Free hook falling monitoring method and monitoring system for crane and crane

Abstract

The invention belongs to the technical field of cranes, and particularly relates to a free hook falling monitoring method and monitoring system for a crane and the crane. The crane comprises a lifting hook, an acceleration monitoring piece installed on the lifting hook and a distance monitoring piece used for monitoring the distance between the lifting hook and the ground; the free hook falling monitoring method comprises the following steps that a lifting hook is controlled to be lifted to a first preset height under the loading working condition; acquiring an acceleration signal sent by an acceleration monitoring piece and a distance signal sent by a distance monitoring piece in real time; the lifting hook is controlled to execute free hook falling action; after the lifting hook descends to a second preset height, braking operation is carried out on the lifting hook; and according to the acceleration signal and the distance signal in the first preset time period, whether the free hook falling action of the crane meets the design requirement is determined. By adopting the free hook falling monitoring method, acceleration monitoring and ground distance monitoring can be accurately carried out on the free hook falling action of the lifting hook, and the evaluation efficiency and accuracy of the free hook falling action of the crane are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of cranes, and in particular relates to a free-fall hook monitoring method, a monitoring system, a crane and a storage medium for a crane. Background Art

[0002] Cranes are heavy engineering equipment widely used in construction sites, ports, factories, and other locations for lifting and moving heavy objects. Among a crane's various functions, free-fall hook operation is a critical component, affecting cargo safety, operational precision, and efficiency. Cranes typically consist of a chassis and a boom, with a hook suspended at the end for lifting cargo.

[0003] The motion parameters of a hook during free-fall are crucial for monitoring crane production compliance. Existing techniques typically rely on visual inspection or manual measurement with a tape measure to assess free-fall performance. This method is not only inaccurate but also time-consuming, labor-intensive, and inefficient. Summary of the Invention

[0004] The purpose of the present invention is to provide a free hook drop monitoring method, monitoring system, crane and storage medium for a crane, so as to automatically evaluate whether the free hook drop action of the crane is qualified and improve the evaluation efficiency.

[0005] To achieve the above objectives, the present invention provides a method for monitoring a free-fall hook of a crane. The crane includes a hook, an acceleration monitoring device mounted on the hook, and a distance monitoring device for monitoring the distance between the hook and the ground. The method includes the following steps:

[0006] S101, controlling the hook to be lifted to a first preset height under a loading condition;

[0007] S102, acquiring in real time an acceleration signal emitted by an acceleration monitoring component and a distance signal emitted by a distance monitoring component;

[0008] S103, controlling the hook to perform a free-falling action;

[0009] S104, after the hook is lowered to a second preset height, performing a braking operation on the hook;

[0010] S105, determining whether the free-falling action of the crane meets the design requirements based on the acceleration signal and the distance signal within a first preset time period, wherein the first preset time period is the time period from when the hook starts to perform the free-falling action to when the hook stops.

[0011] In some embodiments, S105 includes: determining the corresponding static height of the hook from the ground based on the distance signal when the hook is stationary; comparing the static height from the ground with a second preset height; and determining that the braking distance design requirements are met in the free fall action of the crane when the difference between the second preset height and the static height from the ground is within a preset range.

[0012] In some embodiments, S105 further includes: determining a vibration degree parameter of the hook during the braking process based on the acceleration signal; and determining whether the free hook drop action of the crane meets the braking stability design requirements when the vibration degree parameter is within a preset vibration parameter range.

[0013] In some embodiments, S105 includes: generating an acceleration curve and a distance-to-ground curve of the hook changing with time based on the acceleration signal and the distance signal within a first preset time period; comparing the acceleration curve with the standard acceleration curve to obtain a first comparison result; comparing the distance-to-ground curve with the standard distance-to-ground curve to obtain a second comparison result; and when both the first comparison result and the second comparison result meet the evaluation requirements, determining that the free-fall hook action of the crane meets the design requirements.

[0014] In some embodiments, the free-hook-fall monitoring method further includes the following steps: after executing S105, repeating S101 to S105 in sequence until the crane completes a preset number of free-hook-fall actions; if the crane meets the design requirements during the preset number of free-hook-fall processes, it is determined that the free-hook-fall action of the crane is qualified.

[0015] In some embodiments, the free-fall hook monitoring method further includes the following steps: before executing S101, controlling the hook to be lifted to a third preset height under no-load conditions; acquiring acceleration signals and distance signals in real time; controlling the hook to perform a free-fall hook action; performing a braking operation on the hook after the hook descends to a fourth preset height; and determining whether the free-fall hook action of the crane under no-load conditions meets the design requirements based on the acceleration signals and distance signals within a second preset time period, wherein the second preset time period is the time period from the hook starting to perform the free-fall hook action under no-load conditions to the hook coming to rest under no-load conditions.

[0016] In some embodiments, the crane further includes a braking mechanism and a braking adjustment member for adjusting the braking effect of the braking mechanism. The free-fall hook monitoring method further includes the following steps: before executing S101, adjusting the braking adjustment member to maximize the braking effect.

[0017] In some embodiments, the free-fall hook monitoring method further includes the following steps: before executing S101 , placing a buffer of a preset height directly below the hook.

[0018] In some embodiments, the free-fall hook monitoring method further includes: before S101, lifting the hook to be just separated from the ground; obtaining a monitoring height of the distance monitoring component and determining the monitoring height as the zero reference height of the hook.

[0019] A second aspect of the present invention provides a free-fall hook monitoring system for a crane, wherein the crane includes a hook and a braking mechanism for braking the hook, and the free-fall hook monitoring system includes: an acceleration monitoring component installed on the hook; a distance monitoring component installed on the hook and having a distance monitoring end arranged toward the ground; a braking mechanism monitoring component installed on the braking mechanism and used to monitor the start and stop status of the braking mechanism in real time; a memory configured to store instructions; and a processor configured to call instructions from the memory and to implement the above-mentioned free-fall hook monitoring method for a crane when executing the instructions.

[0020] A third aspect of the present invention provides a crane, comprising the above-mentioned free-fall hook monitoring system for a crane.

[0021] A fourth aspect of the present invention provides a machine-readable storage medium having stored thereon instructions for causing a machine to execute the above-mentioned free-fall hook monitoring method for a crane.

[0022] The above-mentioned technical solution provides a method for monitoring the free-fall of a crane. The crane includes a hook, an acceleration monitoring device mounted on the hook, and a distance monitoring device for monitoring the distance between the hook and the ground. The free-fall monitoring method comprises the following steps: controlling the hook to rise to a first preset height under load conditions; acquiring in real time an acceleration signal from the acceleration monitoring device and a distance signal from the distance monitoring device; controlling the hook to perform a free-fall operation; braking the hook after it descends to a second preset height; and determining whether the crane's free-fall operation meets design requirements based on the acceleration and distance signals within a first preset time period, wherein the first preset time period is the period from the start of the free-fall operation to the point where the hook comes to rest. The above-mentioned free-fall monitoring method can effectively monitor whether the crane's free-fall operation meets design requirements, ensuring the safety and stability of the hook during the free-fall process. By monitoring the acceleration and distance signals in real time, the hook's descent speed, acceleration changes, and relative distance from the ground can be accurately determined, facilitating subsequent adaptive adjustments to the hook's control.

[0023] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present invention, but do not constitute a limitation of the embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without inventive work. In the accompanying drawings:

[0025] Figure 1 The following schematically shows a flow chart of a method for monitoring a free-fall hook of a crane according to an embodiment of the present invention;

[0026] Figure 2 A schematic structural diagram of a crane provided according to an embodiment of the present invention;

[0027] Figure 3 A diagram illustrating the internal structure of a computer device according to an embodiment of the present invention.

[0028] Description of Reference Numerals

[0029] 1 hook

[0030] 2 Acceleration monitoring components

[0031] 3. Distance monitoring components DETAILED DESCRIPTION

[0032] To make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present invention and are not used to limit the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0033] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of the present invention comply with the relevant provisions of national laws and regulations. In the embodiments of the present invention, certain software, components, models, and other existing solutions in the industry may be mentioned. These should be considered as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of the present invention, but it does not mean that the applicant has already or necessarily used such solutions.

[0034] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0035] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features specified as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that ordinary technicians in this field can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0036] The following describes the specific embodiments of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention and are not intended to limit the present invention.

[0037] Figure 1 The following schematically shows a flow chart of a method for monitoring a free-fall hook of a crane according to an embodiment of the present invention. Figure 2 As shown in FIG. 1 , a schematic diagram of the structure of a crane provided according to an embodiment of the present invention is shown. Figure 1 As shown, the free-fall hook monitoring method provided by the embodiment of the present invention may include the following steps:

[0038] S101, controlling the hook 1 to be lifted to a first preset height under a loading condition;

[0039] S102, acquiring in real time the acceleration signal emitted by the acceleration monitoring component 2 and the distance signal emitted by the distance monitoring component 3;

[0040] S103, controlling the hook 1 to perform a free-falling action;

[0041] S104, after the hook 1 descends to a second preset height, performing a braking operation on the hook 1;

[0042] S105, determining whether the free-falling action of the crane meets the design requirements based on the acceleration signal and the distance signal within a first preset time period, wherein the first preset time period is the time period from when the hook 1 starts to perform the free-falling action to when the hook 1 stops.

[0043] Controlling a crane's free-fall hook action is a critical step in height control, with its accuracy and stability directly impacting cargo safety and operational efficiency. During the free-fall process, the hook 1 must descend smoothly within a preset height range and brake accurately upon reaching the designated height to ensure a smooth landing of the cargo, avoiding collisions or wobbling. Prior art methods typically rely on visual inspection to roughly assess whether the free-fall hook's braking and acceleration meet design requirements. This method is crude and results in low monitoring accuracy.

[0044] An embodiment of the present invention provides a method for monitoring the free-fall hook of a crane. The crane includes a hook 1, an acceleration monitoring element 2 mounted on the hook 1, and a distance monitoring element 3 for monitoring the distance between the hook 1 and the ground. By monitoring the acceleration and distance signals of the hook 1 during its free-fall in real time, the hook's descent speed and braking timing can be precisely controlled, thereby ensuring the accuracy and stability of the free-fall action.

[0045] During a free-fall operation, the hook 1 is first raised to a first preset height under load conditions. This step ensures that the hook 1 is at a known and stable height before the free-fall operation begins, providing a reference point for the subsequent free-fall process. After the hook 1 reaches the preset height, the system acquires real-time acceleration signals from the acceleration monitoring device 2 and distance monitoring device 3 mounted on the hook 1. The acceleration signal reflects the acceleration changes of the hook 1 during the free-fall operation, while the distance signal provides real-time distance information between the hook 1 and the ground. This information is crucial for determining whether the free-fall operation meets design requirements. Next, the hook 1 is controlled to perform a free-fall operation, which is the process of free-falling without external forces. During the free-fall process, the hook 1's speed gradually increases and its height gradually decreases until it reaches a preset second preset height. At this point, the hook 1 is braked to slow down and eventually stop. The timing and accuracy of the brake operation are crucial to ensure a smooth landing of the hook 1. After the braking operation is completed, the hook 1 will be stationary. At this time, the acceleration signal and distance signal obtained during the first preset time period can be used to evaluate whether the free-falling action meets the design requirements. The first preset time period is the time period from when the hook 1 starts to perform the free-falling action to when the hook 1 is completely stationary. During this time period, the acceleration monitoring component 2 and the distance monitoring component 3 will continue to send signals. These signals contain all the key information during the falling process of the hook 1. In a specific embodiment, the first preset height is 20 meters, the second preset height is 10 meters, and the loading condition is the condition when lifting a weight of a preset weight.

[0046] The above-described free-fall monitoring method accurately determines the motion state of the hook 1 during the free-fall process, including but not limited to its descent speed, acceleration changes, and relative distance from the ground. This information is crucial for assessing whether the free-fall operation meets design requirements. By comparing the actual monitored acceleration data, distance from the ground, and speed data, the trajectory of the hook 1 during the free-fall process can be intuitively determined, allowing optimization and adjustment of these parameters to ensure a safe and efficient free-fall operation for the crane.

[0047] In one embodiment, S105 includes: determining the corresponding static height of the hook 1 from the distance signal when the hook 1 is stationary; comparing the static height with a second preset height; and, if the difference between the second preset height and the static height is within a preset range, determining whether the crane's free-fall operation meets the design requirements for braking distance. The braking distance of the hook 1 is an important evaluation metric when determining whether the crane's free-fall operation meets the design requirements. The braking distance refers to the distance the hook 1 descends from the start of braking to complete rest. By monitoring the distance signal of the hook 1 in real time during braking and obtaining its corresponding static height when the hook 1 is stationary, the static height can be compared with the second preset height. If the difference between the two is within the preset range, the crane's free-fall operation is deemed to meet the design requirements for braking distance. This step ensures that the hook 1 stops accurately within the specified height range during braking, avoiding safety hazards caused by excessively long or short braking distances. In a specific embodiment, the preset range is greater than two meters and less than three meters.

[0048] In one embodiment, S105 further includes: determining the vibration degree parameter of the hook 1 during the braking process based on the acceleration signal; and determining that the free hook drop action of the crane meets the braking stability design requirements when the vibration degree parameter is within the preset vibration parameter range. During the braking process, it is necessary to ensure that the vibration of the braking process is within an acceptable range to avoid damage to the cargo due to shaking or causing safety hazards. The vibration degree parameter can be obtained by analyzing and processing the acceleration signal, which reflects the stability of the hook 1 during the braking process. If the vibration degree parameter is within the preset vibration parameter range, it can be considered that the free hook drop action of the crane meets the design requirements in terms of braking stability. This step ensures the stability of the braking process and improves the safety and stability of the cargo landing.

[0049] In one embodiment, S105 includes: generating an acceleration curve and a distance-to-ground curve of the hook 1 changing with time based on the acceleration signal and the distance signal within a first preset time period; comparing the acceleration curve with the standard acceleration curve to obtain a first comparison result; comparing the distance-to-ground curve with the standard distance-to-ground curve to obtain a second comparison result; and determining that the free-fall hook action of the crane meets the design requirements when both the first comparison result and the second comparison result meet the evaluation requirements.

[0050] When determining whether the free-fall hook action meets the design requirements, a comprehensive evaluation can also be performed based on the acceleration curve and the distance-to-ground curve. The acceleration curve reflects the acceleration changes of the hook 1 during the free-fall process, while the distance-to-ground curve shows the changes in the distance between the hook 1 and the ground over time. By comparing the actual monitored acceleration curve with the standard acceleration curve, it can be determined whether the acceleration changes of the hook 1 during the free-fall process are as expected. Similarly, by comparing the actual monitored distance-to-ground curve with the standard distance-to-ground curve, it can be evaluated whether the height control of the hook 1 during the descent process is accurate. When the comparison results of both the acceleration curve and the distance-to-ground curve with the standard curve meet the evaluation requirements, it can be considered that the free-fall hook action of the crane meets the design requirements in terms of acceleration changes and height control. The above-mentioned free-fall hook monitoring method can comprehensively and accurately evaluate the free-fall performance of the crane, ensuring the safety, stability and accuracy of the hook 1 during the free-fall process.

[0051] In one embodiment, the free-fall monitoring method further comprises the following steps: after executing S105, repeating S101 to S105 sequentially until the crane completes a preset number of free-fall maneuvers; if the crane meets design requirements during the preset number of free-fall maneuvers, the crane's free-fall maneuver is determined to be qualified. Crane components may experience mechanical fatigue after repeatedly performing the same maneuver, affecting the crane's ability to perform free-fall maneuvers. Therefore, a durability test is required for the crane. Specifically, after executing S105, the embodiment of the present invention repeats S101 to S105 sequentially to monitor the crane's free-fall maneuvers multiple times. This durability test ensures that the crane maintains stable performance and meets design requirements during multiple free-fall maneuvers. Repeated monitoring allows observation of changes in the crane's state over long periods of operation, as well as the durability and reliability of its components. If the crane consistently meets design requirements during the preset number of free-fall maneuvers, the free-fall maneuver is considered qualified and capable of operating safely and efficiently in a real-world working environment. The implementation of this step provides strong support for the quality control and performance evaluation of the crane, and helps to improve the overall performance and safety of the crane. In a specific embodiment, the preset number of times is 50 times.

[0052] In one embodiment, the free-fall hook monitoring method further includes the following steps: before executing S101, controlling the hook 1 to be lifted to a third preset height under no-load conditions; acquiring acceleration signals and distance signals in real time; controlling the hook 1 to perform a free-fall hook action; after the hook 1 descends to a fourth preset height, performing a braking operation on the hook 1; determining whether the free-fall hook action of the crane under no-load conditions meets the design requirements based on the acceleration signals and distance signals within a second preset time period, wherein the second preset time period is the time period from when the hook 1 starts to perform the free-fall hook action under no-load conditions to when the hook 1 stops under no-load conditions.

[0053] Before performing the free-fall hook monitoring test under loading conditions, it is also necessary to control the hook 1 to test under no-load conditions. The free-fall hook test under no-load conditions is similar to the experiment under loading conditions. First, the hook 1 is controlled to be lifted to the third preset height under no-load conditions. The purpose of this step is to simulate the free-fall hook process of the crane under no-load conditions, so as to obtain the motion parameters under no-load conditions. After the hook 1 is lifted to the third preset height, the system will also obtain the acceleration signal emitted by the acceleration monitoring component 2 and the distance signal emitted by the distance monitoring component 3 in real time. These signals will be used for subsequent evaluation of whether the free-fall hook action under no-load conditions meets the design requirements. Subsequently, the hook 1 is controlled to perform a free-fall hook action under no-load conditions, that is, it falls freely without being affected by external forces. After the hook 1 drops to the fourth preset height, the hook 1 is braked to slow down its falling speed and eventually stop it. This step is similar to the braking operation under the loading condition, but considering that the mass and dynamic characteristics of the hook 1 may be different in the empty and loaded states, the third preset height may be different from the first preset height, and the fourth preset height may be different from the second preset height.

[0054] If the crane's hook 1 does not meet design requirements during free-fall under no-load conditions, the crane must be commissioned to ensure it meets design requirements under no-load conditions. Furthermore, the weight difference between the hook 1 under no-load and loaded conditions may result in differences in free-fall performance. Free-fall testing under no-load conditions reveals the hook 1's unloaded kinematic characteristics, which is crucial for fully evaluating whether the crane meets design requirements.

[0055] In one embodiment, the crane further comprises a braking mechanism and a braking adjustment member for adjusting the braking effect of the braking mechanism. The free-fall hook monitoring method further comprises the following steps: before executing S101, adjusting the braking adjustment member to adjust the braking effect to the maximum. The braking mechanism is capable of performing a braking operation on the hook 1. In order to be able to test the braking performance of the crane to the greatest extent and ensure that the design requirements can be met even under extreme conditions, it is necessary to adjust the braking effect to the maximum by adjusting the braking adjustment member before executing S101, thereby verifying its reliability and stability in actual use. After the braking effect is adjusted to the maximum, the hook 1 is controlled to perform a free-fall action according to the previous steps, and its acceleration and distance signals are monitored to evaluate whether the braking performance meets the design requirements. In this way, it can be ensured that the crane's braking mechanism can provide sufficient braking force under any circumstances to ensure the safety of the hook 1 and the cargo.

[0056] In one embodiment, the free-fall hook monitoring method further includes the following steps: before executing S101, a buffer of a preset height is placed directly below the hook 1. The crane for the monitoring experiment is usually still in the trial production or testing stage, and its parameters may still need to be adjusted. The hook 1 is prone to falling due to insufficient lifting force or insufficient braking force during the lifting process. For the above reasons, it is necessary to place a buffer of a preset height directly below the hook 1 to protect the hook 1 and the heavy objects it lifts (such as weights). The buffer can be a sand pile with a height of more than 0.5 meters.

[0057] In one embodiment, the free-fall hook monitoring method further includes: before S101, lifting the hook 1 to the point where it is just separated from the ground; obtaining the monitoring height of the distance monitoring component 3 and determining the monitoring height as the zero reference height of the hook 1. In order to be able to more accurately measure the height of the hook 1 from the ground, it is necessary to lift the hook 1 to the point where it is just separated from the ground before the monitoring experiment, and obtain the monitoring height of the distance monitoring component, which is used as the zero reference height of the hook 1. This step ensures that the distance signals measured subsequently are all based on a unified zero reference height, thereby improving the accuracy and reliability of the measurement. After determining the zero reference height, the hook 1 can be controlled to perform a free-fall action according to the previous steps, and its acceleration and distance signals can be monitored in real time. By comparing the actual monitored data with the preset standard data, the free-fall hook performance of the crane can be comprehensively and accurately evaluated to ensure its safety and stability in actual work.

[0058] In one embodiment, a free-fall hook monitoring system for a crane is provided. The crane includes a hook 1 and a braking mechanism for braking the hook 1. The free-fall hook monitoring system includes an acceleration monitoring element 2, a distance monitoring element 3, a braking mechanism monitoring element, a memory, and a processor. The acceleration monitoring element is mounted on the hook 1. The distance monitoring element 3 is mounted on the hook 1 and has a distance monitoring end facing the ground. The braking mechanism monitoring element is mounted on the braking mechanism and is used to monitor the start and stop status of the braking mechanism in real time. The memory is configured to store instructions, and the processor is configured to call instructions from the memory and, when executing the instructions, implement the above-described free-fall hook monitoring method for a crane. The above-described free-fall hook monitoring system can accurately monitor the motion state of the hook 1 during the free-fall process in real time, including changes in acceleration, distance from the ground, and the start and stop status of the braking mechanism. The addition of the braking mechanism monitoring element enables the system to monitor the operating status of the braking mechanism in real time, thereby ensuring the timeliness and accuracy of the braking operation.

[0059] In one embodiment, a crane is provided, comprising the above-mentioned free-fall hook monitoring system for the crane.

[0060] In one embodiment, a machine-readable storage medium is provided. The machine-readable storage medium stores instructions for causing a machine to execute the above-mentioned free-fall hook monitoring method for a crane.

[0061] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 3 As shown. The computer device includes a processor, a network interface, a memory (not shown in the figure) and a database (not shown in the figure) connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory and a non-volatile storage medium. The non-volatile storage medium stores an operating system, a computer program and a database (not shown in the figure). The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal via a network connection. The computer program is executed by the processor to implement a free-fall hook monitoring method for a crane.

[0062] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0063] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0064] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1The function specified in one or more boxes.

[0065] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0066] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0067] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0068] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated data signals and carrier waves.

[0069] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0070] The above are merely embodiments of the present invention and are not intended to limit the present invention. It will be apparent to those skilled in the art that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are intended to be included within the scope of the claims of the present invention.

Claims

1. A method for monitoring a free-fall hook of a crane, characterized in that: The crane comprises a hook (1), an acceleration monitoring component (2) mounted on the hook (1), and a distance monitoring component (3) for monitoring the distance between the hook (1) and the ground. The free-fall hook monitoring method comprises the following steps: S101, controlling the hook (1) to be lifted to a first preset height under a loading condition; S102, acquiring in real time the acceleration signal emitted by the acceleration monitoring component (2) and the distance signal emitted by the distance monitoring component (3); S103, controlling the hook (1) to perform a free-falling action; S104, after the hook (1) is lowered to a second preset height, performing a braking operation on the hook (1); S105, determining whether the free-falling action of the crane meets the design requirements based on the acceleration signal and the distance signal within a first preset time period, wherein the first preset time period is the time period from when the hook (1) starts to perform the free-falling action to when the hook (1) stops.

2. The method for monitoring the free-fall hook of a crane according to claim 1, characterized in that: The S105 includes: Determining the corresponding static height of the hook (1) from the ground based on the distance signal when the hook (1) is stationary; comparing the static altitude above the ground with the second preset altitude; When the difference between the second preset height and the static height above the ground is within a preset range, it is determined that the braking distance design requirement is met in the free hook drop action of the crane.

3. The method for monitoring the free-fall hook of a crane according to claim 1, characterized in that: The S105 further includes: Determining a vibration degree parameter of the hook (1) during braking according to the acceleration signal; When the jitter degree parameter is within a preset jitter parameter range, it is determined that the braking stability design requirement is met during the free hook drop action of the crane.

4. The method for monitoring a free-fall hook of a crane according to claim 1, wherein: The S105 includes: generating an acceleration curve and a distance-to-ground curve of the hook (1) that change with time based on the acceleration signal and the distance signal within the first preset time period; Comparing the acceleration curve with a standard acceleration curve to obtain a first comparison result; Comparing the ground distance curve with a standard ground distance curve to obtain a second comparison result; When both the first comparison result and the second comparison result meet the evaluation requirements, it is determined that the free hook drop action of the crane meets the design requirements.

5. The method for monitoring a free-fall hook of a crane according to any one of claims 1 to 4, characterized in that: The free-fall hook monitoring method further comprises the following steps: After executing S105, repeating S101 to S105 in sequence until the crane completes a preset number of free hook drop actions; If the crane meets the design requirements during the preset number of free hook drops, it is determined that the free hook drop action of the crane is qualified.

6. The method for monitoring a free-fall hook of a crane according to any one of claims 1 to 4, characterized in that: The free-fall hook monitoring method further comprises the following steps: Before executing S101, controlling the hook (1) to be lifted to a third preset height under a no-load condition; acquiring the acceleration signal and the distance signal in real time; Controlling the hook (1) to perform a free-falling action; After the hook (1) descends to a fourth preset height, performing a braking operation on the hook (1); Whether the free hook drop action of the crane under the no-load condition meets the design requirements is determined based on the acceleration signal and the distance signal within a second preset time period, wherein the second preset time period is the time period from when the hook (1) starts to perform the free hook drop action under the no-load condition to when the hook (1) comes to rest under the no-load condition.

7. The method for monitoring a free-fall hook of a crane according to any one of claims 1 to 4, characterized in that: The crane further includes a braking mechanism and a braking adjustment member for adjusting the braking effect of the braking mechanism. The free-fall hook monitoring method further includes the following steps: Before executing S101 , the brake adjustment member is adjusted to maximize the braking effect.

8. The method for monitoring a free-fall hook of a crane according to any one of claims 1 to 4, characterized in that: The free-fall hook monitoring method further comprises the following steps: Before executing S101, a buffer of a preset height is placed directly below the hook (1).

9. The method for monitoring a free-fall hook of a crane according to any one of claims 1 to 4, characterized in that: The free-fall hook monitoring method further comprises: Before S101, the hook (1) is lifted until it is just separated from the ground; The monitoring height of the distance monitoring member (3) is obtained and the monitoring height is determined as the zero reference height position of the hook (1).

10. A free-fall hook monitoring system for a crane, characterized in that: The crane comprises a hook (1) and a braking mechanism for braking the hook (1), and the free-fall hook monitoring system comprises: An acceleration monitoring component (2) is mounted on the hook (1); A distance monitoring member (3) is mounted on the hook (1) and has a distance monitoring end disposed toward the ground; A brake mechanism monitoring component, mounted on the brake mechanism and used to monitor the start and stop status of the brake mechanism in real time; a memory configured to store instructions; and A processor is configured to call the instructions from the memory and implement the free-fall hook monitoring method for a crane according to any one of claims 1 to 9 when executing the instructions.

11. A crane, characterized in that: The crane comprises the free-fall hook monitoring system for a crane according to claim 10.

12. A machine-readable storage medium, characterized in that The machine-readable storage medium stores instructions for causing a machine to execute the free-fall hook monitoring method for a crane according to any one of claims 1 to 9.

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