Crane multi-machine collaborative operation system and method based on digital hydraulic system

Abstract

The invention discloses a crane multi-machine collaborative operation system and method based on a digital hydraulic system, the crane multi-machine collaborative operation system comprises a multi-machine collaborative main console, a main control crane and a plurality of slave control cranes, the main control crane is in wireless communication connection with the multi-machine collaborative main console, and the slave control cranes are in wireless communication connection with the main control crane. According to the invention, the multi-machine cooperative main console is adopted to carry out remote centralized control, the main control crane generates target action parameters to control the local machine and the plurality of slave control cranes, multi-machine cooperative control is realized, the operation risk is further reduced, and during cooperative action, real-time action parameters are acquired to carry out safe operation judgment, so that the safety of the operation is improved. And a digital valve of a hydraulic driving mechanism of the crane is adopted for micro-motion operation, so that the risk of rollover of the crane is further reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of cranes, and in particular to a crane multi-machine collaborative operation system and method based on a digital hydraulic system. Background Art

[0002] Traditional multi-crane collaborative operations rely primarily on ground commanders and drivers coordinating via communication devices like walkie-talkies and mobile phones, resulting in low efficiency and high risks. Furthermore, the control method for multi-crane collaboration is quite limited, relying primarily on data communication between multiple machines and synchronizing the crane hooks to achieve multi-crane collaborative control. This multi-crane collaborative solution only supports multi-crane collaborative operations in the lifting direction, and does not provide specific solutions for the rotation and translation of the load being moved during actual construction. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a crane multi-machine collaborative operation system and method based on a digital hydraulic system, which adopts the digitization of the hydraulic components of the entire vehicle and adopts a multi-machine collaborative main control console for remote control to further reduce the operation risk.

[0004] The technical solution of the present invention is:

[0005] A crane multi-machine collaborative operation system based on a digital hydraulic system includes a multi-machine collaborative main control console, a master crane and multiple slave cranes. The master crane is wirelessly connected to the multi-machine collaborative main control console, and the multiple slave cranes are wirelessly connected to the master crane. The master crane and each slave crane include a digital hydraulic system controller, as well as digital valves, torque limiters and posture measurement sensors of the crane hydraulic drive mechanism respectively connected to the digital hydraulic system controller. The digital hydraulic system controllers of the slave cranes are wirelessly connected to the digital hydraulic system controller of the master crane.

[0006] The digital valves of the hydraulic driving mechanism of the crane include a hoisting digital valve of the hydraulic hoist, a telescopic digital valve of the hydraulic telescopic boom, a slewing digital valve of the hydraulic slewing mechanism and a luffing digital valve of the hydraulic luffing mechanism.

[0007] The posture measurement sensors include an amplitude displacement sensor, a winch displacement sensor, a winch speed sensor, a rotation angle sensor and a hook posture sensor. The amplitude displacement sensor is arranged on the hydraulic amplitude displacement mechanism and is used to collect the amplitude displacement. The winch displacement sensor and the winch speed sensor are both arranged on the hydraulic winch and are used to collect the displacement of the wire rope on the winch and the speed of the winch retraction and extension, respectively. The rotation angle sensor is arranged on the hydraulic rotation mechanism and is used to collect the rotation angle of the hydraulic rotation mechanism. The hook posture sensor is arranged on the crane hook and is used to collect the position of the hook, horizontal acceleration and vertical acceleration.

[0008] The digital hydraulic system controller of the master crane is connected to a multi-machine collaborative master control wireless module, and the digital hydraulic system controller of each slave crane is connected to a multi-machine collaborative slave control wireless module. The multi-machine collaborative master control wireless module of the master crane is wirelessly connected to the multi-machine collaborative main control console, and the multi-machine collaborative slave control wireless modules of the multiple slave cranes are all wirelessly connected to the multi-machine collaborative master control wireless module of the master crane.

[0009] The method for collaborative operation of multiple cranes specifically includes the following steps:

[0010] (1) The multi-machine collaborative main control console sends an action instruction to the master crane. The master crane and multiple slave cranes synchronously confirm the current status information. Then, the multiple slave cranes send the current status information to the master crane. The master crane calculates the target action parameters of itself and multiple slave cranes based on the collected current status information, and generates corresponding control instructions based on the target action parameters.

[0011] (2) The master crane sends control instructions to the corresponding slave cranes. The master crane and the multiple slave cranes act according to the corresponding control instructions. At the same time, the master crane and the multiple slave cranes calculate their real-time action parameters respectively and compare the calculated real-time action parameters with the collected data of the local torque limiter. When there is an abnormality, the master crane and the multiple slave cranes immediately stop the current action;

[0012] (3) When the real-time dynamic parameters are compared with the collected data of the local torque limiter and there is no abnormality, the master crane determines whether the hydraulic telescopic boom and hydraulic winch of the current local crane and multiple slave cranes are moving according to the real-time dynamic parameters of the local crane and multiple slave cranes. If the action does not meet the requirements, the master crane and multiple slave cranes will immediately stop the current action;

[0013] (4) When the hydraulic telescopic booms and hydraulic winches of the master crane and multiple slave cranes are all moving according to the target action parameters, the master crane determines whether the hooks of the master crane and multiple slave cranes are currently moving according to the real-time dynamic parameters of the master crane and multiple slave cranes. If the movements do not meet the requirements, the master crane and multiple slave cranes immediately stop the current movements.

[0014] (5) When the hooks of the master crane and the multiple slave cranes move according to the target action parameters, the master crane and the multiple slave cranes continue to move according to the target action parameters until they reach the target position and end the action.

[0015] The current status information includes the boom length, amplitude change angle and torque percentage collected by the torque limiter, and the amplitude change displacement, rotation angle, displacement of the hoisting wire rope and hook posture information collected by the posture measurement sensor.

[0016] The real-time action parameters are the real-time action parameters of the digital valve of the crane hydraulic drive mechanism.

[0017] Advantages of the present invention:

[0018] (1) The present invention adopts a multi-machine collaborative main control console for remote centralized control. The master crane generates target motion parameters to control the master crane and the corresponding multiple slave cranes. The multi-machine collaborative control further reduces the operation risk.

[0019] (2) The master crane of the present invention and the corresponding multiple slave cranes operate in coordination, and during the coordinated operation, real-time action parameters are collected to make a safe operation judgment, and the digital valve of the crane hydraulic drive mechanism is used for micro-operation to further reduce the risk of the crane rolling over. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a principle block diagram of the crane multi-machine collaborative operation system of the present invention.

[0021] Figure 2 It is a flow chart of the multi-machine collaborative operation method of the present invention.

[0022] Figure markings: 1- multi-machine collaborative main control console, 2- master crane, 3- slave crane, A1- digital hydraulic system controller, A2- torque limiter, A3- multi-machine collaborative master wireless module, A4- multi-machine collaborative slave wireless module, A5- winch digital valve, A6- telescopic digital valve, A7- rotary digital valve, A8- amplitude adjustment digital valve, A9- amplitude adjustment displacement sensor, A10- winch displacement sensor, A11- winch speed sensor, A12- rotation angle sensor, A13- hook attitude sensor. DETAILED DESCRIPTION

[0023] 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. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0024] See Figure 1 A crane multi-machine cooperative operation system based on a digital hydraulic system includes a multi-machine cooperative main control console 1, a master crane 2 and multiple slave cranes 3; the master crane 2 and each slave crane 3 include a digital hydraulic system controller A1, and digital valves, torque limiters A2 and posture measurement sensors of the crane hydraulic drive mechanism respectively connected to the digital hydraulic system controller A1; the digital hydraulic system controller A1 of the master crane is connected to a multi-machine cooperative main control wireless module A3; the digital hydraulic system controller A1 of the slave crane is connected to a multi-machine cooperative slave control wireless module A4; the multi-machine cooperative main control wireless module A3 of the master crane is wirelessly connected to the multi-machine cooperative main control console 1; the multi-machine cooperative slave control wireless modules A4 of the multiple slave cranes are wirelessly connected to the multi-machine cooperative main control wireless module A3 of the master crane;

[0025] Among them, the digital valves of the hydraulic drive mechanism of the crane include the hoisting digital valve A5 of the hydraulic winch, the telescopic digital valve A6 of the hydraulic telescopic boom, the slewing digital valve A7 of the hydraulic slewing mechanism, and the luffing digital valve A8 of the hydraulic luffing mechanism;

[0026] The posture measurement sensors include an amplitude displacement sensor A9, a winch displacement sensor A10, a winch speed sensor A11, a rotation angle sensor A12 and a hook posture sensor A13. The amplitude displacement sensor A9 is arranged on the hydraulic amplitude displacement mechanism and is used to collect the amplitude displacement. The winch displacement sensor A10 and the winch speed sensor A11 are both arranged on the hydraulic winch and are used to collect the displacement of the wire rope on the winch and the speed of the winch retraction and extension, respectively. The rotation angle sensor A12 is arranged on the hydraulic rotation mechanism and is used to collect the rotation angle of the hydraulic rotation mechanism. The hook posture sensor A13 is arranged on the crane hook and is used to collect the position, horizontal acceleration and vertical acceleration of the hook.

[0027] See Figure 2 A multi-machine collaborative operation method of a crane multi-machine collaborative operation system specifically includes the following steps:

[0028] (1) The multi-machine collaborative main control console 1 sends an action instruction to the master crane 2. The master crane 2 and multiple slave cranes 3 synchronously confirm the current state information (including the boom length, amplitude change angle and torque percentage collected by the torque limiter, and the amplitude change displacement, rotation angle, displacement of the hoisting wire rope and hook posture information collected by the posture measurement sensor). Then, the multiple slave cranes 3 send the current state information to the master crane 2. The master crane 2 calculates the target action parameters of itself and the multiple slave cranes 3 based on the collected current state information, and generates corresponding control instructions based on the target action parameters;

[0029] (2) The master crane 2 sends the control instructions to the corresponding slave cranes 3. The master crane 2 and the multiple slave cranes 3 act according to the corresponding control instructions. At the same time, the master crane 2 and the multiple slave cranes 3 respectively calculate their real-time action parameters (i.e., the real-time action parameters of each digital valve of the crane hydraulic drive mechanism), and compare the calculated real-time action parameters with the collected data of the local torque limiter. When there is an abnormality, the master crane 2 and the multiple slave cranes 3 immediately stop the current action;

[0030] (3) When the real-time dynamic parameters are compared with the collected data of the local torque limiter and there is no abnormality, the master crane 2 determines whether the hydraulic telescopic boom and hydraulic winch of the current local crane and the multiple slave cranes 3 are moving according to the real-time dynamic parameters of the local crane and the multiple slave cranes 3. If the action does not meet the requirements, the master crane 2 and the multiple slave cranes 3 immediately stop the current action;

[0031] (4) When the hydraulic telescopic booms and hydraulic winches of the master crane 2 and the multiple slave cranes 3 are all moving according to the target action parameters, the master crane 2 determines whether the hooks of the current master crane and the multiple slave cranes 3 are moving according to the real-time dynamic parameters of the master crane and the multiple slave cranes 3. If the movements do not meet the requirements, the master crane 2 and the multiple slave cranes 3 immediately stop the current movements;

[0032] (5) When the hooks of the master crane 2 and the multiple slave cranes 3 move according to the target action parameters, the master crane 2 and the multiple slave cranes 3 continue to move (translation, rotation) according to the target action parameters until they reach the target position and end the action.

[0033] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A crane multi-machine collaborative operation system based on a digital hydraulic system, characterized by: The system includes a multi-machine collaborative main control console, a master crane and multiple slave cranes. The master crane is wirelessly connected to the multi-machine collaborative main control console, and the multiple slave cranes are wirelessly connected to the master crane. The master crane and each slave crane include a digital hydraulic system controller, as well as digital valves, torque limiters and attitude measurement sensors of the crane hydraulic drive mechanism respectively connected to the digital hydraulic system controller. The digital hydraulic system controller of the slave crane is wirelessly connected to the digital hydraulic system controller of the master crane.

2. The multi-crane collaborative operation system based on a digital hydraulic system according to claim 1, characterized in that: The digital valves of the hydraulic driving mechanism of the crane include a hoisting digital valve of the hydraulic hoist, a telescopic digital valve of the hydraulic telescopic boom, a slewing digital valve of the hydraulic slewing mechanism and a luffing digital valve of the hydraulic luffing mechanism.

3. The multi-crane collaborative operation system based on a digital hydraulic system according to claim 1, characterized in that: The posture measurement sensors include an amplitude displacement sensor, a winch displacement sensor, a winch speed sensor, a rotation angle sensor and a hook posture sensor. The amplitude displacement sensor is arranged on the hydraulic amplitude displacement mechanism and is used to collect the amplitude displacement. The winch displacement sensor and the winch speed sensor are both arranged on the hydraulic winch and are used to collect the displacement of the wire rope on the winch and the speed of the winch retraction and extension, respectively. The rotation angle sensor is arranged on the hydraulic rotation mechanism and is used to collect the rotation angle of the hydraulic rotation mechanism. The hook posture sensor is arranged on the crane hook and is used to collect the position of the hook, horizontal acceleration and vertical acceleration.

4. The multi-crane collaborative operation system based on a digital hydraulic system according to claim 1, characterized in that: The digital hydraulic system controller of the master crane is connected to a multi-machine collaborative master control wireless module, and the digital hydraulic system controller of each slave crane is connected to a multi-machine collaborative slave control wireless module. The multi-machine collaborative master control wireless module of the master crane is wirelessly connected to the multi-machine collaborative main control console, and the multi-machine collaborative slave control wireless modules of the multiple slave cranes are all wirelessly connected to the multi-machine collaborative master control wireless module of the master crane.

5. The multi-machine collaborative operation method based on the crane multi-machine collaborative operation system according to claim 1 is characterized in that: The specific steps include: (1) The multi-machine collaborative main control console sends an action instruction to the master crane. The master crane and multiple slave cranes synchronously confirm the current status information. Then, the multiple slave cranes send the current status information to the master crane. The master crane calculates the target action parameters of itself and multiple slave cranes based on the collected current status information, and generates corresponding control instructions based on the target action parameters. (2) The master crane sends control instructions to the corresponding slave cranes. The master crane and the multiple slave cranes act according to the corresponding control instructions. At the same time, the master crane and the multiple slave cranes calculate their real-time action parameters respectively and compare the calculated real-time action parameters with the collected data of the local torque limiter. When there is an abnormality, the master crane and the multiple slave cranes immediately stop the current action; (3) When the real-time dynamic parameters are compared with the collected data of the local torque limiter and there is no abnormality, the master crane determines whether the hydraulic telescopic boom and hydraulic winch of the current local crane and multiple slave cranes are moving according to the real-time dynamic parameters of the local crane and multiple slave cranes. If the action does not meet the requirements, the master crane and multiple slave cranes will immediately stop the current action; (4) When the hydraulic telescopic booms and hydraulic winches of the master crane and multiple slave cranes are all moving according to the target action parameters, the master crane determines whether the hooks of the master crane and multiple slave cranes are currently moving according to the real-time dynamic parameters of the master crane and multiple slave cranes. If the movements do not meet the requirements, the master crane and multiple slave cranes immediately stop the current movements. (5) When the hooks of the master crane and the multiple slave cranes move according to the target action parameters, the master crane and the multiple slave cranes continue to move according to the target action parameters until they reach the target position and end the action.

6. The multi-machine collaborative operation method according to claim 1, characterized in that: The current status information includes the boom length, amplitude change angle and torque percentage collected by the torque limiter, and the amplitude change displacement, rotation angle, displacement of the hoisting wire rope and hook posture information collected by the posture measurement sensor.

7. The multi-machine collaborative operation method according to claim 1, characterized in that: The real-time action parameters are the real-time action parameters of the digital valve of the crane hydraulic drive mechanism.

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