A method for hoisting a slanting crane with a translation mechanism and self-correction

Abstract

The application discloses a hoisting method for self-correction of a skew hoist of a translation mechanism, and the relative deviation angle of a steel wire rope is calculated by using the spatial position information of the steel wire rope in a static and naturally drooping state and the spatial position information of the steel wire rope in a dynamic state. The execution speed of the translation mechanism and the lifting speed of a lifting mechanism are adjusted by using the obtained relative deviation angle, so that automatic adjustment of the skew hoist is realized. The hoisting method for self-correction of the skew hoist of the translation mechanism can automatically control the translation mechanism by detecting the angle information of the steel wire rope, realizes automatic correction of the skew hoist, avoids the danger possibly caused by the skew hoist, and avoids damage to the related structure of the crane caused by the skew hoist.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of auxiliary motion control, more particularly to a method for self-correction of a tilting crane with a translation mechanism. BACKGROUND

[0002] Currently, in the process of lifting and transporting goods in ports, workshops, power plants, construction sites and other places, cranes such as truck cranes, caterpillar cranes and tire cranes are frequently used. However, in order to prevent accidents, we need to learn to operate the crane according to the specifications, and tilting operation is prohibited because it can cause many hazards.

[0003] 1. Tilting operation can increase the load of the crane, causing serious overloading, and due to non-vertical force, it can also cause serious impact and wear on the steel structure and transmission pulley.

[0004] 2. Tilting operation can generate a lateral component of the load, and once the heavy object is lifted off the ground and loses the constraint of ground friction, it will swing violently along the lateral component direction, which can cause accidents by hitting people or objects.

[0005] 3. Tilting operation can cause the steel wire rope to come out of the reel groove and be wound in multiple layers on the reel, and also cause the steel wire rope to come out of the pulley groove, resulting in a steel wire rope jumping accident.

[0006] 4. Tilting operation can exacerbate damage to the steel wire rope, reel and pulley.

[0007] 5. Tilting operation is using the crane as a tractor, which can cause serious overloading of the trolley and motor equipment.

[0008] Therefore, it is an urgent problem for those skilled in the art to provide a method for self-correction of a tilting crane with a translation mechanism to avoid the dangers that may be caused by tilting operation and to avoid damage to the related structures of the crane. SUMMARY

[0009] Therefore, the present application provides a method for self-correction of a tilting crane with a translation mechanism, which automatically controls the translation mechanism by detecting the angle information of the steel wire rope, realizes automatic correction of the tilting operation, avoids the dangers that may be caused by tilting operation, and avoids damage to the related structures of the crane.

[0010] In order to achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0011] A method for self-correction of a tilting crane with a translation mechanism, comprising:

[0012] S1: obtaining static angle information and static distance information of the steel wire rope in a circular coordinate system in a static state; converting the circular coordinate system into an XY plane rectangular coordinate system, and obtaining an X-axis static displacement component and a Y-axis static displacement component in the XY plane rectangular coordinate system by using the static angle information and the static distance information;

[0013] S2: obtaining dynamic angle information and dynamic distance information of the steel wire rope in a circular coordinate system in a dynamic state; and obtaining an X-axis dynamic displacement component and a Y-axis dynamic displacement component in the XY plane rectangular coordinate system by using the dynamic angle information and the dynamic distance information;

[0014] subtracting the X-axis dynamic displacement component from the X-axis static displacement component to obtain an X-axis relative displacement component, subtracting the Y-axis dynamic displacement component from the Y-axis static displacement component to obtain a Y-axis relative displacement component, calculating an X-axis relative deviation angle of the steel wire rope according to the X-axis relative displacement component, and calculating a Y-axis relative deviation angle of the steel wire rope according to the Y-axis relative displacement component;

[0015] S3: if the X-axis relative deviation angle is greater than a set X-axis angle threshold, adjusting a translation speed of an X-axis translation mechanism according to the X-axis relative deviation angle;

[0016] if the Y-axis relative deviation angle is greater than a set Y-axis angle threshold, adjusting a translation speed of a Y-axis translation mechanism according to the Y-axis relative deviation angle;

[0017] adjusting a lifting speed of a lifting mechanism by using the X-axis relative deviation angle and the Y-axis relative deviation angle;

[0018] S4: repeating S2-S3 until the X-axis relative deviation angle is less than or equal to the set X-axis angle threshold and the Y-axis relative deviation angle is less than or equal to the set Y-axis angle threshold.

[0019] Preferably, the static angle information and the static distance information are obtained by a laser radar sensor;

[0020] Preferably, the dynamic angle information and the dynamic distance information are obtained by the laser radar sensor;

[0021] Preferably, a scanning surface of the laser radar sensor is perpendicular to the steel wire rope;

[0022] Preferably, the calculation formulae of the X-axis static displacement component and the Y-axis static displacement component are respectively:

[0023] the calculation formula of the X-axis static displacement component:

[0024] the calculation formula of the Y-axis static displacement component:

[0025] Among them, L xz L represents the static displacement component along the X-axis. yz θ represents the static displacement component of the Y-axis; a represents the static angle information, i.e., the static sampling angle of the wire rope in a stationary state; θ represents the total sampling angle of the lidar sensor; and L represents the static distance information, i.e., the distance between the wire rope and the lidar sensor in a stationary state.

[0026] Preferably, the calculation formulas for the X-axis dynamic displacement component and the Y-axis dynamic displacement component are as follows:

[0027] The formula for calculating the dynamic displacement component of the X-axis is as follows:

[0028] The formula for calculating the dynamic displacement component of the Y-axis is as follows:

[0029] Among them, L xj The X-axis dynamic displacement component; L yj β is the dynamic displacement component of the Y-axis; β is the dynamic angle information, i.e., the dynamic sampling angle of the wire rope during dynamic operation; θ is the total sampling angle of the lidar sensor; and M is the dynamic distance information, i.e., the distance between the wire rope and the lidar sensor during dynamic operation.

[0030] The formula for calculating the relative displacement component along the X-axis is: L x =L xz -L xj ;

[0031] The formula for calculating the relative displacement component along the Y-axis is: L y =L yz -L yj ;

[0032] The formula for calculating the relative offset angle of the X-axis is: γ x =tan -1 (L x / P);

[0033] The formula for calculating the relative offset angle of the X-axis is: γ y =tan -1 (L y / P);

[0034] Where, γ x γ represents the relative offset angle of the wire rope along the X-axis; y denoted as the relative offset angle of the wire rope in the Y-axis direction; P is the distance between the sampling point of the lidar sensor on the wire rope and the fixed pulley in the stationary state.

[0035] Preferably, the S3 further comprises:

[0036] Adjustment speed formula of the X-axis translation mechanism:

[0037]

[0038] Adjustment speed formula of the Y-axis translation mechanism:

[0039]

[0040] wherein v nx is the minimum execution speed of the X-axis direction translation mechanism, v ny is the minimum execution speed of the Y-axis direction translation mechanism; wherein K1 is the proportional adjustment coefficient of the X-axis; K2 is the proportional adjustment coefficient of the Y-axis.

[0041] Preferably, the S3 further comprises:

[0042] Adjustment speed formula of the lifting mechanism:

[0043]

[0044] wherein v UG is the lifting speed set for the lifting mechanism; v UM is the maximum allowable speed of the lifting mechanism when the inclined hoist is tilted; λ is an empirical value, λ = 20.

[0045] Preferably, the S1 further comprises:

[0046] The step of obtaining the static angle information and the static distance information of the steel wire rope in the circular coordinate system in the static state:

[0047] S11: selecting sampling data of the laser radar sensor within a preset sampling angle;

[0048] S12: selecting sampling points falling within a preset distance range from the sampling data in S11, and recording angle information of the sampling points and distance information of the sampling points, the angle information of the sampling points being the static angle information of the steel wire rope in the circular coordinate system in the static state, and the distance information of the sampling points being the static distance information of the steel wire rope in the circular coordinate system in the static state.

[0049] Preferably, the S2 further comprises:

[0050] The step of obtaining the dynamic angle information and the dynamic distance information of the steel wire rope in the circular coordinate system in the dynamic state:

[0051] S21: selecting sampling data of the laser radar sensor within a preset sampling angle;

[0052] S22: selecting a sampling point falling within a preset distance range in the sampling data in S21, and recording an angle of the sampling point and a distance of the sampling point, the angle of the sampling point being dynamic angle information of the steel wire rope in a circular coordinate system in a dynamic state, and the distance of the sampling point being dynamic distance information of the steel wire rope in the circular coordinate system in the dynamic state.

[0053] Preferably, the preset distance range is [Q, W], wherein H > W > Q.

[0054] Wherein, Q is the maximum distance of the steel wire rope from the laser radar sensor in dynamic operation; W is the minimum distance of the steel wire rope from the laser radar sensor in dynamic operation; and H is the limit sampling distance of the laser radar sensor.

[0055] Preferably, the calculation formula of the limit sampling distance of the laser radar sensor is:

[0056] Δθ = θ / N Formula 1

[0057]

[0058] Bringing formula 1 into formula 2 gives:

[0059]

[0060] Wherein, N represents the number of sampling points of the laser radar sensor under the current frame rate; θ is the total sampling angle of the laser radar sensor; Δθ is the angle resolution; L is the diameter of the steel wire rope to be detected; and H is the maximum detection distance of the laser radar sensor, i.e. the limit sampling distance.

[0061] Preferably, S3 further comprises, before adjusting the translation speed of the translation mechanism:

[0062] When the X-axis relative offset angle is greater than a set X-axis angle threshold, the self-correction function is turned on, and the lifting mechanism is ascending, the translation speed of the X-axis translation mechanism is adjusted according to the X-axis relative offset angle.

[0063] When the Y-axis relative offset angle is greater than a set Y-axis angle threshold, the self-correction function is turned on, and the lifting mechanism is ascending, the translation speed of the Y-axis translation mechanism is adjusted according to the Y-axis relative offset angle.

[0064] According to the above technical solution, compared with the prior art, the present application provides a kind of lifting method of self-correction of skewing and tilting of translation mechanism, which automatically controls translation mechanism by detecting angle information of steel wire rope, realizes the automatic correction of skewing and tilting, avoids the danger that skewing and tilting can produce and avoids the damage that skewing and tilting produces to crane related structure. BRIEF DESCRIPTION OF DRAWINGS

[0065] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description only constitute the embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of the provided drawings.

[0066] Figure 1 It is a schematic diagram of the spatial distribution state of the laser radar sensor and the sampled steel wire rope.

[0067] Figure 2 The left drawing is a schematic diagram of the direction before laser scanning, and the right drawing is a schematic diagram of the top view direction of laser scanning.

[0068] Figure 3 It is a schematic diagram of the top view direction of the limit sampling distance of the steel wire rope.

[0069] Figure 4 It is a schematic diagram of the top view direction of laser scanning within the preset angle and the preset distance range.

[0070] Figure 5 It is a schematic diagram of the conversion relationship between the polar coordinate system data of the steel wire rope and the XY plane rectangular coordinate system data in the static state.

[0071] Figure 6 The left drawing is a schematic diagram of the relative offset angle in the X-axis direction, and the right drawing is a schematic diagram of the relative offset angle in the Y-axis direction.

[0072] Figure 7 It is a schematic diagram of the skewing adjustment of the hoisting.

[0073] Figure 8 It is a schematic diagram of the skewing adjustment of the hoisting in the hoisting process.

[0074] Figure 9 It is a whole flow chart of the skewing adjustment self-correction of the translation mechanism in a certain embodiment.

[0075] Wherein: 1, trolley; 2, trolley slide rail 3, steel wire rope; 3', steel wire rope in static and natural drooping state; 4, lifting mechanism fixed pulley; 5, laser radar sensor; 6, mounting seat; 7, signal line; 8, sampling laser; 9: pulley outlet; f: adjustment direction; g: deceleration rising. DETAILED DESCRIPTION

[0076] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort belong to the scope of the present application.

[0077] A hoisting method for self-correction of a skew hoist of a translation mechanism, comprising:

[0078] S1: obtaining static angle information and static distance information of a steel wire rope in a circular coordinate system in a static state; converting the circular coordinate system into an XY plane rectangular coordinate system, and obtaining an X-axis static displacement component and a Y-axis static displacement component in the XY plane rectangular coordinate system by using the static angle information and the static distance information;

[0079] In an embodiment, the static angle information and the static distance information are obtained by a laser radar sensor; a scanning surface of the laser radar sensor is perpendicular to the steel wire rope.

[0080] The static state is a state in which the steel wire rope is static and naturally droops.

[0081] In the embodiment, as shown in Figure 1 and Figure 2 , the laser radar sensor is installed on the translation mechanism, a scanning direction of the laser radar sensor is substantially perpendicular to the steel wire rope, and sampling data of the laser radar sensor on the steel wire rope is a section data of a section (cross section) of the steel wire rope on a sampling tangent of the laser radar sensor, which contains spatial coordinate information (distance information and angle information) of the current steel wire rope.

[0082] In the embodiment, as shown in Figure 5 , calculation formulas of the X-axis static displacement component and the Y-axis static displacement component are respectively:

[0083] The calculation formula of the X-axis static displacement component is:

[0084] The calculation formula of the Y-axis static displacement component is:

[0085] wherein, L xz is the X-axis static displacement component; L yz is the Y-axis static displacement component; a is the static angle information, that is, a static sampling angle of the steel wire rope in the static state; θ is a total sampling angle of the laser radar sensor, and L is the static distance information, that is, a distance of the steel wire rope from the laser radar sensor in the static state.

[0086] In the formula, two cases of the sampling point initially falling in the first quadrant and the second quadrant are considered, and the judgment basis is whether the angle of the sampling point is greater than half of the total sampling angle of the laser radar sensor.

[0087] In an embodiment, the S1 further comprises:

[0088] The step of acquiring the static angle information and the static distance information of the steel wire rope in the circular coordinate system in the static state:

[0089] S11: selecting sampling data of the laser radar sensor in a preset sampling angle;

[0090] S12: selecting a sampling point falling in a preset distance range in the sampling data in S11, and recording angle information of the sampling point and distance information of the sampling point, the angle information of the sampling point being static angle information of the steel wire rope in the circular coordinate system in the static state, and the distance information of the sampling point being static distance information of the steel wire rope in the circular coordinate system in the static state.

[0091] In this embodiment, as shown in Figure 4 , the preset sampling angle is φ, the preset distance range is [Q, W], and H>W>Q; Q is the maximum distance between the steel wire rope and the laser radar sensor in the dynamic operation; W is the minimum distance between the steel wire rope and the laser radar sensor in the dynamic operation; and H is the limit sampling distance of the laser radar sensor.

[0092] In this embodiment, the sampling point in step S12 is the first point selected counterclockwise with a distance between Q and W;

[0093] In this embodiment, the installation position of the laser radar sensor of the present application is selected at about Q+(W-Q) / 2, and it should be noted that there should be no other obstacles in the preset range and only the steel wire rope (that is, attention should be paid to the shielding in the actual engineering construction).

[0094] In this embodiment, as shown in Figure 3 , the calculation formula of the limit sampling distance of the laser radar sensor is:

[0095] Δθ=θ / N Formula 1

[0096]

[0097] Bringing formula 1 into formula 2 gives:

[0098]

[0099] Wherein, N represents the sampling point number of the laser radar sensor under the current frame rate; θ is the total sampling angle of the laser radar sensor; Δθ is the angle resolution; L is the diameter of the detected steel wire rope; H is the maximum detection distance of the laser radar sensor, that is, the limit sampling distance. The present application does not consider the influence of light intensity and steel wire rope reflectivity on the limit sampling distance, and the sampling point number complies with the Nyquist sampling theorem. Since the distance value of the laser radar ranging and the diameter of the steel wire rope are not in the same order of magnitude, the arc surface effect of the steel wire rope is also not considered.

[0100] S2: Obtain dynamic angle information and dynamic distance information of the steel wire rope in the dynamic state in the polar coordinate system; and obtain X-axis dynamic displacement component and Y-axis dynamic displacement component in the XY plane rectangular coordinate system by using the dynamic angle information and the dynamic distance information;

[0101] Subtract the X-axis static displacement component from the X-axis dynamic displacement component to obtain the X-axis relative displacement component; subtract the Y-axis static displacement component from the Y-axis dynamic displacement component to obtain the Y-axis relative displacement component; calculate the X-axis relative offset angle of the steel wire rope according to the X-axis relative displacement component, and calculate the Y-axis relative offset angle of the steel wire rope according to the Y-axis relative displacement component;

[0102] In an embodiment, the dynamic angle information and the dynamic distance information are obtained by the laser radar sensor; and the scanning surface of the laser radar sensor is perpendicular to the steel wire rope;

[0103] In the embodiment, the calculation formulae of the X-axis dynamic displacement component and the Y-axis dynamic displacement component are respectively:

[0104] The calculation formula of the X-axis dynamic displacement component is:

[0105] The calculation formula of the Y-axis dynamic displacement component is:

[0106] Wherein, L xj is the X-axis dynamic displacement component; L yj is the Y-axis dynamic displacement component; β is the dynamic angle information, that is, the dynamic sampling angle of the steel wire rope in the dynamic operation; θ is the total sampling angle of the laser radar sensor, and M is the dynamic distance information, that is, the distance between the steel wire rope and the laser radar sensor in the dynamic operation;

[0107] The calculation formula of the X-axis relative displacement component is: L x = L xz -L xj ;

[0108] The calculation formula of the Y-axis relative displacement component is: L y =Lyz -L yj ;

[0109] The calculation formula of the relative offset angle of the X axis is γ x = tan -1 (L x / P);

[0110] The calculation formula of the relative offset angle of the X axis is γ y = tan -1 (L y / P);

[0111] As Figure 6 shown, wherein γ x is the relative offset angle of the steel wire rope in the X axis direction; γ y is the relative offset angle of the steel wire rope in the Y axis direction; P is the distance between the sampling point of the laser radar sensor on the steel wire rope and the fixed pulley in the static state.

[0112] In an embodiment, the S2 further comprises:

[0113] The step of acquiring dynamic angle information and dynamic distance information of the steel wire rope in the dynamic state in the polar coordinate system:

[0114] S21: selecting sampling data of the laser radar sensor within a preset sampling angle;

[0115] S22: selecting a sampling point falling within a preset distance range in the sampling data in S21, and recording the angle of the sampling point and the distance of the sampling point, the angle of the sampling point being the dynamic angle information of the steel wire rope in the dynamic state in the polar coordinate system, and the distance of the sampling point being the dynamic distance information of the steel wire rope in the dynamic state in the polar coordinate system.

[0116] In this embodiment, as Figure 4 shown, the preset sampling angle is φ, and the preset distance range is [Q, W], wherein H>W>Q; Q is the maximum distance between the steel wire rope and the laser radar sensor during dynamic operation; W is the minimum distance between the steel wire rope and the laser radar sensor during dynamic operation; and H is the limit sampling distance of the laser radar sensor;

[0117] In this embodiment, the sampling point in step S22 is the first point selected counterclockwise between Q and W;

[0118] In this embodiment, the installation position of the laser radar sensor of the present application is selected at about Q+(W-Q) / 2, and it should be noted that there should be no other obstructions in the preset range and only the steel wire rope (i.e., attention should be paid to the obstruction in actual engineering construction).

[0119] In this embodiment, asFigure 3 As shown, the calculation formula of the limit sampling distance of the laser radar sensor is:

[0120] Δθ=θ / N Formula 1

[0121]

[0122] Bringing formula 1 into formula 2 obtains:

[0123]

[0124] Wherein, N represents the sampling point number of the laser radar sensor under the current frame rate; θ is the total sampling angle of the laser radar sensor; Δθ is the angle resolution; L is the diameter of the detected steel wire rope; H is the maximum detection distance of the laser radar sensor, that is, the limit sampling distance. The present application does not consider the influence of light intensity and steel wire rope reflectivity on the limit sampling distance, and the sampling point number obeys the Nyquist sampling theorem. Since the distance value of the laser radar ranging and the diameter of the steel wire rope are not in the same order of magnitude, the arc surface effect of the steel wire rope is also not considered.

[0125] S3: If the X-axis relative offset angle is greater than the set X-axis angle threshold, adjusting the translation speed of the X-axis translation mechanism according to the X-axis relative offset angle;

[0126] If the Y-axis relative offset angle is greater than the set Y-axis angle threshold, adjusting the translation speed of the Y-axis translation mechanism according to the Y-axis relative offset angle;

[0127] Adjusting the lifting speed of the lifting mechanism by using the X-axis relative offset angle and the Y-axis relative offset angle;

[0128] In an embodiment, the S3 further comprises:

[0129] The adjustment speed formula of the X-axis translation mechanism:

[0130]

[0131] The adjustment speed formula of the Y-axis translation mechanism:

[0132]

[0133] Wherein, v nx is the minimum execution speed of the X-axis direction translation mechanism, v nyis the minimum execution speed of the X-axis direction translation mechanism; K1 is the proportional adjustment coefficient of the X-axis; K2 is the proportional adjustment coefficient of the Y-axis. Since each translation mechanism has a minimum execution speed, when the relative offset angle of the steel wire rope tends to zero, the adjustment speed also tends to zero, and the driving speed may be less than the minimum execution speed of the mechanism, therefore, the minimum execution speed of the X-axis translation mechanism is agreed to be v nx , and the minimum execution speed of the Y-axis direction mechanism is v ny .

[0134] K1 and K2 are redundant adjustment coefficients for different types of translation mechanisms, and the sizes of the two parameters need to be determined through parameter calibration according to the current type in the specific use process.

[0135] The minimum execution speed refers to the minimum speed value of the motor output to ensure the effective execution of the mechanism, and the selected value in the actual execution process is slightly larger than the theoretical value to ensure the stable execution characteristics of the system.

[0136] In an embodiment, when the X-axis direction translation mechanism and the Y-axis direction translation mechanism start to adjust, it indicates that the situation of skewing the hoist is generated, at this time, the hoisting mechanism should be appropriately decelerated, and the proportion of the deceleration is proportional to the size of the skewing; in order to avoid that the hoisting mechanism hoists too fast when the translation mechanism is not adjusted in place, a maximum hoisting speed also needs to be limited.

[0137] The adjustment speed formula of the hoisting mechanism is:

[0138]

[0139] wherein, v UG is the hoisting speed set for the hoisting mechanism (i.e. the hoisting speed given by the hoisting instruction); v UM is the maximum allowable speed of the hoisting mechanism when skewing the hoist (i.e. the translation mechanism is adjusted and the hoisting mechanism is just tightened at this speed, and the speed needs to be strictly measured in actual use because the hoisting mechanism speed of each hoisting machinery is different); λ is an empirical value, λ = 20, that is, the skewing angle of the hoist when the bridge crane and other small height hoists is not greater than ± 10°, if it is applied in a tower crane, a gantry crane or other places with a larger skewing angle of the hoist, the value of λ should be appropriately increased.

[0140] In an embodiment, the S3 further comprises, before adjusting the translation speed of the translation mechanism:

[0141] when the X-axis relative offset angle is greater than the set X-axis angle threshold and the self-correction function is turned on and the hoisting mechanism is rising, adjusting the translation speed of the X-axis translation mechanism according to the X-axis relative offset angle;

[0142] When the relative offset angle of the Y-axis is greater than the set Y-axis angle threshold, the self-correction function is turned on, and the lifting mechanism is ascending, the translation speed of the Y-axis translation mechanism is adjusted according to the relative offset angle of the Y-axis.

[0143] In the embodiment, the following conditions need to be met at the same time to turn on the self-adjusting function (the three conditions are in the logical relationship of AND):

[0144]

[0145] Wherein, l1 is the set X-axis angle threshold, l1 >= 0; l2 is the set Y-axis angle threshold, l2 >= 0 (if you want to avoid frequent adjustment, you can appropriately increase the value of l1 and l2); T is the self-correction function opening flag bit, T = 1 when the self-correction function is turned on; U is the ascending instruction, U = 1 when the lifting mechanism is ascending.

[0146] S4: repeating S2-S3 until the relative offset angle of the X-axis is less than or equal to the set X-axis angle threshold and the relative offset angle of the Y-axis is less than or equal to the set Y-axis angle threshold.

[0147] According to the above technical solution, compared with the prior art, the present application provides a kind of lifting method of self-correction of skewing and tilting of translation mechanism, is automatically controlled translation mechanism by detecting the angle information of steel wire rope, realizes the automatic correction of skewing and tilting, avoids the danger that skewing and tilting can produce and avoids the damage that skewing and tilting produces to crane related structure.

[0148] Each embodiment in the specification is described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and the same or similar parts between each embodiment can be referred to each other.For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the related parts can be referred to the method part.

[0149] The above description of the disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications to the embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for hoisting a slanting load with self-correction of a translation mechanism skewing, characterized in that, The method comprises the following steps: S1: obtaining static angle information and static distance information of the steel wire rope in a circular coordinate system in a static state; converting the circular coordinate system into an XY plane rectangular coordinate system, and obtaining an X-axis static displacement component and a Y-axis static displacement component in the XY plane rectangular coordinate system by using the static angle information and the static distance information; S2: obtaining dynamic angle information and dynamic distance information of the steel wire rope in a circular coordinate system in a dynamic state; and obtaining an X-axis dynamic displacement component and a Y-axis dynamic displacement component in the XY plane rectangular coordinate system by using the dynamic angle information and the dynamic distance information; subtracting the X-axis static displacement component from the X-axis dynamic displacement component to obtain an X-axis relative displacement component; subtracting the Y-axis static displacement component from the Y-axis dynamic displacement component to obtain a Y-axis relative displacement component; calculating an X-axis relative offset angle of the steel wire rope according to the X-axis relative displacement component, and calculating a Y-axis relative offset angle of the steel wire rope according to the Y-axis relative displacement component; S3: if the X-axis relative offset angle is greater than a set X-axis angle threshold, adjusting a translation speed of an X-axis translation mechanism according to the X-axis relative offset angle; if the Y-axis relative offset angle is greater than a set Y-axis angle threshold, adjusting a translation speed of a Y-axis translation mechanism according to the Y-axis relative offset angle; adjusting a lifting speed of a lifting mechanism by using the X-axis relative offset angle and the Y-axis relative offset angle; S4: repeating S2-S3 until the X-axis relative offset angle is less than or equal to the set X-axis angle threshold and the Y-axis relative offset angle is less than or equal to the set Y-axis angle threshold.

2. The method of claim 1, wherein the method further comprises: The calculation formulas of the X-axis static displacement component and the Y-axis static displacement component are respectively: The formula for calculating the X-axis static displacement component is: The calculation formula of the Y-axis static displacement component is: wherein L xz is the X-axis static displacement component; L yz is the Y-axis static displacement component; a is the static angle information, i.e., the static sampling angle of the steel wire rope in the static state; θ is the total sampling angle of the laser radar sensor, and L is the static distance information, i.e., the distance between the steel wire rope and the laser radar sensor in the static state.

3. The self-correcting hoisting method of the skew hoist of the translation mechanism according to claim 2, characterized in that, the calculation formulas of the X-axis dynamic displacement component and the Y-axis dynamic displacement component are respectively: The calculation formula of the X-axis dynamic displacement component is: The calculation formula of the Y-axis dynamic displacement component is: wherein, L xj is the X-axis dynamic displacement component; L yj is the Y-axis dynamic displacement component; β is the dynamic angle information, i.e., the dynamic sampling angle of the steel wire rope during dynamic operation; θ is the total sampling angle of the laser radar sensor, and M is the dynamic distance information, i.e., the distance between the steel wire rope and the laser radar sensor during dynamic operation; The formula for calculating the X-axis relative displacement component: L x = L xz - L xj ; The formula for calculating the Y-axis relative displacement component: L y = L yz - L yj ; The formula for calculating the relative offset angle of the X axis: γ x = tan -1 (L x / P); The formula for calculating the relative offset angle of the X axis: γ y = tan -1 (L y / P); wherein γ x is the relative offset angle of the steel wire rope in the X-axis direction; γ y is the relative offset angle of the steel wire rope in the Y-axis direction; and P is the distance from the sampling point of the laser radar sensor on the steel wire rope to the fixed pulley in the static state.

4. The method of claim 3, wherein the translation mechanism is a wireline. the S3 further comprises: the adjustment speed formula of the X-axis translation mechanism: the adjustment speed formula of the Y-axis translation mechanism: wherein v nx is the minimum execution speed of the X-axis direction translation mechanism, v ny is the minimum execution speed of the Y-axis direction translation mechanism; wherein K1 is the proportional adjustment coefficient of the X-axis; K2 is the proportional adjustment coefficient of the Y-axis.

5. The method of claim 3, wherein the translation mechanism is a wireline. the S3 further comprises: the adjustment speed formula of the lifting mechanism: wherein v UG has the meaning of the lifting speed set for the lifting mechanism; v UM has the meaning of the maximum allowed speed of the lifting mechanism in the event of a skewing of the hoist; λ is an empirical value, λ = 20.

6. The method of claim 1, wherein the method further comprises: the S1 further comprises: the step of obtaining the static angle information and the static distance information of the steel wire rope in the circular coordinate system in the static state: S11: selecting sampling data of a laser radar sensor within a preset sampling angle; S12: selecting a sampling point falling within a preset distance range in the sampling data in S11, and recording angle information of the sampling point and distance information of the sampling point, the angle information of the sampling point being the static angle information of the steel wire rope in the circular coordinate system in the static state, and the distance information of the sampling point being the static distance information of the steel wire rope in the circular coordinate system in the static state.

7. The method of claim 1, wherein the method further comprises: the S2 further comprises: the step of obtaining the dynamic angle information and the dynamic distance information of the steel wire rope in the circular coordinate system in the dynamic state: S21: selecting sampling data of a laser radar sensor within a preset sampling angle; S22: selecting a sampling point falling within a preset distance range from the sampling data in S21, and recording an angle of the sampling point and a distance of the sampling point, the angle of the sampling point being dynamic angle information of the steel wire rope in a circular coordinate system in a dynamic state, and the distance of the sampling point being dynamic distance information of the steel wire rope in the circular coordinate system in the dynamic state.

8. The method of claim 6 or 7, wherein the translation mechanism is a wireline winch. The preset distance range is [Q, W], wherein H>W>Q; Wherein, Q is the maximum distance between the steel wire rope and the laser radar sensor during dynamic operation; W is the minimum distance between the steel wire rope and the laser radar sensor during dynamic operation; H is the limit sampling distance of the laser radar sensor.

9. The method of claim 8, wherein the method further comprises, The calculation formula of the limit sampling distance of the laser radar sensor is: Δθ=θ / N Formula 1 Bringing formula 1 into formula 2 gives: Wherein, N represents the number of sampling points of the laser radar sensor under the current frame rate; θ is the total sampling angle of the laser radar sensor; Δθ is the angle resolution; L is the diameter of the steel wire rope to be detected; H is the maximum detection distance of the laser radar sensor, that is, the limit sampling distance.

10. The method of claim 1, wherein the method further comprises: The S3 further comprises before adjusting the translation speed of the translation mechanism: When the X-axis relative offset angle is greater than the set X-axis angle threshold, the self-correction function is turned on, and the lifting mechanism is rising, the translation speed of the X-axis translation mechanism is adjusted according to the X-axis relative offset angle; When the Y-axis relative offset angle is greater than the set Y-axis angle threshold, the self-correction function is turned on, and the lifting mechanism is rising, the translation speed of the Y-axis translation mechanism is adjusted according to the Y-axis relative offset angle.

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