A crane boom hook coordinated control method, device and equipment

Abstract

The present application provides a method, device and equipment for coordinated control of a crane boom and hook. The method, device and equipment for coordinated control of a crane boom and hook provided by the present application include: when determining that the hook is tilted in the direction of amplitude change, searching for the target deflection relationship corresponding to the current hoisted object from the pre-established deflection relationship corresponding to each mass; searching for the current deflection of the boom from the target deflection relationship according to the current boom length and the current elevation angle of the boom; calculating the actual coordinates of the boom in the X direction according to the current deflection, the current elevation angle and the current boom length; using the actual coordinates as the coordinate values ​​of the boom when the deformation problem of the boom is not considered, calculating the target elevation angle of the boom at the coordinates; controlling the boom to reach the target elevation angle so that the hook does not tilt in the direction of amplitude change. The method, device and equipment for coordinated control of a crane boom and hook provided by the present application can achieve coordination between the boom and the hook, avoid the hook from tilting in the direction of amplitude change, and ensure the safety of the operation.

Description

Technical Field

[0001] The present application relates to the field of crane technology, and in particular to a method, device and equipment for coordinated control of a crane boom and hook. Background Art

[0002] Cranes are widely used in construction, port logistics, manufacturing, energy, mining, steel industry and emergency rescue. They can improve the production efficiency and safety of various industries through efficient, safe and precise lifting and handling. In high-rise buildings, large bridges, port loading and unloading, heavy manufacturing, energy equipment installation, ore transportation and post-disaster rescue, cranes play a vital role in supporting modernization construction and emergency response.

[0003] In crane hoisting operations, the incoordination between the boom and the hook can cause problems such as swinging of the hoist, falling of heavy objects, and deflection, affecting the accuracy and safety of the operation. At the same time, the incoordination between the boom and the hook will increase the uneven force on the boom, hook and hanging wire, leading to premature wear of the equipment and increased maintenance costs. In addition, the incoordination between the boom and the hook will also reduce the operating efficiency, prolong the construction time, and increase the operational risks. Therefore, it is very important to ensure the coordination between the boom and the hook. Summary of the invention

[0004] In view of this, the present application provides a crane boom and hook coordinated control method, device and equipment for achieving coordination between the boom and the hook to prevent the hook from tilting in the direction of luffing.

[0005] Specifically, the present application is implemented through the following technical solutions:

[0006] The first aspect of the present application provides a crane boom and hook coordinated control method, the method comprising:

[0007] When it is determined that the hook is tilted in the direction of luffing, the target deflection relationship corresponding to the current hoisting object is found from the pre-established deflection relationship corresponding to each mass; wherein the deflection relationship corresponding to each mass records the corresponding relationship between the arm length, the elevation angle of the arm and the deflection of the arm when hoisting the hoisting object corresponding to the mass;

[0008] According to the current arm length and the current elevation angle of the boom, finding the current deflection of the boom from the target deflection relationship;

[0009] According to the current deflection, the current elevation angle and the current arm length, the actual coordinate of the boom in the X direction is calculated; wherein the actual coordinate is the coordinate value of the boom after considering the deformation of the boom;

[0010] The actual coordinates are used as the coordinate values ​​of the boom when the boom deformation problem is not considered, and the target elevation angle of the boom at the coordinates is calculated; wherein when the boom is at the target elevation angle, the hook will not tilt in the direction of the luffing;

[0011] The boom is controlled to reach the target elevation angle so that the hook does not tilt in the amplitude changing direction.

[0012] The second aspect of the present application provides a crane boom hook collaborative control device, the device comprising a search module, a calculation module and a control module; wherein:

[0013] The search module is used to search for a target deflection relationship corresponding to the current hoisted object from the pre-established deflection relationships corresponding to each mass when determining that the hook is tilted in the luffing direction; wherein the deflection relationship corresponding to each mass records the corresponding relationship between the arm length, the elevation angle of the arm and the deflection of the arm when hoisting the hoisted object corresponding to the mass;

[0014] The search module is further used to search the current deflection of the boom from the target deflection relationship according to the current boom length and the current elevation angle of the boom;

[0015] The calculation module is used to calculate the actual coordinates of the boom in the X direction according to the current deflection, the current elevation angle and the current boom length; wherein the actual coordinates are the coordinate values ​​of the boom after considering the deformation of the boom;

[0016] The calculation module is further used to use the actual coordinates as the coordinate values ​​of the boom when the boom deformation problem is not considered, and calculate the target elevation angle of the boom at the coordinates; wherein, when the boom is at the target elevation angle, the hook will not tilt in the luffing direction;

[0017] The control module is used to control the boom to reach the target elevation angle so that the hook does not tilt in the amplitude change direction.

[0018] The third aspect of the present application provides a crane boom and hook cooperative control device, which is applied to a crane. The crane boom and hook cooperative control device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps of any one of the methods provided in the first aspect of the present application are implemented.

[0019] The fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any one of the methods provided in the first aspect of the present application.

[0020] The crane boom and hook collaborative control method, device and equipment provided in the present application establish deflection relationships corresponding to various masses in advance. In this way, when it is determined that the hook is tilted in the luffing direction, the target deflection relationship corresponding to the current hoisted object can be found from the pre-established various deflection relationships, and then the current deflection of the boom can be found from the target deflection relationship according to the current arm length and the current elevation angle of the boom. Therefore, the actual coordinates of the boom in the X direction can be calculated by the current deflection, the current arm length and the current elevation angle, and the actual coordinates are regarded as the coordinates of the boom when the deformation of the boom is not considered, and the target elevation angle of the boom at the coordinates is calculated. In this way, after the target elevation angle is calculated, the boom can be controlled to reach the target elevation angle. At the target elevation angle, even if the boom is deformed, the deformation will not cause the boom to tilt in the luffing direction. In this way, the coordination of the boom and hook can be achieved to ensure the safety of the lifting operation.

[0021] In addition, the crane boom and hook collaborative control method, device and equipment provided in the present application perform closed-loop motion control for stable hooks. Through reference models and adaptive algorithms, the speed of the hook can be dynamically adjusted according to actual conditions. This can not only achieve precise operation, ensure the stability of the hook, and reduce operational risks, but also maximize the efficiency of the hook movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A flowchart of a first embodiment of a crane hook and boom collaborative control method provided in the present application;

[0023] Figure 2 A schematic diagram of a deflection relationship corresponding to a certain mass shown in an exemplary embodiment of the present application;

[0024] Figure 3 This is a schematic diagram of an implementation principle of a deflection compensation algorithm shown in an exemplary embodiment of the present application;

[0025] Figure 4 A flowchart of Embodiment 2 of the crane hook and boom collaborative control method provided in this application;

[0026] Figure 5 A control principle diagram of a closed-loop motion of a stable hook shown in an exemplary embodiment provided by the present application;

[0027] Figure 6 A flowchart of Embodiment 3 of the crane hook and boom collaborative control method provided in this application;

[0028] Figure 7 A hardware structure diagram of the crane boom and hook collaborative control device provided in this application;

[0029] Figure 8This is a structural schematic diagram of Example 1 of the crane boom and hook collaborative control device provided in this application. DETAILED DESCRIPTION

[0030] Here, exemplary embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application.

[0031] The terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in this article refers to and includes any or all possible combinations of one or more associated listed items.

[0032] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0033] Specific embodiments are given below to introduce the technical solution of the present application in detail.

[0034] Figure 1 This is a flow chart of the first embodiment of the crane hook and boom collaborative control method provided in this application. Figure 1 , the method provided in this embodiment may include:

[0035] S101. When it is determined that the hook is tilted in the direction of amplitude change, the target deflection relationship corresponding to the current hoisted object is searched from the pre-established deflection relationships corresponding to the various masses; wherein the deflection relationship corresponding to the various masses records the correspondence between the arm length, the elevation angle of the arm and the deflection of the arm when hoisting the hoisted object corresponding to the mass.

[0036] Specifically, the hook tilting in the luffing direction means that during the operation of the crane, the hook is deflected relative to the vertical direction, resulting in a change in the direction of the horizontal position, that is, the hook is offset in the X direction (horizontal direction).

[0037] It should be noted that the crane is provided with an inclination sensor (in specific implementation, the inclination sensor is arranged on the suspension line near the hook to detect whether the hoisted object is tilted). The inclination sensor can be used to determine whether the hook is tilted in the direction of amplitude change.

[0038] Furthermore, the deflection relationship corresponding to each mass is recorded as the corresponding relationship between the arm length, the elevation angle of the arm and the deflection of the arm when hoisting the hoisting object corresponding to the mass. The following takes a certain mass as an example to illustrate the deflection relationship corresponding to each mass. Specifically, for example, Figure 2 Table 1 is a schematic diagram of the deflection relationship corresponding to a certain mass according to an exemplary embodiment of the present application. Figure 2 Tabular representation of the deflection relationship for a mass shown:

[0039] Table 1

[0040]

[0041] Please also refer to Figure 2 As shown in Table 1, the deflection relationship corresponding to a certain mass records the corresponding relationship between the arm length, the arm elevation angle and the arm deflection when hoisting the hoisting object corresponding to the mass.

[0042] It should be noted that the elevation angle of the boom refers to the angle formed between the boom and the horizontal plane. The deflection of the boom refers to the bending and deformation of the boom when it bears a load. Referring to Table 1, for example, for a set of corresponding relationships: Am, 30°, 0.71dm, it means that when the crane is hoisting a load corresponding to the mass, when the boom length is Am and the elevation angle of the boom is 30°, the deflection of the boom is 0.71dm.

[0043] It should be noted that the deflection relationship corresponding to each mass is obtained in advance through experiments. The following method of obtaining the deflection relationship corresponding to a certain mass is used as an example to illustrate the method of obtaining the deflection relationship corresponding to each mass. In specific implementation, the crane is ordered to hoist the hoisting object corresponding to the mass. Further, the arm length of the crane is fixed to Am. Through experiments, the corresponding deflections at different elevation angles are measured and recorded, and the corresponding relationship between the arm length, elevation angle and deflection is recorded. Similarly, the arm length is changed, and the corresponding relationship between the arm length, elevation angle and deflection is obtained in sequence by sampling similar methods. Finally, based on all the corresponding relationships obtained, the deflection relationship corresponding to the mass can be established.

[0044] Referring to the above description, it can be understood that different masses correspond to different deflection relationships. Through experiments, the deflection relationship corresponding to each mass can be obtained.

[0045] In this step, the deflection relationship corresponding to the mass can be found according to the mass corresponding to the current hoisted object, and the deflection relationship found is the target deflection relationship.

[0046] S102. According to the current boom length and the current elevation angle of the boom, searching for the current deflection of the boom from the target deflection relationship.

[0047] In specific implementation, after finding the target deflection relationship table, the target corresponding relationship including the current arm length and the current elevation angle can be found from the target deflection relationship according to the current arm length and the current elevation angle of the arm, and then the deflection value recorded in the target corresponding relationship is determined as the current deflection of the arm.

[0048] Combined with the previous example, for example, in one possible implementation, the target deflection relationship is as shown in Table 1. At this time, the current arm length is Bm, the current elevation angle is 45°, and after looking up the table, it is determined that the current deflection is 0.89dm.

[0049] S103, calculating the actual coordinates of the boom in the X direction according to the current deflection, the current elevation angle and the current boom length; wherein the actual coordinates are the coordinate values ​​of the boom after considering the deformation of the boom.

[0050] It should be noted that the method provided in the present application, when it is determined that the hook is tilted in the amplitude variation direction, uses a deflection compensation algorithm to perform deflection compensation to solve the problem.

[0051] Specifically, Figure 3 This is a schematic diagram showing the implementation principle of the deflection compensation algorithm according to an exemplary embodiment of the present application. Figure 3 As mentioned above, the hook tilts in the luffing direction when the crane is in operation. This means that the hook is tilted relative to the vertical direction, causing the horizontal position to change. Figure 3 Specifically, the ideal boom is shown as line segment OP, but the hoisted object will cause the boom to deform, and the actual boom is shown as an arc. As shown, in this application, it is expected that by adjusting the elevation angle, the hoisted object is moved to the ideal position so that the boom is like an arc. , so that the hook will not tilt in the direction of luffing.

[0052] Specifically, refer to Figure 3 The actual current shape of the boom is like an arc , because the change in the end position caused by the deflection δ is ΔX and ΔY, where ΔX and ΔY satisfy the following relationship:

[0053] ΔX = δ * sin(θ);

[0054] ΔY = δ * cos(θ);

[0055] Therefore, considering the deformation of the boom, the actual coordinate of the boom in the X direction can be calculated according to the first formula, where the first formula is:

[0056] X'=L * cos(θ) + δ * sin(θ);

[0057] Wherein, X' is the actual coordinate of the boom in the X direction at present;

[0058] The L is the current arm length;

[0059] The θ is the current elevation angle;

[0060] The δ is the current deflection.

[0061] S104, taking the actual coordinates as the coordinate values ​​of the boom when the boom deformation problem is not considered, and calculating the target elevation angle of the boom at the coordinates; wherein, when the boom is at the target elevation angle, the hook will not tilt in the amplitude change direction.

[0062] It should be noted that if the deformation of the boom is not considered, the coordinates (X0, Y0) of a certain end position P of the boom satisfy the following relationship:

[0063] X0 = L * cos(θ);

[0064] Y0 = L * sin(θ);

[0065] As described above, it is expected that by adjusting the elevation angle, the hoisted object can be moved to the ideal position, that is, the boom can be curved. As shown, therefore, in this step, the actual coordinate is taken as the coordinate value X0 of the boom when the boom deformation problem is not considered, and the target elevation angle of the boom at the coordinate is calculated.

[0066] Specifically, in a possible implementation, the target elevation angle of the boom at the coordinate may be calculated according to a second formula, where the second formula is:

[0067] θ'=arccos(X' / L);

[0068] Wherein, θ' is the target elevation angle of the boom at this coordinate;

[0069] The X' is the actual coordinate;

[0070] The L is the current arm length.

[0071] S105, controlling the boom to reach the target elevation angle so that the hook does not tilt in the amplitude variation direction.

[0072] For details, see the previous description and Figure 3 As shown in the figure, when the target elevation angle is determined, by controlling the boom to reach the target elevation angle, in the adjusted position, even if the boom is deformed, it can be guaranteed that its deformation is like an arc. As shown, in this way, it can be ensured that the hook does not tilt in the luffing direction.

[0073] The crane hook and boom coordinated control method provided in the present embodiment establishes the deflection relationship corresponding to each mass in advance, so that when it is determined that the hook is tilted in the amplitude change direction, the target deflection relationship corresponding to the current hoisting object can be found from the pre-established deflection relationships, and then the current deflection of the boom can be found from the target deflection relationship according to the current boom length and the current elevation angle of the boom, so that the actual coordinates of the boom in the X direction can be calculated by the current deflection, the current boom length and the current elevation angle, and then the actual coordinates are regarded as the boom coordinates when the boom deformation problem is not considered, and the target elevation angle of the boom at the coordinates is calculated. In this way, after the target elevation angle is calculated, the boom can be controlled to reach the target elevation angle. At the target elevation angle, even if the boom is deformed, the deformation will not cause the boom to tilt in the amplitude change direction. In this way, the coordination of the boom and the hook can be achieved to ensure the safety of the lifting operation.

[0074] Optionally, in a possible implementation, when it is determined that the hook is not tilted, the method further includes:

[0075] The crane is controlled to perform a closed-loop motion with a stable hook according to a preset operation path.

[0076] The following is a detailed explanation of how to "control the crane to perform closed-loop movement of the stable hook according to the preset working path."

[0077] Optional, Figure 4 This is a flow chart of Example 2 of the crane hook and boom collaborative control method provided in this application, Figure 5 This is a control principle diagram of a closed-loop motion of a stable hook shown in an exemplary embodiment of the present application. Figure 4 and Figure 5 Based on the above embodiment, controlling the crane to perform a stable hook closed-loop motion according to a preset operation path may include:

[0078] S401. Input the actual current of the hoisting wire into a reference model, so that the reference model outputs a reference speed and a reference displacement of the suspension wire based on the actual current.

[0079] Specifically, the reference model is given in the form of a set of differential equations, which describe the relationship between the reference speed, the reference displacement and the actual current of the winch. Optionally, in a possible implementation, the reference model can be expressed by the following formula:

[0080] ,

[0081] in, Yes The derivation of is the displacement of the suspension wire, is the speed of the suspension line, Yes The derivative of represents the acceleration of the suspension wire, The reference model expresses the relationship between the rate of change of speed and the actual current r of the winch.

[0082] In specific implementation, by using the reference model, the reference acceleration of the suspension line can be obtained according to the actual current, and further, the reference speed and reference displacement of the suspension line can be obtained based on the reference acceleration of the suspension line.

[0083] S402, obtaining an expected displacement and an expected speed of the suspension line from the working path, and determining an adaptive speed of the suspension line based on an adaptive algorithm according to the expected displacement, the expected speed, the reference displacement and the reference speed.

[0084] It should be noted that the operation path is planned in advance according to the actual operation requirements. In this embodiment, the operation path planning method is not limited. It should be noted that each path point in the operation path includes time information and the position information of the crane. In this step, the path point corresponding to the current time can be found based on the time information of each path point. Further, the expected displacement and expected speed can be determined based on the position information recorded in the found path point.

[0085] Specifically, in a possible implementation, determining the adaptive speed of the suspension line based on an adaptive algorithm according to the expected displacement, the expected speed, the reference displacement and the reference speed includes:

[0086] (1) Calculating a displacement deviation and a velocity deviation according to the expected displacement, the reference displacement, the expected velocity, and the reference velocity, and constructing a deviation vector using the displacement deviation and the velocity deviation.

[0087] Specifically, the displacement deviation refers to the difference between the expected displacement and the reference displacement, and the speed deviation refers to the difference between the expected speed and the reference speed.

[0088] It should be noted that after the displacement deviation and the speed deviation are calculated, a deviation vector can be constructed based on them. The deviation vector includes two elements, namely the displacement deviation and the speed deviation, and is essentially a 2*1 vector.

[0089] (2) Determine a weight vector according to the deviation vector and the third formula.

[0090] Specifically, the weight vector in an adaptive system represents the model's current estimate of the target system dynamics.

[0091] Wherein, the third formula is:

[0092] ,

[0093] Among them, the is the matrix of the time derivatives of the weight vector;

[0094] Said Represents a mapping operation;

[0095] Said is a positive definite matrix;

[0096] Said e is the deviation vector;

[0097] Said is the cost function;

[0098] The B is a preset matrix; wherein, .

[0099] It should be noted that in the third formula, Represents the matrix composed of the time derivatives of the weight vector, that is, the matrix composed of the update rate of the weight; Project Represents a mapping operation, which is used to ensure that the updated weight still satisfies the set range constraints such as rope length; Is a positive definite matrix, representing the learning rate of weight update, which determines the speed of weight update; e is the deviation vector, reflecting the difference between the system performance and the expected performance; Represents the performance index or cost function of the system; B is the preset input matrix.

[0100] (3) calculating the adaptive speed according to the fourth formula based on the weight vector, the expected speed and the expected displacement;

[0101] Among them, in a possible implementation manner, the fourth formula is:

[0102] ,

[0103] ,

[0104] Wherein, A is a matrix composed of adaptive speed and adaptive displacement;

[0105] Said is the weight vector;

[0106] Said x are the expected displacement and the expected speed;

[0107] Said C is the mean of the Gaussian radial basis;

[0108] Said is the standard deviation of the Gaussian radial basis.

[0109] S403: Determine a correction speed of the suspension wire according to the expected speed and the reference speed.

[0110] Specifically, in a possible implementation, a correction algorithm can be used to calculate the correction speed of the suspension line. In a specific implementation, the calculation is performed according to the following formula:

[0111] ,

[0112] Wherein, X is the correction speed, X0 is the reference speed, X1 is the expected speed, and Kb is the correction coefficient.

[0113] S404: Calculate a weighted speed of the suspension wire according to the reference speed, the adaptive speed and the corrected speed.

[0114] Specifically, the weighted speed is an average value or a weighted average value of the reference speed, the adaptive speed, and the corrected speed, which is not limited in this embodiment.

[0115] S405. Determine an actuator control variable according to the weighted speed; wherein the actuator control variable includes a control current of a luffing mechanism and a control current of a winch.

[0116] Specifically, in a possible implementation, the actuator control amount may be calculated according to the fifth formula, wherein the fifth formula is:

[0117] ,

[0118] Wherein, u is the actuator control variable;

[0119] Said is the control matrix corresponding to the actuator control quantity;

[0120] Said is the weighted velocity;

[0121] Said Estimate the matrix for the predicted behavior based on prior knowledge acquisition.

[0122] Specifically, the is the control matrix corresponding to the actuator control quantity, which is a 2*2 matrix containing 4 elements. The two elements in the first row are the conversion relationship from the angle of the variable amplitude mechanism to the current and 0, and the two elements in the second row are 0 and the relationship from the displacement of the winch to the current. Further, It can be obtained by observing the actual response of the system or based on prior knowledge.

[0123] S406: Control the corresponding actuator according to the actuator control amount, so that the crane performs a stable hook closed-loop motion according to a preset operation path.

[0124] It should be noted that during the closed-loop motion of the stable hook, due to the problem of flexible stretching of the suspension line, the system is complex and uncertain; the working conditions are torsion and shaking, and the external environment of the system is variable. The method provided in this embodiment performs closed-loop motion control of the stable hook according to the above method. Through the reference model and adaptive algorithm, the speed of the hook can be dynamically adjusted according to the actual situation, thereby achieving precise operation, ensuring the stability of the hook, and reducing operational risks. Secondly, through the calculation of adaptive speed and correction speed, the efficiency of the hook movement can be maximized.

[0125] Figure 6 This is a flow chart of Embodiment 3 of the crane hook and boom collaborative control method provided in this application. The method provided in this embodiment may include:

[0126] S601, determine whether it is hoisted. If it is not hoisted, execute step S602. If it is hoisted, execute step S603.

[0127] In specific implementation, the tension sensor signal can be used to determine whether the crane is hoisting. It should be noted that the tension sensor is installed on the crane's suspension wire, close to the hook, to facilitate the detection of the suspension wire tension to determine whether the crane is hoisting.

[0128] S602, control the crane to recover the stable hook.

[0129] When it is determined that there is no load, the crane is controlled to perform stable hook recovery. Among them, stable hook recovery refers to the process of safely and smoothly retracting the hook from the use state to the original position during the operation of the crane.

[0130] S603, determining whether the hook is tilted. If the hook is not tilted, executing step S604. If the hook is tilted, executing step S605.

[0131] In specific implementation, the tilt sensor signal can be used to determine whether the hook is tilted. It should be noted that the tilt sensor is installed on the hanging line close to the hook to facilitate the detection of whether the hoisted object is tilted.

[0132] S604, control the crane to perform closed-loop movement to stabilize the hook.

[0133] Specifically, when the hook is not tilted, the crane is controlled to perform a closed-loop motion to stabilize the hook. For the specific implementation principle and process of controlling the crane to perform a closed-loop motion to stabilize the hook, refer to Figure 4 and Figure 5 The relevant introduction will not be repeated here.

[0134] S605, determine whether the hook is tilted in the direction of amplitude change, if so, execute step S606, if not, execute step S607.

[0135] If the hook tilts, in one possible implementation, the direction in which the tilt occurs can be determined by a posture detection signal.

[0136] Further, referring to the above description, the hook tilting is divided into the hook tilting in the stable hook rotation direction and the hook tilting in the luffing direction, and different methods are used to handle the tilting in different directions. Referring to the above description, in specific implementation, the tilting of the hook in the luffing direction can also be determined by the inclination sensor.

[0137] S606: Perform deflection compensation using a deflection compensation algorithm.

[0138] Specifically, when it is determined that the hook is tilted in the luffing direction, the deflection compensation algorithm is used to perform deflection compensation. The specific implementation principle and implementation process of the deflection compensation algorithm are described in the first embodiment, which will not be repeated here.

[0139] S607, when it is determined that the hook is tilted in the stable hook rotation direction, the rotation angle of the hook relative to the vertical plane is obtained, and when the rotation angle is greater than a preset threshold, the crane is interrupted.

[0140] It should be noted that the tilt of the hook in the stable hook rotation direction usually means that the hook or the sling is not kept horizontal during operation. Further, when determining that the hook is tilted in the stable hook rotation direction, the rotation angle of the hook relative to the vertical plane is obtained. In specific implementation, the rotation angle of the hook relative to the vertical plane can be obtained by a three-axis sensor.

[0141] Specifically, the three-axis sensor can simultaneously measure physical quantities in three orthogonal directions of X, Y, and Z, including acceleration and angular velocity, and is often used to detect and record the movement, posture, and direction changes of objects.

[0142] Furthermore, when the turning angle is greater than a preset threshold, the crane is interrupted. It should be noted that the turning angle preset threshold is set in advance according to actual operation requirements, and is not limited in this embodiment.

[0143] It should be noted that in this application, the hook is simplified into a cylinder for control, which consists of the end of the suspension line and the key suspension point position. In specific implementation, the description information of the crane can be obtained, a geometric model can be established, and the key suspension point position can be determined (the key suspension point position is the point on the hook with the greatest force).

[0144] Specifically, the description information of the crane is the connection and joint information of the crane derived using the robot description format. The geometric model of the crane is established using the description information of the crane, and the geometric model is imported into the finite element analysis software to apply non-uniform loads and determine the position of the lifting point with the greatest force. It should be noted that the position of the key lifting point is different when the mass of the hoisted object and the arm length are different.

[0145] The crane boom and hook collaborative control method provided in the present embodiment establishes a deflection relationship corresponding to each mass in advance. Thus, when it is determined that the hook is tilted in the direction of amplitude change, the target deflection relationship corresponding to the current hoisting object can be found from the pre-established deflection relationships, and then the current deflection of the boom can be found from the target deflection relationship according to the current boom length and the current elevation angle of the boom. Thus, the actual coordinates of the boom in the X direction can be calculated by the current deflection, the current boom length and the current elevation angle, and the actual coordinates are regarded as the boom coordinates when the boom deformation problem is not considered, and the target elevation angle of the boom at the coordinates is calculated. Thus, after the target elevation angle is calculated, the boom can be controlled to reach the target elevation angle. At the target elevation angle, even if the boom is deformed, the deformation will not cause the boom to tilt in the direction of amplitude change. Thus, the coordination of the boom and hook can be achieved to ensure the safety of the hoisting operation.

[0146] In addition, by performing closed-loop motion control for stable hooks, the speed of the hook can be dynamically adjusted according to actual conditions through reference models and adaptive algorithms. This can not only achieve precise operation, ensure the stability of the hook, and reduce operational risks, but also maximize the efficiency of the hook movement.

[0147] Furthermore, when it is determined that the hook is tilted in the stable hook rotation direction, the rotation angle of the hook relative to the vertical plane is obtained, and when the rotation angle is greater than a preset threshold, the crane is interrupted. In this way, safety can be further ensured.

[0148] Corresponding to the aforementioned embodiment of a crane boom and hook collaborative control method, the present application also provides an embodiment of a crane boom and hook collaborative control device.

[0149] The embodiment of the crane boom hook cooperative control device provided in this application can be applied to the crane boom hook cooperative control device. The device embodiment can be implemented by software, or by hardware or a combination of software and hardware. Taking software implementation as an example, as a device in a logical sense, it is formed by the processor of the crane boom hook cooperative control device in which it is located reading the corresponding computer program instructions in the non-volatile memory into the memory and running them. From the hardware level, if Figure 7 As shown, it is a hardware structure diagram of the crane boom hook cooperative control device provided by the present application, in which the crane boom hook cooperative control device is located. Figure 7 In addition to the processor, memory, network interface, and non-volatile memory shown, the device in the embodiment where the apparatus is located may also include other hardware according to the actual function of the crane boom and hook collaborative control device, which will not be described in detail.

[0150] Figure 8 This is a structural diagram of the first embodiment of the crane boom hook cooperative control device provided in this application. Figure 8 The device provided in this embodiment includes a search module 810, a calculation module 820 and a control module 830; wherein,

[0151] The search module 810 is used to search for a target deflection relationship corresponding to the current hoisted object from the pre-established deflection relationships corresponding to each mass when determining that the hook is tilted in the luffing direction; wherein the deflection relationship corresponding to each mass records the corresponding relationship between the arm length, the arm elevation angle and the arm deflection when hoisting the hoisted object corresponding to the mass;

[0152] The search module 810 is further used to search the current deflection of the boom from the target deflection relationship according to the current boom length and the current elevation angle of the boom;

[0153] The calculation module 820 is used to calculate the actual coordinates of the boom in the X direction according to the current deflection, the current elevation angle and the current boom length; wherein the actual coordinates are the coordinate values ​​of the boom after considering the deformation of the boom;

[0154] The calculation module 820 is further configured to use the actual coordinates as the coordinate values ​​of the boom when the boom deformation problem is not considered, and calculate the target elevation angle of the boom at the coordinates; wherein when the boom is at the target elevation angle, the hook will not tilt in the luffing direction;

[0155] The control module 830 is used to control the boom to reach the target elevation angle so that the hook does not tilt in the amplitude change direction.

[0156] The device of this embodiment can be used to perform Figure 1 The steps, specific implementation principles and implementation processes of the method embodiment shown are similar and will not be repeated here.

[0157] Please continue to refer to Figure 7 The present application also provides a crane hook and boom collaborative control device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of any one of the methods provided in the first aspect of the present application are implemented.

[0158] It should be noted that the crane hook and boom collaborative control device provided in the present application may be a controller on the crane, and is not limited in the present application.

[0159] The present application also provides a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the steps of any one of the methods provided in the present application are implemented.

[0160] The implementation process of the functions and effects of each unit in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, and will not be repeated here.

[0161] For the device embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The device embodiment described above is only schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present application scheme. A person of ordinary skill in the art can understand and implement it without paying any creative work.

[0162] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A crane boom hook collaborative control method, characterized in that: The method comprises: When it is determined that the hook is tilted in the direction of luffing, the target deflection relationship corresponding to the current hoisting object is searched from the pre-established deflection relationships corresponding to the various masses; wherein the deflection relationship corresponding to the various masses is recorded in the corresponding relationship between the arm length, the elevation angle of the arm and the deflection of the arm when hoisting the hoisting object corresponding to the mass, and the deflection relationship corresponding to the various masses is different; According to the current arm length and the current elevation angle of the boom, finding the current deflection of the boom from the target deflection relationship; According to the current deflection, the current elevation angle and the current arm length, the actual coordinate of the boom in the X direction is calculated; wherein the actual coordinate is the coordinate value of the boom after considering the deformation of the boom; The step of calculating the actual coordinate of the boom in the X direction according to the current deflection, the current elevation angle and the current boom length includes: The actual coordinates are calculated according to a first formula, wherein the first formula is: ； Wherein, X' is the actual coordinate of the boom in the X direction at present; The L is the current arm length; The θ is the current elevation angle; The δ is the current deflection; The actual coordinates are used as the coordinate values ​​of the boom when the boom deformation problem is not considered, and the target elevation angle of the boom at the coordinates is calculated; wherein when the boom is at the target elevation angle, the hook will not tilt in the direction of the luffing; The method of using the actual coordinates as the coordinate values ​​of the boom when the boom deformation problem is not considered, and calculating the target elevation angle of the boom at the coordinates, comprises: The target elevation angle of the boom at the coordinate is calculated according to the second formula, wherein the second formula is: θ'=arccos(X' / L); Wherein, θ' is the target elevation angle of the boom at this coordinate; The X' is the actual coordinate; The L is the current arm length; The boom is controlled to reach the target elevation angle so that the hook does not tilt in the amplitude changing direction.

2. The method according to claim 1, characterized in that When it is determined that the hook is not tilted, the method further comprises: Controlling the crane to perform a stable hook closed-loop motion according to a preset operation path; Wherein, controlling the crane to perform a stable hook closed-loop motion according to a preset operation path includes: Inputting the actual current of the hoist into the reference model, so that the reference model outputs a reference speed and a reference displacement of the suspension wire based on the actual current; Acquire the expected displacement and expected speed of the suspension line from the working path, and determine the adaptive speed of the suspension line based on an adaptive algorithm according to the expected displacement, the expected speed, the reference displacement and the reference speed; Determining a correction speed of the suspension wire according to the desired speed and the reference speed; Calculating a weighted speed of the suspension wire according to the reference speed, the adaptive speed and the corrected speed; Determine the actuator control amount according to the weighted speed; wherein the actuator control amount includes the control current of the luffing mechanism and the control current of the winch; The corresponding actuator is controlled according to the actuator control amount, so that the crane performs a stable hook closed-loop motion according to a preset operation path.

3. The method according to claim 2, characterized in that The step of determining the adaptive speed of the suspension line based on an adaptive algorithm according to the expected displacement, the expected speed, the reference displacement and the reference speed comprises: Calculating a displacement deviation and a velocity deviation according to the expected displacement, the reference displacement, the expected velocity and the reference velocity, and constructing a deviation vector using the displacement deviation and the velocity deviation; Determine a weight vector according to the deviation vector and a third formula; Calculating the adaptive speed according to a fourth formula according to the weight vector, the expected speed and the expected displacement; Wherein, the third formula is: ； Among them, the is the matrix of the time derivatives of the weight vector; Said Represents a mapping operation; Said is a positive definite matrix; Said e is the deviation vector; Said is the cost function; The B is a preset matrix; wherein, ; The fourth formula is: ； ； Wherein, A is a matrix composed of adaptive speed and adaptive displacement; Said W is the weight vector; Said x are the expected displacement and the expected speed; Said C is the mean of the Gaussian radial basis; Said is the standard deviation of the Gaussian radial basis.

4. The method according to claim 2, characterized in that: Determining the actuator control amount according to the weighted speed includes: The actuator control amount is calculated according to the fifth formula, wherein the fifth formula is: ； Among them, the u is the actuator control quantity; Said is the control matrix corresponding to the actuator control quantity; Said is the weighted velocity; Said Estimate the matrix for the predicted behavior based on prior knowledge acquisition.

5. The method according to claim 1, characterized in that The method further comprises: When it is determined that the hook is tilted in the stable hook rotation direction, the rotation angle of the hook relative to the vertical plane is obtained; When the rotation angle is greater than a preset threshold, the crane is interrupted.

6. A crane boom hook coordinated control device, characterized in that: The device includes a search module, a calculation module and a control module; wherein, The search module is used to search for a target deflection relationship corresponding to the current hoisted object from the pre-established deflection relationships corresponding to each mass when determining that the hook is tilted in the luffing direction; wherein the deflection relationship corresponding to each mass is recorded in the corresponding relationship between the arm length, the elevation angle of the arm and the deflection of the arm when hoisting the hoisted object corresponding to the mass, and the deflection relationship corresponding to each mass is different; The search module is further used to search the current deflection of the boom from the target deflection relationship according to the current boom length and the current elevation angle of the boom; The calculation module is used to calculate the actual coordinates of the boom in the X direction according to the current deflection, the current elevation angle and the current boom length; wherein the actual coordinates are the coordinate values ​​of the boom after considering the deformation of the boom; The step of calculating the actual coordinate of the boom in the X direction according to the current deflection, the current elevation angle and the current boom length includes: The actual coordinates are calculated according to a first formula, wherein the first formula is: ； Wherein, X' is the actual coordinate of the boom in the X direction at present; The L is the current arm length; The θ is the current elevation angle; The δ is the current deflection; The calculation module is further used to use the actual coordinates as the coordinate values ​​of the boom when the boom deformation problem is not considered, and calculate the target elevation angle of the boom at the coordinates; wherein, when the boom is at the target elevation angle, the hook will not tilt in the luffing direction; The method of using the actual coordinates as the coordinate values ​​of the boom when the boom deformation problem is not considered, and calculating the target elevation angle of the boom at the coordinates, comprises: The target elevation angle of the boom at the coordinate is calculated according to the second formula, wherein the second formula is: θ'=arccos(X' / L); Wherein, θ' is the target elevation angle of the boom at this coordinate; The X' is the actual coordinate; The L is the current arm length; The control module is used to control the boom to reach the target elevation angle so that the hook does not tilt in the amplitude change direction.

7. A crane boom hook coordinated control device, characterized in that: The crane boom and hook cooperative control device is applied to a crane, and the crane boom and hook cooperative control device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and is characterized in that the processor implements the steps of the method described in any one of claims 1 to 5 when executing the program.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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