Ring rail hanging basket distance measurement anti-collision system and method

Abstract

The invention discloses a distance measurement and collision prevention system and method for a ring rail hanging basket, relates to the technical field of hydraulic plugs, and can solve the problem of collision safety accidents caused by shaking of a movable hanging basket. The embodiment of the invention discloses a distance measuring and collision preventing method for a circular rail hanging basket. The method comprises the steps that S1, the moving speeds V1 and V2 of two adjacent electric trolleys, the real-time distance K1 and the heights H1 and H2 of two inhaul cables are obtained; s2, V1 and V2 are compared, if V1 is smaller than or equal to V2, S1 is executed, and if V1 is larger than V2, S3 is executed; s3, according to V1, V2, H1 and H2, obtaining a collision distance P in real time: P = L1 + B1 + B2-L2 + N; wherein L1 is the braking distance corresponding to V1, B1 is the corresponding transverse swinging distance of the movable hanging basket under V1 and H1, L2 is the braking distance corresponding to V2, B2 is the corresponding transverse swinging distance of the movable hanging basket under V2 and H2, and N is a preset value; s4, the braking force and the safety coefficient m are obtained, the safety distance K = mP is obtained and compared with the real-time distance K1, and S5, a braking action control signal is output.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic plugs, and specifically relates to a ring-rail hanging basket ranging and anti-collision system and method. Background Art

[0002] The ring-rail hanging basket has a unique ring-rail design, which is usually arranged on the outer periphery of super high-rise buildings, enabling the hanging basket to move efficiently and flexibly along the ring-rail on the outer periphery of super high-rise buildings, so as to perform construction operations such as glass curtain wall construction and maintenance.

[0003] The ring-rail hanging basket mainly includes a ring-rail, a moving hanging basket, and a driving assembly for driving the lifting and moving of the moving hanging basket. To improve construction efficiency, multiple moving hanging baskets are usually arranged on the same ring-rail. However, this also brings some new problems: the running speeds of adjacent moving hanging baskets are inconsistent, resulting in the possibility that the moving hanging baskets may be too close to each other. Since the moving hanging basket is suspended by a pulling rope, even if the electric trolley brakes in time, it may still hit another moving hanging basket due to shaking, resulting in safety accidents.

[0004] Based on the above background, the inventor designed a ring-rail hanging basket ranging and anti-collision system and method to solve at least one of the above problems, and thus, this application is proposed. Summary of the Invention

[0005] The purpose of this application is to provide a ring-rail hanging basket ranging and anti-collision system and method, which is used to solve the problem that the running distance between adjacent moving hanging baskets is too close, resulting in the moving hanging baskets colliding due to shaking and causing safety accidents.

[0006] This application provides a ring-rail hanging basket ranging and anti-collision method, including the following steps: S1. Obtain the moving speeds V1 and V2 of two adjacent electric trolleys, the real-time distance K1, and the heights H1 and H2 of the corresponding cables of the two moving hanging baskets; S2. Compare V1 and V2. If V1 is less than or equal to V2, go to S1; if V1 is greater than V2, go to S3; S3. According to V1, V2, H1, and H2 in S1, obtain the collision distance P between the moving trolleys in real time: P = L1 + B1 + B2 - L2 + N; Where: L1 is the braking distance corresponding to V1, B1 is the lateral swing distance of the moving hanging basket under V1 and H1, L2 is the braking distance corresponding to V2, B2 is the lateral swing distance of the moving hanging basket under V2 and H2, and N is a preset value related to the hanging basket; S4. Obtain the braking force and the corresponding safety factor m according to the real-time distance K1 and the collision distance P, and then obtain the safety distance K = mP. Compare the real-time distance K1 and the safety distance K, and output the comparison result; S5. Determine based on the comparison result, output a brake action control signal and then go to S1, or directly go to S1.

[0007] Optionally, in S1, it is also necessary to obtain the length C and height D of the moving hanging basket model; In S3, it is also necessary to correct the calculation formula of the safety distance K according to the difference result between H1 and H2; If the absolute value of the difference between H1 and H2 is greater than D, then: N = C / 2; If the absolute value of the difference between H1 and H2 is less than D, then: N = C.

[0008] Optionally, in S3, when the absolute value of the difference between H1 and H2 is greater than D: If H1 is greater than H2, then K = m (L1 + 2B2 - L2 + C / 2); If H1 is less than H2, then K = m (L1 + 2B1 - L2 + C / 2).

[0009] Optionally, the B1 and B2 are obtained according to the following formula: ; .

[0010] Optionally, in S3, it is also necessary to further correct the safety distance K according to the magnitudes of H1 and H2: If H1 is greater than H2, then: ; If H1 is less than H2, then: ; Optionally, before S1, it also includes S0: constructing a mapping relationship curve between the speed V and the braking distance L; In S3, both L1 and L2 are obtained according to the mapping relationship curve between the speed V and the braking distance L.

[0011] Optionally, the safety factor is determined according to the mapping relationship curve between the braking force of the brake and the safety factor m; As the braking force increases, the safety factor m decreases, and conversely, as the braking force decreases, the safety factor m increases; Where: the value range of m is from 1.2 to 1.8.

[0012] Optionally, in S3, the braking level is determined by the ratio or difference between the real-time distance K1 and the collision distance P.

[0013] Optionally, the braking force of the brake is determined according to the ratio of the real-time distance K1 to the collision distance P: When K1 / P is greater than 1.8, no braking is performed; When K1 / P is between 1.2 and 1.8, the braking force of the brake increases as the ratio of K1 / P decreases; When K1 / P is less than 1.2, the maximum braking force is adopted.

[0014] On the other hand, the present application provides a ring rail hanging basket ranging and anti-collision system, which is applicable to any one of the above-mentioned ring rail hanging basket ranging and anti-collision methods, and includes a plurality of hanging basket components arranged on the annular track. The hanging basket component includes an electric trolley, and a moving hanging basket suspended directly below the electric trolley by a cable; It also includes a spacing measurement component for measuring the distance between two electric trolleys, a rotational speed sensor A, a rotational speed sensor B, an encoder A, an encoder B, a brake structure A, a brake structure B, and a controller, wherein: The spacing measurement component, the rotational speed sensor A, the rotational speed sensor B, the encoder A, and the encoder B are all communicatively connected to the signal input end of the controller, and the brake structure A and the brake structure B are communicatively connected to the signal output end of the controller.

[0015] Optionally, the spacing measurement component is a laser ranging sensor or an ultrasonic ranging sensor.

[0016] Advantages of the present invention: The ring rail hanging basket ranging and anti-collision system and method disclosed in the present application enable two adjacent electric trolleys on the annular track to obtain the collision spacing and safety spacing of the chasing electric trolley at the current moment according to their real-time moving speed V and the real-time height H of the corresponding moving hanging basket being lowered, and compare them with the real-time distance between the two electric trolleys, and perform corresponding braking actions or enter another cycle, thereby effectively avoiding collisions caused by the swinging of the moving hanging basket due to untimely braking of the electric trolley. Description of the drawings

[0017] Figure 1 It is a schematic flow chart of Embodiment 1 of the present application.

[0018] Figure 2 It is a schematic diagram when the height difference between two moving hanging baskets in Embodiment 1 of the present application is greater than the height of the moving hanging basket itself.

[0019] Figure 3 It is a schematic diagram when the height difference between two moving hanging baskets in Embodiment 1 of the present application is less than the height of the moving hanging basket itself.

[0020] Figure 4 It is a schematic diagram of the mapping relationship curve between the safety factor and the braking force in Embodiment 1 of the present application.

[0021] Figure 5Schematic diagram of module connection for Embodiment 2 of this application. Detailed implementation manners

[0022] The present invention will be further described in detail below in conjunction with embodiments and the accompanying drawings, but the implementation manners of the present invention are not limited thereto.

[0023] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "longitudinal", "lateral", "horizontal", "inner", "outer", "front", "rear", "top", "bottom", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the inventive product is usually placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0024] In the description of the present invention, it should also be noted that unless otherwise clearly defined and limited, the terms "set", "provided with", "installed", "connected", "connected to" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0025] The present invention will be described in detail below by referring to the drawings and in conjunction with embodiments.

[0026] Embodiment 1: As Figures 1 to 4 shown, this embodiment provides a method for measuring distance and preventing collision of a ring-rail hanging basket, including the following steps: S1. Obtain the moving speeds V1 and V2 of two adjacent electric trolleys, the real-time distance K1, and the heights H1 and H2 of the corresponding cables of the two moving hanging baskets; S2. Compare V1 and V2. If V1 is less than or equal to V2, go to S1; if V1 is greater than V2, go to S3; S3. According to V1, V2, H1, and H2 in S1, obtain the collision distance P between the moving trolleys in real time: P = L1 + B1 + B2 - L2 + N; where: L1 is the braking distance corresponding to V1, B1 is the lateral swing distance of the moving hanging basket under V1 and H1, L2 is the braking distance corresponding to V2, B2 is the lateral swing distance of the moving hanging basket under V2 and H2, and N is a preset value related to the hanging basket; S4. Obtain the braking force and the corresponding safety factor m based on the real-time distance K1 and the collision distance P, and then obtain the safety distance K = mP. Compare the real-time distance K1 with the safety distance K and output the comparison result; S5. Judge according to the comparison result, output the braking action control signal and then turn to S1, or directly turn to S1.

[0027] The ring-rail hanging basket ranging and anti-collision system and method disclosed in this embodiment enable two adjacent electric trolleys on the circular track to obtain the collision distance and safety distance of the chasing electric trolley at the current moment according to their real-time moving speed V and the real-time height H of the corresponding moving hanging basket being lowered, and compare them with the real-time distance between the two electric trolleys, and perform corresponding braking actions or enter another cycle, so as to effectively avoid the collision caused by the swinging of the moving hanging basket due to untimely braking of the electric trolley.

[0028] Actually, in this embodiment, in S3, for the calculation formula of the collision distance P = L1 + B1 + B2 - L2 + N, it calculates the most extreme situation at the current moment, that is, the electric trolley corresponding to V2 immediately starts braking and stops. Since the moving hanging basket corresponding to the electric trolley will swing left and right, therefore, subtracting the maximum lateral distance B2 of the swing of the moving hanging basket corresponding to the electric trolley from the braking distance L2 of the electric trolley is the position where the end of the cable under the electric trolley is closest to another cable at this moment; similarly, for the electric trolley corresponding to V2, when it immediately starts braking and stops, adding the maximum lateral distance B1 of the swing of the moving hanging basket corresponding to it to its braking distance L1 is the position where the end of the cable under the electric trolley is closest to another cable at this moment. And because there is also a moving hanging basket under the cable, adding the relevant parameter N of the hanging basket can obtain the above calculation formula of the collision distance.

[0029] When the speed V2 is 0, that is, when the chased electric trolley is in a stationary state, its braking distance L2 and the corresponding B2 are both 0. At this time, the collision distance P = L1 + B1 + N.

[0030] In this embodiment, N can input specific parameter groups in advance according to the model of the moving hanging basket and take specific parameters according to the actual situation, so as to obtain the real-time collision distance. Such as Figure 2 and Figure 3 As shown, during the actual operation of the ring-rail hanging basket, there are two situations where the height difference between adjacent moving hanging baskets is small and the height difference is large.

[0031] In this embodiment, in S1, it is also necessary to obtain the length C and height D of the model of the moving hanging basket; In S3, it is also necessary to correct the calculation formula of the safety distance K according to the difference result between H1 and H2; If the absolute value of the difference between H1 and H2 is greater than D, then: N = C / 2; If the absolute value of the difference between H1 and H2 is less than D, then: N = C.

[0032] As Figure 2 shown, if the absolute value of the difference between H1 and H2 is greater than D, then during the braking process of the electric trolley, the moving hanging baskets will not collide with each other when they swing, but the moving hanging basket will collide with the cable. Therefore, in this embodiment, if the absolute value of the difference between H1 and H2 is greater than D, then take N = C / 2.

[0033] Similarly, as Figure 3 shown, if the absolute value of the difference between H1 and H2 is less than D, then during the braking process of the electric trolley, in the most extreme case, the two moving hanging baskets swing close to each other and then collide. Therefore, in this embodiment, if the absolute value of the difference between H1 and H2 is less than D, then take N = C.

[0034] In this embodiment, the length C and height D of the moving hanging basket model can be input in advance, and then the specific value of N is selected as C or C / 2 according to the actual situation of the two cables being lowered.

[0035] Specifically, in this embodiment, as Figure 2 shown, in S3, when the absolute value of the difference between H1 and H2 is greater than D: If H1 is greater than H2, then K = m (L1 + 2B2 - L2 + C / 2); If H1 is less than H2, then K = m (L1 + 2B1 - L2 + C / 2).

[0036] When the absolute value of the difference between H1 and H2 is greater than D and H1 is greater than H2, the cable corresponding to H2 is shorter. Therefore, the cable corresponding to H1 may collide with the moving hanging basket corresponding to H2. Therefore, in this embodiment, B1 in the collision distance is replaced with B2.

[0037] Similarly, it can be obtained that when the absolute value of the difference between H1 and H2 is greater than D and H1 is less than H2, B2 in the collision distance can be replaced with B1.

[0038] Specifically, in this embodiment, before S1, it also includes S0: constructing a mapping relationship curve between the speed V and the braking distance L; In S3, both L1 and L2 are obtained according to the mapping relationship curve between the speed V and the braking distance L.

[0039] In this embodiment, the mapping relationship curve between the speed V and the braking distance L is a mapping relationship curve based on the maximum braking force. The faster the speed, the farther the braking distance, and vice versa. When constructing the mapping relationship curve between the speed V and the braking distance L, first construct a rectangular coordinate system, set the braking distance L as the ordinate and the speed V as the abscissa, test multiple common speeds and their corresponding braking distances, and then connect the multiple common speeds and their corresponding braking distances and perform smoothing processing to obtain the mapping relationship curve between the speed V and the braking distance L under the maximum braking force.

[0040] Specifically, in this embodiment, in S3, B1 and B2 are obtained according to the following formula: ; .

[0041] In this embodiment, since the moving hanging basket itself has a certain height in the vertical direction, and its value is D, therefore, when calculating the lateral swing distance of the moving hanging basket and further calculating the collision spacing P, H can be replaced with H + D, as follows: If H1 is greater than H2, then: ; If H1 is less than H2, then: ; Through the above formula, when the absolute value of the difference between H1 and H2 is greater than D, the calculation accuracy of the collision spacing can be further improved.

[0042] Specifically, in this embodiment, as Figure 4 shown, the safety factor m is determined according to the mapping relationship curve between the braking force and the safety factor; When the braking force increases, the safety factor m decreases, and vice versa, when the braking force decreases, the safety factor m increases; Among them: the value range of m is from 1.2 to 1.8.

[0043] In some embodiments, the safety factor m can also be set to a relatively large fixed value.

[0044] In this embodiment, the safety factor m is adjusted according to the braking force, so that the safety spacing K can change with the change of the braking force, which is more in line with the actual operation situation.

[0045] Specifically, in this embodiment, in S4, the braking force of the brake is determined by the ratio between the actual time spacing K1 and the collision spacing P. In some embodiments, the braking force of the brake can also be determined according to the difference between the two.

[0046] Specifically, in this embodiment, as Figure 4As shown, the braking force is determined according to the ratio of the real-time distance K1 to the collision distance P: When K1 / P is greater than 1.8, no braking is performed and the braking force is 0; When K1 / P is between 1.2 and 1.8, the braking force of the brake increases as the ratio of K1 / P decreases; When K1 / P is less than 1.2, the maximum braking force is adopted.

[0047] When the range of K1 / P is between 1.2 and 1.8, the braking force of the brake in this embodiment increases as the ratio of K1 / P decreases, which can avoid the shaking of the lower moving hanging basket caused by sudden braking as much as possible. Until the range of K1 / P is less than 1.2, the maximum braking force is adopted until it stops.

[0048] Embodiment 2: As Figure 5 shown, this embodiment provides a ring rail hanging basket distance measurement and anti-collision system, which is applicable to the ring rail hanging basket distance measurement and anti-collision method described in Embodiment 1. It includes several hanging basket components arranged on the annular track. The hanging basket component includes an electric trolley and a moving hanging basket suspended directly below the electric trolley by a cable; It also includes a distance measurement component for measuring the distance between two electric trolleys, a rotational speed sensor A, a rotational speed sensor B, an encoder A, an encoder B, a braking structure A, a braking structure B and a controller, where: The distance measurement component, the rotational speed sensor A, the rotational speed sensor B, the encoder A and the encoder B are all communicatively connected to the signal input end of the controller, and the braking structure A and the braking structure B are communicatively connected to the signal output end and the signal input end of the controller.

[0049] Specifically, in this embodiment, the distance measurement component is a laser distance sensor. Those skilled in the art can use an ultrasonic distance sensor or other types of distance sensors according to needs, which will not be elaborated here.

[0050] It can be understood that the above embodiments are only exemplary embodiments adopted to illustrate the principle of the present invention. However, the present invention is not limited thereto. For those of ordinary skill in the art, various deformations and improvements can be made without departing from the spirit and essence of the present invention, and these deformations and improvements are also regarded as the protection scope of the present invention.

Claims

1. Ring rail hanging basket ranging and anti-collision method, characterized in that It includes the following steps: S1. Obtain the moving speeds V1 and V2 of two adjacent electric trolleys, the real-time distance K1, and the heights H1 and H2 of the cables corresponding to the two moving hanging baskets; S2. Compare V1 and V2. If V1 is less than or equal to V2, go to S1; if V1 is greater than V2, go to S3; S3. According to V1, V2, H1, and H2 in S1, obtain the collision distance P between the moving trolleys in real time: P = L1 + B1 + B2 - L2 + N; Where: L1 is the braking distance corresponding to V1, B1 is the lateral swing distance of the moving hanging basket under V1 and H1, L2 is the braking distance corresponding to V2, B2 is the lateral swing distance of the moving hanging basket under V2 and H2, and N is a preset value related to the hanging basket; S4. Obtain the braking force and the corresponding safety factor m according to the real-time distance K1 and the collision distance P, and then obtain the safety distance K = mP, and compare the real-time distance K1 and the safety distance K, and output the comparison result; S5. Judge according to the comparison result, output the braking action control signal and then go to S1, or directly go to S1.

2. The ring track hanging basket ranging and anti-collision method according to claim 1, wherein In S1, it is also necessary to obtain the length C and height D of the moving hanging basket model; In S3, it is also necessary to correct the calculation formula of the safety distance K according to the difference result between H1 and H2; If the absolute value of the difference between H1 and H2 is greater than D, then: N = C / 2; If the absolute value of the difference between H1 and H2 is less than D, then: N = C.

3. The method for measuring distance and preventing collision of the ring rail hanging basket according to claim 2, characterized in that, In S3, when the absolute value of the difference between H1 and H2 is greater than D: If H1 is greater than H2, then K = m (L1 + 2B2 - L2 + C / 2); If H1 is less than H2, then K = m (L1 + 2B1 - L2 + C / 2).

4. The ring rail hanging basket ranging and anti-collision method according to claim 3, characterized in that, The B1 and B2 are obtained according to the following formula: ； 。 5. The method for measuring distance and preventing collision of the ring rail hanging basket according to claim 4, wherein, In S3, it is also necessary to further correct the safety distance K according to the magnitudes of H1 and H2: If H1 is greater than H2, then: ； If H1 is less than H2, then: 。 6. The method for measuring distance and preventing collision of the ring-rail hanging basket according to claim 1, wherein, Before S1, it also includes S0: constructing a mapping relationship curve between the speed V and the braking distance L; In S3, both L1 and L2 are obtained according to the mapping relationship curve between the speed V and the braking distance L.

7. The method for measuring distance and preventing collision of the ring rail hanging basket according to claim 1, wherein, The safety factor is determined according to the mapping relationship curve between the braking force of the brake and the safety factor m; When the braking force increases, the safety factor m decreases; conversely, when the braking force decreases, the safety factor m increases; Where: the value range of m is 1.2 to 1.

8.

8. The method for measuring distance and preventing collision of the ring rail hanging basket according to claim 1, characterized in that, In S3, the braking force of the brake is determined by the ratio or difference between the real-time distance K1 and the collision distance P.

9. The method for measuring distance and preventing collision of the ring rail hanging basket according to claim 8, characterized in that, The braking force of the brake is determined according to the ratio of the real-time distance K1 to the collision distance P: When K1 / P is greater than 1.8, no braking is performed; When K1 / P is between 1.2 and 1.8, the braking force of the brake increases as the ratio of K1 / P decreases; When K1 / P is less than 1.2, the maximum braking force is adopted.

10. The ring rail hanging basket distance measurement and anti-collision system is applicable to the ring rail hanging basket distance measurement and anti-collision method described in any one of claims 1-9, and is characterized in that, It includes several hanging basket components arranged on the annular track. The hanging basket component includes an electric trolley and a moving hanging basket suspended directly below the electric trolley by a cable; It further includes a spacing measurement component for measuring the spacing between two electric vehicles, as well as a rotational speed sensor A, a rotational speed sensor B, an encoder A, an encoder B, a braking structure A, a braking structure B, and a controller, wherein: The spacing measurement component, the rotational speed sensor A, the rotational speed sensor B, the encoder A, and the encoder B are all communicatively connected to the signal input end of the controller, and the braking structure A and the braking structure B are communicatively connected to the signal output end of the controller.

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