Detection method, processor, device and tower crane for tower crane

Abstract

The application relates to the technical field of engineering machinery, in particular to a detection method, a processor, an apparatus and a tower crane for a tower crane. The method comprises the following steps: in the case that a plurality of state parameters are acquired and a data update flag indicates certain update, updating an absolute position of a hoisting frequency converter and a sampling value data of a hoisting sensor; acquiring a first drum distance corresponding to a drum distance converted from a rotating distance of a hoisting motor and a second drum distance corresponding to a drum distance converted from a rotating distance of the hoisting sensor; in the case that a distance difference value between the first drum distance and the second drum distance is greater than a preset difference value, comparing the distance difference value with a preset error; in the case that the distance difference value is greater than the preset error, increasing a value of an error counter; and in the case that the error count value is greater than a preset number of times, starting a hoisting alarm and sending a cutting instruction, so that the tower crane stops the ascending operation according to the cutting instruction.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, and more specifically, to a detection method, processor, device, and tower crane for tower cranes. Background Technology

[0002] Tower cranes, as construction lifting machinery, are widely used in construction processes. Their operation primarily involves three dimensions: height, horizontal direction, and rotation. These correspond to three different transmission mechanisms, and the reliability and accuracy of these mechanisms significantly impact the safety of tower crane operations. However, during operation, factors such as relocation with the construction site, component reliability, and vibrations caused by crane operation can lead to issues like incorrect assembly, component damage, and detached or partially detached sensor connections. These problems pose significant safety hazards to tower crane operation.

[0003] In existing technologies, it is only possible to manually inspect and verify whether the mechanism is installed incorrectly. However, it is impossible for humans to judge the data of sensor components or whether the sensor connections are detached. Summary of the Invention

[0004] The purpose of this application is to provide a method, processor, device, and tower crane for automatically detecting whether the mechanism of a tower crane is safe.

[0005] To achieve the above objectives, this application provides a detection method for tower cranes. The tower crane includes a hoisting frequency converter, a hoisting dimension mechanical mode switch, a hoisting sensor, a hoisting motor, and an error counter. The detection method includes:

[0006] When multiple status parameters are obtained and the data update flag indicates that an update is certain, update the absolute position of the lifting inverter and the sampled value data of the lifting sensor. The multiple status parameters include the status parameters of the lifting inverter connection, the status parameters of the lifting dimension mechanical mode switch, the status parameters of the lifting sensor, and the status parameters of the lifting calibration.

[0007] The distance rotated by the hoisting motor is converted into the first drum distance, and the distance rotated by the hoisting sensor is converted into the second drum distance.

[0008] If the distance difference between the first roll distance and the second roll distance is greater than a preset difference, compare the distance difference with the preset error.

[0009] If the distance difference exceeds the preset error, the error counter increments.

[0010] If the error counter value exceeds the preset number of times, the hoisting alarm will be activated and a cut-off command will be sent so that the tower crane will stop the hoisting operation according to the cut-off command.

[0011] In this embodiment of the application, when the control mode of the hoisting inverter is open-loop mode, updating the data of the hoisting motor and the hoisting sensor includes: determining whether the current data update is the first update; if it is determined that the current update is the first update, updating the initial value of the hoisting motor speed, the final value of the hoisting motor speed, the initial value of the hoisting sensor sampling value, and the final value of the hoisting sensor sampling value; if it is determined that the current update is not the first update, updating the final value of the hoisting motor speed and the final value of the hoisting sensor sampling value.

[0012] In this embodiment of the application, when the distance difference is less than or equal to a preset difference, the initial value of the current hoisting motor speed is determined; the initial value of the hoisting motor speed for the next time is determined as the current initial value of the hoisting motor speed.

[0013] In this embodiment of the application, when the distance difference is less than or equal to the preset error, the value of the error counter, the distance the hoisting motor rotates, and the distance the hoisting sensor rotates are cleared to zero, and the current hoisting sensor sampling value termination value is determined; the starting value of the next hoisting sensor sampling value is determined as the current hoisting sensor sampling value termination value.

[0014] In this embodiment of the application, when the control mode of the lifting inverter is closed-loop mode, updating the data of the absolute position of the lifting encoder and the sampled value of the lifting sensor includes: if it is determined that this update is the first update, updating the starting value of the absolute position of the lifting encoder, the ending value of the absolute position of the lifting encoder, the starting value of the sampled value of the lifting sensor, and the ending value of the sampled value of the lifting sensor; if it is determined that this update is not the first update, updating the ending value of the absolute position of the lifting encoder and the ending value of the sampled value of the lifting sensor.

[0015] In this embodiment of the application, when the control mode of the lifting inverter is a closed-loop mode, the method further includes: after updating the absolute position data of the lifting inverter and the sampled value data of the lifting sensor, determining a first difference between the absolute position termination value and the absolute position start value of the lifting encoder; if the first difference is greater than half of the maximum absolute position value of the lifting encoder, comparing the magnitude of the absolute position termination value and the absolute position start value of the lifting encoder; taking the larger of the absolute position start value and the absolute position termination value of the lifting encoder as the larger value, and the smaller of the two as the smaller value; and determining the distance the lifting motor rotates based on the maximum absolute position value, the larger value, and the smaller value of the lifting encoder.

[0016] In this embodiment, when the distance difference is less than or equal to a preset error, the error counter is cleared to zero; the current absolute position termination value of the lifting encoder and the current sampling value termination value of the lifting sensor are determined; the starting value of the next absolute position of the lifting encoder is determined as the current absolute position termination value of the lifting encoder; and the starting value of the next sampling value of the lifting sensor is determined as the current sampling value termination value of the lifting sensor.

[0017] In this embodiment of the application, if none of the multiple state parameters are obtained, the multiple state parameters are continued to be obtained until all of the multiple parameters are obtained; if multiple state parameters are obtained, the control mode of the lifting frequency converter is read, wherein the control mode of the lifting frequency converter includes open-loop mode and closed-loop mode.

[0018] In this embodiment of the application, if the value of the error counter is less than or equal to a preset number of times, the step of obtaining multiple status parameters is performed.

[0019] A second aspect of this application provides a processor configured to perform the detection method for tower cranes in any of the above embodiments.

[0020] A third aspect of this application provides a detection device for tower cranes, including the processor described above.

[0021] A fourth aspect of this application provides a tower crane, comprising:

[0022] The hoisting frequency converter is configured to control the tower crane to stop rising upon receiving a cut-off command;

[0023] Lifting dimension mechanical mode switch;

[0024] Lift sensor;

[0025] Hoist motor;

[0026] Lifting encoder;

[0027] The error counter is configured to increment when the difference between the distance between the first roll and the distance between the second roll is greater than a preset error.

[0028] And the aforementioned testing device for tower cranes.

[0029] In the above technical solution, the processor acquires parameters of different components and judges the operational safety of the tower crane according to different parameters based on the control mode of the hoisting frequency converter. When it is determined that the tower crane is abnormal, an alarm is activated and a cutoff command is sent so that the tower crane will not continue to move in a dangerous direction, thus ensuring the operational safety of the tower crane in real time.

[0030] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0031] The accompanying drawings are provided to further illustrate the present application and form part of the specification. They are used together with the following detailed description to explain the present application, but do not constitute a limitation thereof. In the drawings:

[0032] Figure 1 The schematic diagram illustrates a process flow diagram of a detection method for tower cranes according to an embodiment of this application;

[0033] Figure 2 The schematic diagram illustrates a process flow chart of a detection method for a tower crane according to another embodiment of this application;

[0034] Figure 3 A schematic diagram of the structure of a tower crane according to an embodiment of this application is shown.

[0035] Figure 4 The diagram illustrates the internal structure of a computer device according to an embodiment of this application. Detailed Implementation

[0036] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0037] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0038] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0039] like Figure 1 As shown in one embodiment of this application, a detection method for tower cranes is provided, comprising the following steps:

[0040] Step 101: When multiple status parameters are obtained and the data update flag indicates that an update is certain, update the absolute position of the lifting inverter and the sampled value data of the lifting sensor. The multiple status parameters include the status parameters of the lifting inverter connection, the status parameters of the lifting dimension mechanical mode switch, the status parameters of the lifting sensor, and the status parameters of the lifting calibration.

[0041] In one embodiment, if none of the multiple state parameters are obtained, the multiple state parameters are continued to be obtained until all of the multiple parameters are obtained; if multiple state parameters are obtained, the control mode of the lifting frequency converter is read, wherein the control mode of the lifting frequency converter includes open-loop mode and closed-loop mode.

[0042] After the tower crane is powered on and running, the processor can perform safety checks on the tower crane. First, the processor can acquire the status parameters of the hoisting inverter connection, the hoisting dimension mechanical mode switch, the hoisting sensor, and the hoisting calibration. If any of the above parameters are not acquired during the parameter acquisition process, the processor will continue to acquire parameters until all status parameters are acquired before proceeding to the next operation.

[0043] After acquiring all status parameters, the processor can read the control mode of the lifting inverter. The control modes of the lifting inverter include closed-loop mode and open-loop mode. After acquiring the parameters, the processor can read the status of the data update flag. If the processor determines that the data update flag is set to update, it can perform a data update, updating the absolute position of the lifting inverter and the sampled values ​​of the lifting sensors.

[0044] Step 102: Obtain the first drum distance corresponding to the distance rotated by the hoisting motor and the second drum distance corresponding to the distance rotated by the hoisting sensor.

[0045] After updating the data, the processor can obtain the rotation distances of the hoisting motor and the hoisting sensor, and convert both distances into drum distances. The processor can define the drum distance obtained from the hoisting motor rotation distance as the first drum distance and the drum distance obtained from the hoisting sensor rotation distance as the second drum distance. The purpose of converting both the hoisting motor and hoisting sensor rotation distances into drum distances is to compare them. Since the processor needs to compare the hoisting motor rotation distance and the hoisting sensor rotation distance, and these are the distances of two different components, they cannot be directly compared. Therefore, the processor converts both into drum distances before comparison.

[0046] Step 103: If the distance difference between the first roll distance and the second roll distance is greater than a preset difference, compare the distance difference with a preset error.

[0047] Step 104: If the distance difference is greater than the preset error, the error counter value is incremented;

[0048] Step 105: If the error counter value exceeds the preset number of times, activate the hoisting alarm and send a cut-off command so that the tower crane stops the hoisting operation according to the cut-off command.

[0049] In one embodiment, if the error counter value is less than or equal to a preset number of times, the step of obtaining multiple status parameters is performed.

[0050] After obtaining the distances of the first and second reels, the processor determines the distance difference between them and compares it with a preset difference value set by the processor. If the distance difference is greater than the preset difference value, the processor compares it with a preset error value set by the processor. If the processor determines that the distance error is greater than the preset error, the processor can increment the error counter value by one.

[0051] If the error counter count exceeds the preset number of times set by the processor, the processor can determine that the tower crane is in a dangerous state. The processor can then activate the hoisting alarm and send a cutoff command, causing the tower crane to stop its ascent operation upon receiving the cutoff command. If the processor determines that the error counter count is less than or equal to the preset number of times set by the processor, the processor can continue to execute the first step of the next safety check, which involves acquiring multiple status parameters.

[0052] In one embodiment, when the hoisting inverter control mode is open-loop mode, updating the data of the hoisting motor and hoisting sensor includes: determining whether this data update is the first update; if it is determined that this update is the first update, updating the initial value of the hoisting motor speed, the final value of the hoisting motor speed, the initial value of the hoisting sensor sampling value, and the final value of the hoisting sensor sampling value; if it is determined that this update is not the first update, updating the final value of the hoisting motor speed and the final value of the hoisting sensor sampling value.

[0053] Once the processor has obtained the status parameters of the hoisting inverter connection, the hoisting dimension mechanical mode switch, the hoisting sensor, and the hoisting calibration, it can read the control mode of the hoisting inverter. The hoisting inverter's control mode includes open-loop mode and closed-loop mode. If the processor reads that the hoisting inverter's control mode is open-loop, it updates the absolute position of the hoisting inverter and the sampled data of the hoisting sensor. First, the processor determines whether this data update is the first update. If the processor determines that this is the first update, it updates four values: the initial speed of the hoisting motor, the final speed of the hoisting motor, the initial sampled value of the hoisting sensor, and the final sampled value of the hoisting sensor. If the processor determines that this is not the first update, it updates only the final speed of the hoisting motor and the final sampled value of the hoisting sensor.

[0054] In one embodiment, if the distance difference is less than or equal to a preset difference, the current initial value of the hoisting motor speed is determined; and the initial value of the hoisting motor speed for the next time is determined as the current initial value of the hoisting motor speed.

[0055] When the processor reads that the control mode of the hoisting inverter is open-loop mode, after obtaining the first drum distance (derived from the distance of the hoisting motor rotation converted to drum distance) and the second drum distance (derived from the distance of the hoisting sensor rotation converted to drum distance), the processor can determine whether the difference between the first drum distance and the second drum distance is greater than a preset difference. If the processor determines that the difference is less than or equal to the preset difference, the processor can determine the initial value of the hoisting motor speed at this time. The initial value of the hoisting motor speed for the next time refers to the initial value data of the hoisting motor speed obtained by the processor when performing the next tower crane inspection. The processor can determine the initial value of the hoisting motor speed at this time as the initial value data of the hoisting motor speed obtained in the step of acquiring multiple state parameters during the next tower crane inspection cycle.

[0056] In one embodiment, if the distance difference is less than or equal to a preset error, the value of the error counter, the distance the hoisting motor rotates, and the distance the hoisting sensor rotates are reset to zero, and the current hoisting sensor sampling value termination value is determined; the starting value of the next hoisting sensor sampling value is determined as the current hoisting sensor sampling value termination value.

[0057] When the hoisting inverter is in open-loop control mode, the processor determines whether the distance difference between the first and second drums is greater than a preset difference. If the processor determines that the distance difference is greater than the preset difference, it compares the distance difference with a preset error. If the distance difference is less than or equal to the preset error, the processor resets the error counter, the distance the hoisting motor has rotated, and the distance the hoisting sensor has rotated to zero. It then determines the termination value for the hoisting sensor sampling at this point. The processor can then use this termination value as the starting value for the next hoisting sensor sampling when acquiring multiple status parameters.

[0058] In one embodiment, when the lifting inverter control mode is closed-loop mode, updating the data of the lifting encoder absolute position and the lifting sensor sampling value includes: if it is determined that this update is the first update, updating the lifting encoder absolute position start value, lifting encoder absolute position end value, lifting sensor sampling value start value, and lifting sensor sampling value end value; if it is determined that this update is not the first update, updating the lifting encoder absolute position end value and the lifting sensor sampling value end value. When the processor obtains the status parameters of the lifting inverter connection, the status parameters of the lifting dimension mechanical mode switch, the status parameters of the lifting sensor, and the status parameters of the lifting calibration, the processor can read the control mode of the lifting inverter, wherein the control mode of the lifting inverter includes open-loop mode and closed-loop mode. When the control mode of the lifting inverter read by the processor is closed-loop mode, the processor updating the absolute position of the lifting inverter and the sampling value data of the lifting sensor may include: first, the processor can determine whether this data update is the first data update. If the processor determines that this data update is the first update, the processor can update the starting value of the absolute position of the lifting encoder, the ending value of the absolute position of the lifting encoder, the starting value of the lifting sensor sampling value, and the ending value of the lifting sensor sampling value. If the processor determines that this update is not the first update, the processor only needs to update the ending value of the absolute position of the lifting encoder and the ending value of the lifting sensor sampling value.

[0059] In one embodiment, when the hoisting inverter control mode is a closed-loop mode, the method further includes: after updating the absolute position data of the hoisting inverter and the sampled value data of the hoisting sensor, determining a first difference between the hoisting encoder absolute position termination value and the hoisting encoder absolute position start value; if the first difference is greater than half of the maximum value of the hoisting encoder absolute position, comparing the size of the hoisting encoder absolute position termination value and the hoisting encoder absolute position start value; taking the larger of the two values ​​as the larger value and the smaller of the two values ​​as the smaller value; and determining the distance the hoisting motor rotates based on the maximum value, the larger value, and the smaller value of the hoisting encoder absolute position.

[0060] When the processor determines that the hoisting inverter control mode is closed-loop mode, it updates the data according to the update flag. Before converting the hoisting motor rotation distance into the first drum distance corresponding to the drum distance, the processor can first perform absolute position over-limit processing on the hoisting motor distance. This is because the hoisting encoder's absolute position has a maximum count value. If the absolute position over-limit processing is not performed when determining the motor distance using the hoisting encoder's absolute position value, incorrect data may be obtained. For example, assuming the hoisting encoder's absolute position termination value is 60 and its starting value is 57, the hoisting motor distance is 3. Assuming the hoisting encoder's maximum absolute position count value is 999 and its minimum value is 0, the resulting hoisting encoder absolute position termination value is 2 and its starting value is 998. In reality, the hoisting motor distance is 4. Without absolute position over-limit processing, the processor might determine the hoisting motor distance as 996. The obtained motor distance in this case is incorrect. Therefore, when the absolute position termination value of the lifting encoder meets the processing conditions with the absolute position start value of the lifting encoder, the processor can first process the absolute position over-limit of the lifting motor distance.

[0061] The processor can determine whether the first difference between the absolute position termination value and the absolute position start value of the lifting encoder is greater than half of the maximum absolute position value of the lifting encoder. If the processor determines that the first difference is greater than half of the maximum absolute position value of the lifting encoder, the processor can perform absolute position over-limit processing. The processor can compare the absolute position start value and the absolute position termination value of the lifting encoder to determine the larger of the two values ​​and the smaller of the two values. The processor can determine the first difference as the maximum absolute position value of the lifting encoder minus the larger of the absolute position start value and the absolute position termination value of the lifting encoder, plus the smaller of the two values, thereby obtaining the distance rotated by the lifting motor.

[0062] In one embodiment, if the distance difference is less than or equal to a preset error, the error counter is cleared to zero; the current absolute position termination value of the lifting encoder and the current sampling value termination value of the lifting sensor are determined; the starting value of the next absolute position of the lifting encoder is determined as the current absolute position termination value of the lifting encoder; and the starting value of the next sampling value of the lifting sensor is determined as the current sampling value termination value of the lifting sensor.

[0063] When the hoisting inverter control mode is closed-loop mode, the processor can compare the distance difference with the preset error if the distance difference between the first drum and the second drum is greater than the preset difference. If the processor determines that the distance error is less than or equal to the preset error set by the processor, the processor can clear the value of the error counter and determine the current hoisting encoder absolute position termination value and the current hoisting sensor sampling value termination value.

[0064] The processor can determine the current absolute position termination value of the lifting encoder as the starting value of the absolute position of the lifting encoder when it detects and acquires multiple state parameters next time, and determine the current sampling value termination value of the lifting sensor as the starting value of the sampling value of the lifting sensor next time it detects and acquires multiple state parameters.

[0065] In one embodiment, a processor is provided, configured to perform any of the above-described detection methods for tower cranes.

[0066] In one embodiment, a detection method for tower cranes is also provided. For example... Figure 2 As shown, the detection method for tower cranes in this embodiment includes:

[0067] Step 201: Obtain multiple status parameters.

[0068] The processor can acquire multiple status parameters, including the status parameters of the lifting inverter connection, the status parameters of the lifting dimension mechanical mode switch, the status parameters of the lifting sensor, and the status parameters of the lifting calibration.

[0069] Step 202: Determine whether at least one status parameter has not been obtained. If yes, proceed to step 201; otherwise, proceed to step 203.

[0070] Step 203: Read the control mode of the lifting inverter. If the control mode of the lifting inverter is closed-loop control mode, execute step 204; if the control mode of the lifting inverter is open-loop control mode, execute step 220.

[0071] Step 204: Read the lifting data update flag and determine whether the data has been updated; if yes, proceed to step 206; if no, proceed to step 205.

[0072] Step 205: Data not updated.

[0073] Step 206: Determine if this is the first update. If yes, proceed to step 208; otherwise, proceed to step 207.

[0074] Step 207: Update PositionDataEnd and heightSampleEnd.

[0075] Step 208: Update PositionDataStart, PositionDataEnd, heightSampleStart, and heightSampleEnd.

[0076] If the processor determines that the data update is not the first update, it can update PositionDataEnd and heightSampleEnd. PositionDataEnd is the absolute position termination value of the lifting encoder, and heightSampleEnd is the termination value of the lifting sensor sampling value. However, if the processor determines that the data update is the first update, it also needs to update PositionDataStart, PositionDataEnd, heightSampleStart, and heightSampleEnd. PositionDataStart is the absolute position start value of the lifting encoder, PositionDataEnd is the absolute position termination value of the lifting encoder, heightSampleStart is the start value of the lifting sensor sampling value, and heightSampleEnd is the termination value of the lifting sensor sampling value.

[0077] Step 209: Determine the first difference between PositionDataEnd and PositionDataStart.

[0078] After completing the data update, the processor can determine the first difference between PositionDataEnd and PositionDataStart, where PositionDataStart refers to the starting value of the absolute position of the lifting encoder and PositionDataEnd refers to the ending value of the absolute position of the lifting encoder.

[0079] Step 210: Determine if the first difference is greater than PositionDataMax / 2; if yes, proceed to step 211; if no, proceed to step 212.

[0080] After determining the first difference between the absolute position termination value and the absolute position start value of the lifting encoder, the processor can determine whether the first difference is greater than half of PositionDataMax, where PositionDataMax refers to the maximum absolute position value of the lifting encoder.

[0081] Step 211: The first difference is equal to PositionDataMax minus the larger value between PositionDataEnd and PositionDataStart, plus the smaller value between the two.

[0082] Step 212: Obtain the first drum distance corresponding to the distance rotated by the hoisting motor and the second drum distance corresponding to the distance rotated by the hoisting sensor.

[0083] If the first difference is greater than PositionDataMax / 2, the processor can determine the larger and smaller values ​​of PositionDataEnd and PositionDataStart, and subtract the larger value between PositionDataEnd and PositionDataStart from PositionDataMax, then add the smaller value to the result to determine the first difference. The processor can then determine the hoist motor's rotation distance based on this first difference. The processor can convert the hoist motor's rotation distance into a drum distance to obtain the first drum distance, and obtain the hoist sensor's rotation distance into a drum distance to obtain the second drum distance. If the first difference is less than or equal to PositionDataMax / 2, the processor can directly obtain the hoist motor's rotation distance into a drum distance to obtain the first drum distance, and obtain the hoist sensor's rotation distance into a drum distance to obtain the second drum distance.

[0084] Step 213: Determine whether the distance difference between the first roll distance and the second roll distance is greater than a preset difference; if yes, proceed to step 215; if no, proceed to step 214.

[0085] Step 214, no comparison.

[0086] Step 215: Determine whether the distance difference between the first roll distance and the second roll distance is greater than the preset error; if not, proceed to step 216; if yes, proceed to step 217.

[0087] Step 216: HoistCount is reset to zero, and the current PositionDataEnd and heightSampleEnd are used as PositionDataStart and heightSampleStart for the next detection.

[0088] Step 217, increment HoistCount by 1.

[0089] Step 218: Determine if HoistCount is greater than the set number of times. If yes, proceed to step 219; otherwise, proceed to step 201.

[0090] Step 219: Activate the lifting alarm and send a cut-off command.

[0091] After obtaining the distances of the first and second rolls, the processor calculates the distance difference between them and determines if it exceeds a preset difference. If the difference exceeds the preset difference, it compares the distance difference with a preset error set by the processor. If the difference is less than or equal to the preset difference, no comparison is made. When comparing the distance difference with the preset error, if the distance difference exceeds the preset error, HoistCount is incremented by 1, where HoistCount is a counter for lifting logic error judgment. If the distance difference is less than or equal to the preset error, HoistCount is cleared, and the current PositionDataEnd and heightSampleEnd are set as the PositionDataStart data for the next detection.

[0092] After incrementing the lift logic error counter, the processor can determine whether the counter value exceeds a set number of attempts. If the counter value exceeds the set number, the processor can activate a lift alarm and send a cutoff command. If the counter value is less than or equal to the set number of attempts, the next safety check will begin again, and the processor can execute step 201 to obtain multiple status parameters.

[0093] Step 220: Read the lifting data update flag and determine whether the data has been updated; if yes, proceed to step 222; if no, proceed to step 221.

[0094] Step 221: Data is not updated.

[0095] Step 222: Determine if this is the first update. If yes, proceed to step 224; otherwise, proceed to step 223.

[0096] Step 223: Update HoistVn and heightSampleEnd.

[0097] Step 224: Update HoistVn, HoistV0, heightSampleStart, and heightSampleEnd. If the processor determines that the hoisting inverter control mode is open-loop, proceed to step 220. The hoisting data update flag is read, and it is determined whether an update is needed. If the processor determines that this is not the first update, it can update HoistVn and heightSampleEnd. Here, HoistV0 refers to the hoisting motor speed termination value, and heightSampleEnd is the hoisting sensor sampling value termination value. If the processor determines that this is the first update, it needs to update HoistVn, HoistV0, heightSampleStart, and heightSampleEnd. Here, HoistVn is the hoisting motor speed termination value, HoistV0 is the hoisting motor speed termination value, heightSampleStart is the hoisting sensor sampling value start value, and heightSampleEnd is the hoisting sensor sampling value termination value.

[0098] Step 225: Obtain the first drum distance corresponding to the distance rotated by the hoisting motor and the second drum distance corresponding to the distance rotated by the hoisting sensor.

[0099] After the processor completes the data update, it can obtain the distance the hoist motor rotates and convert it into the drum distance to obtain the first drum distance. It can also obtain the distance the hoist sensor rotates and convert it into the drum distance to obtain the second drum distance.

[0100] Step 226: Determine whether the distance difference between the first roll distance and the second roll distance is greater than a preset difference. If not, proceed to step 227; if yes, proceed to step 228.

[0101] Step 227: Use the current HoistVn as the HoistV0 for the next loop.

[0102] Step 228: Determine whether the distance difference between the first roll distance and the second roll distance is greater than the preset error. If not, proceed to step 229; if yes, proceed to step 230.

[0103] Step 229: HoistCount, HeightLa, and HeightLb are cleared to zero, and the current heightSampleEnd is used as the heightSampleStart for the next detection.

[0104] Step 230, increment HoistCount by 1.

[0105] Step 231: Determine whether HoistCount is greater than the set number of times. If yes, proceed to step 232; otherwise, proceed to step 201.

[0106] Step 232: Activate the lifting alarm and send a cut-off command.

[0107] After obtaining the distances of the first and second drums, the processor can determine whether the distance difference between them is greater than a preset difference value set by the processor. If the distance difference is greater than the preset difference value, it then checks whether the distance difference between the first and second drums is greater than a preset error. If the distance difference is less than or equal to the preset difference value, the processor can use the current HoistVn as the HoistV0 data for the next detection cycle. Here, HoistVn refers to the termination value of the hoist motor speed, and HoistV0 refers to the initial value of the hoist motor speed.

[0108] When the processor determines whether the distance difference between the first and second drums is greater than a preset error, if the difference is greater, HoistCount is incremented by 1. HoistCount is a counter for lifting logic error judgment. If the difference is less than or equal to the preset error, HoistCount, HeightLa, and HeightLb are cleared, and the current heightSampleEnd is used as the heightSampleStart data for the next detection. HeightLa refers to the distance the lifting motor rotates, HeightLb refers to the distance the lifting sensor rotates, heightSampleStart refers to the starting value of the lifting sensor sampling value, and heightSampleEnd refers to the ending value of the lifting sensor sampling value.

[0109] After the lifting logic error counter is incremented by 1, the processor can determine whether the value of the lifting logic error counter is greater than the set number of times set by the processor. If it is determined that the value of the lifting logic error counter is greater than the set number of times, the processor can activate the lifting alarm and send a cutoff command, which can cause the tower crane to stop the lifting operation. If the value of the lifting logic error counter is less than or equal to the set number of times, the next safety check will start from the beginning, and the processor can execute step 201 to obtain multiple status parameters.

[0110] In the above embodiments, the processor acquires parameters of different components and judges the operational safety of the tower crane according to different parameters based on the control mode of the hoisting frequency converter. When it is determined that the tower crane is abnormal, an alarm is activated and a cutoff command is sent so that the tower crane will not continue to move in a dangerous direction, thus ensuring the operational safety of the tower crane in real time.

[0111] In one embodiment, a detection device for a tower crane is provided, including the processor described above.

[0112] In one embodiment, such as Figure 3 As shown, the tower crane 300 includes: a hoisting frequency converter 301, configured to control the tower crane to stop rising after receiving a cut-off command; a hoisting dimension mechanical mode switch 302; a hoisting sensor 303; a hoisting motor 304; a hoisting encoder 305; an error counter 306, configured to increment the value of the error counter when the distance difference between the first drum distance and the second drum distance is greater than a preset error; and a detection device 307 for the tower crane.

[0113] When the tower crane detection device 307 performs tower crane detection, it needs to acquire relevant parameters of the hoisting frequency converter 301, the hoisting dimension mechanical mode switch 302, the hoisting sensor 303, the hoisting motor 304, and the hoisting encoder 305. Based on the acquired parameters, it performs safety checks. An error counter 306 counts the results of the safety checks. When the error count reaches a set number, the tower crane detection device 307 can activate an alarm and send a cutoff command. Upon receiving the cutoff command, the hoisting frequency converter 301 can stop the tower crane from rising.

[0114] The processor contains a kernel, which retrieves the corresponding program unit from memory. One or more kernels can be configured, and the detection methods used for tower cranes can be implemented by adjusting the kernel parameters.

[0115] This application provides a processor for running a program, wherein the program executes the above-described detection method for tower cranes.

[0116] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 4 As shown. The computer device includes a processor A01, a network interface A02, memory (not shown), and a database (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A04. The database stores parameter data of the engineering machinery. The network interface A02 communicates with external terminals via a network connection. When the computer program B02 is executed by the processor A01, it implements a detection method for tower cranes.

[0117] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0118] This application provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs the following steps: Upon acquiring multiple status parameters and a data update flag indicating a confirmed update, it updates the absolute position of the hoisting inverter and the sampled data of the hoisting sensor. The multiple status parameters include status parameters of the hoisting inverter connection, status parameters of the hoisting dimension mechanical mode switch, status parameters of the hoisting sensor, and status parameters of the hoisting calibration. It acquires a first drum distance corresponding to the distance rotated by the hoisting motor converted to drum distance, and a second drum distance corresponding to the distance rotated by the hoisting sensor converted to drum distance. If the difference between the first drum distance and the second drum distance is greater than a preset difference, it compares the distance difference with a preset error. If the distance difference is greater than the preset error, it increments the value of an error counter. If the value of the error counter exceeds a preset number of times, it activates a hoisting alarm and sends a cutoff command to cause the tower crane to stop its lifting operation according to the cutoff command.

[0119] In one embodiment, when the hoisting inverter control mode is open-loop mode, updating the data of the hoisting motor and hoisting sensor includes: determining whether this data update is the first update; if it is determined that this update is the first update, updating the initial value of the hoisting motor speed, the final value of the hoisting motor speed, the initial value of the hoisting sensor sampling value, and the final value of the hoisting sensor sampling value; if it is determined that this update is not the first update, updating the final value of the hoisting motor speed and the final value of the hoisting sensor sampling value.

[0120] In one embodiment, if the distance difference is less than or equal to a preset difference, the current initial value of the hoisting motor speed is determined; the initial value of the hoisting motor speed when acquiring multiple state parameters next time is determined as the current initial value of the hoisting motor speed.

[0121] In one embodiment, if the distance difference is less than or equal to a preset error, the value of the error counter, the distance the hoisting motor rotates, and the distance the hoisting sensor rotates are reset to zero, and the current hoisting sensor sampling value termination value is determined; the hoisting sensor sampling value start value for the next acquisition of multiple state parameters is determined as the current hoisting sensor sampling value termination value.

[0122] In one embodiment, when the hoisting inverter control mode is closed-loop mode, updating the data for the absolute position of the hoisting encoder and the sampled value of the hoisting sensor includes: if it is determined that this update is the first update, updating the starting value of the absolute position of the hoisting encoder, the ending value of the absolute position of the hoisting encoder, the starting value of the sampled value of the hoisting sensor, and the ending value of the sampled value of the hoisting sensor; if it is determined that this update is not the first update, updating the ending value of the absolute position of the hoisting encoder and the ending value of the sampled value of the hoisting sensor.

[0123] In one embodiment, when the hoisting inverter control mode is a closed-loop mode, the method further includes: after updating the absolute position data of the hoisting inverter and the sampled value data of the hoisting sensor, determining a first difference between the hoisting encoder absolute position termination value and the hoisting encoder absolute position start value; if the first difference is greater than half of the maximum value of the hoisting encoder absolute position, comparing the size of the hoisting encoder absolute position termination value and the hoisting encoder absolute position start value; taking the larger of the two values ​​as the larger value and the smaller of the two values ​​as the smaller value; and determining the distance the hoisting motor rotates based on the maximum value, the larger value, and the smaller value of the hoisting encoder absolute position.

[0124] In one embodiment, if the distance difference is less than or equal to a preset error, the error counter is cleared to zero; the current absolute position termination value of the lifting encoder and the current sampling value termination value of the lifting sensor are determined; the starting value of the next absolute position of the lifting encoder is determined as the current absolute position termination value of the lifting encoder; and the starting value of the next sampling value of the lifting sensor is determined as the current sampling value termination value of the lifting sensor.

[0125] In one embodiment, if none of the multiple state parameters are obtained, the multiple state parameters are continued to be obtained until all of the multiple parameters are obtained; if multiple state parameters are obtained, the control mode of the lifting frequency converter is read, wherein the control mode of the lifting frequency converter includes open-loop mode and closed-loop mode.

[0126] In one embodiment, if the error counter value is less than or equal to a preset number of times, the step of obtaining multiple status parameters is performed.

[0127] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0128] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0129] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0130] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0131] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0132] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0133] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media 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 memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0134] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0135] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A detection method for tower cranes, characterized in that, The tower crane includes a hoisting frequency converter, a hoisting dimension mechanical mode switch, a hoisting sensor, a hoisting motor, and an error counter. The detection method includes: When multiple status parameters are obtained and the data update flag indicates that an update is certain, the absolute position of the lifting inverter and the sampled value data of the lifting sensor are updated. The multiple status parameters include the status parameters of the lifting inverter connection, the status parameters of the lifting dimension mechanical mode switch, the status parameters of the lifting sensor, and the status parameters of the lifting calibration. When the lifting inverter control mode is closed-loop mode, after updating the absolute position of the lifting inverter and the sampled value data of the lifting sensor, a first difference between the absolute position termination value and the absolute position start value of the lifting encoder is determined; if the first difference is greater than half of the maximum absolute position value of the lifting encoder, the magnitudes of the absolute position termination value and the absolute position start value of the lifting encoder are compared; the larger of the two values ​​is taken as the larger value, and the smaller value is taken as the smaller value; the distance the lifting motor rotates is determined based on the maximum absolute position value of the lifting encoder, the larger value, and the smaller value. The distance rotated by the hoisting motor is converted into the first drum distance, and the distance rotated by the hoisting sensor is converted into the second drum distance. If the distance difference between the first roll distance and the second roll distance is greater than a preset difference, compare the distance difference with a preset error; If the distance difference is greater than the preset error, the value of the error counter increases. If the error counter value exceeds a preset number, a hoisting alarm is activated and a cut-off command is sent to cause the tower crane to stop its hoisting operation according to the cut-off command.

2. The method according to claim 1, characterized in that, When the hoisting inverter control mode is open-loop mode, updating the absolute position of the hoisting inverter and the sampled value data of the hoisting sensor includes: Determine if this data update is the first update; If it is determined that this update is the first update, update the initial value of the hoisting motor speed, the final value of the hoisting motor speed, the initial value of the hoisting sensor sampling value, and the final value of the hoisting sensor sampling value; If it is determined that this update is not the first update, update the speed termination value of the hoisting motor and the sampling value termination value of the hoisting sensor.

3. The method according to claim 2, characterized in that, The detection method further includes: If the distance difference is less than or equal to the preset difference, determine the initial value of the current hoisting motor speed; The initial value of the hoisting motor speed for the next time is determined as the current initial value of the hoisting motor speed.

4. The method according to claim 2, characterized in that, The detection method further includes: If the distance difference is less than or equal to the preset error, the value of the error counter, the distance the hoisting motor rotates, and the distance the hoisting sensor rotates are reset to zero, and the current hoisting sensor sampling value termination value is determined. The starting value of the next hoisting sensor sampling value is determined as the ending value of the current hoisting sensor sampling value.

5. The method according to claim 1, characterized in that, When the hoisting inverter control mode is closed-loop mode, updating the absolute position of the hoisting inverter and the sampled value data of the hoisting sensor includes: If it is confirmed that this is the first update, update the starting value of the absolute position of the lifting encoder, the ending value of the absolute position of the lifting encoder, the starting value of the lifting sensor sampling value, and the ending value of the lifting sensor sampling value. If it is determined that this update is not the first update, update the absolute position termination value of the lifting encoder and the sampling value termination value of the lifting sensor.

6. The method according to claim 1, characterized in that, The detection method further includes: If the distance difference is less than or equal to the preset error, the value of the error counter is cleared to zero. Determine the current absolute position termination value of the lifting encoder and the current sampling value termination value of the lifting sensor; The starting value of the next lifting encoder absolute position is determined as the ending value of the current lifting encoder absolute position; The starting value of the next hoisting sensor sampling value is determined as the ending value of the current hoisting sensor sampling value.

7. The method according to claim 1, characterized in that, The detection method further includes: If none of the plurality of state parameters are obtained, the plurality of state parameters shall continue to be obtained until all of the plurality of parameters are obtained; Having obtained the multiple state parameters, the control mode of the lifting frequency converter is read, wherein the control mode of the lifting frequency converter includes open-loop mode and closed-loop mode.

8. The method according to claim 1, characterized in that, The detection method further includes: If the value of the error counter is less than or equal to a preset number of times, the step of obtaining multiple status parameters is performed.

9. A processor, characterized in that, It is configured to perform the detection method for tower cranes according to any one of claims 1 to 8.

10. A detection device for tower cranes, characterized in that, Includes the processor as described in claim 9.

11. A tower crane, characterized in that, include: The lifting frequency converter is configured to control the tower crane to stop rising upon receiving a cut-off command; Lifting dimension mechanical mode switch; Lift sensor; Hoisting motor; Lifting encoder; An error counter is configured to increment its value when the difference between the distance between the first roll and the distance between the second roll is greater than a preset error. as well as The detection device for tower cranes as described in claim 10.

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