the relative inclination degrees of the two straight lines obtained after linear regression do not exceed a configured relative inclination range; and determining that the record of the weight extreme value is periodic. The calculation module is configured to determine a vibration period corresponding to the record of the weight sample value, and predict a motion-intervenable position or a motion-intervenable time of the load through the vibration period; the motion-intervenable position is a motion position in the weight-loss-to-overweight vibration stage, and the motion-intervenable time is a time in the weight-loss-to-overweight vibration stage. The control module is configured to perform safety control of the hoisting device before the motion-intervenable position corresponding to the motion-intervenable position or the motion-intervenable time arrives.

18. An electronic device, comprising: The electronic device comprises: at least one processor; a memory connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the at least one processor implements the method according to any one of claims 1 to 16 by executing the instructions stored in the memory.

19. A working machine, characterized in that The construction machinery has the electronic device according to claim 18.

20. A computer-readable storage medium storing computer instructions, which, when executed on a computer, cause the computer to perform the method according to any one of claims 1 to 16.

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