Embedded integrated tower crane hoist mechanism control method and system

Abstract

The embodiment of the application provides a kind of embedded integrated tower crane hoisting mechanism control method and system.The method comprises: after the start of hoisting mechanism, the numerical control system controls the frequency converter of hoisting mechanism according to the data of the speed sensor, to control the speed increasing or speed reducing of hoisting motor by frequency converter, the running speed of hook is controlled in preset range before the height of load reaches first height after the start of hoisting mechanism;When the height of load reaches first height, the numerical control system controls hoisting motor to gradually linearly decelerate to fine tuning speed by frequency converter, and the height of load is recorded as second height when reaching the fine tuning speed;When the height of load is operated to approach preset target height at the fine tuning speed, the numerical control system controls hoisting motor to gradually decelerate to zero from the fine tuning speed by frequency converter, so that the height of load reaches preset target height and stops running.

Description

Technical Field

[0001] This application relates to the field of intelligent tower crane technology, and in particular to an embedded integrated control method and system for the hoisting mechanism of a tower crane. Background Technology

[0002] like Figure 1 As shown, current tower cranes use a PLC-controlled frequency converter on the control console to further control the speed of the hoisting motor M, thereby controlling the lifting mechanism's hook as it rises or falls. However, this approach has the following problems: 1. Hook speed control often relies on the operator's experience or visual observation, which can lead to overshooting accidents when the lifting is nearing completion. 2. Load height control also relies on visual observation, resulting in coarse control and an inability to precisely control the load's lifting height. Summary of the Invention

[0003] In view of this, the purpose of this application is to propose an embedded integrated tower crane hoisting mechanism control method and system, which can specifically solve the existing tower crane hoisting mechanism control problems.

[0004] To achieve the above objectives, this application proposes an embedded integrated control method for the hoisting mechanism of a tower crane, comprising:

[0005] A speed sensor is installed at the hook of the hoisting mechanism. The speed sensor can measure the running speed and direction of the hook in real time and send the data to the CNC system of the operation console.

[0006] A laser rangefinder is installed on the luffing trolley. The laser rangefinder can measure the distance between the load of the hoisting mechanism and the luffing trolley in real time and send it to the CNC system on the operation console. The system then calculates the height information of the load by combining the initial height information of the luffing trolley with the initial height information of the luffing trolley.

[0007] After the hoisting mechanism is started, the CNC system controls the frequency converter of the hoisting mechanism according to the data of the speed sensor, so as to control the speed increase or deceleration of the hoisting motor through the frequency converter, and control the running speed of the hook within a preset range from the start of the hoisting mechanism until the height of the load reaches the first height.

[0008] When the load reaches the first height, the CNC system controls the hoisting motor to gradually and linearly decelerate to the fine-tuning speed through the frequency converter. When the fine-tuning speed is reached, the height of the load is recorded as the second height.

[0009] When the load is moved to a height close to the preset target height at the fine-tuning speed, the CNC system controls the hoisting motor to gradually decelerate from the fine-tuning speed to zero via the frequency converter, so that the load stops running when it reaches the preset target height.

[0010] Furthermore, the CNC system is connected to an operation console, a speed sensor, a laser rangefinder, and a frequency converter. The frequency converter is connected to a lifting motor, and the lifting motor is connected to a brake and a hook.

[0011] Furthermore, the laser rangefinder sensor can measure the distance between the load of the hoisting mechanism and the luffing trolley in real time, and send it to the CNC system on the operation console. Combined with the initial height information of the luffing trolley, the system calculates the height information of the load, including:

[0012] The laser rangefinder is pointed vertically downwards to align with the load of the lifting mechanism;

[0013] The laser rangefinder sensor measures the height of the luffing trolley above the ground before the load is installed by measuring the time between emitting and receiving the returned laser light, and uses this as the initial height information of the luffing trolley.

[0014] The laser rangefinder sensor calculates the distance between the load of the hoisting mechanism and the luffing trolley in real time after the load is installed by measuring the time it emits and receives the returned laser light, and sends the result to the CNC system on the control console.

[0015] The height information of the load is obtained by subtracting the distance between the load and the luffing trolley from the initial height information of the luffing trolley.

[0016] Furthermore, after the hoisting mechanism is started, the CNC system controls the frequency converter of the hoisting mechanism based on the data from the speed sensor, so as to control the speed increase or decrease of the hoisting motor through the frequency converter, and control the running speed of the hook within a preset range from the start of the hoisting mechanism until the height of the load reaches the first height, including:

[0017] After the lifting mechanism is started, the CNC system acquires the data from the speed sensor in real time;

[0018] When the value of the speed sensor exceeds the first preset threshold, it is determined that the hook speed is too fast. The frequency converter of the hoisting mechanism is controlled by the CNC system to reduce the frequency, so as to control the hoisting motor to decelerate through the frequency converter.

[0019] When the value of the speed sensor is lower than the second preset threshold, it is determined that the hook speed is too slow. The frequency converter of the hoisting mechanism is controlled to increase the frequency through the CNC system, so as to control the speed of the hoisting motor through the frequency converter.

[0020] After the hoisting mechanism is started and before the load reaches the first height, the operating speed of the hook is controlled between the first preset threshold and the second preset threshold.

[0021] Furthermore, when the load reaches a first height, the CNC system controls the lifting motor to gradually and linearly decelerate to a fine-tuning speed via a frequency converter. Upon reaching the fine-tuning speed, the load height is recorded as a second height, including:

[0022] The CNC system includes a display screen, and the height information of the load is displayed in real time through the display screen of the CNC system.

[0023] When the height of the load reaches the first height, the CNC system controls the frequency converter to linearly reduce the frequency to the fine-tuning frequency;

[0024] The frequency converter controls the hoisting motor to gradually and linearly decelerate to a fine-tuning speed;

[0025] Record the height of the load when the lifting motor just reaches the fine-tuning speed, as the second height.

[0026] Furthermore, when the load is moved to a height close to the preset target height at the fine-tuning speed, the CNC system controls the hoisting motor to gradually decelerate from the fine-tuning speed to zero via a frequency converter, so that the operation stops when the load reaches the preset target height, including:

[0027] After the load reaches the second height, it runs at a constant speed for a period of time at the fine-tuning speed.

[0028] When the load is moved at the fine-tuning speed to a height S that is a preset distance from the preset target height, the CNC system controls the frequency converter to linearly reduce the frequency to zero.

[0029] The frequency converter controls the hoisting motor to linearly decelerate to zero from the fine-tuning speed V within a time period T, so that it stops operating when the height of the load reaches the preset target height. The following relationship is satisfied between S, T, and V:

[0030] S = (V / 2) × T.

[0031] Further includes:

[0032] The numerical control system can be a FANUC numerical control system.

[0033] To achieve the above objectives, this application also proposes an embedded integrated control system for the hoisting mechanism of a tower crane, comprising:

[0034] The hook speed measurement module is used to install a speed sensor at the hook of the hoisting mechanism. The speed sensor can measure the running speed and direction of the hook in real time and send the data to the CNC system of the operation console.

[0035] The load height calculation module is used to install a laser rangefinder on the luffing trolley. The laser rangefinder can measure the distance between the load of the hoisting mechanism and the luffing trolley in real time and send it to the CNC system of the operation console. Combined with the initial height information of the luffing trolley, the load height information is calculated.

[0036] The hook speed control module is used to control the frequency converter of the hoisting mechanism according to the data of the speed sensor after the hoisting mechanism is started. The frequency converter controls the speed increase or deceleration of the hoisting motor. The hook running speed is controlled within a preset range from the time the hoisting mechanism is started until the load reaches the first height.

[0037] The fine-tuning control module is used to control the lifting motor to gradually and linearly decelerate to the fine-tuning speed through the frequency converter after the height of the load reaches the first height. When the fine-tuning speed is reached, the height of the load is recorded as the second height.

[0038] The stop control module is used to control the lifting motor to gradually decelerate from the fine-tuning speed to zero through the frequency converter when the load is running at the fine-tuning speed to a height close to the preset target height, so that the load stops running when the height reaches the preset target height.

[0039] In summary, the advantages of this application and the user experience it brings are as follows:

[0040] 1. Hook speed control does not rely on operator experience or visual observation. It allows for precise, numerically visible control of the hook's upward speed during lifting, preventing load overshoot accidents. 2. Precise control and fine-tuning of load speed and height ensure a smooth, seamless lifting process, guaranteeing the safety of the lifting operation. Attached Figure Description

[0041] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the various drawings denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments disclosed in this application and should not be construed as limiting the scope of this application.

[0042] Figure 1 A schematic diagram illustrating the architecture principle of a lifting mechanism control system in the prior art is shown.

[0043] Figure 2This diagram illustrates the architecture of the hoisting mechanism control system of this application.

[0044] Figure 3 A flowchart illustrating an embedded integrated tower crane hoisting mechanism control method according to an embodiment of this application is shown.

[0045] Figure 4 A configuration diagram of an embedded integrated tower crane hoisting mechanism control system according to an embodiment of this application is shown.

[0046] Figure 5 A schematic diagram of the structure of an electronic device provided in one embodiment of this application is shown.

[0047] Figure 6 A schematic diagram of a storage medium provided in one embodiment of this application is shown. Detailed Implementation

[0048] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the invention. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0049] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0050] Figure 2 The diagram illustrates the system architecture of this application. In embodiments of this application, the device includes: an operation console, a numerical control system, a speed sensor, a laser rangefinder, a frequency converter, a hoisting motor, a brake, and a hook; the numerical control system is connected to the operation console, the speed sensor, the laser rangefinder, and the frequency converter; the frequency converter is connected to the hoisting motor; and the hoisting motor is connected to the brake and the hook.

[0051] Figure 3 A flowchart illustrating an embedded integrated tower crane hoisting mechanism control method according to an embodiment of this application is shown. Figure 3 As shown, the embedded integrated tower crane hoisting mechanism control method includes:

[0052] Step 101: Install a speed sensor at the hook of the hoisting mechanism. The speed sensor can measure the running speed and direction of the hook in real time and send the data to the CNC system of the operation console. The CNC system can be a FANUC CNC system.

[0053] In the embodiments of this application, specifically, the speed sensor can be a ZLS-C50 speed sensor.

[0054] Step 102: Install a laser rangefinder sensor on the luffing trolley. This laser rangefinder sensor can measure the distance between the load of the hoisting mechanism and the luffing trolley in real time, and send the data to the CNC system on the control console. The system then calculates the height information of the load based on the initial height information of the luffing trolley, including:

[0055] The laser rangefinder is pointed vertically downwards to align with the load of the lifting mechanism;

[0056] The laser rangefinder sensor measures the height of the luffing trolley above the ground before the load is installed by measuring the time between emitting and receiving the returned laser light, and uses this as the initial height information of the luffing trolley.

[0057] The laser rangefinder sensor calculates the distance between the load of the hoisting mechanism and the luffing trolley in real time after the load is installed by measuring the time it emits and receives the returned laser light, and sends the result to the CNC system on the control console.

[0058] The height information of the load is obtained by subtracting the distance between the load and the luffing trolley from the initial height information of the luffing trolley.

[0059] In an embodiment of this application, for example, before installing the load, the laser rangefinder emits a laser beam towards the ground and calculates the initial height of the luffing trolley based on the time it takes to receive the echo, for example, 30 meters. During the installation and raising of the load, the laser rangefinder aims at the load, emits a laser beam, and receives the echo, similarly calculating the distance between the load and the luffing trolley, for example, 20 meters. Subtracting the two values ​​gives the current height of the load, 30 - 20 = 10 meters.

[0060] Step 103: After the hoisting mechanism is started, the CNC system controls the frequency converter of the hoisting mechanism based on the data from the speed sensor, so as to control the speed increase or decrease of the hoisting motor through the frequency converter. From the start of the hoisting mechanism until the load reaches the first height, the operating speed of the hook is controlled within a preset range, including:

[0061] After the lifting mechanism is started, the CNC system acquires the data from the speed sensor in real time;

[0062] When the value of the speed sensor exceeds the first preset threshold, it is determined that the hook speed is too fast. The frequency converter of the hoisting mechanism is controlled by the CNC system to reduce the frequency, so as to control the hoisting motor to decelerate through the frequency converter.

[0063] When the value of the speed sensor is lower than the second preset threshold, it is determined that the hook speed is too slow. The frequency converter of the hoisting mechanism is controlled to increase the frequency through the CNC system, so as to control the speed of the hoisting motor through the frequency converter.

[0064] After the hoisting mechanism is started and before the load reaches the first height, the operating speed of the hook is controlled between the first preset threshold and the second preset threshold.

[0065] This step constitutes the first control stage of this application, namely the early hoisting speed control stage. Tower crane operators can switch between manual and automatic control modes, allowing the hoisting mechanism to switch control freely as needed. Data from speed sensors and laser rangefinders provides real-time information on the current hoisting speed and height of the load. When the hoisting speed is too fast, for example, greater than 1 m / s, an alarm is triggered in the CNC system, and the frequency converter is manually or automatically reduced to decrease the hoisting speed. Conversely, when the hoisting speed is too slow, for example, less than 0.2 m / s, an alarm is also triggered in the CNC system, and the frequency converter is manually or automatically increased to increase the hoisting speed. This prevents the hook from hoisting too fast and causing an overshoot accident. It also provides alerts when the hoisting speed is too slow, improving work efficiency and reducing hoisting time.

[0066] Step 104: When the load reaches the first height, the CNC system controls the lifting motor to gradually and linearly decelerate to a fine-tuning speed via a frequency converter. Upon reaching the fine-tuning speed, the load height is recorded as the second height, including:

[0067] The CNC system includes a display screen, and the height information of the load is displayed in real time through the display screen of the CNC system.

[0068] When the height of the load reaches the first height, the CNC system controls the frequency converter to linearly reduce the frequency to the fine-tuning frequency;

[0069] The frequency converter controls the hoisting motor to gradually and linearly decelerate to a fine-tuning speed;

[0070] Record the height of the load when the lifting motor just reaches the fine-tuning speed, as the second height.

[0071] Step 104 represents the second control stage of this application, namely the fine-tuning control stage. When the load height reaches a certain level, such as 20 meters, since the target lifting height is 25 meters and most of the lifting task has been completed, it is considered to reduce the lifting speed in advance to prevent an overshoot accident. To this end, this application designs a linear deceleration scheme to reduce the lifting speed. For example, the lifting speed of the hook of the lifting mechanism is linearly reduced from 1 m / s to 0.5 m / s, and the load height at this time is recorded simultaneously, for example, 23 meters.

[0072] Step 105: When the load is moved to a height close to the preset target height at the fine-tuning speed, the CNC system controls the lifting motor to gradually decelerate from the fine-tuning speed to zero via the frequency converter, so that the operation stops when the load reaches the preset target height, including:

[0073] After the load reaches the second height, it runs at a constant speed for a period of time at the fine-tuning speed.

[0074] When the load is moved at the fine-tuning speed to a height S that is a preset distance from the preset target height, the CNC system controls the frequency converter to linearly reduce the frequency to zero.

[0075] The frequency converter controls the hoisting motor to linearly decelerate to zero from the fine-tuning speed V within a time period T, so that it stops operating when the height of the load reaches the preset target height. The following relationship is satisfied between S, T, and V:

[0076] S = (V / 2) × T.

[0077] In step 105, the final lifting stage of this application, namely the final control stage, requires precise control of the final lifting height, lifting speed, and deceleration during this stage to achieve accurate control of the final lifting height. For example, continuing the design above, in the final 2-meter lifting stage from 23 meters to 25 meters, if the lifting speed is linearly reduced from 0.5 m / s to 0 within 8 seconds, then according to the basic physical law S = (V / 2) × T, the lifting height can be precisely controlled at 25 meters without relying solely on human judgment or experience. This meets the needs of crane applications requiring precise control of lifting height.

[0078] This application eliminates the need for operator experience or visual observation to control hook speed. It enables precise, numerically visible control of the hook's upward speed during lifting, preventing load overshoot accidents. Precise control and fine-tuning of load speed and height ensure a smooth, seamless lifting process, thereby guaranteeing the safety of the lifting operation.

[0079] The application embodiment provides an embedded integrated tower crane hoisting mechanism control system, which is used to execute the embedded integrated tower crane hoisting mechanism control method described in the above embodiment, such as... Figure 4 As shown, the system includes:

[0080] The hook speed measurement module 501 is used to install a speed sensor at the hook of the hoisting mechanism. The speed sensor can measure the running speed and direction of the hook in real time and send it to the CNC system of the operation console.

[0081] The load height calculation module 502 is used to install a laser range sensor on the luffing trolley. The laser range sensor can measure the distance between the load of the hoisting mechanism and the luffing trolley in real time and send it to the CNC system of the operation console. Combined with the initial height information of the luffing trolley, the load height information is calculated.

[0082] The hook speed control module 503 is used to control the frequency converter of the hoisting mechanism according to the data of the speed sensor after the hoisting mechanism is started, so as to control the speed increase or deceleration of the hoisting motor through the frequency converter, and control the running speed of the hook within a preset range from the start of the hoisting mechanism until the height of the load reaches the first height.

[0083] The fine-tuning control module 504 is used to control the lifting motor to gradually and linearly decelerate to the fine-tuning speed through the frequency converter after the height of the load reaches the first height, and record the height of the load as the second height when the fine-tuning speed is reached.

[0084] The stop control module 505 is used to control the lifting motor to gradually decelerate from the fine-tuning speed to zero through the frequency converter when the load is running at the fine-tuning speed to a height close to the preset target height, so that the load stops running when the height reaches the preset target height.

[0085] The embedded integrated tower crane hoisting mechanism control system provided in the above embodiments of this application and the embedded integrated tower crane hoisting mechanism control method provided in the embodiments of this application are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by their stored applications.

[0086] This application also provides an electronic device corresponding to the embedded integrated tower crane hoisting mechanism control method provided in the foregoing embodiments, to execute the embedded integrated tower crane hoisting mechanism control method. This application does not limit the scope of the embodiments.

[0087] Please refer to Figure 5 This illustrates a schematic diagram of an electronic device provided by some embodiments of this application. For example... Figure 5 As shown, the electronic device 2 includes: a processor 200, a memory 201, a bus 202, and a communication interface 203. The processor 200, the communication interface 203, and the memory 201 are connected via the bus 202. The memory 201 stores a computer program that can run on the processor 200. When the processor 200 runs the computer program, it executes the embedded integrated tower crane hoisting mechanism control method provided in any of the foregoing embodiments of this application.

[0088] The memory 201 may include high-speed random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface 203 (which can be wired or wireless), such as the Internet, wide area network, local area network, or metropolitan area network.

[0089] Bus 202 can be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. The memory 201 is used to store programs. After receiving an execution instruction, the processor 200 executes the program. The embedded integrated tower crane hoisting mechanism control method disclosed in any of the foregoing embodiments of this application can be applied to the processor 200, or implemented by the processor 200.

[0090] The processor 200 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of the processor 200 or by instructions in software form. The processor 200 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules may reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in memory 201. The processor 200 reads the information in memory 201 and, in conjunction with its hardware, completes the steps of the above method.

[0091] The electronic device provided in this application embodiment and the embedded integrated tower crane hoisting mechanism control method provided in this application embodiment are based on the same inventive concept and have the same beneficial effects as the methods they adopt, operate or implement.

[0092] This application also provides a computer-readable storage medium corresponding to the embedded integrated tower crane hoisting mechanism control method provided in the foregoing embodiments. Please refer to... Figure 6 The computer-readable storage medium shown is an optical disc 30, on which a computer program (i.e., a program product) is stored. When the computer program is run by a processor, it executes the embedded integrated tower crane hoisting mechanism control method provided in any of the foregoing embodiments.

[0093] It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical and magnetic storage media, which will not be elaborated here.

[0094] The computer-readable storage medium provided in the above embodiments of this application and the embedded integrated tower crane hoisting mechanism control method provided in the embodiments of this application are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the application stored therein.

[0095] It should be noted that:

[0096] The algorithms and displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used in conjunction with the teachings herein. The required structure for constructing such systems is apparent from the above description. Furthermore, this application is not directed to any particular programming language. It should be understood that the content of this application described herein can be implemented using various programming languages, and the above description of specific languages ​​is for the purpose of disclosing the best mode of implementation of this application.

[0097] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0098] Similarly, it should be understood that, in order to simplify this application and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of this application, various features of this application are sometimes grouped together into a single embodiment, figure, or description thereof. However, this method of disclosure should not be construed as reflecting an intention that the claimed application requires more features than are expressly recited in each claim. Rather, as reflected in the following claims, inventive aspects lie in fewer than all features of a single foregoing disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of this application.

[0099] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0100] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features but not others included in other embodiments, combinations of features from different embodiments are intended to be within the scope of this application and form different embodiments. For example, in the following claims, any of the claimed embodiments can be used in any combination.

[0101] The various component embodiments of this application can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors (DSPs) can be used in practice to implement some or all of the functions of some or all of the components in the virtual machine creation system according to the embodiments of this application. This application can also be implemented as a device or system program (e.g., a computer program and computer program product) for performing part or all of the methods described herein. Such an implementation of this application can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0102] It should be noted that the above embodiments are illustrative of this application and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several systems, several of these systems may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0103] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method of control of an embedded integrated tower crane hoisting mechanism, characterized in that, The application relates to a lifting mechanism speed sensor installation method, which comprises the following steps: A speed sensor is installed at a lifting hook of a lifting mechanism, the speed sensor can measure the running speed and direction of the lifting hook in real time and send the data to a numerical control system of an operation console; A laser ranging sensor is installed on a luffing trolley, the laser ranging sensor can measure the distance between a load of the lifting mechanism and the luffing trolley in real time, send the data to the numerical control system of the operation console, and calculate the height information of the load in combination with initial height information of the luffing trolley; After the lifting mechanism is started, the numerical control system controls a frequency converter of the lifting mechanism according to the data of the speed sensor, so as to control the speed-up or speed-down of a lifting motor through the frequency converter, the running speed of the lifting hook is controlled within a preset range before the height of the load reaches a first height after the lifting mechanism is started; When the height of the load reaches the first height, the numerical control system controls the lifting motor to gradually linearly slow down to a fine tuning speed through the frequency converter, and the height of the load is recorded as a second height when the fine tuning speed is reached; When the height of the load runs close to a preset target height at the fine tuning speed, the numerical control system controls the lifting motor to gradually slow down to zero from the fine tuning speed through the frequency converter, so that the height of the load stops running when the preset target height is reached; The numerical control system is connected with the operation console, the speed sensor, the laser ranging sensor and the frequency converter, the frequency converter is connected with the lifting motor, and the lifting motor is connected with a brake and a lifting hook; The laser ranging sensor can measure the distance between the load of the lifting mechanism and the luffing trolley in real time, send the data to the numerical control system of the operation console, and calculate the height information of the load in combination with initial height information of the luffing trolley, which comprises the following steps: The laser ranging sensor is vertically downward, and is aligned with the load of the lifting mechanism; The laser ranging sensor measures the height of the luffing trolley from the ground before the load is installed through the time of emitting laser and receiving returned laser, and the height is taken as the initial height information of the luffing trolley; The laser ranging sensor calculates the distance between the load of the lifting mechanism and the luffing trolley in real time after the load is installed, and sends the data to the numerical control system of the operation console; The initial height information of the luffing trolley is subtracted from the distance between the load and the luffing trolley, and the height information of the load is obtained; After the lifting mechanism is started, the numerical control system controls the frequency converter of the lifting mechanism according to the data of the speed sensor, so as to control the speed-up or speed-down of the lifting motor through the frequency converter, the running speed of the lifting hook is controlled within a preset range before the height of the load reaches a first height after the lifting mechanism is started, which comprises the following steps: After the lifting mechanism is started, the numerical control system obtains the data of the speed sensor in real time; When the value of the speed sensor exceeds a first preset threshold value, it is judged that the speed of the lifting hook is too fast, the frequency of the frequency converter of the lifting mechanism is reduced through the numerical control system, so as to control the speed-down of the lifting motor through the frequency converter; When the value of the speed sensor is lower than a second preset threshold value, it is judged that the speed of the lifting hook is too slow, the frequency of the frequency converter of the lifting mechanism is increased through the numerical control system, so as to control the speed-up of the lifting motor through the frequency converter; After the hoisting mechanism is started and before the load reaches the first height, the running speed of the hook is controlled between the first preset threshold and the second preset threshold. When the load reaches a first height, the CNC system controls the hoisting motor to gradually and linearly decelerate to a fine-tuning speed via a frequency converter. Upon reaching the fine-tuning speed, the load height is recorded as a second height, including: The CNC system includes a display screen, and the height information of the load is displayed in real time through the display screen of the CNC system. When the height of the load reaches the first height, the CNC system controls the frequency converter to linearly reduce the frequency to the fine-tuning frequency; The frequency converter controls the hoisting motor to gradually and linearly decelerate to a fine-tuning speed; Record the height of the load when the lifting motor just reaches the fine-tuning speed, and use this as the second height; When the load is moved to a height close to the preset target height at the fine-tuning speed, the CNC system controls the hoisting motor to gradually decelerate from the fine-tuning speed to zero via a frequency converter, so that the operation stops when the load reaches the preset target height, including: After the load reaches the second height, it runs at a constant speed for a period of time at the fine-tuning speed. When the load is moved at the fine-tuning speed to a height S that is a preset distance from the preset target height, the CNC system controls the frequency converter to linearly reduce the frequency to zero. The frequency converter controls the hoisting motor to linearly decelerate to zero from the fine-tuning speed V within a time period T, so that it stops operating when the height of the load reaches the preset target height. The following relationship is satisfied between S, T, and V: S = (V / 2) × T.

2. The method of claim 1, wherein, Further includes: The numerical control system can be a FANUC numerical control system.

3. An embedded integrated tower crane hoist control system using the method of claim 1 or 2, characterized by, include: The hook speed measurement module is used to install a speed sensor at the hook of the hoisting mechanism. The speed sensor can measure the running speed and direction of the hook in real time and send the data to the CNC system of the operation console. The load height calculation module is used to install a laser rangefinder on the luffing trolley. The laser rangefinder can measure the distance between the load of the hoisting mechanism and the luffing trolley in real time and send it to the CNC system of the operation console. Combined with the initial height information of the luffing trolley, the load height information is calculated. The hook speed control module is used to control the frequency converter of the hoisting mechanism according to the data of the speed sensor after the hoisting mechanism is started. The frequency converter controls the speed increase or deceleration of the hoisting motor. The hook running speed is controlled within a preset range from the time the hoisting mechanism is started until the load reaches the first height. The fine-tuning control module is used to control the lifting motor to gradually and linearly decelerate to the fine-tuning speed through the frequency converter after the height of the load reaches the first height. When the fine-tuning speed is reached, the height of the load is recorded as the second height. The stop control module is used to control the lifting motor to gradually decelerate from the fine-tuning speed to zero through the frequency converter when the load is running at the fine-tuning speed to a height close to the preset target height, so that the load stops running when the height reaches the preset target height.

4. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor runs the computer program to implement the method as described in claim 1 or 2.

5. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by a processor to implement the method as described in claim 1 or 2.

Images