Method, system and controller for real-time speed adjustment of tower crane traveling mechanism

Abstract

The application discloses a kind of tower crane running gear speed real-time regulation method, system and controller.The method includes: whether the running path of tower crane running gear exists obstacle is judged in real time by identification device;In the case where the running path exists obstacle: with the first allowable speed of the first allowable speed of the current position being determined with obstacle as stop point;With the second allowable speed of the second allowable speed of the current position being determined with set limit as stop point;With the maximum allowable speed being determined as one of the first allowable speed and the second allowable speed;Control tower crane running gear with the speed not greater than maximum allowable speed runs;In the case where the running path does not exist obstacle: with the second allowable speed of the second allowable speed of the current position being determined with set limit as stop point;Control tower crane running gear with the speed not greater than second allowable speed runs.The application can improve the stability of tower crane running gear operation by determining maximum allowable speed under different conditions to carry out real-time adjustment to the speed of tower crane running gear.

Description

Technical Field

[0001] This invention relates to the field of construction machinery technology, and specifically to a method, system, and controller for real-time speed adjustment of a tower crane traveling mechanism. Background Technology

[0002] The movement process is a crucial aspect of mobile machinery, especially for hoisting equipment. During movement, a dedicated person must be present at the ground track to direct the operation and prevent accidents caused by obstacles or pedestrians. Currently, mobile machinery on the market stops abruptly when encountering limit switches, exhibiting significant shaking and swaying, resulting in low movement efficiency. Furthermore, it lacks obstacle detection and deceleration control, placing high demands on ground personnel and posing significant risks. Therefore, existing technical solutions suffer from problems such as the tower crane's traveling mechanism failing to automatically decelerate when encountering obstacles, and exhibiting uneven and inaccurate deceleration. Summary of the Invention

[0003] The purpose of this invention is to provide a method, system, and controller for real-time speed adjustment of a tower crane traveling mechanism, in order to solve the problems in the prior art where the tower crane traveling mechanism cannot automatically decelerate when encountering obstacles, and where deceleration is uneven and inaccurate.

[0004] To achieve the above objectives, a first aspect of the present invention provides a method for real-time speed adjustment of a tower crane traveling mechanism, applied to a controller, wherein the controller communicates with an identification device, and the method includes: The identification device determines in real time whether there are obstacles in the travel path of the tower crane's traveling mechanism; When there are obstacles in the travel path of the tower crane's traveling mechanism: Determine the first permissible speed for the current position, using the obstacle as a stopping point; The second permissible speed is determined by setting a limit as the stop point to determine the current position; The smaller of the first and second permissible speeds shall be determined as the maximum permissible speed; Control the tower crane's traveling mechanism to operate at a speed not exceeding the maximum permissible speed; When there are no obstacles in the travel path of the tower crane's traveling mechanism: The second permissible speed is determined by setting a limit as the stop point to determine the current position; Control the tower crane's traveling mechanism to operate at a speed not exceeding the second permissible speed.

[0005] In this embodiment of the invention, the controller communicates with both the ranging device and the frequency converter. The frequency converter is connected to the motor and drives the motor to run. The first permissible speed for determining the current position with the obstacle as the stopping point includes: It receives in real time the distance between the tower crane traveling mechanism and the obstacle sent by the ranging device and the current speed of the tower crane traveling mechanism sent by the frequency converter; Obtain the deceleration time of the tower crane traveling mechanism, the rated speed of the motor, the communication delay time, and the program execution time; The stopping time of the tower crane traveling mechanism is determined based on the deceleration time, current speed, and rated speed. Determine the delay time based on the communication delay time and the program execution time; The first permissible speed is determined based on the distance between the tower crane's traveling mechanism and the obstacle, the stopping time, and the delay time.

[0006] In this embodiment of the invention, the first permissible speed satisfies formula (1): (1) in, The first permissible speed, The distance between the tower crane traveling mechanism and the obstacle. For stopping time, This is a delay time.

[0007] In this embodiment of the invention, the controller also communicates with the encoder to determine a second permissible speed at the current position by setting a limit as a stop point, including: Receive the current position of the tower crane traveling mechanism from the encoder in real time; Obtain the set limit of the tower crane traveling mechanism; The second permissible speed of the tower crane traveling mechanism is determined based on the current position, set limit, stop time, and delay time.

[0008] In this embodiment of the invention, the second permissible speed satisfies formula (2): (2) in, For the second permissible speed, To set limits, Current position For stopping time, This is the delay time.

[0009] In this embodiment of the invention, the controller also communicates with an alarm device, and the method further includes: If the distance between the obstacle and the tower crane traveling mechanism is less than a preset distance, an alarm command is sent to the alarm device to control the alarm device to issue an alarm prompt.

[0010] A second aspect of the present invention provides a controller, comprising: The memory is configured to store instructions; and The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement a method for identifying deceleration control based on the aforementioned walking mechanism.

[0011] A third aspect of the present invention provides a system for real-time speed adjustment of a tower crane traveling mechanism, comprising: Based on the controller described above; The identification device, which communicates with the controller, is configured to identify whether there are obstacles in the travel path of the tower crane's traveling mechanism; The frequency converter communicates with the controller and is configured to acquire the current speed of the tower crane's traveling mechanism and send it to the controller, as well as control the speed of the motor. The encoder, which communicates with the controller, is configured to acquire the current position of the tower crane's traveling mechanism and send it to the controller; The ranging device, which communicates with the controller, is configured to acquire the distance between the tower crane's traveling mechanism and the obstacle, and send it to the controller; The motor is connected to a frequency converter and is configured to adjust its speed according to the instructions of the frequency converter.

[0012] In this embodiment of the invention, the system further includes an alarm device that communicates with the controller. The alarm device includes: The lighting alarm unit is configured to provide a lighting alarm prompt based on the alarm command from the controller; and / or An audible alarm unit is configured to provide an audible alarm response based on an alarm command from the controller; and / or The alarm display unit is configured to display alarm prompts based on the alarm commands from the controller.

[0013] A fourth aspect of the present invention provides a machine-readable storage medium storing instructions for causing a machine to perform a method for real-time adjustment of the speed of the tower crane traveling mechanism as described above.

[0014] The above technical solution uses an identification device to determine in real time whether there are obstacles in the travel path of the tower crane's traveling mechanism. When obstacles exist, a first permissible speed and a second permissible speed are determined based on the obstacle and a set limit switch as stopping points, respectively. The smaller of the first and second permissible speeds is then determined as the maximum permissible speed. The tower crane's traveling mechanism is controlled to operate at a speed not exceeding the maximum permissible speed. When there are no obstacles in the travel path, a second permissible speed is determined based on a set limit switch as a stopping point, and the tower crane's traveling mechanism is controlled to operate at a speed not exceeding the second permissible speed. This allows for real-time adjustment of the tower crane's traveling mechanism's speed, improving the stability of its operation.

[0015] 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

[0016] 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: Figure 1 This schematic diagram illustrates the structure of a system for real-time speed adjustment of a tower crane traveling mechanism according to an embodiment of the present invention. Figure 2 A flowchart illustrating a method for real-time speed adjustment of a tower crane traveling mechanism according to an embodiment of the present invention is shown. Figure 3 This schematic diagram illustrates a structural block diagram of a controller according to an embodiment of the present invention; Figure 4 The diagram schematically illustrates a system for real-time speed adjustment of a tower crane traveling mechanism according to a specific embodiment of the present invention.

[0017] Explanation of reference numerals in the attached figures Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustrating and explaining the embodiments of the present invention and are not intended to limit the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0019] It should be noted that if the embodiments of the present invention 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.

[0020] Furthermore, if the embodiments of this invention 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, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the 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 by this invention.

[0021] Figure 1 The diagram schematically illustrates the structure of a system for real-time speed adjustment of a tower crane traveling mechanism according to an embodiment of the present invention. Figure 1 As shown, this embodiment of the invention provides a system for real-time speed adjustment of a tower crane traveling mechanism. The system may include a controller 110, an identification device 120, a distance measuring device 130, a frequency converter 140, a motor 150, an encoder 160, and an alarm device 170. The controller 110 communicates with the identification device 120, the distance measuring device 130, the frequency converter 140, the encoder 160, and the alarm device 170. The frequency converter 140 is connected to the motor 150 and drives the motor 150. The identification device 120 is configured to identify whether there are obstacles in the traveling path of the tower crane traveling mechanism. The distance measuring device 130 is configured to obtain the distance between the tower crane traveling mechanism and obstacles and send it to the controller 110. The frequency converter 140 is configured to obtain the current speed of the tower crane traveling mechanism and send it to the controller 110, and to control the rotational speed of the motor 150. The motor 150 is configured to adjust its rotational speed according to the instructions of the frequency converter 140. The encoder 160 is configured to obtain the current position of the tower crane traveling mechanism and send it to the controller 110. The alarm device 170 includes a light alarm unit 171, an audible alarm unit 172, and a display alarm unit 173. The light alarm unit 171 is configured to provide a light alarm prompt based on an alarm command from the controller 110. The audible alarm unit 172 is configured to provide an audible alarm prompt based on an alarm command from the controller 110. The display alarm unit 173 is configured to provide a display alarm prompt based on an alarm command from the controller 110.

[0022] Figure 2 A flowchart illustrating a method for real-time speed adjustment of a tower crane traveling mechanism according to an embodiment of the present invention is shown. Figure 2 As shown in the figure, an embodiment of the present invention provides a method for real-time adjustment of the speed of a tower crane traveling mechanism, which may include the following steps: Step 201: Use the identification device to determine in real time whether there are obstacles in the travel path of the tower crane's traveling mechanism; Step 202: When there are obstacles in the travel path of the tower crane traveling mechanism: determine the first permissible speed at the current position with the obstacle as the stopping point; determine the second permissible speed at the current position with the set limit switch as the stopping point; determine the smaller of the first permissible speed and the second permissible speed as the maximum permissible speed; control the tower crane traveling mechanism to run at a speed not greater than the maximum permissible speed; Step 203: When there are no obstacles on the travel path of the tower crane traveling mechanism: determine the second permissible speed of the current position with the set limit as the stop point; control the tower crane traveling mechanism to run at a speed not greater than the second permissible speed.

[0023] In this embodiment of the invention, the identification device can refer to a device used to identify obstacles. For example, the identification device may include, but is not limited to, ultrasonic detectors and sensors. The identification device can determine in real time whether there are obstacles on the travel path of the tower crane's traveling mechanism. "Real time" means determining whether there are obstacles on the travel path of the tower crane's traveling mechanism at any given moment. If an obstacle is determined to exist on the travel path of the tower crane's traveling mechanism, the obstacle may move away from the travel path of the tower crane's traveling mechanism at the next moment. Therefore, it is necessary to use the identification device to detect whether there are obstacles on the travel path of the tower crane's traveling mechanism in real time.

[0024] If an obstacle is detected in the travel path of the tower crane's traveling mechanism, the first permissible speed is determined using the obstacle as a stopping point. The current position refers to the current location of the tower crane's traveling mechanism, which changes in real time. Then, the second permissible speed is determined using a preset limit switch as a stopping point. The preset limit switch, or stop position, refers to the pre-defined stopping position of the tower crane's traveling mechanism. The first permissible speed refers to the maximum speed allowed for the tower crane's traveling mechanism when the obstacle is the stopping point. The second permissible speed refers to the maximum speed allowed for the tower crane's traveling mechanism when the preset limit switch is the stopping point. The smaller of the first and second permissible speeds is determined as the maximum permissible speed for the current position, and the controller controls the tower crane's traveling mechanism to operate at a speed not exceeding the maximum permissible speed.

[0025] When there are no obstacles on the travel path of the tower crane's traveling mechanism, the second permissible speed at the current position can be determined directly using the set limit as the stop point. The controller can then control the tower crane's traveling mechanism to operate at a speed not exceeding this second permissible speed. By real-time detection of obstacles on the travel path of the tower crane's traveling mechanism and by determining the maximum permissible speed at the current position to control the traveling speed of the tower crane's traveling mechanism, the speed of the tower crane's traveling mechanism can be adjusted in real time, improving the stability of the tower crane's traveling mechanism operation.

[0026] The above technical solution uses an identification device to determine in real time whether there are obstacles in the travel path of the tower crane's traveling mechanism. When obstacles exist, a first permissible speed and a second permissible speed are determined based on the obstacle and a set limit switch as stopping points, respectively. The smaller of the first and second permissible speeds is then determined as the maximum permissible speed. The tower crane's traveling mechanism is controlled to operate at a speed not exceeding the maximum permissible speed. When there are no obstacles in the travel path, a second permissible speed is determined based on a set limit switch as a stopping point, and the tower crane's traveling mechanism is controlled to operate at a speed not exceeding the second permissible speed. This allows for real-time adjustment of the tower crane's traveling mechanism's speed, improving the stability of its operation.

[0027] In this embodiment of the invention, the controller communicates with both the ranging device and the frequency converter. The frequency converter is connected to the motor and drives the motor to run. The first permissible speed for determining the current position with the obstacle as the stopping point includes: It receives in real time the distance between the tower crane traveling mechanism and the obstacle sent by the ranging device and the current speed of the tower crane traveling mechanism sent by the frequency converter; Obtain the deceleration time of the tower crane traveling mechanism, the rated speed of the motor, the communication delay time, and the program execution time; The stopping time of the tower crane traveling mechanism is determined based on the deceleration time, current speed, and rated speed. Determine the delay time based on the communication delay time and the program execution time; The first permissible speed is determined based on the distance between the tower crane's traveling mechanism and the obstacle, the stopping time, and the delay time.

[0028] Specifically, the controller can communicate with both the ranging device and the frequency converter. The ranging device measures the distance between the tower crane's traveling mechanism and obstacles. The frequency converter can also connect to the motor and drive it. When determining the first permissible speed for the current position with the obstacle as the stopping point, the controller first receives the distance between the tower crane's traveling mechanism and the obstacle from the ranging device and the current speed of the tower crane's traveling mechanism from the frequency converter in real time. That is, it receives the distance between the tower crane's traveling mechanism and the obstacle and the speed of the tower crane's traveling mechanism at each moment. Then, it acquires the deceleration time of the tower crane's traveling mechanism, the rated speed of the motor, the communication delay time, and the program execution time. The deceleration time, the rated speed of the motor, the communication delay time, and the program execution time are all inherent characteristics of the tower crane's traveling mechanism and are fixed values. The stopping time of the tower crane's traveling mechanism can be determined based on the deceleration time, the current speed, and the rated speed. In the calculation, the deceleration time is multiplied by the rated speed, and then the product is divided by the rated speed to obtain the stopping time of the tower crane's traveling mechanism. The communication delay time and the program execution time are added together to determine the delay time. Finally, the distance between the tower crane's traveling mechanism and the obstacle is divided by half the sum of the stopping time and the delay time to obtain the first permissible speed.

[0029] In this embodiment of the invention, the first permissible speed satisfies formula (1): (1) in, The first permissible speed, The distance between the tower crane traveling mechanism and the obstacle. For stopping time, This is the delay time.

[0030] Specifically, the first permissible speed satisfies the formula .in, The first permissible speed, The distance between the tower crane's traveling mechanism and the obstacle can be measured using a distance measuring device. The stopping time can be obtained by multiplying the deceleration time and the rated speed, and then dividing the product by the rated speed. The delay time can be obtained by adding the communication delay time and the program execution time.

[0031] In this embodiment of the invention, the controller also communicates with the encoder to determine a second permissible speed at the current position by setting a limit as a stop point, including: Receive the current position of the tower crane traveling mechanism from the encoder in real time; Obtain the set limit of the tower crane traveling mechanism; The second permissible speed of the tower crane traveling mechanism is determined based on the current position, set limit, stop time, and delay time.

[0032] Specifically, the controller can also communicate with an encoder. The encoder can measure the current position of the tower crane's traveling mechanism. The encoder can include, but is not limited to, absolute encoders and incremental encoders. The controller receives the current position of the tower crane's traveling mechanism from the encoder in real time and obtains the set limit of the tower crane's traveling mechanism. The set limit is the stop position. The stopping time of the tower crane's traveling mechanism is obtained by multiplying the deceleration time and the rated speed, and then dividing the product by the rated speed. The delay time can be determined by adding the communication delay time and the program execution time. Finally, the second permissible speed of the tower crane's traveling mechanism can be determined by dividing the absolute value of the difference between the set limit and the current position by half the stopping time and the delay time.

[0033] In this embodiment of the invention, the second permissible speed satisfies formula (2): (2) in, For the second permissible speed, To set limits, Current position For stopping time, This is the delay time.

[0034] Specifically, the second permissible speed satisfies the formula .in, For the second permissible speed, To set a limit, i.e., a stop position. The current position can be measured in real time by the encoder. The stopping time can be obtained by multiplying the deceleration time and the rated speed, and then dividing the product by the rated speed. The delay time can be obtained by adding the communication delay time and the program execution time.

[0035] In this embodiment of the invention, the controller also communicates with an alarm device, and the method further includes: If the distance between the obstacle and the tower crane traveling mechanism is less than a preset distance, an alarm command is sent to the alarm device to control the alarm device to issue an alarm prompt.

[0036] Specifically, the controller can also communicate with an alarm device, which can issue an alarm based on instructions sent by the controller. Even when an obstacle is detected in the path of the tower crane's traveling mechanism, the mechanism continues to travel at the determined maximum permissible speed. If the distance between the obstacle and the traveling mechanism is less than a preset distance, the controller sends an alarm command to the alarm device, prompting the operator to adjust the tower crane's traveling mechanism's operation.

[0037] The above technical solution uses an identification device to determine in real time whether there are obstacles in the travel path of the tower crane's traveling mechanism. When obstacles exist, a first permissible speed and a second permissible speed are determined based on the obstacle and a set limit switch as stopping points, respectively. The smaller of the first and second permissible speeds is then determined as the maximum permissible speed. The tower crane's traveling mechanism is controlled to operate at a speed not exceeding the maximum permissible speed. When there are no obstacles in the travel path, a second permissible speed is determined based on a set limit switch as a stopping point, and the tower crane's traveling mechanism is controlled to operate at a speed not exceeding the second permissible speed. This allows for real-time adjustment of the tower crane's traveling mechanism's speed, improving the stability of its operation.

[0038] Figure 3 A schematic block diagram of a controller according to an embodiment of the present invention is shown. Figure 3 As shown, an embodiment of the present invention provides a controller, which may include: Memory 310 is configured to store instructions; and The processor 320 is configured to retrieve instructions from the memory 310 and, when executing the instructions, to implement the aforementioned method for real-time speed adjustment of the tower crane traveling mechanism.

[0039] Specifically, in this embodiment of the invention, the processor 320 can be configured to: The identification device determines in real time whether there are obstacles in the travel path of the tower crane's traveling mechanism; When there are obstacles in the travel path of the tower crane's traveling mechanism: Determine the first permissible speed for the current position, using the obstacle as a stopping point; The second permissible speed is determined by setting a limit as the stop point to determine the current position; The smaller of the first and second permissible speeds shall be determined as the maximum permissible speed; Control the tower crane's traveling mechanism to operate at a speed not exceeding the maximum permissible speed; When there are no obstacles in the travel path of the tower crane's traveling mechanism: The second permissible speed is determined by setting a limit as the stop point to determine the current position; Control the tower crane's traveling mechanism to operate at a speed not exceeding the second permissible speed.

[0040] Furthermore, the processor 320 can also be configured as follows: The controller communicates with both the ranging device and the frequency converter. The frequency converter is connected to the motor and drives it to run. The first permissible speed for determining the current position with the obstacle as the stopping point includes: It receives in real time the distance between the tower crane traveling mechanism and the obstacle sent by the ranging device and the current speed of the tower crane traveling mechanism sent by the frequency converter; Obtain the deceleration time of the tower crane traveling mechanism, the rated speed of the motor, the communication delay time, and the program execution time; The stopping time of the tower crane traveling mechanism is determined based on the deceleration time, current speed, and rated speed. Determine the delay time based on the communication delay time and the program execution time; The first permissible speed is determined based on the distance between the tower crane's traveling mechanism and the obstacle, the stopping time, and the delay time.

[0041] Furthermore, the processor 320 can also be configured as follows: The first permissible speed satisfies formula (1): (1) in, The first permissible speed, The distance between the tower crane traveling mechanism and the obstacle. For stopping time, This is the delay time.

[0042] Furthermore, the processor 320 can also be configured as follows: The controller also communicates with the encoder to set a second permissible speed for determining the current position, including setting a limit as the stop point. Receive the current position of the tower crane traveling mechanism from the encoder in real time; Obtain the set limit of the tower crane traveling mechanism; The second permissible speed of the tower crane traveling mechanism is determined based on the current position, set limit, stop time, and delay time.

[0043] Furthermore, the processor 320 can also be configured as follows: The second permissible speed satisfies formula (2): (2) in, For the second permissible speed, To set limits, Current position For stopping time, This is the delay time.

[0044] Furthermore, the processor 320 can also be configured as follows: The controller also communicates with the alarm device, and the method further includes: If the distance between the obstacle and the tower crane traveling mechanism is less than a preset distance, an alarm command is sent to the alarm device to control the alarm device to issue an alarm prompt.

[0045] The above technical solution uses an identification device to determine in real time whether there are obstacles in the travel path of the tower crane's traveling mechanism. When obstacles exist, a first permissible speed and a second permissible speed are determined based on the obstacle and a set limit switch as stopping points, respectively. The smaller of the first and second permissible speeds is then determined as the maximum permissible speed. The tower crane's traveling mechanism is controlled to operate at a speed not exceeding the maximum permissible speed. When there are no obstacles in the travel path, a second permissible speed is determined based on a set limit switch as a stopping point, and the tower crane's traveling mechanism is controlled to operate at a speed not exceeding the second permissible speed. This allows for real-time adjustment of the tower crane's traveling mechanism's speed, improving the stability of its operation.

[0046] like Figure 1 As shown, an embodiment of the present invention provides a system for real-time speed adjustment of a tower crane traveling mechanism, comprising: According to the controller 110 described above; The identification device 120 communicates with the controller 110 and is configured to identify whether there are obstacles in the travel path of the tower crane's traveling mechanism; The ranging device 130 communicates with the controller 110 and is configured to acquire the distance between the tower crane traveling mechanism and the obstacle and send it to the controller 110; The frequency converter 140 communicates with the controller 110 and is configured to acquire the current speed of the tower crane traveling mechanism and send it to the controller 110, as well as control the speed of the motor 150. Motor 150 is connected to frequency converter 140 and is configured to adjust its speed according to the instructions of frequency converter 140; Encoder 160, which communicates with controller 110, is configured to acquire the current position of the tower crane traveling mechanism and send it to controller 110.

[0047] In this embodiment of the invention, the system for real-time speed adjustment of the tower crane traveling mechanism may include a controller 110, an identification device 120, a distance measuring device 130, a frequency converter 140, a motor 150, and an encoder 160. The controller 110 communicates with the identification device 120, the distance measuring device 130, the frequency converter 140, and the encoder 160. The frequency converter 140 is connected to the motor 150 and drives the motor 150 to run. The identification device 120 is configured to identify whether there are obstacles in the traveling path of the tower crane traveling mechanism. The distance measuring device 130 is configured to obtain the distance between the tower crane traveling mechanism and obstacles and send it to the controller 110. The frequency converter 140 is configured to obtain the current speed of the tower crane traveling mechanism and send it to the controller 110, and to control the rotational speed of the motor 150. The motor 150 is configured to adjust its rotational speed according to the instructions of the frequency converter 140. The encoder 160 is configured to obtain the current position of the tower crane traveling mechanism and send it to the controller 110.

[0048] The identification device 120 determines in real time whether there are obstacles in the travel path of the tower crane's traveling mechanism and sends the determination result to the controller 110. When there are obstacles in the travel path of the tower crane's traveling mechanism, the controller 110: determines a first permissible speed at the current position with the obstacle as the stopping point, determines a second permissible speed at the current position with a set limit switch as the stopping point, and determines the smaller of the first and second permissible speed as the maximum permissible speed. The controller 110 controls the tower crane's traveling mechanism to operate at a speed not exceeding the maximum permissible speed. When there are no obstacles in the travel path of the tower crane's traveling mechanism, the controller 110: determines a second permissible speed at the current position with a set limit switch as the stopping point, and controls the tower crane's traveling mechanism to operate at a speed not exceeding the second permissible speed.

[0049] like Figure 1 As shown, in this embodiment of the invention, the system may further include an alarm device 170, which communicates with the controller 110. The alarm device 170 may include: The light alarm unit 171 is configured to provide a light alarm prompt based on an alarm command from the controller 110; and / or The audible alarm unit 171 is configured to provide an audible alarm response based on an alarm command from the controller 110; and / or The display alarm unit 171 is configured to display alarm prompts according to the alarm commands of the controller 110.

[0050] Specifically, the system for real-time speed adjustment of the tower crane traveling mechanism can also include an alarm device 170. The alarm device 170 may include a light alarm unit 171, an audible alarm unit 172, and a display alarm unit 173. When the distance between an obstacle and the tower crane traveling mechanism is less than a preset distance, the controller 110 sends an alarm command to the alarm device 170 to control it to issue an alarm notification. For example, the light alarm unit 171 can issue a light alarm notification based on the alarm command from the controller 110. The audible alarm unit 172 can issue an audible alarm notification based on the alarm command from the controller 110. The display alarm unit 173 can issue a display alarm notification based on the alarm command from the controller 110. By issuing alarm notifications through the alarm device, operators are prompted to adjust the operation of the tower crane traveling mechanism in a timely manner, thereby improving the safety of the tower crane traveling mechanism's operation.

[0051] The above technical solution uses an identification device to determine in real time whether there are obstacles in the travel path of the tower crane's traveling mechanism. When obstacles exist, a first permissible speed and a second permissible speed are determined based on the obstacle and a set limit switch as stopping points, respectively. The smaller of the first and second permissible speeds is then determined as the maximum permissible speed. The tower crane's traveling mechanism is controlled to operate at a speed not exceeding the maximum permissible speed. When there are no obstacles in the travel path, a second permissible speed is determined based on a set limit switch as a stopping point, and the tower crane's traveling mechanism is controlled to operate at a speed not exceeding the second permissible speed. This allows for real-time adjustment of the tower crane's traveling mechanism's speed, improving the stability of its operation.

[0052] Figure 4 The diagram schematically illustrates a structural diagram of a system for real-time speed adjustment of a tower crane traveling mechanism according to a specific embodiment of the present invention. Figure 4 As shown in the figure, a specific embodiment of the present invention provides a system for real-time speed adjustment of a tower crane traveling mechanism. This system may include a laser rangefinder (i.e., the rangefinder device of the present invention), an absolute encoder (i.e., the encoder of the present invention), a controller, a display screen, a warning light and horn, a frequency converter, and a motor. The controller communicates with the laser rangefinder, the absolute encoder, and the frequency converter via high-speed communication; the controller can communicate with the display screen via UDP communication; and the controller can communicate with the warning light and horn via digital signals. The frequency converter can be connected to the motor and drive the motor to run.

[0053] This invention provides a machine-readable storage medium storing instructions for causing a machine to perform a method for real-time adjustment of the speed of the tower crane traveling mechanism as described above.

[0054] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention 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.

[0055] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. 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 illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0056] 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.

[0057] 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.

[0058] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0059] 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.

[0060] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0061] 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.

[0062] The above are merely embodiments of the present invention and are not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A method for real-time speed adjustment of a tower crane traveling mechanism, characterized in that, Applied to a controller that communicates with an identification device, the method includes: The identification device determines in real time whether there are obstacles in the travel path of the tower crane traveling mechanism; When there are obstacles in the travel path of the tower crane traveling mechanism: The first permissible speed at the current position is determined using the obstacle as a stopping point; The second permissible speed is determined by setting a limit as the stop point to determine the current position; The smaller of the first permissible speed and the second permissible speed is determined as the maximum permissible speed; Control the tower crane traveling mechanism to operate at a speed not exceeding the maximum permissible speed; When there are no obstacles in the travel path of the tower crane traveling mechanism: The second permissible speed for the current position is determined using the set limit as the stop point; Control the tower crane traveling mechanism to operate at a speed not exceeding the second permissible speed; The controller communicates with both the ranging device and the frequency converter. The frequency converter is connected to the motor and drives the motor to run. The first permissible speed for determining the current position using the obstacle as a stopping point includes: The distance between the tower crane traveling mechanism and the obstacle, sent by the ranging device, and the current speed of the tower crane traveling mechanism, sent by the frequency converter, are received in real time. The deceleration time of the tower crane traveling mechanism, the rated speed of the motor, the communication delay time, and the program execution time are obtained. The stopping time of the tower crane traveling mechanism is determined based on the deceleration time, the current speed, and the rated speed; The delay time is determined based on the communication delay time and the program execution time; The first permissible speed is determined based on the distance between the tower crane traveling mechanism and the obstacle, the stopping time, and the delay time. The controller also communicates with the encoder, and the second permissible speed for determining the current position using a set limit as a stop point includes: The current position of the tower crane traveling mechanism is received in real time from the encoder; Obtain the set limit of the tower crane traveling mechanism; The second permissible speed of the tower crane traveling mechanism is determined based on the current position, the set limit, the stop time, and the delay time.

2. The method according to claim 1, characterized in that, The first permissible speed satisfies formula (1): ； （1） in, The first permissible speed, The distance between the tower crane traveling mechanism and the obstacle. For stopping time, This is a delay time.

3. The method according to claim 1, characterized in that, The second permissible speed satisfies formula (2): ；（2） in, For the second permissible speed, To set limits, Current position For stopping time, This is a delay time.

4. The method according to claim 1, characterized in that, The controller also communicates with an alarm device, and the method further includes: If the distance between the obstacle and the tower crane traveling mechanism is less than a preset distance, an alarm command is sent to the alarm device to control the alarm device to issue an alarm prompt.

5. A controller, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement a method for real-time adjustment of the speed of the tower crane traveling mechanism according to any one of claims 1 to 4.

6. A system for real-time speed adjustment of a tower crane traveling mechanism, characterized in that, include: The controller according to claim 5; The identification device, which communicates with the controller, is configured to identify whether there are obstacles in the travel path of the tower crane's traveling mechanism; The frequency converter, which communicates with the controller, is configured to acquire the current speed of the tower crane traveling mechanism and send it to the controller, as well as control the speed of the motor; The encoder, which communicates with the controller, is configured to acquire the current position of the tower crane traveling mechanism and send it to the controller; A ranging device, communicating with the controller, is configured to acquire the distance between the tower crane traveling mechanism and the obstacle, and send it to the controller; The motor is connected to the frequency converter and is configured to adjust its speed according to the instructions of the frequency converter.

7. The system according to claim 6, characterized in that, The system also includes an alarm device that communicates with the controller, and the alarm device includes: A light alarm unit is configured to provide a light alarm prompt based on an alarm command from the controller; and / or An audible alarm unit is configured to provide an audible alarm response based on an alarm command from the controller; and / or The alarm display unit is configured to display alarm prompts according to the alarm instructions from the controller.

8. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform a method for real-time adjustment of the speed of the tower crane traveling mechanism according to any one of claims 1 to 4.

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