A method, device and storage medium for correcting the moment imbalance of a floor-mounted holding pole

Abstract

The present invention relates to a method, device and storage medium for correcting the moment imbalance of a floor-mounted holding pole. The method includes: collecting the angles of two arms of the holding pole; collecting the lifting weights at two hooks, where the two hooks are respectively located on the two arms; obtaining pre-configured parameter information, where the configured parameter information includes the hook mass, the arm mass, the wire rope compensation mass, and the projection length of the connection between the hook and the corresponding arm rotating shaft on the arm; when receiving a first input instruction, controlling the two arms to rotate perpendicular to the pole body of the holding pole, and according to the first input instruction, selecting one arm, obtaining its moment value as the target moment value based on its angle, the lifting weight at the corresponding hook, and the parameter information, and controlling the rotation angle of the other arm according to the parameter information, the target moment value, and the lifting weight at the hook corresponding to the other arm. Compared with the prior art, the present invention has the advantages of improving the efficiency and reliability of the computer system, etc.

Description

Technical Field

[0001] The present invention relates to the field of large intelligent construction equipment, and in particular to a method, device and storage medium for correcting the moment imbalance of a floor-mounted guyed mast. Background Art

[0002] At present, the power system for tower erection construction using a floor-mounted double swing-arm guyed mast mainly still uses a conventional mechanical winch, which has low intelligence and automation. The winch requires a large number of personnel to cooperate in operation. Since the two separate winches for controlling the two swing arms are operated by different mechanical operators, the traction of the winches on the left and right sides is likely to be unbalanced, resulting in the overall instability of the guyed mast.

[0003] During the hoisting process, it is necessary to require balanced hoisting on both sides. However, in some special cases, such as during tower erection construction in mountainous areas, during the hoisting process, since the tower components on both sides may be located on the ground with a height difference in the early stage of hoisting, it is easy for one side of the tower component to be lifted off the ground while the other side has not left the ground. At this time, the lifting weight of the lifting arm on the side where the tower component has not completely left the ground is less than the weight of the tower component being lifted. There is an imbalance in the lifting weights of the lifting hooks on the two swing arms of the guyed mast, and this unbalanced force will cause a large unbalanced moment on both swing arms to exceed the design limit value, resulting in the overall instability and overturning of the guyed mast.

[0004] In addition, some existing technologies such as CN218403379U have also proposed the need to detect the imbalance of the two swing arms, and CN218403379U also discloses a specific moment imbalance calculation formula. However, there are still the following defects: 1. There are problems with its moment calculation, and those skilled in the art cannot achieve the balance of the two swing arms under its guidance; 2. Its control process involves the synchronous movement of the hoisting wire rope and the undulating wire rope, and also involves the simultaneous movement of the two swing arms. Its control process is too complex to ensure the reliability of the computer processing process. Once a problem occurs, it will lead to a major safety accident; 3. Too many known quantities are required, and the mass of the lifted component needs to be measured in advance each time, and the operation process is relatively cumbersome. Summary of the Invention

[0005] The purpose of the present invention is to provide a method, device and storage medium for correcting the moment imbalance of a floor-mounted guyed mast.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] A method for correcting the moment imbalance of a floor-mounted guyed mast, comprising:

[0008] Collecting the angles of the two swing arms of the guyed mast;

[0009] Collecting the lifting forces at the two lifting hooks, wherein the two lifting hooks are respectively located on the two swing arms;

[0010] Obtain pre-configured parameter information, where the pre-configured parameter information includes the hook mass, the jib mass, the wire rope compensation mass, and the projection length on the jib of the connection between the hook and the corresponding jib rotating shaft.

[0011] After receiving the first input instruction, control the two jibs to rotate perpendicular to the mast, and according to the first input instruction, select one jib, and obtain its moment value as the target moment value based on its angle, the lifting gravity at the corresponding hook, and the parameter information. Then control the rotation angle of the other jib according to the parameter information, the target moment value, and the lifting gravity at the corresponding hook of the other jib.

[0012] The controlling the rotation angle of the other jib according to the parameter information, the target moment value, and the lifting gravity at the corresponding hook of the other jib specifically includes:

[0013] Control the hoisting wire rope on the other jib to lift the hook, and continuously monitor the lifting gravity at its corresponding hook.

[0014] When the increase in the lifting gravity from the initial value exceeds the first set threshold, control the hoisting wire rope to stop hoisting, and control the other jib to rotate at a pre-configured angular velocity, and obtain the real-time moment of the other jib according to the parameter information, the real-time lifting gravity, and the real-time jib rotation angle.

[0015] Calculate the difference between the target moment value and the real-time moment of the other jib, and determine whether the difference exceeds the second set threshold. If so, then:

[0016] Control the hoisting wire rope to lift the hook, and continuously monitor the lifting gravity. If the increase in the lifting gravity exceeds the third set threshold, then obtain the real-time moment of the other jib according to the parameter information, the real-time lifting gravity, and the real-time jib rotation angle.

[0017] Calculate the difference between the real-time moment of the other jib and the target moment value, and determine whether the difference exceeds the second set threshold. If so, stop the hoisting wire rope from hoisting, and control the other jib to rotate at a pre-configured angular velocity, and obtain the real-time moment of the other jib according to the parameter information, the real-time lifting gravity, and the real-time jib rotation angle.

[0018] The third set threshold is less than the first set threshold.

[0019] The method further includes:

[0020] Judge whether the absolute value of the moment difference between the two jibs exceeds the fourth set threshold. If so, issue a warning message.

[0021] The fourth set threshold is greater than the second set threshold.

[0022] Controlling the rotation angle of the other rocker arm according to the parameter information, the target torque value, and the lifting force of the hook corresponding to the other rocker arm further includes:

[0023] If the difference between the real-time torque of the other rocker arm and the target torque value does not exceed the second set threshold, continuously control the lifting wire rope to lift the hook.

[0024] A ground-mounted gin pole torque imbalance correction control device includes a memory, a processor, and a program stored in the memory. The device further includes a wire rope winding and unwinding device, two lifting wire ropes, two undulating wire ropes, two angle sensors, and two load sensors. The two angle sensors are respectively arranged on the two rocker arms, and the two load sensors are respectively connected to the two hooks. The processor is respectively connected to the wire rope winding and unwinding device, the two lifting wire ropes, the two undulating wire ropes, the two angle sensors, and the two load sensors. When the processor executes the program, the above-mentioned method is implemented.

[0025] There are four wire rope winding and unwinding devices in total, corresponding to the two undulating wire ropes and the two undulating wire ropes respectively.

[0026] The angle sensor is arranged in the middle of the rocker arm.

[0027] A storage medium stores a program, and when the program is executed, the above-mentioned method is implemented.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. By fixing one rocker arm in a horizontal state and performing target control on the other rocker arm that needs to lift heavy objects, the complexity of the control process is greatly reduced, variables are effectively reduced, thereby improving the operating efficiency and reliability of the processor while reducing the possibility of accidents.

[0030] 2. Through algorithm design, the ground detection of the lifted component is realized by the way of load force perception first, and after detecting the lift off the ground, the height increase generated by the rise of the rocker arm is used to offset the reduction of the lever arm caused by the undulation of the rocker arm. In this way, the control parameters can be reduced while ensuring the balance effect, and the reliability is improved.

[0031] 3. Based on the change detection of the load force, the complete suspension perception of the lifted component is realized, which improves the overall intelligent control level and reduces the requirement for the computing resources of the processor, thereby improving the efficiency and reliability. Description of the Drawings

[0032] Figure 1 It is a flow schematic diagram of the method of the present invention;

[0033] Figure 2Schematic diagram of the system structure in the implementation state of the present invention;

[0034] Wherein: 1. Guyed mast body, 2. Jib, 3. Hook, 4. Luffing wire rope, 5. Hoisting wire rope, 6. Lifted object, 7. Angle sensor, 8. Load sensor, 9. High-pressure oil pipe, 10. Split-type hydraulic winch equipment, 11. Synchronous wire-reeling tail car, 12. Centralized control hydraulic pump station, 13. Processor. Specific implementation mode

[0035] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. This embodiment is implemented on the premise of the technical solution of the present invention, and the detailed implementation mode and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.

[0036] Aiming at the problem of low reliability in the process of supplementary control of torque imbalance of the double-jib 2 guyed mast in the existing technology, the present application provides the following solutions.

[0037] First, a device for correcting torque imbalance of a ground guyed mast is provided, including a memory, a processor 13, and a program stored in the memory, such as Figure 2 shown, the device further includes a wire rope winding and unwinding device, two hoisting wire ropes 5, two luffing wire ropes 4, two angle sensors 7, two load sensors 8. The two angle sensors 7 are respectively arranged on the two jibs 2, and the two load sensors 8 are respectively connected to the two hooks 3. The processor 13 is respectively connected to the wire rope winding and unwinding device, the two hoisting wire ropes 5, the two luffing wire ropes 4, the two angle sensors 7 and the two load sensors 8,

[0038] As Figure 1 shown, the two jibs 2 are respectively located on both sides of the guyed mast body 1 and are connected to the guyed mast body 1 through a rotating shaft. The end of the luffing wire rope 4 is connected to the jib 2, and the end of the hoisting wire rope 5 is connected to the hook 3. A lifted object 6 is hung on the hook 3. In addition, the wire rope winding and unwinding device includes a split-type hydraulic winch equipment 10 and a synchronous wire-reeling tail car 11. The power sources of the hydraulic winch equipment and the synchronous wire-reeling tail car 11 adopt a centralized control hydraulic pump station 12,

[0039] The above-mentioned synchronous wire-reeling tail car 11 is connected to the centralized control hydraulic pump station 12 through a high-pressure oil pipe 9 and is controlled by the centralized control hydraulic pump station 12 through a CAN bus to ensure that the wire-reeling and wire-unwinding speeds match the hydraulic winch speed.

[0040] The above-mentioned angle sensor 7 is installed at the middle position of the jib 2 to sense the rotation angle of the jib 2 and transmit the rotation angle of the jib 2 externally through wireless communication.

[0041] The above load cell 8 is installed between the hook 3 and the lifted object to measure the weight of the lifted object, and transmits the weight information of the lifted object externally through wireless communication.

[0042] Among them, in this embodiment, there are a total of four wire rope winding and unwinding devices, corresponding to two hoisting wire ropes 4 and two hoisting wire ropes 4 respectively, that is, each wire rope can be independently controlled. The hydraulic winch device and the wire take-up tail car are connected to the centralized control pumping station through the high-pressure oil pipe 9 for separate or synchronous control. The overall processor 13 serves as the centralized control device and is connected and communicates with the centralized control hydraulic pumping station 12.

[0043] When unilateral operation is required, for example, during sorting operation, at this time, only the rocker arm 2 on one side bears the lifted part 6, and there will be a problem of moment imbalance.

[0044] In response to this, in this application, when the processor 13 executes the program, the following steps are implemented:

[0045] Collect the angles of the two rocker arms 2 of the gin pole;

[0046] Collect the lifting forces at the two hooks 3, where the two hooks 3 are respectively located on the two rocker arms 2;

[0047] Obtain the pre-configured parameter information, where the configured parameter information includes the mass of the hook 3, the mass of the rocker arm 2, the wire rope compensation mass, and the projected length on the rocker arm 2 of the connection between the hook 3 and the corresponding rocker arm 2 rotating shaft;

[0048] When receiving the first input instruction, control the two rocker arms 2 to rotate perpendicular to the gin pole body, and according to the first input instruction, select one rocker arm 2, and obtain its moment value as the target moment value according to its angle, the lifting force at the corresponding hook 3, and the parameter information. Control the rotation angle of the other rocker arm 2 according to the parameter information, the target moment value, and the lifting force at the hook 3 corresponding to the other rocker arm 2.

[0049] Among them, the calculation formula of the target moment value is specifically as follows:

[0050] M0 = L·(m2 + m3 / 2 + m4)·g

[0051] Among them, M0 is the target moment value, L is the length of the rocker arm 2, m2 is the mass of the hook 3, m3 is the mass of the rocker arm 2, m4 is the wire rope compensation mass, and g is the acceleration due to gravity.

[0052] In the above process, the lifting gravity is collected by the lifting gravity sensor 8, the angle of the swing arm 2 is collected by the angle sensor 7, and the wire rope compensation mass is an estimated value. During the retraction and extension of the wire rope, the mass of its part located on the swing arm 2 and the hook 3 will change. However, considering that the total weight of the wire rope is relatively small compared to the weights of the swing arm 2, the hook 3, and the lifted component 6, and its own change is not significant, a typical value can be used as the wire rope compensation mass.

[0053] Among them, in this embodiment, according to the parameter information, the target torque value, and the lifting gravity at the hook 3 corresponding to the other swing arm 2, the rotation angle of the other swing arm 2 is controlled. In this process, through algorithm design, the ground-off detection of the lifted component 6 is first realized by the method of lifting gravity sensing. After the ground-off is detected, the height increase generated by the rise of the swing arm 2 is used to offset the reduction of the force arm caused by the undulation of the swing arm 2. In this way, while ensuring the balance effect, the control parameters can be reduced and the reliability can be improved. Specifically:

[0054] Control the lifting wire rope 5 on the other swing arm 2 to lift the hook 3, and continuously monitor the lifting gravity at its corresponding hook 3. Considering that when there is no tendency to leave the ground, the lifted component 6 is still fully supported by the ground, and at this time the lifting gravity will not change. This situation occurs when there is redundant length on the hook 3 side of the lifting wire rope 5 or there is a relatively large deformed part at the top of the lifted component 6;

[0055] When the lifting gravity increases by more than the first set threshold from the initial value, it can indicate that the lifted component 6 has been lifted at least a certain height, and the lifted component 6 begins to show a tendency to leave the ground. At this time, control the lifting wire rope 5 to stop lifting. At this time, if the lifting wire rope 5 continues to be lifted, it is very easy to have the problem of unbalanced torque on both sides. At this time, it is also necessary to control the swing arm 2 to rotate at a pre-configured angular velocity, and obtain the real-time torque of the swing arm 2 according to the parameter information, the real-time lifting gravity, and the real-time rotation angle of the swing arm 2;

[0056] In this process, assuming that the masses of the two swing arms 2 are the same and the masses of the two hooks 3 are also the same, the calculation formula of the real-time torque is as follows:

[0057] M T =L·cosα(m1 / g+m2+m3 / 2+m4)·g

[0058] Where: α is the real-time rotation angle of the swing arm 2. Considering that the initial state of the swing arm 2 is the horizontal loading state, this angle is the angle between the rotating swing arm 2 and the horizontal plane, and m1 is the lifting gravity.

[0059] It should be noted here that the lifting gravity is different from the gravity of the lifting member 6. For the lifting member 6, its equivalent forces are three, namely gravity, the support of the bottom surface, and the lifting gravity. When it is completely separated from the bottom surface, the support force of the bottom surface is 0, and at this time, the gravity is equal to the lifting gravity. In the solution of the present application, it is not necessary to measure the mass of the lifting member 6 in advance, which greatly reduces the workload of the staff and is beneficial to reducing manual labor.

[0060] Calculate the difference between the target moment value and the real-time moment of the oscillating arm 2 during undulation, and determine whether the difference exceeds the second set threshold. If so, then:

[0061] It is necessary to appropriately increase the moment of the rotating part of the oscillating arm 2. Therefore, it is necessary to control the hoisting wire rope 5 to lift the hook 3 and continuously monitor the lifting gravity. If the increase in the lifting gravity exceeds the third set threshold, then obtain the real-time moment of the oscillating arm 2 according to the parameter information, the real-time lifting gravity, and the real-time rotation angle of the oscillating arm 2;

[0062] Calculate the difference between the real-time moment of the oscillating arm 2 and the target moment value, and determine whether the difference exceeds the second set threshold. If so, the hoisting wire rope 5 stops hoisting, and control the oscillating arm 2 to rotate at a pre-configured angular velocity, and obtain the real-time moment of the oscillating arm 2 according to the parameter information, the real-time lifting gravity, and the real-time rotation angle of the oscillating arm 2.

[0063] Through the above iterative process, the lifting of the lifting member 6 can be completed. After lifting to an appropriate height, it can be horizontally rotated and transported to the designated position.

[0064] In addition, in this embodiment, the third set threshold is less than the first set threshold, so that it can be more sensitive during the switching process.

[0065] In addition, in some embodiments, the method further includes: determining whether the absolute value of the moment difference between the two oscillating arms 2 exceeds the fourth set threshold. If so, a warning message is issued. In this way, the safety can be increased, that is, when the upward movement of the oscillating arm 2 cannot solve the problem of moment imbalance, manual operation is required. At this time, it can be considered to lower the hoisting wire rope 5 during the rotation of the oscillating arm 2. And, certainly, the fourth set threshold is greater than the second set threshold.

[0066] In addition, in some embodiments, during the process of controlling the rotation angle of the other oscillating arm 2 according to the parameter information, the target moment value, and the lifting gravity at the hook 3 corresponding to the other oscillating arm 2, if the difference between the real-time moment of the oscillating arm 2 and the target moment value does not exceed the second set threshold, then continuously control the hoisting wire rope 5 to lift the hook 3.

[0067] If the above functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs, Read-Only Memories), random access memories (RAMs, Random Access Memories), magnetic disks, or optical discs that can store program codes.

Claims

1. A method for correcting the moment imbalance of a floor-standing holding pole, characterized in that Including: Collect the angles of the two jibs of the gin pole; Collect the lifting weights at the two hooks, where the two hooks are respectively located on the two jibs; Obtain pre-configured parameter information, where the pre-configured parameter information includes the hook mass, the jib mass, the wire rope compensation mass, and the projection length on the jib of the connection between the hook and the corresponding jib rotating shaft; When receiving a first input instruction, control the two jibs to rotate perpendicular to the gin pole body, and according to the first input instruction, select one jib, and obtain its moment value as the target moment value based on its angle, the lifting weight at the corresponding hook, and the parameter information, and control the rotation angle of the other jib according to the parameter information, the target moment value, and the lifting weight at the hook corresponding to the other jib; The controlling the rotation angle of the other jib according to the parameter information, the target moment value, and the lifting weight at the hook corresponding to the other jib specifically includes: Control the hoisting wire rope on the other jib to lift the hook, and continuously monitor the lifting weight at its corresponding hook; When the increase in the lifting weight from the initial value exceeds a first set threshold, control the hoisting wire rope to stop hoisting, and control the other jib to rotate at a pre-configured angular velocity, and obtain the real-time moment of the other jib according to the parameter information, the real-time lifting weight, and the real-time jib rotation angle; Calculate the difference between the target moment value and the real-time moment of the other jib, and determine whether the difference exceeds a second set threshold. If so, then: Control the hoisting wire rope to lift the hook, and continuously monitor the lifting weight. If the increase in the lifting weight exceeds a third set threshold, obtain the real-time moment of the other jib according to the parameter information, the real-time lifting weight, and the real-time jib rotation angle; Calculate the difference between the real-time moment of the other jib and the target moment value, and determine whether the difference exceeds a second set threshold. If so, the hoisting wire rope stops hoisting, and control the other jib to rotate at a pre-configured angular velocity, and obtain the real-time moment of the other jib according to the parameter information, the real-time lifting weight, and the real-time jib rotation angle.

2. The method for correcting the moment imbalance control of a floor-mounted holding pole according to claim 1, wherein, The third set threshold is less than the first set threshold.

3. The method for correcting the moment imbalance control of a floor-mounted pole according to claim 1, characterized in that, The method further includes: Judge whether the absolute value of the moment difference between the two jibs exceeds a fourth set threshold. If so, issue a warning message.

4. A method for correcting the moment imbalance of a floor-mounted pole according to claim 3, characterized in that, The fourth set threshold is greater than the second set threshold.

5. A method for correcting the moment imbalance of a floor-mounted pole according to claim 1, characterized in that, The controlling the rotation angle of the other jib according to the parameter information, the target moment value, and the lifting weight at the hook corresponding to the other jib further includes: If the difference between the real-time moment of the other jib and the target moment value does not exceed the second set threshold, continuously control the hoisting wire rope to lift the hook.

6. A ground-mounted pole moment imbalance correction control device, comprising a memory, a processor, and a program stored in the memory, characterized in that, The device further includes a wire rope winding and unwinding device, two hoisting wire ropes, two heaving wire ropes, two angle sensors, and two load sensors. The two angle sensors are respectively arranged on the two jibs, the two load sensors are respectively connected to the two hooks, and the processor is respectively connected to the wire rope winding and unwinding device, the two hoisting wire ropes, the two heaving wire ropes, the two angle sensors, and the two load sensors. When the processor executes the program, it implements the method according to any one of claims 1-5.

7. The moment imbalance correction control device of a floor-mounted holding pole according to claim 6, characterized in that, There are a total of four wire rope winding and unwinding devices, corresponding to two undulating wire ropes and two undulating wire ropes respectively.

8. A floor-mounted pole moment imbalance correction control device according to claim 6, characterized in that, The angle sensor is arranged in the middle of the rocker arm.

9. A storage medium, on which a program is stored, characterized in that, When the program is executed, the method described in any one of claims 1-5 is implemented.

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