A method for calculating a weighing system of a port crane

Abstract

The present application relates to a kind of port crane weighing system calculation method, it is related to crane weighing technical field, it includes the following steps, step S1, preset calibration database, calibration database includes n different actual weight value and n corresponding actual weight value detection weight value, wherein n≥2 and n is positive integer;Pre-set hook calibration dead weight W hook ;Step S2, obtain support sensor value S1;Obtain opening and closing sensor value S2;Step S3, calculate support output weight W1, support output weight W1=S1-W hook ;Calculate opening and closing output weight W2, opening and closing output weight W2=S2-W hook ;Step S4, calculate weight difference ΔW, weight difference ΔW=|W1-W2|;Calculate weight judgment value A, weight judgment value step S5, data calibration;Step S6, calculate output weight value G.The present application has the effect of improving the accuracy of obtaining hoisting weight value.

Description

Technical Field

[0001] This invention relates to the field of crane weighing technology, and in particular to a calculation method for a port crane weighing system. Background Technology

[0002] Grab cranes are a common type of mechanical equipment in port bulk cargo systems, primarily responsible for handling and loading / unloading various bulk materials. The core component of this type of crane is the mechanical grab, which is controlled by a set of support ropes and opening / closing ropes to achieve the actions of raising, lowering, opening, and closing the grab.

[0003] To ensure the safe operation of cranes under various working conditions, accurately obtaining the lifting weight is crucial. Currently, the lifting weight of a crane is collected through load cells installed on the opening and closing ropes and support ropes. These sensors can monitor and record the weight changes of the crane in real time during operation, providing important data support for the safe operation of the crane.

[0004] However, under different operating conditions of the crane, the values ​​collected by the weighing sensors may deviate from the actual weight. This weight deviation can easily lead to the crane's protection program being falsely triggered, resulting in unnecessary shutdowns and safety checks, which in turn affects the efficiency and continuity of loading and unloading operations. Summary of the Invention

[0005] To improve the accuracy of obtaining lifting weight values, this application provides a calculation method for a port crane weighing system.

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

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

[0008] Step S1: Preset calibration database. The calibration database includes n different actual weight values ​​and n corresponding measured weight values, where n≥2 and n is a positive integer; preset hook calibration weight W. hook ;

[0009] Step S2: Obtain the support sensor value S1; Obtain the on / off sensor value S2;

[0010] Step S3: Calculate the supported output weight W1. Supported output weight W1 = S1 - W hook Calculate the output weight W2 when the circuit is open and closed. Output weight W2 = S2 - W hook ;

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

[0012] Step S5: Data calibration;

[0013] Step S5 includes the following steps:

[0014] Step S51: Compare 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: After performing dual-channel calibration, proceed to step S6;

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

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

[0019] By adopting the above technical solution, after the support sensor and the opening / closing sensor detect the lifting weight, the support sensor value S1 and the opening / closing sensor value S2 are obtained. Then, the weight difference ΔW and the weight judgment value A are calculated using the support sensor value S1 and the opening / closing sensor value S2. Since the support sensor value S1 and the opening / closing sensor value S2 will differ for the same lifting weight under different operating conditions of the crane, the values ​​collected by the support sensor and the opening / closing sensor are corrected by comparing the weight difference ΔW and the weight judgment value A. 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 weight value is calculated using the output calibration value. The output weight value obtained by the above method is closer to the actual lifting weight and reduces the weight deviation caused by the crane's operating conditions, 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 test n calibration objects with different actual weight values ​​one by one, and obtaining the test weight values ​​of the n calibration objects according to the values ​​of the supporting sensor and the values ​​of the open / closed sensor.

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

[0022] Preferably, the detected weight value When detecting the i-th calibration object, the supported sensor detection values ​​are: The detection value of the opening / closing sensor when detecting the i-th calibration object is:

[0023] Preferably, when i = 1, the actual weight value of the first calibration object The actual weight of the hook is determined by measuring the hook using a crane. When 2≤i≤n

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

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

[0026] Step S531: Calculate the sum S of the support sensor value S1 and the on / off sensor value S2. 和 =S1+S2;

[0027] Step S532, S 和 The measured weight values ​​are compared with those in the calibration database to obtain a first calibration value S. min And a second calibration value S max The first calibration value S min To calibrate all values ​​in the database less than S 和 The closest to S among the detected weight values 和 The detected weight value, of which the second calibration value S max To calibrate all data in the database greater than S 和 The closest to S among the detected weight values 和 The detected weight value;

[0028] Step S533: According to the first calibration value S min Obtain the corresponding first actual value G from the calibration database. min According to the second calibration value S max Obtain the corresponding second actual value G from 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 the result and proceed to step S6.

[0032] By adopting the above technical solution, the dual-channel weight calibration value W is obtained after performing dual-channel calibration on the support sensor value S1 and the on / off sensor value S2. 双 The dual-channel weight calibration value W 双 As the output calibration value W 标 Substitute the values ​​into step S6 to calculate the output weight value.

[0033] Preferably, 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 opening and closing sensor; obtain the speed change time T2 of the opening and closing sensor.

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

[0036] Step S543: When the support sensor is in the upward acceleration phase or the downward deceleration phase, the support coefficient... When the support sensor is in the upward deceleration phase or the downward acceleration phase, the support coefficient When the on / off sensor is in the rising acceleration phase or the falling deceleration phase, the support coefficient When the on / off sensor is in the rising deceleration phase or the falling acceleration phase, 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 the result 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 on / off sensor value S2.单 The single-channel weight calibration value W 单 As the output calibration value W 标 Substitute the values ​​into step S6 to calculate the output weight value.

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

[0041] Step S61: When the crane's hoisting mechanism is in the rising state or the crane's luffing mechanism is in the increasing state, the weight compensation value W... 补偿 =2.0; The weight compensation value W is calculated after the crane's hoisting mechanism ends its ascending state or the crane's luffing mechanism ends its increasing state. 补偿 =1.0; When the crane's hoisting mechanism is in the lowering state or the crane's luffing mechanism is in the reducing state, the weight compensation value W is 1.0. 补偿 =0.0;

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

[0043] By adopting the above technical solution, based on the crane's operating status and output calibration value W 标 Calculate and output the weight value G.

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

[0045] 1. By comparing the weight difference with the weight judgment value, the values ​​of the support sensor and the opening and closing sensor are corrected. Then, the output calibration value is used to calculate the output weight value that is closer to the actual weight of the hoisting, thereby reducing the weight deviation caused by the crane's operating status and improving the accuracy of obtaining the hoisting weight value.

[0046] 2. Using a crane, multiple calibration objects with different actual weights are tested one by one to obtain the test weight value corresponding to each calibration object. This demonstrates the effect of pre-setting a calibration database and provides a basis for the dual-channel calibration method.

[0047] 3. When the weight difference is less than the weight judgment value, the dual-channel weight calibration value is obtained by performing dual-channel calibration on the support sensor value and the opening / closing sensor value. The dual-channel weight calibration value is then used as the output calibration value and input into step S6. In step S6, the crane's operating status and the output calibration value W are considered. 标 Calculate and output the weight value G.

[0048] 4. When the weight difference is not less than the weight judgment value, a single-channel weight calibration value is obtained by performing single-channel calibration on the support sensor value and the opening / closing sensor value. This single-channel weight calibration value is then used as the output calibration value and input into step S6. In step S6, the crane's operating status and the output calibration value W are considered. 标 Calculate and output the weight value G. Attached Figure Description

[0049] Figure 1 This is a flowchart of a calculation method for a port crane weighing system according to an embodiment of this application.

[0050] Figure 2 This is a flowchart illustrating the data calibration process in the embodiments of this application.

[0051] Figure 3 This is a flowchart illustrating the dual-channel data calibration process in the embodiments of this application.

[0052] Figure 4 This is a flowchart illustrating the single-channel data calibration process in the embodiments of this application. Detailed Implementation

[0053] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail.

[0054] This application discloses a calculation method for a port crane weighing system. (Refer to...) Figures 1 to 4 This includes the following steps.

[0055] Step S1: Preset the self-weight W of the hook. hook A calibration database is established, comprising n distinct actual weight values ​​and n corresponding measured weight values, where n ≥ 2 and n is a positive integer. A crane is used to measure each of the n calibration objects with distinct actual weight values. The measured weight values ​​of the n calibration objects are obtained based on the values ​​from the supporting sensors and the on / off sensors, thus achieving the effect of the pre-set 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 supported sensor detection value for detecting the i-th calibration object is... The detection value of the open / close sensor when detecting the i-th calibration object is: according to and The measured weight value of the i-th calibration object was calculated. When i = 1, the actual weight value of the first calibration object The actual weight of the hook is determined by measuring the hook using a crane. When 2≤i≤n

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

[0057] Step S3: Calculate the supported output weight W1. Supported output weight W1 = S1 - W hook Calculate the output weight W2 when the circuit is open and closed. Output weight W2 = S2 - W hook An error will be reported if the supported output weight W1≤0 or the open / closed output weight W2≤0.

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

[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 on / off sensor value S2. 和 =S1+S2;

[0064] Step S532, S 和 The measured weight values ​​are compared with those in the calibration database to obtain a first calibration value S. min And a second calibration value S max The first calibration value S min To calibrate all values ​​in the database less than S 和 The closest to S among the detected weight values 和 The detected weight value, of which the second calibration value S max To calibrate all data in the database greater than S 和 The closest to S among the detected weight values 和 The detected weight value;

[0065] Step S533: According to the first calibration value S minObtain the corresponding first actual value G from the calibration database. min According to the second calibration value S max Obtain the corresponding second actual value G from 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 a first-order low-pass filter to filter the dual-channel weight calibration value W. 双 As the output calibration value W 标 Output the result 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 sensor opening and closing; obtain the speed change time T2 of the sensor opening and closing. The units of V1 and V2 are m / min, and the units of T1 and T2 are s.

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

[0072] Step S543: When the support sensor is in the upward acceleration phase or the downward deceleration phase, the support coefficient... When the support sensor is in the upward deceleration phase or the downward acceleration phase, the support coefficient When the on / off sensor is in the rising acceleration phase or the falling deceleration phase, the support coefficient When the on / off sensor is in the rising deceleration phase or the falling acceleration phase, the support coefficient

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

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

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

[0076] Step S61: When the crane's hoisting mechanism is in the rising state or the crane's luffing mechanism is in the increasing state, the weight compensation value W... 补偿 =2.0; The weight compensation value W is calculated after the crane's hoisting mechanism ends its ascending state or the crane's luffing mechanism ends its increasing state. 补偿 =1.0; When the crane's hoisting mechanism is in the lowering state or the crane's luffing mechanism is in the reducing state, the weight compensation value W is 1.0. 补偿 =0.0;

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

[0078] The implementation principle of the calculation method for a port crane weighing system in this application embodiment is as follows: after the support sensor and the opening / closing sensor detect the lifting weight, the support sensor value S1 and the opening / closing sensor value S2 are obtained. Then, the weight is calculated based on the calibrated self-weight W of the hook. hook The system calculates the weight difference ΔW and the weight judgment value A using the support sensor value S1 and the on / off sensor value S2. Since the support sensor value S1 and the on / off sensor value S2 may differ for the same lifting weight under different crane operating conditions, the weight difference ΔW is compared with the weight judgment value A to determine the data correction method. When ΔW < A, a dual-channel calibration method is used to correct the data, resulting in the output calibration value W. 标 When ΔW≥A, the output calibration value W is obtained after correction using a single-channel calibration method. 标 Then, based on the crane's operating status and output calibration value W... 标 The output weight value G is calculated. The output weight value G obtained by the above method is closer to the actual weight of the lifted object, and reduces the weight deviation caused by the crane's operating status, thereby improving the accuracy of obtaining the lifting weight value.

[0079] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A calculation method for a port crane weighing system, characterized in that: Includes the following steps, Step S1: Preset calibration database, the calibration database includes Different actual weight values ​​and Each of the detected weight values ​​corresponds to the actual weight value, among which and It is a positive integer; the preset hook calibration weight. ; Step S2: Obtain supporting sensor values ; Obtain the opening and closing sensor values ; Step S3: Calculate the supported output weight Supports output weight ; Calculate the weight of the opening and closing outputs Opening and closing output weight ; Step S4: Calculate the weight difference Weight difference ; Calculate the weight judgment value Weight judgment value ; Step S5: Data calibration; Step S5 includes the following steps: Step S51: Compare weight differences Weight judgment value ; Step S52, if If so, proceed to step S53; Then proceed to step S54; Step S53: After performing dual-channel calibration, proceed to step S6; Step S53 includes the following steps: Step S531: Calculate the values ​​of the supporting sensors. With opening and closing sensor values sum ; Step S532, to A first calibration value is obtained by comparing the measured weight value with the value in the calibration database. and a second calibration value The first calibration value To calibrate all values ​​in the database less than The closest to the detected weight value The detected weight value, of which the second calibration value To calibrate all databases larger than The closest to the detected weight value The detected weight value; Step S533: Based on the first calibration value Obtain the corresponding first actual value from the calibration database. According to the second calibration value Obtain the corresponding second actual value from the calibration database. ; Step S534: Calculate the dual-channel calibration coefficients , ; Step S535: Calculate the dual-channel weight calibration value , ; Step S536: Set the dual-channel weight calibration value As output calibration value Output the result and proceed to step S6; Step S54: Perform single-channel calibration, then proceed to step S6; Step S54 includes the following steps: Step S541: Obtain the highest speed supporting the sensor. ; Obtain the speed change time supporting the sensor ; Obtain the highest speed of the opening and closing sensor ; Obtain the speed change time of the opening and closing sensor ; Step S542: Calculate the acceleration of the supporting sensor. , ; Calculate the acceleration of the supporting sensor , ; Obtain the gravitational acceleration g; Step S543: When the support sensor is in the upward acceleration phase or the downward deceleration phase, the support coefficient... When the support sensor is in the upward deceleration phase or the downward acceleration phase, the support coefficient... When the on / off sensor is in the rising acceleration phase or the falling deceleration phase, the support coefficient... When the on / off sensor is in the rising deceleration phase or the falling acceleration phase, the support coefficient... ; Step S544: Calculate the single-channel weight calibration value , ; Step S545: Set the single-channel weight calibration value As output calibration value Output the result and proceed to step S6; Step S6: Calculate the output weight value ; Step S6 includes the following steps: Step S61: When the crane's hoisting mechanism is in the rising state or the crane's luffing mechanism is in the increasing state, the weight compensation value is... When the crane's hoisting mechanism ends its ascending state or the crane's luffing mechanism ends its increasing state, the weight compensation value... When the crane's hoisting mechanism is in the lowering state or the crane's luffing mechanism is in the reducing state, the weight compensation value... ; Step S62: When the crane is in hook operation mode, calculate and output the weight value. When the crane is in grab bucket mode, calculate and output the weight value. .

2. The 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... Each calibration object with a different actual weight value was tested individually, and the results were obtained based on the values ​​of the supporting and closed sensors. The measured weight value of each calibration object.

3. The calculation method for a port crane weighing system according to claim 2, characterized in that: The first in the calibration database The actual weight of each calibration object is The first in the calibration database The measured weight of each calibration item is [value missing]. ,in and It is a positive integer.

4. The calculation method for a port crane weighing system according to claim 3, characterized in that: The detected weight value Among them, the detection of the first The sensor supports the following detection values ​​when calibrating an object: Among them, the detection of the first The detection value of the opening and closing sensor when calibrating an object is .

5. The calculation method for a port crane weighing system according to claim 4, characterized in that: when At that time, the actual weight value of the first calibration object The actual weight of the hook is determined by measuring the hook using a crane. ,when hour, .

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