Tower crane multi-lifting mechanism synchronous control method and device and machine readable storage medium

Abstract

The embodiment of the application provides a tower crane multi-lifting mechanism synchronous control method, device and machine readable storage medium, and belongs to the technical field of engineering equipment. The method comprises the following steps: when controlling the tower crane lifting brake, acquiring the operation signals of all lifting mechanisms, determining whether there is a target lifting mechanism with brake failure based on the operation signals, in the case that the target lifting mechanism exists, controlling the motor of the target lifting mechanism to enter the hovering protection state, and the remaining normal lifting mechanisms enter the braking state. When controlling the tower crane lifting operation, the brake of the normal lifting mechanism is opened, and the preset operation speed of the normal lifting mechanism or the preset operation speed of the target lifting mechanism is adjusted to achieve the synchronous operation of all lifting mechanisms. Through the adjustment of the preset operation speed, the influence of the mechanical hysteresis of the opened brake is overcome, so that the synchronous operation of all lifting mechanisms is ensured, and the reliability of the tower crane operation is further improved.

Description

Technical Field

[0001] This invention relates to the field of engineering equipment technology, and more specifically to a method, device, and machine-readable storage medium for synchronous control of multiple lifting mechanisms of a tower crane. Background Technology

[0002] Tower cranes are widely used material handling machinery on construction sites. Most tower cranes use frequency converters to drive the motors of each hoisting mechanism to regulate the speed of the hoisting action. Before the motor moves, the hoisting mechanism's brake engages to provide the pulling force for lifting the load. When the motor torque reaches the opening torque, the brake opens, and the motor provides the pulling force for lifting the load. For tower cranes with multiple hoisting mechanisms, if the brake of a single hoisting mechanism fails, the corresponding hoisting mechanism will output a hoisting action protection signal to prevent hook slippage. However, when the tower crane continues to hoist after triggering the hoisting action protection, there is a mechanical lag in the opening of the brakes of other normal hoisting mechanisms. The hoisting mechanism with the failed brake, due to the brake failure, immediately begins the hoisting action, resulting in asynchronous hoisting actions among multiple hoisting mechanisms, posing a safety hazard. Summary of the Invention

[0003] To address the aforementioned shortcomings in the prior art, the purpose of this invention is to provide a method, apparatus, and machine-readable storage medium for synchronous control of multiple lifting mechanisms of a tower crane.

[0004] To achieve the above objectives, a first aspect of the present invention provides a method for synchronous control of multiple hoisting mechanisms of a tower crane, comprising:

[0005] When controlling the tower crane's hoisting brake, acquire the operating signals of all hoisting mechanisms;

[0006] Determine whether there is a target lifting mechanism with a failed brake based on the operating signals;

[0007] When a target lifting mechanism is present, the motor controlling the target lifting mechanism enters a hovering protection state, while the other normal lifting mechanisms enter a braking state.

[0008] When the tower crane is hoisting, the brakes controlling the normal hoisting mechanism are released;

[0009] Adjust the preset operating speed of the normal hoisting mechanism or the preset operating speed of the target hoisting mechanism to achieve synchronous operation of all hoisting mechanisms.

[0010] In this embodiment of the invention, before the step of controlling the brake of the normal lifting mechanism to open, the method further includes:

[0011] Control the operating speed of all lifting mechanisms to reach the preset brake speed, wherein the preset brake speed is less than the preset operating speed.

[0012] In this embodiment of the invention, adjusting the preset operating speed of the normal hoisting mechanism or the preset operating speed of the target hoisting mechanism includes:

[0013] Obtain the preset operating speed corresponding to the input gear signal;

[0014] Obtain the difference in hoisting rope displacement between the normal hoisting mechanism and the target hoisting mechanism;

[0015] The preset operating speed of the normal hoisting mechanism or the preset operating speed of the target hoisting mechanism is adjusted based on the displacement difference of the hoisting rope.

[0016] In this embodiment of the invention, adjusting the preset operating speed of the normal hoisting mechanism or the preset operating speed of the target hoisting mechanism based on the rope displacement difference and the preset operating speed includes:

[0017] The speed compensation value is determined based on the absolute value of the rope displacement difference, the preset proportional control coefficient, and the preset integral control coefficient.

[0018] Adjustments are made based on the speed compensation value, the rope displacement difference, and the preset operating speed of the normal hoisting mechanism or the preset operating speed of the target hoisting mechanism.

[0019] In this embodiment of the invention, adjustments are made based on the speed compensation value, the rope displacement difference, and the preset operating speed of the normal hoisting mechanism or the preset operating speed of the target hoisting mechanism, including:

[0020] When the product between the rope displacement difference and the preset operating speed is less than zero, the preset operating speed of the normal hoisting mechanism is adjusted to the first speed value, where the first speed value is equal to the preset operating speed minus the speed compensation value.

[0021] When the product of the rope displacement difference and the preset operating speed is greater than zero, the preset operating speed of the target hoisting mechanism is adjusted to the second speed value, where the second speed value is equal to the preset operating speed minus the speed compensation value.

[0022] In this embodiment of the invention, the hoisting mechanism includes an encoder for detecting the displacement of the hoisting rope. The operating signal is the displacement signal detected by the encoder. Determining whether there is a target hoisting mechanism with brake failure based on the operating signal includes:

[0023] When a displacement signal is generated and the displacement value of the hoisting rope corresponding to the displacement signal is greater than the preset displacement value, it is determined that the brake corresponding to the displacement signal has failed, and the hoisting mechanism with the failed brake is identified as the target hoisting mechanism.

[0024] In this embodiment of the invention, controlling the opening of the brake of the normal lifting mechanism includes:

[0025] When the output torque of the motor of the normal hoisting mechanism reaches the opening torque, the brake of the normal hoisting mechanism is opened.

[0026] A second aspect of the present invention provides a synchronous control device for multiple hoisting mechanisms of a tower crane, comprising:

[0027] The signal acquisition module is used to acquire the operating signals of all hoisting mechanisms when controlling the tower crane's hoisting braking.

[0028] The hoisting mechanism determination module is used to determine whether there is a target hoisting mechanism with brake failure based on the operating signals.

[0029] The braking protection module is used to control the motor of the target lifting mechanism to enter the hovering protection state when the target lifting mechanism is present, and the other normal lifting mechanisms to enter the braking state.

[0030] The braking control module is used to control the opening of the brakes on the normal hoisting mechanism during tower crane hoisting operations;

[0031] The operation control module adjusts the preset operating speed of the normal hoisting mechanism or the preset operating speed of the target hoisting mechanism to achieve synchronous operation of all hoisting mechanisms.

[0032] A third aspect of the present invention provides a computer device comprising: a memory, a processor, and a program stored in the memory and executable on the processor, the program being configured to implement the steps of the tower crane multi-lifting mechanism synchronous control method as described in the above embodiments.

[0033] The fourth aspect of the present invention provides a machine-readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the steps of the tower crane multi-lifting mechanism synchronous control method as described in the above embodiments.

[0034] The above technical solution acquires the operating signals of all hoisting mechanisms during tower crane hoisting and braking. Based on these signals, it determines whether a target hoisting mechanism has a brake failure. If such a mechanism exists, its motor enters a hovering protection state, while the remaining normal hoisting mechanisms enter a braking state. Entering the hovering protection state ensures the safety of the target hoisting mechanism and improves the feasibility of it continuing to perform hoisting actions. During tower crane hoisting, the brakes of the normal hoisting mechanisms are released, and the preset operating speeds of either the normal or target hoisting mechanisms are adjusted to achieve synchronous operation of all hoisting mechanisms. Adjusting the preset operating speeds overcomes the mechanical lag caused by brake release, ensuring synchronous operation of all hoisting mechanisms and further improving the reliability of tower crane operation.

[0035] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0036] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0037] Figure 1 This is a flowchart illustrating a method for synchronous control of multiple hoisting mechanisms of a tower crane according to an embodiment of the present invention. Detailed Implementation

[0038] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0039] 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.

[0040] 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.

[0041] Figure 1 This is a flowchart illustrating a synchronous control method for multiple hoisting mechanisms of a tower crane according to an embodiment of the present invention. Figure 1 As shown in the embodiment of the present invention, a method for synchronous control of multiple hoisting mechanisms of a tower crane is provided. Taking the application of this method to a processor as an example, the method may include the following steps:

[0042] Step S100: When controlling the tower crane to brake, acquire the operating signals of all hoisting mechanisms;

[0043] It should be noted that tower cranes, as widely used material handling machinery on construction sites, can include one or more lifting mechanisms. The tower crane uses a frequency converter to drive the motors of each lifting mechanism, thereby regulating the lifting speed. Before the motor moves, the brake of the lifting mechanism provides the pulling force to lift the load. When the motor torque reaches the opening torque, the brake opens, and the motor provides the pulling force to lift the load. However, for tower cranes with multiple lifting mechanisms, brake failure may occur. In this embodiment, a preset braking protection measure is in place for the presence of a failed brake, in which the failed brake is already in the open state. Lifting operation is then initiated directly, while the brakes of the remaining lifting mechanisms without brake failure are in the engaged state. During subsequent tower crane lifting operations, the lifting mechanism corresponding to the failed brake does not need to open its brake, while the lifting mechanisms without brake failure need to open their brakes first. These lifting mechanisms without brake failure will experience mechanical lag during lifting operations; thus, in the event of brake failure, all lifting mechanisms of the tower crane cannot operate synchronously.

[0044] In this embodiment, the synchronous operation of all hoisting mechanisms of the tower crane is achieved by synchronously controlling all hoisting mechanisms. Specifically, the operating signals of the hoisting mechanisms may include displacement signals from encoders used to detect the displacement of the hoisting ropes, the speed and operating frequency of the hoisting mechanism motors, and other signals generated by the hoisting mechanisms during operation. When controlling the tower crane's hoisting brake, the operating signals of all hoisting mechanisms of the tower crane will be acquired.

[0045] Step S200: Determine whether there is a target lifting mechanism with brake failure based on the operating signal;

[0046] It should be noted that the hoisting mechanism with brake failure is the target hoisting mechanism, and the brake failure can be determined based on the operating signal. In one embodiment, the frequency converter of the hoisting mechanism determines the target operating frequency based on the input control command, and this target operating frequency is used to control the motor operation. Taking the operating signal as the operating frequency of the hoisting mechanism's motor as an example, when controlling the tower crane's hoisting brake, by comparing the acquired motor operating frequency with the target operating frequency, if the two match, it is determined that the hoisting mechanism's brake is normal; if the two do not match, it is determined that the hoisting mechanism's brake has failed. In one embodiment, when the acquired operating signal is the displacement signal collected by the encoder of the hoisting mechanism, if the displacement difference of the hoisting rope corresponding to the displacement signal is less than or equal to a preset displacement value, it is determined that the hoisting mechanism's brake is normal; if the displacement difference of the hoisting rope corresponding to the displacement signal is greater than the preset displacement value, it is determined that the hoisting mechanism's brake has failed.

[0047] Step S300: If a target lifting mechanism is present, control the motor of the target lifting mechanism to enter the hovering protection state, and control the other normal lifting mechanisms to enter the braking state.

[0048] It should be noted that the target hoisting mechanism is a hoisting mechanism with a failed brake. When the tower crane is controlled to hoist, this target hoisting mechanism cannot provide the pulling force to lift the load through the brake. In this embodiment, the target hoisting mechanism includes a preset braking protection measure for the failed brake. Specifically, the motor of the target hoisting mechanism is controlled to enter a hovering protection state. In this hovering protection state, the failed brake is controlled to be open, and the motor is controlled to operate based on the weight of the load. The motor continuously outputs to compensate for the pulling force of the target hoisting mechanism to lift the load, so that the hoisting mechanism enters a hovering state. This allows the hoisting mechanism corresponding to the failed brake to directly start hoisting operation according to the operation signal when the tower crane is subsequently controlled to hoist. It can be understood that the other normal hoisting mechanisms refer to the hoisting mechanisms among all hoisting mechanisms whose brakes are working normally. When the tower crane is controlled to hoist, the brake of a normal hoisting mechanism is engaged.

[0049] Step S400: When the tower crane is in operation, the brake of the normal hoisting mechanism is opened.

[0050] It should be noted that when controlling the tower crane's hoisting operation, it is necessary to control the operation of the hoisting mechanism. In this case, the brakes of the normal hoisting mechanisms are released, and a running signal is sent to all hoisting mechanisms so that they can operate at the preset speed. It is understood that when the target hoisting mechanism is controlling the tower crane's hoisting braking, its brake is already open because it is in a hovering state. Therefore, upon receiving the running signal, the target hoisting mechanism will immediately begin hoisting.

[0051] Step S500: Adjust the preset operating speed of the normal hoisting mechanism or the preset operating speed of the target hoisting mechanism to achieve synchronous operation of all hoisting mechanisms.

[0052] It should be noted that, because the normal hoisting mechanism needs to open the brake during tower crane hoisting to operate at the preset speed after the brake is opened, the brake opening process requires a certain amount of time. However, when the target hoisting mechanism enters the hovering protection state due to brake failure, its brake is already open and will not attempt to open again. When the motor torque of the normal hoisting mechanism reaches the opening torque, it sends a running signal to all hoisting mechanisms. At this point, the hoisting mechanism corresponding to the failed brake directly starts hoisting based on this running signal. The other hoisting mechanisms that have not experienced brake failure need to open their brakes first after receiving the running signal before starting hoisting. Therefore, there is a mechanical lag in the brake operation between the normal hoisting mechanism and the target hoisting mechanism when a brake failure occurs. That is, in the case of a failed brake, there is a certain time difference between the start time of the target hoisting mechanism and the normal hoisting mechanism operating at the preset speed. In other words, the normal hoisting mechanism and the target hoisting mechanism cannot operate completely synchronously. In this embodiment, by adjusting the preset operating speed of the normal lifting mechanism or the preset operating speed of the target lifting mechanism, the influence of the mechanical lag caused by the opening of the brake is overcome, thereby achieving the purpose of synchronous operation of all lifting mechanisms.

[0053] The above scheme, when controlling the tower crane's hoisting and braking, acquires the operating signals of all hoisting mechanisms. Based on these signals, it determines whether a target hoisting mechanism has a brake failure. If such a mechanism exists, its motor is controlled to enter a hovering protection state, while the remaining normal hoisting mechanisms enter a braking state. Entering the hovering protection state ensures the safety of the target hoisting mechanism and improves the feasibility of it continuing to perform hoisting actions. During tower crane hoisting operation, the brakes of the normal hoisting mechanisms are opened, and the preset operating speeds of either the normal or target hoisting mechanisms are adjusted to achieve synchronous operation of all hoisting mechanisms. Adjusting the preset operating speeds overcomes the mechanical lag caused by brake opening, thus ensuring synchronous operation of all hoisting mechanisms and further improving the reliability of tower crane operation.

[0054] In one embodiment, prior to the step of controlling the brake of the normal hoisting mechanism to open, the method further includes:

[0055] Control the operating speed of all lifting mechanisms to reach the preset brake speed, wherein the preset brake speed is less than the preset operating speed.

[0056] It should be noted that during the tower crane's hoisting operation, the brakes of all normal hoisting mechanisms will be released, and they will operate at the preset operating speed. The target hoisting mechanism will also operate directly at the preset operating speed. Due to the mechanical lag caused by the brake release between the normal and target hoisting mechanisms, and considering that the preset operating speed is the speed at which the tower crane controls the hoisting mechanisms to transport materials via hoisting ropes, if the target hoisting mechanism operates directly at this preset operating speed while the normal hoisting mechanism is within this mechanical lag period, by the time the normal hoisting mechanism begins operating at its preset speed, the target hoisting mechanism will have already been operating at its preset speed for a period of time. At this point, there will be a significant difference in hoisting rope displacement between the normal and target hoisting mechanisms. In this embodiment, before the brake of the normal hoisting mechanism is released, the operating speed of all hoisting mechanisms is controlled at a preset brake speed. This preset brake speed is much lower than the preset operating speed for normal hoisting operation. By controlling the operating speed of all hoisting mechanisms at the preset brake speed, even if the target hoisting mechanism operates directly within the time range of mechanical lag of the normal hoisting mechanism, a large difference in hoisting rope displacement will not occur. Only after the brake of the normal hoisting mechanism is released will all hoisting mechanisms operate at the preset operating speed.

[0057] In this embodiment, by setting a preset brake speed, the difference in rope displacement between the normal lifting mechanism and the target lifting mechanism caused by all lifting mechanisms operating directly at the preset operating speed is greatly reduced, ensuring the synchronization and safety of multiple lifting mechanisms when the tower crane starts lifting.

[0058] In one embodiment, adjusting the preset operating speed of the normal hoisting mechanism or the preset operating speed of the target hoisting mechanism includes:

[0059] Obtain the preset operating speed corresponding to the input gear signal;

[0060] Obtain the difference in hoisting rope displacement between the normal hoisting mechanism and the target hoisting mechanism;

[0061] The preset operating speed of the normal hoisting mechanism or the preset operating speed of the target hoisting mechanism is adjusted based on the rope displacement difference and the preset operating speed.

[0062] In this embodiment, it should be noted that the hoisting mechanism of the tower crane receives control commands from the processor and operates according to the preset operating speed in the control commands during hoisting. The tower crane includes a control console, which determines the gear signal based on signals input by the operator via joysticks, buttons, or remote control, and sends this gear signal to the processor. The processor then determines the corresponding preset operating speed based on the gear signal, thereby generating control commands to control the hoisting mechanism. The preset operating speed is the speed determined based on the operator's actual needs for controlling the hoisting mechanism's hoisting operation. During hoisting, the hoisting mechanism's motor drives the drum to rotate via a coupling and a reducer hollow shaft, causing the hoisting rope wound on the drum to raise or lower the hook device. The rope displacement difference is the difference between the normal hoisting mechanism rope displacement and the target hoisting mechanism rope displacement. After determining the rope displacement difference, the preset operating speed of the normal hoisting mechanism or the preset operating speed of the target hoisting mechanism is adjusted based on the rope displacement difference to overcome the operating error between the normal hoisting mechanism and the target hoisting mechanism and ensure that all hoisting mechanisms of the tower crane operate synchronously.

[0063] Specifically, the preset operating speed of the normal hoisting mechanism or the preset operating speed of the target hoisting mechanism is adjusted based on the rope displacement difference and the preset operating speed, including:

[0064] The speed compensation value is determined based on the absolute value of the rope displacement difference, the preset proportional control coefficient, and the preset integral control coefficient.

[0065] Adjustments are made based on the speed compensation value, the rope displacement difference, and the preset operating speed of the normal hoisting mechanism or the preset operating speed of the target hoisting mechanism.

[0066] It should be noted that, in order to achieve synchronized operation of all hoisting mechanisms, the preset operating speed of the normal hoisting mechanism or the target hoisting mechanism is adjusted to eliminate the error between the normal hoisting mechanism and the target hoisting mechanism caused by the mechanical lag in the normal hoisting mechanism's brake activation. The speed compensation value represents the magnitude of the adjustment to the preset operating speed. Both the preset proportional control coefficient and the preset integral control coefficient are coefficient values ​​determined based on extensive testing or operational experience. Specifically, the speed compensation value can be calculated using the following formula:

[0067] v n =(k p Δh+k i ∫Δhdt)

[0068] Among them, v n The value represents the speed compensation; Δh represents the absolute value of the rope displacement difference generated within the mechanical lag time range t; k p k is the proportional control coefficient. iThis is the integral control coefficient.

[0069] Adjusting the preset operating speed of the normal hoisting mechanism based on the speed compensation value can be achieved by adding or subtracting the speed compensation value from the preset operating speed of the normal hoisting mechanism to obtain the adjusted preset operating speed. Similarly, adjusting the preset operating speed of the target hoisting mechanism based on the speed compensation value can be achieved by adding or subtracting the speed compensation value from the preset operating speed of the target hoisting mechanism to obtain the adjusted preset operating speed. Specifically, it can be determined based on the difference in hoisting rope displacement between the normal hoisting mechanism and the target hoisting mechanism in actual application. For example, if the difference in hoisting rope displacement between the normal hoisting mechanism and the target hoisting mechanism is greater than the preset hoisting rope displacement difference, the speed compensation value is subtracted from the preset operating speed of the target hoisting mechanism, while the preset operating speed of the normal hoisting mechanism remains unchanged; or, if the preset operating speed of the target hoisting mechanism remains unchanged, the speed compensation value is added to the preset operating speed of the normal hoisting mechanism. For example, if the difference in rope displacement between the normal hoisting mechanism and the target hoisting mechanism is less than the preset rope displacement difference, the preset operating speed of the target hoisting mechanism is increased by a speed compensation value, while the preset operating speed of the normal hoisting mechanism remains unchanged; or, if the preset operating speed of the target hoisting mechanism remains unchanged, the preset operating speed of the normal hoisting mechanism is decreased by the speed compensation value. It can be understood that the rope output of all hoisting mechanisms can be detected using an encoder included in the hoisting mechanism to detect the rope output, and the rope displacement difference can be determined based on the difference between the rope output of the normal hoisting mechanism and the target hoisting mechanism.

[0070] In this embodiment, by determining the speed compensation value, the preset operating speed of the normal hoisting mechanism or the target hoisting mechanism is adjusted to ensure that the normal hoisting mechanism or the target hoisting mechanism operates at the adjusted preset operating speed. This can effectively reduce or even eliminate the error caused by the asynchronous start-up of each hoisting mechanism, thereby improving the safety of tower crane operation.

[0071] It is understandable that the preset operating speed is determined based on the operator's actual needs. This preset operating speed takes a positive value when the hoisting mechanism is moving upwards and a negative value when it is moving downwards. When one or more hoisting mechanisms of the tower crane have brake failures, the preset operating speed needs to be adjusted to ensure that all hoisting mechanisms operate synchronously and to ensure the safety of tower crane operation. The preset operating speed before adjustment is closest to the actual needs. If the actual application scenario on site cannot be directly determined, directly increasing the preset operating speed may cause the tower crane to run too fast, increasing the probability of failure. To further ensure the safety of tower crane operation, in one embodiment, the adjustment of the preset operating speed is further restricted. Specifically, the adjustment is based on the speed compensation value, the difference in rope displacement, and the preset operating speed of the normal hoisting mechanism or the preset operating speed of the target hoisting mechanism, including:

[0072] When the product between the rope displacement difference and the preset operating speed is less than zero, the preset operating speed of the normal hoisting mechanism is adjusted to the first speed value, where the first speed value is equal to the preset operating speed minus the speed compensation value.

[0073] When the product of the rope displacement difference and the preset operating speed is greater than zero, the preset operating speed of the target hoisting mechanism is adjusted to the second speed value, where the second speed value is equal to the preset operating speed minus the speed compensation value.

[0074] It should be noted that after determining the rope displacement difference, this difference is multiplied by the preset operating speed. When the product is less than zero, the preset operating speed of the normal hoisting mechanism is reduced by a speed compensation value to obtain a first speed value, and the normal hoisting mechanism operates according to this first speed value. The preset operating speed of the target hoisting mechanism remains unchanged and operates according to this preset speed. When the product is greater than zero, the preset operating speed of the target hoisting mechanism is reduced by a speed compensation value to obtain a second speed value, and the target hoisting mechanism operates according to this second speed value. The preset operating speed of the normal hoisting mechanism remains unchanged and operates according to this preset speed.

[0075] In this embodiment, the adjustment direction of the preset operating speed is determined based on the displacement signal, further ensuring the safety of tower crane operation.

[0076] In one embodiment, the hoisting mechanism includes an encoder for detecting the displacement of the hoisting rope, the operating signal being the displacement signal detected by the encoder, and determining whether there is a target hoisting mechanism with brake failure based on the operating signal, including:

[0077] When a displacement signal is generated and the displacement value of the hoisting rope corresponding to the displacement signal is greater than the preset displacement value, it is determined that the brake corresponding to the displacement signal has failed, and the hoisting mechanism with the failed brake is identified as the target hoisting mechanism.

[0078] It should be noted that in this embodiment, the operating signal is the displacement signal detected by the encoder of the hoisting mechanism. During the control of the tower crane's hoisting braking, the presence of this displacement signal is monitored in real time. When the displacement signal appears, the corresponding hoisting rope displacement value is compared with a preset displacement value. If the hoisting rope displacement value is greater than the preset displacement value, it is determined that the brake corresponding to the displacement signal has failed, and the hoisting mechanism with the failed brake is identified as the target hoisting mechanism. The preset displacement value is a pre-determined threshold value used to limit the hoisting rope displacement of each hoisting mechanism during tower crane hoisting braking.

[0079] In this embodiment, the displacement signal is used to determine whether the hoisting rope of the hoisting mechanism is displaced during the tower crane's hoisting and braking, in order to determine whether there is a possibility of brake failure. Furthermore, a preset displacement value is used for judgment to reduce the probability of misjudgment due to mechanical errors and ensure the accuracy of the judgment on whether the brake has failed.

[0080] In one embodiment, controlling the release of the brake on the normal lifting mechanism includes:

[0081] When the output torque of the motor of the normal hoisting mechanism reaches the opening torque, the brake of the normal hoisting mechanism is opened.

[0082] It should be noted that the tower crane uses frequency converters to drive the motors of each hoisting mechanism, thereby regulating the hoisting speed. Before the motors move, the brakes of the hoisting mechanisms provide the pulling force to lift the load. Once the motor torque reaches the opening torque, the brakes open, and the motors then provide the pulling force to lift the load. If the brake of the target hoisting mechanism fails, it cannot engage, and there is no need to control its brake to open. However, for the normal hoisting mechanisms, the brakes are effectively engaged. When the output torque of the motor in the normal hoisting mechanism reaches the opening torque, the brakes of the normal hoisting mechanism are opened to ensure safe operation of all hoisting structures of the tower crane.

[0083] This invention provides a synchronous control device for multiple hoisting mechanisms of a tower crane, comprising:

[0084] The signal acquisition module is used to acquire the operating signals of all hoisting mechanisms when controlling the tower crane's hoisting braking.

[0085] The hoisting mechanism determination module is used to determine whether there is a target hoisting mechanism with brake failure based on the operating signals.

[0086] The braking protection module is used to control the motor of the target lifting mechanism to enter the hovering protection state when the target lifting mechanism is present, and the other normal lifting mechanisms to enter the braking state.

[0087] The braking control module is used to control the opening of the brakes on the normal hoisting mechanism during tower crane hoisting operations;

[0088] The operation control module adjusts the preset operating speed of the normal hoisting mechanism or the preset operating speed of the target hoisting mechanism to achieve synchronous operation of all hoisting mechanisms.

[0089] The tower crane multi-lifting mechanism synchronous control device includes a processor and a memory. The signal acquisition module, lifting mechanism determination module, braking protection module, braking control module and operation control module are all stored as program units in the memory. The processor executes the program units stored in the memory to realize the corresponding functions.

[0090] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and the synchronous control of multiple lifting mechanisms of the tower crane can be achieved by adjusting the kernel parameters.

[0091] The memory may include non-permanent 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, and the memory includes at least one memory chip.

[0092] The tower crane multi-lifting mechanism synchronous control device provided in this application embodiment can respectively achieve… Figure 1 The methods described in this embodiment are all processes of the synchronous control method for multiple hoisting mechanisms of tower cranes, and can achieve the same technical effect. To avoid repetition, they will not be described again here.

[0093] This invention provides a computer device, which includes a memory, a processor, and a program stored in the memory and executable on the processor. The program is configured to implement the steps of the tower crane multi-lifting mechanism synchronous control method as described in the above embodiments.

[0094] This invention provides a machine-readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the tower crane multi-lifting mechanism synchronous control method as described in the above embodiments.

[0095] 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.

[0096] 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 1A device that provides the functions specified in one or more boxes.

[0097] 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.

[0098] 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.

[0099] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0100] 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.

[0101] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0102] 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.

[0103] 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 method for synchronous control of multiple hoisting mechanisms of a tower crane, characterized in that, include: When controlling the tower crane's hoisting brake, acquire the operating signals of all hoisting mechanisms; Based on the operating signals, determine whether there is a target lifting mechanism with a failed brake; In the presence of the target lifting mechanism, the motor controlling the target lifting mechanism enters a hovering protection state, while the other normal lifting mechanisms enter a braking state. When the tower crane is in operation, the brake of the normal hoisting mechanism is opened. The preset operating speed of the normal lifting mechanism or the preset operating speed of the target lifting mechanism are adjusted to achieve synchronous operation of all lifting mechanisms.

2. The method for synchronous control of multiple hoisting mechanisms of a tower crane according to claim 1, characterized in that, Before the step of controlling the brake of the normal lifting mechanism to open, the method further includes: Control the operating speed of all lifting mechanisms to reach the preset brake speed, wherein the preset brake speed is less than the preset operating speed for controlling the normal lifting operation of the lifting mechanisms.

3. The method for synchronous control of multiple hoisting mechanisms of a tower crane according to claim 1, characterized in that, The adjustment of the preset operating speed of the normal hoisting mechanism or the preset operating speed of the target hoisting mechanism includes: Obtain the preset operating speed corresponding to the input gear signal; Obtain the rope displacement difference between the normal lifting mechanism and the target lifting mechanism; The preset operating speed of the normal hoisting mechanism or the preset operating speed of the target hoisting mechanism is adjusted based on the displacement difference of the hoisting rope and the preset operating speed corresponding to the gear signal.

4. The method for synchronous control of multiple hoisting mechanisms of a tower crane according to claim 3, characterized in that, The adjustment of the preset operating speed of the normal hoisting mechanism or the preset operating speed of the target hoisting mechanism based on the displacement difference of the hoisting rope and the preset operating speed corresponding to the gear signal includes: The speed compensation value is determined based on the absolute value of the rope displacement difference, the preset proportional control coefficient, and the preset integral control coefficient. The preset operating speed of the normal hoisting mechanism or the preset operating speed of the target hoisting mechanism is adjusted based on the speed compensation value, the rope displacement difference, and the preset operating speed corresponding to the gear signal.

5. The method for synchronous control of multiple hoisting mechanisms of a tower crane according to claim 4, characterized in that, The adjustment of the preset operating speed of the normal hoisting mechanism or the preset operating speed of the target hoisting mechanism based on the speed compensation value, the rope displacement difference, and the preset operating speed corresponding to the gear signal includes: When the product between the displacement difference of the hoisting rope and the preset operating speed corresponding to the gear signal is less than zero, the preset operating speed of the normal hoisting mechanism is adjusted to a first speed value, wherein the first speed value is equal to the preset operating speed of the normal hoisting mechanism minus the speed compensation value. When the product between the displacement difference of the hoisting rope and the preset operating speed corresponding to the gear signal is greater than zero, the preset operating speed of the target hoisting mechanism is adjusted to a second speed value, wherein the second speed value is equal to the preset operating speed of the target hoisting mechanism minus the speed compensation value.

6. The method for synchronous control of multiple hoisting mechanisms of a tower crane according to claim 1, characterized in that, The hoisting mechanism includes an encoder for detecting the displacement of the hoisting rope. The operating signal is the displacement signal detected by the encoder. Determining whether there is a target hoisting mechanism with brake failure based on the operating signal includes: When a displacement signal is generated and the displacement value of the hoisting rope corresponding to the displacement signal is greater than a preset displacement value, it is determined that the brake corresponding to the displacement signal has failed, and the hoisting mechanism with the failed brake is identified as the target hoisting mechanism.

7. The method for synchronous control of multiple hoisting mechanisms of a tower crane according to claim 1, characterized in that, The opening of the brake controlling the normal lifting mechanism includes: When the output torque of the motor of the normal lifting mechanism reaches the opening torque, the brake of the normal lifting mechanism is opened.

8. A synchronous control device for multiple hoisting mechanisms of a tower crane, characterized in that, include: The signal acquisition module is used to acquire the operating signals of all hoisting mechanisms when controlling the tower crane's hoisting braking. The hoisting mechanism determination module is used to determine, based on the operating signal, whether there is a target hoisting mechanism with brake failure; The braking protection module is used to control the motor of the target lifting mechanism to enter the hovering protection state and the other normal lifting mechanisms to enter the braking state when the target lifting mechanism is present. The braking control module is used to control the opening of the brake of the normal lifting mechanism during the tower crane's hoisting operation; The operation control module adjusts the preset operating speed of the normal lifting mechanism or the preset operating speed of the target lifting mechanism to achieve synchronous operation of all lifting mechanisms.

9. A computer device, characterized in that, The computer device includes: a memory, a processor, and a program stored in the memory and executable on the processor, the program being configured to implement the steps of the tower crane multi-lifting mechanism synchronous control method as described in any one of claims 1 to 7.

10. A machine-readable storage medium storing instructions thereon, characterized in that, When the instruction is executed by the processor, it causes the processor to perform the tower crane multi-lifting mechanism synchronous control method according to any one of claims 1 to 7.

Images