A crane balance control system

Abstract

The present invention discloses a crane balance control system, which relates to the technical field of balance regulation and is used to improve the imbalance problem caused by weight loss during the process of the crane lifting an object. It includes analyzing the surface roughness and center of gravity position of the interactive object to utilize the logistic regression algorithm for the interactive object attributes, collecting the vibration frequency and energy consumption change amount of the crane during the crane lifting an object and using the geometric mean method to analyze the state of the crane during the crane lifting an object, setting an inclination threshold based on the interactive object attributes and the crane state, detecting the inclination of the interactive object during the crane lifting an object and comparing it with the inclination threshold to determine whether to give an emergency alarm. When the interactive object is inclined, detecting the weight loss amount of the interactive object and the height air flow values corresponding to different rising heights of the interactive object and using fuzzy inference to analyze the abnormal level of the interactive event, and adjusting and processing the crane according to the abnormal level of the interactive event.

Description

Technical Field

[0001] The present invention relates to the technical field of balance control, and more specifically, the present invention relates to a crane balance control system. Background Art

[0002] The balance control technology is a technology for controlling and maintaining the stability of a system or device, and is used to adjust the motion state of the system or device to achieve stability. The application of the balance control technology in the crane balance control system can improve the balance of the crane when lifting objects and enhance the safety guarantee of the crane when lifting objects.

[0003] The prior art has the following deficiencies:

[0004] In the past, when a crane lifted an object, it only detected the center of gravity of the interacting object or the center of gravity of the crane, and achieved the balance of the crane when lifting the object by correcting the center of gravity. It did not consider the imbalance caused by the change of the center of gravity of the interacting object during the process of the crane lifting the object. When the interacting object spills or loses during the process of the crane lifting the object, resulting in changes in the original weight and center of gravity, it will cause the crane to lose balance when lifting the object, and the safety risk of the object lifting operation will increase. Summary of the Invention

[0005] In order to overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides a crane balance control system, which analyzes the attributes of the interacting object and the state of the crane when lifting the object to set an adjustment inclination threshold, and combines the loss amount of the interacting object and the air flow rate brought by different heights when the crane lifts the object to analyze the abnormality level of the interaction event and then performs balance control to solve the problems raised in the above background art.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A crane balance control system includes a data acquisition module, an inclination setting module, a loss detection module, and an adjustment warning module, and the modules are signal-connected to each other;

[0008] The data acquisition module identifies the interacting object of the crane to obtain the surface roughness and the center of gravity position of the interacting object, detects the vibration frequency and the energy consumption change amount of the crane when the crane interacts with the interacting object, and transmits the surface roughness, the center of gravity position, the vibration frequency, and the energy consumption change amount of the interacting object to the inclination setting module, and collects the inclination amount of the interacting object and transmits it to the loss detection module and the adjustment warning module;

[0009] The inclination setting module analyzes the attributes of the interacting object according to the surface roughness and the center of gravity position of the interacting object by using the logistic regression algorithm, and analyzes the state of the crane by using the geometric mean method in combination with the vibration frequency and the energy consumption change amount when the crane lifts the object, and sets the inclination threshold of the interacting object attributes and the crane state and transmits it to the loss detection module and the adjustment warning module;

[0010] The loss detection module determines whether the interactive item is tilted when the crane is lifting an object based on the tilt amount of the interactive item, detects the weight of the interactive item to obtain the weight loss amount of the interactive item, and real-time detects the height airflow values corresponding to different rising heights of the interactive item. Through fuzzy inference analysis of the comprehensive weight loss amount and the height airflow values, the abnormal level of the interaction event is passed to the adjustment and alarm module;

[0011] The adjustment and alarm module receives the tilt amount of the interactive item, compares it with the tilt threshold to obtain the tilt comparison result, and adjusts the crane according to the tilt comparison result or the abnormal level of the interaction event.

[0012] In a preferred embodiment, before the crane lifts an object, the data acquisition module uses a centroid measuring instrument to detect the centroid of the interactive item and takes the relative position of the centroid on the interactive item as the default centroid position of the interactive item;

[0013] When the crane is lifting an object, the data acquisition module selects a period of time as the analysis time, receives the vibration frequency of the crane collected by the vibration sensor. At the same time, within the analysis time, multiple detection time periods with the same time interval are divided, and the energy consumption of the crane when lifting an object is monitored by using an energy consumption monitor.

[0014] In a preferred embodiment, the specific steps for the data acquisition module to monitor the energy consumption of the crane when lifting an object are as follows:

[0015] Within the analysis time, multiple detection time periods with the same time interval are divided. At the time points at both ends of each detection time period, the energy consumption of the crane is recorded once. The difference between the energy consumption amount of the crane recorded at the latter time point of the detection time period and the energy consumption amount of the crane recorded at the former time point of the detection time period is used to obtain the energy consumption change amount of the corresponding detection time period. The energy consumption change amounts of each detection time period within the analysis time are compared, and the maximum value is selected as the energy consumption change amount of the crane when lifting an object within the analysis time;

[0016] After the interactive item is lifted by the crane, the centroid of the interactive item is detected again by using a centroid measuring instrument, and the relative position of the centroid on the interactive item is recorded and marked as the lifted centroid position of the interactive item. The vector difference between the lifted centroid position of the interactive item and the default centroid position of the interactive item is calculated, and the distance between the two centroid positions is obtained as the centroid distance difference.

[0017] In a preferred embodiment, after receiving the surface roughness of the interactive item and the centroid distance difference, the tilt setting module first standardizes the two kinds of data by using logarithmic transformation, and then uses the logistic regression algorithm to calculate the interactive item attribute value from the standardized results of the two kinds of data: , where L is the interactive item attribute value, e is the natural logarithm base, z is the logistic regression parameter and z is obtained by subtracting the standardized result of the centroid distance difference from the standardized result of the surface roughness of the interactive item.

[0018] In a preferred embodiment, after receiving the vibration frequency of the crane and the change amount of energy consumption when the crane is lifting an interactive item from the data acquisition module, the tilt setting module performs preprocessing as follows:

[0019] Access the historical database to obtain the baseline value of the energy consumption change of the crane when lifting an interactive item. After the interactive item is lifted by the crane, obtain the change amount of energy consumption of the crane during the analysis time. Take the ratio of the change amount of energy consumption of the crane when lifting the interactive item to the baseline value of the energy consumption change as the state initial value of the current interactive item being lifted by the crane. Perform logarithmic transformation on the vibration frequency of the crane and the state initial value for standardization: , where is the vibration frequency or state initial value of the crane, is the result after standardizing the vibration frequency or state initial value of the crane;

[0020] Comprehensively utilize the vibration frequency of the crane when lifting an interactive item and the result after standardizing the state initial value, and calculate the crane state value using the geometric mean method: , where S is the crane state value when the crane is lifting an interactive item, P is the result after standardizing the vibration frequency of the crane, and C is the result after standardizing the state initial value of the crane.

[0021] In a preferred embodiment, the tilt setting module takes the product of the interactive item attribute value and the crane state value as the interactive state risk coefficient, takes the ratio of the interactive state risk coefficient to the preset risk calibration value as the adjustment ratio of the tilt threshold, accesses the historical database to obtain the default tilt threshold of the crane, and updates the default tilt threshold through the adjustment ratio: , where is the updated tilt threshold, is the default tilt threshold, is the adjustment ratio.

[0022] In a preferred embodiment, the judgment rule for the loss detection module to judge whether the interactive item is tilted when the crane is lifting an interactive item after receiving the tilt amount of the interactive item is: when the tilt amount of the interactive item is 0, it is judged that there is no tilt when the crane is lifting an interactive item; otherwise, it is judged that there is a tilt when the crane is lifting an interactive item;

[0023] If the loss detection module judges that there is a tilt when the crane is lifting an interactive item, randomly select two time points as the loss measurement points, detect the weight of the interactive item at the loss measurement points, and take the difference between the weight of the interactive item detected at the latter loss measurement point and the weight of the interactive item detected at the former loss measurement point to obtain the weight loss amount of the interactive item;

[0024] After the interactive item is lifted by the crane, the loss detection module monitors the airflows at different heights where the interactive item is located in real time through an airflow sensor and obtains the height airflow values.

[0025] In a preferred embodiment, the loss detection module comprehensively utilizes the weight loss of the interactive item and the high-altitude air flow value, and uses fuzzy inference to analyze the abnormality level of the interactive event. The specific steps are as follows:

[0026] Define the weight loss of the interactive item and the high-altitude air flow value as input variables;

[0027] Define the abnormality level of the interactive event as the output variable;

[0028] Formulate a set of fuzzy rules to describe the relationship between different input variables and the output variable;

[0029] Perform fuzzy inference according to the fuzzy rules, and mark the abnormality level of the interactive event as low level or high level according to the output result.

[0030] In a preferred embodiment, after the adjustment alarm module receives the inclination amount of the interactive item transmitted by the data acquisition module and the updated inclination threshold transmitted by the inclination setting module, it makes a comparison;

[0031] When the inclination amount of the interactive item is lower than the updated inclination threshold, adjust the hoisting angle of the lifting object; when the inclination amount of the interactive item exceeds the updated inclination threshold, adjust the hoisting angle of the lifting object and perform an alarm process at the same time;

[0032] After the adjustment alarm module receives the abnormality level of the interactive event transmitted by the loss detection module, it makes a judgment. When the abnormality level of the interactive event is marked as low level, adjust the hoisting angle of the lifting object; when the abnormality level of the interactive event is marked as high level, adjust the hoisting angle of the lifting object and perform an alarm process at the same time;

[0033] Adjusting the hoisting angle means adjusting the rotating device of the crane to reduce the inclination amount of the interactive item until the inclination amount of the interactive item is 0; the alarm process is to send an alarm text message and an alarm ringtone to the crane driver.

[0034] The technical effects and advantages of a crane balance control system of the present invention:

[0035] The present invention analyzes the attributes of the interactive item by obtaining the surface roughness and the center of gravity position of the interactive item, collects the vibration frequency of the crane and the change amount of energy consumption during the crane hoisting the object to analyze the state of the crane during hoisting, sets the inclination threshold by comprehensively considering the attributes of the interactive item and the state of the crane, improves the threshold accuracy and the safety guarantee of crane operation by comprehensively evaluating the inclination threshold from two aspects, detects the inclination degree of the interactive item during crane hoisting and compares it with the inclination threshold to determine whether to perform an emergency alarm. When the interactive item is inclined, detect the weight loss of the interactive item and the high-altitude air flow value corresponding to different rising heights of the interactive item and analyze the abnormality level of the interactive event, and perform adjustment processing on the crane according to the abnormality level of the interactive event, reducing the potential safety hazard caused by the weight loss during the rising of the interactive item. Brief Description of the Drawings

[0036] Figure 1 This is a schematic diagram of a crane balance control system according to the present invention.

[0037] Figure 2 This is a flowchart of a crane balance control system according to the present invention. Detailed Embodiments

[0038] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0039] The present invention analyzes the attributes of the interactive item by obtaining the surface roughness and the center of gravity position of the interactive item, collects the vibration frequency of the crane and the change amount of energy consumption during the crane lifting the object to analyze the state of the crane during the crane lifting the object, sets the tilt threshold by synthesizing the attributes of the interactive item and the state of the crane, detects the tilt of the interactive item during the crane lifting the object and compares it with the tilt threshold to determine whether to give an emergency warning. When the interactive item tilts, it detects the weight loss of the interactive item and the height air flow value corresponding to different rising heights of the interactive item and analyzes the abnormality level of the interactive event, and adjusts and processes the crane according to the abnormality level of the interactive event, reducing the potential safety hazard caused by the weight loss during the rising of the interactive item.

[0040] Embodiment, a crane balance control system, as Figure 1 shown, includes a data acquisition module, a tilt setting module, a loss detection module, and an adjustment warning module, and the modules are connected by signals;

[0041] The functions of each module are as follows:

[0042] The data acquisition module identifies the interactive item of the crane to obtain the surface roughness and the center of gravity position of the interactive item, detects the vibration frequency of the crane and the change amount of energy consumption during the crane lifting the object when the crane interacts with the interactive item, and transmits the surface roughness, the center of gravity position, the vibration frequency of the crane, and the change amount of energy consumption of the interactive item to the tilt setting module, and collects the tilt amount of the interactive item and transmits it to the loss detection module and the adjustment warning module;

[0043] The tilt setting module analyzes the attributes of the interactive item by using the logistic regression algorithm according to the surface roughness and the center of gravity position of the interactive item, synthesizes the vibration frequency and the change amount of energy consumption during the crane lifting the object, and uses the geometric mean method to analyze the state of the crane, and sets the tilt threshold of the interactive item attribute and the crane state and transmits it to the loss detection module and the adjustment warning module;

[0044] The loss detection module determines whether the interactive item is tilted when the crane is lifting an object based on the tilt amount of the interactive item, detects the weight of the interactive item to obtain the weight loss amount of the interactive item, and real-time detects the height air flow values corresponding to different rising heights of the interactive item. Through fuzzy inference analysis of the comprehensive weight loss amount and the height air flow values, the abnormal level of the interactive event is passed into the adjustment and alarm module;

[0045] The adjustment and alarm module receives the tilt amount of the interactive item, compares it with the tilt threshold to obtain the tilt comparison result, and performs adjustment processing on the crane according to the tilt comparison result or the abnormal level of the interactive event.

[0046] It should be noted that the interactive item is an item lifted by the crane. The tilt threshold is formulated according to the physical states of different interactive items to reduce the risk of the crane lifting an object caused by the differences of interactive items.

[0047] The data acquisition module displays and acquires the surface roughness of the interactive item through a roughness measuring instrument, and uses a centroid measuring instrument to detect the centroid of the interactive item before the crane lifts an object, and takes the relative position of the centroid on the interactive item as the default centroid position of the interactive item;

[0048] When the crane is lifting an object, the data acquisition module selects a period of time as the analysis time, receives the vibration frequency of the crane collected by the vibration sensor. At the same time, within the analysis time, detection time periods with the same time interval are divided, and the energy consumption of the crane when lifting an object is monitored by an energy consumption monitor.

[0049] It should be noted that the roughness measuring instrument is a device for measuring the surface roughness of an object, used to measure and quantitatively display the surface roughness of the interactive item; the centroid measuring instrument is a device for determining the centroid position of an object, used to measure the centroid of the interactive item and obtain the default centroid position of the interactive item; the vibration sensor is a device for monitoring and measuring the vibration of an object, installed on the crane to monitor the vibration frequency of the crane when the crane is lifting an object; the energy consumption monitor is a device for real-time monitoring and recording the energy usage situation, and in this example, it is used to monitor the energy consumption of the crane when lifting an object.

[0050] The specific steps for the data acquisition module to monitor the energy consumption of the crane when lifting an object are as follows:

[0051] Within the analysis time, multiple detection time periods with the same time interval are divided. At the time points at both ends of each detection time period, the energy consumption of the crane is recorded once. The difference between the energy consumption amount of the crane recorded at the latter time point of the detection time period and the energy consumption amount of the crane recorded at the former time point of the detection time period is used to obtain the energy consumption change amount of the corresponding detection time period. The energy consumption change amounts of each detection time period within the analysis time are compared, and the maximum value is selected as the energy consumption change amount of the crane when lifting an object within the analysis time.

[0052] After the interactive object is lifted by the crane, the center of gravity of the interactive object is detected again with a center of gravity measuring instrument, and the relative position of the center of gravity on the interactive object is recorded and marked as the lifted center of gravity position of the interactive object. The vector difference between the lifted center of gravity position of the interactive object and the default center of gravity position of the interactive object is calculated, and the distance between the two center of gravity positions is obtained as the center of gravity distance difference;

[0053] If it is parallel to the horizontal position, it is determined that the interactive object does not tilt when lifted by the crane; otherwise, it is determined that the interactive object tilts when lifted by the crane, and the angle between the vector direction of the lifted center of gravity position of the interactive object and the default center of gravity position of the interactive object and the horizontal direction is used as the tilt amount of the interactive object;

[0054] The data acquisition module transmits the surface roughness of the interactive object, the center of gravity distance difference, the vibration frequency of the crane, and the energy consumption change amount to the tilt setting module; the tilt amount of the interactive object is transmitted to the loss detection module and the adjustment warning module.

[0055] It should be noted that vector difference calculation is a vector operation. In this example, vector difference calculation is to subtract the coordinate values of the two center of gravity positions to obtain the distance between the two center of gravity positions, and connect the two center of gravity positions, and record the direction of the straight line after connection, which is used to obtain the tilt amount of the interactive object when lifted by the crane.

[0056] After receiving the surface roughness of the interactive object and the center of gravity distance difference transmitted by the data acquisition module, the tilt setting module first standardizes the two data by using logarithmic transformation, and then calculates the interactive object attribute value by using the logistic regression algorithm for the results of the two data after standardization: , where L is the interactive object attribute value, e is the natural base, and z is the logistic regression parameter and z is obtained by subtracting the result of standardizing the center of gravity distance difference from the result of standardizing the surface roughness of the interactive object.

[0057] It should be noted that logarithmic transformation is a standardization algorithm that presents the original data in logarithmic form, which is used to reduce the range of data and make different data enter the same dimension; according to the logistic regression algorithm, the relationship between the object attribute value and the surface roughness of the interactive object and the center of gravity distance difference can be determined. When the surface roughness of the interactive object is smaller or the center of gravity distance difference is larger, the object attribute value is larger, and the interactive object is more likely to slide and shift, causing potential safety hazards.

[0058] After receiving the vibration frequency of the crane and the energy consumption change amount of the crane when lifting the object transmitted by the data acquisition module, the tilt setting module performs the following preprocessing:

[0059] Access the historical database to obtain the energy consumption change reference value of the crane lifting the object. After the interactive object is lifted by the crane, obtain the energy consumption change amount of the crane lifting the object within the analysis time. Take the ratio of the energy consumption change amount of the crane lifting the object to the energy consumption change reference value as the state initial value of the current interactive object being lifted by the crane. Perform logarithmic transformation on the vibration frequency of the crane and the state initial value for standardization: , where is the vibration frequency or state initial value of the crane, is the result after standardizing the vibration frequency or state initial value of the crane;

[0060] Comprehensively utilize the vibration frequency of the crane when lifting the object and the result after standardizing the state initial value, and calculate the crane state value using the geometric mean method: , where S is the crane state value when the crane lifts the object, P is the result after standardizing the vibration frequency of the crane, and C is the result after standardizing the state initial value of the crane.

[0061] It should be noted that the historical database is a database system for storing and managing historical data. The energy consumption change reference value of the past crane lifting records can be called in the historical database. The energy consumption change reference value is the energy consumption change amount when the crane lifts the object under normal conditions; according to the geometric mean method, the relationship between the crane state value when the crane lifts the object and the vibration frequency and state initial value of the crane can be determined. When the crane lifts the object, the greater the vibration frequency or state initial value of the crane, the greater the crane state value, and it is more likely to have potential safety hazards when the interactive object is lifted by the crane, which requires more attention.

[0062] The tilt setting module takes the product of the interactive object attribute value and the crane state value as the interactive state risk coefficient, takes the ratio of the interactive state risk coefficient to the preset risk calibration value as the adjustment ratio of the tilt threshold, accesses the historical database to obtain the default tilt threshold of the crane, and updates the default tilt threshold through the adjustment ratio: , where is the updated tilt threshold, is the default tilt threshold, is the adjustment ratio.

[0063] It should be noted that the default tilt threshold is the tilt threshold set for the past crane lifting records in the historical database. When the tilt of the crane lifting the object exceeds the tilt threshold, the crane will take measures or give an alarm. The risk calibration value is set by professionals in this field according to the actual situation and will not be elaborated here.

[0064] The rule for the loss detection module to judge whether the interactive object is tilted when the crane lifts the object after receiving the tilt amount of the interactive object is: when the tilt amount of the interactive object is 0, it is judged that there is no tilt when the crane lifts the object; otherwise, it is judged that there is a tilt when the crane lifts the object.

[0065] When the loss detection module determines that the hoisted object of the crane is tilted, it randomly selects two time points as the loss measurement points, detects the weight of the interactive item at the loss measurement points, and subtracts the weight of the interactive item detected at the latter loss measurement point from the weight of the interactive item detected at the former loss measurement point to obtain the weight loss of the interactive item;

[0066] After the interactive item is hoisted by the crane, the loss detection module uses an airflow sensor to monitor the airflow at different heights where the interactive item is located in real time and obtains the height airflow value;

[0067] It should be noted that the airflow sensor is a device for measuring the flow velocity and flow rate of gas, and is used to measure the airflow of the interactive item at different heights when the crane hoists the object.

[0068] The loss detection module comprehensively uses the weight loss of the interactive item and the height airflow value, and uses fuzzy inference to analyze the abnormal level of the interactive event. The specific steps are as follows:

[0069] Define the weight loss of the interactive item and the height airflow value as input variables, and divide them into different fuzzy sets. For example, "Big" and "Small" for the weight loss of the interactive item; "High" and "Low" for the height airflow value.

[0070] Define the abnormal level of the interactive event as the output variable, and divide it into different fuzzy sets. For example, "High" and "Low" for the abnormal level of the interactive event.

[0071] Formulate a set of fuzzy rules to describe the relationship between different input variables and the output variable; for example, mark the weight loss of the interactive item as W, mark the height airflow value as H, and mark the abnormal level of the interactive event as Y, then it can be defined as:

[0072] First Rule: IF (W is Big) AND (H is High) THEN (Y is High)

[0073] Second Rule: IF (W is Small) AND (H is Low) THEN (Y is Low) ...

[0074] According to the fuzzy rules for fuzzy inference, when the output result is "High", mark the abnormal level of the interactive event as high level; when the output result is "Low", mark the abnormal level of the interactive event as low level; after the loss detection module analyzes and obtains the abnormal level of the interactive event, it is passed to the adjustment and alarm module.

[0075] It should be noted that the number of partitions of the fuzzy set can be adjusted according to the actual situation. In this example, only two fuzzy sets are used for illustration. In addition, the threshold for judging the weight loss of the interactive item and the height of the air flow value can be set according to the actual situation. For example, when the weight loss exceeds 1 kg, it is labeled as "Big", and when the height of the air flow value exceeds 1.5 m / s, it is labeled as "High", etc. This will not be analyzed here.

[0076] After receiving the inclination amount of the interactive item transmitted by the data acquisition module and the updated inclination threshold transmitted by the inclination setting module, the adjustment alarm module makes a comparison. When the inclination amount of the interactive item is lower than the updated inclination threshold, the angle of the suspended object is adjusted; when the inclination amount of the interactive item exceeds the updated inclination threshold, while adjusting the angle of the suspended object, an alarm process is carried out.

[0077] Adjusting the angle of the suspended object means adjusting the crane rotation device to reduce the inclination amount of the interactive item until the inclination amount of the interactive item is 0.

[0078] After receiving the abnormal level of the interactive event transmitted by the loss detection module, the adjustment alarm module makes a judgment. When the abnormal level of the interactive event is marked as low level, the angle of the suspended object is adjusted; when the abnormal level of the interactive event is marked as high level, while adjusting the angle of the suspended object, an alarm process is carried out.

[0079] It should be noted that the alarm process is not unique. It can be processed by sending an alarm text message or an alarm ringtone to the crane driver, and this will not be elaborated here.

[0080] The above embodiments can be implemented in whole or in part by software, hardware, firmware, or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product.

[0081] Those of ordinary skill in the art can realize that the modules and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application of the technical solution and the invention constraints. Professional technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of this application.

[0082] In addition, in each embodiment of the present application, the various functional modules can be integrated in a processing module, or each module can exist physically alone, or two or more modules can be integrated in one module.

[0083] As described above, it is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claimed rights.

[0084] Finally: The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A crane balance control system, characterized in that: It includes a data acquisition module, a tilt setting module, a loss detection module and an adjustment alarm module, and the signal connections between the modules; The data acquisition module identifies the crane's interactive objects to obtain the surface roughness and center of gravity of the interactive objects. When the crane interacts with the interactive objects, the vibration frequency and energy consumption change of the crane are detected when the crane is lifting the objects. The surface roughness, center of gravity, vibration frequency and energy consumption change of the interactive objects are transmitted to the tilt setting module. The tilt of the interactive objects is collected and transmitted to the loss detection module and the adjustment alarm module. The tilt setting module uses a logistic regression algorithm to analyze the properties of interactive objects according to the surface roughness and center of gravity of the interactive objects, and uses the geometric mean method to analyze the crane status based on the vibration frequency and energy consumption change when the crane is lifting objects. The tilt threshold is set based on the interactive object properties and the crane status and is transmitted to the loss detection module and the adjustment alarm module. The loss detection module determines whether the interactive object is tilted when the crane is lifting the object according to the tilt of the interactive object, and detects the weight of the interactive object to obtain the weight loss of the interactive object, and detects the altitude airflow values ​​corresponding to the different heights of the interactive object in real time. The comprehensive weight loss and altitude airflow values ​​are analyzed through fuzzy reasoning to transfer the abnormal level of the interactive event to the adjustment alarm module; The adjustment alarm module receives the tilt amount of the interactive object and compares it with the tilt threshold and obtains the tilt comparison result, and adjusts the crane according to the tilt comparison result or the abnormal level of the interactive event.

2. A crane balance control system according to claim 1, characterized in that: The data acquisition module displays and collects the surface roughness of the interactive object, detects the center of gravity of the interactive object before the crane lifts the object, and uses the relative position of the center of gravity of the interactive object as the default center of gravity position of the interactive object; When the crane is lifting objects, the data acquisition module selects a period of time as the analysis time, receives the vibration frequency of the crane collected by the vibration sensor, and at the same time, divides the analysis time into multiple detection time periods with the same time interval to monitor the energy consumption of the crane lifting objects.

3. A crane balance control system according to claim 2, characterized in that: The specific steps of the data acquisition module to monitor the energy consumption of crane hoisting objects are as follows: Divide the analysis time into multiple detection time periods with the same time interval, record the energy consumption of the crane at the time points at both ends of each detection time period, and use the energy consumption of the crane recorded at a time point after the detection time period to obtain the energy consumption change of the corresponding detection time period by subtracting the energy consumption of the crane recorded at a time point before the detection time period, compare the energy consumption changes of each detection time period within the analysis time, and select the maximum value as the energy consumption change of the crane hoisting object within the analysis time; After the interactive object is lifted by the crane, the gravity center of the interactive object is detected again with a gravity center measuring instrument and the relative position of the interactive object where the gravity center is located is recorded and marked as the gravity center position of the interactive object when it is lifted. The vector difference between the gravity center position of the interactive object when it is lifted and the default gravity center position of the interactive object is calculated and the distance between the two gravity center positions is obtained as the gravity center distance difference; In the vector difference calculation, the coordinate values ​​of the two center of gravity positions are subtracted to obtain the distance between the two center of gravity positions, and the two center of gravity positions are connected. The direction of the connected straight line is recorded to obtain the tilt amount of the interactive object when it is lifted by the crane.

4. A crane balance control system according to claim 2, characterized in that: After receiving the surface roughness of the interactive object and the center of gravity distance difference, the tilt setting module first uses logarithmic changes to standardize the two data, and then uses the logistic regression algorithm to calculate the attribute value of the interactive object: , where L is the attribute value of the interactive item, e is the natural base, z is the logistic regression parameter and z is the difference between the standardized result of the centroid distance difference and the standardized result of the surface roughness of the interactive item.

5. A crane balance control system according to claim 3, characterized in that: The tilt setting module receives the vibration frequency and energy consumption change of the crane when the crane is lifting objects from the data acquisition module and performs preprocessing as follows: Access the historical database to obtain the energy consumption change benchmark value of the crane hoisting object. After the interactive object is lifted by the crane, obtain the energy consumption change of the crane hoisting object within the analysis time. The ratio of the energy consumption change of the crane hoisting object to the energy consumption change benchmark value is used as the state initial value of the current interactive object being lifted by the crane. The vibration frequency of the crane and the state initial value are logarithmically changed and standardized: ,in, is the vibration frequency or state value of the crane, It is the result of the normalization of the vibration frequency or state value of the crane; The crane state value is calculated by the geometric mean method based on the vibration frequency of the crane when the crane is lifting objects and the results of the normalization of the state value: , where S is the state value of the crane when the crane is lifting objects, P is the result of the normalization of the vibration frequency of the crane, and C is the result of the normalization of the state value of the crane; The historical database is a database system for storing and managing historical data. The energy consumption change benchmark value is stored in the historical database. The energy consumption change benchmark value is the energy consumption change when the crane is lifting objects under normal conditions.

6. A crane balance control system according to claim 5, characterized in that: The tilt setting module uses the product of the interactive item attribute value and the crane state value as the interactive state risk coefficient, and uses the ratio of the interactive state risk coefficient to the preset risk calibration value as the adjustment ratio of the tilt threshold. It accesses the historical database to obtain the default tilt threshold of the crane, and updates the default tilt threshold by adjusting the ratio: ,in is the updated tilt threshold, is the default tilt threshold, To adjust the ratio; The default tilt threshold is the tilt threshold set for past crane loads recorded in the history database.

7. A crane balance control system according to claim 5, characterized in that: After receiving the tilt of the interactive object, the loss detection module determines whether the interactive object tilts when the crane is lifting the object. The judgment rule is: when the tilt of the interactive object is 0, it is judged that the crane is not tilted when lifting the object; otherwise, it is judged that the crane is tilted when lifting the object; When the loss detection module determines that the crane is tilted when lifting objects, it randomly selects two time points as loss measurement points, detects the weight of the interactive items at the loss measurement points, and subtracts the weight of the interactive items detected at the latter loss measurement point from the weight of the interactive items detected at the previous loss measurement point to obtain the weight loss of the interactive items; After the interactive object is lifted by the crane, the loss detection module monitors the airflow at different heights of the interactive object in real time through the airflow sensor and obtains the height airflow value.

8. A crane balance control system according to claim 7, characterized in that: The loss detection module uses fuzzy reasoning to analyze the abnormal level of interactive events based on the weight loss of interactive items and the height airflow value. The specific steps are as follows: The weight loss of the interactive items and the height airflow value are defined as input variables; Define the interaction event abnormality level as an output variable; Formulate a set of fuzzy rules to describe the relationship between different input variables and output variables; Fuzzy reasoning is performed according to fuzzy rules, and the abnormal level of the interaction event is marked as low or high according to the output results.

9. A crane balance control system according to claim 8, characterized in that: The adjustment alarm module receives and compares the tilt amount of the interactive object transmitted by the data acquisition module and the updated tilt threshold transmitted by the tilt setting module; When the tilt of the interactive object is lower than the updated tilt threshold, the angle of the hanging object is adjusted; when the tilt of the interactive object exceeds the updated tilt threshold, the angle of the hanging object is adjusted and an alarm is issued; The adjustment alarm module receives the abnormal level of the interaction event transmitted by the loss detection module and makes a judgment. When the abnormal level of the interaction event is marked as low, the angle of the hanging object is adjusted; when the abnormal level of the interaction event is marked as high, the angle of the hanging object is adjusted and the alarm processing is performed; Adjusting the angle of the hoisted object is to adjust the crane rotation device to reduce the tilt of the interactive object until the tilt of the interactive object is 0; the alarm processing is to send an alarm text message and an alarm ringtone to the crane driver.

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