Material hoisting control method and system, electronic device and readable storage medium

Abstract

The present application relates to the technical field of crane control, and discloses a material hoisting control method, system, electronic equipment and readable storage medium, the method obtains the motor torque of the control motor and the current length of the motor traction rope as the stress parameter of the motor traction rope, obtains the stress parameter relationship according to the stress parameter of each target traction rope, and determines the stress state between the target traction ropes according to the comparison result between the stress parameter relationship and the preset parameter interval, if the stress is uneven, adjusts the lifting speed and / or motor torque of the target traction rope according to the preset adjustment proportion, so that the stress between the target traction ropes is uniform, avoids the production problems such as life reduction and off-slot of the traction rope for controlling the grab caused by uneven stress, and further improves the production efficiency and reduces the production cost.

Description

Technical Field

[0001] This invention relates to the field of crane control technology, and in particular to a material hoisting control method, system, electronic device, and readable storage medium. Background Technology

[0002] In industrial production processes, materials need to be processed in reaction tanks such as blast furnace slag pools, waste treatment pools, cement reaction pools, and water treatment sedimentation pools. Since the reaction tank environment often contains toxic and harmful gases and dust, it can cause health damage to the operators involved in the reaction tank. Therefore, for the bridge cranes used to lift materials above the reaction tank, realizing automated control of the lifting can not only protect the health of the operators, but also avoid operator fatigue and improve work efficiency.

[0003] Currently, during material hoisting, the control motor and the grab are connected by multiple steel wire ropes. If the steel wire ropes are under uneven stress during the lifting and lowering of the grab, it will reduce the service life of the grab and the steel wire ropes, and may even cause the steel wire ropes to derail, resulting in safety accidents, production delays, and reduced production efficiency. Summary of the Invention

[0004] To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended as a general commentary, nor is it intended to identify key / important components or describe the scope of protection of these embodiments, but rather as a prelude to the detailed description that follows.

[0005] In view of the shortcomings of the prior art described above, the present invention discloses a material hoisting control method, system, electronic device and readable storage medium to reduce production problems caused by uneven stress on the wire rope.

[0006] This invention provides a material hoisting control method, comprising: in response to the lifting and lowering of a hoisting grab, acquiring the force parameters of each motor traction rope, wherein the motor traction rope is used to connect the hoisting grab to a control motor corresponding to each motor traction rope, and the force parameters include at least one of the motor torque of the control motor and the current length of the motor traction rope; determining a pair of target traction ropes from the motor traction ropes, calculating the force parameter relationship between the target traction ropes based on the force parameters of each target traction rope, and determining the force state between the target traction ropes based on a comparison result between the force parameter relationship and a preset parameter range; if the force state includes uneven force, determining a first target parameter for each target traction rope according to a preset adjustment ratio, and controlling the control motor corresponding to each target traction rope according to the first target parameter until the force state between the target traction ropes includes uniform force, wherein the first target parameter includes lifting speed and / or motor torque.

[0007] This invention provides a material hoisting control system, comprising: an acquisition module, configured to acquire force parameters of each motor traction rope in response to the lifting and lowering of a hoisting grab, wherein the motor traction rope is used to connect the hoisting grab to a control motor corresponding to each motor traction rope, and the force parameters include at least one of the motor torque of the control motor and the current length of the motor traction rope; a determination module, configured to determine a pair of target traction ropes from the motor traction ropes, calculate the force parameter relationship between the target traction ropes based on the force parameters of each target traction rope, and determine the force state between the target traction ropes based on a comparison result between the force parameter relationship and a preset parameter range; and a control module, configured to, if the force state includes uneven force, determine a first target parameter for each target traction rope according to a preset adjustment ratio, and control the control motor corresponding to each target traction rope according to the first target parameter until the force state between the target traction ropes includes uniform force, wherein the first target parameter includes lifting speed and / or motor torque.

[0008] The present invention provides an electronic device, comprising: a processor and a memory; the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to cause the electronic device to perform the above-described method.

[0009] The present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the above-described method.

[0010] The beneficial effects of this invention are:

[0011] By acquiring the motor torque of the control motor and the current length of the motor traction rope as force parameters for the traction rope, the force parameter relationship is obtained based on the force parameters of each target traction rope. The force state among the target traction ropes is determined by comparing this relationship with a preset parameter range. If the force is uneven, the lifting speed and / or motor torque of the target traction ropes are adjusted according to a preset adjustment ratio to ensure uniform force distribution. In this way, by determining whether the target traction ropes are under uniform force based on the motor torque of the control motor and the current length of the motor traction rope, and adjusting the lifting speed and / or motor torque to ensure uniform force distribution when uneven force is present, production problems such as reduced lifespan and derailment caused by uneven force distribution in the grab's traction ropes are avoided, thereby improving production efficiency and reducing production costs. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the structure of an application environment for implementing a material hoisting control method in an embodiment of the present invention;

[0013] Figure 2 This is a flowchart illustrating a material hoisting control method according to an embodiment of the present invention;

[0014] Figure 3 This is a flowchart illustrating a single hoisting operation planning method in an embodiment of the present invention;

[0015] Figure 4 This is a schematic diagram of a security area in an embodiment of the present invention;

[0016] Figure 5 This is a flowchart illustrating a whole-pool hoisting operation planning method in an embodiment of the present invention;

[0017] Figure 6 This is a schematic diagram of a material area in an embodiment of the present invention;

[0018] Figure 7 This is a flowchart illustrating a hoisting grab control method in an embodiment of the present invention;

[0019] Figure 8 This is a schematic diagram of the system framework for implementing a material hoisting control method in an embodiment of the present invention;

[0020] Figure 9 This is a schematic diagram of a material hoisting control system according to an embodiment of the present invention;

[0021] Figure 10 This is a schematic diagram of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0022] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and sub-samples in the embodiments can be combined with each other.

[0023] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0024] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0025] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0026] Unless otherwise stated, the term "multiple" means two or more.

[0027] In this embodiment of the disclosure, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, A / B means: A or B.

[0028] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0029] Before providing a further detailed description of the embodiments of the present invention, the nouns and terms involved in the embodiments of the present invention will be explained, and the nouns and terms involved in the embodiments of the present invention shall be interpreted as follows.

[0030] Grab bucket operation: At the start of work, the support wire rope hoists the grab bucket to a suitable position, and then the opening and closing wire rope is lowered. At this time, the weight of the lower crossbeam forces the bucket to open around the main shaft of the lower crossbeam. When the bucket opens to the point where the two ear plates collide, the bucket is at its maximum opening limit. During opening, the center distance between the upper and lower crossbeam pulleys increases. Then, the support wire rope is lowered, placing the opened grab bucket on the loose material to be grabbed. The opening and closing wire rope is then wound up to restore the center distance between the upper and lower crossbeam pulleys to its original position, thus completing the material grabbing process. Once the closed bucket is full of material, the opening and closing wire rope is finally raised, and the entire grab bucket is lifted and moved by a crane to the required unloading site, where the bucket is opened to unload the grabbed material.

[0031] Combination Figure 1 As shown, this disclosure provides an application environment for implementing a material hoisting control method, including a client and a server, wherein the client communicates with the server via a network. The server can receive user instructions through the client, which include at least one of the following: in response to the lifting of the hoisting grab, acquiring the force parameters of each motor traction rope, the force parameters including at least one of the motor torque of the control motor and the current length of the motor traction rope; determining a pair of target traction ropes from among the motor traction ropes, calculating the force parameter relationship between the target traction ropes based on the force parameters of each target traction rope, and determining the force state between the target traction ropes based on the comparison result between the force parameter relationship and a preset parameter range; if the force state includes uneven force, determining the first target parameter of each target traction rope according to a preset adjustment ratio, and controlling the control motor corresponding to each target traction rope according to the first target parameter until the force state between the target traction ropes includes uniform force, wherein the first target parameter includes lifting speed and / or motor torque.

[0032] In some embodiments, the hoisting grab and crane are equipped with position sensors, weight sensors, communication systems, central processing units, operation clients, etc.

[0033] In some embodiments, the position sensor includes one or more of an encoder, a Gray bus, a laser rangefinder, an RF rangefinder, etc.

[0034] In some embodiments, data transmission between the central processing unit and the crane control system is achieved via a wireless bridge-fiber optic connection.

[0035] In some embodiments, the communication system includes one or more of the following: optical fiber, mobile optical fiber, network cable, wireless bridge, Wi-Fi communication, 5G base station, etc.

[0036] Combination Figure 2 As shown, this disclosure provides a material hoisting control method, including:

[0037] Step S201: In response to the lifting and lowering of the hoisting grab, obtain the force parameters of the traction ropes of each motor;

[0038] Among them, the motor traction rope is used to connect the hoisting grab bucket to the control motor corresponding to each motor traction rope;

[0039] Among them, the force parameters include at least one of the motor torque of the control motor and the current length of the motor traction rope;

[0040] Step S202: Calculate the force parameters of each target traction rope to obtain the force parameter relationship between the target traction ropes, and determine the force state between the target traction ropes based on the comparison result between the force parameter relationship and the preset parameter range.

[0041] Among them, a pair of target traction ropes are selected from the traction ropes of each motor;

[0042] Step S203: If the force state includes uneven force, then determine the first target parameter of each target traction rope according to the preset adjustment ratio, and control the control motor corresponding to each target traction rope according to the first target parameter until the force state between the target traction ropes includes uniform force.

[0043] The first target parameter includes the lifting speed and / or motor torque.

[0044] The material hoisting control method provided in this disclosure uses the motor torque of the control motor and the current length of the motor traction rope as force parameters of the motor traction rope. Based on the force parameters of each target traction rope, a force parameter relationship is obtained. The force state between the target traction ropes is determined by comparing the force parameter relationship with a preset parameter range. If the force is uneven, the lifting speed and / or motor torque of the target traction ropes are adjusted according to a preset adjustment ratio to ensure uniform force distribution among the target traction ropes. In this way, by determining whether the target traction ropes are uniformly stressed based on the motor torque of the control motor and the current length of the motor traction rope, and adjusting the lifting speed and / or motor torque of the target traction ropes to ensure uniform force distribution when it is uneven, the method avoids production problems such as reduced lifespan and derailment of the grab bucket's traction ropes due to uneven force distribution, thereby improving production efficiency and reducing production costs.

[0045] In some embodiments, the control motor includes an opening / closing motor and a lifting motor, wherein the opening / closing motor is used to control the opening and closing state of the hoisting grab, and the lifting motor is used to control the lifting and lowering of the hoisting grab in the direction of gravity.

[0046] In some embodiments, determining the force state between target traction ropes based on the comparison result between the force parameter relationship and the preset parameter range includes: if the force parameter relationship includes the ratio of motor torque between motor torques, then when the ratio of motor torque is between 70% and 130%, the force state between target traction ropes is determined to be uniform.

[0047] In some embodiments, determining the stress state between target traction ropes based on the comparison result between the stress parameter relationship and the preset parameter range includes: if the stress parameter relationship includes the length difference between the current lengths, then when the length difference is between -0.5m and 0.5m, the stress state between target traction ropes is determined to be uniform.

[0048] In some embodiments, determining the first target parameters of each target traction rope according to a preset adjustment ratio includes: if the first target parameters include the lifting speed of the hoisting motor and the lifting speed of the opening and closing motor, then the lifting speed of the hoisting motor is determined as the reference speed; if the target traction rope of the hoisting motor is a tension rope, then the reference speed is calculated according to a preset first ratio to obtain the lifting speed of the opening and closing motor, wherein the preset first ratio is greater than 100%; if the target traction rope of the opening and closing motor is a tension rope, then the reference speed is calculated according to a preset second ratio to obtain the lifting speed of the opening and closing motor, wherein the preset second ratio is less than 100%.

[0049] In some embodiments, the preset first ratio is between 105-110%, and the preset second ratio is between 90-95%.

[0050] In some embodiments, determining the first target parameters of each target traction rope according to a preset adjustment ratio includes: if the first target parameters include the motor torque of the hoisting motor and the motor torque of the opening and closing motor, then calculating the sum of the current torque of the hoisting motor and the current torque of the opening and closing motor to obtain the total motor torque; calculating the total motor torque according to a preset third threshold to obtain a high torque value and a low torque value; determining the motor torque corresponding to the force-bearing rope based on the low torque value, and determining the motor torque corresponding to the non-force-bearing rope based on the high torque value.

[0051] Optionally, the method further includes: using the edge of the target material pool as a reference, determining a safe area from the target material pool according to a preset edge distance; moving the crane corresponding to the hoisting grab to the safe area, and controlling the hoisting grab to rise and fall to a safe height range, wherein the safe height range is determined based on the edge height of the target material pool and the material height of the target material pool; determining a target area from the target material pool; moving the crane from the safe area to the target area; controlling the hoisting grab to descend and grab the material in the target area; moving the crane from the target area to the safe area, and controlling the hoisting grab to rise and fall to a safe height range; moving the crane from the safe area to a preset unloading area, and unloading the material in the hoisting grab to the preset unloading area.

[0052] In some embodiments, the type of crane is a bridge crane, which includes a trolley and a gantry crane, and the running directions between the trolley and the gantry crane are perpendicular.

[0053] In some embodiments, other production equipment is also provided around the material pool; if the target area is far from the edge of the material pool, the production equipment around the material pool will interfere with the line of sight, forming a blind spot for hoisting at the edge of the material pool, affecting hoisting efficiency; if the target area is close to the edge of the material pool, the grab bucket may collide with the production equipment around the material pool during the lifting process, causing a production accident.

[0054] In some embodiments, the preset edge distance is determined based on factors such as the production equipment and design requirements around the material pool. For example, the preset edge distance is 0.5-1.5m.

[0055] In some embodiments, a crane located in a safe area lowers the grab bucket below the edge of the material pool and then travels to the boundary of the material pool to clean and grab the material at the boundary and corners of the material pool.

[0056] Optionally, moving the crane from a safe area to a preset unloading area and unloading the material in the hoisting grab bucket to the preset unloading area includes: obtaining the total weight of the hoisting grab bucket and determining the unloading state of the hoisting grab bucket based on a comparison between a preset weight threshold and the total weight of the grab bucket; if the unloading state includes allowing unloading, then moving the crane from the safe area to the preset unloading area and controlling the hoisting grab bucket to rise and fall to a preset unloading height to unload the material in the hoisting grab bucket to the preset unloading area; if the unloading state includes prohibiting unloading, then moving the crane from the safe area to a preset idle area and controlling the hoisting grab bucket to rise and fall to a preset unloading height to unload the material in the hoisting grab bucket to the preset idle area.

[0057] Combination Figure 3 As shown, this disclosure provides a method for planning a single hoisting operation, including:

[0058] Step S301: Determine whether there is material in the hoisting grab bucket. If yes, proceed to step S308; otherwise, proceed to step S302.

[0059] Step S302: Move the crane's trolley and crane to a safe area and raise and lower the hoisting grab bucket to a safe height range;

[0060] The safe height range is between the edge height of the target material pool and the material height of the target material pool;

[0061] Among them, the area at a preset edge distance from the edge of the target material pool is designated as the safety zone, such as... Figure 4 As shown;

[0062] Step S303: Move the crane's trolley and carriage from the safe area to the target area;

[0063] Step S304: Control the hoisting grab bucket to descend in the target area and grab the material in the target area;

[0064] Step S305: Move the crane from the target area to the safe area and control the lifting grab bucket to rise;

[0065] Step S306: Determine whether the total weight of the hoisting grab is greater than or equal to the preset weight threshold. If yes, proceed to step S307; otherwise, proceed to step S308.

[0066] The total weight of the grab bucket includes the weight of the grab bucket itself and the weight of the material inside the grab bucket.

[0067] The preset weight threshold is determined according to process requirements;

[0068] Step S307: Move the crane from the safe area to the preset unloading area, and control the lifting grab bucket to rise and fall to the preset unloading height, so as to unload the material in the lifting grab bucket to the preset unloading area;

[0069] The pre-set unloading area includes fixed locations (such as belts, hoppers, etc.) or non-fixed locations (such as truck beds, train carriages, etc.).

[0070] Step S308: Move the crane from the safe area to the preset empty area, and control the lifting grab bucket to rise and fall to the preset unloading height, so as to unload the material in the lifting grab bucket to the preset empty area;

[0071] The pre-defined free areas include any area within the material pool and reserved spaces outside the material pool.

[0072] In this way, the safe zone of the bridge crane is determined by preset edge distance, and the safe height range of the grab bucket is determined according to the edge height of the target material pool and the material height of the target material pool. This decomposes the action of the bridge crane, avoids the production equipment around the material pool according to the safe zone and safe height range, effectively avoids obstacles around the material pool, and does not affect the hoisting of materials at the edge of the material pool. This avoids the impact of obstacles around the material pool on hoisting production and achieves accurate and safe hoisting control.

[0073] Optionally, determining the target area from the target material pool includes: pre-dividing the target material pool into multiple material areas; obtaining a set of material heights, wherein the set of material heights includes the material surface height of each material area; in response to obtaining the material surface height of any material area, determining whether the material area is a target area based on the comparison results between a preset height threshold and the material surface height; recording the number of times the set of material heights is obtained; if the number of times it is obtained is less than a preset number threshold, then obtaining the set of material heights again.

[0074] In some embodiments, the target material pool is divided into multiple material areas, and it is determined whether the material surface height of each material area is greater than a preset height threshold. If it is greater, the material in that area is hoisted. At the same time, multiple rounds of hoisting are performed on each material area in the pool until the material in each material area is hoisted.

[0075] Optionally, after controlling the hoisting grab to descend and grab the material in the target area, the method further includes: recording the current grab height of the hoisting grab while it is grabbing the material in the target area; and updating the material surface height in the target area based on the current grab height.

[0076] Combination Figure 5 As shown, this disclosure provides a method for planning whole-pool hoisting operations, including:

[0077] Step S501: Divide the target material pool into multiple material areas;

[0078] The target material pool is divided into a virtual grid of length m × width n to obtain the material region, as shown in the figure. Figure 6 As shown;

[0079] Step S502: In response to the job start command, initialize the job round number and the current target bit;

[0080] Among them, the number of operation rounds (Round) is used to characterize the number of times the material height set is obtained;

[0081] The current target position includes an x-coordinate i = 1 and a y-coordinate j = 1;

[0082] The x-coordinate i ranges from 0 to m, with a x-coordinate i of 0 indicating that no task is being performed.

[0083] The value of the vertical axis j ranges from 0 to n, and a vertical axis j of 0 indicates that no task has been completed.

[0084] Step S503: Determine whether the height of the material surface in the current area is greater than or equal to the preset height threshold. If yes, proceed to step S504; otherwise, proceed to step S505.

[0085] Among them, the current region G ij The material area corresponding to the current target location;

[0086] Where, if the number of rounds = 1, then the current region G ij Material surface height H ij Provided by system historical information, if the number of operation rounds is greater than 1, then the current region G... ij Material surface height H ij The height of the material surface after the previous round of material hoisting is determined;

[0087] The preset height threshold H0 is determined by the process conditions;

[0088] Step S504: Determine the current area as the target area and hoist the materials in the target area;

[0089] Step S505: Update the current target bit;

[0090] Among them, updating the current target position includes updating the horizontal coordinate i of the current target position to i+1 if the horizontal coordinate i of the current target position is less than the length m of the target material pool;

[0091] Among them, updating the current target position includes updating the ordinate j of the current target position to j+1 if the horizontal coordinate i of the current target position is equal to the length m of the target material pool;

[0092] Step S506: Determine whether the updated current area is within the target material pool. If yes, proceed to step S503; otherwise, proceed to step S507.

[0093] Step S507: Determine whether the number of operation rounds is greater than or equal to the preset number threshold. If yes, proceed to step S508; otherwise, proceed to step S509.

[0094] Among them, the preset number threshold R max Determined by process conditions, for example, a preset threshold number of times R max It equals 3;

[0095] Step S508: Set the number of operation rounds, x-coordinate i, and y-coordinate j to 0, and end the operation;

[0096] The value of the number of rounds is between 0 and a preset threshold number. A number of rounds of 0 indicates that no operation is in progress.

[0097] Step S509: Initialize the current target bit, then jump to step S503.

[0098] In this way, by dividing the target material pool into multiple grids and determining the target area based on the surface height of the material in each grid, the operation planning for the material in the pool can be completed automatically, thereby improving hoisting efficiency.

[0099] Optionally, controlling the descent of the hoisting grab bucket and grabbing material in the target area includes: pre-controlling the hoisting grab bucket to rise and fall via a hoisting motor, and recording the motor torque and / or lifting speed of the hoisting motor when the motor traction rope is taut and the hoisting grab bucket is stationary to obtain a second target parameter; controlling the descent of the hoisting grab bucket via the hoisting motor; and in response to the hoisting grab bucket contacting the material surface in the target area, controlling the hoisting motor to the second target parameter, and controlling the hoisting grab bucket to change from an open state to a closed state via an opening and closing motor to grab material in the target area.

[0100] In some embodiments, obtaining the second target parameter includes: gradually increasing the motor torque of the hoisting motor starting from 0; and recording the motor torque of the hoisting motor at the current moment as the second target parameter when the motor traction rope is taut and the hoisting grab is not lifted.

[0101] In some embodiments, if the second target parameter includes the motor torque of the hoisting motor, the hoisting motor is switched to torque mode, and the second target parameter is used as the torque parameter of the hoisting motor to raise and lower the motor traction rope.

[0102] In some embodiments, obtaining the second target parameter includes: setting the maximum torque of the hoisting motor to a target torque value, and gradually increasing the hoisting speed of the hoisting motor starting from 0; when the motor traction rope is taut and the hoisting grab is not lifted, recording the hoisting speed of the hoisting motor at the current moment as the second target parameter.

[0103] In some embodiments, the second target parameter is 30-70% of the maximum speed of the hoisting motor.

[0104] In some embodiments, if the second target parameter includes the lifting speed of the hoisting motor, the maximum torque of the hoisting motor is set as the target torque value, and the second target parameter is used as the lifting speed of the hoisting motor to lift the motor traction rope.

[0105] Optionally, the contact between the hoisting grab and the material surface of the target area can be determined by at least one of the following methods: if the current weight of the hoisting grab is less than a preset minimum weight threshold, then the hoisting grab is determined to be in contact with the material surface of the target area; if the motor torque of the opening / closing motor and the motor torque of the hoisting motor are both less than a preset minimum torque threshold, then the hoisting grab is determined to be in contact with the material surface of the target area; if the rate of change of the motor torque of the opening / closing motor and the rate of change of the motor torque of the hoisting motor are both greater than or equal to a preset minimum rate of change threshold, then the hoisting grab is determined to be in contact with the material surface of the target area.

[0106] Optionally, moving the crane from the target area to the safe area includes: obtaining the current length corresponding to the opening and closing motor and the current length corresponding to the hoisting motor, and calculating the rope length difference based on the current length corresponding to the opening and closing motor and the current length corresponding to the hoisting motor; if the rope length difference meets the preset closed length difference threshold, then it is determined that the hoisting grab is in a closed state, and the crane is moved from the target area to the safe area.

[0107] In some embodiments, the closure length difference threshold is between -0.5m and 0.5m.

[0108] Combination Figure 7 As shown, this disclosure provides a method for controlling a hoisting grab, including:

[0109] Step S701: Move the crane to the target area;

[0110] Step S702: Control the lowering of the hoisting grab bucket;

[0111] Step S703: Determine whether the hoisting grab has contacted the material surface of the target area. If yes, proceed to step S704; otherwise, proceed to step S702.

[0112] Step S704: Control the hoisting grab bucket from the open state to the closed state by opening and closing motor, and control the hoisting motor to the second target parameter;

[0113] Step S705: Determine whether the hoisting grab is in a closed state. If yes, proceed to step S706; otherwise, proceed to step S704.

[0114] Step S706: Control the lifting grab bucket to rise and obtain the force parameters of the target traction rope in real time;

[0115] Step S707: Determine whether the target traction rope is under uniform force based on the force parameters. If yes, proceed to step S709; otherwise, proceed to step S708.

[0116] Among them, the force parameters include at least one of the motor torque of the control motor and the current length of the motor traction rope;

[0117] Step S708: Determine the first target parameters of each target traction rope according to the preset adjustment ratio, and control the control motor corresponding to each target traction rope according to the first target parameters, then jump to step S707.

[0118] Step S709: Raise the hoisting grab to the target height.

[0119] In this way, by using a dual control method of lifting speed and motor torque, and by adjusting the force on the traction rope through negative feedback, precise control of the grab bucket is achieved. This not only avoids problems such as wire rope derailment and insufficient grab capacity, but also ensures the service life of the grab bucket and wire rope.

[0120] Combination Figure 8 As shown, this disclosure provides a system framework for implementing a material hoisting control method, including a whole pool operation process planning layer, a single operation step planning layer, a grab bucket control scheme planning layer, and a hardware support layer.

[0121] The whole-pool operation process planning layer is used to implement the whole-pool hoisting operation planning method.

[0122] The single-operation step planning layer is used to implement the planning method for single hoisting operations.

[0123] The grab control scheme planning layer is used to implement the grab control method for hoisting.

[0124] The hardware support layer provides various hardware support, including sensors and communication systems, to the overall pool operation process planning layer, single operation step planning layer, and grab control scheme planning layer.

[0125] The material hoisting control method provided in this disclosure uses the motor torque of the control motor and the current length of the motor traction rope as force parameters of the motor traction rope. Based on the force parameters of each target traction rope, the force parameter relationship is obtained. The force state between the target traction ropes is determined by comparing the force parameter relationship with a preset parameter range. If the force is uneven, the lifting speed and / or motor torque of the target traction ropes are adjusted according to a preset adjustment ratio to ensure uniform force distribution between the target traction ropes. This method has the following advantages:

[0126] First, based on the motor torque of the control motor and the current length of the motor traction rope, determine whether the target traction ropes are evenly stressed. If the stress is uneven, adjust the lifting speed of the target traction rope and / or the motor torque to make the target traction ropes evenly stressed. This avoids production problems such as reduced lifespan and derailment caused by uneven stress on the traction ropes of the control grab, thereby improving production efficiency and reducing production costs.

[0127] Secondly, by presetting the edge distance, the safe zone of the bridge crane is determined, and the safe height range of the grab bucket is determined according to the edge height of the target material pool and the material height of the target material pool. This decomposes the action of the bridge crane, avoids the production equipment around the material pool according to the safe zone and safe height range, effectively avoids obstacles around the material pool, and does not affect the hoisting of the material at the edge of the material pool. This avoids the impact of obstacles around the material pool on hoisting production and achieves accurate and safe hoisting control.

[0128] Third, by dividing the target material pool into multiple grids and determining the target area based on the surface height of the material in each grid, the operation planning for the material in the pool is automatically completed, thereby improving hoisting efficiency.

[0129] Fourth, by using a dual control method of lifting speed and motor torque, and by adjusting the force on the traction rope using negative feedback, precise control of the grab bucket is achieved. This not only avoids problems such as wire rope derailment and insufficient grab, but also ensures the service life of the grab bucket and wire rope.

[0130] Combination Figure 9 As shown, this embodiment of the disclosure provides a material hoisting control system, including an acquisition module 901, a determination module 902, and a control module 903.

[0131] The acquisition module 901 is used to acquire the force parameters of each motor traction rope in response to the lifting and lowering of the hoisting grab. The motor traction rope is used to connect the hoisting grab to the control motor corresponding to each motor traction rope. The force parameters include at least one of the motor torque of the control motor and the current length of the motor traction rope.

[0132] The determination module 902 is used to determine a pair of target traction ropes from each motor traction rope, calculate the force parameter relationship between the target traction ropes based on the force parameters of each target traction rope, and determine the force state between the target traction ropes based on the comparison result between the force parameter relationship and the preset parameter range.

[0133] The control module 903 is used to determine the first target parameters of each target traction rope according to a preset adjustment ratio if the force state includes uneven force, and control the control motor corresponding to each target traction rope according to the first target parameters until the force state between the target traction ropes includes uniform force, wherein the first target parameters include lifting speed and / or motor torque.

[0134] The material handling control system provided in this embodiment acquires the motor torque of the control motor and the current length of the motor traction rope as force parameters of the motor traction rope. Based on the force parameters of each target traction rope, a force parameter relationship is obtained. The force state between the target traction ropes is determined by comparing the force parameter relationship with a preset parameter range. If the force is uneven, the lifting speed and / or motor torque of the target traction ropes are adjusted according to a preset adjustment ratio to ensure uniform force distribution among the target traction ropes. In this way, by determining whether the target traction ropes are uniformly stressed based on the motor torque of the control motor and the current length of the motor traction rope, and adjusting the lifting speed and / or motor torque of the target traction ropes to ensure uniform force distribution when it is uneven, the system avoids production problems such as reduced lifespan and derailment of the grab bucket's traction ropes due to uneven force distribution, thereby improving production efficiency and reducing production costs.

[0135] Figure 10 A schematic diagram of a computer system suitable for implementing the embodiments of this application is shown. It should be noted that... Figure 10 The computer system 1000 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0136] like Figure 10 As shown, the computer system 1000 includes a Central Processing Unit (CPU) 1001, which can perform various appropriate actions and processes, such as executing the methods described in the above embodiments, based on programs stored in Read-Only Memory (ROM) 1002 or programs loaded from Storage Unit 1008 into Random Access Memory (RAM) 1003. The RAM 1003 also stores various programs and data required for system operation. The CPU 1001, ROM 1002, and RAM 1003 are interconnected via a bus 1004. An Input / Output (I / O) interface 1005 is also connected to the bus 1004.

[0137] The following components are connected to I / O interface 1005: an input section 1006 including a keyboard, mouse, etc.; an output section 1007 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 1008 including a hard disk, etc.; and a communication section 1009 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 1009 performs communication processing via a network such as the Internet. Drive 1100 is also connected to I / O interface 1005 as needed. Removable media 1011, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 1100 as needed so that computer programs read from them can be installed into storage section 1008 as needed.

[0138] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 1009, and / or installed from removable medium 1011. When the computer program is executed by central processing unit (CPU) 1001, it performs various functions defined in the system of this application.

[0139] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0140] This disclosure also provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements any of the methods in this embodiment.

[0141] The computer-readable storage medium in the embodiments of this disclosure will be understood by those skilled in the art: all or part of the steps of the above method embodiments can be implemented by hardware related to computer programs. The aforementioned computer program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disk, or optical disk.

[0142] The electronic device disclosed in this embodiment includes a processor, a memory, a transceiver, and a communication interface. The memory and the communication interface are connected to the processor and the transceiver and complete communication between them. The memory is used to store computer programs, the communication interface is used to perform communication, and the processor and the transceiver are used to run the computer programs, so that the electronic device performs the various steps of the above method.

[0143] In this embodiment, the memory may include random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device.

[0144] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), graphics processing units (GPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0145] The foregoing description and accompanying drawings fully illustrate embodiments of this disclosure to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, procedural, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and subsamples of some embodiments may be included in or replace parts and subsamples of other embodiments. Moreover, the terminology used in this application is for describing embodiments only and is not intended to limit the claims. As used in the description of embodiments and claims, the singular forms “a,” “an,” and “the” are intended to equally include the plural forms unless the context clearly indicates otherwise. Similarly, the term “and / or” as used herein means including one or more of the associated listed items and all possible combinations thereof. Additionally, when used in this application, the term "comprise" and its variations "comprises" and / or "comprising" refer to the presence of stated subsamples, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other subsamples, wholes, steps, operations, elements, components, and / or groups thereof. Without further limitations, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the process, method, or apparatus that includes the element. In this document, each embodiment may focus on the differences from other embodiments, and similar or identical parts between embodiments can be referred to mutually. For methods, products, etc., disclosed in the embodiments, if they correspond to the method section disclosed in the embodiments, the relevant parts can be referred to the description of the method section.

[0146] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this disclosure. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0147] The methods and products (including but not limited to devices and equipment) disclosed in the embodiments herein can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units may be merely a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some sub-samples may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms. Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected to implement this embodiment according to actual needs. Furthermore, the functional units in the embodiments of this disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0148] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than that shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different blocks may also occur in a different order than disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. Each block in a block diagram and / or flowchart, and combinations of blocks in a block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

Claims

1. A material hoisting control method, characterized in that, include: In response to the lifting and lowering of the hoisting grab, the force parameters of each motor traction rope are obtained, wherein the motor traction rope is used to connect the hoisting grab to the control motor corresponding to each motor traction rope, and the force parameters include at least one of the motor torque of the control motor and the current length of the motor traction rope; A pair of target traction ropes are determined from each of the motor traction ropes. The force parameters of each target traction rope are calculated to obtain the force parameter relationship between the target traction ropes. The force state between the target traction ropes is determined based on the comparison result between the force parameter relationship and the preset parameter range. If the force state includes uneven force, then the first target parameter of each target traction rope is determined according to the preset adjustment ratio, and the control motor corresponding to each target traction rope is controlled according to the first target parameter until the force state between the target traction ropes includes uniform force, wherein the first target parameter includes lifting speed and / or motor torque; Using the edge of the target material pool as a reference, a safe zone is determined from the target material pool according to a preset edge distance; the crane corresponding to the hoisting grab is moved to the safe zone, and the hoisting grab is controlled to rise and fall to a safe height range, wherein the safe height range is determined based on the edge height of the target material pool and the material height of the target material pool; a target area is determined from the target material pool; the crane is moved from the safe zone to the target area; the hoisting grab is controlled to descend and grab the material in the target area; the crane is moved from the target area to the safe zone, and the hoisting grab is controlled to rise and fall to the safe height range; the crane is moved from the safe zone to a preset unloading area, and the material in the hoisting grab is unloaded into the preset unloading area; Determining a target area from the target material pool includes: pre-dividing the target material pool into multiple material areas; obtaining a set of material heights, wherein the set of material heights includes the material surface height of each of the material areas; in response to obtaining the material surface height of any material area, determining whether the material area is a target area based on a comparison result between a preset height threshold and the material surface height; recording the number of times the set of material heights is obtained; if the number of times the set of material heights is obtained is less than a preset number threshold, then the set of material heights is obtained again.

2. The method according to claim 1, characterized in that, Moving the crane from the safe area to the preset unloading area and unloading the material in the hoisting grab bucket into the preset unloading area includes: Obtain the total weight of the hoisting grab, and determine the unloading status of the hoisting grab based on the comparison result between the preset weight threshold and the total weight of the grab; If the unloading status includes allowing unloading, then the crane is moved from the safe area to the preset unloading area, and the hoisting grab is raised and lowered to the preset unloading height to unload the material in the hoisting grab to the preset unloading area; If the unloading status includes prohibiting unloading, then the crane is moved from the safe area to a preset empty area, and the hoisting grab is raised and lowered to a preset unloading height to unload the material in the hoisting grab to the preset empty area.

3. The method according to claim 1, characterized in that, After controlling the hoisting grab bucket to descend and grab material from the target area, the method further includes: When the hoisting grab grabs material in the target area, the current grab height of the hoisting grab is recorded; The material surface height in the target area is updated based on the current grab bucket height.

4. The method according to any one of claims 1 to 3, characterized in that, Controlling the hoisting grab bucket to descend and grab material from the target area includes: The control motor includes an opening / closing motor and a lifting motor; The hoisting grab is pre-controlled to lift and lower via the hoisting motor. When the motor traction rope is taut and the hoisting grab is stationary, the motor torque and / or lifting speed of the hoisting motor are recorded to obtain the second target parameter. The hoisting grab is lowered by controlling the lifting motor; In response to the hoisting grab contacting the material surface of the target area, the hoisting motor is controlled at the second target parameter, and the hoisting grab is controlled by the opening and closing motor to change from the open state to the closed state in order to grab the material in the target area.

5. The method according to claim 4, characterized in that, Determine that the hoisting grab is in contact with the material surface of the target area by at least one of the following methods: If the current weight of the hoisting grab is less than a preset minimum weight threshold, then it is determined that the hoisting grab has come into contact with the material surface of the target area; If the motor torque of the opening and closing motor and the motor torque of the lifting motor are both less than the preset minimum torque threshold, then it is determined that the hoisting grab has contacted the material surface of the target area. If the torque change rate of the opening and closing motor and the torque change rate of the lifting motor are both greater than or equal to the preset minimum threshold of change rate, then it is determined that the hoisting grab has contacted the material surface of the target area.

6. The method according to claim 4, characterized in that, Moving the crane from the target area to the safe area includes: Obtain the current length corresponding to the opening and closing motor and the current length corresponding to the lifting motor, and calculate the rope length difference based on the current length corresponding to the opening and closing motor and the current length corresponding to the lifting motor; If the difference in the length of the pull rope meets the preset threshold for the difference in the closed length, then the hoisting grab is determined to be in a closed state, and the crane is moved from the target area to the safe area.

7. A material hoisting control system, characterized in that, include: The acquisition module is used to acquire the force parameters of each motor traction rope in response to the lifting and lowering of the hoisting grab. The motor traction rope is used to connect the hoisting grab to the control motor corresponding to each motor traction rope. The force parameters include at least one of the motor torque of the control motor and the current length of the motor traction rope. The determination module is used to determine a pair of target traction ropes from each of the motor traction ropes, calculate the force parameter relationship between the target traction ropes based on the force parameters of each target traction rope, and determine the force state between the target traction ropes based on the comparison result between the force parameter relationship and the preset parameter range. The control module is configured to determine the first target parameter of each target traction rope according to a preset adjustment ratio if the force state includes uneven force, and control the control motor corresponding to each target traction rope according to the first target parameter until the force state between the target traction ropes includes uniform force, wherein the first target parameter includes lifting speed and / or motor torque; The control module is further configured to: pre-determine a safe area from the target material pool based on the edge of the target material pool and a preset edge distance; move the crane corresponding to the hoisting grab to the safe area and control the hoisting grab to rise and fall to a safe height range, wherein the safe height range is determined based on the edge height of the target material pool and the material height of the target material pool; determine a target area from the target material pool; move the crane from the safe area to the target area; control the hoisting grab to descend and grab the material in the target area; move the crane from the target area to the safe area and control the hoisting grab to rise and fall to the safe height range; move the crane from the safe area to a preset unloading area and unload the material in the hoisting grab to the preset unloading area; The control module determines the target area from the target material pool in the following manner: the target material pool is pre-divided into multiple material areas; a material height set is obtained, wherein the material height set includes the material surface height of each material area; in response to obtaining the material surface height of any material area, the material area is determined to be the target area based on the comparison result between the material surface height and a preset height threshold; the number of times the material height set is obtained is recorded; if the number of times is less than a preset number threshold, the material height set is obtained again.

8. An electronic device, characterized in that, include: Processor and memory; The memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to cause the electronic device to perform the method as described in any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 6.

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