Bridge crane electric energy feedback method and system and storage medium

Abstract

The invention provides an electric energy feedback method and system for a bridge crane and a storage medium, and the method comprises the steps: receiving a working signal, and generating mode switching information based on the working signal; the current working mode of the crane is determined every time the mode switching information is generated, whether the current working mode comprises a descending working mode or not is judged, and if yes, a future working mode corresponding to the current working mode and future energy corresponding to the future working mode are determined based on the working signal; self-energy capacity corresponding to the current working mode is obtained, current storage energy needing to be stored is determined based on the self-energy capacity and future energy, and the current storage energy is stored; and if not, supplementary energy still needed by the current working mode and the stored total storage energy are obtained, and supply energy needing to be provided by the outside world is determined based on the supplementary energy and the total storage energy. According to the invention, the energy consumption of crane work can be reduced.

Description

Technical Field

[0001] This application relates to the technical field of cranes, and particularly to a method, a system and a storage medium for power feedback of a bridge crane. Background Art

[0002] Bridge cranes are mainly used for the loading and unloading work in freight yards, material yards, bulk goods yards and workshops. They have the characteristics of high site utilization rate, large operation range, wide adaptability and strong versatility, and are widely used in port freight yards.

[0003] When a crane lifts a heavy object, it needs external power supply to make the motor rotate to lift the heavy object. After the heavy object is lifted, the external power supply is converted into the gravitational potential energy of the heavy object. When the heavy object descends, its gravitational potential energy will be gradually released as the height of the heavy object decreases. The existing cranes consume the gravitational potential energy by turning it into frictional force through friction plates, or consume the electric energy generated when the motor works in the generating state with high-power resistors. This way of consuming potential energy is not conducive to energy conservation. Summary of the Invention

[0004] In order to reduce the energy consumption of crane operation, the embodiments of this application provide a method, a system and a storage medium for power feedback of a bridge crane.

[0005] In a first aspect, the embodiments of this application provide a method for power feedback of a bridge crane, the method comprising: Receiving a working signal, and generating mode switching information based on the working signal; For each generated mode switching information, determining the current working mode of the crane, and judging whether the current working mode includes a descending working mode. If so, determining the future working mode corresponding to the current working mode and the future energy corresponding to the future working mode based on the working signal; Obtaining the self-generated energy corresponding to the current working mode, determining the current stored energy to be stored based on the self-generated energy and the future energy, and storing the current stored energy; If not, obtaining the supplementary energy required by the current working mode and the total stored energy stored, and determining the supply energy to be provided by the outside based on the supplementary energy and the total stored energy.

[0006] In some of these embodiments, the working signal includes the initial time when the working signal is obtained, a plurality of ordered working modes, and the working time period corresponding to each working mode. The obtaining mode switching information based on the working signal includes: Determining the mode switching time corresponding to each completed working mode based on the initial time and the working time period; Obtain the current time, determine whether the current time belongs to one of all mode switching times. If so, generate a mode switching message; If not, continue to obtain the current time.

[0007] In some embodiments, determining the current working mode of the crane every time a mode switching message is generated includes: Obtain the switching times of generating the mode switching message, and determine the working mode at the position of the switching times among the several ordered working modes as the current working mode.

[0008] In some embodiments, the working signal includes the working distance corresponding to each working mode, and the speed of the crane during mode switching is zero. Determining the future energy corresponding to the future working mode includes: Obtain the total future moving weight corresponding to the future working mode and the horizontal friction coefficient; Split the future working mode into a rising working mode and / or a horizontal working mode; If the future working mode includes a rising working mode, then multiply the total future moving weight by the working distance in the vertical direction corresponding to the future working mode to obtain the future rising energy corresponding to the rising working mode; If the future working mode includes a horizontal working mode, then multiply the total future moving weight by the working distance in the horizontal direction corresponding to the future working mode and the horizontal friction coefficient to obtain the future horizontal energy corresponding to the horizontal working mode; Determine the future energy corresponding to the future working mode based on the future rising energy and / or the future horizontal energy.

[0009] In some embodiments, obtaining the self-generated energy corresponding to the current working mode includes: Obtain the current total moving weight corresponding to the current working mode, and multiply the current total moving weight by the working distance in the vertical direction corresponding to the current working mode to obtain the first self-generated energy corresponding to the current working mode; Multiply the current total moving weight by the working distance in the horizontal direction corresponding to the current working mode and the horizontal friction coefficient to obtain the second self-generated energy corresponding to the current working mode; Subtract the second self-generated energy from the first self-generated energy to obtain the self-generated energy corresponding to the current working mode.

[0010] In some embodiments, the method further includes: Determine whether the self-generated energy is greater than the future energy. If it is greater, store the energy corresponding to the future energy in the self-generated energy through a mechanical spring, and provide corresponding energy to the crane when regenerating the mode switching information; If it is not greater, store all the self-generated energy through a mechanical spring, and provide corresponding energy to the crane when regenerating the mode switching information.

[0011] In some embodiments, the method further includes: Use an energy storage battery or / and the power grid to store the currently stored energy.

[0012] In a second aspect, this embodiment provides an electric energy feedback system for a bridge crane, and the system includes: a start module, a processing module, and an electric energy feedback module; wherein, The start module is used to receive a work signal and generate mode switching information based on the work signal; The processing module is used to determine the current working mode of the crane every time a mode switching information is generated, determine whether the current working mode includes a descending working mode. If so, determine the future working mode corresponding to the current working mode based on the work signal, and the future energy corresponding to the future working mode; The electric energy feedback module is used to obtain the self-generated energy corresponding to the current working mode, determine the currently stored energy that needs to be stored based on the self-generated energy and the future energy, and store the currently stored energy; The processing module is further used to, if not, obtain the supplementary energy required by the current working mode, and the total stored energy, and determine the supply energy that needs to be provided by the outside based on the supplementary energy and the total stored energy.

[0013] In some embodiments, the system further includes: a temporary energy storage module; wherein, The temporary storage module is used to determine whether the self-generated energy is greater than the future energy. If it is greater, store the energy corresponding to the future energy in the self-generated energy through a mechanical spring, and provide corresponding energy to the crane when regenerating the mode switching information; If it is not greater, store all the self-generated energy through a mechanical spring, and provide corresponding energy to the crane when regenerating the mode switching information.

[0014] In a third aspect, this embodiment provides a computer-readable storage medium, on which a computer program that can run on a processor is stored. When the computer program is executed by the processor, it implements an electric energy feedback method for a bridge crane as described in the first aspect.

[0015] By adopting the above method, the present application receives a working signal and generates mode switching information based on the working signal, enabling the control terminal to know when the manipulator needs to switch modes, so as to control the crane to switch to the corresponding mode, ensuring the normal operation of the crane, and thus providing normal operation guarantee for the subsequent realization of the electric energy feedback of the bridge crane.

[0016] Then, for each generated mode switching information, determine the current working mode of the crane, and judge whether the current working mode includes a descending working mode. If so, determine the future working mode corresponding to the current working mode and the future energy corresponding to the future working mode based on the working signal. In this way, when starting to work in the current working mode, it is possible to know the electric energy required in the next working mode, thus providing a data basis for the electric energy feedback required due to the current descent and guiding the electric energy feedback in the current working mode.

[0017] Next, obtain the self-generated energy corresponding to the current working mode, determine the current stored energy to be stored based on the self-generated energy and the future energy, and store the current stored energy. To reduce energy waste and lower the energy consumption of the crane operation, it is necessary to store the energy during the descending working mode instead of wasting it in the form of heat. Moreover, it can store the energy during the descending working mode and at the same time extend the service life of the electric energy storage device.

[0018] Finally, if not, obtain the supplementary energy required by the current working mode and the total stored energy, and determine the supply energy that needs to be provided by the outside based on the supplementary energy and the total stored energy, so as to reduce the energy consumption of the crane operation. Description of the Drawings

[0019] Figure 1 is a block diagram of a method for electric energy feedback of a bridge crane provided by an embodiment of the present application.

[0020] Figure 2 is a block diagram for obtaining mode switching information based on a working signal provided by an embodiment of the present application.

[0021] Figure 3 is a block diagram for determining the future energy corresponding to the future working mode provided by an embodiment of the present application.

[0022] Figure 4 is a block diagram for obtaining the self-generated energy corresponding to the current working mode provided by an embodiment of the present application.

[0023] Figure 5 is a schematic connection diagram of an electric energy feedback system of a bridge crane provided by an embodiment of the present application. Detailed Embodiments

[0024] To understand the purpose, technical solution and advantages of the present application more clearly, the present application will be described and explained below in conjunction with the accompanying drawings and embodiments. However, those of ordinary skill in the art should understand that the present application can be implemented without these details. For those of ordinary skill in the art, it is obvious that various changes can be made to the disclosed embodiments of the present application, and without departing from the principles and scope of the present application, the general principles defined in the present application can be applied to other embodiments and application scenarios. Therefore, the present application is not limited to the illustrated embodiments, but conforms to the broadest scope consistent with the scope claimed in the present application.

[0025] The embodiments of the present application will be further described in detail below with reference to the accompanying drawings of the specification.

[0026] Figure 1 It is a block diagram of a method for energy feedback of a bridge crane provided by an embodiment of the present application. As Figure 1 shown, a method for energy feedback of a bridge crane includes the following steps: Step S100, receive a working signal and generate mode switching information based on the working signal.

[0027] This embodiment is described at the control end of the bridge crane. The above-mentioned working signal specifically refers to a signal sent by the staff to switch the bridge crane from a non-working state to a working state. The working signal includes the time when the staff sends the working signal, that is, the initial time when the control end obtains the working signal, several ordered working modes, and the working time period corresponding to each working mode. Among them, each working mode specifically refers to one of the rising working mode, falling working mode, horizontal moving working mode, moving plus rising working mode, and moving plus falling working mode of the manipulator of the crane. The working time period specifically refers to the length of time that the manipulator of the crane needs to experience in this working mode. The staff makes the control end receive the working signal by sending the working signal to the control end when needed. After receiving the working signal, the control end represents that the crane needs to be prepared for work, that is, generate mode switching information based on the working signal, so that the control end knows when the manipulator needs to switch modes, and controls the crane to switch to the corresponding mode to ensure the normal operation of the crane, thus providing normal operation guarantee for the subsequent realization of energy feedback of the bridge crane.

[0028] Figure 2 It is a block diagram of obtaining mode switching information based on a working signal provided by an embodiment of the present application. As Figure 2 shown, obtaining mode switching information based on a working signal includes the following steps: Step S101, determine the mode switching time corresponding to each completed working mode based on the initial time and the working time period.

[0029] Step S102, obtain the current time, and determine whether the current time belongs to one of all mode switching times. If so, generate a mode switching message.

[0030] Step S103, if not, continue to obtain the current time.

[0031] By first adding the working time period corresponding to the first working mode in the ordered working mode to the initial time, the mode switching time corresponding to the completion of the first working mode in the ordered working mode is obtained. Subsequently, by adding the working time period corresponding to the first working mode and the working time period corresponding to the second working mode in the ordered working mode to the initial time, the mode switching time corresponding to the completion of the second working mode in the ordered working mode is obtained. And so on. Finally, by adding the working time periods corresponding to all working modes in the ordered working mode to the initial time, the mode switching time corresponding to the completion of the last working mode in the ordered working mode is obtained. Among them, the initial time is also a mode switching time, which is the mode switching time corresponding to the completion of the startup working mode.

[0032] A time device is stored in the control terminal. The current time can be obtained by checking the stored time device in real time, and the current time is numerically compared with all the mode switching times obtained in the above step S101. If the current time is the same as a certain mode switching time among all the mode switching times, then the control terminal generates a mode switching message, indicating that the crane has completed a working mode at this time and has just entered a new working mode. If the current time is different from all the mode switching times, then the crane does not need to perform a mode switching at this time. The control terminal can continue to perform corresponding control work according to the previously determined method, and also needs to continue to obtain the current time, execute the above step S102, make a judgment, and determine the next operation according to the judgment result. In this way, through the clock device inside the control terminal, the control terminal can know at what time a mode switching message needs to be generated and generate the mode switching message in a timely manner at the corresponding time, ensuring that the crane performs mode switching in a timely and accurate manner, automatically performs corresponding movements according to the predetermined mode, reducing the workload of the staff and eliminating the need for corresponding manual operations. Among them, before each time the crane needs to work, the required running speed and the movement path to be executed to complete this work are set in the control terminal, that is, the running distance required for each working mode has been determined, and the working time corresponding to each working mode has also been determined.

[0033] Step S200, for each generated mode switching message, determine the current working mode of the crane, and determine whether the current working mode includes a lowering working mode. If so, determine the future working mode corresponding to the current working mode and the future energy corresponding to the future working mode based on the working signal.

[0034] When the bridge crane receives a work signal, it immediately generates a mode switching information. Each time the mode switching information is generated, it indicates that the bridge crane has completed a work mode and just entered a work mode. Among them, the entered work mode is the current work mode. Among them, each time a mode switching information is generated, determining the current work mode of the crane includes: obtaining the switching times of generating the mode switching information, and determining the work mode at the switching times position among several ordered work modes as the current work mode.

[0035] Each of the above mode switching information is gradually generated over time, rather than all mode switching information being generated at the same moment. Each time the control terminal generates a mode switching information, it will increment the switching times by one. Among them, the initial value of the switching times is zero, that is, the value before receiving the work signal is zero. By reading the switching times currently recorded by the control terminal, the switching times of generating the mode switching information can be obtained. Subsequently, the obtained switching times are substituted into several ordered work modes included in the work signal to obtain which work mode is the one at the switching times position among several ordered work modes, so as to determine the obtained work mode as the current work mode. For example, several work modes are in sequence: horizontal movement work mode - descending work mode - horizontal movement work mode - ascending work mode. When the switching times is one, the current work mode of the crane is the horizontal movement work mode. When the switching times is two, the current work mode of the crane is the descending work mode. In this way, the current work mode of the crane can be determined each time a mode switching information is obtained, so that the control terminal can timely obtain the current work mode of the crane each time the crane just enters a new current work mode, thereby facilitating subsequent timely determination of whether power energy feedback can be performed according to the current work mode, achieving the timeliness of power energy feedback, and reducing power energy waste caused by obtaining the permission of power energy feedback sluggishly.

[0036] Each work mode corresponds to its own uniquely determined keyword. After determining the current work mode of the crane, it can be judged whether the current work mode is the descending work mode by checking whether the keyword in the current work mode contains the same keyword as that in the descending work mode. If it contains, then the current work mode includes the descending work mode. If it does not contain, then the current work mode does not include the descending work mode.

[0037] When it is determined that the current working mode includes a descending working mode, it indicates that there may be a demand for power feedback only in the current working mode. In order to reduce energy waste and lower the energy consumption of the crane during operation, it is necessary to store the energy generated during the descending working mode instead of wasting it in the form of heat. Considering that the next working mode after completing the current working mode may require power supply, if all the gravitational potential energy of the current working mode is converted into electrical energy and stored, then when the subsequent working mode is executed, the stored electrical energy will be released again, which will increase the number of times the electrical energy storage device stores - releases - stores, thereby reducing the service life of the electrical energy storage device. In order to store the energy during the descending working mode and at the same time extend the service life of the electrical energy storage device, it is also necessary to consider which working mode is the next working mode after the current working mode, that is, the future working mode, and the corresponding energy demand for this future working mode, that is, the future energy. Subsequently, the actual energy to be stored is determined based on the future energy.

[0038] Among them, the control terminal can obtain the future working mode corresponding to the current working mode by checking several ordered working modes included in the working signal, that is, which working mode is the next working mode after the current working mode among the several ordered working modes, and this working mode is the future working mode corresponding to the current working mode. The working signal also includes the working distance corresponding to each working mode, and the speed of the crane during working mode switching is zero. That is, when the crane is working in each working mode, the starting speed is zero, then it accelerates, then decelerates, and finally the ending speed is zero. Figure 3 It is a block diagram for determining the future energy corresponding to the future working mode provided by an embodiment of the present application. As Figure 3 shown, determining the future energy corresponding to the future working mode includes the following steps: Step S201, obtain the total future moving weight corresponding to the future working mode and the horizontal friction coefficient.

[0039] Step S202, split the future working mode into an ascending working mode and / or a horizontal working mode.

[0040] Step S203, if the future working mode includes an ascending working mode, then multiply the total future moving weight by the working distance corresponding to the future working mode in the vertical direction to obtain the future ascending energy corresponding to the ascending working mode.

[0041] Step S20 = 4, if the future working mode includes a horizontal working mode, then multiply the total future moving weight by the working distance corresponding to the future working mode in the horizontal direction and the horizontal friction coefficient to obtain the future horizontal energy corresponding to the horizontal working mode.

[0042] Step S205: Determine the future energy corresponding to the future working mode based on the future ascending energy and / or the future horizontal energy.

[0043] The initial state of the manipulator of the bridge crane is at the uppermost position in space. During the working process, it generally descends first, then grabs the goods, and then drives the goods to rise and place them at the designated position. There will also be horizontal movement during this period, but it will not make two adjacent working modes both include the descending working mode. That is, when the current working mode of the manipulator of the bridge crane includes the descending working mode, then the next working mode after the current working mode does not include the descending working mode.

[0044] The above-mentioned future total moving weight refers to the gravity of the manipulator and the goods grabbed by the manipulator. When the manipulator grabs the goods, the total moving weight refers to the sum of the gravity of the manipulator and the goods. When the manipulator does not grab the goods, the total moving weight refers to the gravity of the manipulator itself. The horizontal friction coefficient refers to the friction coefficient between the manipulator and the slide rail when the manipulator has horizontal movement. Among them, the future total moving weight and the horizontal friction coefficient are both pre-stored in the control terminal, and the control terminal can obtain the future total moving weight corresponding to the future working mode and the horizontal friction coefficient by viewing the stored information.

[0045] When the future working mode is the ascending working mode, then the future working mode can only be split into the ascending working mode. When the future working mode is the horizontal moving working mode, then the future working mode can only be split into the horizontal working mode. When the future working mode is the moving plus ascending working mode, then the future working mode can be split into the ascending working mode and the horizontal working mode. Among them, the future working mode can be split according to the movement situation, and no further limitation will be made here.

[0046] For the horizontal working mode that includes the ascending working mode, multiply the future total moving weight by the working distance in the vertical direction corresponding to the future working mode to obtain the future ascending energy corresponding to the ascending working mode. For the horizontal working mode that includes the horizontal working mode, multiply the future total moving weight by the working distance in the horizontal direction corresponding to the future working mode and the horizontal friction coefficient in sequence to obtain the future horizontal energy corresponding to the horizontal working mode.

[0047] When the future working mode is the ascending working mode, the future energy corresponding to the future working mode is the future ascending energy. When the future working mode is the horizontal working mode, the future energy corresponding to the future working mode is the future horizontal energy. When the future working mode is the moving plus ascending working mode, the future energy corresponding to the future working mode is the sum of the future ascending energy and the future horizontal energy. Among them, according to the law of conservation of energy, the future energy is the electric energy required for the future working mode. In this way, when starting to work in the current working mode, the electric energy required for the next working mode can be known, so as to provide a data basis for the electric energy feedback required due to the current descent, and guide the subsequent electric energy feedback in the current working mode.

[0048] Step S300: Obtain the self-generated energy corresponding to the current working mode, determine the current stored energy to be stored based on the self-generated energy and the future energy, and store the current stored energy.

[0049] Figure 4 It is a block diagram for obtaining the self-generated energy corresponding to the current working mode provided by an embodiment of the present application. As Figure 4 shown, obtaining the self-generated energy corresponding to the current working mode includes the following steps: Step S301: Obtain the current total moving weight corresponding to the current working mode, and multiply the current total moving weight by the working distance in the vertical direction corresponding to the current working mode to obtain the first self-generated energy corresponding to the current working mode.

[0050] Step S302: Multiply the current total moving weight by the working distance in the horizontal direction and the horizontal friction coefficient corresponding to the current working mode to obtain the second self-generated energy corresponding to the current working mode.

[0051] Step S303: Subtract the second self-generated energy from the first self-generated energy to obtain the self-generated energy corresponding to the current working mode.

[0052] The above self-generated energy refers to the energy remaining after the crane deducts the electric energy provided by the power supply. In order to reduce the energy consumption of the crane and not waste this energy. The above current total moving weight refers to the gravity of the manipulator and the goods grabbed by the manipulator in the current working mode. When the manipulator grabs goods, the current total moving weight refers to the gravity of the sum of the manipulator and the goods. When the manipulator does not grab goods, the current total moving weight refers to the gravity of the manipulator itself. Among them, the current total moving weight is pre-stored in the control end, and the control end can obtain the current total moving weight by viewing the stored information.

[0053] If the current working mode is the descending working mode, then directly multiplying the current total moving weight by the working distance corresponding to the current working mode can obtain the first self-generated energy. At this time, the working distance in the horizontal direction corresponding to the current working mode is zero, and the second self-generated energy is zero. The first self-generated energy is the self-generated energy corresponding to the current working mode.

[0054] If the current working mode is the moving plus descending working mode, then multiplying the current total moving weight by the working distance in the vertical direction corresponding to the current working mode can obtain the first self-generated energy, and this first self-generated energy does not require the consumption of electric energy. Multiplying the current total moving weight by the working distance in the horizontal direction and the horizontal friction coefficient corresponding to the current working mode can obtain the second self-generated energy, and this second self-generated energy requires the consumption of electric energy. Finally, subtracting the second self-generated energy from the first self-generated energy can obtain the self-generated energy corresponding to the current working mode.

[0055] Since the future working mode following the current working mode will require the supply of electric energy. If all the self-generated energy obtained in the current working mode is stored, then immediately in the future working mode, the just-stored energy needs to be released, which will increase the number of working times of the device for storing electric energy and shorten the service life of the device for storing electric energy. In order to be able to store the energy in the descending working mode and at the same time extend the service life of the electric energy storage device, the present application needs to determine the current stored energy to be stored according to the self-generated energy and the future energy. Among them, a storage battery or / and the power grid is used to store the current stored energy. It can be preferentially stored in the power grid, or it can be preferentially stored in the battery, or it can also be stored in the battery and the power grid at the same time. This embodiment does not make further limitations.

[0056] Preferably, this embodiment also determines whether the self-generated energy is less than the future energy. If it is greater, the energy corresponding to the future energy in the self-generated energy is stored through a mechanical spring and provides corresponding energy for the crane when the mode switching information is regenerated; if it is not greater, all the self-generated energy is stored through the mechanical spring and provides corresponding energy for the crane when the mode switching information is regenerated.

[0057] When the self-generated energy is not greater than the future energy, it indicates that only using the self-generated energy in the future working mode may not be enough and additional electric energy needs to be provided; or it is just enough. At this time, it is necessary to compress the mechanical spring in the current mode to store all the self-generated energy in the mechanical spring, and the current stored energy to be stored is zero, that is, no energy is stored in the battery and the power grid.

[0058] When the self-generated energy is greater than the future energy, it indicates that the future working mode will not completely consume the self-generated energy, but only use a part of the self-generated energy. At this time, it is necessary to compress the mechanical spring in the current mode to store the energy corresponding to the future energy in the self-generated energy through the mechanical spring. The current stored energy to be stored is the energy after subtracting the future energy from the self-generated energy, that is, the current stored energy stored in the battery and / or the power grid is the energy after subtracting the future energy from the self-generated energy.

[0059] In addition, regardless of whether the self-generated energy is greater than the future energy or the self-generated energy is not greater than the future energy, when regenerating a mode switching information, that is, when switching from the current working mode to the future working mode, it is necessary to gradually restore the mechanical spring from the compressed state to the unloaded state, and convert the released energy into electrical energy through a conversion device to provide electrical energy for the future working mode. In this way, only through the deformation of the mechanical spring can the energy required for the future working mode in the self-generated energy be temporarily stored, reducing the number of times the battery and / or the power grid temporarily store electrical energy, being able to store the energy in the descending working mode, and at the same time extending the service life of the electrical energy storage device and reducing the energy consumption of the crane operation.

[0060] Step S400, if not, obtain the additional energy required for the current working mode and the total stored energy, and determine the supply energy that needs to be provided by the outside based on the additional energy and the total stored energy.

[0061] When it is determined that the current working mode does not include the descending working mode, it indicates that there is no demand for electrical energy feedback in the current mode. At this time, the energy corresponding to the current working mode is the future energy calculated in the previous working mode of the current mode. Subtracting the energy stored in the mechanical spring from this future energy is the additional energy required for the current working mode. The above-mentioned total stored energy refers to the total energy stored in the battery and / or the power grid. Among them, the manipulator of the crane is above the space before receiving the working signal, and the first working mode includes the descending working mode.

[0062] If the additional energy is greater than the total stored energy, it indicates that the energy stored only in the battery and / or the power grid is not enough to provide the required energy, and additional supply is needed. That is, the energy after subtracting the total stored energy from the additional energy is determined as the supply energy that needs to be provided by the outside. If the additional energy is not greater than the total stored energy, it indicates that the energy stored only in the battery and / or the power grid is sufficient to provide the required energy, and no additional supply is needed. That is, the supply energy that needs to be provided by the outside is zero.

[0063] Figure 5 It is a schematic connection diagram of an electric energy feedback system for a bridge crane provided by an embodiment of the present application. As Figure 5As shown in the figure, a power feedback system for a bridge crane includes: a startup module, a processing module, a power feedback module, and a temporary energy storage module.

[0064] Among them, the startup module is used to receive a working signal and generate mode switching information based on the working signal. The processing module is used to determine the current working mode of the crane every time a mode switching information is generated, and judge whether the current working mode includes a lowering working mode. If so, determine the future working mode corresponding to the current working mode and the future energy corresponding to the future working mode based on the working signal. The power feedback module is used to obtain the self-generated energy corresponding to the current working mode, determine the current stored energy that needs to be stored based on the self-generated energy and the future energy, and store the current stored energy. The processing module is also used to, if not, obtain the supplementary energy required for the current working mode and the total stored energy, and determine the supply energy that needs to be provided by the outside based on the supplementary energy and the total stored energy. The temporary storage module is used to judge whether the self-generated energy is greater than the future energy. If it is greater, store the energy corresponding to the future energy in the self-generated energy through a mechanical spring and provide corresponding energy for the crane when the mode switching information is regenerated; if it is not greater, store all the self-generated energy through the mechanical spring and provide corresponding energy for the crane when the mode switching information is regenerated.

[0065] Other functions performed by the above startup module, processing module, power feedback module, and temporary energy storage module, as well as the technical details of each function, are the same as or similar to the corresponding features in a power feedback method for a bridge crane described above, so they will not be elaborated here.

[0066] The embodiment of the present application also provides a computer storage medium, on which a computer program is stored. When it runs on a computer, it enables the computer to execute the steps in a power feedback method for a bridge crane described above.

[0067] It should be understood that although the steps in the flowchart of the accompanying drawings are shown in sequence according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless clearly stated in this article, the execution of these steps has no strict order limit and can be executed in other orders.

[0068] The above is only a partial embodiment of the present application. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and refinements can be made are also regarded as the protection scope of the present application.

Claims

1. A method for electric energy feedback of a bridge crane, characterized in that The method includes: Receiving a working signal and generating mode switching information based on the working signal; For each generated mode switching information, determining the current working mode of the crane, judging whether the current working mode includes a descending working mode, and if so, determining the future working mode corresponding to the current working mode and the future energy corresponding to the future working mode based on the working signal; Obtaining the self-generated energy corresponding to the current working mode, determining the current stored energy to be stored based on the self-generated energy and the future energy, and storing the current stored energy; If not, obtaining the supplementary energy required by the current working mode and the total stored energy, and determining the supply energy to be provided by the outside based on the supplementary energy and the total stored energy.

2. The method according to claim 1, characterized in that The working signal includes the initial time when the working signal is obtained, several ordered working modes, and the working time period corresponding to each working mode. The obtaining of the mode switching information based on the working signal includes: Determining the mode switching time corresponding to each completed working mode based on the initial time and the working time period; Obtaining the current time, judging whether the current time belongs to one of all the mode switching times, and if so, generating a mode switching information; If not, continue to obtain the current time.

3. The method according to claim 2, wherein The determining of the current working mode of the crane for each generated mode switching information includes: Obtaining the switching times of generating the mode switching information, and determining the working mode at the switching times position among the several ordered working modes as the current working mode.

4. The method according to claim 1, wherein The working signal includes the working distance corresponding to each working mode, and the speed of the crane at the time of mode switching is zero. The determining of the future energy corresponding to the future working mode includes: Obtaining the total future moving weight corresponding to the future working mode and the horizontal friction coefficient; Splitting the future working mode into an ascending working mode and / or a horizontal working mode; If the future working mode includes an ascending working mode, then multiplying the total future moving weight by the working distance in the vertical direction corresponding to the future working mode to obtain the future ascending energy corresponding to the ascending working mode; If the future working mode includes a horizontal working mode, then multiplying the total future moving weight by the working distance in the horizontal direction corresponding to the future working mode and the horizontal friction coefficient to obtain the future horizontal energy corresponding to the horizontal working mode; Determining the future energy corresponding to the future working mode based on the future ascending energy and / or the future horizontal energy.

5. The method according to claim 4, wherein The obtaining of the self-generated energy corresponding to the current working mode includes: Obtaining the current total moving weight corresponding to the current working mode, and multiplying the current total moving weight by the working distance in the vertical direction corresponding to the current working mode to obtain the first self-generated energy corresponding to the current working mode; Multiplying the current total moving weight by the working distance in the horizontal direction corresponding to the current working mode and the horizontal friction coefficient to obtain the second self-generated energy corresponding to the current working mode; Subtract the second self-generated energy from the first self-generated energy to obtain the self-generated energy corresponding to the current working mode.

6. The method according to claim 1, characterized in that, The method further includes: Determine whether the self-generated energy is greater than the future energy. If it is greater, store the energy corresponding to the future energy in the self-generated energy through a mechanical spring, and provide corresponding energy for the crane when regenerating the mode switching information. If it is not greater, store all the self-generated energy through the mechanical spring, and provide corresponding energy for the crane when regenerating the mode switching information.

7. The method according to claim 1, characterized in that, The method further includes: Use an energy storage battery or / and the power grid to store the current stored energy.

8. A bridge crane electric energy feedback system, characterized in that, The system includes: a start module, a processing module, and an electric energy feedback module; wherein, The start module is used to receive a working signal and generate mode switching information based on the working signal. The processing module is used to determine the current working mode of the crane every time a mode switching information is generated, determine whether the current working mode includes a lowering working mode. If so, determine the future working mode corresponding to the current working mode and the future energy corresponding to the future working mode based on the working signal. The electric energy feedback module is used to obtain the self-generated energy corresponding to the current working mode, determine the current stored energy that needs to be stored based on the self-generated energy and the future energy, and store the current stored energy. The processing module is further used to, if not, obtain the supplementary energy required for the current working mode and the total stored energy, and determine the supply energy that needs to be provided by the outside based on the supplementary energy and the total stored energy.

9. The system according to claim 8, wherein The system further includes: a temporary energy storage module; wherein, The temporary storage module is used to determine whether the self-generated energy is greater than the future energy. If it is greater, store the energy corresponding to the future energy in the self-generated energy through a mechanical spring, and provide corresponding energy for the crane when regenerating the mode switching information. If it is not greater, store all the self-generated energy through the mechanical spring, and provide corresponding energy for the crane when regenerating the mode switching information.

10. A computer-readable storage medium having stored thereon a computer program that can be run on a processor, characterized in that, When the computer program is executed by the processor, it implements a method for electric energy feedback of a bridge crane as described in any one of claims 1 to 7.

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