A method, device and equipment for optimizing the lifting plan of a dynamic compaction machine hook

Abstract

The present application provides a method, device and equipment for optimizing the lifting plan of a tamping machine hook, which relates to the field of lifting technology. The method includes: before lifting the object to be lifted, obtaining the first degree of influence of the wind speed on the hook in the current lifting operation environment, and the second degree of influence of the lifting rope on the hook under the influence of the wind speed; determining the maximum weight that the hook can lift in the current lifting operation environment according to the first degree of influence and the second degree of influence; obtaining basic information of the object to be lifted, and predicting the third degree of influence of the wind speed on the hook when the hook lifts the object to be lifted according to the basic information; optimizing the lifting plan of the hook lifting the object to be lifted in combination with the maximum weight and the third degree of influence that the hook can lift in the current lifting operation environment. The technical effect of the present application is: quantitatively evaluating the influence of wind load, and performing accurate calculations to obtain the maximum load capacity of the hook in the current environment, thereby improving the safety of the lifting operation.

Description

Technical Field

[0001] The present application relates to the field of hoisting technology, and in particular to a method, device and equipment for optimizing the hoisting plan of a rammer hook. Background Art

[0002] Hoisting is a common way of transporting objects, which is widely used in construction, maintenance, logistics and other fields. In hoisting, the performance of the hoisting equipment and environmental factors will affect the safety and efficiency of the hoisting operation.

[0003] Among them, wind speed is an important factor in environmental factors. Changes in wind speed may cause uneven force on the hook, thus affecting the stability and safety of the lifting operation. Therefore, how to optimize the lifting operation plan under the influence of environmental factors such as wind speed and improve the safety and efficiency of the lifting operation is an urgent problem to be solved. Summary of the invention

[0004] The present application provides a method, device and equipment for optimizing the lifting plan of a rammer hook, which are used to quantitatively evaluate the impact of wind loads and perform accurate calculations to obtain the maximum load capacity of the hook under the current environment, thereby improving the safety of the lifting operation.

[0005] In a first aspect, the present application provides a method for optimizing a lifting plan of a rammer hook, the method comprising: before lifting an object to be lifted, obtaining a first degree of influence of wind speed on the hook in the current lifting operation environment, and a second degree of influence of the lifting rope on the hook under the influence of wind speed; determining a maximum weight that can be lifted by the hook in the current lifting operation environment based on the first degree of influence and the second degree of influence; obtaining basic information of the object to be lifted, and predicting a third degree of influence of wind speed on the hook when the hook lifts the object to be lifted based on the basic information; and optimizing the lifting plan of the hook to lift the object to be lifted in combination with the maximum weight that can be lifted by the hook in the current lifting operation environment and the third degree of influence.

[0006] By adopting the above technical solution, by obtaining the first degree of influence of wind speed on the hook and the second degree of influence of the rope on the hook, the influence of wind load on the lifting equipment in the current environment can be evaluated, and the maximum safe lifting weight of the hook in the current environment can be calculated accordingly. Then obtain the relevant information of the object to be lifted, and predict the wind load response characteristics of the object itself, that is, the third degree of influence on the hook. Combining the maximum load of the hook calculated from the first and second degrees of influence with the third degree of influence, the formulated lifting plan can take into account both the influence of environmental wind load and the influence of the object's own characteristics, thereby achieving comprehensive optimization of the lifting plan. Compared with traditional empirical plans, this scheme can quantitatively evaluate the impact of wind loads and perform accurate calculations to obtain the maximum load capacity of the hook in the current environment. And it can formulate targeted optimal lifting plans based on the characteristics of different objects.

[0007] Optionally, obtaining the first degree of influence of wind speed on the hook in the current hoisting operation environment includes: obtaining first status information of the hook in a natural state sent by a combined inertial navigation element installed on the hook in the current hoisting operation environment; comparing the first status information with the second status information to determine the first degree of influence of wind speed on the hook in the current hoisting operation environment, the second status information being status information of the hook sent by the combined inertial navigation element in a windless environment and a natural state.

[0008] By adopting the above technical solution and installing a combined inertial navigation element on the hook, the states of various motion parameters of the hook in the current natural environment can be monitored in real time, and the first state information can more truly reflect the effect of the current environmental wind load on the hook. Then, compare it with the normal state data of the hook in a windless environment, that is, the second state information. The difference in the state of the hook is the result of the impact caused by the wind load, and the magnitude of the first impact of the wind speed on the hook can be calculated based on this. The method of judging the degree of wind load impact by comparing the state changes of the hook in the wind load action environment and the non-action environment avoids subjective estimation of the wind load. The calculated first impact degree can quantitatively reflect the impact of the wind load on the hook, and is an important technical basis for subsequent lifting planning.

[0009] Optionally, the second degree of influence of the lifting rope on the lifting hook under the influence of wind speed includes: obtaining a first tension value of the lifting rope in a natural state sent by a stress sensor installed on the lifting rope in the current lifting operation environment; comparing the first tension value with the second tension value to determine a fourth degree of influence of the wind speed on the lifting rope in the current lifting operation environment, the second tension value being the tension value of the lifting rope sent by the stress sensor in a windless environment and in a natural state; and determining the second degree of influence of the lifting rope on the lifting hook under the influence of wind speed in the current lifting operation environment based on the fourth degree of influence.

[0010] By adopting the above technical solution, by setting a stress sensor on the suspension rope, the tension change of the suspension rope under the natural wind load environment can be monitored in real time to obtain the first tension value. This value reflects the real-time state of the suspension rope under the action of wind load. It is compared with the normal tension of the suspension rope in a windless environment, that is, the second tension value. The difference between the two is the impact of the wind load on the suspension rope, and the fourth degree of influence of the wind speed on the suspension rope can be quantitatively calculated based on this. After obtaining the numerical value of the impact of the wind load on the suspension rope, the equivalent impact of the additional tension of the suspension rope on the hook can be further calculated through the mechanical relationship, that is, the second degree of influence of the suspension rope on the hook. This degree of influence is also one of the important parameters for the subsequent formulation of the lifting plan. This quantitative calculation of the impact of wind load based on the real-time monitoring data of the suspension rope avoids subjective errors and ensures the accuracy of the results. The second degree of influence can also be dynamically obtained, and the lifting parameters can be adjusted in real time to improve the safety and intelligence of the operation.

[0011] Optionally, determining the maximum weight that can be lifted by the hook in the current lifting operation environment based on the first influence degree and the second influence degree includes: obtaining the rated load of the hook; determining a first consumption load based on the first influence degree, and determining a second consumption load based on the second influence degree; adding the first consumption load and the second consumption load to obtain a total consumption load; arithmetically subtracting the rated load from the total consumption load to obtain the maximum weight that can be lifted by the hook in the current lifting operation environment.

[0012] By adopting the above technical solution, the rated load of the hook, that is, its theoretical maximum allowable load, is obtained to lay the foundation for subsequent calculations. On this basis, the first degree of influence and the second degree of influence obtained previously are converted into equivalent load consumption on the hook, which are the first consumption load and the second consumption load, respectively. The two are added together as the total consumption load of the hook under wind load conditions. Finally, the total consumption load is subtracted from the rated load to obtain the maximum safe operating load of the hook after considering the influence of wind load. This calculation idea systematically considers the joint influence of wind load on the hook and the lifting rope, and performs a reasonable load consumption superposition. The maximum safe lifting weight of the hook obtained takes into account both the constraints of environmental risks and the carrying capacity of the equipment itself.

[0013] Optionally, the basic information includes mass, shape and material, and predicting a third degree of influence of wind speed on the hook when the hook is lifting the object to be lifted based on the basic information includes: predicting a third degree of influence of wind speed on the hook when the hook is lifting the object to be lifted based on the mass, shape and material of the object to be lifted.

[0014] By adopting the above technical solution, after obtaining the influence of wind load on the hook and the rope, the wind load response characteristics of different objects need to be considered. By obtaining the basic parameters such as the mass, shape and material of the object to be hoisted, the wind resistance performance of the object can be determined. Then, based on the known wind engineering model, the wind load response of the object under given wind speed conditions, that is, the degree of influence of the wind on the object, can be calculated. After obtaining the wind load response result of the object, the reaction force of the wind load on the hook when it acts on the object can be calculated, which is defined as the third degree of influence of the wind on the hook. Compared with ignoring the individual characteristics of the object, this method can scientifically predict the wind load effect of objects of different shapes and materials according to their characteristics, and the results are more accurate. And the calculation process can be standardized, which is convenient for system integration and application. Finally, considering the third degree of influence can make the lifting plan more comprehensively reflect the comprehensive influence of the working environment and object characteristics, which is helpful to formulate a more scientific and reasonable lifting plan and improve the safety and intelligence of the operation.

[0015] Optionally, predicting the third influence of wind speed on the hook when the hook is lifting the object to be lifted according to the mass, shape and material of the object to be lifted includes: obtaining wind resistance according to a first formula, wherein the first formula is ; Wherein, F is wind resistance, Cd is the drag coefficient, which depends on the shape and material of the object to be hoisted, A is the area affected by the wind, ρ is the air density, and V is the wind speed; the influence of wind speed on the object to be hoisted is obtained by the second formula, and the second formula is ;in, is the wind load, F is the wind resistance, and θ is the angle between the wind force and the gravity direction of the object to be lifted; according to the influence of the wind speed on the object to be lifted, the third influence of the wind speed on the hook when the hook is lifting the object to be lifted is predicted.

[0016] By adopting the above technical solution, the solution uses fluid mechanical formulas to establish a physical calculation model for the wind load response of an object. First, input the mass, shape, material and other parameters of the object to be hoisted, substitute them into the wind resistance calculation formula, and determine the wind resistance value of the object. Then substitute the calculated wind resistance into the wind load force formula and convert it into the specific influence of the wind on the object. Finally, according to the mechanical relationship, the wind load force can be further converted into an equivalent force on the hook, that is, the third degree of influence. This technical means can scientifically and rationally evaluate the impact of wind loads on different objects to be hoisted, provide key support for the optimization of hoisting plans, and greatly improve the accuracy and intelligence of hoisting.

[0017] Optionally, after optimizing the lifting plan of the hook to lift the object to be lifted, it also includes: acquiring in real time the status information of the lifting rope and the hook during the lifting process; and adjusting in real time the lifting plan of the hook to lift the object to be lifted according to the status information of the lifting rope and the hook during the lifting process.

[0018] By adopting the above technical solutions, after optimizing and obtaining the initial lifting plan, a closed-loop feedback mechanism needs to be established to achieve real-time monitoring and adjustment of the lifting process. By continuously obtaining the real-time status of the hook and the rope and comparing it with the standard value in the original plan, when it is detected that the error range is exceeded, it means that the system is abnormal and may have encountered an unexpected situation. This greatly improves the adaptability and robustness in the face of complex and changing environments, ensuring the safety of lifting.

[0019] In a second aspect, the present application provides a device for optimizing the lifting plan of a rammer hook, the device comprising: a first acquisition module, a determination module, a second acquisition module and an optimization module; wherein the first acquisition module is used to obtain a first degree of influence of wind speed on the hook in the current lifting operation environment and a second degree of influence of the lifting rope on the hook under the influence of wind speed before lifting the object to be lifted; the determination module is used to determine the maximum weight that can be lifted by the hook in the current lifting operation environment according to the first degree of influence and the second degree of influence; the second acquisition module is used to obtain basic information of the object to be lifted, and predict the third degree of influence of wind speed on the hook when the hook lifts the object to be lifted according to the basic information; the optimization module is used to obtain basic information of the object to be lifted, and predict the third degree of influence of wind speed on the hook when the hook lifts the object to be lifted according to the basic information.

[0020] By adopting the above technical solution, by obtaining the first degree of influence of wind speed on the hook and the second degree of influence of the rope on the hook, the influence of wind load on the lifting equipment in the current environment can be evaluated, and the maximum safe lifting weight of the hook in the current environment can be calculated accordingly. Then obtain the relevant information of the object to be lifted, and predict the wind load response characteristics of the object itself, that is, the third degree of influence on the hook. Combining the maximum load of the hook calculated from the first and second degrees of influence with the third degree of influence, the formulated lifting plan can take into account both the influence of environmental wind load and the influence of the object's own characteristics, thereby achieving comprehensive optimization of the lifting plan. Compared with traditional empirical plans, this scheme can quantitatively evaluate the impact of wind loads and perform accurate calculations to obtain the maximum load capacity of the hook in the current environment. And it can formulate targeted optimal lifting plans based on the characteristics of different objects.

[0021] In the third aspect, the present application provides an electronic device, which adopts the following technical solution: it includes a processor, a memory, a user interface and a network interface, the memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory so that the electronic device executes a computer program such as any of the above-mentioned methods for optimizing the lifting plan of the rammer hook.

[0022] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution: a computer program that can be loaded by a processor and execute any of the above-mentioned methods for optimizing the lifting plan of a dynamic compaction machine hook is stored.

[0023] In summary, the present application includes at least one of the following beneficial technical effects:

[0024] 1. Quantitatively evaluate the impact of wind load and make accurate calculations to obtain the maximum load capacity of the hook under the current environment and improve the safety of lifting operations;

[0025] 2. By continuously obtaining the real-time status of the hook and the rope and comparing it with the standard value in the original plan, when it is detected that the error range is exceeded, it means that the system is abnormal and may have encountered an unexpected situation. This greatly improves the adaptability and robustness in the face of complex and changing environments, ensuring the safety of lifting. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a flow chart of a method for optimizing a lifting plan of a hook of a dynamic compaction machine provided in an embodiment of the present application;

[0027] Figure 2 It is a structural schematic diagram of a device for optimizing the lifting plan of a hook of a dynamic compaction machine provided in an embodiment of the present application;

[0028] Figure 3 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application.

[0029] Explanation of the accompanying drawings: 1. First acquisition module; 2. Determination module; 3. Second acquisition module; 4. Optimization module; 1000. Electronic device; 1001. Processor; 1002. Communication bus; 1003. User interface; 1004. Network interface; 1005. Memory. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments.

[0031] In the description of the embodiments of the present application, words such as "illustrative", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "illustrative", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "illustrative", "for example" or "for example" is intended to present related concepts in a concrete way.

[0032] At present, although the hook is equipped with a maximum lifting weight during lifting operations, there may be external factors in the actual lifting process, and wind speed is one of the key factors affecting the maximum lifting weight of the hook. Under high wind speeds, strong winds generate additional wind loads on the hook, and also act on the hook through the lifting rope; in addition, objects of different shapes and sizes will also have different wind load effects on the hook due to different wind-exposed areas. In order to improve the safety of lifting operations, it is necessary to consider the impact of wind speed on the hook and dynamically determine the maximum lifting weight of the hook.

[0033] The existing methods for determining the maximum lifting weight of the hook are not perfect: some methods only consider the influence of wind speed on the hook itself, but not the influence of the rope; some methods require manual experience to judge the wind load of the object to be lifted, which is not accurate enough; some methods rely on special sensors to obtain environmental data, which is costly. Therefore, a method that more comprehensively considers the influence of wind speed and can automatically and quickly determine the maximum lifting weight of the hook is needed to optimize the lifting operation process and improve operation safety.

[0034] Figure 1 1 is a flow chart of a method for optimizing the lifting plan of a tamping machine hook provided in an embodiment of the present application. Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but the steps are not necessarily executed in the order indicated by the arrows; unless otherwise specified in this document, there is no strict order restriction for the execution of the steps, and the steps may be executed in other orders; and Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0035] The present application discloses a method for optimizing the lifting plan of a dynamic compaction machine hook. Figure 1 As shown, the method includes S101-S104.

[0036] S101, before lifting the object to be lifted, obtaining a first influence degree of the wind speed on the hook in the current lifting operation environment, and a second influence degree of the lifting rope on the hook under the influence of the wind speed.

[0037] In one example, in order to improve the safety of lifting operations and optimize lifting plans, it is necessary to consider the impact of wind speed on lifting equipment. The wind speed parameters in the current working environment can be detected by setting up special wind speed sensors in the lifting operation area, such as ultrasonic wind speed sensors, hot wire wind speed sensors, etc. These sensors can detect air flow rate in real time and send wind speed data to the control system to provide wind speed parameters for judging the impact of wind load.

[0038] Specifically, before the lifting operation begins, it is first necessary to detect the wind speed parameters in the current working environment. By installing a combined inertial navigation element on the hook, the motion parameter information of the hook in the natural state can be obtained in real time, and the state information can be sent to the control system. The combined inertial navigation element includes an accelerometer, a gyroscope and a positioning system. Accelerometer: used to detect the linear acceleration of the hook in three directions, which can reflect the influence of external forces on the hook. Gyroscope: used to detect the angular acceleration of the hook in three directions, which can reflect the angular displacement information of the hook. Positioning system: Generally, a positioning system is used. Through positioning, the spatial coordinate information of the hook can be obtained to reflect the motion trajectory of the hook. By fusing the data collected by the accelerometer, gyroscope and positioning system, the motion state parameters of the hook, such as movement speed, movement direction and other information, can be calculated.

[0039] The control system compares and analyzes the first state information of the hook in its natural state with the pre-stored state information of the hook in a windless environment to determine the first degree of influence of the wind speed on the hook. The first degree of influence refers to the magnitude of the additional movement or load on the hook caused by the wind load under certain wind speed conditions. The wind load will cause additional displacement and load on the hook, and the first degree of influence reflects the degree of this wind load influence through the motion parameters collected by the combined inertial navigation element.

[0040] Specifically, the motion state of the hook under the influence of wind load, such as speed, acceleration, tilt angle and other parameters, will have a certain deviation from the windless state. By comparing the state of the hook under the influence of wind load with the windless state, this deviation, namely the first degree of influence, can be quantified. The greater the first degree of influence, the more serious the impact of wind load on the hook under the wind speed conditions, and the hook needs to bear a greater additional load. According to the size of the first degree of influence, it can be evaluated that the safe bearing capacity of the hook will be negatively affected under the current wind speed conditions, providing a basis for formulating the lifting plan. Therefore, the first degree of influence is an important technical parameter and safety indicator for evaluating the impact of wind load on the hook. Among them, the second degree of influence, the third degree of influence and the fourth degree of influence can all refer to the first degree of influence, and no further elaboration will be given here.

[0041] At the same time, in order to determine the impact of wind speed on the suspension rope, a stress sensor is set on the suspension rope to detect the first tension value of the suspension rope in a natural state in real time and send it to the control system.

[0042] The control system compares the first tension value obtained with the tension value of the rope in a windless environment to determine the degree of influence of the wind speed on the rope, that is, the fourth degree of influence. According to the fourth degree of influence, the second degree of influence of the rope on the hook under the influence of wind speed can be calculated. A stress sensor is set on the rope to detect the tension value of the rope in real time. Specifically, it includes: the control system obtains the first tension value of the rope detected by the stress sensor under the current wind speed condition. At the same time, the control system pre-stores the tension value of the rope in a windless environment as a normal tension reference value of the rope. The first tension value is compared with the reference tension value in a windless environment. If the first tension value is greater than the reference value, it means that the current wind speed condition increases the tension of the rope. The amplitude of the increase in tension reflects the degree of influence of the wind load on the rope, which is defined as the fourth degree of influence. According to the percentage or absolute value of the increase in the rope tension caused by the wind speed, the magnitude of the fourth degree of influence can be calculated. The greater the fourth degree of influence, the greater the additional tension of the rope caused by the wind load. The increase in the rope tension under the action of the wind load will be transmitted to the hook, causing the hook to bear additional tension. According to the fourth degree of influence, the degree of influence of this additional tension on the hook can be calculated, which is defined as the second degree of influence. The second degree of influence reflects the degree of negative impact of the rope on the hook under the action of wind load. Through the above steps, the control system can evaluate the specific impact of wind load on the rope and hook according to the real-time tension of the rope under wind speed conditions, providing key parameters for the formulation of the lifting plan.

[0043] Through the above operations, the parameters affecting the wind speed on the hook and the rope can be obtained in advance. According to these parameter values, the impact of the current environment on the lifting equipment can be accurately judged, providing a basis for the subsequent formulation of a safe and reasonable lifting plan, thereby ensuring the safety of the lifting operation.

[0044] S102, determining the maximum weight that can be lifted by the hook in the current lifting operation environment according to the first influence degree and the second influence degree.

[0045] In one example, in order to optimize the lifting plan and make the lifting operation safer and more reliable, it is necessary to consider the impact of wind load on the hook and calculate the maximum safe operating load of the hook based on the impact of wind load. The specific approach includes: first, using the combined inertial navigation element installed on the hook to obtain the first degree of influence, that is, the direct impact of wind load on the hook; at the same time, the stress sensor on the rope is used to obtain the second degree of influence of the rope on the hook under the influence of wind load. Using the pre-stored hook rated load data, the part of the hook load directly consumed by the wind load can be calculated according to the first degree of influence, which is defined as the first consumption load; the part of the load consumed by the rope on the hook under the action of wind load is calculated according to the second degree of influence, which is defined as the second consumption load. The first consumption load and the second consumption load are added together to obtain the total consumption load of the hook under wind load conditions. Finally, the rated load of the hook is subtracted from the total consumption load, and the result obtained is the maximum safe lifting weight of the hook after considering the influence of wind load.

[0046] Through the above process, the impact of wind load on hoisting equipment can be fully considered, the hoisting operation environment can be evaluated, and the hoisting plan can be quantified and formulated for the specific environment, thereby ensuring the safety of the hoisting operation. At the same time, it can also improve the operation efficiency and maximize the performance of the hoisting equipment.

[0047] S103, obtaining basic information of the object to be hoisted, and predicting, based on the basic information, a third degree of influence of wind speed on the hook when the hook is hoisting the object to be hoisted.

[0048] In one example, in order to further optimize the lifting plan, on the basis of obtaining the first and second influence degrees of wind load on the lifting equipment, it is also necessary to consider the influence of the object to be lifted on the hook under the action of wind load. Therefore, before the lifting begins, it is necessary to obtain the basic information of the object to be lifted, including parameters such as mass, shape, and material. This information can come from the object database or on-site collection. Then, this information is input into the wind load impact calculation module of the control system. According to the specific parameters of the object to be lifted, find a matching model, or perform parameter mapping through an existing model to predict the wind load response characteristics of the object under given wind speed conditions. The wind load impact calculation module has a built-in wind load response model library for objects of different shapes and materials. These models are obtained based on wind tunnel experiments, numerical simulations, etc. The model library covers common basic geometric shapes (such as cubes, spheres, etc.) and general engineering materials (such as steel, concrete, etc.). Each model contains the wind load response data of the object at different wind speeds. For the acquired object to be lifted, the corresponding model in the model library can be matched through its basic parameters (shape, size, material, etc.). If a direct match is not possible, a model parameter mapping process will be performed. Based on the parameters of the object to be hoisted, the closest model in the model library will be extracted, and parameter adjustment mapping will be performed to generate an approximate wind load response model of the object. After obtaining the model of the object to be hoisted, the current wind speed parameters are input, and the model can directly output the wind load response parameters such as wind load force and pressure distribution of the object under the wind speed. The calculation module comprehensively considers the wind load response in all directions and converts it into an equivalent force on the hook, which is the third degree of influence. After the model matching or fitting process, the wind load response of the object to be hoisted can be quickly predicted, providing data support for the optimization of the hoisting plan.

[0049] Then, the wind load of the object to be hoisted under the current wind speed can be calculated based on the wind load formula. Then, the pulling force on the hook generated by the object to be hoisted under the action of the wind load can be deduced, which is defined as the third degree of influence of wind speed on the hook. After obtaining the third degree of influence, three factors can be considered based on the first degree of influence and the second degree of influence to comprehensively evaluate the impact of wind load on hoisting. In this way, when formulating a hoisting plan, a more accurate and safe operating load can be selected, and the hoisting process can be finely controlled to adapt to the specific working environment conditions and characteristics of the object to be hoisted.

[0050] S104, optimizing a lifting plan for the hook to lift the object in the current lifting operation environment based on the maximum weight that the hook can lift and the third influence degree.

[0051] In one example, after completing the above steps, the maximum safe operating lifting weight of the hook after considering the influence of wind load and the third influence degree of the object to be lifted have been calculated. In order to achieve accurate optimization of the lifting plan, these two indicators need to be considered together to determine the best lifting plan under the current environment.

[0052] Specifically, the optimization module of the control system will input the maximum lifting weight and the third influence as constraints. Based on these constraints, the module will calculate the optimal operating lifting weight within the feasible range of the hook mechanism performance curve, that is, the load value that maximizes the hook's effectiveness. At the same time, multi-objective planning is carried out in combination with parameters such as the lifting route and speed to develop an optimal and safest lifting device operation trajectory and operation procedure under the current environment.

[0053] Through this optimization process combined with the environment, equipment status and object characteristics, various influencing factors can be systematically considered, equipment performance can be fully utilized, risks can be avoided, and the hoisting operation can be optimized under the premise of ensuring safety. This intelligent hoisting plan customized for specific situations can greatly improve the safety factor and efficiency of the operation, reduce the load on the equipment, and provide a strong guarantee for the smooth implementation of the entire hoisting operation.

[0054] Obtaining the first degree of influence of wind speed on the hook in the current hoisting operation environment, including: obtaining first state information of the hook in a natural state sent by a combined inertial navigation element installed on the hook in the current hoisting operation environment; comparing the first state information and the second state information to determine the first degree of influence of wind speed on the hook in the current hoisting operation environment, the second state information being the state information of the hook sent by the combined inertial navigation element in a windless environment and a natural state.

[0055] In one example, in order to accurately determine the impact of wind load on the hook, it is necessary to obtain the real-time status information of the hook in the current operating environment. The specific implementation method is: first install a combined inertial navigation element on the hook, which can monitor the various motion parameters of the hook in the natural state, such as speed, acceleration, tilt angle, etc., and transmit these first state information to the control system in real time. At the same time, the control system pre-saves the database of state information obtained by the combined inertial navigation element detection of the hook in a windless environment as the second state information of the hook in a normal state. After the control system obtains the first state information of the hook in the current operating environment, it compares and analyzes it item by item with the second state information in the database. If there is a difference between the two, that is, the first state information has a part greater than the second state information, it can be determined that the difference is caused by the current environmental wind load. Then, the difference amplitude between the first state information and the second state information can be obtained through calculation. This amplitude value reflects the degree of influence of the environmental wind load on the hook state, which is defined as the first degree of influence of wind speed on the hook. By comparing the real-time monitoring data with the normal status data, the additional state changes of the hook caused by wind load can be accurately distinguished, so as to achieve the purpose of evaluating the impact of wind load on the hook and provide a basic basis for the formulation of subsequent lifting plans.

[0056] The second degree of influence of the lifting rope on the lifting hook under the influence of wind speed includes: obtaining a first tension value of the lifting rope in a natural state sent by a stress sensor installed on the lifting rope in the current lifting operation environment; comparing the first tension value and the second tension value to determine the fourth degree of influence of the wind speed on the lifting rope in the current lifting operation environment, the second tension value being the tension value of the lifting rope sent by the stress sensor in a windless environment and in a natural state; according to the fourth degree of influence, determining the second degree of influence of the lifting rope on the lifting hook under the influence of wind speed in the current lifting operation environment.

[0057] In one example, in order to evaluate the impact of wind load on the suspension rope and determine its second impact on the hook, it is necessary to obtain the real-time status information of the suspension rope in the current working environment. The specific implementation method is: first set a stress sensor on the suspension rope, which can monitor the change of the tension value of the suspension rope in the natural state, and transmit these first tension value data to the control system in real time. At the same time, the control system also pre-stores the tension value of the suspension rope detected by the stress sensor in a windless environment as the second tension value. After receiving the first tension value of the suspension rope in the current working environment, the control system compares it with the second tension value in the database. If the first tension value is greater than the second tension value, it can be determined that the difference part of the wind load that causes the tension of the suspension rope to increase can be determined, that is, the impact degree of wind speed on the suspension rope, which is defined as the fourth impact degree. Based on the size of the additional tension of the suspension rope of the fourth impact degree, the equivalent load impact on the hook can be calculated based on the mechanical relationship, and the quantitative result of the impact is the second impact degree of the suspension rope on the hook under the action of wind speed.

[0058] Through the above process, the additional load influence of the lifting rope on the hook under the action of wind load can be accurately obtained, which provides key parameters for optimizing the lifting plan considering the influence of wind load.

[0059] According to the first influence degree and the second influence degree, the maximum weight that can be lifted by the hook in the current lifting operation environment is determined, including: obtaining the rated load of the hook; determining the first consumable load according to the first influence degree, and determining the second consumable load according to the second influence degree; adding the first consumable load and the second consumable load to obtain the total consumable load; arithmetically subtracting the rated load from the total consumable load to obtain the maximum weight that can be lifted by the hook in the current lifting operation environment.

[0060] In one example, in order to reasonably utilize the hook capacity, it is necessary to calculate the maximum safe operating lifting weight of the hook after considering the influence of wind load. The specific calculation steps include: first, query the mechanism parameters of the hook to obtain its rated load data, which is the theoretical maximum allowable load of the hook without the influence of external load. Then, the first degree of influence of the wind speed on the hook obtained previously is converted into an equivalent load on the hook, which is the first consumption load. At the same time, the second degree of influence of the rope on the hook under the action of wind speed is also converted into an equivalent load on the hook, which is the second consumption load. Then, add the first consumption load and the second consumption load to obtain the total consumption load on the hook under their combined effect. Finally, subtract the total consumption load from the rated load of the hook, and the result obtained is the maximum safe lifting load of the hook after considering the influence of the current environmental wind load.

[0061] According to the mass, shape and material of the object to be hoisted, the third degree of influence of wind speed on the hook when the hook is hoisting the object to be hoisted is predicted, including: obtaining wind resistance according to the first formula, the first formula shown is ; Where F is wind resistance, Cd is the drag coefficient, which depends on the shape and material of the object to be hoisted, A is the area affected by the wind, ρ is the air density, and V is the wind speed; the influence of wind speed on the object to be hoisted is obtained by the second formula, which is ;in, is the wind load, F is the wind resistance, θ is the angle between the wind force and the gravity direction of the object to be lifted; according to the influence of wind speed on the object to be lifted, the third influence of wind speed on the hook when lifting the object to be lifted is predicted.

[0062] In one example, in order to consider the wind load response characteristics of the object to be hoisted, it is necessary to calculate the influence of wind speed on the object to be hoisted based on its mass, shape and material parameters, and convert it into a third degree of influence on the hook. The specific calculation steps are: First, retrieve the basic parameters of the object to be hoisted and input them into the control system, which includes information such as the mass, shape characteristics, and material of the object. These parameters will determine the subsequent calculation model. Then, according to the known wind resistance calculation formula, the wind resistance value of the object at a given wind speed is calculated with the parameters of the object to be hoisted as the independent variable. The wind resistance formula here is: .

[0063] The wind resistance F is determined by the resistance coefficient Cd, the windward area A, the air density ρ and the wind speed V. The resistance coefficient Cd depends on the shape and material of the object. Next, substitute the calculated wind resistance value into the wind load formula: Among them, θ is the angle between the wind force and the direction of the object's gravity. Through this formula, we can get the specific influence of wind speed on the object to be suspended. Finally, according to the wind load value, we can calculate the additional pulling force on the hook when acting on the object, which is defined as the third influence of wind speed on the hook.

[0064] After optimizing the lifting plan of the hook to lift the object to be lifted, it also includes: real-time acquisition of status information of the lifting rope and the hook during the lifting process; and real-time adjustment of the lifting plan of the hook to lift the object to be lifted according to the status information of the lifting rope and the hook during the lifting process.

[0065] In one example, in order to achieve dynamic control and optimization of the hoisting process, the original hoisting plan needs to be adjusted in real time after the hoisting is executed. The specific approach includes: during the hoisting process, the combined inertial navigation element and stress sensor will continuously monitor the real-time status of the hook and the rope, and transmit the third state information and the fifth state information to the control system. After receiving the real-time status data, the control system will synchronously call the optimization module to compare the monitoring data with the corresponding standard state data in the original hoisting plan. If the status information is detected to exceed the allowable error range, it means that the hoisting system is in an abnormal state, and it may have encountered an unexpected situation. At this time, the optimization module will quickly recalculate and adjust the parameters such as the hoisting path and speed according to the current state to achieve real-time optimization and adjustment of the hoisting plan. The adjusted plan will be immediately transmitted to the hoisting system, and the subsequent execution process will be corrected to adapt to environmental changes and ensure the dynamic controllability of the hoisting process. Through the real-time monitoring and optimization mechanism of closed-loop feedback, the entire hoisting system can respond to environmental impacts in real time to ensure the safety and stability of the operation process.

[0066] Based on the above method, the present application also discloses a device for optimizing the lifting plan of a dynamic compaction machine hook, such as Figure 2 As shown, Figure 2 It is a structural schematic diagram of a dynamic compaction machine hook lifting plan optimization device provided in an embodiment of the present application.

[0067] A device for optimizing the lifting plan of a tamping machine hook comprises: a first acquisition module 1, a determination module 2, a second acquisition module 3 and an optimization module 4; wherein the first acquisition module 1 is used to obtain a first degree of influence of wind speed on the hook in the current lifting operation environment and a second degree of influence of the lifting rope on the hook under the influence of wind speed before lifting the object to be lifted; the determination module 2 is used to determine the maximum weight that can be lifted by the hook in the current lifting operation environment according to the first degree of influence and the second degree of influence; the second acquisition module 3 is used to obtain basic information of the object to be lifted, and predict the third degree of influence of wind speed on the hook when the hook lifts the object to be lifted according to the basic information; the optimization module 4 is used to obtain basic information of the object to be lifted, and predict the third degree of influence of wind speed on the hook when the hook lifts the object to be lifted according to the basic information.

[0068] In one example, the first acquisition module 1 is also used to obtain the first state information of the hook in a natural state sent by the combined inertial navigation element installed on the hook in the current lifting operation environment; compare the first state information and the second state information to determine the first degree of influence of the wind speed on the hook in the current lifting operation environment, and the second state information is the state information of the hook sent by the combined inertial navigation element in a windless environment and a natural state.

[0069] In one example, the first acquisition module 1 is also used to obtain a first tension value of the lifting rope in a natural state sent by a stress sensor installed on the lifting rope in the current lifting operation environment; compare the first tension value and the second tension value to determine the fourth degree of influence of wind speed on the lifting rope in the current lifting operation environment, where the second tension value is the tension value of the lifting rope sent by the stress sensor in a windless environment and in a natural state; and determine the second degree of influence of the lifting rope on the hook under the influence of wind speed in the current lifting operation environment based on the fourth degree of influence.

[0070] In one example, the determination module 2 is also used to obtain the rated load of the hook; determine the first consumption load based on the first influence degree, and determine the second consumption load based on the second influence degree; add the first consumption load and the second consumption load to obtain the total consumption load; arithmetically subtract the rated load from the total consumption load to obtain the maximum weight that the hook can lift in the current lifting operation environment.

[0071] In one example, the above-mentioned device is also used to predict the third influence of wind speed on the hook when the hook is lifting the object to be lifted according to the mass, shape and material of the object to be lifted.

[0072] In one example, the above device is also used to obtain the wind resistance according to a first formula, wherein the first formula is ; Wherein, F is wind resistance, Cd is the drag coefficient, which depends on the shape and material of the object to be hoisted, A is the area affected by the wind, ρ is the air density, and V is the wind speed; the influence of wind speed on the object to be hoisted is obtained by the second formula, and the second formula is ;in, is the wind load, F is the wind resistance, θ is the angle between the wind force and the gravity direction of the object to be lifted; according to the influence of wind speed on the object to be lifted, the third influence of wind speed on the hook when lifting the object to be lifted is predicted.

[0073] In one example, the above device is also used to obtain in real time the status information of the lifting rope and the hook during the lifting process; and according to the status information, adjust in real time the lifting plan of the hook to lift the object to be lifted.

[0074] It should be noted that: when the device provided in the above embodiment realizes its function, only the division of the above functional modules is used as an example. In actual application, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0075] See also Figure 3 , is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 3 As shown, the electronic device 1000 may include: at least one processor 1001 , at least one network interface 1004 , a user interface 1003 , a memory 1005 , and at least one communication bus 1002 .

[0076] The communication bus 1002 is used to realize the connection and communication between these components.

[0077] The user interface 1003 may include a display screen (Display) and a camera (Camera). Optionally, the user interface 1003 may also include a standard wired interface and a wireless interface.

[0078] The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0079] Among them, the processor 1001 may include one or more processing cores. The processor 1001 uses various interfaces and lines to connect various parts in the entire server, and executes various functions of the server and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 1005, and calling data stored in the memory 1005. Optionally, the processor 1001 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor 1001 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 1001, and it can be implemented separately through a chip.

[0080] Among them, the memory 1005 may include a random access memory (Random Access Memory, RAM) and may also include a read-only memory (Read-Only Memory). Optionally, the memory 1005 includes a non-transitory computer-readable storage medium. The memory 1005 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 1005 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 1005 may optionally also be at least one storage device located away from the aforementioned processor 1001. As Figure 3 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and an application program for a method for optimizing a lifting plan of a dynamic compaction machine hook.

[0081] exist Figure 3In the electronic device 1000 shown, the user interface 1003 is mainly used to provide an input interface for the user and obtain data input by the user; and the processor 1001 can be used to call an application program stored in the memory 1005 for optimizing the lifting plan of a rammer hook. When executed by one or more processors, the electronic device executes one or more of the methods described in the above embodiments.

[0082] An electronic device readable storage medium stores instructions, which, when executed by one or more processors, enable the electronic device to execute one or more of the methods described in the above embodiments.

[0083] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required for the present application.

[0084] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0085] In the several embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0086] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0087] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0088] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: various media that can store program codes, such as USB flash drives, mobile hard drives, magnetic disks or optical disks.

[0089] The above is only an exemplary embodiment of the present disclosure, and the scope of the present disclosure cannot be limited thereto. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the specification and practicing the disclosure here, those skilled in the art will easily think of other embodiments of the present disclosure. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the technical field not recorded in the present disclosure. The description and examples are only regarded as exemplary, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A method for optimizing the lifting plan of a dynamic tamping machine hook, characterized in that: The method comprises: Before hoisting the object to be hoisted, obtaining a first degree of influence of wind speed on the hook in the current hoisting operation environment, and a second degree of influence of the hoisting rope on the hook under the influence of wind speed; Determining a maximum weight that can be lifted by the hook in a current lifting operation environment according to the first influence degree and the second influence degree; Obtaining basic information of the object to be hoisted, and predicting the third degree of influence of wind speed on the hook when the hook is hoisting the object to be hoisted according to the basic information; the basic information includes mass, shape and material, and predicting the third degree of influence of wind speed on the hook when the hook is hoisting the object to be hoisted according to the basic information includes: obtaining wind resistance according to a first formula, and the first formula is ; Among them, F is wind resistance, Cd is the drag coefficient, which depends on the shape and material of the object to be hoisted, A is the area affected by the wind, ρ is the air density, and V is the wind speed; The influence of wind speed on the object to be hoisted is obtained by the second formula, and the second formula is: ;in is the wind load, F is the wind resistance, and θ is the angle between the wind force and the gravity direction of the object to be hoisted; According to the influence of the wind speed on the object to be hoisted, predicting a third influence of the wind speed on the hook when the hook is hoisting the object to be hoisted; In combination with the maximum weight that the hook can lift in the current lifting operation environment and the third influence degree, the lifting plan for the hook to lift the object to be lifted is optimized.

2. The method for optimizing the lifting plan of a dynamic tamping machine hook according to claim 1 is characterized in that: The obtaining of the first influence degree of wind speed on the hook in the current hoisting operation environment includes: Acquire first state information of the hook in a natural state sent by a combined inertial navigation element installed on the hook in a current hoisting operation environment; By comparing the first status information and the second status information, the first influence degree of wind speed on the hook in the current lifting operation environment is determined, and the second status information is the status information of the hook sent by the combined inertial navigation element in a windless environment and a natural state.

3. The method for optimizing the lifting plan of a dynamic tamping machine hook according to claim 1, characterized in that: The second degree of influence of the suspension rope on the suspension hook under the influence of wind speed includes: Acquire a first tension value of the lifting rope in a natural state sent by a stress sensor installed on the lifting rope in a current lifting operation environment; Comparing the first tension value and the second tension value, determining a fourth influence degree of wind speed on the lifting rope in the current lifting operation environment, wherein the second tension value is the tension value of the lifting rope sent by the stress sensor in a windless environment and a natural state; According to the fourth influence degree, a second influence degree of the hoisting rope on the hook under the influence of wind speed in the current hoisting operation environment is determined.

4. The method for optimizing the lifting plan of a dynamic tamping machine hook according to claim 1, characterized in that: The determining, according to the first influence degree and the second influence degree, the maximum weight that can be lifted by the hook in the current lifting operation environment includes: Obtaining the rated load of the hook; Determine a first consumption load according to the first impact degree, and determine a second consumption load according to the second impact degree; Adding the first consumption load and the second consumption load to obtain a total consumption load; The rated load is arithmetically subtracted from the total consumed load to obtain the maximum weight that the hook can lift in the current lifting operation environment.

5. The method for optimizing the lifting plan of a dynamic tamping machine hook according to claim 1, characterized in that: After optimizing the lifting plan of the hook lifting the object to be lifted, the method further includes: Real-time acquisition of status information of the lifting rope and the lifting hook during the lifting process; According to the status information, the lifting plan of the hook for lifting the object to be lifted is adjusted in real time.

6. A device for optimizing the lifting plan of a dynamic tamping machine hook, characterized in that: The device comprises: a first acquisition module (1), a determination module (2), a second acquisition module (3) and an optimization module (4); wherein: The first acquisition module (1) is used to acquire, before hoisting the object to be hoisted, a first degree of influence of the wind speed on the hook in the current hoisting operation environment, and a second degree of influence of the hoisting rope on the hook under the influence of the wind speed; The determination module (2) is used to determine the maximum weight that the hook can lift in the current lifting operation environment according to the first influence degree and the second influence degree; The second acquisition module (3) is used to acquire basic information of the object to be hoisted, and predict the third influence of wind speed on the hook when the hook is hoisting the object to be hoisted based on the basic information; the basic information includes mass, shape and material, and the prediction of the third influence of wind speed on the hook when the hook is hoisting the object to be hoisted based on the basic information includes: obtaining wind resistance according to the first formula, and the first formula is ; Among them, F is wind resistance, Cd is the drag coefficient, which depends on the shape and material of the object to be hoisted, A is the area affected by the wind, ρ is the air density, and V is the wind speed; The influence of wind speed on the object to be hoisted is obtained by the second formula, and the second formula is: ;in is the wind load, F is the wind resistance, and θ is the angle between the wind force and the gravity direction of the object to be hoisted; According to the influence of the wind speed on the object to be hoisted, predicting a third influence of the wind speed on the hook when the hook is hoisting the object to be hoisted; The optimization module (4) is used to optimize the lifting plan of the hook lifting the object to be lifted, combining the maximum weight that the hook can lift in the current lifting operation environment and the third influence degree.

7. An electronic device, characterized in that: The electronic device comprises a processor (1001), a memory (1005), a user interface (1003) and a network interface (1004), wherein the memory (1005) is used to store instructions, the user interface (1003) and the network interface (1004) are used to communicate with other devices, and the processor (1001) is used to execute the instructions stored in the memory so that the electronic device executes the method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and execute the method according to any one of claims 1 to 5.

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