Control method and controller of tower crane with movable counterweight, and tower crane

Abstract

The application discloses a control method, a controller and a tower crane with a mobile counterweight. The control method can comprise: searching for a hoisting torque range corresponding to a position interval in which the mobile counterweight is currently located according to a segmentation relationship table; controlling a motor to increase or decrease the output hoisting torque within the hoisting torque range; monitoring whether the heavy object is completely off the ground or completely on the ground in real time; stopping the process of controlling the heavy object to lift off the ground or land on the ground when it is monitored that the heavy object is completely off the ground or completely on the ground; and controlling the mobile counterweight to move to a next position interval for control until it is monitored that the heavy object is completely off the ground or completely on the ground, when it is not monitored that the heavy object is completely off the ground or completely on the ground. The application introduces segmented hoisting torque control into the control process of the tower crane with the mobile counterweight, so that the mobile counterweight moves to the corresponding position interval of the balance arm, the bending moment balance of the tower body is ensured, and the tower crane with the mobile counterweight can be accurately controlled.

Description

Technical Field

[0001] This application relates to the field of tower crane control technology, specifically to a control method, controller, and tower crane for a tower crane with a moving counterweight. Background Technology

[0002] Tower cranes, also known as tower hoists, operate by using counterweights to maintain stability after lifting heavy loads, leveraging the resilience of the tower's metal structure. Current control methods rely solely on motor speed feedback signals to control motor torque and current. During operation, the time between the load lifting off the ground and landing is short, causing rapid changes in motor output torque and current to maintain speed. This can lead to several-fold increases in load in a short period, such as when hoisting anchored objects or lifting heavy loads at high speeds. If the load exceeds the tower crane's structural limits, it can cause damage to the jib or breakage of the lifting wire rope. Firstly, current technology achieves safer and smoother lifting by limiting the maximum lifting speed. However, this method requires manual mode switching by the operator, still posing a safety hazard due to operator error. Secondly, because this control method is still purely speed-based, the deformation of the jib and wire rope prevents precise control of motor output torque during lifting and removal of the load. Therefore, current technology is unsuitable for tower cranes with movable counterweights. Summary of the Invention

[0003] The purpose of this application is to provide a control method, controller, and tower crane with a movable counterweight, in order to solve the problem that the existing technology for tower crane hoisting control is not applicable to tower cranes with movable counterweights.

[0004] To achieve the above objectives, the first aspect of this application provides a control method for a tower crane with a movable counterweight, applied to the controller of the tower crane. This control method is applied to the process of lifting a heavy object off the ground or lowering it to the ground. The control method includes:

[0005] Obtain the segmentation relationship table of the moving counterweight and detect the position range of the moving counterweight in real time;

[0006] Find the lifting torque range corresponding to the current position interval of the moving counterweight according to the segmentation relationship table;

[0007] Control the motor to increase or decrease the output lifting torque within the lifting torque range;

[0008] Real-time monitoring to ensure that heavy objects are completely off the ground or completely on the ground;

[0009] If the monitoring shows that the heavy object is completely off the ground or completely on the ground, stop controlling the process of lifting the heavy object off the ground or lowering it to the ground.

[0010] If the weight is not detected to be completely off the ground or completely on the ground, the moving counterweight is moved to the next position interval, and the process of finding the corresponding lifting torque range of the moving counterweight according to the segmentation relationship table is repeated. The motor is then controlled to increase or decrease the output lifting torque within the lifting torque range until the weight is detected to be completely off the ground or completely on the ground.

[0011] In this embodiment of the application, before looking up the lifting torque range corresponding to the current position interval of the moving counterweight according to the segmentation relationship table, the method further includes:

[0012] Based on the characteristics of tower cranes, the counterweight boom of the tower crane is divided into multiple position intervals, and the lifting moment that the tower crane can withstand is divided into corresponding multiple lifting moment ranges.

[0013] Construct a segmented relationship table that corresponds one-to-one between multiple position intervals and multiple lifting torque ranges.

[0014] In this embodiment of the application, the controller communicates with the encoder to monitor in real time whether the heavy object is completely off the ground, including:

[0015] Receive displacement and velocity data of the weight sent by the encoder;

[0016] Determine whether the heavy object has completely left the ground based on displacement and velocity data.

[0017] In this embodiment of the application, determining whether the heavy object has completely left the ground based on displacement and velocity data includes:

[0018] If the encoder generates displacement data and the weight is moving at a constant or accelerating speed, it is determined that the weight has completely left the ground.

[0019] In this embodiment, the controller communicates with the tension monitoring device to monitor in real time whether the heavy object has fully touched the ground, including:

[0020] Receive the tension of the tower crane's wire ropes from the tension monitoring device;

[0021] Determine whether the heavy object is fully on the ground based on the tension of the steel wire rope.

[0022] In this embodiment of the application, determining whether the weight has fully touched the ground based on the tension of the wire rope includes:

[0023] If the tension of the wire rope is detected to be the empty hook tension, it is determined that the heavy object is completely on the ground.

[0024] In this embodiment of the application, the control method further includes:

[0025] During the process of controlling the moving counterweight to move to the next position range, the control motor continuously outputs lifting torque to maintain a zero-speed hovering state.

[0026] A second aspect of this application provides a controller, comprising:

[0027] The memory is configured to store instructions; and

[0028] The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the aforementioned control method for a tower crane with a moving counterweight.

[0029] A third aspect of this application provides a tower crane, comprising:

[0030] The aforementioned controller;

[0031] The encoder communicates with the controller and is used to send the displacement and velocity data of the weight to the controller.

[0032] The tension monitoring device communicates with the controller to send the tension of the tower crane's wire rope to the controller.

[0033] In this embodiment of the application, the tensile force monitoring device includes:

[0034] A lifting weight sensor, communicating with the controller, is used to send the tension of the tower crane's wire ropes to the controller; and / or

[0035] The frequency converter communicates with the controller and is used to send the tension of the tower crane's wire ropes to the controller.

[0036] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the aforementioned control method for a tower crane with a moving counterweight.

[0037] Through the above technical solution, the controller of the tower crane with a moving counterweight detects the current position range of the moving counterweight in real time. Based on the segmented relationship table, it finds the lifting torque range corresponding to the current position range of the moving counterweight, and controls the motor to increase or decrease the output lifting torque within this range. It also monitors in real time whether the load is completely off the ground or completely on the ground. If the load is completely off the ground or completely on the ground, the lifting or lowering process is stopped. Otherwise, the moving counterweight is moved to the next position range, and the above steps are repeated until the load is completely off the ground or completely on the ground. This application introduces segmented lifting torque control into the control process of the tower crane with a moving counterweight, ensuring that the bending moment on the tower body is balanced when the moving counterweight is positioned to the corresponding position range of the counterweight, thereby enabling precise control of the tower crane with a moving counterweight.

[0038] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0039] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0040] Figure 1 The diagram schematically illustrates an application environment of a control method for a tower crane with a movable counterweight according to an embodiment of this application.

[0041] Figure 2 The flowchart schematically illustrates a control method for a tower crane with a movable counterweight according to an embodiment of this application;

[0042] Figure 3 This schematic diagram illustrates the structure of a movable counterweight segment according to an embodiment of this application;

[0043] Figure 4 This diagram schematically illustrates the control of the lifting process of a heavy object off the ground according to an embodiment of this application;

[0044] Figure 5 This diagram schematically illustrates a control scheme for the descent and landing process of a heavy object according to an embodiment of this application.

[0045] Figure 6 A schematic block diagram of a controller according to an embodiment of this application is shown.

[0046] Explanation of reference numerals in the attached figures

[0047] 101 Controller; 102 Display Screen

[0048] 103 Lifting frequency converter; 104 Mobile counterweight frequency converter

[0049] 105 Lifting motor 106 Heavy object

[0050] 107 Moving counterweight drives the motor; 108 Moving counterweight Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0052] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0053] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0054] In this embodiment, a tower crane with a movable counterweight refers to a tower crane whose counterweight can be moved. A tower crane with a movable counterweight can lift or lower heavy objects by moving the position of the counterweight. Figure 1 This diagram schematically illustrates an application environment for a control method of a tower crane with a moving counterweight according to an embodiment of this application. The control method for a tower crane with a moving counterweight provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, the controller 101 communicates with the display screen 102, the lifting inverter 103, and the moving counterweight inverter 104. The lifting inverter 103 communicates with the lifting motor 105, which drives the load 106, thereby controlling the lifting and lowering of the load 106. The moving counterweight inverter 104 communicates with the moving counterweight drive motor 107, which in turn communicates with the moving counterweight 108, enabling the moving counterweight drive motor 107 to drive the moving counterweight 108 to move.

[0055] Figure 2 A flowchart illustrating a control method for a tower crane with a movable counterweight according to an embodiment of this application is shown schematically. Figure 2 As shown, this application provides a control method for a tower crane with a movable counterweight. This application mainly applies this control method to the above-mentioned... Figure 1The control method is illustrated using a tower crane controller as an example. This control method is applied to the process of lifting heavy objects off the ground or lowering them to the ground. In this embodiment, the lifting process refers to the process of the heavy object moving from its position on the ground until it is completely off the ground, and the lowering process refers to the process of the heavy object moving from a certain height until it is completely on the ground. The control method may include the following steps.

[0056] Step 201: Obtain the segmentation relationship table of the moving counterweight and detect the position range of the moving counterweight in real time.

[0057] In this embodiment, the segmented relationship table of the moving counterweight refers to a table representing the relationship between the position intervals of the moving counterweight and the lifting torque. The lifting torque range corresponding to different position intervals of the moving counterweight on the balance arm is different. In one example, the controller can directly obtain a pre-set segmented relationship table of the moving counterweight. For example, workers can determine the relationship between the position of the moving counterweight and the lifting torque through numerous experiments, thereby determining the lifting torque corresponding to multiple position intervals. Based on this, a segmented relationship table of the moving counterweight is established and input to the controller. The controller receives and stores the segmented relationship table of the moving counterweight, thus enabling it to be retrieved at any time. In another example, the controller can obtain input historical data and perform machine learning based on the historical data to determine the relationship between the position of the moving counterweight and the lifting torque, thereby determining the lifting torque corresponding to multiple position intervals. Based on this, a segmented relationship table of the moving counterweight is established. Through continuous learning by the controller, the segmented relationship table of the moving counterweight can be made more accurate, improving the precision of the segmented relationship table. In this application, the controller can obtain the segmentation relationship table of the moving counterweight and detect the position range of the moving counterweight in real time so as to find the current lifting torque range according to the segmentation relationship table, thereby controlling the motor to output the lifting torque within the range.

[0058] Figure 3 The diagram schematically illustrates the structure of a movable counterweight segment according to an embodiment of this application. Figure 3 As shown, taking the movable counterweight as an example of dividing it into three sections, the counterweight boom can be divided into sections A, B and C, which correspond to different position ranges of the movable counterweight. With the support point as the origin, a coordinate axis is established, and the position of the movable counterweight is in the negative direction of the x-axis. Dividing the counterweight into three sections can complete the maximum lifting.

[0059] Table 1 schematically illustrates the correspondence between the lifting torque and position of a movable counterweight according to an embodiment of this application. As shown in Table 1, the movable counterweight can be divided into three segments, each corresponding to a different lifting torque. In this embodiment, when the movable counterweight is located in interval A, the lifting torque is less than a first preset lifting torque, and the controller can control the motor to increase or decrease the lifting torque within the range of less than or equal to the first preset lifting torque. When the movable counterweight is located in interval B, the lifting torque is greater than the first preset lifting torque and less than or equal to a second preset lifting torque, and the controller can control the motor to increase or decrease the output lifting torque within the range of greater than the first preset lifting torque and less than or equal to the second preset lifting torque. When the movable counterweight is located in interval C, the lifting torque is greater than the second preset lifting torque and less than or equal to a third preset lifting torque, and the controller can control the motor to increase or decrease the output lifting torque within the range of greater than the second preset lifting torque and less than or equal to the third preset lifting torque.

[0060] Table 1

[0061]

[0062]

[0063] The above scheme divides the mobile counterweight into three stationary intervals, which means the lifting torque is output in three segments. It should be noted that this segmentation method is only an example. In practical applications, the mobile counterweight can be segmented according to actual needs, thereby obtaining multiple tables showing the relationship between the position of the mobile counterweight and the lifting torque. This allows for subsequent adjustment of the lifting torque corresponding to the position interval of the mobile counterweight using the segmented relationship table.

[0064] Step 202: Find the lifting torque range corresponding to the current position interval of the moving counterweight according to the segmentation relationship table.

[0065] In this embodiment, after obtaining the segmentation relationship table of the moving counterweight, the controller can determine the lifting torque range based on the current position interval of the moving counterweight, and adjust the moving counterweight within the lifting torque range. Taking the above example of dividing the moving counterweight into three segments, when the current position interval of the moving counterweight is A, the controller controls the motor to output a lifting torque less than or equal to a first preset lifting torque; when the current position interval of the moving counterweight is B, the controller controls the motor to output a lifting torque greater than the first preset lifting torque and less than or equal to a second preset lifting torque; when the current position interval of the moving counterweight is C, the controller controls the motor to output a lifting torque greater than the second preset lifting torque and less than or equal to a third preset lifting torque. This embodiment, by corresponding the position intervals of the moving counterweight with the lifting torque ranges, ensures the balance of bending moments on the tower body. In this embodiment, the number of lifting torque ranges output by the motor is equal to the number of segments in the position intervals of the moving counterweight.

[0066] Step 203: Control the motor to increase or decrease the output lifting torque within the lifting torque range.

[0067] In this embodiment, each position interval of the moving counterweight corresponds to a lifting torque range. For each position interval, the controller can control the motor to increase or decrease the output lifting torque within the corresponding lifting torque range, thereby controlling the lifting of the heavy object off the ground or its descent to the ground.

[0068] Step 204: Monitor in real time whether the heavy object is completely off the ground or completely on the ground.

[0069] In this embodiment, during the process of controlling a heavy object to lift off the ground or lower it to the ground, the controller can monitor the state of the heavy object in real time. For the lifting process, the controller needs to determine whether the heavy object is completely off the ground to decide whether to stop the lifting process. In one example, the controller can communicate with an encoder to determine whether the heavy object is completely off the ground based on the displacement and velocity data sent by the encoder. For the lowering process, the controller needs to determine whether the heavy object is completely on the ground to decide whether to stop the lowering process. In one example, the controller can communicate with a tension monitoring device to determine whether the heavy object is completely on the ground based on the tension of the steel cable sent by the tension monitoring device.

[0070] Step 205: If the heavy object is detected to be completely off the ground or completely on the ground, stop controlling the process of lifting the heavy object off the ground or lowering it to the ground.

[0071] In this embodiment, for the lifting and removal process, when the controller detects that the load has completely left the ground, it indicates that the lifting and removal process is complete. Therefore, the controller can end the control process of steps 201 to 204, i.e., stop controlling the lifting and removal process. For the lowering and landing process, when the controller detects that the load has completely landed, it indicates that the lowering and landing process is complete. Therefore, the controller can also end the control process of steps 201 to 204, i.e., stop controlling the lowering and landing process. By monitoring the status of the load and determining whether to stop controlling the lifting and removal or lowering and landing process, the safety of tower crane control can be improved.

[0072] Step 206: If the weight is not detected to be completely off the ground or completely on the ground, control the moving counterweight to move to the next position interval, and repeat the process of finding the lifting torque range corresponding to the moving counterweight according to the segmentation relationship table, and controlling the motor to increase or decrease the output lifting torque within the lifting torque range until the weight is detected to be completely off the ground or completely on the ground.

[0073] In this embodiment, if the weight is not detected to be completely lifted off the ground or completely landed within the current position interval, it indicates that the weight cannot be lifted off the ground or lowered to the ground within the current position interval of the moving counterweight. The controller can then control the moving counterweight to move to the next position interval and repeat steps 201 to 204 until the controller detects that the weight is completely lifted off the ground or completely landed. At this point, the process of controlling the lifting or lowering of the weight can be stopped. In one example, when the weight is being lifted off the ground, the moving counterweight needs to move away from the fulcrum. Figure 3 For example, the moving counterweight moves sequentially from segment A to segment B and then to segment C. In another example, when the weight is descending and landing, the moving counterweight needs to be moved closer to the fulcrum. Still using... Figure 3 For example, the moving counterweight moves sequentially from section C to section B and then to section A. This method helps maintain the tower crane's balance.

[0074] This application embodiment uses a tower crane controller with a moving counterweight to detect the current position range of the moving counterweight in real time. Based on a segmented relationship table, it finds the lifting torque range corresponding to the current position range of the moving counterweight and controls the motor to increase or decrease the output lifting torque within this range. It also monitors in real time whether the load is completely off the ground or completely on the ground. If the load is completely off the ground or completely on the ground, the lifting or lowering process is stopped. Otherwise, the moving counterweight is moved to the next position range, and the above steps are repeated until the load is completely off the ground or completely on the ground. This application introduces segmented lifting torque control into the control process of a tower crane with a moving counterweight, ensuring that the bending moment on the tower body is balanced when the moving counterweight is positioned within the corresponding position range of the counterweight, thereby enabling precise control of the tower crane with a moving counterweight.

[0075] In this embodiment of the application, before step 202, which involves searching for the lifting torque range corresponding to the current position interval of the moving counterweight according to the segmentation relationship table, the method further includes:

[0076] Based on the characteristics of tower cranes, the counterweight boom of the tower crane is divided into multiple position intervals, and the lifting moment that the tower crane can withstand is divided into corresponding multiple lifting moment ranges.

[0077] Construct a segmented relationship table that corresponds one-to-one between multiple position intervals and multiple lifting torque ranges.

[0078] Specifically, the controller can divide the tower crane's counterweight boom into multiple position intervals based on the tower crane's characteristics. For example, it can be divided into... Figure 3 The diagram shows three segments, A, B, and C, and further divides the lifting torque that the tower crane can withstand into multiple corresponding lifting torque ranges. A segmented relationship table is then constructed, with each segment's position interval corresponding to one of the multiple lifting torque ranges. For example, segment A corresponds to a lifting torque range from 0 to the first preset lifting torque, segment B corresponds to a lifting torque range from the first preset lifting torque to the second preset lifting torque, and segment C corresponds to a lifting torque range from the second preset lifting torque to the third preset lifting torque.

[0079] In this embodiment, the controller can also communicate with the encoder to monitor in real time whether the heavy object is completely off the ground, which may include:

[0080] Receive displacement and velocity data of the weight sent by the encoder;

[0081] Determine whether the heavy object has completely left the ground based on displacement and velocity data.

[0082] In this embodiment of the application, determining whether the heavy object has completely left the ground based on displacement and velocity data includes:

[0083] If the encoder generates displacement data and the weight is moving at a constant or accelerating speed, it is determined that the weight has completely left the ground.

[0084] In this embodiment, during the lifting of a heavy object off the ground, the controller needs to monitor in real time whether the object is completely off the ground. The controller can determine whether the object is completely off the ground by monitoring its displacement and velocity data. The displacement and velocity data of the object can be obtained through an encoder. Therefore, the controller in this embodiment can communicate with the encoder, which collects the displacement and velocity data of the object and sends them to the controller. The controller can then determine whether the object is completely off the ground based on the displacement and velocity data. Only when the object has displacement and exhibits uniform or accelerating motion is it considered completely off the ground. In one example, the controller can obtain the current displacement data and, if displacement is present, further determine whether the object is currently moving at a uniform or accelerating speed based on the velocity data. If the object is determined to be moving at a uniform or accelerating speed, it can be determined that the object is completely off the ground.

[0085] In this embodiment, the controller can communicate with the tension monitoring device to monitor in real time whether the heavy object has fully touched the ground, which may include:

[0086] Receive the tension of the tower crane's wire ropes from the tension monitoring device;

[0087] Determine whether the weight is fully on the ground based on the tension of the steel wire rope.

[0088] In this embodiment of the application, determining whether the weight has fully touched the ground based on the tension of the wire rope includes:

[0089] If the tension of the wire rope is detected to be the empty hook tension, it is determined that the heavy object is completely on the ground.

[0090] In this embodiment, during the descent and landing of the load, the controller needs to monitor in real time whether the load has fully landed. The controller can determine whether the load has fully landed by monitoring the tension of the tower crane's wire rope. When the load has fully landed, the tension of the tower crane's wire rope is the empty hook tension. Therefore, if the controller detects that the wire rope tension is the empty hook tension, it can be determined that the load has fully landed.

[0091] In this embodiment, the tension of the wire rope can be obtained through a tension monitoring device, which may include a lifting capacity sensor and / or a frequency converter. The lifting capacity sensor directly monitors the tension on the wire rope; the frequency converter monitors the current magnitude, indirectly reflecting the tension on the wire rope. Therefore, the controller in this embodiment can also communicate with the tension monitoring device, which is used to collect the tension of the tower crane's wire rope. The tension monitoring device sends the wire rope tension to the controller, which determines whether the received tension is an empty hook tension. If an empty hook tension is detected, it can be determined that the load has fully touched the ground.

[0092] In this embodiment of the application, the control method may further include:

[0093] During the process of controlling the moving counterweight to move to the next position range, the control motor continuously outputs lifting torque to maintain a zero-speed hovering state.

[0094] In this embodiment of the application, it is still based on Figure 3 Take regions A, B, and C as examples.

[0095] Figure 4 This diagram schematically illustrates the control of a heavy object's lifting process from the ground according to an embodiment of this application. Figure 4 As shown in the embodiment of this application, the lifting torque range is divided into multiple segments, that is, the motor torque is divided into multiple segments. Figure 4 The horizontal axis represents control time, and the vertical axis represents motor torque. Position ① corresponds to area A, position ② to area B, and position ③ to area C. The motor torque corresponding to area A is T1, area B to T2, and area C to T3. After each segment of motor torque output, there is a zero-speed hovering waiting time. During this waiting period, the moving counterweight moves into position, and the waiting time depends on the positioning time of the moving counterweight. After the moving counterweight moves into position, a positioning command can be sent to the controller, which then controls the motor to start the next segment of motor torque output. Zero-speed hovering makes the tower crane control smoother and safer.

[0096] Figure 5 This diagram schematically illustrates the control of a heavy object's descent and landing process according to an embodiment of this application. Figure 5 As shown in the embodiment of this application, the lifting torque range is divided into multiple segments, that is, the motor torque is divided into multiple segments. Figure 5 The horizontal axis represents control time, and the vertical axis represents motor torque. Position ① corresponds to area C, position ② to area B, and position ③ to area A. The motor torque corresponding to area A is T3, the motor torque corresponding to area B is T2, and the motor torque corresponding to area C is T1. After each segment of motor torque output, there is a zero-speed hovering waiting time. During this waiting period, the moving counterweight moves into position, and the waiting time depends on the positioning time of the moving counterweight. After the moving counterweight moves into position, a positioning command can be sent to the controller, which then controls the motor to start the next segment of motor torque output. Zero-speed hovering makes the control of the tower crane more stable and safe.

[0097] Figure 6 A schematic block diagram of a controller according to an embodiment of this application is shown. Figure 6 As shown, this application embodiment provides a controller, including:

[0098] Memory 610 is configured to store instructions; and

[0099] The processor 620 is configured to retrieve instructions from the memory 610 and, when executing the instructions, to implement the aforementioned control method for the tower crane with moving counterweight.

[0100] Specifically, in this embodiment of the application, the processor 620 can be configured to:

[0101] Obtain the segmentation relationship table of the moving counterweight and detect the position range of the moving counterweight in real time;

[0102] Find the lifting torque range corresponding to the current position interval of the moving counterweight according to the segmentation relationship table;

[0103] Control the motor to increase or decrease the output lifting torque within the lifting torque range;

[0104] Real-time monitoring to ensure that heavy objects are completely off the ground or completely on the ground;

[0105] If the monitoring shows that the heavy object is completely off the ground or completely on the ground, stop controlling the process of lifting the heavy object off the ground or lowering it to the ground.

[0106] If the weight is not detected to be completely off the ground or completely on the ground, the moving counterweight is moved to the next position interval, and the process of finding the corresponding lifting torque range of the moving counterweight according to the segmentation relationship table is repeated. The motor is then controlled to increase or decrease the output lifting torque within the lifting torque range until the weight is detected to be completely off the ground or completely on the ground.

[0107] In this embodiment of the application, the processor 620 can also be configured to:

[0108] Based on the characteristics of tower cranes, the counterweight boom of the tower crane is divided into multiple position intervals, and the lifting moment that the tower crane can withstand is divided into corresponding multiple lifting moment ranges.

[0109] Construct a segmented relationship table that corresponds one-to-one between multiple position intervals and multiple lifting torque ranges.

[0110] In this embodiment of the application, the processor 620 can also be configured to:

[0111] Real-time monitoring of whether a heavy object is completely off the ground includes:

[0112] Receive displacement and velocity data of the weight sent by the encoder;

[0113] Determine whether the heavy object has completely left the ground based on displacement and velocity data.

[0114] In this embodiment of the application, the processor 620 can also be configured to:

[0115] Determining whether a heavy object has completely left the ground based on displacement and velocity data includes:

[0116] If the encoder generates displacement data and the weight is moving at a constant or accelerating speed, it is determined that the weight has completely left the ground.

[0117] In this embodiment of the application, the processor 620 can also be configured to:

[0118] The controller communicates with the tension monitoring device to monitor in real time whether the heavy object has fully touched the ground, including:

[0119] Receive the tension of the tower crane's wire ropes from the tension monitoring device;

[0120] Determine whether the weight is fully on the ground based on the tension of the steel wire rope.

[0121] In this embodiment of the application, the processor 620 can also be configured to:

[0122] Determining whether a heavy object has completely touched the ground based on the tension of the steel wire rope includes:

[0123] If the tension of the wire rope is detected to be the empty hook tension, it is determined that the heavy object is completely on the ground.

[0124] In this embodiment of the application, the processor 620 can also be configured to:

[0125] During the process of controlling the moving counterweight to move to the next position range, the control motor continuously outputs lifting torque to maintain a zero-speed hovering state.

[0126] Through the above technical solution, the controller of the tower crane with a moving counterweight detects the current position range of the moving counterweight in real time. Based on the segmented relationship table, it finds the lifting torque range corresponding to the current position range of the moving counterweight, and controls the motor to increase or decrease the output lifting torque within this range. It also monitors in real time whether the load is completely off the ground or completely on the ground. If the load is completely off the ground or completely on the ground, the lifting or lowering process is stopped. Otherwise, the moving counterweight is moved to the next position range, and the above steps are repeated until the load is completely off the ground or completely on the ground. This application introduces segmented lifting torque control into the control process of the tower crane with a moving counterweight, ensuring that the bending moment on the tower body is balanced when the moving counterweight is positioned to the corresponding position range of the counterweight, thereby enabling precise control of the tower crane with a moving counterweight.

[0127] This application also provides a machine-readable storage medium storing instructions for causing the machine to execute the above-described control method for a tower crane with a moving counterweight.

[0128] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0129] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0130] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0131] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0132] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0133] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0134] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0135] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0136] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method for a tower crane with a movable counterweight, characterized in that, A controller for tower cranes, wherein the control method is applied to the process of lifting heavy objects off the ground or lowering them to the ground, the control method comprising: Obtain the segmentation relationship table of the moving counterweight and detect the position range of the moving counterweight in real time; The lifting torque range corresponding to the current position interval of the moving counterweight is found according to the segmented relationship table. The control motor can increase or decrease the output lifting torque within the specified lifting torque range; Real-time monitoring to ensure the weight is completely off the ground or fully on the ground; If the monitoring shows that the heavy object is completely off the ground or completely on the ground, stop controlling the process of lifting the heavy object off the ground or lowering it to the ground. If the weight is not detected to be completely off the ground or completely on the ground, the movable counterweight is controlled to move to the next position range. During the process of controlling the movable counterweight to move to the next position range, the motor is controlled to continuously output lifting torque to maintain a zero-speed hovering state. Repeatedly execute the process of finding the lifting torque range corresponding to the moving counterweight according to the segmented relationship table, and control the motor to increase or decrease the output lifting torque within the lifting torque range until the weight is completely off the ground or completely on the ground. The controller communicates with the encoder to monitor in real time whether the heavy object is completely off the ground, including: Receive the displacement and velocity data of the weight sent by the encoder; Determine whether the weight has completely left the ground based on the displacement and velocity data; The step of determining whether the heavy object has completely left the ground based on the displacement and velocity data includes: If the encoder generates displacement data and the weight is moving at a constant speed or accelerating, it is determined that the weight has completely left the ground. The controller communicates with the tension monitoring device to monitor in real time whether the heavy object has fully touched the ground, including: Receive the tension of the tower crane's wire rope sent by the tension monitoring device; The tension of the steel wire rope is used to determine whether the weight is fully on the ground. The step of determining whether the weight has completely touched the ground based on the tension of the steel wire rope includes: If the tension of the wire rope is detected to be the empty hook tension, it is determined that the heavy object is completely on the ground.

2. The control method according to claim 1, characterized in that, Before searching for the lifting torque range corresponding to the current position interval of the moving counterweight according to the segmented relationship table, the method further includes: Based on the characteristics of the tower crane, the counterweight boom of the tower crane is divided into multiple position intervals, and the lifting torque that the tower crane can withstand is divided into corresponding multiple lifting torque ranges. Construct a segmented relationship table that corresponds one-to-one with the multiple position intervals and the multiple lifting torque ranges.

3. A controller, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the control method for a tower crane with a moving counterweight according to any one of claims 1 to 2.

4. A tower crane, characterized in that, include: The controller according to claim 3; An encoder, which communicates with the controller, is used to send displacement and velocity data of the weight to the controller. The tension monitoring device communicates with the controller and is used to send the tension of the tower crane's wire rope to the controller.

5. The tower crane according to claim 4, characterized in that, The tensile force monitoring device includes: A lifting capacity sensor, communicating with the controller, is used to send the tension of the tower crane's wire rope to the controller; and / or The frequency converter communicates with the controller and is used to send the tension of the tower crane's wire rope to the controller.

6. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the control method for a tower crane with a moving counterweight according to any one of claims 1 to 2.

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