Control method for tower crane, storage medium and tower crane

Abstract

The embodiment of the invention provides a control method for a tower crane, a storage medium and the tower crane. The method comprises the steps that in the hoisting operation process of the tower crane, working condition parameters of the tower crane are obtained in real time, and the working condition parameters at least comprise the hoisting load weight of a hoisting hook, the horizontal dip angle of a hoisting arm and the height of the tower crane from the ground; the real-time amplitude and the real-time torque of the tower crane are determined according to the suspended load weight and the horizontal inclination angle; under the condition that the real-time torque is larger than a preset torque threshold value and the real-time amplitude is larger than a first numerical value, it is determined that the tower crane has the amplitude compensation requirement; determining whether the compensation function of the tower crane is started or not; under the condition that the compensation function is started, the first amplitude compensation amount of the tower crane is determined according to the real-time torque and the height of the tower crane from the ground; and corresponding control operation is carried out on the tower crane based on the first amplitude compensation amount, so that the real-time amplitude of the tower crane is smaller than a second numerical value, and the second numerical value is smaller than the first numerical value. According to the invention, the amplitude compensation of the tower crane can be automatically carried out in real time in the hoisting process of the tower crane.

Description

Technical Field

[0001] The present application relates to the technical field of construction machinery, and particularly relates to a control method for a tower crane, a control device for a tower crane, a storage medium, and a tower crane. Background Art

[0002] Tower cranes are an essential type of construction machinery in construction. The radius of a luffing jib tower crane refers to the horizontal distance from the center line of the hook to the center line of the tower crane's slewing. The rated lifting capacity of the tower crane means the maximum weight that the tower crane can lift at the current radius. The radius of a luffing jib tower crane is related to the length of the jib and the inclination angle of the jib. When the lifting weight is relatively large, during the lifting process, both the jib and the tower crane tower will tilt by a certain proportion, resulting in an increase in the radius of the luffing jib tower crane, and thus a decrease in the rated lifting capacity of the tower crane. When the rated lifting capacity of the tower crane decreases to less than the weight of the lifted object, theoretically, the tower crane will not be able to complete the lifting work for safety reasons, but in actual operation, at this position, the lifting operation can be completed based on the actual performance of the tower crane. In the existing technology, usually, the operator performs amplitude compensation operations according to the actual lifting situation and combined with manual experience. However, the experience of operators varies, and during the lifting process of such a large weight, it is easy to cause risks due to improper operation. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a control method for a tower crane to solve the technical defect that manual amplitude compensation operations are required for tower cranes in the existing technology.

[0004] To achieve the above purpose, the first aspect of the present application provides a control method for a tower crane, including:

[0005] During the process of the tower crane performing a lifting operation, the working conditions parameters of the tower crane are obtained in real time. The working conditions parameters at least include the load weight of the hook, the horizontal inclination angle of the jib, and the height of the tower crane from the ground;

[0006] The real-time radius and real-time moment of the tower crane are determined according to the load weight and the horizontal inclination angle;

[0007] When the real-time moment is greater than the preset moment threshold and the real-time radius is greater than a first value, it is determined that the tower crane has an amplitude compensation requirement;

[0008] It is determined whether the compensation function of the tower crane is enabled;

[0009] When the compensation function is enabled, a first amplitude compensation amount of the tower crane is determined according to the real-time moment and the height of the tower crane from the ground;

[0010] Based on the first amplitude compensation amount, corresponding control operations are performed on the tower crane so that the real-time radius of the tower crane is less than a second value, where the second value is less than the first value.

[0011] In an embodiment of the present application, the amplitude compensation amount of the tower crane is determined according to formula (1):

[0012]

[0013] Wherein, Δ is the amplitude compensation amount of the tower crane, n% and m% are both empirical parameters, X is the percentage of the ratio between the real-time torque and the rated torque, and h is the height of the tower crane from the ground.

[0014] In an embodiment of the present application, the tower crane includes a man-machine interaction device. Determining whether the compensation function of the tower crane is turned on includes: obtaining the identity information uploaded by the user through the man-machine interaction device; verifying the user's permission according to the identity information; and when the user's permission passes the verification, obtaining the operation instruction triggered by the user through the man-machine interaction device to determine whether the compensation function is turned on based on the operation instruction.

[0015] In an embodiment of the present application, the control method further includes: when the compensation function is not turned on, obtaining the second amplitude compensation amount input by the user through the man-machine interaction device, and performing corresponding control operations on the tower crane based on the second amplitude compensation amount.

[0016] In an embodiment of the present application, the control method further includes: when the real-time torque is greater than the preset torque threshold and the real-time amplitude is greater than the first value, determining whether the duration for which the real-time torque is greater than the preset torque reaches the preset duration; when the duration reaches the preset duration, determining that the tower crane has an amplitude compensation requirement, and determining whether the compensation function of the tower crane is turned on to perform corresponding control operations on the tower crane; when the duration does not reach the preset duration, determining that the tower crane has no amplitude compensation requirement.

[0017] In an embodiment of the present application, determining the real-time amplitude and real-time torque of the tower crane according to the load weight and the horizontal inclination angle includes: obtaining the rated boom length of the boom; determining the real-time amplitude of the tower crane according to the rated boom length and the horizontal inclination angle; and determining the real-time torque of the tower crane according to the load weight and the real-time amplitude.

[0018] In an embodiment of the present application, the control method further includes: when the real-time amplitude of the tower crane is less than the second value, controlling the compensation function to be turned off, and continuously obtaining the working condition parameters of the tower crane in real time, and updating the real-time amplitude and real-time torque of the tower crane based on the load weight and the horizontal inclination angle, so as to determine whether the tower crane has an amplitude compensation requirement based on the updated real-time amplitude and real-time torque; when the tower crane has an amplitude compensation requirement, continuously performing corresponding control operations until the tower crane completes the lifting operation.

[0019] The second aspect of the present application provides a control device for a tower crane, including:

[0020] A memory configured to store instructions; and

[0021] A processor configured to call the instructions from the memory and capable of implementing a control method for a tower crane when executing the instructions.

[0022] A third aspect of the present application provides a tower crane, including:

[0023] The above-mentioned control device for a tower crane;

[0024] A tower crane safety monitoring system for providing a boom compensation algorithm to determine a first boom compensation amount of the tower crane according to the real-time torque and the height of the tower crane from the ground.

[0025] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, and when the instructions are executed by a processor, the processor is configured to execute the above-mentioned control method for a tower crane.

[0026] The above technical solution provides a control method for a tower crane. By determining the real-time boom and real-time torque of the tower crane through the obtained working condition parameters in real time, automatically judging whether there is a boom compensation requirement for the tower crane based on the real-time boom and real-time torque, and determining the boom compensation amount of the tower crane based on the real-time torque and the height of the tower crane from the ground, so as to perform boom compensation on the tower crane based on the boom compensation amount. It not only realizes real-time automatic boom compensation for the tower crane during the hoisting process, but also improves the working safety of the tower crane.

[0027] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings are used to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used together with the following specific implementation to explain the embodiments of the present application, but do not constitute a limitation to the embodiments of the present application. In the drawings:

[0029] Figure 1 Schematically shows a flowchart of a control method for a tower crane according to an embodiment of the present application;

[0030] Figure 2 Schematically shows a flowchart of another control method for a tower crane according to an embodiment of the present application;

[0031] Figure 3 Schematically shows a structural block diagram of a tower crane according to an embodiment of the present application;

[0032] Figure 4 Schematically shows an internal structure diagram of a computer device according to an embodiment of the present application. Specific Embodiments

[0033] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. It should be understood that the specific embodiments described herein are only used to illustrate and explain the embodiments of this application, and are not used to limit the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts fall within the scope of protection of this application.

[0034] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of this application, then such directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If this specific posture changes, then the directional indications will also change accordingly.

[0035] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of this application, then such descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0036] Figure 1 Schematically shown is a flowchart of a control method for a tower crane according to an embodiment of this application. As Figure 1 shown, an embodiment of this application provides a control method for a tower crane, and the method may include the following steps.

[0037] Step 101: During the process of the tower crane performing a lifting operation, real-time obtain the working condition parameters of the tower crane, where the working condition parameters at least include the load weight of the hook, the horizontal inclination angle of the boom, and the height of the tower crane from the ground.

[0038] In the embodiment of the present application, the tower crane may refer to a tower-type crane, also known as a tower hoist. It is a revolving crane with a jib installed on the upper part of a tall tower body. It has a large working space and is mainly used for the vertical and horizontal transportation of materials and the installation of building components during building construction. It consists of three parts: a metal structure, a working mechanism, and an electrical system. The metal structure includes the tower body, jib, and base, etc. The working mechanism has four parts: hoisting, luffing, slewing, and traveling. The electrical system includes motors, controllers, distribution cabinets, connection lines, signals, and lighting devices, etc. Specifically, during the hoisting operation of the tower crane, the controller obtains the working condition parameters of the tower crane in real time. The working condition parameters may include the load weight of the hook, the horizontal inclination angle of the jib, and the height of the tower crane from the ground. Among them, the load weight of the hook may refer to the weight of the heavy object lifted by the hook, the horizontal inclination angle of the jib may refer to the angle formed by the jib and the horizontal direction, and the height of the tower crane from the ground may refer to the height of the slewing center of the tower crane from the ground. Specifically, in this technical solution, the tower crane may be provided with multiple sensors, for example, they can be respectively installed on the hook and the jib to detect the relevant parameters of the hook and the jib in real time. Therefore, in this technical solution, the controller can obtain the load weight of the hook and the horizontal inclination angle of the jib in real time through the multiple sensors installed on the tower crane. It should be understood that before the tower crane performs the hoisting operation, a height of the slewing center from the ground needs to be set before the hoisting operation can be carried out. Specifically, the user can input a height value based on the man-machine interface, and the controller controls the tower crane to perform corresponding operations based on this height value. The controller can also automatically control the tower crane to perform corresponding operations based on the default height value after the tower crane is started.

[0039] Step 102: Determine the real-time amplitude and real-time moment of the tower crane according to the load weight and the horizontal inclination angle.

[0040] In the embodiment of the present application, after the controller obtains the load weight and the horizontal inclination angle of the jib in real time, it can determine the real-time amplitude and real-time moment of the tower crane based on the load weight of the hook and the horizontal inclination angle of the jib. Among them, the amplitude of the tower crane may refer to the horizontal distance from the center line of the hook to the slewing center line of the tower crane. When the hoisting weight of the tower crane is relatively large, during the hoisting process, both the jib and the tower body of the tower crane will have a certain proportion of inclination, which will cause an increase in the amplitude of the tower crane, resulting in a decrease in the rated lifting weight of the tower crane. The moment of the tower crane may refer to the lifting moment, which is one of the main technical parameters of the tower crane. It is equal to the product of the rated lifting weight and the corresponding working amplitude. The lifting moment is generally measured in t·m.

[0041] In the embodiment of the present application, determining the real-time amplitude and real-time moment of the tower crane according to the load weight and the horizontal inclination angle includes: obtaining the rated jib length of the jib; determining the real-time amplitude of the tower crane according to the rated jib length and the horizontal inclination angle; determining the real-time moment of the tower crane according to the load weight and the real-time amplitude.

[0042] In this technical solution, after the controller obtains the suspended load weight and the horizontal inclination angle of the boom in real time, it can further determine the real-time radius and real-time moment of the tower crane based on the suspended load weight of the hook and the horizontal inclination angle of the boom. Specifically, the controller can determine the real-time radius of the tower crane according to the rated boom length of the boom and the horizontal inclination angle of the boom. Among them, the rated boom length of the boom is determined by the model of the tower crane, and the rated boom length of each model of tower crane is the same. Therefore, the rated boom length can be obtained based on the structural parameters of the tower crane. After the controller calculates the real-time radius of the tower crane, it can further determine the real-time moment of the tower crane according to the suspended load weight of the hook and the real-time radius.

[0043] Step 103: When the real-time moment is greater than the preset moment threshold and the real-time radius is greater than the first value, it is determined that the tower crane has a radius compensation requirement.

[0044] In the embodiment of the present application, after the controller obtains the suspended load weight and the horizontal inclination angle of the boom in real time, it can obtain the rated boom length of the boom based on the structural parameters of the tower crane, so as to determine the real-time radius of the tower crane based on the rated boom length of the boom and the horizontal inclination angle of the boom, and further determine the real-time moment of the tower crane based on the real-time radius and the suspended load weight of the hook. After the controller determines the real-time radius and real-time moment of the tower crane respectively, it can judge whether the tower crane currently has a radius compensation requirement based on the real-time radius and real-time moment. If there is a radius compensation requirement, corresponding control operations are performed on the tower crane. If there is no radius compensation requirement, the working condition parameters of the tower crane are continuously monitored. Specifically, in this technical solution, if the real-time moment is greater than the preset moment threshold and the real-time radius is greater than the first value, it can be determined that the tower crane has a radius compensation requirement. Among them, the preset moment threshold can be set to any value based on actual lifting experience. Specifically, the preset moment threshold can refer to the moment critical point, which is used to distinguish whether the heavy object lifted by the hook is a small suspended load or a large suspended load. In this technical solution, radius compensation is only performed when the tower crane has a radius compensation requirement during the process of lifting a large suspended load heavy object. During the process of lifting a small suspended load heavy object, due to the low weight of the heavy object, even if the radius of the tower crane is greater than the first value, the lifting operation can be successfully completed, so there is no need for radius compensation. The first value can refer to the threshold for the start of compensation. Specifically, the threshold for the start of compensation can be composed of the sum of the radius corresponding to 50% of the moment of the tower crane and a fixed value. For example, if the current real-time radius is b and the radius corresponding to 50% of the moment of the tower crane is a, then the first value is Xm + a. When the real-time moment is greater than the preset moment threshold and b > Xm + a, it can be determined that the tower crane has a radius compensation requirement. Otherwise, the tower crane has no radius compensation requirement.

[0045] Step 104: Determine whether the compensation function of the tower crane is enabled.

[0046] In an embodiment of the present application, after the controller obtains the suspended load weight and the horizontal inclination angle of the boom in real time, it can obtain the rated boom length of the boom based on the structural parameters of the tower crane, so as to determine the real-time amplitude of the tower crane based on the rated boom length of the boom and the horizontal inclination angle of the boom, and further determine the real-time moment of the tower crane based on the real-time amplitude and the suspended load weight of the hook. After the controller determines the real-time amplitude and the real-time moment of the tower crane respectively, it can determine whether there is a need for amplitude compensation for the tower crane currently based on the real-time amplitude and the real-time moment. If there is a need for amplitude compensation, corresponding control operations are performed on the tower crane. Specifically, when there is a need for amplitude compensation for the tower crane, the controller further determines whether the amplitude compensation function of the tower crane is enabled. When the amplitude compensation function of the tower crane is enabled, the controller can automatically perform corresponding amplitude compensation on the tower crane. If the amplitude compensation function of the tower crane is not enabled, the controller cannot automatically perform corresponding amplitude compensation on the tower crane.

[0047] In an embodiment of the present application, the tower crane includes a man-machine interaction device. Determining whether the compensation function of the tower crane is enabled includes: obtaining the identity information uploaded by the user through the man-machine interaction device; verifying the user's permission according to the identity information; and when the user's permission passes the verification, obtaining the operation instruction triggered by the user through the man-machine interaction device to determine whether the compensation function is enabled based on the operation instruction.

[0048] Man-machine interaction, that is, man-machine interaction, refers to the interaction relationship between the system and the user. The system can be various machines, or computerized systems and software. The man-machine interaction device includes a man-machine interaction interface. The user can communicate with the system through the man-machine interaction interface and perform operations, such as clicking the play button of the radio. In this technical solution, a man-machine interaction device is installed on the tower crane, and the user can communicate with the controller through this man-machine interaction device. Specifically, the user operates on the man-machine interaction display screen to input and upload the identity information. After the controller receives the identity information uploaded by the user through the man-machine interaction device, it verifies the user's permission according to the identity information, and only when the user's permission passes the verification, it obtains the operation triggered by the user through the man-machine interaction device. Specifically, a compensation function component can be set on the man-machine interaction interface. The user can select the compensation function component and confirm to enable it, and the man-machine interaction device generates a corresponding enable instruction and sends it to the controller, and the controller can determine that the compensation function is enabled based on this enable instruction. It should be understood that verifying the user's permission can ensure the safety of the tower crane during construction to a certain extent to avoid safety accidents at the hoisting operation site caused by accidental touches by non-professionals.

[0049] In an embodiment of the present application, the control method further includes: when the compensation function is not enabled, obtaining a second amplitude compensation amount input by the user through the human-machine interaction device, and performing corresponding control operations on the tower crane based on the second amplitude compensation amount.

[0050] In this technical solution, if the user selects the compensation function component through the human-machine interaction interface and confirms not to enable it, the human-machine interaction device generates a corresponding non-enabling instruction and sends it to the controller. The controller then confirms that the compensation function is not enabled based on this non-enabling instruction, and the controller does not automatically perform amplitude compensation on the tower crane. At this time, the user can manually input a corresponding second amplitude compensation amount through the human-machine interaction interface. After the controller receives the second amplitude compensation amount input by the user through the human-machine interaction device, it can perform corresponding control operations on the tower crane based on the second amplitude compensation amount.

[0051] Step 105: When the compensation function is enabled, determine the first amplitude compensation amount of the tower crane according to the real-time torque and the height of the tower crane from the ground.

[0052] In an embodiment of the present application, after the controller obtains the load weight, the horizontal inclination angle of the boom, and the height of the tower crane from the ground in real time, it can obtain the rated boom length of the boom based on the structural parameters of the tower crane, so as to determine the real-time amplitude of the tower crane based on the rated boom length of the boom and the horizontal inclination angle of the boom, and further determine the real-time torque of the tower crane based on the real-time amplitude and the load weight of the hook. After the controller determines the real-time amplitude and the real-time torque of the tower crane respectively, it can determine whether the tower crane currently has an amplitude compensation requirement based on the real-time amplitude and the real-time torque. If there is an amplitude compensation requirement, corresponding control operations are performed on the tower crane. Specifically, when the tower crane has an amplitude compensation requirement, the controller further determines whether the amplitude compensation function of the tower crane is enabled. When the amplitude compensation function of the tower crane is enabled, the controller can automatically perform corresponding amplitude compensation on the tower crane. Specifically, when the compensation function is enabled, the controller can determine the first amplitude compensation amount of the tower crane according to the real-time torque and the height of the tower crane from the ground, and thus perform corresponding control operations on the tower crane based on the first amplitude compensation amount.

[0053] In an embodiment of the present application, the amplitude compensation amount of the tower crane is determined according to formula (1):

[0054]

[0055] Where Δ is the amplitude compensation amount of the tower crane, n% and m% are both empirical parameters, X is the percentage of the ratio between the real-time torque and the rated torque, and h is the height of the tower crane from the ground.

[0056] In this technical solution, the controller can calculate the amplitude compensation amount of the tower crane according to the above formula (1). Among them, the rated moment of the tower crane is determined by the model of the tower crane, and the rated moment of each model of tower crane is the same. Therefore, the rated moment can be obtained based on the structural parameters of the tower crane. Both n% and m% are empirical parameters, which are related to the structure of the tower crane and determined based on the historically accumulated empirical values.

[0057] Step 106: Perform corresponding control operations on the tower crane based on the first amplitude compensation amount, so that the real-time amplitude of the tower crane is less than the second value, where the second value is less than the first value.

[0058] In the embodiment of the present application, after the controller obtains the load weight, the horizontal inclination angle of the boom, and the height of the tower crane from the ground in real time, it can obtain the rated boom length of the boom based on the structural parameters of the tower crane, so as to determine the real-time amplitude of the tower crane based on the rated boom length of the boom and the horizontal inclination angle of the boom, and further determine the real-time moment of the tower crane based on the real-time amplitude and the load weight of the hook. After the controller determines the real-time amplitude and the real-time moment of the tower crane respectively, it can judge whether the tower crane currently has an amplitude compensation requirement based on the real-time amplitude and the real-time moment. If there is an amplitude compensation requirement, corresponding control operations are performed on the tower crane. Specifically, when the tower crane has an amplitude compensation requirement, the controller further determines whether the amplitude compensation function of the tower crane is turned on. When the amplitude compensation function of the tower crane is turned on, the controller can automatically perform corresponding amplitude compensation on the tower crane. Specifically, when the compensation function is turned on, the controller can determine the first amplitude compensation amount of the tower crane according to the real-time moment and the height of the tower crane from the ground, and thus perform corresponding control operations on the tower crane based on the first amplitude compensation amount, so that the real-time amplitude of the tower crane is less than the second value, and further enable the tower crane to successfully complete the lifting operation. The second value can refer to the threshold for the end of compensation. Specifically, the threshold for the end of compensation can be composed of the sum of the corresponding amplitude at 50% of the moment of the tower crane and a fixed value. For example, if the current real-time amplitude is b and the corresponding amplitude at 50% of the moment of the tower crane is a, then the first value is Ym + a. When the real-time amplitude is less than the second value, that is, b < Ym + a, it can be determined that the tower crane has no amplitude compensation requirement, and the controller ends the current amplitude compensation of the tower crane.

[0059] The above technical solution provides a control method for a tower crane. By determining the real-time amplitude and the real-time moment of the tower crane through the real-time obtained working condition parameters, automatically judging whether the tower crane has an amplitude compensation requirement based on the real-time amplitude and the real-time moment, and determining the amplitude compensation amount of the tower crane based on the real-time moment and the height of the tower crane from the ground, so as to perform amplitude compensation on the tower crane based on the amplitude compensation amount, not only realizes real-time automatic amplitude compensation for the tower crane during the lifting process of the tower crane, but also improves the working safety of the tower crane.

[0060] In the embodiment of the present application, the control method further includes: when the real-time torque is greater than the preset torque threshold and the real-time amplitude is greater than a first value, determining whether the duration for which the real-time torque is greater than the preset torque reaches a preset duration; when the duration reaches the preset duration, determining that the tower crane has an amplitude compensation requirement, and determining whether the compensation function of the tower crane is enabled, so as to perform corresponding control operations on the tower crane; when the duration does not reach the preset duration, determining that the tower crane has no amplitude compensation requirement.

[0061] In this technical solution, after the controller obtains the load weight and the horizontal inclination angle of the boom in real time, it can obtain the rated boom length of the boom based on the structural parameters of the tower crane, so as to determine the real-time amplitude of the tower crane based on the rated boom length of the boom and the horizontal inclination angle of the boom, and further determine the real-time torque of the tower crane based on the real-time amplitude and the load weight of the hook. After the controller determines the real-time amplitude and the real-time torque of the tower crane respectively, it can judge whether the tower crane currently has an amplitude compensation requirement based on the real-time amplitude and the real-time torque. If there is an amplitude compensation requirement, corresponding control operations are performed on the tower crane. Specifically, in this technical solution, if the real-time torque is greater than the preset torque threshold and the real-time amplitude is greater than a first value, it can be determined that the tower crane has an amplitude compensation requirement. Among them, the preset torque threshold can be set to any value based on actual lifting experience. Specifically, the preset torque threshold can refer to the torque critical point, which is used to distinguish whether the heavy object lifted by the hook is a small load or a large load. In this technical solution, amplitude compensation is only performed when the tower crane has an amplitude compensation requirement during the process of lifting a large-load heavy object. During the process of lifting a small-load heavy object, due to the low weight of the heavy object, even if the amplitude of the tower crane is greater than the first value, the lifting operation can be successfully completed, so there is no need for amplitude compensation. In the actual operation process, during the lifting process, the jitter of the heavy object will cause the horizontal inclination angle of the boom to jitter, resulting in a change in the calculated real-time torque within a certain period of time. Therefore, in order to ensure that the calculated real-time torque is greater than the preset torque value, anti-shake processing needs to be performed on the real-time torque. Specifically, it is determined whether the duration for which the real-time torque is greater than the preset torque reaches a preset duration. When the duration reaches the preset duration, it is determined that the tower crane has an amplitude compensation requirement, and it is determined whether the compensation function of the tower crane is enabled, so as to perform corresponding control operations on the tower crane. When the duration does not reach the preset duration, it is determined that the tower crane has no amplitude compensation requirement. Among them, the preset duration can be set to any value according to actual needs and combined with experience. For example, taking the duration as 2s and the preset torque value as A, when the real-time torque is continuously greater than A for 2s, it can be determined that the real-time torque is stably greater than A, and subsequent amplitude compensation judgment and operations can be performed.

[0062] In the embodiment of the present application, the control method further includes: when the real-time amplitude of the tower crane is less than a second value, controlling to turn off the compensation function, continuously acquiring the working condition parameters of the tower crane in real time, and updating the real-time amplitude and real-time torque of the tower crane based on the load weight and the horizontal inclination angle, so as to determine whether there is an amplitude compensation requirement for the tower crane based on the updated real-time amplitude and real-time torque; when there is an amplitude compensation requirement for the tower crane, continuously execute the corresponding control operation until the tower crane completes the hoisting operation.

[0063] As Figure 2 shown, a flowchart of another control method for a tower crane is provided. Specifically, the controller can acquire the working condition parameters of the tower crane in real time based on multiple sensors installed on the tower crane, where the working condition parameters include the load weight of the hook, the horizontal inclination angle of the boom, and the horizontal inclination angle of the boom. After the controller acquires the load weight and the horizontal inclination angle of the boom in real time, it can acquire the rated boom length of the boom based on the structural parameters of the tower crane, so as to determine the real-time amplitude b of the tower crane based on the rated boom length of the boom and the horizontal inclination angle of the boom, and further determine the real-time torque of the tower crane based on the real-time amplitude and the load weight of the hook. After the controller determines the real-time amplitude and real-time torque of the tower crane respectively, anti-shake processing is performed on the real-time torque to determine that the real-time torque is stably greater than the preset torque value A. After confirming that the real-time torque is stably greater than the preset torque value A, it can further be determined whether there is an amplitude compensation requirement for the tower crane currently based on the real-time amplitude and real-time torque. If there is an amplitude compensation requirement, corresponding control operations are performed on the tower crane. If there is no amplitude compensation requirement, the working condition parameters of the tower crane are continuously monitored. Specifically, the amplitude a at 50% torque is acquired, and it is judged whether the real-time amplitude b is greater than the sum of the first value, i.e., the amplitude fixed value Xm, and the amplitude a at 50% torque. Specifically, when the real-time amplitude is greater than the preset torque threshold A and the real-time amplitude b is greater than the first value, i.e., b>Xm + a, it can be determined that the tower crane has an amplitude compensation requirement. Otherwise, the tower crane has no amplitude compensation requirement, and the real-time amplitude and real-time torque of the tower crane are continuously determined based on the working condition parameters. When there is an amplitude compensation requirement for the tower crane, the amplitude compensation function is turned on through an operation instruction triggered by the user based on the man-machine interaction device, and the current amplitude compensation amount of the tower crane is determined based on the amplitude compensation algorithm under the amplitude compensation function, i.e., formula (1). The controller thus performs corresponding control operations on the tower crane based on the amplitude compensation amount until the real-time amplitude b is less than the second value, i.e., b<Ym + a, and the current amplitude compensation for the tower crane ends.

[0064] When the real-time amplitude of the tower crane is less than the second value, i.e., b < Ym + a, the control compensation function is turned off, the current amplitude compensation of the tower crane is ended, and the working conditions parameters of the tower crane are continuously obtained in real time. Based on the load weight and the horizontal inclination angle, the real-time amplitude and the real-time moment of the tower crane are updated, so as to determine whether the tower crane has an amplitude compensation requirement based on the updated real-time amplitude and real-time moment. When the tower crane has an amplitude compensation requirement, the corresponding control operation is continued until the tower crane completes the lifting operation.

[0065] In the embodiment of the present application, as Figure 3 shown, a structural block diagram of a tower crane is provided. Specifically, the tower crane may include a linkage console, a PLC programmable controller, a luffing frequency converter, a host of a tower crane safety monitoring system configured with an amplitude compensation algorithm, and various sensors. Among them, the PLC can obtain the linkage console gear information and transmit this information to the host of the tower crane safety monitoring system. Various sensors collect the real-time state of the tower crane and return the working conditions parameters to the host. The amplitude compensation algorithm is embedded in the host. Through the gear information of the tower crane operation, the amplitude to be compensated for safe lifting is calculated by the algorithm, and the parameters and instructions are returned to the luffing frequency converter through the PLC for execution, so as to achieve the safe lifting of a large load and avoid danger to the tower crane.

[0066] This technical solution can perform amplitude compensation automatically in real time when the tower crane lifts a heavy load, ensure the safe and smooth lifting of the large load, make the construction more convenient, and improve the working safety of the tower crane.

[0067] The embodiment of the present application provides a storage medium, on which a program is stored. When the program is executed by a processor, the above control method for the tower crane is implemented.

[0068] The embodiment of the present application provides a processor, and the processor is used to run a program. When the program runs, the above control method for the tower crane is executed.

[0069] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as Figure 4As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure), and a database (not shown in the figure) connected via a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store control method data for tower cranes. The network interface A02 of the computer device is used to communicate with an external terminal via a network connection. When the computer program B02 is executed by the processor A01, it implements a control method for a tower crane.

[0070] Those skilled in the art can understand that Figure 4 the structure shown in is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0071] An embodiment of this application provides a device, which includes a processor, a memory, and a program stored on the memory and executable on the processor. When the processor executes the program, the following steps are implemented: During the hoisting operation of the tower crane, the working condition parameters of the tower crane are obtained in real time. The working condition parameters at least include the load weight of the hook, the horizontal inclination angle of the boom, and the height of the tower crane from the ground; The real-time amplitude and real-time moment of the tower crane are determined according to the load weight and the horizontal inclination angle; When the real-time moment is greater than the preset moment threshold and the real-time amplitude is greater than a first value, it is determined that the tower crane has a demand for amplitude compensation; Determine whether the compensation function of the tower crane is enabled; When the compensation function is enabled, the first amplitude compensation amount of the tower crane is determined according to the real-time moment and the height of the tower crane from the ground; Based on the first amplitude compensation amount, corresponding control operations are performed on the tower crane so that the real-time amplitude of the tower crane is less than a second value, where the second value is less than the first value.

[0072] In one embodiment, the amplitude compensation amount of the tower crane is determined according to formula (1):

[0073]

[0074] where Δ is the amplitude compensation amount of the tower crane, n% and m% are both empirical parameters, X is the percentage of the ratio between the real-time moment and the rated moment, and h is the height of the tower crane from the ground.

[0075] In one embodiment, the tower crane includes a human-machine interaction device. Determining whether the compensation function of the tower crane is enabled includes: obtaining the identity information uploaded by the user through the human-machine interaction device; verifying the user's permissions based on the identity information; and when the user's permissions are verified, obtaining the operation instruction triggered by the user through the human-machine interaction device to determine whether the compensation function is enabled based on the operation instruction.

[0076] In one embodiment, the control method further includes: when the compensation function is not enabled, obtaining the second amplitude compensation amount input by the user through the human-machine interaction device, and performing corresponding control operations on the tower crane based on the second amplitude compensation amount.

[0077] In one embodiment, the control method further includes: when the real-time torque is greater than the preset torque threshold and the real-time amplitude is greater than the first value, determining whether the duration for which the real-time torque is greater than the preset torque reaches the preset duration; when the duration reaches the preset duration, determining that the tower crane has an amplitude compensation requirement, and determining whether the compensation function of the tower crane is enabled to perform corresponding control operations on the tower crane; when the duration does not reach the preset duration, determining that the tower crane has no amplitude compensation requirement.

[0078] In one embodiment, determining the real-time amplitude and real-time torque of the tower crane according to the load weight and the horizontal inclination angle includes: obtaining the rated boom length of the boom; determining the real-time amplitude of the tower crane according to the rated boom length and the horizontal inclination angle; and determining the real-time torque of the tower crane according to the load weight and the real-time amplitude.

[0079] In one embodiment, the control method further includes: when the real-time amplitude of the tower crane is less than the second value, controlling the compensation function to be turned off, continuously obtaining the working condition parameters of the tower crane in real time, and updating the real-time amplitude and real-time torque of the tower crane based on the load weight and the horizontal inclination angle, so as to determine whether the tower crane has an amplitude compensation requirement based on the updated real-time amplitude and real-time torque; when the tower crane has an amplitude compensation requirement, continuing to perform corresponding control operations until the tower crane completes the lifting operation.

[0080] The present application also provides a computer program product, which, when executed on a data processing device, is adapted to execute a program initialized with the following method steps: During the hoisting operation of the tower crane, the working condition parameters of the tower crane are obtained in real time, and the working condition parameters at least include the load weight of the hook, the horizontal inclination angle of the boom, and the height of the tower crane from the ground; The real-time amplitude and real-time moment of the tower crane are determined according to the load weight and the horizontal inclination angle; When the real-time moment is greater than the preset moment threshold and the real-time amplitude is greater than the first value, it is determined that the tower crane has a need for amplitude compensation; Determine whether the compensation function of the tower crane is enabled; When the compensation function is enabled, the first amplitude compensation amount of the tower crane is determined according to the real-time moment and the height of the tower crane from the ground; Based on the first amplitude compensation amount, corresponding control operations are performed on the tower crane so that the real-time amplitude of the tower crane is less than the second value, where the second value is less than the first value.

[0081] In one embodiment, the amplitude compensation amount of the tower crane is determined according to formula (1):

[0082]

[0083] Wherein, Δ is the amplitude compensation amount of the tower crane, n% and m% are both empirical parameters, X is the percentage of the ratio between the real-time moment and the rated moment, and h is the height of the tower crane from the ground.

[0084] In one embodiment, the tower crane includes a human-machine interaction device, and determining whether the compensation function of the tower crane is enabled includes: obtaining the identity information uploaded by the user through the human-machine interaction device; verifying the user's authority according to the identity information; When the user's authority passes the verification, obtain the operation instruction triggered by the user through the human-machine interaction device to determine whether the compensation function is enabled based on the operation instruction.

[0085] In one embodiment, the control method further includes: when the compensation function is not enabled, obtaining the second amplitude compensation amount input by the user through the human-machine interaction device, and performing corresponding control operations on the tower crane based on the second amplitude compensation amount.

[0086] In one embodiment, the control method further includes: when the real-time moment is greater than the preset moment threshold and the real-time amplitude is greater than the first value, determining whether the duration of the real-time moment being greater than the preset moment reaches the preset duration; When the duration reaches the preset duration, it is determined that the tower crane has a need for amplitude compensation, and it is determined whether the compensation function of the tower crane is enabled to perform corresponding control operations on the tower crane; When the duration does not reach the preset duration, it is determined that the tower crane has no need for amplitude compensation.

[0087] In one embodiment, determining the real-time amplitude and real-time moment of the tower crane according to the lifting load and the horizontal inclination angle includes: obtaining the rated boom length of the boom; determining the real-time amplitude of the tower crane according to the rated boom length and the horizontal inclination angle; determining the real-time moment of the tower crane according to the lifting load and the real-time amplitude.

[0088] In one embodiment, the control method further includes: when the real-time amplitude of the tower crane is less than a second value, controlling the compensation function to be turned off, continuously obtaining the working condition parameters of the tower crane in real time, and updating the real-time amplitude and real-time moment of the tower crane based on the lifting load and the horizontal inclination angle, so as to determine whether there is a need for amplitude compensation for the tower crane based on the updated real-time amplitude and real-time moment; when there is a need for amplitude compensation for the tower crane, continuing to execute the corresponding control operation until the tower crane finishes the lifting operation.

[0089] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0090] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams can be implemented by computer program instructions, and the combination of flows and / or blocks in the flowcharts and / or block diagrams can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for realizing the functions specified in Figure 1 one or more flows and / or blocks Figure 1 or multiple flows and / or blocks

[0091] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including instruction means, and the instruction means realizes the functions specified in Figure 1 one or more flows and / or blocks Figure 1 or multiple flows and / or blocks

[0092] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one process Figure 1 one process or multiple processes and / or blocks Figure 1 steps of the functions specified in one block or multiple blocks.

[0093] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0094] The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM) and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of computer-readable media.

[0095] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can store information by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated data signals and carrier waves.

[0096] It should also be noted that the term "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, commodity or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the existence of additional identical elements in the process, method, commodity or device comprising the element.

[0097] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A control method for a tower crane, characterized in that, The control method includes: During the hoisting operation of the tower crane, the working condition parameters of the tower crane are obtained in real time, and the working condition parameters at least include the load weight of the hook, the horizontal inclination angle of the boom, and the height of the tower crane from the ground; Determine the real-time amplitude and real-time moment of the tower crane according to the load weight and the horizontal inclination angle; When the real-time moment is greater than the preset moment threshold and the real-time amplitude is greater than the first value, it is determined that the tower crane has an amplitude compensation requirement; Determine whether the compensation function of the tower crane is enabled; When the compensation function is enabled, determine the first amplitude compensation amount of the tower crane according to the real-time moment and the height of the tower crane from the ground; Perform corresponding control operations on the tower crane based on the first amplitude compensation amount, so that the real-time amplitude of the tower crane is less than the second value, where the second value is less than the first value.

2. The control method for tower crane according to claim 1, characterized in that, The amplitude compensation amount of the tower crane is determined according to formula (1): Where Δ is the amplitude compensation amount of the tower crane, n% and m% are both empirical parameters, X is the percentage of the ratio between the real-time moment and the rated moment, and h is the height of the tower crane from the ground.

3. The control method for tower crane according to claim 1, wherein The tower crane includes a man-machine interaction device, and determining whether the compensation function of the tower crane is enabled includes: Obtain the identity information uploaded by the user through the man-machine interaction device; Verify the user's permission according to the identity information; When the user's permission passes the verification, obtain the operation instruction triggered by the user through the man-machine interaction device, so as to determine whether the compensation function is enabled based on the operation instruction.

4. The control method for tower crane according to claim 3, characterized in that, The control method further includes: When the compensation function is not enabled, obtain the second amplitude compensation amount input by the user through the man-machine interaction device, and perform corresponding control operations on the tower crane based on the second amplitude compensation amount.

5. The control method for a tower crane according to claim 1, wherein The control method further includes: When the real-time moment is greater than the preset moment threshold and the real-time amplitude is greater than the first value, determine whether the duration of the real-time moment being greater than the preset moment reaches the preset duration; When the duration reaches the preset duration, determine that the tower crane has an amplitude compensation requirement, and determine whether the compensation function of the tower crane is enabled, so as to perform corresponding control operations on the tower crane; When the duration does not reach the preset duration, determine that the tower crane does not have an amplitude compensation requirement.

6. The control method for a tower crane according to claim 1, characterized in that, Determining the real-time amplitude and real-time moment of the tower crane according to the load weight and the horizontal inclination angle includes: Obtain the rated boom length of the boom; Determine the real-time amplitude of the tower crane according to the rated boom length and the horizontal inclination angle; Determine the real-time moment of the tower crane according to the load weight and the real-time amplitude.

7. The control method for tower crane according to claim 1, characterized in that, The control method further includes: When the real-time amplitude of the tower crane is less than a second value, control the compensation function to turn off, continue to obtain the working condition parameters of the tower crane in real time, and update the real-time amplitude and real-time moment of the tower crane based on the load weight and the horizontal inclination angle, so as to determine whether there is an amplitude compensation requirement for the tower crane based on the updated real-time amplitude and real-time moment; When the tower crane has an amplitude compensation requirement, continue to execute the corresponding control operation until the tower crane completes the lifting operation.

8. A control device for a tower crane, characterized in that, Comprising: A memory configured to store instructions; And A processor configured to call the instructions from the memory and, when executing the instructions, be capable of implementing the control method for a tower crane according to any one of claims 1 to 7.

9. A tower crane, characterized in that, Comprising: The control device for a tower crane according to claim 8; A tower crane safety monitoring system for providing an amplitude compensation algorithm to determine a first amplitude compensation amount of the tower crane according to the real-time moment and the height of the tower crane from the ground.

10. A machine-readable storage medium having instructions stored thereon, characterized in that, When the instructions are executed by the processor, the processor is configured to execute the control method for a tower crane according to any one of claims 1 to 7.

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