Hydraulic power plant hoisting machinery walking wheel deviation rectifying method and system

Abstract

The invention provides a hydraulic power plant hoisting machinery walking wheel deviation rectification method and system, and the method comprises the steps: collecting the center point position data of each walking wheel and the center point position data of a track corresponding to each walking wheel through an encoder installed at a guide wheel of each walking wheel of a hoisting machinery; the relative position deviation value of each walking wheel and the corresponding track is determined; according to the relative position deviation values of all the walking wheels and the corresponding tracks, all the walking wheels needing to be rectified and the adjustment priority sequence of all the walking wheels needing to be rectified are determined; and according to the adjustment priority sequence of all the walking wheels needing to be rectified, the rotating speed of all the walking wheels needing to be rectified is adjusted in a pulse type adjustment mode till the relative position deviation values of all the walking wheels needing to be rectified and the corresponding rails are smaller than a preset deviation threshold value, and the walking wheels of the hoisting machinery are rectified. According to the technical scheme, the deviation rectifying precision is high, and safety and reliability are achieved.

Description

Technical Field

[0001] The present application relates to the technical field of wheel deviation correction, and in particular to a method and system for correcting the deviation of traveling wheels of a hoisting machinery in a hydropower plant. Background Art

[0002] Hoisting machinery is primarily used for lifting and moving heavy objects and is widely used in the construction, manufacturing, logistics, port, and energy industries. Currently, gantry cranes and bridge cranes are the most commonly used in hydropower plants. These two types of cranes rely on motors to drive the reciprocating motion of their wheels on tracks.

[0003] Existing technology for checking the travel of crane wheels primarily relies on manual inspection and measurement of the wheels and tracks to assess their condition. This lacks the ability to monitor wheel movement in real time, much less perform real-time wheel deviation correction. Because wheels and tracks operate in a dynamic relationship, manual inspection and measurement are based on data from a few points within the track's operating range. This incomplete data collection hinders understanding the overall wheel's operating status. Therefore, a solution for real-time crane wheel travel inspection and correction is urgently needed. Summary of the Invention

[0004] The present application provides a method and system for correcting the deviation of the traveling wheels of a hydropower plant hoisting machinery, so as to at least solve the technical problem that the staff cannot correct the deviation of the vehicle in real time during inspection and the correction accuracy is low.

[0005] The first embodiment of the present application provides a method for correcting the deviation of the traveling wheels of a hoisting machinery in a hydropower plant, the method comprising:

[0006] Using encoders installed at the guide wheels of each traveling wheel of the lifting machinery to collect the center point position data of each traveling wheel and the center point position data of the track corresponding to each traveling wheel, and determining the relative position deviation value of each traveling wheel and its corresponding track based on the center point position data of each traveling wheel and the center point position data of each traveling wheel;

[0007] Determining the respective running wheels that require deviation correction and the adjustment priority ranking of the respective running wheels that require deviation correction according to the relative position deviation values ​​between the respective running wheels and their corresponding tracks;

[0008] The adjustment priorities of the traveling wheels that need to be corrected are sorted, and the rotation speed of the traveling wheels that need to be corrected is adjusted using a pulse adjustment method until the relative position deviation values ​​of the traveling wheels that need to be corrected and their corresponding tracks are less than the preset deviation threshold, thereby realizing the correction of the traveling wheels of the lifting machinery.

[0009] Preferably, the determining of the relative position deviation value between each traveling wheel and its corresponding track based on the center point position data of each traveling wheel and the center point position data of the track corresponding to each traveling wheel comprises:

[0010] The difference between the center point position data of each traveling wheel and the center point position data of its corresponding track is determined respectively, and the difference between the center point position data of each traveling wheel and the center point position data of its corresponding track is used as the relative position deviation value of each traveling wheel and its corresponding track.

[0011] Furthermore, the method of determining each traveling wheel that needs to be corrected according to the relative position deviation value between each traveling wheel and its corresponding track includes:

[0012] When the relative position deviation value between the running wheel and its corresponding track is greater than a preset deviation threshold, the running wheel is determined to be a running wheel that needs to be corrected; otherwise, the running wheel does not need to be corrected.

[0013] Furthermore, the process of determining the adjustment priority order of each traveling wheel that needs to be corrected includes:

[0014] Arrange the running wheels that need to be corrected in order from large to small and from left to right according to the relative position deviation values ​​of the running wheels and their corresponding tracks to form a first sequence;

[0015] The order from left to right of the running wheels that need to be corrected in the first sequence is used as the adjustment priority order of the running wheels that need to be corrected.

[0016] Furthermore, the adjustment priority of each traveling wheel that needs to be corrected is sorted, and the rotation speed of each traveling wheel that needs to be corrected is adjusted using a pulse adjustment method, including:

[0017] Step F1: adjusting the rotational speed of the i-th running wheel requiring correction in the adjustment priority ranking by using a pulse adjustment method, wherein when the running wheel requiring correction is adjusted by the pulse adjustment method for the first time, the pulse adjustment time of the pulse adjustment method is a preset first pulse time;

[0018] Step F2: Determine the relative position deviation between the running wheel requiring correction and its corresponding track after the pulse adjustment, and determine whether the deviation after the pulse adjustment is less than or equal to a preset deviation threshold. If so, set i = i + 1 and return to step F1 until i equals I, then proceed to step F3. Otherwise, increase the pulse adjustment time by a first preset time and return to step F1, where I is the total number of running wheels requiring correction.

[0019] Step F3: Determine the running wheels that need to be corrected and the adjustment priority order of the running wheels that need to be corrected, and return to step F1 until the number of running wheels that need to be corrected is equal to zero.

[0020] Furthermore, the method further comprises:

[0021] Based on the center point position data of each traveling wheel and the center point position data of the track corresponding to each traveling wheel, and using Matplotlib drawing software, a three-dimensional dynamic diagram of the wheel travel of the lifting machinery is drawn and displayed.

[0022] The second embodiment of the present application provides a system for correcting the deviation of the traveling wheels of a hoisting machine in a hydropower plant, comprising:

[0023] An encoder module is used to collect center point position data of each traveling wheel and center point position data of the track corresponding to each traveling wheel using an encoder installed at the guide wheel of each traveling wheel of the lifting machinery, and determine a relative position deviation value between each traveling wheel and its corresponding track based on the center point position data of each traveling wheel and the center point position data of the track corresponding to each traveling wheel;

[0024] A PLC system module is used to determine the respective running wheels that need to be corrected and the adjustment priority order of the respective running wheels that need to be corrected according to the relative position deviation values ​​between the respective running wheels and their corresponding tracks;

[0025] The frequency converter module is used to sort the adjustment priorities of each traveling wheel that needs to be corrected, and adjust the rotation speed of each traveling wheel that needs to be corrected using a pulse adjustment method until the relative position deviation value between each traveling wheel that needs to be corrected and its corresponding track is less than the preset deviation threshold, thereby realizing the correction of the traveling wheel of the lifting machinery.

[0026] Preferably, the encoder module is further used for:

[0027] The difference between the center point position data of each traveling wheel and the center point position data of its corresponding track is determined respectively, and the difference between the center point position data of each traveling wheel and the center point position data of its corresponding track is used as the relative position deviation value of each traveling wheel and its corresponding track.

[0028] The third aspect of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the method described in the first aspect is implemented.

[0029] A fourth embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the first embodiment.

[0030] The technical solutions provided by the embodiments of this application bring at least the following beneficial effects:

[0031] The present application proposes a method and system for correcting the deviation of the traveling wheels of a hydropower plant crane. The method includes: using an encoder installed at the guide wheel of each traveling wheel of the crane to collect the center point position data of each traveling wheel and the center point position data of the track corresponding to each traveling wheel, and determining the relative position deviation value of each traveling wheel and its corresponding track based on the center point position data of each traveling wheel and the center point position data of the track corresponding to each traveling wheel; determining each traveling wheel that needs to be corrected and the adjustment priority ranking of each traveling wheel that needs to be corrected based on the relative position deviation value of each traveling wheel and its corresponding track; ranking the adjustment priority of each traveling wheel that needs to be corrected, and adjusting the rotation speed of each traveling wheel that needs to be corrected using a pulse adjustment method until the relative position deviation value between each traveling wheel that needs to be corrected and its corresponding track is less than a preset deviation threshold, thereby realizing the deviation correction of the traveling wheels of the crane. The technical solution proposed in the present application can correct deviations in real time with high correction accuracy, and is safe and reliable.

[0032] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0034] Figure 1 This is a flow chart of a method for correcting deviation of traveling wheels of a hydropower plant hoisting machinery according to one embodiment of the present application;

[0035] Figure 2 A schematic diagram of the wheel arrangement of a lifting machinery provided according to one embodiment of the present application;

[0036] Figure 3 This is a first structural diagram of a hydropower plant hoisting machinery traveling wheel correction system provided according to one embodiment of the present application;

[0037] Figure 4 This is a second structural diagram of a hydropower plant crane travel wheel correction system provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0038] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0039] The present application proposes a method and system for correcting the deviation of the traveling wheels of a hydropower plant crane. The method includes: using an encoder installed at the guide wheel of each traveling wheel of the crane to collect the center point position data of each traveling wheel and the center point position data of the track corresponding to each traveling wheel, and determining the relative position deviation value of each traveling wheel and its corresponding track based on the center point position data of each traveling wheel and the center point position data of the track corresponding to each traveling wheel; determining each traveling wheel that needs to be corrected and the adjustment priority ranking of each traveling wheel that needs to be corrected based on the relative position deviation value of each traveling wheel and its corresponding track; ranking the adjustment priority of each traveling wheel that needs to be corrected, and adjusting the rotation speed of each traveling wheel that needs to be corrected using a pulse adjustment method until the relative position deviation value of each traveling wheel that needs to be corrected and its corresponding track is less than a preset deviation threshold, thereby realizing the deviation correction of the traveling wheels of the crane. The technical solution proposed in the present application can correct deviations in real time with high correction accuracy, and is safe and reliable.

[0040] The following describes a method and system for correcting the deviation of the traveling wheels of a hydropower plant hoisting machinery according to an embodiment of the present application with reference to the accompanying drawings.

[0041] Example 1

[0042] Figure 1 This is a flow chart of a method for correcting the deviation of the traveling wheels of a hydropower plant hoisting machinery according to one embodiment of the present application. Figure 1 As shown, the method includes:

[0043] Step 1: Use the encoder installed at the guide wheel of each traveling wheel of the lifting machinery to collect the center point position data of each traveling wheel and the center point position data of the track corresponding to each traveling wheel, and determine the relative position deviation value of each traveling wheel and its corresponding track based on the center point position data of each traveling wheel and the center point position data of each traveling wheel corresponding to the track.

[0044] In the embodiment of the present disclosure, determining the relative position deviation value between each traveling wheel and its corresponding track based on the center point position data of each traveling wheel and the center point position data of the track corresponding to each traveling wheel includes:

[0045] The difference between the center point position data of each traveling wheel and the center point position data of its corresponding track is determined respectively, and the difference between the center point position data of each traveling wheel and the center point position data of its corresponding track is used as the relative position deviation value of each traveling wheel and its corresponding track.

[0046] It should be noted that the measured track center is q, and the wheel center during the wheel movement is q′, so the wheel track deviation is the relative position deviation value Q=q′-q.

[0047] like Figure 2 As shown, assuming that the driving wheels of the crane are arranged with two wheels on each side, the deviation between the center of each wheel on each side and the center of the track on which it is located is calculated.

[0048] Step 2: determining the running wheels that need to be corrected and the adjustment priority of the running wheels that need to be corrected according to the relative position deviation values ​​between the running wheels and their corresponding tracks;

[0049] In the embodiment of the present disclosure, the step of determining the traveling wheels that require deviation correction based on the relative position deviation values ​​between the traveling wheels and their corresponding tracks includes:

[0050] When the relative position deviation value between the running wheel and its corresponding track is greater than a preset deviation threshold, the running wheel is determined to be a running wheel that needs to be corrected; otherwise, the running wheel does not need to be corrected.

[0051] Furthermore, the process of determining the adjustment priority order of each traveling wheel that needs to be corrected includes:

[0052] Arrange the running wheels that need to be corrected in order from large to small and from left to right according to the relative position deviation values ​​of the running wheels and their corresponding tracks to form a first sequence;

[0053] The order from left to right of the running wheels that need to be corrected in the first sequence is used as the adjustment priority order of the running wheels that need to be corrected.

[0054] Step 3: Sort the adjustment priorities of the traveling wheels that need to be corrected, and use a pulse adjustment method to adjust the rotation speed of each traveling wheel that needs to be corrected until the relative position deviation values ​​of each traveling wheel that needs to be corrected and its corresponding track are less than the preset deviation threshold, thereby realizing the correction of the traveling wheels of the lifting machinery.

[0055] In the disclosed embodiment, the adjustment priority of each traveling wheel that needs to be corrected is sorted, and the rotation speed of each traveling wheel that needs to be corrected is adjusted using a pulse adjustment method, including:

[0056] Step F1: adjusting the rotational speed of the i-th running wheel requiring correction in the adjustment priority ranking by using a pulse adjustment method, wherein when the running wheel requiring correction is adjusted by the pulse adjustment method for the first time, the pulse adjustment time of the pulse adjustment method is a preset first pulse time;

[0057] Step F2: Determine the relative position deviation between the running wheel requiring correction and its corresponding track after the pulse adjustment, and determine whether the deviation after the pulse adjustment is less than or equal to a preset deviation threshold. If so, set i = i + 1 and return to step F1 until i equals I, then proceed to step F3. Otherwise, increase the pulse adjustment time by a first preset time and return to step F1, where I is the total number of running wheels requiring correction.

[0058] Step F3: Determine the running wheels that need to be corrected and the adjustment priority order of the running wheels that need to be corrected, and return to step F1 until the number of running wheels that need to be corrected is equal to zero.

[0059] In an embodiment of the present disclosure, the method further includes:

[0060] Based on the center point position data of each traveling wheel and the center point position data of the track corresponding to each traveling wheel, and using Matplotlib drawing software, a three-dimensional dynamic diagram of the wheel travel of the lifting machinery is drawn and displayed.

[0061] The method for correcting the deviation of the traveling wheels of a hydropower plant hoisting machinery proposed in this embodiment has the following advantages:

[0062] 1. This application can monitor the relative position of wheels and tracks in real time, providing big data on lifting machinery for the construction of smart power plants.

[0063] 2. This application has high adjustment accuracy and strong reliability, and has the function of dynamic adjustment at all times.

[0064] 3. After using this application, the wheel wear rate can be reduced, the wheel position can be adjusted dynamically at all times, and maintenance costs can be reduced.

[0065] 4. It can be customized according to customer needs and has strong promotion and application value.

[0066] 5. Currently, there is no monitoring method for the wheels of lifting machinery. This application can fill this technical gap.

[0067] In summary, the method for correcting the deviation of the traveling wheels of a hydropower plant hoisting machinery proposed in this embodiment can correct the deviation in real time with high correction accuracy, and is safe and reliable.

[0068] Example 2

[0069] Figure 3 This is a structural diagram of a hydropower plant hoisting machinery traveling wheel correction system according to one embodiment of the present application, as shown in FIG. Figure 3 As shown, the system includes:

[0070] The encoder module 100 is used to collect the center point position data of each traveling wheel and the center point position data of the track corresponding to each traveling wheel using an encoder installed at the guide wheel of each traveling wheel of the lifting machinery, and determine the relative position deviation value between each traveling wheel and its corresponding track based on the center point position data of each traveling wheel and the center point position data of each traveling wheel;

[0071] The PLC system module 200 is used to determine the respective running wheels that need to be corrected and the adjustment priority order of the respective running wheels that need to be corrected according to the relative position deviation values ​​between the respective running wheels and their corresponding tracks;

[0072] The frequency converter module 300 is used to sort the adjustment priorities of each traveling wheel that needs to be corrected, and adjust the rotation speed of each traveling wheel that needs to be corrected using a pulse adjustment method until the relative position deviation value between each traveling wheel that needs to be corrected and its corresponding track is less than a preset deviation threshold, thereby realizing the correction of the traveling wheel of the lifting machinery.

[0073] In the embodiment of the present disclosure, the encoder module 100 is further configured to:

[0074] The difference between the center point position data of each traveling wheel and the center point position data of its corresponding track is determined respectively, and the difference between the center point position data of each traveling wheel and the center point position data of its corresponding track is used as the relative position deviation value of each traveling wheel and its corresponding track.

[0075] In the embodiment of the present disclosure, the PLC system module 200 is further configured to:

[0076] When the relative position deviation value between the running wheel and its corresponding track is greater than a preset deviation threshold, the running wheel is determined to be a running wheel that needs to be corrected; otherwise, the running wheel does not need to be corrected.

[0077] In the embodiment of the present disclosure, the PLC system module 200 is further configured to:

[0078] Arrange the running wheels that need to be corrected in order from large to small and from left to right according to the relative position deviation values ​​of the running wheels and their corresponding tracks to form a first sequence;

[0079] The order from left to right of the running wheels that need to be corrected in the first sequence is used as the adjustment priority order of the running wheels that need to be corrected.

[0080] In the embodiment of the present disclosure, the inverter module 300 is further configured to:

[0081] Step E1: adjusting the rotational speed of the i-th running wheel requiring correction in the adjustment priority ranking by using a pulse adjustment method, wherein when the running wheel requiring correction is adjusted by the pulse adjustment method for the first time, the pulse adjustment time of the pulse adjustment method is a preset first pulse time;

[0082] Step E2: Determine the relative position deviation between the running wheel requiring correction and its corresponding track after the pulse adjustment, and determine whether the deviation after the pulse adjustment is less than or equal to a preset deviation threshold. If so, set i = i + 1 and return to step F1 until i equals I, then enter step E3. Otherwise, increase the pulse adjustment time by a first preset time and return to step E1, where I is the total number of running wheels requiring correction.

[0083] Step E3: Determine the running wheels that need to be corrected and the adjustment priority order of the running wheels that need to be corrected, and return to step E1 until the number of running wheels that need to be corrected is equal to zero.

[0084] In the embodiment of the present disclosure, Figure 4 As shown, the system further includes: a display module 400;

[0085] The display module 400 is used for:

[0086] Based on the center point position data of each traveling wheel and the center point position data of the track corresponding to each traveling wheel, and using Matplotlib drawing software, a three-dimensional dynamic diagram of the wheel travel of the lifting machinery is drawn and displayed.

[0087] In summary, the hydropower plant hoisting machinery traveling wheel deviation correction system proposed in this embodiment can correct deviations in real time with high correction accuracy, and is safe and reliable.

[0088] Example 3

[0089] To implement the above embodiments, the present disclosure further proposes an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method described in the first embodiment is implemented.

[0090] Example 4

[0091] In order to implement the above embodiments, the present disclosure further proposes a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the method described in the first embodiment is implemented.

[0092] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0093] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0094] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for correcting the deviation of the traveling wheels of a hoisting machinery in a hydropower plant, characterized in that: The method comprises: Using encoders installed at the guide wheels of each traveling wheel of the lifting machinery to collect the center point position data of each traveling wheel and the center point position data of the track corresponding to each traveling wheel, and determining the relative position deviation value of each traveling wheel and its corresponding track based on the center point position data of each traveling wheel and the center point position data of each traveling wheel; Determining the respective running wheels that require deviation correction and the adjustment priority ranking of the respective running wheels that require deviation correction according to the relative position deviation values ​​between the respective running wheels and their corresponding tracks; The adjustment priorities of the traveling wheels that need to be corrected are sorted, and the rotation speed of the traveling wheels that need to be corrected is adjusted using a pulse adjustment method until the relative position deviation values ​​of the traveling wheels that need to be corrected and their corresponding tracks are less than the preset deviation threshold, thereby realizing the correction of the traveling wheels of the lifting machinery.

2. The method according to claim 1, wherein The determining of the relative position deviation value between each traveling wheel and its corresponding track according to the center point position data of each traveling wheel and the center point position data of the track corresponding to each traveling wheel comprises: The difference between the center point position data of each traveling wheel and the center point position data of its corresponding track is determined respectively, and the difference between the center point position data of each traveling wheel and the center point position data of its corresponding track is used as the relative position deviation value of each traveling wheel and its corresponding track.

3. The method according to claim 2, wherein The method of determining the traveling wheels that need to be corrected according to the relative position deviation values ​​between the traveling wheels and their corresponding tracks comprises: When the relative position deviation value between the running wheel and its corresponding track is greater than a preset deviation threshold, the running wheel is determined to be a running wheel that needs to be corrected; otherwise, the running wheel does not need to be corrected.

4. The method according to claim 3, wherein The process of determining the adjustment priority order of each traveling wheel that needs to be corrected includes: Arrange the running wheels that need to be corrected in order from large to small and from left to right according to the relative position deviation values ​​of the running wheels and their corresponding tracks to form a first sequence; The order from left to right of the running wheels that need to be corrected in the first sequence is used as the adjustment priority order of the running wheels that need to be corrected.

5. The method according to claim 4, wherein The adjustment priority of each traveling wheel that needs to be corrected is sorted, and the rotation speed of each traveling wheel that needs to be corrected is adjusted by using a pulse adjustment method, including: Step F1: adjusting the rotational speed of the i-th running wheel requiring correction in the adjustment priority ranking by using a pulse adjustment method, wherein when the running wheel requiring correction is adjusted by the pulse adjustment method for the first time, the pulse adjustment time of the pulse adjustment method is a preset first pulse time; Step F2: Determine the relative position deviation between the running wheel requiring correction and its corresponding track after the pulse adjustment, and determine whether the deviation after the pulse adjustment is less than or equal to a preset deviation threshold. If so, set i = i + 1 and return to step F1 until i equals I, then proceed to step F3. Otherwise, increase the pulse adjustment time by a first preset time and return to step F1, where I is the total number of running wheels requiring correction. Step F3: Determine the running wheels that need to be corrected and the adjustment priority order of the running wheels that need to be corrected, and return to step F1 until the number of running wheels that need to be corrected is equal to zero.

6. The method according to claim 5, wherein The method further comprises: Based on the center point position data of each traveling wheel and the center point position data of the track corresponding to each traveling wheel, and using Matplotlib drawing software, a three-dimensional dynamic diagram of the wheel travel of the lifting machinery is drawn and displayed.

7. A wheel deviation correction system for hoisting machinery in a hydropower plant, characterized in that: The system comprises: An encoder module is used to collect center point position data of each traveling wheel and center point position data of the track corresponding to each traveling wheel using an encoder installed at the guide wheel of each traveling wheel of the lifting machinery, and determine a relative position deviation value between each traveling wheel and its corresponding track based on the center point position data of each traveling wheel and the center point position data of the track corresponding to each traveling wheel; A PLC system module is used to determine the respective running wheels that need to be corrected and the adjustment priority order of the respective running wheels that need to be corrected according to the relative position deviation values ​​between the respective running wheels and their corresponding tracks; The frequency converter module is used to sort the adjustment priorities of each traveling wheel that needs to be corrected, and adjust the rotation speed of each traveling wheel that needs to be corrected using a pulse adjustment method until the relative position deviation value between each traveling wheel that needs to be corrected and its corresponding track is less than the preset deviation threshold, thereby realizing the correction of the traveling wheel of the lifting machinery.

8. The system according to claim 7, wherein: The encoder module is also used for: The difference between the center point position data of each traveling wheel and the center point position data of its corresponding track is determined respectively, and the difference between the center point position data of each traveling wheel and the center point position data of its corresponding track is used as the relative position deviation value of each traveling wheel and its corresponding track.

9. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method according to any one of claims 1 to 6 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

Images