Crane linkage hoisting system and method

Abstract

The invention discloses a crane linkage hoisting system and method, and belongs to the technical field of cranes, the crane linkage hoisting system comprises a track, a first running mechanism and a second running mechanism arranged on the track, a third running mechanism arranged on the first running mechanism and the second running mechanism, and a hoisting mechanism arranged on the third running mechanism, the system control center is in communication connection with the first operation mechanism, the second operation mechanism, the third operation mechanism and the hoisting mechanism; a plurality of third running mechanisms are arranged on the first running mechanism and / or the second running mechanism; the laser sensor is used for acquiring the distance between the two groups of operation mechanisms and is also used for acquiring the hoisting height of the hoisting mechanism. The technical effects that it is ensured that the two operation mechanisms are located at the safe distance, heavy objects are lifted cooperatively, and the safety of lifting operation is improved are achieved.

Description

Technical Field

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

[0002] A crane is a mechanical device used to lift or move heavy objects vertically. It uses a mechanical structure and a power system to lift, lower and carry heavy objects. Cranes are widely used in construction sites, ports, warehouses, factories and other places for loading and unloading goods, installing large equipment, etc.

[0003] In lifting operations, especially when lifting or moving large-tonnage equipment, it is necessary to coordinate the joint operation of multiple cranes. When multiple cranes work together, it involves the coordinated control of multiple motion mechanisms of the cranes. When dual cranes work in linkage, a safe distance needs to be maintained to prevent the two sets of operating mechanisms from interfering with each other during operation and causing accidents. On the other hand, when multiple cranes work together, heavy objects need to be lifted, lowered and transported synchronously to avoid accidents caused by overturning during the lifting, lifting and transport of heavy objects. Summary of the invention

[0004] To solve the above problems, the present invention provides a crane linkage hoisting system in a first aspect, comprising: a track, a first operating mechanism and a second operating mechanism arranged on the track, a third operating mechanism arranged on the first operating mechanism and the second operating mechanism, a hoisting mechanism arranged on the third operating mechanism, and a system control center communicatively connected to the first operating mechanism, the second operating mechanism, the third operating mechanism and the hoisting mechanism respectively;

[0005] A plurality of third operating mechanisms are provided on the first operating mechanism and / or the second operating mechanism;

[0006] It also includes: a laser sensor, which is used to obtain the distance between the two sets of operating mechanisms and the hoisting height of the hoisting mechanism;

[0007] The connection method between the system control center and the first operating mechanism and the second operating mechanism includes: a first communication network and a second communication network.

[0008] A second aspect of the present invention provides a crane linkage hoisting method, based on the crane linkage hoisting system described in the above scheme, comprising the following steps:

[0009] Preset safety distance value;

[0010] Run to the lifting point and obtain the running distance value,

[0011] The running distance value is the distance between two running mechanisms when they are running;

[0012] Based on the preset safety distance value, operating distance value and dynamic threshold value set, determine the operating status of the operating mechanism at the current time point;

[0013] Determine operation adjustment information based on the operation status at the current time point;

[0014] Lifting the load.

[0015] In some embodiments, the distance deviation value=the operating distance value-the safety distance value;

[0016] The operating status at the current time point includes: normal, slightly abnormal, moderately abnormal, and severely abnormal;

[0017] The dynamic threshold set refers to the threshold set used to judge the operating status of two adjacent operating mechanisms;

[0018] Determining the running status at the current time point includes:

[0019] Determine the running status at the current time point based on the distance deviation value;

[0020] When the distance deviation value is less than the first distance threshold, determining that the current operating state is normal;

[0021] 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 operating state is slightly abnormal;

[0022] 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 operating state is moderately abnormal;

[0023] When the distance deviation value is greater than the third distance threshold, it is determined that the current operating state is severely abnormal.

[0024] In some embodiments, determining the operation adjustment information includes:

[0025] In response to the normality or slight abnormality of the current operating state, maintaining the current operating speed;

[0026] generating first speed adjustment information in response to a moderate abnormality of a current operating state;

[0027] In response to a serious abnormality in the current operating status, the system shuts down.

[0028] In some embodiments, generating the first speed adjustment information includes:

[0029] Assume that in two running mechanisms moving in the same direction, along the moving direction of the running mechanism, the running mechanism located in front is the first linkage mechanism, and the running mechanism located in the rear is the second linkage mechanism. The running speed of the first linkage mechanism is V A ;

[0030] determining an operating speed of the second linkage mechanism based on an operating speed of the first linkage mechanism;

[0031] adjusting the second linkage mechanism based on the operating speed of the second linkage mechanism;

[0032] The method of determining the running speed of the second linkage mechanism based on the running speed of the first linkage mechanism is:

[0033] V B =V A +ΔV

[0034] Among them, V B is the operating speed of the second linkage mechanism, ΔV is the speed difference;

[0035] The speed difference ΔV is calculated as:

[0036]

[0037] Among them, K P is the proportionality coefficient, K I is the integration coefficient, K D is the differential coefficient, e is the difference between the running distance and the safety distance, ∫edt is the integral of the error, is the rate of change of error.

[0038] 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 operating mechanism, specifically in the following manners:

[0039] Determining a first distance threshold based on the operating radius;

[0040] The first distance threshold is calculated as follows:

[0041] dthr=bthr-R·adj

[0042] Among them, dthr is the first distance threshold; bthr is the basic threshold; R is the operating radius; adj is the adjustment coefficient;

[0043] Determine a second distance threshold and a third distance threshold based on the first distance threshold;

[0044] The second distance threshold is calculated as follows:

[0045] xthr=dthr+acd

[0046] Wherein, xthr is the second distance threshold; dthr is the first distance threshold; acd is the adjustment distance;

[0047] The third distance threshold is calculated as follows:

[0048] ythr=dthr+msd

[0049] Among them, ythr is the third distance threshold; dthr is the first distance threshold; msd is the maximum safety distance.

[0050] In some embodiments, the hoisting object comprises:

[0051] Obtaining the hoisting heights of the first operating mechanism and the second operating mechanism respectively;

[0052] Determine the hoisting speed adjustment information based on the hoisting height difference between the first operating mechanism and the second operating mechanism and the first height threshold,

[0053] The first height threshold is the value used to determine whether the hoisting speed needs to be adjusted.

[0054] Hoisting height difference = hoisting height of the first operating mechanism - hoisting height of the second operating mechanism;

[0055] Based on the hoisting height difference after the hoisting speed adjustment and the second height threshold, second hoisting speed adjustment information is determined,

[0056] The hoisting height difference after the hoisting speed adjustment refers to the hoisting height difference between the first operating mechanism and the second operating mechanism when hoisting according to the first hoisting speed adjustment information.

[0057] In some embodiments, the determining of the hoisting speed adjustment information based on the hoisting height difference and the height threshold of the first operating mechanism and the second operating mechanism includes:

[0058] Determine the compensation coefficient based on the hoisting height difference and the rated speed of the motor;

[0059] First hoisting speed adjustment information is generated based on the compensation coefficient.

[0060] In some embodiments, the compensation coefficient is determined based on the hoisting height difference and the rated speed of the motor as follows:

[0061] S=H 3 N

[0062] Among them, S is the compensation coefficient, H is the height difference of hoisting, and N is the rated speed of the motor;

[0063] The generating of the first hoisting speed adjustment information based on the compensation coefficient comprises:

[0064] Adjusting the hoisting speeds of the first operating mechanism and the second operating mechanism respectively based on the compensation coefficient;

[0065] Assume that the preset hoisting speed of the first operating mechanism and the second operating mechanism is the rated hoisting speed,

[0066] If the compensation coefficient is greater than 0, the hoisting speed of the first operating mechanism = rated hoisting speed × (1-compensation coefficient), and the hoisting speed of the second operating mechanism = rated hoisting speed × (1+compensation coefficient);

[0067] If the compensation coefficient is less than 0, the hoisting speed of the first operating mechanism = rated hoisting speed × (1 + | compensation coefficient |), and the operating speed of the second linkage mechanism = rated speed × (1 - | compensation coefficient |).

[0068] In some embodiments, determining the second hoisting speed adjustment information includes:

[0069] Adjust the hoisting speed of the first operating mechanism and the second operating mechanism based on the actual distance value and the safety distance value after speed adjustment;

[0070] Wherein, the hoisting speed of the first operating mechanism = rated hoisting speed;

[0071] The hoisting speed of the second operating mechanism = rated hoisting speed.

[0072] By adopting the above technical solution, the present invention mainly has the following technical effects:

[0073] The distance value between the two operating mechanisms is adjusted through the first speed adjustment information to make the distance between the two operating mechanisms at a safe distance, and the lifting speed adjustment information is determined based on the lifting height difference and height threshold of the first operating mechanism and the second operating mechanism, thereby achieving the technical effect of ensuring that the two operating mechanisms are at a safe distance and collaboratively lifting heavy objects to improve the safety of lifting operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] Figure 1 It is a structural schematic diagram of a crane linkage hoisting system of the present invention;

[0075] Figure 2 A flowchart of a crane linkage hoisting method according to the present invention;

[0076] Figure 3 The present invention provides a flow chart of hoisting a hoisted object in a crane linkage hoisting method.

[0077] The meanings of the reference numerals are as follows:

[0078] 1. Track;

[0079] 2. The first operating mechanism;

[0080] 3. The second operating mechanism;

[0081] 4. The third operating mechanism;

[0082] 5. Lifting mechanism. DETAILED DESCRIPTION

[0083] 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.

[0084] 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.

[0085] See also Figure 1 In a first aspect, the present invention provides a crane linkage lifting system, which includes: a track 1, a first operating mechanism 2 and a second operating mechanism 3 arranged on the track 1, a third operating mechanism 4 arranged on the first operating mechanism 2 and the second operating mechanism 3, a lifting mechanism 5 arranged on the third operating mechanism 4, and a system control center respectively connected to the first operating mechanism 2, the second operating mechanism 3, the third operating mechanism 4 and the lifting mechanism 5 for communication.

[0086] In some embodiments, the first operating mechanism 2 and the second operating mechanism 3 are moving parts of the crane installed on the track 1, 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.

[0087] In some embodiments, the third operating mechanism 4 is a moving part installed on the boom, which can 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.

[0088] In some embodiments, the lifting mechanism 5 is the part of the crane used to lift goods. The lifting items are connected through a hook, and a wire rope or chain is wound around a drum. The winch drives the drum to rotate to achieve the retraction and release of the wire rope or chain, thereby controlling the lifting and lowering of the hook.

[0089] In some embodiments, a plurality of third operating mechanisms 4 may be provided on the first operating mechanism 2 and / or the second operating mechanism 3 , and the working efficiency is improved by the plurality of third operating mechanisms 4 working simultaneously.

[0090] 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 operating mechanism 2 and the second operating mechanism 3 to move on the track 1, and / or driving the third operating mechanism 4 to move.

[0091] In some embodiments, the motor can be used to drive the drum to rotate to achieve the retraction and extension of the wire rope or chain, thereby controlling the lifting and lowering of the hook.

[0092] The system control center is respectively connected to the first operating mechanism 2 and the second operating mechanism 3 by communication, and the system control center interacts with the first operating mechanism 2 and the second operating mechanism 3 to control the movement of the first operating mechanism 2 and the second operating mechanism 3. In some embodiments, by setting the communication mode between the system control center and the first operating mechanism 2 and the second operating mechanism 3 as the system control center is connected to the first operating mechanism 2 and the second operating mechanism 3 by communication, and the first operating mechanism 2 and the second operating mechanism 3 are interactively controlled by the system control center, the problem of failure when the linkage lifting system is working, when the interactive information is sent to the second operating mechanism 3 via the first operating mechanism 2 and / or when the interactive information is sent to the first operating mechanism 2 via the second operating mechanism 3.

[0093] In some embodiments, the connection between the system control center and the first operating mechanism 2 and the second operating 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 of the laser communication device is to modulate the information to the frequency, amplitude or phase of the laser, and then transmit and receive it through an electromagnetic wave antenna.

[0094] 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.

[0095] In some embodiments, the crane linkage lifting system further comprises: a laser sensor, which is used to obtain the distance between any two sets of operating mechanisms. In some embodiments, the laser sensor is also used to obtain the lifting height of the lifting mechanism 5, for example, the lifting height can be directly obtained by obtaining the distance between the hook and the ground, or the lifting height can be indirectly obtained by obtaining the distance between the hook and the drum through calculation.

[0096] In some embodiments, the laser sensor can measure distance by emitting laser pulses and receiving reflected light.

[0097] See also Figure 2-Figure 3 The second aspect of the present invention provides a crane linkage lifting method based on the crane linkage lifting system described in the above scheme.

[0098] The crane linkage hoisting method comprises the following steps:

[0099] S1, preset safety distance value;

[0100] In some embodiments, the safety distance value refers to the distance value when two adjacent groups of operating mechanisms are in a safe working environment. In some embodiments, the two groups of operating mechanisms can be the first operating mechanism 2 and the second operating mechanism 3, or can be any two groups of third operating mechanisms 4.

[0101] In some embodiments, the rated load and actual load of the crane may affect its safe working distance. Heavier loads may require a greater safety distance to prevent the two sets of operating mechanisms from interfering with each other during operation and causing accidents.

[0102] In some embodiments, the safety distance value may be the distance value between the two sets of operating mechanisms before displacement occurs, and the distance value may be measured by a laser sensor. In some embodiments, the distance may be measured by installing a laser sensor on the operating mechanism, emitting laser pulses and receiving reflected light.

[0103] S2, run to the hanging point and obtain the running distance value;

[0104] In some embodiments, a plurality of operating mechanisms may be moved to a lifting point at the same speed to lift a heavy object below.

[0105] In some embodiments, the running distance value is the distance value between the two running mechanisms when they are running.

[0106] In some embodiments, the running distance value can be measured by a laser sensor on the running mechanism.

[0107] S3. Based on the preset safety distance value, the operating distance value and the dynamic threshold value set, determine the operating status of the operating mechanism at the current time point;

[0108] In some embodiments, the operating status of the operating mechanism at the current time point can be determined by calculating the deviation between the operating distance value and the preset safety distance value, and comparing the deviation with the threshold in the dynamic threshold set.

[0109] In some embodiments, the distance deviation value is calculated as follows: distance deviation value = operating distance value - safety distance value.

[0110] In some embodiments, the operating status at the current time point includes: normal, slightly abnormal, moderately abnormal, and severely abnormal.

[0111] In some embodiments, the dynamic threshold set refers to a threshold set used to determine the operating status of two adjacent operating mechanisms. In some embodiments, the dynamic threshold set can be set based on the operating radius of the current operating mechanism. For example, when the operating radius of the operating mechanism is larger, the dynamic threshold is smaller. More details about the dynamic threshold will be further described below.

[0112] In some embodiments, determining the operating status at the current time point includes:

[0113] Determine the running status at the current time point based on the distance deviation value;

[0114] When the distance deviation value is less than the first distance threshold, determining that the current operating state is normal;

[0115] 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 operating state is slightly abnormal;

[0116] 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 operating state is moderately abnormal;

[0117] When the distance deviation value is greater than the third distance threshold, it is determined that the current operating state is severely abnormal.

[0118] 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.

[0119] 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 operating mechanism, specifically in the following manners:

[0120] Determining a first distance threshold based on the operating radius;

[0121] The first distance threshold is calculated as follows:

[0122] dthr=bthr-R·adj

[0123] Among them, dthr is the first distance threshold; bthr is the basic threshold; R is the operating radius; adj is the adjustment coefficient;

[0124] Determine a second distance threshold and a third distance threshold based on the first distance threshold;

[0125] The second distance threshold is calculated as follows:

[0126] xthr=dthr+acd

[0127] Wherein, xthr is the second distance threshold; dthr is the first distance threshold; acd is the adjustment distance;

[0128] The third distance threshold is calculated as follows:

[0129] ythr=dthr+msd

[0130] Among them, ythr is the third distance threshold; dthr is the first distance threshold; msd is the maximum safe distance;

[0131] 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.

[0132] 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 distance thresholds and scenes, thereby improving the safety of crane linkage lifting.

[0133] S4. Determine operation adjustment information based on the operation status at the current time point;

[0134] In some embodiments, the operation adjustment information may be generated according to the operation status at the current time point.

[0135] In some embodiments, determining the operation adjustment information includes:

[0136] S401, in response to the current running state being normal or slightly abnormal, maintaining the current running speed;

[0137] S402, generating first speed adjustment information in response to a moderate abnormality in a current operating state;

[0138] S403: In response to a severe abnormality in the current operating state, shut down the system.

[0139] In some embodiments, the operation adjustment information can be obtained by calculating the deviation value between the operating distance value and the safety distance value, and comparing the deviation value with the first distance threshold, the second distance threshold and the third distance threshold. When the deviation value is between the second distance threshold and the third distance threshold, the first speed adjustment information is generated.

[0140] In some embodiments, generating the first speed adjustment information includes:

[0141] Assume that in two running mechanisms moving in the same direction, along the moving direction of the running mechanism, the running mechanism located in front is the first linkage mechanism, and the running mechanism located in the rear is the second linkage mechanism. The running speed of the first linkage mechanism is V A ;

[0142] In some embodiments, the speed data of the first linkage mechanism may be measured by a sensor or obtained from a system control center;

[0143] determining an operating speed of the second linkage mechanism based on an operating speed of the first linkage mechanism;

[0144] adjusting the second linkage mechanism based on the operating speed of the second linkage mechanism;

[0145] In some embodiments, the method of determining the operating speed of the second linkage mechanism based on the operating speed of the first linkage mechanism is:

[0146] V B =V A +ΔV

[0147] Among them, V B is the operating speed of the second linkage mechanism, ΔV is the speed difference;

[0148] In some embodiments, the speed difference ΔV is calculated as:

[0149]

[0150] Among them, K P is the proportionality coefficient, K I is the integration coefficient, K D is the differential coefficient, e is the difference between the running distance and the safety distance, ∫edt is the integral of the error, is the rate of change of error;

[0151] As an example, the code for determining the running speed of the second linkage mechanism based on the running speed of the first linkage mechanism is:

[0152]

[0153]

[0154] In some embodiments, after determining the operating speed of the second linkage mechanism, the operating speed of the second linkage mechanism can be adjusted by the system control center so that the distance between the first linkage mechanism and the second linkage mechanism is at a safe distance value.

[0155] S5. Lifting and hoisting objects;

[0156] In some embodiments, the hoisted object refers to a heavy object waiting to be hoisted by a crane.

[0157] In some embodiments, when the operating mechanism of the crane linkage hoisting system runs to the target location, the reel provided on the hoisting mechanism 5 can be used to wind a wire rope or chain around the reel to pull multiple telescopic cylinders connected in sequence up and down to extend and retract, thereby driving the hook connected to the bottom telescopic cylinder to move up and down in the vertical direction, thereby hoisting the hoisted object. Of course, by controlling the rotation speed of the reel, the lifting speed of the hook is adjusted to adjust the lifting speed, thereby adjusting the lifting speed.

[0158] In some embodiments, the hoisting object comprises:

[0159] S501, respectively obtaining the hoisting heights of the first operating mechanism and the second operating mechanism;

[0160] In some embodiments, the hoisting heights of the first operating mechanism and the second operating mechanism can be measured by a laser sensor.

[0161] S502, determining hoisting speed adjustment information based on the hoisting height difference between the first operating mechanism and the second operating mechanism and a first height threshold;

[0162] In some embodiments, the hoisting height difference=the hoisting height of the first operating mechanism-the hoisting height of the second operating mechanism.

[0163] In some embodiments, the first height threshold refers to a value used to determine whether the hoisting speed needs to be adjusted. For example, when the hoisting height difference between the first operating mechanism and the second operating mechanism exceeds a certain value, it indicates that the hoisted object has tilted during the hoisting process, and if no intervention is made, an accident may occur.

[0164] In some embodiments, the hoisting speed adjustment information can be generated by comparing the hoisting height difference between the first operating mechanism and the second operating mechanism with a height threshold. When the height deviation value between the first operating mechanism and the second operating mechanism exceeds the height threshold, the hoisting speed adjustment information is generated.

[0165] In some embodiments, the determining of the hoisting speed adjustment information based on the hoisting height difference and the height threshold of the first operating mechanism and the second operating mechanism includes:

[0166] Determine the compensation coefficient based on the hoisting height difference and the rated speed of the motor;

[0167] In some embodiments, the compensation coefficient is determined based on the hoisting height difference and the rated speed of the motor as follows:

[0168] S=H 3 N

[0169] Among them, S is the compensation coefficient, H is the height difference of hoisting, and N is the rated speed of the motor;

[0170] Exemplarily, the hoisting height difference H is equal to ±0.02m;

[0171] Exemplarily, the rated speed N of the motor is equal to 1400 rpm;

[0172] That is, the compensation coefficient S is equal to ±0.02 3 ×1400=±0.0112.

[0173] Generate first hoisting speed adjustment information based on the compensation coefficient;

[0174] In some embodiments, generating the first hoisting speed adjustment information based on the compensation coefficient includes:

[0175] Adjusting the hoisting speeds of the first operating mechanism and the second operating mechanism respectively based on the compensation coefficient;

[0176] Assume that the preset hoisting speed of the first operating mechanism and the second operating mechanism is the rated hoisting speed,

[0177] If the compensation coefficient is greater than 0, the hoisting speed of the first operating mechanism = rated hoisting speed × (1-compensation coefficient), and the hoisting speed of the second operating mechanism = rated hoisting speed × (1+compensation coefficient);

[0178] If the compensation coefficient is less than 0, the hoisting speed of the first operating mechanism = rated hoisting speed × (1 + | compensation coefficient |), and the operating speed of the second linkage mechanism = rated speed × (1 - | compensation coefficient |).

[0179] For example, when the compensation coefficient S is equal to 0.02 3 ×1400=0.0112, then the running speed of the first linkage mechanism=rated speed×(1-0.0112), and the running speed of the second linkage mechanism=rated speed×(1+0.0112);

[0180] When the compensation coefficient S is equal to -0.02 3 ×1400=-0.0112, then 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);

[0181] S503, determining second hoisting speed adjustment information based on the hoisting height difference after the hoisting speed adjustment and the second height threshold;

[0182] The hoisting height difference after hoisting speed adjustment refers to the hoisting height difference between the first operating mechanism and the second operating mechanism when hoisting according to the first hoisting speed adjustment information. In some embodiments, the hoisting height difference after hoisting speed adjustment can be measured by a laser sensor.

[0183] In some embodiments, the second height threshold refers to a value used to determine whether the hoisting speed needs to be called back. For example, when the hoisting height difference between the first operating mechanism and the second operating mechanism is less than a certain value, it indicates that the hoisted object has gradually changed from tilted to horizontal during the hoisting process. If no intervention is made, the hoisted object may be tilted in the opposite direction.

[0184] In some embodiments, determining the second hoisting speed adjustment information includes: comparing the hoisting height difference after the hoisting speed adjustment with the second height threshold, and generating the second hoisting speed adjustment information when the hoisting height difference after the hoisting speed adjustment is equal to the second height threshold.

[0185] In some embodiments, determining the second hoisting speed adjustment information includes:

[0186] Adjust the hoisting speed of the first operating mechanism and the second operating mechanism based on the actual distance value and the safety distance value after speed adjustment;

[0187] Wherein, the hoisting speed of the first operating mechanism = rated hoisting speed;

[0188] The hoisting speed of the second operating mechanism = rated hoisting speed.

[0189] In some embodiments, the first height threshold and the second height threshold can be determined based on a variety of methods, such as pre-setting, setting in combination with confidence level, etc.

[0190] The lifting speeds of the first operating mechanism and the second operating mechanism are adjusted according to the lifting height difference adjustment information of the first operating mechanism and the second operating mechanism, so that the lifting objects lifted by the first operating mechanism and the second operating mechanism can rise or fall in coordination, thereby avoiding tilting of the lifting objects during the rising or falling process and improving the safety of the lifting operation.

[0191] Furthermore, by making the distance between the first linkage mechanism and the second linkage mechanism be at a safe distance value, the swing of the hoisted object can be effectively reduced during the operation of the first linkage mechanism and the second linkage mechanism after hoisting the hoisted object, thereby further improving the safety of the lifting operation.

[0192] Finally, it should be noted that the embodiments of the present invention disclose 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 embodiments of the present invention.

Claims

1. A crane linkage lifting system, characterized in that: include: A track, a first operating mechanism and a second operating mechanism disposed on the track, a third operating mechanism disposed on the first operating mechanism and the second operating mechanism, a hoisting mechanism disposed on the third operating mechanism, and a system control center communicatively connected to the first operating mechanism, the second operating mechanism, the third operating mechanism and the hoisting mechanism respectively; A plurality of third operating mechanisms are provided on the first operating mechanism and / or the second operating mechanism; It also includes: a laser sensor, which is used to obtain the distance between the two sets of operating mechanisms and the hoisting height of the hoisting mechanism; The connection method between the system control center and the first operating mechanism and the second operating mechanism includes: a first communication network and a second communication network.

2. A crane linkage lifting method, characterized in that: Based on the crane linkage lifting system described in claim 1, the following steps are included: Preset safety distance value; Run to the lifting point and obtain the running distance value, The running distance value is the distance between two running mechanisms when they are running; Based on the preset safety distance value, operating distance value and dynamic threshold value set, determine the operating status of the operating mechanism at the current time point; Determine operation adjustment information based on the operation status at the current time point; Lifting the load.

3. A crane linkage hoisting method according to claim 2, characterized in that: Distance deviation value = operating distance value - safety distance value; The operating status at the current time point includes: normal, slightly abnormal, moderately abnormal, and severely abnormal; The dynamic threshold set refers to the threshold set used to judge the operating status of two adjacent operating mechanisms; Determining the running status at the current time point includes: Determine the running 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 operating 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 operating 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 operating state is moderately abnormal; When the distance deviation value is greater than the third distance threshold, it is determined that the current operating state is severely abnormal.

4. A crane linkage hoisting method according to claim 3, characterized in that: The determining of the operation adjustment information includes: In response to the normality or slight abnormality of the current operating state, maintaining the current operating speed; generating first speed adjustment information in response to a moderate abnormality of a current operating state; In response to a serious abnormality in the current operating status, the system shuts down.

5. A crane linkage hoisting method according to claim 4, characterized in that: The generating the first speed adjustment information comprises: Assume that in two running mechanisms moving in the same direction, along the moving direction of the running mechanism, the running mechanism located in front is the first linkage mechanism, and the running mechanism located in the rear is the second linkage mechanism. The running speed of the first linkage mechanism is V A ; determining an operating speed of the second linkage mechanism based on an operating speed of the first linkage mechanism; adjusting the second linkage mechanism based on the operating speed of the second linkage mechanism; The method of determining the running speed of the second linkage mechanism based on the running speed of the first linkage mechanism is: V B =V A +ΔV Among them, V B is the operating speed of the second linkage mechanism, ΔV is the speed difference; The speed difference ΔV is calculated as: Among them, K P is the proportionality coefficient, K I is the integration coefficient, K D is the differential coefficient, e is the difference between the running distance and the safety distance, ∫edt is the integral of the error, is the rate of change of error.

6. A crane linkage hoisting 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 operating mechanism, and the specific method includes: Determining a first distance threshold based on the operating radius; The first distance threshold is calculated as follows: dthr=bthr-R·adj Among them, dthr is the first distance threshold; bthr is the basic threshold; R is the operating radius; adj is the adjustment coefficient; Determine a second distance threshold and a third distance threshold based on the first distance threshold; The second distance threshold is calculated as follows: xthr=dthr+acd Wherein, xthr is the second distance threshold; dthr is the first distance threshold; acd is the adjustment distance; The third distance threshold is calculated as follows: ythr=dthr+msd Among them, ythr is the third distance threshold; dthr is the first distance threshold; msd is the maximum safety distance.

7. The crane linkage hoisting method according to claim 2, characterized in that: The hoisting objects include: Obtaining the hoisting heights of the first operating mechanism and the second operating mechanism respectively; Determine the hoisting speed adjustment information based on the hoisting height difference between the first operating mechanism and the second operating mechanism and the first height threshold, The first height threshold is the value used to determine whether the hoisting speed needs to be adjusted. Hoisting height difference = hoisting height of the first operating mechanism - hoisting height of the second operating mechanism; Based on the hoisting height difference after the hoisting speed adjustment and the second height threshold, second hoisting speed adjustment information is determined, The hoisting height difference after the hoisting speed adjustment refers to the hoisting height difference between the first operating mechanism and the second operating mechanism when hoisting according to the first hoisting speed adjustment information.

8. A crane linkage hoisting method according to claim 7, characterized in that: The determining of the hoisting speed adjustment information based on the hoisting height difference and the height threshold of the first operating mechanism and the second operating mechanism includes: Determine the compensation coefficient based on the hoisting height difference and the rated speed of the motor; First hoisting speed adjustment information is generated based on the compensation coefficient.

9. A crane linkage hoisting method according to claim 8, characterized in that: The method for determining the compensation coefficient based on the hoisting height difference and the rated speed of the motor is: S=H 3 N Among them, S is the compensation coefficient, H is the height difference of hoisting, and N is the rated speed of the motor; The generating of the first hoisting speed adjustment information based on the compensation coefficient comprises: Adjusting the hoisting speeds of the first operating mechanism and the second operating mechanism respectively based on the compensation coefficient; Assume that the preset hoisting speed of the first operating mechanism and the second operating mechanism is the rated hoisting speed, If the compensation coefficient is greater than 0, the hoisting speed of the first operating mechanism = rated hoisting speed × (1-compensation coefficient), and the hoisting speed of the second operating mechanism = rated hoisting speed × (1+compensation coefficient); If the compensation coefficient is less than 0, the hoisting speed of the first operating mechanism = rated hoisting speed × (1 + | compensation coefficient |), and the operating speed of the second linkage mechanism = rated speed × (1 - | compensation coefficient |).

10. A crane linkage hoisting method according to claim 9, characterized in that: Determining the second hoisting speed adjustment information includes: Adjust the hoisting speed of the first operating mechanism and the second operating mechanism based on the actual distance value and the safety distance value after speed adjustment; Wherein, the hoisting speed of the first operating mechanism = rated hoisting speed; The hoisting speed of the second operating mechanism = rated hoisting speed.

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