Method, system and controller for adaptive deceleration of tower crane running gear

Abstract

The application discloses a method, system and controller for adaptive deceleration of a tower crane walking mechanism. The method comprises: receiving the position of an obstacle sent by a ranging device in real time; determining a first adaptive speed when the position of the obstacle is between the current position of the tower crane walking mechanism and a deceleration limit; determining the smaller of the first adaptive speed and the given speed of the walking operation platform as the first maximum allowable speed; controlling the tower crane to operate at a speed not greater than the first maximum allowable speed; determining a second adaptive speed when the position of the obstacle is between the deceleration limit and a stop limit; determining the minimum of the second adaptive speed, the deceleration limit speed and the given speed as the second maximum allowable speed; and controlling the tower crane to operate at a speed not greater than the second maximum allowable speed. By determining the adaptive speed and the maximum allowable speed of the obstacle at different positions, the application can improve the stability and accuracy of the deceleration of the tower crane walking mechanism when encountering obstacles.

Description

Technical Field

[0001] This application relates to the field of construction machinery technology, specifically to a method, system, and controller for adaptive deceleration of a tower crane traveling mechanism. Background Technology

[0002] The movement of a tower crane is a crucial aspect of a mobile tower crane, especially when lifting loads. During movement, a dedicated person must be present on the ground to direct the crane and prevent accidents caused by obstacles or pedestrians. Currently, mobile tower cranes on the market lack an adaptive deceleration control method for obstacle detection. They only operate at low speed when encountering a deceleration limit and stop when encountering a stop limit. The lack of adaptive deceleration control for obstacles during movement places high demands on ground personnel, is highly dependent on them, and carries significant risks. Therefore, existing technical solutions suffer from the inability to adaptively decelerate when encountering obstacles, as well as issues with uneven and inaccurate deceleration. Summary of the Invention

[0003] The purpose of this application is to provide a method, system, and controller for adaptive deceleration of a tower crane traveling mechanism, in order to solve the problems in the prior art where the tower crane traveling mechanism cannot perform adaptive deceleration control when encountering obstacles, as well as the problems of unstable and inaccurate deceleration.

[0004] To achieve the above objectives, the first aspect of this application provides a method for adaptive deceleration of a tower crane traveling mechanism, applied to a controller, the controller communicating with a ranging device, the method comprising:

[0005] Receive the real-time data from the ranging device, including the location of the obstacle and the distance between the obstacle and the tower crane's traveling mechanism;

[0006] When the obstacle's position is between the tower crane's traveling mechanism's current position and the deceleration limit, a first adaptive speed is determined;

[0007] The smaller of the first adaptive speed and the speed given by the walking control panel is determined as the first maximum permissible speed;

[0008] The tower crane's traveling mechanism is controlled to operate at a speed not exceeding the first maximum permissible speed;

[0009] When the obstacle's position is between the deceleration limit and the stop limit, a second adaptive speed is determined;

[0010] The smallest of the second adaptive speed, the deceleration limit speed, and the speed given by the travel control panel is determined as the second maximum permissible speed;

[0011] Control the tower crane's traveling mechanism to operate at a speed not exceeding the second maximum permissible speed.

[0012] In this embodiment of the application, both the first adaptive velocity and the second adaptive velocity satisfy formula (1):

[0013] (1)

[0014] in, It is either the first adaptive speed or the second adaptive speed. The distance between the obstacle and the tower crane's traveling mechanism. For the stop time, This is a delay time.

[0015] In this embodiment of the application, the method further includes:

[0016] 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;

[0017] The stopping time of the tower crane traveling mechanism is determined based on the deceleration time, current speed, and rated speed.

[0018] The delay time is determined based on the communication delay time and the program execution time.

[0019] In this embodiment of the application, the method further includes:

[0020] If the distance between the obstacle and the tower crane traveling mechanism is greater than the distance between the stop limit and the tower crane traveling mechanism, or if the ranging device does not detect the obstacle, control the tower crane traveling mechanism to run at the speed limited by the deceleration limit until the stop limit.

[0021] In this embodiment of the application, the controller also communicates with the alarm device, and the method further includes:

[0022] 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.

[0023] In this embodiment of the application, the method further includes:

[0024] Determine whether the tower crane's traveling mechanism has triggered the stop limit switch;

[0025] When the tower crane traveling mechanism triggers the stop limit switch, the tower crane traveling mechanism is controlled to stop running.

[0026] A second aspect of this application provides a controller, comprising:

[0027] The memory is configured to store instructions; and

[0028] The processor is configured to retrieve instructions from memory and, when executing instructions, implement the adaptive deceleration method based on the tower crane traveling mechanism described above.

[0029] A third aspect of this application provides a system for adaptive deceleration of a tower crane traveling mechanism, comprising:

[0030] Based on the controller described above;

[0031] The ranging device, which communicates with the controller, is configured to measure the position of obstacles and the distance between the obstacles and the tower crane's traveling mechanism.

[0032] In this embodiment of the application, the system further includes an alarm device that communicates with the controller. The alarm device includes:

[0033] The lighting alarm unit is configured to provide a lighting alarm prompt based on the alarm command from the controller; and / or

[0034] An audible alarm unit is configured to provide an audible alarm response based on an alarm command from the controller; and / or

[0035] The alarm display unit is configured to display alarm prompts based on the alarm commands from the controller.

[0036] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform an adaptive deceleration method for a tower crane traveling mechanism according to any one of the preceding claims.

[0037] Through the above technical solution, the controller receives the real-time position of the obstacle and the distance between the obstacle and the tower crane traveling mechanism from the ranging device. When the obstacle's position is between the current position of the tower crane traveling mechanism and the deceleration limit, a first adaptive speed is determined. The smaller of the first adaptive speed and the speed given by the traveling control panel is determined as the first maximum permissible speed, and the tower crane traveling mechanism is controlled to operate at a speed not exceeding the first maximum permissible speed. When the obstacle's position is between the deceleration limit and the stop limit, a second adaptive speed is determined. The smallest of the second adaptive speed, the deceleration limit speed, and the speed given by the traveling control panel is determined as the second maximum permissible speed, and the tower crane traveling mechanism is controlled to operate at a speed not exceeding the second maximum permissible speed. By determining the adaptive speed for different obstacle positions, and then determining the first and second maximum permissible speeds, the smoothness and accuracy of the tower crane traveling mechanism's deceleration when encountering obstacles can be improved.

[0038] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0039] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0040] Figure 1 A flowchart illustrating an adaptive deceleration method for a tower crane traveling mechanism according to an embodiment of this application is shown schematically.

[0041] Figure 2 This illustration schematically shows a walking limit layout according to an embodiment of the present application;

[0042] Figure 3 The flowchart illustrates a method for determining adaptive deceleration of a tower crane traveling mechanism according to a specific embodiment of this application.

[0043] Figure 4 This schematic diagram illustrates a structural block diagram of a controller according to an embodiment of the present application;

[0044] Figure 5 This schematic diagram illustrates the structure of an adaptive deceleration system for a tower crane traveling mechanism according to an embodiment of this application.

[0045] Figure 6 The diagram schematically illustrates the structure of an alarm device 530 according to an embodiment of this application.

[0046] Explanation of reference numerals in the attached figures

[0047] Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application 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 illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0049] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0050] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0051] Figure 1 The illustration schematically shows a flow chart of an adaptive deceleration method for a tower crane traveling mechanism according to an embodiment of this application. Figure 1 As shown in the figure, this application provides a method for adaptive deceleration of a tower crane traveling mechanism. This method is applied to the controller of a tower crane traveling mechanism adaptive deceleration system. The controller communicates with a ranging device. The method may include the following steps:

[0052] Step 101: Receive the real-time data from the ranging device, including the location of the obstacle and the distance between the obstacle and the tower crane's traveling mechanism;

[0053] Step 102: When the position of the obstacle is between the current position of the tower crane traveling mechanism and the deceleration limit, determine the first adaptive speed;

[0054] Step 103: Determine the smaller of the first adaptive speed and the speed given by the travel control panel as the first maximum permissible speed;

[0055] Step 104: Control the tower crane traveling mechanism to operate at a speed not exceeding the first maximum permissible speed;

[0056] Step 105: When the obstacle's position is between the deceleration limit and the stop limit, determine the second adaptive speed;

[0057] Step 106: Determine the smallest of the second adaptive speed, the deceleration limit speed, and the speed given by the travel control panel as the second maximum permissible speed;

[0058] Step 107: Control the tower crane traveling mechanism to operate at a speed not exceeding the second maximum permissible speed.

[0059] In existing technologies, controllers control deceleration based on whether the tower crane's traveling mechanism triggers deceleration and stop limits, which is highly dependent on ground control personnel and poses a risk of deceleration. However, the embodiments of this application utilize real-time data from a ranging device, transmitting the location of obstacles and the distance between the obstacles and the tower crane's traveling mechanism, to perform adaptive deceleration. This reduces reliance on ground control personnel and improves the safety of the tower crane's traveling mechanism.

[0060] In this embodiment, the ranging device can refer to a device used to measure distance. For example, the ranging device may include, but is not limited to, laser ranging sensors, ultrasonic ranging sensors, radar identification devices, and image recognition devices. The ranging device can acquire the position of the obstacle and the distance between the obstacle and the tower crane traveling mechanism in real time, and send the position of the obstacle and the distance between the obstacle and the tower crane traveling mechanism to the controller in real time. After acquiring the position of the obstacle and the distance between the obstacle and the tower crane traveling mechanism, the controller can determine whether there is an obstacle on the traveling path of the tower crane traveling mechanism, and acquire the position of the obstacle and the distance between the obstacle and the tower crane traveling mechanism in real time.

[0061] In this embodiment, the controller can determine the relationship between the obstacle's position, the stop limit, and the deceleration limit based on the real-time acquired obstacle position and the distance between the obstacle and the tower crane's traveling mechanism. The stop limit refers to a pre-set stop position. The deceleration limit refers to a pre-set deceleration position. The obstacle has different maximum permissible speeds depending on its location. The maximum permissible speed is the safe speed of the tower crane's traveling mechanism. The maximum permissible speed can be determined based on the adaptive speed, the speed given by the traveling control panel, and the speed limited by the deceleration limit. The adaptive speed refers to the speed automatically calculated based on the current position. The speed given by the traveling control panel refers to the speed of the tower crane's traveling mechanism set on the tower crane's traveling mechanism control panel.

[0062] In this embodiment, when the obstacle is positioned between the current position of the tower crane's traveling mechanism and the deceleration limit, the tower crane's traveling mechanism does not trigger the deceleration limit. In this case, the maximum permissible speed can be determined based on the first adaptive speed and the speed given by the traveling control panel. The first adaptive speed is the speed automatically calculated when the obstacle is positioned between the current position of the tower crane's traveling mechanism and the deceleration limit. After obtaining the first adaptive speed and the speed given by the control panel, the smaller of the two speeds is determined as the first maximum permissible speed, and the tower crane's traveling mechanism is controlled to travel at a speed not exceeding the first maximum permissible speed. The first maximum permissible speed is the maximum permissible speed when the obstacle is positioned between the current position of the tower crane's traveling mechanism and the deceleration limit.

[0063] In this implementation, when the obstacle is positioned between the deceleration limit and the stop limit, the tower crane traveling mechanism does not trigger the stop limit. In this case, the maximum permissible speed can be determined based on the second adaptive speed, the deceleration limit speed, and the speed given by the traveling control panel. The second adaptive speed is the speed automatically calculated when the obstacle is positioned between the deceleration position and the stop limit of the tower crane traveling mechanism. The controller determines the relationship between the second adaptive speed, the deceleration limit speed, and the speed given by the traveling control panel, and determines the smallest of these three speeds as the second maximum permissible speed. The second maximum permissible speed is the maximum permissible speed when the obstacle is positioned between the deceleration limit and the stop limit. Finally, the tower crane traveling mechanism is controlled to operate at a speed not exceeding the second maximum permissible speed.

[0064] Figure 2 A schematic diagram illustrating a walking limit layout according to an embodiment of this application is shown. Figure 2 As shown in the example, the travel limit may include a front deceleration limit, a front stop limit, a rear deceleration limit, and a rear stop limit. The distance between the front stop limit and the tower crane's traveling mechanism is greater than the distance between the front deceleration limit and the tower crane's traveling mechanism. The distance between the rear stop limit and the tower crane's traveling mechanism is greater than the distance between the rear deceleration limit and the tower crane's traveling mechanism. If the tower crane moves forward, and an obstacle is detected between the tower crane and the front deceleration limit, the travel speed is the minimum of the speed given by the travel control panel and the speed adaptively calculated based on the distance between the obstacle and the tower crane. If the tower crane moves forward, and an obstacle is detected between the front deceleration limit and the front stop limit, the travel speed is the minimum of the speed given by the travel control panel, the speed limited by the front deceleration limit, and the speed adaptively calculated based on the distance between the obstacle and the tower crane. If the tower crane moves forward, and an obstacle is detected in front of the front stop limit or no obstacle is detected, the travel speed is not limited by the speed adaptively calculated based on the obstacle; it runs at the existing low speed limit and stops at the stop limit. If the tower crane is moving backwards, and an obstacle is detected between the tower crane and the rear deceleration limit, the travel speed is the minimum of the speed given by the travel control panel and the speed adaptively calculated based on the distance between the obstacle and the tower crane. If the tower crane is moving backwards, and an obstacle is detected between the rear deceleration limit and the rear stop limit, the travel speed is the minimum of the speed given by the travel control panel, the speed limited by the rear deceleration limit, and the speed adaptively calculated based on the distance between the obstacle and the tower crane. If the tower crane is moving backwards, and an obstacle is detected behind the rear stop limit or no obstacle is detected, the travel speed is not limited by the speed adaptively calculated based on the obstacle; it operates at low speed according to the existing deceleration limit and stops when the stop limit is reached.

[0065] Through the above technical solution, the controller receives the real-time position of the obstacle and the distance between the obstacle and the tower crane traveling mechanism from the ranging device. When the obstacle's position is between the current position of the tower crane traveling mechanism and the deceleration limit, a first adaptive speed is determined. The smaller of the first adaptive speed and the speed given by the traveling control panel is determined as the first maximum permissible speed, and the tower crane traveling mechanism is controlled to operate at a speed not exceeding the first maximum permissible speed. When the obstacle's position is between the deceleration limit and the stop limit, a second adaptive speed is determined. The smallest of the second adaptive speed, the deceleration limit speed, and the speed given by the traveling control panel is determined as the second maximum permissible speed, and the tower crane traveling mechanism is controlled to operate at a speed not exceeding the second maximum permissible speed. By determining the adaptive speed for different obstacle positions, and then determining the first and second maximum permissible speeds, the smoothness and accuracy of the tower crane traveling mechanism's deceleration when encountering obstacles can be improved.

[0066] In this embodiment, both the first adaptive velocity and the second adaptive velocity can satisfy formula (1):

[0067] (1)

[0068] in, It is either the first adaptive speed or the second adaptive speed. The distance between the obstacle and the tower crane's traveling mechanism. For stopping time, This is the delay time.

[0069] Specifically, both the first adaptive velocity and the second adaptive velocity satisfy the formula. .in, It is either the first adaptive speed or the second adaptive speed. The distance between the tower crane's traveling mechanism and an 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.

[0070] In this embodiment of the application, the method may further include:

[0071] 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;

[0072] The stopping time of the tower crane traveling mechanism is determined based on the deceleration time, current speed, and rated speed.

[0073] The delay time is determined based on the communication delay time and the program execution time.

[0074] Specifically, the controller first 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. These parameters are 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. During 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 is then added to the program execution time to determine the delay time.

[0075] In this embodiment of the application, the method may further include:

[0076] If the distance between the obstacle and the tower crane traveling mechanism is greater than the distance between the stop limit and the tower crane traveling mechanism, or if the ranging device does not detect the obstacle, control the tower crane traveling mechanism to run at the speed limited by the deceleration limit until the stop limit.

[0077] Specifically, if the distance between the obstacle and the tower crane's traveling mechanism is greater than the distance between the stop limit and the tower crane's traveling mechanism, it means that the obstacle is outside the stop limit and has no impact on the operation of the tower crane's traveling mechanism. In this case, the tower crane's traveling mechanism can be controlled to run at the speed limited by the deceleration limit to the stop limit. The deceleration limit speed is the maximum speed allowed by the deceleration limit. Furthermore, even if the distance measuring device does not detect an obstacle, the tower crane's traveling mechanism can still be controlled to run at the speed limited by the deceleration limit to the stop limit.

[0078] In this embodiment of the application, the controller can also communicate with the alarm device, and the method can further include:

[0079] 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.

[0080] 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.

[0081] In this embodiment of the application, the method further includes:

[0082] Determine whether the tower crane's traveling mechanism has triggered the stop limit switch;

[0083] When the tower crane traveling mechanism triggers the stop limit switch, the tower crane traveling mechanism is controlled to stop running.

[0084] Specifically, the stop limit refers to the stop restriction position of the tower crane's traveling mechanism. During the operation of the tower crane's traveling mechanism, the controller determines whether the traveling mechanism has triggered the stop limit. If the tower crane's traveling mechanism triggers the stop limit, the controller stops the traveling mechanism.

[0085] Through the above technical solution, the controller receives the real-time position of the obstacle and the distance between the obstacle and the tower crane traveling mechanism from the ranging device. When the obstacle's position is between the current position of the tower crane traveling mechanism and the deceleration limit, a first adaptive speed is determined. The smaller of the first adaptive speed and the speed given by the traveling control panel is determined as the first maximum permissible speed, and the tower crane traveling mechanism is controlled to operate at a speed not exceeding the first maximum permissible speed. When the obstacle's position is between the deceleration limit and the stop limit, a second adaptive speed is determined. The smallest of the second adaptive speed, the deceleration limit speed, and the speed given by the traveling control panel is determined as the second maximum permissible speed, and the tower crane traveling mechanism is controlled to operate at a speed not exceeding the second maximum permissible speed. By determining the adaptive speed for different obstacle positions, and then determining the first and second maximum permissible speeds, the smoothness and accuracy of the tower crane traveling mechanism's deceleration when encountering obstacles can be improved.

[0086] Figure 3 The flowchart illustrates a method for determining adaptive deceleration of a tower crane traveling mechanism according to a specific embodiment of this application. Figure 3 As shown in the embodiment of this application, a method for determining adaptive deceleration of a tower crane traveling mechanism is provided. The method includes:

[0087] S301, Begin;

[0088] S302, Control panel set speed;

[0089] S303, Normal walking operation;

[0090] S304. Determine if there is an obstacle. If yes, proceed to S305; otherwise, proceed to S306.

[0091] S305, adaptive calculation speed;

[0092] S306, Normal operation;

[0093] S307. Determine whether the deceleration limit is triggered. If yes, proceed to S308; otherwise, proceed to S306.

[0094] S308, low-speed operation;

[0095] S309. Determine whether the stop limit is triggered. If yes, proceed to S310; otherwise, proceed to S306.

[0096] S310, Stop walking;

[0097] S311, all speeds take the minimum value;

[0098] S312, End.

[0099] Specifically, when the tower crane traveling mechanism starts operating, it first acquires the speed given by the control panel and operates normally according to that speed. The controller then determines whether there are obstacles in the traveling path of the tower crane traveling mechanism. If obstacles exist, an adaptive speed is calculated. If no obstacles exist, the tower crane traveling mechanism operates normally. The controller then determines whether the tower crane traveling mechanism has triggered a deceleration limit switch. If the deceleration limit switch is triggered, the tower crane traveling mechanism is decelerated and operates at a low speed. If the deceleration limit switch is not triggered, the tower crane traveling mechanism operates normally. The controller then determines whether the tower crane traveling mechanism has triggered a stop limit switch. If the stop limit switch is triggered, the tower crane traveling mechanism is stopped. If the stop limit switch is not triggered, the tower crane traveling mechanism operates normally. After obtaining the adaptive speed, the minimum value between the adaptive speed and the speed given by the control panel is taken as the final speed of the tower crane traveling mechanism. Simultaneously, after triggering a deceleration limit switch, the minimum value between the deceleration limit allowable speed and the speed given by the control panel is taken as the final speed of the tower crane traveling mechanism.

[0100] Figure 4 A schematic block diagram of a controller according to an embodiment of this application is shown. Figure 4 As shown in the figure, this application provides a controller that may include:

[0101] Memory 410 is configured to store instructions; and

[0102] The processor 420 is configured to retrieve instructions from the memory 410 and, when executing the instructions, to implement the aforementioned method for adaptive deceleration of the tower crane traveling mechanism.

[0103] Specifically, in this embodiment of the application, the processor 420 can be configured to:

[0104] Receive the real-time data from the ranging device, including the location of the obstacle and the distance between the obstacle and the tower crane's traveling mechanism;

[0105] When the obstacle's position is between the tower crane's traveling mechanism's current position and the deceleration limit, a first adaptive speed is determined;

[0106] The smaller of the first adaptive speed and the speed given by the walking control panel is determined as the first maximum permissible speed;

[0107] The tower crane's traveling mechanism is controlled to operate at a speed not exceeding the first maximum permissible speed;

[0108] When the obstacle's position is between the deceleration limit and the stop limit, a second adaptive speed is determined;

[0109] The smallest of the second adaptive speed, the deceleration limit speed, and the speed given by the travel control panel is determined as the second maximum permissible speed;

[0110] Control the tower crane's traveling mechanism to operate at a speed not exceeding the second maximum permissible speed.

[0111] Furthermore, the processor 420 can also be configured as follows:

[0112] Both the first adaptive velocity and the second adaptive velocity satisfy formula (1):

[0113] (1)

[0114] in, It is either the first adaptive speed or the second adaptive speed. The distance between the obstacle and the tower crane's traveling mechanism. For stopping time, This is the delay time.

[0115] Furthermore, the processor 420 can also be configured as follows:

[0116] 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;

[0117] The stopping time of the tower crane traveling mechanism is determined based on the deceleration time, current speed, and rated speed.

[0118] The delay time is determined based on the communication delay time and the program execution time.

[0119] Furthermore, the processor 420 can also be configured as follows:

[0120] If the distance between the obstacle and the tower crane traveling mechanism is greater than the distance between the stop limit and the tower crane traveling mechanism, or if the ranging device does not detect the obstacle, control the tower crane traveling mechanism to run at the speed limited by the deceleration limit until the stop limit.

[0121] Furthermore, the processor 420 can also be configured as follows:

[0122] The controller also communicates with the alarm device, and the method further includes:

[0123] 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.

[0124] Furthermore, the processor 420 can also be configured as follows:

[0125] Determine whether the tower crane's traveling mechanism has triggered the stop limit switch;

[0126] When the tower crane traveling mechanism triggers the stop limit switch, the tower crane traveling mechanism is controlled to stop running.

[0127] Through the above technical solution, the controller receives the real-time position of the obstacle and the distance between the obstacle and the tower crane traveling mechanism from the ranging device. When the obstacle's position is between the current position of the tower crane traveling mechanism and the deceleration limit, a first adaptive speed is determined. The smaller of the first adaptive speed and the speed given by the traveling control panel is determined as the first maximum permissible speed, and the tower crane traveling mechanism is controlled to operate at a speed not exceeding the first maximum permissible speed. When the obstacle's position is between the deceleration limit and the stop limit, a second adaptive speed is determined. The smallest of the second adaptive speed, the deceleration limit speed, and the speed given by the traveling control panel is determined as the second maximum permissible speed, and the tower crane traveling mechanism is controlled to operate at a speed not exceeding the second maximum permissible speed. By determining the adaptive speed for different obstacle positions, and then determining the first and second maximum permissible speeds, the smoothness and accuracy of the tower crane traveling mechanism's deceleration when encountering obstacles can be improved.

[0128] Figure 5 The diagram schematically illustrates the structure of an adaptive deceleration system for a tower crane traveling mechanism according to an embodiment of this application. Figure 5 As shown in the figure, this application provides a system for adaptive deceleration of a tower crane traveling mechanism, which may include:

[0129] According to the controller 510 described above;

[0130] The ranging device 520, which communicates with the controller 510, is configured to measure the position of an obstacle and the distance between the obstacle and the tower crane traveling mechanism.

[0131] In this embodiment, the adaptive deceleration system for the tower crane traveling mechanism may include a controller 510 and a ranging device 520. The controller 510 can communicate with the ranging device 520. The ranging device 520 can be configured to acquire the position of an obstacle and the distance between the obstacle and the tower crane traveling mechanism in real time. First, the controller 510 receives the acquired obstacle position and distance between the obstacle and the tower crane traveling mechanism from the ranging device 520 in real time. When the obstacle's position is between the current position of the tower crane traveling mechanism and the deceleration limit, a first adaptive speed is determined. The smaller of the first adaptive speed and the speed given by the traveling control panel is determined as the first maximum permissible speed. The tower crane traveling mechanism is controlled to run at a speed not greater than the first maximum permissible speed. When the obstacle's position is between the deceleration limit and the stop limit, a second adaptive speed is determined. The smallest of the second adaptive speed, the deceleration limit speed, and the speed given by the traveling control panel is determined as the second maximum permissible speed. Finally, the tower crane traveling mechanism is controlled to run at a speed not greater than the second maximum permissible speed. The system may also include an alarm device 530. The alarm device 530 can be configured to provide an alarm prompt based on the alarm command from the controller 510.

[0132] Figure 6 A schematic diagram illustrating the structure of an alarm device 530 according to an embodiment of this application is shown. Figure 6 As shown in the embodiment of this application, the system may further include an alarm device 530, which communicates with the controller 510. The alarm device 530 may include:

[0133] The light alarm unit 531 is configured to provide a light alarm prompt based on the alarm command from the controller 510; and / or

[0134] The audible alarm unit 532 is configured to provide an audible alarm response based on an alarm command from the controller 510; and / or

[0135] The alarm display unit 533 is configured to display alarm prompts according to the alarm commands from the controller 510.

[0136] Specifically, the controller 510 can also communicate with the alarm device 530, which can issue an alarm notification based on the instructions sent by the controller 510. Even when an obstacle is detected in the travel path of the tower crane's traveling mechanism, the traveling mechanism continues to travel at a predetermined maximum permissible speed. If the distance between the obstacle and the tower crane's traveling mechanism is less than a preset distance, the controller 510 sends an alarm command to the alarm device 530. The alarm device 530 may include a light alarm unit 531, an audible alarm unit 532, and a display alarm unit 533. The light alarm unit 531 is configured to issue a light alarm notification based on the alarm command from the controller 510. The audible alarm unit 532 is configured to issue an audible alarm notification based on the alarm command from the controller 510. The display alarm unit 533 is configured to issue a display alarm notification based on the alarm command from the controller 510. The light alarm unit 531, the audible alarm unit 532, and the display alarm unit 533 can issue alarms simultaneously or separately. The alarm notification issued by the alarm device 530 prompts the operator to adjust the operation of the tower crane's traveling mechanism.

[0137] Through the above technical solution, the controller receives the real-time position of the obstacle and the distance between the obstacle and the tower crane traveling mechanism from the ranging device. When the obstacle's position is between the current position of the tower crane traveling mechanism and the deceleration limit, a first adaptive speed is determined. The smaller of the first adaptive speed and the speed given by the traveling control panel is determined as the first maximum permissible speed, and the tower crane traveling mechanism is controlled to operate at a speed not exceeding the first maximum permissible speed. When the obstacle's position is between the deceleration limit and the stop limit, a second adaptive speed is determined. The smallest of the second adaptive speed, the deceleration limit speed, and the speed given by the traveling control panel is determined as the second maximum permissible speed, and the tower crane traveling mechanism is controlled to operate at a speed not exceeding the second maximum permissible speed. By determining the adaptive speed for different obstacle positions, and then determining the first and second maximum permissible speeds, the smoothness and accuracy of the tower crane traveling mechanism's deceleration when encountering obstacles can be improved.

[0138] This application also provides a machine-readable storage medium storing instructions for causing a machine to perform an adaptive deceleration method for a tower crane traveling mechanism according to any of the above embodiments.

[0139] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0140] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0141] 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.

[0142] 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.

[0143] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0144] 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.

[0145] 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.

[0146] 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.

[0147] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for adaptive deceleration of a tower crane traveling mechanism, characterized in that, Applied to a controller that communicates with a ranging device, the method includes: Receive the location of the obstacle and the distance between the obstacle and the tower crane traveling mechanism, which are transmitted in real time by the ranging device; A first adaptive speed is determined when the position of the obstacle is between the current position of the tower crane traveling mechanism and the deceleration limit; The smaller of the first adaptive speed and the speed given by the walking control panel is determined as the first maximum permissible speed; Control the tower crane traveling mechanism to operate at a speed not exceeding the first maximum permissible speed; When the position of the obstacle is between the deceleration limit and the stop limit, a second adaptive speed is determined; The smallest of the second adaptive speed, the deceleration limit speed, and the given speed of the walking control panel is determined as the second maximum permissible speed; Control the tower crane traveling mechanism to operate at a speed not exceeding the second maximum permissible speed.

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

3. The method according to claim 2, characterized in that, The method further includes: 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.

4. The method according to claim 1, characterized in that, The method further includes: If the distance between the obstacle and the tower crane traveling mechanism is greater than the distance between the stop limit and the tower crane traveling mechanism, or if the ranging device does not detect the obstacle, the tower crane traveling mechanism is controlled to run to the stop limit at the speed limited by the deceleration limit.

5. 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.

6. The method according to claim 1, characterized in that, The method further includes: Determine whether the tower crane traveling mechanism has triggered the stop limit switch; When the tower crane traveling mechanism triggers the stop limit switch, the tower crane traveling mechanism is controlled to stop operating.

7. 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 the method for adaptive deceleration of the tower crane traveling mechanism according to any one of claims 1 to 6.

8. A system for adaptive deceleration of a tower crane traveling mechanism, characterized in that, include: The controller according to claim 7; The ranging device, which communicates with the controller, is configured to measure the position of an obstacle and the distance between the obstacle and the tower crane traveling mechanism.

9. The system according to claim 8, 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.

10. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the method of adaptive deceleration of the tower crane traveling mechanism according to any one of claims 1 to 6.

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