Method and system for determining the lifting height of a floating crane

Abstract

This invention discloses a method and system for determining the lifting height of a floating crane, comprising: acquiring the absolute encoder reading on the main hook drum side and the absolute angle of the boom; determining the drum release layer based on the absolute encoder reading; determining the remaining rope capacity of the drum layer and the diameter of the wire rope of the drum release layer around the drum once based on the drum release layer; determining the remaining rope capacity of the drum release layer based on the diameter of the wire rope of the drum release layer around the drum once; subtracting the remaining rope capacity of the drum release layer and the remaining rope capacity of the drum layer from the maximum lifting height, and then subtracting the hook body height to obtain the initial lifting height; determining the lifting compensation height caused by the change in the absolute angle of the boom based on the absolute angle of the boom; and the sum of the initial lifting height and the lifting compensation height caused by the change in the absolute angle of the boom being the final lifting height of the crane. This achieves accurate calculation of the lifting height.

Description

Technical Field

[0001] This invention relates to the field of floating crane lifting height determination technology, and in particular to a method and system for determining the lifting height of a floating crane. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] In the field of ship machinery loading and unloading, large floating cranes serve as key equipment for shipwreck salvage, bridge erection, and offshore wind power installation, possessing unique functions. Large floating cranes typically have very long boom systems, making precise calculation of the main hook lifting height particularly important.

[0004] The main reasons affecting the accuracy of the main hook lifting height calculation for large floating cranes are: firstly, the calculation method of the multi-layer wire rope winding system of the hook; and secondly, the compensation for the rope difference in the main hook lifting height caused by the change in the luffing angle.

[0005] During the research and development process, the inventors discovered that current methods for calculating the lifting height of the main hook of large floating cranes typically rely on a linear relationship through coordinate point selection. This involves determining the lifting position using a lifting position encoder and then determining the lifting height by observing the linear change between two different lifting positions. However, the lifting hook drum of large floating cranes is a multi-layered wire winding system, resulting in a non-linear lifting relationship. Furthermore, even if the hook drum position remains constant, changes in the absolute angle of the boom will affect the lifting height, and the lifting position encoder experiences error accumulation as the lifting position changes. Consequently, the main hook lifting height calculated using current methods has a significant error. Summary of the Invention

[0006] To address the aforementioned problems, this invention proposes a method and system for determining the lifting height of a floating crane. When determining the crane's lifting height, the method simultaneously considers the compensation amount for the wire rope layer height and the lifting compensation height caused by changes in the absolute angle of the boom, resulting in a more accurate final crane lifting height.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] Firstly, a method for determining the lifting height of a floating crane is proposed, including:

[0009] Obtain the absolute encoder reading on the main hook drum side and the absolute angle of the boom;

[0010] Determine the roll release layer based on the absolute encoder reading;

[0011] Based on the drum release layer, determine the remaining rope capacity of the drum layer and the diameter of the wire rope of the drum release layer around the drum once;

[0012] Determine the remaining rope capacity of the drum release layer based on the diameter of the wire rope wrapped around the drum once.

[0013] Subtract the remaining rope capacity of the drum release layer and the remaining rope capacity of the drum layer from the maximum lifting height, and then subtract the height of the hook body to obtain the initial lifting height;

[0014] Determine the lifting compensation height caused by changes in the absolute angle of the boom based on the absolute angle of the boom.

[0015] The sum of the initial lifting height and the lifting compensation height caused by the change in the absolute angle of the boom is the final lifting height of the crane.

[0016] Secondly, a system for determining the lifting height of a floating crane is proposed, including:

[0017] The data acquisition module is used to acquire the absolute encoder readings on the main hook drum side and the absolute angle of the boom;

[0018] The initial lifting height calculation module is used to determine the drum release layer based on the absolute encoder reading; based on the drum release layer, it determines the remaining rope capacity of the drum layer and the diameter of the wire rope of the drum release layer around the drum once; based on the diameter of the wire rope of the drum release layer around the drum once, it determines the remaining rope capacity of the drum release layer; the initial lifting height is obtained by subtracting the remaining rope capacity of the drum release layer and the remaining rope capacity of the drum layer from the maximum lifting height, and then subtracting the height of the hook body.

[0019] The lifting compensation height determination module is used to determine the lifting compensation height caused by changes in the absolute angle of the boom, based on the absolute angle of the boom.

[0020] The crane lifting height determination module is used to add the initial lifting height to the lifting compensation height caused by the change in the absolute angle of the boom, so as to obtain the final crane lifting height.

[0021] Thirdly, an electronic device is proposed, including a memory and a processor, as well as computer instructions stored in the memory and running on the processor, wherein the computer instructions, when executed by the processor, complete the steps described in a method for determining the lifting height of a floating crane.

[0022] Fourthly, a computer-readable storage medium is proposed for storing computer instructions, which, when executed by a processor, complete the steps described in a method for determining the lifting height of a floating crane.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0024] This invention considers both the wire rope layer height compensation and the lifting compensation height caused by the change in the absolute angle of the boom when determining the lifting height of the crane, so that the final crane lifting height is more accurate.

[0025] When calculating the lifting compensation height, this invention uses a sensor to obtain the angle between the boom and the horizontal plane, i.e., the absolute angle of the boom. This angle can accurately reflect the working range of the boom, making the calculated lifting height more accurate.

[0026] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0027] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation of this application.

[0028] Figure 1 This is a flowchart of the method disclosed in Example 1;

[0029] Figure 2 Schematic diagram of multi-layer steel wire rope winding for hoisting hook drum;

[0030] Figure 3 This is the general layout drawing of the floating crane. Detailed Implementation

[0031] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0032] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0033] Example 1

[0034] In this embodiment, a method for determining the lifting height of a floating crane is disclosed, such as... Figures 1-3 As shown, it includes:

[0035] S1: Obtain the absolute encoder reading on the main hook drum side and the absolute angle of the boom.

[0036] The absolute encoder on the main hook drum side is used to record the number of rotations of the main hook drum. The drum release layer n can be determined by the reading Pc of the absolute encoder on the main hook drum side.

[0037] The absolute angle α of the boom of the floating crane is obtained by an angle sensor. This absolute angle refers to the acute angle between the boom and the horizontal plane.

[0038] S2: Determine the drum release layer based on the absolute encoder reading; determine the remaining rope capacity of the drum layer and the diameter of the wire rope of the drum release layer around the drum based on the drum release layer; determine the remaining rope capacity of the drum release layer based on the diameter of the wire rope of the drum release layer around the drum; subtract the remaining rope capacity of the drum release layer and the remaining rope capacity of the drum layer from the maximum lifting height, and then subtract the height of the hook body to obtain the initial lifting height.

[0039] Specifically, the absolute encoder reading Pc is divided by the number of layers m and the number of pulses per revolution of the absolute encoder p to obtain the drum release layer estimate n'; the drum release layer estimate n' is rounded down to determine the final drum release layer n.

[0040] Preferably, when the estimated value of the roll release layer is a decimal, the integer part of the estimated value of the roll release layer is added by 1 to obtain the final roll release layer n.

[0041] For example, when the absolute encoder reading Pc on the main hook drum side is 600000, it is determined that n' = 3.25 > 3 by Pc = m * n' * p = 600000. After rounding n', the drum release layer n is determined to be 4, that is, the 4th layer of wire rope on the drum is the drum release layer.

[0042] Determine the remaining rope capacity of the drum layer and the diameter of the wire rope in the drum release layer that wraps around the drum once.

[0043] The diameter Cj of each layer of wire rope wrapped around the drum is:

[0044] Cj=(D+d)+(n-1)(h+μ)*2

[0045] In the formula, Cj is the diameter of the j-th layer of wire rope wrapped around the drum in one turn, j = 1, 2, ..., n, ..., N, n is the release layer of the drum, N is the maximum number of wire rope layers wound on the drum, h is the wire rope layer height, D is the drum diameter, d is the wire rope diameter, and μ is the wire rope layer height compensation amount, which is determined based on the diameter of the first layer of wire rope wrapped around the drum in one turn and the diameter of the second layer of wire rope wrapped around the drum in one turn.

[0046]

[0047] In the formula, μ is the wire rope layer height compensation amount, C2 is the diameter of the second layer of wire rope on the drum one turn around the drum; C1 is the diameter of the first layer of wire rope on the drum one turn around the drum; γ is the height weighting coefficient of the second layer of wire rope on the drum, which is taken as 0.0278, hγ is the height deviation value, and m is the number of turns, that is, the number of turns of wire rope in each layer of wire rope on the drum.

[0048] In this embodiment, the innermost layer of wire rope on the drum is defined as the first layer of wire rope on the drum, and the wire rope in contact with the first layer is defined as the second layer of wire rope on the drum.

[0049] Preferably, C1 and C2 can be calculated using the following formula:

[0050] Ci=(D+d)+(i-1)h*2

[0051] In the formula, Ci is the capacity of the i-th layer of wire rope on the drum, and i takes the value of 1 or 2.

[0052] Determine the remaining rope capacity L of the drum release layer based on the diameter of the wire rope wrapped around the drum once. M for:

[0053]

[0054] In the formula, Cn is the diameter of the wire rope in one turn around the drum, the drum release layer is the layer of wire rope being released, that is, the nth layer of wire rope being released by the drum; Pc is the reading of the absolute encoder on the main hook drum side; p is the number of pulses per turn of the absolute encoder; and m*n*p is the number of encoder pulses when the drum has released one layer of wire rope.

[0055] The remaining rope capacity Ln of the drum layer is:

[0056]

[0057] Taking N=9, meaning a maximum of 9 layers of wire rope are wound on the drum, as an example, when the release layer n is 1, the remaining rope capacity of the drum layers is...

[0058] When the release layer n is 2, the remaining rope capacity of the drum layer

[0059] When the release layer n is 3, the remaining rope capacity of the drum layer

[0060] When the release layer n is 4, the remaining rope capacity of the drum layer

[0061] When the release layer n is 5, the remaining rope capacity of the drum layer

[0062] When the release layer n is 6, the remaining rope capacity of the drum layer

[0063] When the release layer n is 7, the remaining rope capacity of the drum layer

[0064] When the release layer n is 8, the remaining rope capacity of the drum layer

[0065] When the release layer n is 9, the remaining rope capacity L9 of the drum layer is 0.

[0066] The initial lifting height H1 is:

[0067]

[0068] In the formula, hmax is the designed maximum lifting height, such as 110 meters, Pc is the actual absolute encoder reading, Ln is the remaining rope capacity of the layer, and h h The height of the hook body is denoted as 4 meters, and Cn is the diameter of the wire rope in the release layer of the drum, which wraps around the drum once.

[0069] S3: Determine the lifting compensation height caused by changes in the absolute angle of the boom based on the absolute angle of the boom.

[0070] The lifting compensation height caused by the change in the absolute angle of the boom includes the lifting compensation height of the first main hook and the lifting compensation height of the second main hook. The lifting compensation height of the first main hook is the lifting compensation height caused by the change in the curvature of the main hook and the center line of the boom when the absolute angle of the boom changes. The lifting compensation height of the second main hook is the lifting compensation height caused by the change in the curvature of the boom when the absolute angle of the boom changes.

[0071] Specifically, based on the absolute angle α of the boom, the arc α4 between the main hook and the boom centerline at the highest lifting height, the hook head height Hh, and the distance HL from the hook head pulley to the boom hinge point, the first main hook lifting compensation height H2 is determined:

[0072]

[0073] Determine the boom curvature α3 based on the absolute boom angle α.

[0074] Based on the boom curvature α3, the distance L1 between the boom fixed pulley and the A-frame at the highest lifting height, the radian of the angle between the main hook and the boom fixed pulley α2, the distance L2 between the main hook fixed pulley and the boom hinge point, and the distance L3 between the A-frame and the boom hinge point, determine the second main hook lifting compensation height H3 caused by the change in boom curvature:

[0075]

[0076] Subtracting the lifting compensation height of the second main hook from the lifting compensation height of the first main hook yields the lifting compensation height Hf caused by the change in the absolute angle of the boom, i.e.:

[0077] Hf = H2 - H3.

[0078] S4: The sum of the initial lifting height and the lifting compensation height caused by the change in the absolute angle of the boom is the final crane lifting height H.

[0079] H = H1 + Hf = H1 + H2 - H3.

[0080] like Figure 2 As shown, the main hook system of a large crane consists of two motors connected and driving the same built-in reducer drum. The wire rope winding starts from the drum below the deck. The drum end is equipped with an absolute encoder. The rope passes through the A-frame fixed pulley to the boom fixed pulley, then through the boom fixed pulley to the boom movable pulley. Here, the main hook transmits power to the hook head at a 14x ratio. The maximum lifting height of the main hook is 110 meters above water and 10 meters underwater. The luffing radius (absolute angle) is 39.17 degrees to 68.35 degrees, where 66.4° is the absolute angle of the boom corresponding to the designed maximum lifting height.

[0081] In this implementation case, the absolute encoder on the main hook drum side reads pulse Pc = m * n' * p = 600000, and obtains n' = 3.25 > 3, that is, the value n = 4. The wire rope on the drum is the fourth layer, hγ = 200mm, and the layer height after deviation compensation is h + μ = 35.7695mm. The diameter of the fourth layer drum is C4 = (D + d) + (4 - 1)(h + μ) * 2. The set hook head body height Hh = 4000mm, and the maximum lifting height of the hook hmax = 110000mm.

[0082] The initial lifting height of the main hook can be calculated as: H1 = 27.36604752 meters.

[0083] like Figure 2As shown, considering the change in the absolute angle of the boom, there is relative movement between the hook head pulley and the horizontal plane, which indirectly affects the change in the hook head height position. This is precisely compensated for and calculated. Specifically: when the absolute angle of the boom is 66.4 degrees, the hook head height Hh = 115.561 meters, the distance from the hook head pulley to the boom hinge point HL = 128.07335 meters, and the arc of the rear main hook relative to the boom centerline α4 = 0.033815754. If the absolute angle of the boom is read as α = 80 degrees, then the arc of the main hook relative to the boom centerline α4 = 1.362448246, from which H2 = 9.742627925 meters can be calculated. Considering the change in the absolute angle of the boom, the change in the length of the wire rope from the A-frame pulley to the boom pulley indirectly affects the change in the hook head height position. This is precisely compensated for and calculated. Mechanical design parameters: When the absolute angle of the boom is 66.4 degrees, the distance from the boom fixed pulley to the A-frame is L1 = 111.8306775 meters, the angle between the A-frame and the boom hinge point and the horizontal plane is α1 = 2.725408422 radians, the angle between the main hook and the boom fixed pulley is α2 = 0.052616441 radians, the distance between the main hook fixed pulley and the boom hinge point is L2 = 78.909204 meters, and the distance between the A-frame and the boom hinge point is L3 = 83.857625. If the absolute angle of the boom is read as a = 80 degrees and the boom radius α3 = 1.329144422, according to the high-speed lifting compensation algorithm formula described in the third aspect of this disclosure above, H3 = 1.055175659 meters can be calculated.

[0084] Based on the description in Embodiment 1 above, when the absolute encoder reading of the main hook is 600000 and the absolute angle of the boom is 80 degrees, the actual height of the main hook after precise compensation is: H1 + H2 - H3 = 36.0535 meters.

[0085] Example 2

[0086] In this embodiment, a floating crane lifting height determination system is disclosed, comprising:

[0087] The data acquisition module is used to acquire the absolute encoder readings on the main hook drum side and the absolute angle of the boom;

[0088] The initial lifting height calculation module is used to determine the drum release layer based on the absolute encoder reading; based on the drum release layer, it determines the remaining rope capacity of the drum layer and the diameter of the wire rope of the drum release layer around the drum once; based on the diameter of the wire rope of the drum release layer around the drum once, it determines the remaining rope capacity of the drum release layer; the initial lifting height is obtained by subtracting the remaining rope capacity of the drum release layer and the remaining rope capacity of the drum layer from the maximum lifting height, and then subtracting the height of the hook body.

[0089] The lifting compensation height determination module is used to determine the lifting compensation height caused by changes in the absolute angle of the boom, based on the absolute angle of the boom.

[0090] The crane lifting height determination module is used to add the initial lifting height to the lifting compensation height caused by the change in the absolute angle of the boom, so as to obtain the final crane lifting height.

[0091] Example 3

[0092] In this embodiment, an electronic device is disclosed, including a memory and a processor, as well as computer instructions stored in the memory and running on the processor. When the processor executes the computer instructions, it completes the steps described in the floating crane lifting height determination method disclosed in Embodiment 1.

[0093] Example 4

[0094] In this embodiment, a computer-readable storage medium is disclosed for storing computer instructions, which, when executed by a processor, complete the steps described in the floating crane lifting height determination method disclosed in Embodiment 1.

[0095] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for determining the lifting height of a floating crane, characterized in that, include: Obtain the absolute encoder reading on the main hook drum side and the absolute angle of the boom; Determine the roll release layer based on the absolute encoder reading; Based on the drum release layer, determine the remaining rope capacity of the drum layer and the diameter of the wire rope of the drum release layer around the drum once; Determine the remaining rope capacity of the drum release layer based on the diameter of the wire rope wrapped around the drum once. Subtract the remaining rope capacity of the drum release layer and the remaining rope capacity of the drum layer from the maximum lifting height, and then subtract the height of the hook body to obtain the initial lifting height; Determine the lifting compensation height caused by changes in the absolute angle of the boom based on the absolute angle of the boom. Based on the absolute angle α of the boom, the arc α4 of the main hook and the center line of the boom at the highest lifting height, the height Hh of the hook head body, and the distance HL from the hook head fixed pulley to the boom hinge point, determine the lifting compensation height H2 of the first main hook. Determine the boom curvature α3 based on the absolute boom angle α; Based on the boom curvature α3, the distance L1 from the boom fixed pulley to the A-frame at the highest lifting height, the radian of the angle between the main hook and the boom fixed pulley α2, the distance L2 between the main hook fixed pulley and the boom hinge point, and the distance L3 between the A-frame and the boom hinge point, determine the second main hook lifting compensation height H3 caused by the change in boom curvature. Subtract the lifting compensation height of the second main hook from the lifting compensation height of the first main hook to obtain the lifting compensation height caused by the change in the absolute angle of the boom. The sum of the initial lifting height and the lifting compensation height caused by the change in the absolute angle of the boom is the final lifting height of the crane.

2. The method for determining the lifting height of a floating crane as described in claim 1, characterized in that, Divide the absolute encoder reading by the number of layers and the number of pulses per revolution of the absolute encoder to obtain the estimated value of the drum release layer; round the estimated value of the drum release layer to determine the final drum release layer.

3. The method for determining the lifting height of a floating crane as described in claim 1, characterized in that, The diameter Cj of each layer of wire rope wrapped around the drum is: In the formula, Let be the diameter of the j-th layer of wire rope wound around the drum in one turn, where j = 1, 2, ..., n, ..., N, n is the release layer of the drum, N is the maximum number of wire rope layers wound on the drum, h is the height of the wire rope layer, D is the diameter of the drum, and d is the diameter of the wire rope. The compensation amount for the layer height of the wire rope is determined based on the diameter of the first layer of wire rope wrapped around the drum once and the diameter of the second layer of wire rope wrapped around the drum once.

4. The method for determining the lifting height of a floating crane as described in claim 1, characterized in that, The remaining amount of rope L of the reel release layer M is: L M = In the formula, n is the release layer of the reel. The diameter of the wire rope in the release layer of the drum, which wraps around the drum once. The reading is the absolute encoder reading on the main hook drum side; p is the number of pulses per revolution of the absolute encoder, and m*n*p is the number of encoder pulses when the drum releases one layer of wire rope.

5. The method for determining the lifting height of a floating crane as described in claim 1, characterized in that, The remaining rope capacity Ln of the drum layer is: Ln= In the formula, Let be the diameter of the j-th layer of wire rope wrapped around the drum once, n be the release layer of the drum, N be the maximum number of wire rope layers wound on the drum, and m be the number of turns.

6. The method for determining the lifting height of a floating crane as described in claim 5, characterized in that, The lifting compensation height H2 of the first main hook is: ； The second main hook lifting compensation height H3 is: ) / r。 7. A floating crane lifting height determination system employing the method for determining the lifting height of a floating crane as described in any one of claims 1-6, characterized in that, include: The data acquisition module is used to acquire the absolute encoder readings on the main hook drum side and the absolute angle of the boom; The initial lifting height calculation module is used to determine the drum release layer based on the absolute encoder reading; based on the drum release layer, it determines the remaining rope capacity of the drum layer and the diameter of the wire rope of the drum release layer around the drum once; based on the diameter of the wire rope of the drum release layer around the drum once, it determines the remaining rope capacity of the drum release layer; the initial lifting height is obtained by subtracting the remaining rope capacity of the drum release layer and the remaining rope capacity of the drum layer from the maximum lifting height, and then subtracting the height of the hook body. The lifting compensation height determination module is used to determine the lifting compensation height caused by changes in the absolute angle of the boom, based on the absolute angle of the boom. The crane lifting height determination module is used to add the initial lifting height to the lifting compensation height caused by the change in the absolute angle of the boom, so as to obtain the final crane lifting height.

8. An electronic device, characterized in that, It includes a memory and a processor, as well as computer instructions stored in the memory and running on the processor, which, when executed by the processor, complete the steps of the method for determining the lifting height of a floating crane as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, Used to store computer instructions, which, when executed by a processor, complete the steps of the method for determining the lifting height of a floating crane as described in any one of claims 1-6.

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