An intelligent synchronous lifting control method for an attached scaffold

Abstract

The present application discloses an intelligent synchronous lifting control method for an attached scaffold, and relates to the technical field of scaffolding. In the trial operation stage: the weight data of the scaffolding is obtained, and the traction force of the electric hoist is controlled so that the traction force is not greater than a threshold value; in the formal operation stage: the real-time lifting height of each hoisting point is obtained; whether speed adjustment is required is determined according to the real-time lifting height; if adjustment is required, an objective function determined according to the real-time lifting height is established; the objective function is solved to obtain acceleration data, and the solution process is subject to acceleration constraints; the electric hoist is controlled according to the acceleration data. In the trial operation stage, the present application controls the traction force to ensure that the increase in traction force caused by acceleration will not cause false alarms, and in the formal operation stage, the goal is to make the scaffold as close to the theoretical lifting height as possible, and at the same time, the heights at both ends are as consistent as possible, so as to ensure that false alarms will not be caused by acceleration when the best acceleration data is obtained.

Description

Technical Field

[0001] The present application relates to the technical field of scaffolding, and in particular to an intelligent synchronous lifting and lowering control method for an attached scaffolding. Background Art

[0002] The attached scaffolding is a scaffolding installed on the outer surface of a building during the pouring process. With this scaffolding, high-altitude operations can be transformed into low-altitude operations, greatly enhancing the safety of the building facade operations. In order to adapt to the height changes during the pouring process of the building, an attached lifting scaffolding has been developed. This scaffolding can use an electric hoist to lift or lower the scaffolding in units or as a whole, without the need for frequent disassembly and assembly, and there is no need to install the scaffolding on the entire outer surface of the building, which greatly reduces the materials used to build the scaffolding.

[0003] Normally, the width of a single scaffolding unit is 5-8 meters. When lifting, at least one scaffolding unit needs to be adjusted in height. Due to the large width and weight, multiple lifting points need to be set on each scaffolding unit so that multiple electric hoists can be used to lift the scaffolding unit at the same time. In this case, even if a synchronous control strategy is adopted for multiple electric hoists, different electric hoists will have different lifting speeds during the lifting process due to different resistances due to the different installation conditions of the scaffolding at different positions. If this asynchronous situation is allowed to develop, it will cause serious accidents such as falling. In order to achieve synchronous lifting control, CN118273515A discloses an intelligent lifting control device and a lifting control method for an attached lifting scaffold. The patent compares the lifting heights of different positions of the scaffolding unit to adjust the corresponding lifting speeds, thereby achieving synchronous lifting control.

[0004] However, the above patent will increase the pulling force on the scaffolding after controlling a certain electric hoist to accelerate, and the pulling force of the electric hoist on the scaffolding will be monitored in real time during the lifting control process. If the pulling force is found to be too large, it may be because the scaffolding is stuck, and an alarm message will be issued. However, since the exact reason for the increase in pulling force is unclear, the electric hoist may also trigger an alarm due to the increase in pulling force during the acceleration process, causing unnecessary trouble. Summary of the invention

[0005] The embodiment of the present application provides an intelligent synchronous lifting control method for an attached scaffold, which is used to solve the problem of false alarm caused by acceleration of the electric hoist in the prior art.

[0006] The embodiment of the present application provides an intelligent synchronous lifting control method for an attached scaffold, the method comprising a trial operation stage and a formal operation stage. In the trial operation stage:

[0007] Get the weight data of the scaffolding;

[0008] During the starting process, the traction force of the electric hoist is controlled so that the traction force is less than or equal to a threshold value determined according to the weight data;

[0009] During the official operation phase:

[0010] Get the real-time lifting height of each lifting point on the scaffolding;

[0011] Compare all real-time lifting heights and determine whether speed adjustment is required based on the comparison results;

[0012] If speed adjustment is required, determine the difference between the real-time lifting height and the theoretical lifting height of the two lifting points at both ends of the scaffold, and then determine the sum of the two differences to obtain the difference sum;

[0013] Determine the difference in real-time lifting heights of the two lifting points at both ends of the scaffold, and then determine the average of the two differences to obtain the average difference;

[0014] The objective function is established with the goal of minimizing the sum of the difference after unit time and the average difference;

[0015] The objective function is solved by using a genetic algorithm to obtain the acceleration data of the electric hoist at the two lifting points at both ends of the scaffolding. In the process of solving the objective function, the acceleration constraint condition is restricted, and the acceleration constraint condition is used to limit the pulling force of the electric hoist on the scaffolding to be less than or equal to the threshold value under the control of the acceleration data.

[0016] Control the corresponding electric hoist according to the acceleration data.

[0017] The intelligent synchronous lifting control method of an attached scaffold in the present application has the following advantages:

[0018] The control process is divided into a trial operation stage and a formal operation stage. In the trial operation stage, the electric hoist will be accelerated from a stationary state to a certain speed. In this process, the traction force is controlled to ensure that the increase in traction caused by acceleration will not cause false alarms. In the formal operation stage, the lifting height of the scaffolding will be as close to the theoretical lifting height as possible, while also ensuring that the lifting heights at both ends of the scaffolding are the same as the goal to establish an objective function. In the process of solving the objective function, the pulling force is also controlled to further ensure that false alarms will not be caused by acceleration when the best acceleration data is obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 A flow chart of an intelligent synchronous lifting control method for an attached scaffolding provided in an embodiment of the present application.

[0021] Figure 2 A schematic diagram of the structure of an attached scaffold provided in an embodiment of the present application.

[0022] Explanation of the accompanying drawings: 100, vertical frame; 110, walkway board; 200, guide rail; 210, guide attachment block; 220, lifting block; 300, lifting attachment block; 310, zipper; 320, electric hoist; 330, tension sensor; 400, electric control box. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0024] Figure 1 The present invention provides a flow chart of an intelligent synchronous lifting control method for an attached scaffolding. The present invention provides an intelligent synchronous lifting control method for an attached scaffolding, which includes a trial operation phase and a formal operation phase. In the trial operation phase:

[0025] S100, obtaining weight data of the scaffolding.

[0026] For example, in Figure 2In the structure of the attached scaffold shown, the vertical frame 100 and the walkway board 110 form a frame structure, and the left and right ends of the frame structure are respectively connected with vertical guide rails 200 by bolts, and the cross section of the guide rail 200 is I-shaped. A plurality of guide attachment blocks 210 are fixedly connected to the facade of the building by bolts, and each guide attachment block 210 has two guide wheels arranged oppositely, and the two guide wheels are inserted into the grooves on both sides of the guide rail 200 to achieve the guide control of the guide rail 200. A lifting block 220 is fixed to the bottom side of the guide rail 200 by welding, and a plurality of lifting attachment blocks 300 are also fixedly installed on the facade of the building by bolts, and each lifting attachment block 300 is located directly above a lifting block 220, and a zipper 310 is hung below the lifting attachment block 300, and the zipper 310 passes through the electric hoist 320, and the hook of the electric hoist 320 is connected to the corresponding lifting block 220 through a tension sensor 330. An electric control box 400 is also installed inside the frame structure, and the electric control box 400 is electrically connected to each electric hoist 320 and each tension sensor 330 .

[0027] Furthermore, in the present application, the method for the electric control box 400 to obtain the weight data of the scaffold is: before starting the electric hoist 320, static tension data is obtained from the tension sensor 330 installed on the scaffold, and the weight data is determined according to the static tension data.

[0028] Specifically, before the electric hoist 320 is started, the scaffold is in a stationary state. At this time, the tension of the electric hoist 320 on the scaffold is equal to the gravity of the scaffold. Therefore, the tension obtained by the tension sensor 330 can determine the weight data of the scaffold.

[0029] S110, during the startup process, controlling the traction force of the electric hoist 320 so that the traction force is less than or equal to a threshold value determined according to the weight data.

[0030] Exemplarily, the threshold is expressed as:

[0031]

[0032] in, represents the threshold value, A Indicates the coefficient, which is set in advance by the operator. m Indicates weight data, g Represents the acceleration due to gravity.

[0033] Specifically, the coefficient A >1, and its size needs to be determined by the operator based on experience. A coefficient that is too small will lead to overly sensitive monitoring, which will cause an alarm even for a small change in traction, while a coefficient that is too large will result in failure to play the proper monitoring role. AThe value of is preferably 1.15. When the traction force of the electric hoist 320 is less than or equal to 1.15 times the weight of the scaffold, it indicates that the scaffold is in a state of stillness or uniform motion, or has a slight change due to accelerated ascent or shaking. At this time, the electric control box 400 will not perform any intervention action. Once the tension detected by the tension sensor 330 is greater than 1.15 times the weight of the scaffold, it indicates that the state of the scaffold has changed too drastically due to stagnation. At this time, the electric control box 400 will generate an audible and visual alarm. If the state of excessive tension continues for a long time, the electric control box 400 will stop driving the electric hoist 320, and then release the lifting and lowering operation of the scaffold to avoid further damage caused by long-term lifting in a stuck state.

[0034] The electric control box 400 is used to supply power to each electric hoist 320. When the voltage is determined, the power of the electric hoist 320 can be adjusted by changing the current. When the electric hoist 320 has been determined, there is a clear correspondence between power and traction. Based on this correspondence, the traction can be controlled by controlling the current.

[0035] During the official operation phase:

[0036] S120, obtaining the real-time lifting height of each lifting point on the scaffold.

[0037] Exemplarily, the method for obtaining the real-time lifting height is: after the electric hoist 320 is started, the cumulative number of rotations of the electric hoist 320 installed on each lifting point is obtained; and the real-time lifting height is determined according to the length of one rotation of the electric hoist 320 and the cumulative number of rotations.

[0038] Specifically, the electric hoist 320 has a sprocket for driving the zipper 310 to move. The sprocket rotates under the drive of the motor, thereby controlling the movement of the zipper 310. Since the size of the sprocket is determined, the length of the zipper 310 driven by each rotation of the sprocket can be determined. After installing a sensor for monitoring the number of rotations inside the electric hoist 320, the cumulative number of rotations of the electric hoist 320 after startup can be obtained. Therefore, the product of the cumulative number of rotations and the length of the zipper 310 driven by one rotation of the sprocket is the real-time lifting height of the hoisting point.

[0039] S130, comparing all the real-time lifting heights, and determining whether speed adjustment is required based on the comparison result.

[0040] Exemplarily, S130 specifically includes: calculating the difference between any two real-time lifting heights and finding the maximum difference; comparing the maximum difference with a preset theoretical value, if the maximum difference is greater than the theoretical value, determining that speed adjustment is required, if the maximum difference is less than or equal to the theoretical value, determining that speed adjustment is not required.

[0041] Since the width of the scaffold is relatively large, and the installation conditions at all positions are not exactly the same, some lifting points of the scaffold may have normal lifting heights due to incorrect installation or inadequate maintenance of parts, while some lifting points may have a lower lifting height due to jamming. If the difference between any two real-time lifting heights is relatively small, it means that although the scaffold is out of sync, the impact of this asynchrony is small, and the electric control box 400 will not adjust the speed of each lifting point, that is, each lifting point will continue to rise and fall at the current speed. If a certain difference, usually the maximum difference, exceeds the pre-set theoretical value, it means that the scaffold is already seriously out of sync. At this time, the electric control box 400 will try to speed up the processing of the lifting point whose real-time lifting height is too low to narrow the gap with the normal lifting point.

[0042] Since the hoisting blocks 220 are on the same straight line during the lifting process, when the lifting is not synchronized, the lifting points at both ends of the scaffolding often have the largest real-time lifting height difference. Therefore, the electric control box 400 can only obtain the real-time lifting height of the lifting points at both ends, and then determine whether speed adjustment is required based on this.

[0043] S140, if speed adjustment is required, determine the difference between the real-time lifting height and the theoretical lifting height of the two lifting points at both ends of the scaffold, and then determine the sum of the two differences to obtain the difference sum.

[0044] Exemplarily, the theoretical lifting height is determined according to the set lifting speed and the working time after the electric hoist 320 is started.

[0045] When the electric hoist 320 controls the lifting of the scaffold, a safe lifting speed is preset inside the electric control box 400, usually 13cm / min, and this preset safe lifting speed is also the set lifting speed. After the electric hoist 320 is started, the scaffold begins to lift. In an ideal situation, the electric hoist 320 will lift the scaffold at the set lifting speed under the control of the electric control box 400. However, in actual situations, due to some unfavorable factors, the actual lifting speed of the scaffold may be less than the set lifting speed, causing the actual lifting height of the hoisting point to be less than the theoretical lifting height.

[0046] S150, determining the difference in real-time lifting heights of two lifting points at both ends of the scaffold, and then determining an average value of the two differences to obtain an average difference.

[0047] S160, establishing an objective function with the goal of minimizing the sum of the difference after unit time and the average difference.

[0048] Exemplarily, the objective function is expressed as:

[0049]

[0050] in, H t Indicates the current theoretical lift height. V t Indicates setting the lifting speed. T Indicates the unit time, H r1 and H r2 Indicates the real-time lifting height of the two lifting points at both ends of the scaffolding. V r1 and V r2 Indicates the real-time lifting speed of the two lifting points at both ends of the scaffolding. a 1 and a 2 represents the acceleration data of the two lifting points at both ends of the scaffolding. Indicates taking the absolute value, and min indicates taking the minimum value.

[0051] Real-time lifting speed V r1 and V r2 It can be determined based on the rotation speed of the sprocket in the electric hoist 320 that at a certain time point after the lifting operation begins, except for two acceleration data in the above objective function, other data are known states. Therefore, through the combination and trial of multiple acceleration data, the best acceleration data can be determined.

[0052] S170, using a genetic algorithm to solve the objective function, to obtain acceleration data of the electric hoist 320 at the two lifting points at both ends of the scaffolding; in the process of solving the objective function, it is restricted by the acceleration constraint condition, and the acceleration constraint condition is used to limit the pulling force of the electric hoist 320 on the scaffolding under the control of the acceleration data to be less than or equal to a threshold value.

[0053] Exemplarily, the acceleration constraint is expressed as:

[0054]

[0055] in, i =1,2, Indicates the pulling force of the electric hoist 320 on the scaffolding, represents the threshold value, m Indicates weight data, a i Represents acceleration data, g It should be understood that when the scaffold is lifted and lowered by two or more electric hoists 320, the weight of the entire scaffold will act evenly on each electric hoist 320, so when calculating the pulling force When calculating each gravity acceleration data, it is necessary to calculate each gravity acceleration data according to the weight evenly distributed on each electric hoist 320. a i , rather than the weight of the entire scaffold.

[0056] The genetic algorithm is a process of calculating the value of the objective function using different acceleration data and selecting the acceleration data that minimizes the value of the objective function from a large number of acceleration data. Specifically, the genetic algorithm includes initialization, fitness value calculation, selection, crossover, and mutation, which are performed in sequence. After these steps, the global optimal solution can be obtained, that is, the acceleration data with the smallest value of the objective function.

[0057] S180, controlling the corresponding electric hoist 320 according to the acceleration data.

[0058] For example, the step S170 solves a i The acceleration data of the electric hoists 320 at both ends of the scaffolding are used. By controlling the speed of the two electric hoists 320 according to the acceleration data, a state in which the height difference at both ends is small and close to the theoretical lifting height can be achieved at the same time.

[0059] In some embodiments, the scaffolding may utilize three or more electric hoists 320 for lifting control. In this case, in addition to the two ends, at least one electric hoist 320 may be disposed inside the scaffolding. Since the three or more lifting points will be in a straight line at any lifting height, based on this situation, the acceleration data of the internal electric hoist 320 may be calculated according to the acceleration data of the electric hoists 320 at the two ends, thereby completing the speed adjustment of all the electric hoists 320.

[0060] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0061] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. An intelligent synchronous lifting control method for an attached scaffold, characterized in that: The method comprises a trial operation stage and a formal operation stage. In the trial operation stage: Get the weight data of the scaffolding; During the startup process, the traction force of the electric hoist (320) is controlled so that the traction force is less than or equal to a threshold value determined according to the weight data; During the formal operation phase: Get the real-time lifting height of each lifting point on the scaffolding; Comparing all the real-time lifting heights, and determining whether speed adjustment is required according to the comparison result; If speed adjustment is required, the difference between the real-time lifting height and the theoretical lifting height of the two lifting points at both ends of the scaffold is determined, and then the sum of the two differences is determined to obtain the sum of the differences; Determine the difference between the real-time lifting heights of the two lifting points at both ends of the scaffold, and then determine the average of the two differences to obtain the average difference; Establishing an objective function with the goal of minimizing the sum of the difference and the average difference after a unit time; A genetic algorithm is used to solve the objective function to obtain acceleration data of the electric hoist (320) at two lifting points at both ends of the scaffold; in the process of solving the objective function, the acceleration constraint condition is restricted, and the acceleration constraint condition is used to restrict the pulling force of the electric hoist (320) on the scaffold to be less than or equal to the threshold value under the control of the acceleration data, and the power of the electric hoist (320) is adjusted by changing the current supplied by the electric control box (400) to the electric hoist (320), thereby controlling the pulling force of the electric hoist (320) on the scaffold; The corresponding electric hoist (320) is controlled according to the acceleration data.

2. According to claim 1, the intelligent synchronous lifting control method of the attached scaffolding is characterized in that: The method for obtaining the weight data of the scaffold is: Before starting the electric hoist (320), static tension data is obtained from a tension sensor (330) installed on the scaffold, and the weight data is determined based on the static tension data.

3. The intelligent synchronous lifting control method of an attached scaffold according to claim 1 is characterized in that: The threshold value is expressed as: in, F threshold represents the threshold value, A Indicates the coefficient, which is set in advance by the operator. m Indicates the weight data, g Represents the acceleration due to gravity.

4. The intelligent synchronous lifting control method of an attached scaffold according to claim 1 is characterized in that: The method for obtaining the real-time lifting height is: After the electric hoist (320) is started, the cumulative number of rotations of the electric hoist (320) installed at each lifting point is obtained; The real-time lifting height is determined according to the length of one rotation of the electric hoist (320) and the accumulated number of rotations.

5. The intelligent synchronous lifting control method of an attached scaffold according to claim 1 is characterized in that: The theoretical lifting height is determined according to a set lifting speed and a working time after the electric hoist (320) is started.

6. The intelligent synchronous lifting control method of an attached scaffold according to claim 1 is characterized in that: Comparing all the real-time lifting heights, and determining whether speed adjustment is required according to the comparison result, including: Calculate the difference between any two of the real-time lifting heights and find the largest difference; The maximum difference is compared with a preset theoretical value. If the maximum difference is greater than the theoretical value, it is determined that speed adjustment is required. If the maximum difference is less than or equal to the theoretical value, it is determined that speed adjustment is not required.

7. The intelligent synchronous lifting control method of an attached scaffold according to claim 1 is characterized in that: The objective function is expressed as: in, H t Indicates the current theoretical lifting height, V t Indicates setting the lifting speed. T represents the unit time, H r1 and H r2 Indicates the real-time lifting height of the two lifting points at both ends of the scaffolding. V r1 and V r2 Indicates the real-time lifting speed of the two lifting points at both ends of the scaffolding. a 1 and a 2 represents the acceleration data of the two lifting points at both ends of the scaffolding, Indicates taking the absolute value, and min indicates taking the minimum value.

8. The intelligent synchronous lifting control method of an attached scaffold according to claim 1 is characterized in that: The acceleration constraint is expressed as: in, i =1,2, Indicates the pulling force of the electric hoist (320) on the scaffolding, F threshold represents the threshold value, m Indicates the weight data, a i represents the acceleration data, g Represents the acceleration due to gravity.

Images