Crane linkage control system and method

Abstract

The invention discloses a crane linkage control system and method, and belongs to the technical field of cranes, the crane linkage control system comprises a track, a first displacement mechanism and a second displacement mechanism which are arranged on the track, and a system control center which is in communication connection with the first displacement mechanism and the second displacement mechanism; the system control center interacts with the first displacement mechanism and the second displacement mechanism and is used for controlling the first displacement mechanism and the second displacement mechanism to move. The system control center is connected with the first displacement mechanism and the second displacement mechanism through a first communication network and a second communication network. The distance value between the two displacement mechanisms is adjusted by setting the first speed adjustment information, so that the distance between the two displacement mechanisms is in the safe distance, and the two displacement mechanisms are ensured to be in the safe distance by setting the first communication network and the second communication network at the same time. And the anti-interference capability of information data exchange is high.

Description

Technical Field

[0001] The present invention relates to the technical field of cranes, and in particular to a crane linkage control system and method. Background Art

[0002] The crane linkage control system refers to a control system that coordinates and controls multiple cranes or multiple motion mechanisms of cranes during crane operations to achieve synchronous linkage operations of multiple cranes and multiple mechanisms. The system can meet production operation requirements and effectively improve safety and operating efficiency.

[0003] When the crane linkage control system is working, it involves the coordinated control of multiple crane motion mechanisms. When the two cranes are working in linkage, a safe distance needs to be maintained to prevent the two sets of displacement mechanisms from interfering with each other during operation and causing accidents. On the other hand, the cranes can achieve linkage control through information data exchange, which can ensure the synchronization accuracy of the operation and trigger the protection function in time when a fault occurs to avoid accidents. However, the existing information data exchange has low anti-interference ability and is prone to accidents. Summary of the invention

[0004] To solve the above problems, the present invention provides a crane linkage control system in a first aspect, comprising: a track, a first displacement mechanism and a second displacement mechanism disposed on the track, and a system control center communicatively connected to the first displacement mechanism and the second displacement mechanism respectively; The system control center interacts with the first displacement mechanism and the second displacement mechanism respectively to control the movement of the first displacement mechanism and the second displacement mechanism; The connection method between the system control center and the first displacement mechanism and the second displacement mechanism includes: a first communication network and a second communication network; A plurality of third displacement mechanisms are provided on the first displacement mechanism and / or the second displacement mechanism; It also includes: a laser sensor, which is used to obtain the distance between the two groups of displacement mechanisms.

[0005] A second aspect of the present invention provides a crane linkage control method, based on the crane linkage control system in the above scheme, comprising the following steps: The following steps are involved: Preset safety distance value; Get the actual distance value; Based on the preset safety distance value, actual distance value and dynamic threshold set, determine the linkage status at the current time point; Determine speed adjustment information based on the linkage status at the current time point; Based on the actual distance value and the safety distance value after speed adjustment, the second speed adjustment information is determined.

[0006] In some embodiments, the distance deviation value=actual distance value-safety distance value; The linkage status at the current time point includes: normal, slightly abnormal, moderately abnormal, and severely abnormal; The dynamic threshold value set refers to a threshold value set used to judge the linkage state of two adjacent displacement mechanisms when they work in linkage; Determining the linkage status at the current time point includes: Determine the linkage status at the current time point based on the distance deviation value; When the distance deviation value is less than the first distance threshold, determining that the current linkage state is normal; When the distance deviation value is greater than the first distance threshold and less than the second distance threshold, it is determined that the current linkage state is slightly abnormal; When the distance deviation value is greater than the second distance threshold and less than the third distance threshold, it is determined that the current linkage state is moderately abnormal; When the distance deviation value is greater than the third distance threshold, it is determined that the current linkage state is severely abnormal.

[0007] In some embodiments, the first distance threshold, the second distance threshold, and the third distance threshold are set based on the operating radius of the current displacement mechanism, specifically in the following manners: Determining a first distance threshold based on the operating radius; The first distance threshold is calculated as follows: , in, is the first distance threshold; is the basic threshold; R is the operating radius; is the adjustment factor; Determine a second distance threshold and a third distance threshold based on the first distance threshold; The second distance threshold is calculated as follows: , in, is the second distance threshold; is the first distance threshold; To adjust the distance; The third distance threshold is calculated as follows: , in, is the third distance threshold; is the first distance threshold; The maximum safe distance.

[0008] In some embodiments, the speed adjustment information includes: In response to the normal or slight abnormality of the current linkage state, maintain the current running speed; In response to a moderate abnormality in a current linkage state, generating first speed adjustment information; In response to a severe abnormality in the current linkage state, the system shuts down.

[0009] In some embodiments, generating the first speed adjustment information includes: Determine the compensation coefficient based on the distance deviation value and the rated speed of the motor; The method for determining the compensation coefficient based on the distance deviation value and the rated speed of the motor is: , in, is the compensation coefficient, is the distance deviation value, is the rated speed of the motor; First speed adjustment information is generated based on the compensation coefficient.

[0010] In some embodiments, generating the first speed adjustment information based on the compensation coefficient includes: The operating speeds of the two displacement mechanisms are respectively adjusted based on the compensation coefficient; Wherein, adjusting the operating speeds of the two displacement mechanisms includes: Assume that among the two displacement mechanisms moving in the same direction, along the moving direction of the displacement mechanisms, the displacement mechanism located in front is the first linkage mechanism, and the displacement mechanism located in the rear is the second linkage mechanism, and the preset speeds of the first linkage mechanism and the second linkage mechanism are the rated speeds; If the compensation coefficient is greater than 0, the operating speed of the first linkage mechanism = rated speed × (1-compensation coefficient), and the operating speed of the second linkage mechanism = rated speed × (1+compensation coefficient); If the compensation coefficient is less than 0, the operating speed of the first linkage mechanism = rated speed × (1 + compensation coefficient), and the operating speed of the second linkage mechanism = rated speed × (1 - compensation coefficient).

[0011] In some embodiments, determining the second speed adjustment information based on the actual distance value after speed adjustment and the safety distance value includes: comparing the actual distance value after speed adjustment with the safety distance value, and generating the second speed adjustment information when the actual distance value is equal to the safety distance value.

[0012] In some embodiments, the second speed adjustment information includes: Adjust the running speeds of the two displacement mechanisms based on the actual distance value and the safety distance value after speed adjustment; Wherein, the running speed of the first linkage mechanism = rated speed; The operating speed of the second linkage mechanism = rated speed.

[0013] In some embodiments, the compensation coefficient value is less than 0.06.

[0014] By adopting the above technical solution, the present invention mainly has the following technical effects: By setting the first speed adjustment information to adjust the distance value between the two displacement mechanisms, the distance between the two displacement mechanisms is made to be at a safe distance, and by simultaneously setting the first communication network and the second communication network, the technical effect of ensuring that the two displacement mechanisms are at a safe distance and that the information data exchange has a strong anti-interference ability is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of a crane linkage control system of the present invention; Figure 2 The present invention is a flow chart of a crane linkage control method.

[0016] The meanings of the reference numerals are as follows: 1. Track; 2. The first displacement mechanism; 3. Second displacement mechanism; 4. The third displacement mechanism. DETAILED DESCRIPTION

[0017] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the specification of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0019] See also Figure 1 In a first aspect, the present invention provides a crane linkage control system, which includes: a track 1, a first displacement mechanism 2 and a second displacement mechanism 3 arranged on the track 1, and a system control center which is communicatively connected to the first displacement mechanism 2 and the second displacement mechanism 3 respectively.

[0020] In some embodiments, the first displacement mechanism 2 and the second displacement mechanism 3 can be movable parts of the crane installed on the crane track, which can move horizontally along the track 1 to move the entire crane arm or crane trolley from one position to another, thereby covering a larger working area.

[0021] In some embodiments, a plurality of third displacement mechanisms 4 are provided on the first displacement mechanism 2 and the second displacement mechanism 3. In some embodiments, the third displacement mechanism 4 may be a moving part installed on the boom, which may move horizontally along the track of the boom, and is used to move the hook or load within the range of the boom to achieve precise vertical and horizontal positioning.

[0022] In some embodiments, a plurality of third displacement mechanisms 4 may be provided on the first displacement mechanism 2 and / or the second displacement mechanism 3 , and the work efficiency is improved by working through the plurality of third displacement mechanisms 4 .

[0023] In some preferred embodiments, a pulley matching the track 1 can be driven by a motor to slide on the track, thereby driving the first displacement mechanism 2 and the second displacement mechanism 3 to move on the track 1, and / or driving the third displacement mechanism 4 to move.

[0024] The system control center is respectively connected to the first displacement mechanism 2 and the second displacement mechanism 3 by communication, and the system control center interacts with the first displacement mechanism 2 and the second displacement mechanism 3 to control the movement of the first displacement mechanism and the second displacement mechanism. In some embodiments, by setting the communication mode between the system control center and the first displacement mechanism 2 and the second displacement mechanism 3 as the system control center is connected to the first displacement mechanism 2 and the second displacement mechanism 3 by communication, and the first displacement mechanism 2 and the second displacement mechanism 3 are interactively controlled by the system control center, the problem of failure when the linkage system is working, when the interactive information is sent to the second displacement mechanism 3 via the first displacement mechanism 2 and / or when the interactive information is sent to the first displacement mechanism 2 via the second displacement mechanism 3.

[0025] In some embodiments, the connection between the system control center and the first displacement mechanism 2 and the second displacement mechanism 3 includes: a first communication network and a second communication network. In some embodiments, the first communication network may be a millimeter wave communication device, which refers to a device that uses the millimeter wave frequency band for high-speed wireless data transmission. Millimeter waves refer to electromagnetic waves with a wavelength between 1 mm and 10 mm and a frequency range of 30 GHz to 300 GHz. In some embodiments, the second communication network may be a laser communication device, which refers to a device that uses laser as a signal carrier for data transmission. The core principle is to modulate information to the frequency, amplitude or phase of the laser, and then transmit and receive it through an electromagnetic wave antenna.

[0026] In some embodiments, millimeter wave communication equipment and laser communication equipment can work complementarily when operating in a ring network because they have different transmission characteristics, anti-interference capabilities, and environmental adaptability, and can provide stable communication services when the other party is subject to interference or adverse conditions.

[0027] In some embodiments, the crane linkage control system further comprises: a laser sensor, the laser sensor being used to obtain the distance between any two sets of displacement mechanisms. In some embodiments, the laser sensor can measure the distance by emitting laser pulses and receiving reflected light.

[0028] See also Figure 2 The second aspect of the present invention provides a crane linkage control method, based on the crane linkage control system in the above scheme. It should be noted here that the crane linkage control method can be the mutual linkage between the first displacement mechanism 2 and the second displacement mechanism 3, or it can be the mutual linkage between the two third displacement mechanisms 4 on the first displacement mechanism 2 or the second displacement mechanism 3.

[0029] The crane linkage control method comprises the following steps: (a) Preset safety distance value; In some embodiments, the safety distance value is a distance value when two adjacent groups of displacement mechanisms are in a safe working environment.

[0030] In some embodiments, the rated load and actual load of the crane may affect its safe working distance. Heavier loads may require a larger safety distance to prevent the two sets of displacement mechanisms from interfering with each other during operation and causing accidents.

[0031] In some embodiments, the safety distance value may be a distance value before the two groups of displacement mechanisms are displaced, and the distance value may be measured by a laser sensor.

[0032] (b) obtaining the actual distance value; In some embodiments, the actual distance value is the distance value when the two displacement mechanisms are working.

[0033] In some embodiments, the actual distance value may be measured by a laser sensor.

[0034] (c) judging the linkage status at the current time point based on the preset safety distance value, the actual distance value and the dynamic threshold value set; In some embodiments, the linkage state at the current time point may be determined by comparing the deviation value between the actual distance value and the safety distance value with a threshold value in the dynamic threshold set.

[0035] In some embodiments, the distance deviation value=actual distance value-safety distance value.

[0036] In some embodiments, the linkage status at the current time point includes: normal, slightly abnormal, moderately abnormal, and severely abnormal.

[0037] In some embodiments, the dynamic threshold set refers to a threshold set used to determine the linkage state of two adjacent displacement mechanisms when they work in linkage. In some embodiments, the dynamic threshold set can be set based on the operating radius of the current displacement mechanism. For example, when the operating radius of the displacement mechanism is larger, the dynamic threshold is smaller. More details about the dynamic threshold will be further described below.

[0038] In some embodiments, determining the linkage status at the current time point includes: Determine the linkage status at the current time point based on the distance deviation value; When the distance deviation value is less than the first distance threshold, determining that the current linkage state is normal; When the distance deviation value is greater than the first distance threshold and less than the second distance threshold, it is determined that the current linkage state is slightly abnormal; When the distance deviation value is greater than the second distance threshold and less than the third distance threshold, it is determined that the current linkage state is moderately abnormal; When the distance deviation value is greater than the third distance threshold, it is determined that the current linkage state is severely abnormal.

[0039] In some embodiments, the first distance threshold, the second distance threshold, and the third distance threshold can be determined based on a variety of methods, such as pre-setting, setting in combination with confidence level, etc.

[0040] In some embodiments, the first distance threshold, the second distance threshold, and the third distance threshold are set based on the operating radius of the current displacement mechanism, specifically in the following manners: Determining a first distance threshold based on the operating radius; The first distance threshold is calculated as follows: , in, is the first distance threshold; is the basic threshold; R is the operating radius; is the adjustment factor; Determine a second distance threshold and a third distance threshold based on the first distance threshold; The second distance threshold is calculated as follows:

[0041] in, is the second distance threshold; is the first distance threshold; To adjust the distance; The third distance threshold is calculated as follows:

[0042] in, is the third distance threshold; is the first distance threshold; is the maximum safe distance; In some embodiments, the adjustment coefficient, adjustment distance, and maximum safety distance can be determined by establishing a database based on industry experience, historical data, and other information.

[0043] In some embodiments, the first distance threshold is determined according to the operating radius, and corresponding distance thresholds can be applied to different operating radii, which greatly reduces false alarms caused by mismatch between the distance threshold and the scene, thereby improving the safety of the crane linkage control system during operation.

[0044] (d) determining speed adjustment information based on the linkage state at the current time point; In some embodiments, the speed adjustment information may be generated according to the linkage state at the current time point.

[0045] In some embodiments, the speed adjustment information includes: In response to the normal or slight abnormality of the current linkage state, maintain the current running speed; In response to a moderate abnormality in a current linkage state, generating first speed adjustment information; In response to a severe abnormality in the current linkage state, the system shuts down.

[0046] In some embodiments, the speed adjustment information can be obtained by calculating the deviation between the actual distance value and the safety distance value, and comparing the deviation with the first distance threshold, the second distance threshold and the third distance threshold. When the deviation is between the second distance threshold and the third distance threshold, the speed adjustment information is generated.

[0047] In some embodiments, generating the first speed adjustment information includes: S101, determining a compensation coefficient based on a distance deviation value and a rated speed of a motor; In some embodiments, the distance deviation value = actual distance value - safety distance value In some embodiments, the compensation coefficient is determined based on the distance deviation value and the rated speed of the motor as follows: , in, is the compensation coefficient, is the distance deviation value, is the rated speed of the motor; For example, the distance deviation value Equal to ±0.02m; For example, the rated speed of the motor Equal to 1400rpm; Compensation coefficient is equal to .

[0048] S102, generating first speed adjustment information based on the compensation coefficient; In some embodiments, generating the first speed adjustment information based on the compensation coefficient includes: The operating speeds of the two displacement mechanisms are respectively adjusted based on the compensation coefficient; The step of adjusting the operating speeds of the two displacement mechanisms comprises: Assume that among the two displacement mechanisms moving in the same direction, along the moving direction of the displacement mechanisms, the displacement mechanism located in front is the first linkage mechanism, and the displacement mechanism located in the rear is the second linkage mechanism, and the preset speeds of the first linkage mechanism and the second linkage mechanism are the rated speeds; (1) If the compensation coefficient is greater than 0, the operating speed of the first linkage mechanism = rated speed × (1-compensation coefficient), and the operating speed of the second linkage mechanism = rated speed × (1+compensation coefficient); (2) If the compensation coefficient is less than 0, the operating speed of the first linkage mechanism = rated speed × (1 + compensation coefficient), and the operating speed of the second linkage mechanism = rated speed × (1 - compensation coefficient).

[0049] For example, when the compensation factor is equal to When , the running speed of the first linkage mechanism = rated speed × (1-0.0112), the running speed of the second linkage mechanism = rated speed × (1+0.0112); When the compensation factor is equal to When , the running speed of the first linkage mechanism = rated speed × (1 + 0.0112), the running speed of the second linkage mechanism = rated speed × (1 - 0.0112); In some embodiments, the compensation coefficient value is less than 0.06.

[0050] The reason for the above is that by setting the compensation coefficient value to less than 0.06, the first linkage mechanism and the second linkage mechanism will not experience frequent acceleration and deceleration during operation, making the operation of the first linkage mechanism and the second linkage mechanism more stable and safe.

[0051] In some embodiments, the second distance threshold and the third distance threshold are determined based on the first distance threshold, so that the crane linkage control system does not need to stop to generate the first speed adjustment information within a certain error range, thereby improving the working efficiency of the crane linkage control system; when the crane linkage control system is within the adjustable error range, the movement speed of the displacement mechanism is adjusted according to the speed adjustment information, so that the crane linkage control systems maintain a safe distance from each other, thereby further enhancing the safety of the crane linkage control system during operation; when the crane linkage control system is outside the adjustable error range, the possibility of accidents is reduced by adjusting after stopping, thereby improving the safety performance of the crane linkage control system.

[0052] (e) determining second speed adjustment information based on the actual distance value and the safety distance value after the speed adjustment; The actual distance value after speed adjustment refers to the distance value between the two sets of displacement mechanisms when operating according to the first speed adjustment information. In some embodiments, the actual distance value after speed adjustment can be measured by a laser sensor.

[0053] In some embodiments, determining the second speed adjustment information includes: comparing the actual distance value after speed adjustment with the safety distance value, and generating the second speed adjustment information when the actual distance value is equal to the safety distance value.

[0054] In some embodiments, the second speed adjustment information includes: Adjust the running speeds of the two displacement mechanisms based on the actual distance value and the safety distance value after speed adjustment; Wherein, the running speed of the first linkage mechanism = rated speed; The operating speed of the second linkage mechanism = rated speed.

[0055] Finally, it should be noted that the embodiments disclosed in the present invention are only preferred embodiments of the present invention, which are only used to illustrate the technical solutions of the present invention rather than to limit them. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A crane linkage control system, comprising: A track, a first displacement mechanism and a second displacement mechanism disposed on the track, and a system control center communicatively connected to the first displacement mechanism and the second displacement mechanism respectively; The system control center interacts with the first displacement mechanism and the second displacement mechanism respectively to control the movement of the first displacement mechanism and the second displacement mechanism; The connection method between the system control center and the first displacement mechanism and the second displacement mechanism includes: a first communication network and a second communication network; A plurality of third displacement mechanisms are provided on the first displacement mechanism and / or the second displacement mechanism; It also includes: a laser sensor, which is used to obtain the distance between the two groups of displacement mechanisms.

2. A crane linkage control method, characterized in that: Based on the crane linkage control system described in claim 1, the following steps are included: Preset safety distance value; Get the actual distance value; Based on the preset safety distance value, actual distance value and dynamic threshold set, determine the linkage status at the current time point; Determine speed adjustment information based on the linkage status at the current time point; Based on the actual distance value and the safety distance value after speed adjustment, the second speed adjustment information is determined.

3. A crane linkage control method according to claim 2, characterized in that: The distance deviation value = actual distance value - safety distance value; The linkage status at the current time point includes: normal, slightly abnormal, moderately abnormal, and severely abnormal; The dynamic threshold value set refers to a threshold value set used to judge the linkage state of two adjacent displacement mechanisms when they work in linkage; Determining the linkage status at the current time point includes: Determine the linkage status at the current time point based on the distance deviation value; When the distance deviation value is less than the first distance threshold, determining that the current linkage state is normal; When the distance deviation value is greater than the first distance threshold and less than the second distance threshold, it is determined that the current linkage state is slightly abnormal; When the distance deviation value is greater than the second distance threshold and less than the third distance threshold, it is determined that the current linkage state is moderately abnormal; When the distance deviation value is greater than the third distance threshold, it is determined that the current linkage state is severely abnormal.

4. A crane linkage control method according to claim 3, characterized in that: The first distance threshold, the second distance threshold, and the third distance threshold are set based on the operating radius of the current displacement mechanism, and the specific method includes: Determining a first distance threshold based on the operating radius; The first distance threshold is calculated as follows: ， in, is the first distance threshold; is the basic threshold; R is the operating radius; is the adjustment factor; Determine a second distance threshold and a third distance threshold based on the first distance threshold; The second distance threshold is calculated as follows: ， in, is the second distance threshold; is the first distance threshold; To adjust the distance; The third distance threshold is calculated as follows: ， in, is the third distance threshold; is the first distance threshold; The maximum safe distance.

5. A crane linkage control method according to claim 3, characterized in that: The speed adjustment information includes: In response to the normal or slight abnormality of the current linkage state, maintain the current running speed; In response to a moderate abnormality in a current linkage state, generating first speed adjustment information; In response to a severe abnormality in the current linkage state, the system shuts down.

6. A crane linkage control method according to claim 5, characterized in that: The generating the first speed adjustment information comprises: Determine the compensation coefficient based on the distance deviation value and the rated speed of the motor; The method for determining the compensation coefficient based on the distance deviation value and the rated speed of the motor is: ， in, is the compensation coefficient, is the distance deviation value, is the rated speed of the motor; First speed adjustment information is generated based on the compensation coefficient.

7. A crane linkage control method according to claim 6, characterized in that: The generating first speed adjustment information based on the compensation coefficient comprises: The operating speeds of the two displacement mechanisms are respectively adjusted based on the compensation coefficient; Wherein, adjusting the operating speeds of the two displacement mechanisms includes: Assume that among the two displacement mechanisms moving in the same direction, along the moving direction of the displacement mechanisms, the displacement mechanism located in front is the first linkage mechanism, and the displacement mechanism located in the rear is the second linkage mechanism, and the preset speeds of the first linkage mechanism and the second linkage mechanism are the rated speeds; If the compensation coefficient is greater than 0, the operating speed of the first linkage mechanism = rated speed × (1-compensation coefficient), and the operating speed of the second linkage mechanism = rated speed × (1+compensation coefficient); If the compensation coefficient is less than 0, the operating speed of the first linkage mechanism = rated speed × (1 + compensation coefficient), and the operating speed of the second linkage mechanism = rated speed × (1 - compensation coefficient).

8. A crane linkage control method according to claim 7, characterized in that: Determining the second speed adjustment information based on the actual distance value after speed adjustment and the safety distance value includes: comparing the actual distance value after speed adjustment with the safety distance value, and generating the second speed adjustment information when the actual distance value is equal to the safety distance value.

9. A crane linkage control method according to claim 8, characterized in that: The second speed adjustment information includes: Adjust the running speeds of the two displacement mechanisms based on the actual distance value and the safety distance value after speed adjustment; Wherein, the running speed of the first linkage mechanism = rated speed; The operating speed of the second linkage mechanism = rated speed.

10. A crane linkage control method according to claim 6, characterized in that: The compensation coefficient value is less than 0.06.

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