Calculation method for weighing system of port crane

Abstract

The invention relates to a port crane weighing system calculation method, and relates to the technical field of crane weighing, and the method comprises the following steps: S1, presetting a calibration database, the calibration database comprises n different actual weight values and n detection weight values corresponding to the actual weight values, and n is a positive integer greater than or equal to 2; presetting the calibration dead weight Whook of the lifting hook; s2, obtaining a support sensor numerical value S1; acquiring a value S2 of an opening and closing sensor; s3, calculating a support output weight W1, wherein the support output weight W1 is equal to S1-Whook; calculating an opening and closing output weight W2, wherein the opening and closing output weight W2 is equal to S2-Whook; s4, calculating a weight difference value delta W, wherein the weight difference value delta W is equal to W1-W2; a weight judgment value A and a weight judgment value # imgabs0 # are calculated; S5, data calibration is carried out; and S6, calculating an output weight value G. The method has the effect of improving the accuracy of the obtained hoisting weight value.

Description

Technical Field

[0001] The present invention relates to the technical field of crane weighing, and in particular to a calculation method for a port crane weighing system. Background Art

[0002] Grab cranes are commonly used in bulk material handling systems at ports, primarily responsible for handling and loading various bulk materials. The core component of this crane is the mechanical grab bucket, which is controlled by a set of support ropes and opening and closing ropes to achieve the movement of the grab bucket, such as raising, lowering, opening, and closing.

[0003] Accurately measuring the crane's lifting weight is crucial to ensuring safe crane operation under various operating conditions. Currently, crane lifting weight is measured using load cells installed on the opening and closing ropes and support ropes. These sensors monitor and record weight changes during crane operation in real time, providing crucial data support for safe crane operation.

[0004] However, under different operating conditions of the crane, there will be a weight deviation between the value collected by the weighing sensor and the actual weight. This weight deviation can easily lead to the crane protection program being mistakenly triggered, which in turn causes unnecessary shutdowns and safety inspections, thereby affecting the efficiency and continuity of loading and unloading operations. Summary of the Invention

[0005] In order to improve the accuracy of obtaining the lifting weight value, the present application provides a calculation method for a port crane weighing system.

[0006] The calculation method of the port crane weighing system provided in this application adopts the following technical solution:

[0007] A calculation method for a port crane weighing system includes the following steps:

[0008] Step S1: preset a calibration database, which includes n different actual weight values and n detection weight values corresponding to the actual weight values, where n≥2 and n is a positive integer; preset hook calibration deadweight W hook ;

[0009] Step S2, obtaining the support sensor value S1; obtaining the open / close sensor value S2;

[0010] Step S3: Calculate the supported output weight W1, supported output weight W1 = S1 - W hook ; Calculate the opening and closing output weight W2, opening and closing output weight W2 = S2-W hook ;

[0011] Step S4, calculate the weight difference ΔW, weight difference ΔW=|W1-W2|; calculate the weight judgment value A, weight judgment value

[0012] Step S5: data calibration;

[0013] The step S5 comprises the following steps:

[0014] Step S51, comparing the weight difference ΔW with the weight judgment value A;

[0015] Step S52: If ΔW < A, proceed to step S53; if ΔW ≥ A, proceed to step S54;

[0016] Step S53: perform dual-channel calibration and then proceed to step S6;

[0017] Step S54: Perform single channel calibration and then proceed to step S6;

[0018] Step S6: Calculate and output weight value G.

[0019] By adopting the above technical solution, when the support sensor and the opening and closing sensor detect the lifting weight, the support sensor value S1 and the opening and closing sensor value S2 are obtained, and then the support sensor value S1 and the opening and closing sensor value S2 are used to calculate the weight difference ΔW and the weight judgment value A. Since the support sensor value S1 and the opening and closing sensor value S2 of the same lifting weight will be different under different operating conditions of the crane, the comparison relationship between the weight difference ΔW and the weight judgment value A is used to correct the values collected by the support sensor and the opening and closing sensor. When the weight difference ΔW is less than the weight judgment value A, the output calibration value is obtained after correction using a dual-channel calibration method. When the weight difference ΔW is not less than the weight judgment value A, the output calibration value is obtained after correction using a single-channel calibration method. Then, the output calibration value is used to calculate the output weight value. The output weight value obtained by the above method is closer to the actual weight of the lifting weight, and reduces the weight deviation caused by the operating state of the crane, thereby improving the accuracy of obtaining the lifting weight value.

[0020] Preferably, the preset calibration database in step S1 includes the following steps: using a crane to detect n calibration objects with different actual weight values one by one, and obtaining the detection weight values of the n calibration objects according to the supporting sensor values and the opening and closing sensor values.

[0021] As an example, the actual weight value of the i-th calibration object is The detection weight value of the i-th calibration object is Where 1≤i≤n and i is a positive integer.

[0022] As an advantage, the detection weight value The detection value of the supporting sensor when detecting the i-th calibration object is The detection value of the open and close sensor when detecting the i-th calibration object is

[0023] As a preference, when i=1, the actual weight value of the first calibration object The actual weight of the hook is obtained by using a crane to test the hook. When 2≤i≤n,

[0024] By adopting the above technical solution, a crane is used to detect multiple calibration objects with different actual weights one by one, and the support sensor detection value and the opening and closing sensor detection value corresponding to each calibration object are obtained, thereby obtaining the detection weight value corresponding to each calibration object, achieving the effect of a preset calibration database.

[0025] Preferably, the step S53 includes the following steps:

[0026] Step S531, calculate the sum S of the support sensor value S1 and the open / close sensor value S2 和 =S1+S2;

[0027] Step S532: 和 Compare with the detection weight value in the calibration database to obtain a first calibration value S min and a second calibration value S max , where the first calibration value S min To calibrate all the databases that are less than S 和 The detection weight value closest to S 和 The detection weight value, where the second calibration value S max To calibrate all the databases that are greater than S 和 The detection weight value closest to S 和 The detection weight value;

[0028] Step S533: According to the first calibration value S min Obtain the corresponding first actual value G in the calibration database min ; According to the second calibration value S max Obtain the corresponding second actual value G in the calibration database max ;

[0029] Step S534: Calculate the dual-channel calibration coefficient K 双 ,

[0030] Step S535: Calculate the dual-channel weight calibration value W 双 , W 双=S min +(S 和 -S min )×K 双 -W hook ×2;

[0031] Step S536: Set the dual-channel weight calibration value W 双 As the output calibration value W 标 Output and proceed to step S6.

[0032] By adopting the above technical solution, the dual-channel weight calibration value W is obtained after dual-channel calibration of the support sensor value S1 and the opening and closing sensor value S2. 双 , set the dual-channel weight calibration value W 双 As the output calibration value W 标 The result is carried into step S6 to calculate the output weight value.

[0033] Preferably, the step S54 includes the following steps:

[0034] Step S541, obtain the maximum speed V1 of the supporting sensor; obtain the speed change time T1 of the supporting sensor; obtain the maximum speed V2 of the open and close sensor; obtain the speed change time T2 of the open and close sensor.

[0035] Step S542: Calculate the acceleration a1 of the supporting sensor. Calculate the acceleration a2 of the supported sensor, Get the gravitational acceleration g;

[0036] Step S543: When the support sensor is in the ascending acceleration phase or descending deceleration phase, the support coefficient When the support sensor is in the ascending deceleration stage or descending acceleration stage, the support coefficient When the open / close sensor is in the rising acceleration stage or the falling deceleration stage, the support coefficient When the open / close sensor is in the ascending deceleration stage or descending acceleration stage, the support coefficient

[0037] Step S544: Calculate the single-channel weight calibration value W 单 , W 单 =W1×K1+W2×K2;

[0038] Step S545: Set the single channel weight calibration value W 单 As the output calibration value W 标 Output and proceed to step S6.

[0039] By adopting the above technical solution, the single-channel weight calibration value W is obtained after single-channel calibration of the support sensor value S1 and the opening and closing sensor value S2.单 , the single channel weight calibration value W 单 As the output calibration value W 标 The result is carried into step S6 to calculate the output weight value.

[0040] Preferably, step S6 includes the following steps:

[0041] Step S61: When the hoisting mechanism of the crane is in the ascending state or the luffing mechanism of the crane is in the amplifying state, the weight compensation value W 补偿 =2.0; When the hoisting mechanism of the crane ends the ascending state or the luffing mechanism of the crane ends the amplification state, the weight compensation value W 补偿 =1.0; When the hoisting mechanism of the crane is in the descending state or the luffing mechanism of the crane is in the reduction state, the weight compensation value W 补偿 =0.0;

[0042] Step S62: When the crane is in hook working condition, calculate the output weight value G=W 标 -W 补偿 ; When the crane is in the grab bucket working condition, calculate the output weight value G = W 标 -W 补偿 +W hook .

[0043] By adopting the above technical solution, according to the operating status of the crane and the output calibration value W 标 Calculate the output weight value G.

[0044] In summary, this application includes at least one of the following beneficial technical effects:

[0045] 1. Using the comparison between the weight difference and the weight judgment value, the support sensor value and the opening and closing sensor value are corrected, and then the output calibration value is used to calculate the output weight value that is closer to the actual lifting weight, reducing the weight deviation caused by the operating status of the crane and improving the accuracy of the obtained lifting weight value;

[0046] 2. Use a crane to test multiple calibration objects with different actual weights one by one, obtain the test weight value corresponding to each calibration object, preset the calibration database effect, and provide a basis for the dual-channel calibration method;

[0047] 3. When the weight difference is less than the weight judgment value, the support sensor value and the opening and closing sensor value are calibrated in two channels to obtain the dual-channel weight calibration value, and the dual-channel weight calibration value is brought into step S6 as the output calibration value. In step S6, the weight difference is adjusted according to the operating status of the crane and the output calibration value W. 标 Calculate the output weight value G and calculate the output weight value;

[0048] 4. When the weight difference is not less than the weight judgment value, the single-channel weight calibration value is obtained by single-channel calibration of the support sensor value and the opening and closing sensor value. The single-channel weight calibration value is brought into step S6 as the output calibration value. In step S6, the weight difference is adjusted according to the operating status of the crane and the output calibration value W. 标 Calculate the output weight value GCalculate the output weight value. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 This is a flow chart of a calculation method for a port crane weighing system in an embodiment of the present application.

[0050] Figure 2 It is a flow chart showing the data calibration process in an embodiment of the present application.

[0051] Figure 3 This is a flow chart showing the dual-channel data calibration process in an embodiment of the present application.

[0052] Figure 4 This is a flow chart showing the data single-channel calibration process in an embodiment of the present application. DETAILED DESCRIPTION

[0053] The following is combined with Figure 1-4 This application is described in further detail.

[0054] The embodiment of the present application discloses a calculation method for a port crane weighing system. Figures 1 to 4 , including the following steps.

[0055] Step S1: Preset hook calibration deadweight W hook And a calibration database, the calibration database includes n different actual weight values and n detection weight values corresponding to the actual weight values, where n ≥ 2 and n is a positive integer. A crane is used to detect n calibration objects with different actual weight values one by one, and the detection weight values of n calibration objects are obtained according to the corresponding values of the support sensor and the opening and closing sensor, so as to achieve the effect of the preset calibration database. In the calibration database, the actual weight value of the i-th calibration object is Where 1≤i≤n and i is a positive integer. The detection value of the supported sensor when detecting the i-th calibration object is The detection value of the open and close sensor when detecting the i-th calibration object is according to and Calculate the detection weight value of the i-th calibration object When i=1, the actual weight value of the first calibration object The actual weight of the hook is obtained by using a crane to test the hook. When 2≤i≤n,

[0056] Step S2: Obtain the support sensor value S1; obtain the open / close sensor value S2. The support sensor obtains multiple support sampling data within a unit sampling period. After removing the maximum and minimum values from the support sampling data, the average value is calculated as the support sensor value S1. The open / close sensor obtains multiple open / close sampling data within a unit sampling period. After removing the maximum and minimum values from the open / close sampling data, the average value is calculated as the open / close sensor value S2.

[0057] Step S3: Calculate the supported output weight W1, supported output weight W1 = S1 - W hook Calculate the opening and closing output weight W2, opening and closing output weight W2=S2-W hook If the supported output weight W1≤0 or the open / close output weight W2≤0, an error will be reported.

[0058] Step S4, calculate the weight difference ΔW, weight difference ΔW=|W1-W2|; calculate the weight judgment value A, weight judgment value

[0059] Step S5: calibrate the data. Step S5 includes the following steps.

[0060] Step S51: Compare the weight difference ΔW with the weight judgment value A.

[0061] Step S52: If ΔW < A, proceed to step S53; if ΔW ≥ A, proceed to step S54.

[0062] Step S53: perform dual-channel calibration. Step S53 includes the following steps.

[0063] Step S531, calculate the sum S of the support sensor value S1 and the open / close sensor value S2 和 =S1+S2;

[0064] Step S532: 和 Compare with the detection weight value in the calibration database to obtain a first calibration value S min and a second calibration value S max , where the first calibration value S min To calibrate all the data in the database that are smaller than S 和 The detection weight value closest to S 和 The detection weight value, where the second calibration value S max To calibrate all the databases that are greater than S 和 The detection weight value closest to S 和 The detection weight value;

[0065] Step S533: According to the first calibration value S minObtain the corresponding first actual value G in the calibration database min ; According to the second calibration value S max Obtain the corresponding second actual value G in the calibration database max ;

[0066] Step S534: Calculate the dual-channel calibration coefficient K 双 ,

[0067] Step S535: Calculate the dual-channel weight calibration value W 双 , W 双 =S min +(S 和 -S min )×K 双 -W hook ×2;

[0068] Step S536: calculate the real-time dual-channel weight calibration value W 双 Perform first-order low-pass filtering and set the filtered dual-channel weight calibration value W 双 As the output calibration value W 标 Output and proceed to step S6.

[0069] Step S54: perform single-channel calibration. Step S54 includes the following steps.

[0070] Step S541: Obtain the maximum speed V1 of the supporting sensor; obtain the speed change time T1 of the supporting sensor; obtain the maximum speed V2 of the opening and closing sensor; and obtain the speed change time T2 of the opening and closing sensor. The units of V1 and V2 are both m / min, and the units of T1 and T2 are both s.

[0071] Step S542: Calculate the acceleration a1 of the supporting sensor. Calculate the acceleration a2 of the supported sensor, Get the gravitational acceleration g;

[0072] Step S543: When the support sensor is in the ascending acceleration phase or descending deceleration phase, the support coefficient When the support sensor is in the ascending deceleration stage or descending acceleration stage, the support coefficient When the open / close sensor is in the rising acceleration stage or the falling deceleration stage, the support coefficient When the open / close sensor is in the ascending deceleration stage or descending acceleration stage, the support coefficient

[0073] Step S544: Calculate the single-channel weight calibration value W 单 , W 单 =W1×K1+W2×K2;

[0074] Step S545: the single channel weight calibration value W calculated in real time 单 Perform first-order low-pass filtering and set the filtered single-channel weight calibration value W 单 As the output calibration value W 标 Output and proceed to step S6.

[0075] Step S6: Calculate and output weight value G. Step S6 includes the following steps.

[0076] Step S61: When the hoisting mechanism of the crane is in the ascending state or the luffing mechanism of the crane is in the amplifying state, the weight compensation value W 补偿 =2.0; When the hoisting mechanism of the crane ends the ascending state or the luffing mechanism of the crane ends the amplification state, the weight compensation value W 补偿 =1.0; When the hoisting mechanism of the crane is in the descending state or the luffing mechanism of the crane is in the reduction state, the weight compensation value W 补偿 =0.0;

[0077] Step S62: When the crane is in hook working condition, calculate the output weight value G=W 标 -W 补偿 ; When the crane is in the grab bucket working condition, calculate the output weight value G = W 标 -W 补偿 +W hook If the output weight value G ≤ 0, an error is reported.

[0078] The implementation principle of the calculation method of the port crane weighing system in the embodiment of the present application is as follows: after the support sensor and the opening and closing sensor detect the lifting weight, the support sensor value S1 and the opening and closing sensor value S2 are obtained, and then the deadweight W of the hook is calibrated. hook , support sensor value S1 and opening and closing sensor value S2 calculate weight difference ΔW and weight judgment value A. Because the support sensor value S1 and opening and closing sensor value S2 of the same lifting weight will be different under different operating conditions of the crane, the weight difference ΔW is compared with the weight judgment value A to determine the data correction method. When ΔW < A, the dual-channel calibration method is used to correct and obtain the output calibration value W 标 When ΔW≥A, the output calibration value W is obtained after correction using the single-channel calibration method. 标 Then according to the crane operation status and output calibration value W 标 The output weight value G is calculated. The output weight value G obtained in the above manner is closer to the actual weight of the hoisting weight, reduces the weight deviation caused by the operating state of the crane, and improves the accuracy of obtaining the hoisting weight value.

[0079] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A calculation method for a port crane weighing system, characterized by: The following steps are included: Step S1: Preset a calibration database, the calibration database including n different actual weight values and n detection weight values corresponding to the actual weight values, where n≥2 and n is a positive integer; Preset hook calibration deadweight W hook ; Step S2, obtaining the support sensor value S1; obtaining the open / close sensor value S2; Step S3: Calculate the supported output weight W1, supported output weight W1 = S1 - W hook ; Calculate the opening and closing output weight W2, opening and closing output weight W2 = S2-W hook ; Step S4, calculating the weight difference ΔW, weight difference ΔW=|W1-W2|; Calculate the weight judgment value A, weight judgment value Step S5: data calibration; The step S5 comprises the following steps: Step S51, comparing the weight difference ΔW with the weight judgment value A; Step S52: If ΔW < A, proceed to step S53; if ΔW ≥ A, proceed to step S54; Step S53: perform dual-channel calibration and then proceed to step S6; Step S54: Perform single channel calibration and then proceed to step S6; Step S6: Calculate and output weight value G.

2. A calculation method for a port crane weighing system according to claim 1, characterized in that: The preset calibration database in step S1 includes the following steps: using a crane to detect n calibration objects with different actual weight values one by one, and obtaining the detection weight values of the n calibration objects according to the support sensor values and the opening and closing sensor values.

3. A calculation method for a port crane weighing system according to claim 2, characterized in that: The actual weight of the i-th calibration object is The detection weight value of the i-th calibration object is Where 1≤i≤n and i is a positive integer.

4. A calculation method for a port crane weighing system according to claim 3, characterized in that: The detected weight value The detection value of the supporting sensor when detecting the i-th calibration object is The detection value of the open and close sensor when detecting the i-th calibration object is 5. A calculation method for a port crane weighing system according to claim 4, characterized in that: When i=1, the actual weight value of the first calibration object The actual weight of the hook is obtained by using a crane to test the hook. When 2≤i≤n, 6. A calculation method for a port crane weighing system according to claim 1, characterized in that: The step S53 includes the following steps: Step S531, calculate the sum S of the support sensor value S1 and the open / close sensor value S2 和 =S1+S2; Step S532: 和 Compare with the detection weight value in the calibration database to obtain a first calibration value S min and a second calibration value S max , where the first calibration value S min To calibrate all the data in the database that are smaller than S 和 The detection weight value closest to S 和 The detection weight value, where the second calibration value S max To calibrate all the databases that are greater than S 和 The detection weight value closest to S 和 The detection weight value; Step S533: According to the first calibration value S min Obtain the corresponding first actual value G in the calibration database min ; According to the second calibration value S max Obtain the corresponding second actual value G in the calibration database max ; Step S534: Calculate the dual-channel calibration coefficient K 双 , Step S535: Calculate the dual-channel weight calibration value W 双 , W 双 =S min +(S 和 -S min )×K 双 -W hook ×2; Step S536: Set the dual-channel weight calibration value W 双 As the output calibration value W 标 Output and proceed to step S6.

7. A calculation method for a port crane weighing system according to claim 1, characterized in that: The step S54 includes the following steps: Step S541, obtain the maximum speed V1 of the supporting sensor; obtain the speed change time T1 of the supporting sensor; obtain the maximum speed V2 of the open / close sensor; obtain the speed change time T2 of the open / close sensor; Step S542: Calculate the acceleration a1 of the supporting sensor. Calculate the acceleration a2 of the supported sensor, Get the gravitational acceleration g; Step S543: When the support sensor is in the ascending acceleration phase or descending deceleration phase, the support coefficient When the support sensor is in the ascending deceleration stage or descending acceleration stage, the support coefficient When the open / close sensor is in the rising acceleration stage or the falling deceleration stage, the support coefficient When the open / close sensor is in the ascending deceleration stage or descending acceleration stage, the support coefficient Step S544: Calculate the single-channel weight calibration value W 单 , W 单 =W1×K1+W2×K2; Step S545: Set the single channel weight calibration value W 单 As the output calibration value W 标 Output and proceed to step S6.

8. The calculation method of a port crane weighing system according to claim 1, characterized in that: The step S6 comprises the following steps: Step S61: When the hoisting mechanism of the crane is in the ascending state or the luffing mechanism of the crane is in the amplifying state, the weight compensation value W 补偿 =2.0; When the hoisting mechanism of the crane ends the ascending state or the luffing mechanism of the crane ends the amplification state, the weight compensation value W 补偿 =1.0; When the hoisting mechanism of the crane is in the descending state or the luffing mechanism of the crane is in the reduction state, the weight compensation value W 补偿 =0.0; Step S62: When the crane is in hook working condition, calculate the output weight value G=W 标 -W 补偿 ; When the crane is in the grab bucket working condition, calculate the output weight value G = W 标 -W 补偿 +W hook .

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