Automatic compensation method and system for operation of tower crane

Abstract

The invention relates to an automatic compensation method and system for tower crane operation, and the system comprises an operation positioning device which is disposed at a position with position offset during the operation of a tower crane and is connected to a tower crane control system; the control system calculates the theoretical positioning of the corresponding part of the operation positioning device, obtains the actual positioning of the part through the operation positioning device, compares the positioning difference between the theoretical positioning and the actual positioning, and reduces or eliminates the positioning difference between the theoretical positioning and the actual positioning through the amplitude variation and / or rotation operation of the trolley or the arm head. Through position change detection of the positioning device, the operation state of the tower crane is fed back through the execution mechanism and the key position of the tower body, deviation of the tower crane is reduced through automatic control, and the accuracy and the control speed of the operation process of the tower crane can be effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of tower crane control, in particular to a tower crane operation automatic compensation method and system. Background Art

[0002] Tower cranes, also known as tower cranes, are primarily used for transporting materials in the construction industry. With the increasing demand for larger and more intelligent construction equipment, the need for intelligent and safe operation of tower crane operating mechanisms is also growing. This is especially true for tower cranes with stand-alone heights exceeding 100 meters. During the lifting operation, the load is gradually lifted from the ground. Due to the changing fore-and-aft torques between the boom and counterarm on both sides of the tower, significant horizontal displacement occurs between the bottom and top of the tower. At this time, the tower crane's amplitude position and hook lift position, detected by traditional sensors, will change as the tower tilt is affected by the two unbalanced moments. Furthermore, when the stand-alone height of the tower crane is too high, the crane is already top-leveled before jacking. However, during the jacking process, the top-leveling state can change due to wind resistance, lifting friction, and other factors.

[0003] Due to a lack of effective detection for these two operating conditions, the current industry relies on operators manually adjusting the crane's amplitude position based on their experience to compensate for changes in the horizontal position of the crane's upper structure during hoisting or when balancing the upper structure during jacking. This approach, while not only fails to meet the operational accuracy requirements of on-site construction or technical personnel, also relies solely on the operator's experience, increasing safety risks during operation. Summary of the Invention

[0004] To address the aforementioned problems in the prior art, the present invention provides a method for automatic compensation of tower crane operation, comprising an operation positioning device, disposed at a location where positional deviation occurs during tower crane operation, and connected to the tower crane control system. The control system calculates the theoretical position of the location corresponding to the operation positioning device, obtains the actual position of the location through the operation positioning device, compares the difference between the two positions, and then, through luffing and / or slewing operations on the trolley or boom head, induces a reverse deviation through movement, thereby reducing or eliminating the difference in positioning.

[0005] Furthermore, it also includes a basic positioning device, which is arranged on the tower crane legs or foundation sections, and the basic positioning device is connected to the control system.

[0006] Furthermore, the data link is used to correct the positioning errors of the operating positioning device and the basic positioning device.

[0007] Furthermore, the control system performs closed-loop feedback processing on the positioning data, converts the information into control signals, and controls the trolley or arm head.

[0008] Furthermore, the control system performs deviation processing to remove data with large deviations from the positioning data.

[0009] Furthermore, the positioning data is processed using a fitting function algorithm.

[0010] Furthermore, the control system transmits the offset signal to a display screen in the tower crane operator's cab.

[0011] The present invention also provides an automatic compensation system for tower crane operation, which uses the above method and includes an operation positioning device arranged at a location where position offset occurs during tower crane operation, and the operation positioning device is connected to the tower crane control system.

[0012] Furthermore, the operation positioning device is arranged at the arm root hinge point, the hook, the arm head and / or the trolley.

[0013] Furthermore, it also includes a basic positioning device, which is arranged on the tower crane legs or foundation sections, and the basic positioning device is connected to the control system.

[0014] This invention detects position changes in the positioning device, uses the actuator and key positions of the tower body to provide feedback on the tower crane's operating status, and automatically reduces the crane's deflection, effectively improving the accuracy and control speed of the tower crane's operation. Parameters can also be fed back to the operator's cab, making operating conditions more intuitive. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 It is a schematic diagram of the automatic compensation system for tower crane operation of the present invention; In the figure: 1. Basic positioning device; 2. Arm root hinge positioning device; 3. Trolley positioning device; 4. Hook positioning device; 5. Arm head positioning device. DETAILED DESCRIPTION

[0017] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0018] Example 1:

[0019] In this embodiment of the automatic compensation method for tower crane operation, the tower crane is equipped with an operation positioning device, such as a GPS, located at a location where positional deviation may occur during operation, such as at the boom root hinge, hook, boom head, or trolley, or any combination thereof. The operation positioning device is connected to the tower crane control system. The control system calculates the theoretical position of the location corresponding to the operation positioning device, obtains the actual position of that location through the operation positioning device, compares the difference between the two positions, and operates one or any combination of the luffing and slewing of the trolley or boom head to induce a reverse deviation through movement, thereby reducing or eliminating the difference in the two positions and maintaining stable operation of the tower crane.

[0020] Preferably, it also includes a basic positioning device 1, which is arranged on the tower crane leg or foundation section. The basic positioning device 1 is connected to the control system. The basic positioning device 1 is arranged in a relatively static position of the tower crane and is used to obtain the reference position of the tower crane, so that the control system can calculate the offset of the tower crane. For solutions without a basic positioning device, it is necessary to manually determine the basic position of the tower crane in advance and input it into the control system.

[0021] Due to orbital errors, clock errors, atmospheric effects, etc., there are errors in the known coordinates of the positioning device. Information receiving terminals such as PCs and satellite signal base stations can use data links to correct the positioning errors of the running positioning device and the basic positioning device 1.

[0022] The control system processes the positioning data through closed-loop feedback, converting the information into control signals to control the trolley or boom head. This allows the crane's actuators to accurately compensate for the operator's braking when the crane driver is operating. To ensure temperature control, the control system performs deviation processing to remove any significant deviations from the positioning data.

[0023] When the data link is unobstructed, the control system processes the data using algorithms such as fitting functions. It processes the hoisting mechanism's operating speed, hook height, and luffing amplitude, compares this with the crane operator's operating information, and self-compensates for amplitude changes and hoisting mechanism operating speed. This ensures that during the hoisting process, as the unbalanced torque on both sides of the tower body changes and the tower body's tilt changes, the load always remains within the amplitude required by the operator before lifting, and the hoisting speed also self-compensates according to the operator's gear position.

[0024] When the data link is unobstructed, the tower crane actuator position information, time information, tower body verticality information, and tower crane upper horizontal displacement information are transmitted to the control system, and the data is visualized and transmitted to the display screen in the tower crane driver's cab.

[0025] Example 2:

[0026] See also Figure 1The automatic tower crane operation compensation system of this embodiment utilizes the method described in Example 1 and includes an operation positioning device installed at locations where positional deviation occurs during tower crane operation, such as at the boom hinge, hook, boom head, and trolley, or any combination thereof. The system includes a boom hinge positioning device 2, a hook positioning device 4, a boom head positioning device 5, and a trolley positioning device 3, each of which is connected to the tower crane control system. The system also includes a base positioning device 1 installed at a tower crane leg or foundation section, which is connected to the control system.

[0027] The control system calculates the theoretical positioning of the corresponding part of the operating positioning device, obtains the actual positioning of the part by operating the positioning device, compares the difference between the two positioning, and operates one or any combination of the luffing and rotation of the trolley or boom head to bring about reverse offset through movement, thereby reducing or eliminating the difference between the two positioning and making the tower crane run stably.

[0028] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A tower crane operation automatic compensation method, characterized in that: It includes an operating positioning device, which is installed at the part where the position offset occurs during the operation of the tower crane, and the operating positioning device is connected to the tower crane control system; the control system calculates the theoretical positioning of the part corresponding to the operating positioning device, obtains the actual positioning of the part through the operating positioning device, compares the difference between the two positioning, and reduces or eliminates the difference between the two positioning by varying the amplitude and / or rotating the trolley or boom head.

2. The tower crane operation automatic compensation method according to claim 1, characterized in that: It also includes a basic positioning device, which is arranged on the tower crane legs or foundation sections, and the basic positioning device is connected to the control system.

3. The automatic compensation method for tower crane operation according to claim 2, characterized in that: The data link is used to correct the positioning errors of the operating positioning device and the basic positioning device.

4. The tower crane operation automatic compensation method according to claim 1, characterized in that: The control system performs closed-loop feedback processing on the positioning data, converts the information into control signals, and controls the trolley or arm head.

5. The tower crane operation automatic compensation method according to claim 1, characterized in that: The control system performs deviation processing to remove data with large deviations from the positioning data.

6. The tower crane operation automatic compensation method according to claim 1, characterized in that: The positioning data is processed using a fitting function algorithm.

7. The automatic compensation method for tower crane operation according to any one of claims 1 to 6, characterized in that: The control system transmits the deviation signal to the display screen in the tower crane cab.

8. An automatic compensation system for tower crane operation, characterized in that: The method according to claim 1 includes a running positioning device, which is arranged at a position where position deviation occurs during the operation of the tower crane, and the running positioning device is connected to the tower crane control system.

9. The automatic compensation system for tower crane operation according to claim 8, characterized in that: The operation positioning device is arranged at the arm root hinge point, the hook, the arm head and / or the trolley.

10. The automatic compensation system for tower crane operation according to claim 8 or 9, characterized in that: It also includes a basic positioning device, which is arranged on the tower crane legs or foundation sections, and the basic positioning device is connected to the control system.

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