Control method, system and device of crane braking system

Abstract

The embodiment of the present application provides a control method, system and device for a crane brake system, which belongs to the technical field of engineering machinery. When the crane is hoisting, the present invention calculates the delay parameter value of the brake valve required to open the brake valve for this action according to the current hydraulic oil temperature, the current number of brake valve switching times, the pressure before the brake valve is closed during the previous hoisting, the parameter information during calibration under the current working condition and the delay parameter set during calibration; finally, according to the delay parameter value of the brake valve required to open the brake valve for this action, the current hoisting brake valve start-stop parameter is corrected to control the hoisting brake valve switch delay, so as to achieve delay parameter adaptation and self-matching, thereby more accurately controlling the time to open and close the brake, avoiding brake shock or hoisting hook slippage, and increasing the service life of the hoisting brake. The correction of parameters can be achieved without on-site debugging and setting by professionals, which is simple to operate and reduces service costs.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to a control method for a crane braking system, a control system for a crane braking system, a control device for a crane braking system, a machine-readable storage medium and a processor. Background Art

[0002] With the development of control technology and the improvement of the precision requirements for hoisting installation, the controllability and efficiency of cranes are constantly developing in an increasingly higher direction. When hoisting, the winch brake in the winch start-stop link uses fixed delay parameters under different temperature conditions and different load conditions, and the winch proportional valve may experience braking shock and winch hook slippage. How to achieve adaptive control of the winch brake system and improve the intelligence, safety and efficiency of the control system has become a hot topic of research.

[0003] The existing control system sets the lifting, lowering, opening and closing fixed parameters for timing control. The parameter size is based on experience and is adjusted and set by professional technicians. However, the existing winch brake valve control logic is single and cannot achieve the optimal time point to open and close the winch brake under different working conditions. Under different environments and system performance, the required parameters are different, which causes brake shock or winch hook slippage problems, shortens the service life of the winch brake, and seriously affects the use of the vehicle. Parameter adjustment requires on-site debugging and setting by professionals, which increases service costs. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a control method for a crane braking system, a control system for a crane braking system, a control device for a crane braking system, a machine-readable storage medium and a processor.

[0005] In order to achieve the above-mentioned object, the first aspect of the present application provides a control method of a crane braking system, comprising:

[0006] When the crane is hoisting, obtain the current hydraulic oil temperature, the current number of times the brake valve is switched on and off, the pressure before the brake valve is closed during the previous hoisting, the parameter information during calibration under the current working condition, and the delay parameters set during calibration;

[0007] The delay parameter value of the brake valve opening required for the current action brake is calculated according to the current hydraulic oil temperature, the current number of brake valve switching times, the pressure before the brake valve was closed during the previous hoisting, the parameter information during calibration under the current working condition, and the delay parameter set during calibration;

[0008] According to the delay parameter value of the brake valve that needs to be opened for the brake action this time, the current start and stop parameters of the hoisting brake valve are corrected to control the switch delay of the hoisting brake valve.

[0009] In the embodiment of the present application, the delay parameter value of the brake valve required to open the brake valve for this action is calculated based on the current hydraulic oil temperature, the current number of brake valve switching times, the pressure before the brake valve was closed during the previous hoisting, the parameter information during calibration under the current working condition, and the delay parameter set during calibration, including:

[0010] According to the current hydraulic oil temperature, the current number of brake valve switching times, the pressure before the brake valve was closed during the previous hoisting, the parameter information during calibration under the current working condition, and the delay parameter set during calibration, respectively calculate the brake switching parameters caused by temperature changes, the brake switching parameters caused by pressure changes, and the brake switching parameters caused by changes in the number of switching brake valves;

[0011] According to the brake switch parameters caused by the temperature change, the brake switch parameters caused by the pressure change, the brake switch parameters caused by the change in the number of times the brake valve is switched on and off, and the delay parameters set during the calibration, the delay parameter value of the brake valve required to open the brake for this action is calculated.

[0012] In the embodiment of the present application, the parameter information during calibration under the current working condition includes the hydraulic oil temperature during calibration;

[0013] The method of calculating the brake switch parameters caused by temperature change, the brake switch parameters caused by pressure change and the brake switch parameters caused by the change in the number of times the brake valve is switched on and off respectively according to the current hydraulic oil temperature, the current number of times the brake valve is switched on and off, the pressure before the brake valve is closed during the previous hoisting, the parameter information during calibration under the current working condition and the delay parameter set during calibration, includes:

[0014] Calculate the brake switch parameters caused by the temperature change according to the current hydraulic oil temperature, the hydraulic oil temperature during calibration and the delay parameter set during calibration;

[0015] The brake switch parameters caused by the pressure change are calculated based on the pressure before the brake valve is closed during the previous hoisting and the delay parameters set during calibration;

[0016] The brake switching parameters caused by the change in the number of times the brake valve is switched are calculated based on the current number of times the brake valve is switched on and off, the pressure before the brake valve is closed during the previous hoisting and the delay parameters set during calibration.

[0017] In the embodiment of the present application, the brake switch parameters caused by the change in the number of times the brake valve is switched are calculated based on the current number of times the brake valve is switched, the pressure before the brake valve is closed during the previous hoisting, and the delay parameter set during calibration, including:

[0018] According to the pressure before the brake valve was closed during the previous hoisting, the current number of times the brake valve was switched on and off was counted in pressure segments to obtain the number of times the brake valve was switched on and off for raising and the number of times the brake valve was switched on and off for lowering;

[0019] The brake switching parameters caused by the change in the number of times of switching the brake valve on and off are calculated according to the number of times of switching the brake valve on and off as it rises, the number of times of switching the brake valve on and off as it falls, and the delay parameter set during calibration.

[0020] In the embodiment of the present application, it also includes:

[0021] A1: Get the winch brake calibration command;

[0022] A2: Get the winch action of the handle according to the winch brake calibration command;

[0023] A3: According to the winch action of the handle, determine whether the winch has pressure shock or reversal during the time from the winch current output to the winch action. If yes, execute A4; if not, execute A6;

[0024] A4: Generate and display prompt information to the user;

[0025] A5: Re-obtain the winch braking time parameter value input by the user and execute A2;

[0026] A6: Record the working temperature, lifting pressure, and lifting brake opening time during the current action as parameter information during calibration, and record the current winch braking time parameter value as the delay parameter set during calibration.

[0027] In the embodiment of the present application, after the current brake valve start-stop parameter is corrected according to the brake valve delay parameter value required for opening the brake for the current action to control the brake valve switch delay, it also includes:

[0028] Determine whether there is an instantaneous impact high pressure or brake reversal. If so, obtain the instantaneous impact high pressure size and reversal acceleration, and generate a delay proportional coefficient modification prompt information based on the instantaneous impact high pressure size and reversal acceleration; if not, end.

[0029] A second aspect of the present application provides a control system for a crane brake system, which is used to implement the control method for a crane brake system described in any one of the first aspects, and includes a control unit, a temperature sensor, a hoisting pressure sensor, a hoisting encoder, and a hoisting brake valve;

[0030] The temperature sensor is used to obtain the current hydraulic oil temperature and send it to the control unit; the temperature sensor can collect the hydraulic oil temperature in real time, and the control unit calculates the current crane hydraulic system operating temperature based on the received hydraulic oil temperature.

[0031] The hoisting pressure sensor is used to obtain the pressure before the brake valve is closed during the previous hoisting and send it to the control unit; the hoisting pressure sensor can collect the pressure during hoisting in real time.

[0032] The control unit is used to count the number of times the brake valve is switched on and off to obtain the current number of times the brake valve is switched on and off, and calculate the delay parameter value required to open the brake valve for this action based on the current hydraulic oil temperature, the current number of times the brake valve is switched on and off, the pressure before the brake valve was closed during the previous hoisting, the parameter information during calibration under the current working conditions, and the delay parameter set during calibration, and send it to the hoisting brake valve.

[0033] A third aspect of the present application provides a control device for a crane braking system, the control device for the crane braking system comprising:

[0034] The information acquisition module is used to obtain the current hydraulic oil temperature, the current number of brake valve switching times, the pressure before the brake valve was closed during the previous hoisting, the parameter information during calibration under the current working condition, and the delay parameters set during calibration when the crane is hoisting;

[0035] The delay parameter value calculation module is used to calculate the delay parameter value of the brake valve required to open the brake for this action according to the current hydraulic oil temperature, the current number of brake valve switching times, the pressure before the brake valve was closed during the previous hoisting, the parameter information during calibration under the current working condition, and the delay parameter set during calibration;

[0036] The brake valve start-stop parameter correction module is used to correct the current hoisting brake valve start-stop parameters according to the brake valve delay parameter value required to open the brake valve for the current action, so as to control the hoisting brake valve switch delay.

[0037] A fourth aspect of the present application provides a processor configured to execute the above-mentioned control method of the crane braking system.

[0038] A fifth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, which, when executed by a processor, configures the processor to execute the above-mentioned control method for the crane braking system.

[0039] Through the above technical solution, the delay parameter correction of the current hoist brake valve start and stop parameters is carried out according to the real-time obtained crane operating temperature, load pressure, and the number of winch brake times, so as to achieve delay parameter self-adaptation and self-matching, thereby more accurately controlling the opening and closing time of the brake, avoiding braking shock or winch hook slippage, and increasing the service life of the winch brake. The correction of parameters in the above control process can be achieved without the need for professional personnel to perform on-site debugging and setting, which is simple to operate and reduces service costs.

[0040] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0042] Figure 1 A schematic diagram of a flow chart of a control method for a crane braking system according to an embodiment of the present application is schematically shown;

[0043] Figure 2 A schematic diagram of a crane according to an embodiment of the present application is schematically shown;

[0044] Figure 3 A schematic diagram schematically shows a principle diagram of a control system of a crane braking system according to an embodiment of the present application;

[0045] Figure 4 The following schematically shows a hoisting calibration control flow chart according to an embodiment of the present application;

[0046] Figure 5 The following schematically shows a control flow chart of winch descent calibration according to an embodiment of the present application;

[0047] Figure 6 The structure block diagram of a control device for a crane braking system according to an embodiment of the present application is schematically shown;

[0048] Figure 7 The internal structure diagram of a computer device according to an embodiment of the present application is schematically shown.

[0049] Description of Reference Numerals

[0050] 1-temperature sensor; 2-winch pressure sensor; 3-winch encoder; 4-GPS remote module; 5-winch handle; 6-human-computer interaction device; 7-control unit; 8-winch proportional valve; 9-winch lowering proportional valve; 10-winch brake valve; 410-information acquisition module; 420-delay parameter value calculation module; 430-brake valve start-stop parameter correction module; A01-processor; A02-network interface; A03-internal memory; A04-display screen; A05-input device; A06-non-volatile storage medium; B01-operating system; B02-computer program. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0052] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), such directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0053] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0054] Figure 1 The flowchart of a control method of a crane braking system according to an embodiment of the present application is schematically shown. Figure 1 As shown, in one embodiment of the present application, a control method for a crane braking system is provided, comprising the following steps:

[0055] Step 210: when the crane is hoisting, obtain the current hydraulic oil temperature, the current number of times the brake valve is switched on and off, the pressure before the brake valve is closed during the previous hoisting, the parameter information during calibration under the current working condition, and the delay parameter set during calibration;

[0056] In this embodiment, the current hydraulic oil temperature can be acquired in real time by a temperature sensor 1 installed on the crane, and the current operating temperature of the crane hydraulic system can be calculated according to the current hydraulic oil temperature.

[0057] In this embodiment, the current number of times the brake valve is switched on and off can be obtained by counting the number of times the brake valve is switched on and off according to the action of the winch, thereby calculating the number of times the brake is switched on and off during the winch action of the current crane hydraulic system.

[0058] In this embodiment, since the actual weight of the object cannot be reflected before the hoisting brake is opened, it is necessary to record the pressure of the actual weight fed back to the system before closing the hoisting brake. Therefore, before closing the brake valve each time, the hoisting pressure is recorded. The above hoisting pressure can be obtained through the hoisting pressure sensor 2. When the crane is hoisting, the pressure before closing the brake valve during the previous hoisting is extracted.

[0059] In this embodiment, the parameter information during calibration under the current working condition and the delay parameter set during calibration can be obtained by calibration through multiple experiments before leaving the factory or before use. The calibration can be the calibration of the winch braking time. When the adjusted winch braking time parameter value meets the requirements, the working temperature, lifting pressure, lifting brake opening time, etc. during the calibration are recorded.

[0060] Please see Figure 4-Figure 5 , Figure 4 The following schematically shows a hoisting calibration control flow chart according to an embodiment of the present application; Figure 5 The following schematically shows a control flow chart of winch descent calibration according to an embodiment of the present application.

[0061] The above calibration process includes the following steps:

[0062] Step A1: Obtaining a winch brake calibration command: The above-mentioned winch brake calibration command can be obtained by obtaining the winch brake calibration command input by the user in the winch brake calibration interface, for example, by using the enable button in the winch brake calibration interface.

[0063] Step A2: Obtain the handle winch action according to the winch brake calibration command; the handle winch action includes the handle winch lifting action and the handle winch lowering action. After obtaining the winch brake calibration command, further obtain the handle winch action.

[0064] Step A3: According to the hoisting action of the handle, determine whether the hoist has pressure shock or reversal phenomenon during the time from the hoisting current output to the hoisting action. If yes, execute step A4; if no, execute step A6;

[0065] It should be noted that for the handle winch lifting action and the handle winch lowering action, it is necessary to judge whether the winch has pressure shock or reversal phenomenon during the time from the winch current output to the winch action.

[0066] The above judgment on whether there is pressure shock or reversal phenomenon in the hoisting during the time from the hoisting current output to the hoisting action can be determined by detecting the rope length through the hoisting encoder 3, judging the hoisting state and direction of the hoisting reducer, and then comparing the direction detected by the hoisting encoder 3 through the hoisting proportional valve 8 and the hoisting down proportional valve 9, so as to determine whether there is pressure shock or reversal phenomenon. If not, it means that the hoisting braking time parameter value meets the requirements, otherwise, it needs to be adjusted.

[0067] Step A4: Generate and display prompt information to the user; if pressure shock or reversal occurs, the human-machine interface can be used to prompt the user to increase the winch braking time parameter value.

[0068] Step A5: Re-acquire the winch braking time parameter value input by the user and execute step A2; after seeing the above prompt information, the user adjusts the winch braking time parameter value to obtain a new winch braking time parameter value, and then executes the step of obtaining the handle winch action according to the winch braking calibration command again, and then determines whether pressure shock or reversal occurs, and then adjusts the winch braking time parameter value to realize the cycle until there is no pressure shock or reversal phenomenon, and jumps out of the cycle.

[0069] Step A6: Record the working temperature, lifting pressure, and lifting brake opening time during the current action as parameter information during calibration, and record the current winch braking time parameter value as the delay parameter set during calibration. This achieves calibration.

[0070] The self-diagnosis of the winch brake switch delay parameter matching performance is excellent by collecting the pressure and the change of the winch rope length when the brake valve is opened. According to the winch load pressure, brake valve switch time, and reversal situation, the user can be recommended to recalibrate the parameters or speed control parameter recommended values.

[0071] In order to avoid the loss of calibrated data, after the calibration is completed, the recorded data such as working temperature, lifting pressure, lifting brake opening time, etc. during calibration can be remotely transmitted to the platform through the GPS remote module 4 for storage. When the control unit 7 is replaced, a request instruction can be sent to the platform to read the corresponding relevant parameters of the platform and write them into the replaced control unit 7.

[0072] In the above process, if pressure shock or reversal occurs, an alarm message can also be generated to issue an abnormal alarm, prompt the operator with the abnormal handling direction, and guide the operator to resolve the abnormality.

[0073] It should be noted that when the winch is in the empty hook state, the hydraulic oil temperature during normal temperature calibration is , according to the hoist opening time parameters obtained during debugging or experiment , Winch lifting and closing time parameters , Winch lowering opening time parameters , Winch lowering closing time parameters During debugging, the rope length can be detected through the winch encoder 3 to determine the winding state and direction of the winch reducer. The direction detected by the winch encoder 3 can be compared by the winch up proportional valve 8 and the winch down proportional valve 9 to determine whether the delay parameter of the winch brake valve 10 is appropriate. If it is not appropriate, the human-computer interaction interface will prompt that the corresponding parameter needs to be increased or decreased. After the calibration is completed, the calibration temperature and the winch brake delay parameters will be saved.

[0074] Step 220: Calculate the delay parameter value for opening the brake valve required for this brake action based on the current hydraulic oil temperature, the current number of brake valve switching times, the pressure before the brake valve was closed during the previous hoisting, the parameter information during calibration under the current working conditions, and the delay parameter set during calibration.

[0075] Specifically, the process of calculating the delay parameter value of the brake valve to be opened for the brake action includes the following steps:

[0076] First, according to the current hydraulic oil temperature, the current number of brake valve switching times, the pressure before the brake valve was closed during the previous hoisting, the parameter information during calibration under the current working condition, and the delay parameter set during calibration, the brake switching parameters caused by temperature changes, the brake switching parameters caused by pressure changes, and the brake switching parameters caused by changes in the number of switching brake valves are calculated respectively;

[0077] Among them, the parameter information during calibration under the current working condition includes the hydraulic oil temperature, lifting pressure, lifting brake opening time, etc. during calibration; the brake switch parameters caused by the calculated temperature change, the brake switch parameters caused by the pressure change, and the brake switch parameters caused by the change in the number of switching brake valves include:

[0078] (1) According to the current hydraulic oil temperature, the hydraulic oil temperature during calibration and the delay parameter set during calibration, the brake switch parameters caused by the temperature change are calculated; when the crane is working, the hydraulic oil temperature is collected in real time through the temperature sensor 1 The controller calculates the current working temperature of the crane hydraulic system and compares it with the hydraulic oil temperature during calibration. By comparison, the brake switch parameters caused by the temperature change are calculated. The brake switch parameters caused by the temperature change include: winch lifting opening time parameters , Winch lifting and closing time parameters , Winch lowering opening time parameters , Winch lowering closing time parameters The delay parameters set during the above calibration include: calibrating the hoisting opening time parameters , calibrate the hoisting and closing time parameters , calibrate the parameters of the hoisting lowering opening time , calibrate the winch lowering and closing time parameters . is the influence coefficient of temperature on the rising opening time, The coefficient can be obtained by experiment and correction according to the characteristic curve of the brake valve. The calculation formulas for the above time parameters can be expressed as:

[0079] ; ;

[0080] ; .

[0081] (2) According to the pressure before the brake valve is closed during the previous hoisting and lifting and the delay parameter set during calibration, the brake switch parameters caused by the pressure change are calculated; when the crane is working, the pressure before the brake valve is closed during the previous hoisting and lifting can be obtained by the pressure sensor before the brake valve is closed during the previous hoisting and lifting to obtain the hoisting pressure P, the controller calculates the hoisting pressure of the current crane hydraulic system, and calculates the brake switch parameters caused by the pressure change at this time according to the experiment. The brake switch parameters caused by the pressure change include: hoisting opening time parameter , Winch lifting and closing time parameters , Winch lowering opening time parameters , Winch lowering closing time parameters The above time parameter calculation formulas can be expressed as:

[0082] ; ;

[0083] ; .

[0084] (3) According to the current number of times the brake valve is switched on and off, the pressure before the brake valve is closed during the previous hoisting, and the delay parameter set during calibration, the brake switch parameters caused by the change in the number of times the brake valve is switched on and off are calculated. When the crane is working, the number of times the brake valve is switched on and off during the hoisting action of the current crane hydraulic system can be calculated, and the number of times the brake is switched on and off during the hoisting action of the current crane hydraulic system can be counted in different pressure sections, and then the brake switch parameters caused by the change in the number of times the brake valve is switched on and off are calculated. Specifically, the following steps are included:

[0085] The first step is to divide the current brake valve switching times into pressure segments and perform statistics in turn according to the pressure before the brake valve was closed during the previous hoisting, so as to obtain the number of brake valve switching times for ascending and descending. In this embodiment, the number of brake switching times n and the collection of the hoisting working pressure can be recorded during the life cycle, and the pressure can be divided into different pressure segments, and then the pressure can be recorded in segments. , so as to use different systems to fine-tune the delay number of the switch brake. According to the pressure before the brake valve was closed during the previous hoisting, the current brake valve switch times are divided into pressure sections and the rise switch brake valve times are obtained. , the number of times the brake valve is switched down is .

[0086] The second step is to calculate the brake switch parameters caused by the change of the number of times the brake valve is switched on and off according to the times the brake valve is switched on and off as it is raised, the times the brake valve is switched on and off as it is lowered, and the delay parameter set during calibration. In this embodiment, the brake switch parameters caused by the change of the number of times the brake valve is switched on and off include: the hoisting opening time parameter , Winch lifting and closing time parameters , Winch lowering opening time parameters , Winch lowering closing time parameters The above time parameter calculation formulas can be expressed as:

[0087] ; ;

[0088] ; .

[0089] According to the working pressure of the winch and the number of times the winch works in the segmented pressure range, the braking performance and maintenance of the winch brake can be estimated.

[0090] Then, according to the brake switch parameters caused by the temperature change, the brake switch parameters caused by the pressure change, the brake switch parameters caused by the change in the number of times the brake valve is switched on and off, and the delay parameters set during the calibration, the delay parameter value of the brake valve required to be opened for this action is calculated. In this embodiment, the delay parameter value of the brake valve required to be opened for this action can be obtained by calculating the sum of the brake switch parameters caused by the temperature change, the brake switch parameters caused by the pressure change, the brake switch parameters caused by the change in the number of times the brake valve is switched on and off, and the delay parameters set during the calibration. The delay parameter value of the brake valve required to be opened for this action includes the delay time required to open the brake valve for the rising brake. , Delay time for opening the brake valve when closing the brake when ascending , Delay time for opening the brake valve when lowering Delay time for opening the brake valve when closing the brake and descending , which can be specifically expressed as:

[0091] ;

[0092] ;

[0093] ;

[0094] .

[0095] Step 230: According to the brake valve opening delay parameter value required for the brake action this time, the start and stop parameters of the current hoisting brake valve 10 are corrected to control the switch delay of the hoisting brake valve 10. In this embodiment, according to the brake valve opening delay parameter value obtained for the brake action this time, the start and stop parameters of the current hoisting brake valve 10 are automatically corrected to control the switch delay of the brake valve to achieve stable and safe switch of the brake.

[0096] In the above implementation process, when the crane hoists, the current hydraulic oil temperature, the current number of brake valve switches, the pressure before the brake valve is closed during the previous hoisting, the parameter information during calibration under the current working condition, and the delay parameter set during calibration are obtained; then, according to the current hydraulic oil temperature, the current number of brake valve switches, the pressure before the brake valve is closed during the previous hoisting, the parameter information during calibration under the current working condition, and the delay parameter set during calibration, the brake valve delay parameter value required for opening the brake for this action is calculated; finally, according to the brake valve delay parameter value required for opening the brake for this action, the start and stop parameters of the current hoisting brake valve 10 are corrected to control the switch delay of the hoisting brake valve 10. By correcting the delay parameters of the start and stop parameters of the current hoisting brake valve 10 according to the real-time crane working temperature, load pressure, and the number of hoisting brakes, the delay parameters are adjusted to achieve self-adaptation and self-matching of the delay parameters, thereby more accurately controlling the time of opening and closing the brake, avoiding braking shock or hoisting hook slippage, and increasing the service life of the hoisting brake. The correction of parameters in the above control process can be realized without the need for on-site debugging and setting by professionals, which is simple to operate and reduces service costs.

[0097] Among them, during the hoisting operation, the system monitors the opening and closing time of each brake in real time. After the parameter compensation correction, if there is still a momentary impact of high pressure or reversal when the brake is opened, the user is prompted to modify the corresponding delay proportional coefficient according to the pressure impact size and reversal acceleration. Specifically, according to the brake valve delay parameter value required to open the brake for this action, the current brake valve start-stop parameters are corrected to control the brake valve switch delay, and it also includes:

[0098] Determine whether there is a momentary impact of high pressure or brake reversal. If so, obtain the magnitude of the momentary impact of high pressure and the reversal acceleration, and generate a delay proportional coefficient modification prompt information based on the magnitude of the momentary impact of high pressure and the reversal acceleration; if not, end. The above determination of whether there is a momentary impact of high pressure or brake reversal is the same as the method in step A3 above, and will not be repeated here. According to the magnitude of the pressure shock and the reversal acceleration, prompt the user to modify the corresponding brake delay parameter value required to open the brake valve, including the delay time required to open the brake valve for rising , Delay time for opening the brake valve when closing the brake when ascending , Delay time for opening the brake valve when lowering Delay time for opening the brake valve when closing the brake and descending When the delay parameter value is greater than the allowable value, the winch system can be opened to limit, thereby increasing the system safety factor.

[0099] Figure 1 FIG. 1 is a flow chart of a control method for a crane braking system in one embodiment. It should be understood that although Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0100] Please see Figure 2-Figure 3 , Figure 2 A schematic diagram of a crane according to an embodiment of the present application is schematically shown; Figure 3 The schematic diagram schematically shows a principle diagram of a control system of a crane braking system according to an embodiment of the present application.

[0101] In one embodiment, a control system of a crane brake system is provided, which is used to implement the control method of the crane brake system, including a control unit 7, a temperature sensor 1, a hoisting pressure sensor 2 and a hoisting brake valve 10;

[0102] The temperature sensor 1 is used to obtain the current hydraulic oil temperature and send it to the control unit 7; the temperature sensor 1 can collect the hydraulic oil temperature in real time, and the control unit 7 calculates the current crane hydraulic system operating temperature based on the received hydraulic oil temperature.

[0103] The hoisting pressure sensor 2 is used to obtain the pressure before the brake valve is closed during the previous hoisting and send it to the control unit 7; the hoisting pressure sensor 2 can collect the pressure during hoisting in real time.

[0104] The control unit 7 is used to count the number of times the brake valve is switched on and off, obtain the current number of times the brake valve is switched on and off, and calculate the delay parameter value of the brake valve required to open the brake valve for this action according to the current hydraulic oil temperature, the current number of times the brake valve is switched on and off, the pressure before the brake valve is closed during the previous hoisting, the parameter information during calibration under the current working condition, and the delay parameter set during calibration, and send it to the hoisting brake valve 10. In this embodiment, the control unit 7 can be a controller such as a PLC or a single-chip microcomputer.

[0105] In the above implementation process, the temperature sensor 1 is set to obtain the current hydraulic oil temperature and send it to the control unit 7; the hoisting pressure sensor 2 obtains the pressure before the brake valve is closed during the previous hoisting and sends it to the control unit 7; the control unit 7 counts the number of times the brake valve is switched on and off to obtain the current number of times the brake valve is switched on and off, and calculates the delay parameter value of the brake valve required to open the brake valve for this action according to the current hydraulic oil temperature, the current number of times the brake valve is switched on and off, the pressure before the brake valve is closed during the previous hoisting, the parameter information during calibration under the current working condition, and the delay parameter set during calibration, and sends it to the hoisting brake valve 10. The delay parameter correction can be performed on the start and stop parameters of the current hoisting brake valve 10 to achieve delay parameter self-adaptation and self-matching, thereby more accurately controlling the time to open and close the brake.

[0106] It also includes a winch encoder 3 for detecting the rope length and sending it to the control unit 7; it also includes a winch up proportional valve 8 and a winch down proportional valve 9, which are respectively connected to the control unit 7 and are used to control the direction of the winch to rise or fall according to the control information sent by the control unit 7. It also includes a GPS remote module 4, which is used to send the data in the control unit 7 to the remote platform for data backup to avoid data loss. It also includes a winch handle 5, which is used to implement the winch action and send the winch action information to the control unit 7 to determine the winch action. It also includes a human-computer interaction device 6, which is connected to the control unit 7. The above-mentioned human-computer interaction device 6 is used to display the winch brake calibration interface and enable button to facilitate the winch brake calibration operation.

[0107] In one embodiment, Figure 6 As shown, Figure 6The structure block diagram of a control device for a crane braking system according to an embodiment of the present application is schematically shown. A control device for a crane braking system is provided, comprising an information acquisition module 410, a delay parameter value calculation module 420, and a brake valve start-stop parameter correction module 430, wherein:

[0108] The information acquisition module 410 is used to obtain the current hydraulic oil temperature, the current number of brake valve switching times, the pressure before the brake valve was closed during the previous hoisting, the parameter information during calibration under the current working condition, and the delay parameter set during calibration when the crane is hoisting;

[0109] The delay parameter value calculation module 420 is used to calculate the delay parameter value of the brake valve required to open the brake for this action according to the current hydraulic oil temperature, the current number of brake valve switching times, the pressure before the brake valve was closed during the previous hoisting, the parameter information during calibration under the current working condition, and the delay parameter set during calibration;

[0110] The brake valve start-stop parameter correction module 430 is used to correct the start-stop parameters of the current hoisting brake valve 10 according to the brake valve opening delay parameter value required for the brake to be operated this time, so as to control the switch delay of the hoisting brake valve 10.

[0111] The control device of the crane braking system includes a processor and a memory. The above-mentioned information acquisition module 410, delay parameter value calculation module 420, brake valve start-stop parameter correction module 430, etc. are all stored in the memory as program units, and the processor executes the above-mentioned program modules stored in the memory to implement corresponding functions.

[0112] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the control method of the crane brake system is realized by adjusting the kernel parameters.

[0113] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0114] An embodiment of the present application provides a storage medium on which a program is stored. When the program is executed by a processor, the above-mentioned control method of a crane braking system is implemented.

[0115] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 7As shown. The computer device includes a processor A01, a network interface A02, a display screen A04, an input device A05 and a memory (not shown in the figure) connected through a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A06. The non-volatile storage medium A06 stores an operating system B01 and a computer program B02. The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A06. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor A01, a control method for a crane braking system is implemented. The display screen A04 of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device A05 of the computer device can be a touch layer covered on the display screen, or a key, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0116] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0117] In one embodiment, the control device of the crane braking system provided by the present application can be implemented in the form of a computer program. The computer program can be Figure 7 The computer device shown in the figure is run. The memory of the computer device can store various program modules constituting the control device of the crane braking system, for example, Figure 6 The information acquisition module 410, the delay parameter value calculation module 420, and the brake valve start-stop parameter correction module 430 are shown. The computer program composed of various program modules enables the processor to execute the steps of the control method of the crane brake system of each embodiment of the present application described in this specification.

[0118] Figure 7 The computer device shown can be Figure 6 The information acquisition module 410 in the control device of the crane brake system shown in the figure executes step 210. The computer device can execute step 220 through the delay parameter value calculation module 420 and execute step 230 through the brake valve start-stop parameter correction module 430.

[0119] The embodiment of the present application provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the following steps are implemented:

[0120] When the crane is hoisting, obtain the current hydraulic oil temperature, the current number of times the brake valve is switched on and off, the pressure before the brake valve is closed during the previous hoisting, the parameter information during calibration under the current working condition, and the delay parameters set during calibration;

[0121] The delay parameter value of the brake valve opening required for the current action brake is calculated according to the current hydraulic oil temperature, the current number of brake valve switching times, the pressure before the brake valve was closed during the previous hoisting, the parameter information during calibration under the current working condition, and the delay parameter set during calibration;

[0122] According to the delay parameter value of the brake valve that needs to be opened for the brake action this time, the start and stop parameters of the current hoisting brake valve 10 are corrected to control the switch delay of the hoisting brake valve 10.

[0123] In one embodiment, the delay parameter value of the brake valve required to be opened for the current action brake is calculated based on the current hydraulic oil temperature, the current number of brake valve switching times, the pressure before the brake valve was closed during the previous hoisting, the parameter information during calibration under the current working condition, and the delay parameter set during calibration, including:

[0124] According to the current hydraulic oil temperature, the current number of brake valve switching times, the pressure before the brake valve was closed during the previous hoisting, the parameter information during calibration under the current working condition, and the delay parameter set during calibration, respectively calculate the brake switching parameters caused by temperature changes, the brake switching parameters caused by pressure changes, and the brake switching parameters caused by changes in the number of switching brake valves;

[0125] According to the brake switch parameters caused by the temperature change, the brake switch parameters caused by the pressure change, the brake switch parameters caused by the change in the number of times the brake valve is switched on and off, and the delay parameters set during the calibration, the delay parameter value of the brake valve required to open the brake for this action is calculated.

[0126] In one embodiment, the parameter information during calibration under the current working condition includes the hydraulic oil temperature during calibration;

[0127] The method of calculating the brake switch parameters caused by temperature change, the brake switch parameters caused by pressure change and the brake switch parameters caused by the change in the number of times the brake valve is switched on and off respectively according to the current hydraulic oil temperature, the current number of times the brake valve is switched on and off, the pressure before the brake valve is closed during the previous hoisting, the parameter information during calibration under the current working condition and the delay parameter set during calibration, includes:

[0128] Calculate the brake switch parameters caused by the temperature change according to the current hydraulic oil temperature, the hydraulic oil temperature during calibration and the delay parameter set during calibration;

[0129] The brake switch parameters caused by the pressure change are calculated based on the pressure before the brake valve is closed during the previous hoisting and the delay parameters set during calibration;

[0130] The brake switching parameters caused by the change in the number of times the brake valve is switched are calculated based on the current number of times the brake valve is switched on and off, the pressure before the brake valve is closed during the previous hoisting and the delay parameters set during calibration.

[0131] In one embodiment, the brake switch parameters caused by the change in the number of times the brake valve is switched are calculated based on the current number of times the brake valve is switched, the pressure before the brake valve is closed during the previous hoisting, and the delay parameter set during calibration, including:

[0132] According to the pressure before the brake valve was closed during the previous hoisting, the current number of times the brake valve was switched on and off was counted in pressure segments to obtain the number of times the brake valve was switched on and off for raising and the number of times the brake valve was switched on and off for lowering;

[0133] The brake switching parameters caused by the change in the number of times of switching the brake valve on and off are calculated according to the number of times of switching the brake valve on and off as it rises, the number of times of switching the brake valve on and off as it falls, and the delay parameter set during calibration.

[0134] In one embodiment, it further includes:

[0135] A1: Get the winch brake calibration command;

[0136] A2: Get the winch action of the handle according to the winch brake calibration command;

[0137] A3: According to the winch action of the handle, determine whether the winch has pressure shock or reversal during the time from the winch current output to the winch action. If yes, execute A4; if not, execute A6;

[0138] A4: Generate and display prompt information to the user;

[0139] A5: Re-obtain the winch braking time parameter value input by the user and execute A2;

[0140] A6: Record the working temperature, lifting pressure, and lifting brake opening time during the current action as parameter information during calibration, and record the current winch braking time parameter value as the delay parameter set during calibration.

[0141] In one embodiment, after the current brake valve start / stop parameters are corrected according to the brake valve opening delay parameter value required for the brake to be operated this time to control the brake valve switch delay, the method further includes:

[0142] Determine whether there is an instantaneous impact high pressure or brake reversal. If so, obtain the instantaneous impact high pressure size and reversal acceleration, and generate a delay proportional coefficient modification prompt information based on the instantaneous impact high pressure size and reversal acceleration; if not, end.

[0143] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0144] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0145] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0146] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0147] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0148] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0149] Computer readable media include permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules 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 technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0150] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0151] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A control method for a crane braking system, characterized in that: The control method of the crane braking system comprises: When the crane is hoisting, obtain the current hydraulic oil temperature, the current number of times the brake valve is switched on and off, the pressure before the brake valve is closed during the previous hoisting, the parameter information during calibration under the current working condition, and the delay parameters set during calibration; The delay parameter value of the brake valve opening required for the current action brake is calculated according to the current hydraulic oil temperature, the current number of brake valve switching times, the pressure before the brake valve was closed during the previous hoisting, the parameter information during calibration under the current working condition, and the delay parameter set during calibration; According to the delay parameter value of the brake valve that needs to be opened for the brake action this time, the current start and stop parameters of the hoisting brake valve are corrected to control the switch delay of the hoisting brake valve.

2. The method according to claim 1, characterized in that The delay parameter value of the brake valve opening required for the current action brake is calculated based on the current hydraulic oil temperature, the current number of brake valve switching times, the pressure before the brake valve was closed during the previous hoisting, the parameter information during calibration under the current working condition, and the delay parameter set during calibration, including: According to the current hydraulic oil temperature, the current number of brake valve switching times, the pressure before the brake valve was closed during the previous hoisting, the parameter information during calibration under the current working condition, and the delay parameter set during calibration, respectively calculate the brake switching parameters caused by temperature changes, the brake switching parameters caused by pressure changes, and the brake switching parameters caused by changes in the number of switching brake valves; According to the brake switch parameters caused by the temperature change, the brake switch parameters caused by the pressure change, the brake switch parameters caused by the change in the number of times the brake valve is switched on and off, and the delay parameters set during the calibration, the delay parameter value of the brake valve required to open the brake for this action is calculated.

3. The method according to claim 2, characterized in that The parameter information during calibration under the current working condition includes the hydraulic oil temperature during calibration; The method of calculating the brake switch parameters caused by temperature change, the brake switch parameters caused by pressure change and the brake switch parameters caused by the change in the number of times the brake valve is switched on and off respectively according to the current hydraulic oil temperature, the current number of times the brake valve is switched on and off, the pressure before the brake valve is closed during the previous hoisting, the parameter information during calibration under the current working condition and the delay parameter set during calibration, includes: Calculate the brake switch parameters caused by the temperature change according to the current hydraulic oil temperature, the hydraulic oil temperature during calibration and the delay parameter set during calibration; The brake switch parameters caused by the pressure change are calculated based on the pressure before the brake valve is closed during the previous hoisting and the delay parameters set during calibration; The brake switching parameters caused by the change in the number of times the brake valve is switched are calculated based on the current number of times the brake valve is switched on and off, the pressure before the brake valve is closed during the previous hoisting and the delay parameters set during calibration.

4. The method according to claim 3, characterized in that The brake switch parameters caused by the change in the number of times the brake valve is switched are calculated based on the current number of times the brake valve is switched, the pressure before the brake valve is closed during the previous hoisting, and the delay parameter set during calibration, including: According to the pressure before the brake valve was closed during the previous hoisting, the current number of times the brake valve was switched on and off was counted in pressure segments to obtain the number of times the brake valve was switched on and off for raising and the number of times the brake valve was switched on and off for lowering; The brake switching parameters caused by the change in the number of times of switching the brake valve on and off are calculated according to the number of times of switching the brake valve on and off as it rises, the number of times of switching the brake valve on and off as it falls, and the delay parameter set during calibration.

5. The method according to claim 1, characterized in that Also includes: A1: Get the winch brake calibration command; A2: Get the winch action of the handle according to the winch brake calibration command; A3: According to the winch action of the handle, determine whether the winch has pressure shock or reversal during the time from the winch current output to the winch action. If yes, execute A4; if not, execute A6; A4: Generate and display prompt information to the user; A5: Re-obtain the winch braking time parameter value input by the user and execute A2; A6: Record the working temperature, lifting pressure, and lifting brake opening time during the current action as parameter information during calibration, and record the current winch braking time parameter value as the delay parameter set during calibration.

6. The method according to claim 1, characterized in that According to the brake valve opening delay parameter value required for the brake action this time, the current brake valve start-stop parameter is corrected to control the brake valve switch delay, and further includes: Determine whether there is an instantaneous impact high pressure or brake reversal. If so, obtain the instantaneous impact high pressure magnitude and reversal acceleration, and generate a delay proportional coefficient modification prompt information based on the instantaneous impact high pressure magnitude and reversal acceleration.

7. A control system for a crane braking system, used to implement the control method for a crane braking system according to any one of claims 1 to 6, characterized in that: include: Control unit, temperature sensor, winch pressure sensor, winch encoder and winch brake valve; The temperature sensor is used to collect the current hydraulic oil temperature in real time and send it to the control unit; The hoisting pressure sensor is used to collect the hoisting pressure in real time and send it to the control unit; The control unit is used to count the number of times the brake valve is switched on and off; it is also used to calculate the delay parameter value required to open the brake valve for this action based on the current number of times the brake valve is switched on and off, the current hydraulic oil temperature, the pressure before the brake valve was closed during the previous hoisting, the parameter information during calibration under the current working conditions, and the delay parameters set during calibration, and send it to the hoisting brake valve.

8. A control device for a crane braking system, characterized in that: The control device of the crane braking system comprises: The information acquisition module is used to obtain the current hydraulic oil temperature, the current number of brake valve switching times, the pressure before the brake valve was closed during the previous hoisting, the parameter information during calibration under the current working condition, and the delay parameters set during calibration when the crane is hoisting; The delay parameter value calculation module is used to calculate the delay parameter value of the brake valve required to open the brake for this action according to the current hydraulic oil temperature, the current number of brake valve switching times, the pressure before the brake valve was closed during the previous hoisting, the parameter information during calibration under the current working condition, and the delay parameter set during calibration; The brake valve start-stop parameter correction module is used to correct the current hoisting brake valve start-stop parameters according to the brake valve delay parameter value required to open the brake valve for the current action, so as to control the hoisting brake valve switch delay.

9. A processor, characterized in that: The method is configured to execute the control method of the crane braking system according to any one of claims 1 to 6.

10. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instruction is executed by a processor, the processor is configured to execute the control method of the crane braking system according to any one of claims 1 to 6.

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