Soil lifting basket intelligent control method and system, storage medium and electronic equipment

Abstract

The invention discloses an intelligent control method for a soil lifting basket. The intelligent control method comprises the steps that a main control chip obtains the lifting posture, the swinging speed and the swinging direction of a basket body in real time through a sensor on the soil lifting basket; the lifting posture, the swinging speed and the swinging direction of the basket body are input into a fuzzy neural network, if the basket body swings towards the opposite direction of the vertical direction of the basket body in the rising and swinging directions and the swinging speed is larger than a preset speed threshold value, Kp and Kd parameters of a PID controller are improved, the Ki parameter is reduced, and the basket body is accelerated to be lifted, otherwise, the Kp and Kd parameters of the PID controller are reduced, and the basket body is accelerated to be lifted. Keeping the Ki parameter unchanged, and decelerating to lift the basket body; if the basket body swings towards the vertical direction of the basket body in the descending and swinging direction and the swinging speed is greater than a preset speed threshold value, increasing the Kp and Kd parameters of the PID controller, reducing the Ki parameter, and accelerating the descending of the basket body; on the contrary, the Kp and Kd parameters of the PID controller are reduced, the Ki parameter is kept unchanged, and the basket body descends in a decelerated mode, so that the current outward swinging trend is effectively counteracted, and the swinging amplitude of the soil lifting basket is slowed down.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of foundation hole digging pile earth basket control, and particularly relates to an intelligent earth basket control method and system, a storage medium and an electronic device. BACKGROUND

[0002] The foundation hole digging pile of a line is a common pile foundation form in the construction of a tower foundation of a power transmission line or a communication tower, and for a construction site that cannot be reached by large hole digging machinery, a hole is mainly excavated by hand, a reinforcement cage is placed in the hole, and concrete is poured to form a pile foundation. The manual hole digging pile is mainly controlled by a motor shaft to control the rotation of a winch of an earth basket hoist to wind or unwind a rope to hoist or lower an object in the earth basket. The current control of the earth basket hoist mainly comprises a control button installed on the side of the motor. When it is needed to lower the object into the foundation hole digging pile, an operator lowers the object into the earth basket by the control button and observes the situation in the foundation hole digging pile, and the motor shaft drives the winch to lower the object into the foundation hole digging pile. When it is needed to hoist the object out of the foundation hole digging pile, the operator hoists the object out of the foundation hole digging pile by the control button and observes the situation in the foundation hole digging pile, and the motor shaft drives the winch to hoist the object out of the foundation hole digging pile. However, when the motor shaft drives the winch to hoist or lower the earth basket, the rope is prone to swing, and the earth basket swings along with the rope, especially when the operator operates the motor too fast, the object in the earth basket is prone to be thrown out of the earth basket due to a large swing of the earth basket, which poses a great safety hazard to the construction personnel in the foundation hole digging pile. SUMMARY

[0003] The present application aims to provide an intelligent earth basket control method and system, a storage medium and an electronic device capable of effectively adjusting the swing of the earth basket, so as to improve the stability of the hoisting and lowering of the earth basket and ensure the safety of the construction personnel.

[0004] The intelligent earth basket control method comprises the following steps: S1, a main control chip acquires the hoisting posture, swing speed and swing direction of the basket body in real time through a sensor on the earth basket; S2, the hoisting posture, swing speed and swing direction of the basket body are input to a fuzzy neural network to determine whether the hoisting posture of the basket body is hoisting or lowering, and whether the current swing direction of the basket body is swinging in the vertical direction of the basket body or in the opposite direction, and the current swing speed of the basket body is compared with a preset speed threshold; S3, if the basket is in the rising, swing direction to the basket perpendicular direction opposite direction swing and swing speed is greater than the preset speed threshold, then increase the PID controller Kp (proportion) and Kd (derivative) parameters, reduce the PID controller Ki (integral) parameters, control motor acceleration to promote the basket; swing direction to the basket perpendicular direction swing and swing speed is less than the preset speed threshold, reduce the PID controller Kp and Kd parameters, keep the PID controller Ki parameters unchanged, control motor deceleration to promote the basket; S4, if the basket is in the falling, swing direction to the basket perpendicular direction swing and swing speed is greater than the preset speed threshold, then increase the PID controller Kp and Kd parameters, reduce the PID controller Ki parameters, control motor acceleration to fall the basket; swing direction to the basket perpendicular direction opposite direction swing and swing speed is less than the preset speed threshold, reduce the PID controller Kp and Kd parameters, keep the PID controller Ki parameters unchanged, control motor deceleration to fall the basket.

[0005] The intelligent control method of the earth lifting basket, when the basket body is rising, if the swinging direction swings to the opposite direction of the vertical direction of the basket body and the swinging speed is greater than the preset speed threshold, the Kp and Kd parameters of the PID controller are increased, the Ki parameter is reduced, the motor is controlled to accelerate to lift the basket body, the tension of the hanging rope connected with the basket body is instantaneously increased, thereby forming a centripetal force component in the opposite direction, the centripetal force component in the opposite direction directly acts on the basket body, and the basket body swings back to the center position, thereby effectively offsetting the current outward swinging trend and reducing the swinging amplitude of the earth lifting basket; when the basket body is rising, if the swinging direction swings to the vertical direction of the basket body and the swinging speed is less than the preset speed threshold, the Kp and Kd parameters of the PID controller are reduced, the Ki parameter is kept unchanged, the motor is controlled to decelerate to lift the basket body, and the tension of the hanging rope connected with the basket body is released, thereby avoiding the formation of a new reverse swinging force, so that the basket body will not produce strong outward swing again due to excessive tension after passing through the center, and the swinging amplitude of the basket body is reduced; when the basket body is descending, if the swinging direction swings to the vertical direction of the basket body and the swinging speed is greater than the preset speed threshold, the Kp and Kd parameters of the PID controller are increased, the Ki parameter is reduced, the motor is controlled to accelerate to lower the basket body, and an acceleration lowering action of the motor is triggered immediately. The action makes the unwinding speed of the winding drum instantaneously greater than the actual descending speed of the basket body, causes the tension of the hanging rope to be significantly reduced, thereby causing the inward force component to be reduced, and directly weakening the inward force component that maintains the swinging of the basket body. By actively reducing the centripetal force supply in the outward swinging stage, the outward swinging energy of the basket body can be effectively consumed, the outward swinging amplitude is inhibited, excessive reverse swing is fundamentally avoided, and the safety and stability of the descending process are significantly improved; when the basket body is descending, if the swinging direction swings to the opposite direction of the vertical direction of the basket body and the swinging speed is less than the preset speed threshold, the Kp and Kd parameters of the PID controller are reduced, the Ki parameter is kept unchanged, the motor is controlled to decelerate to lower the basket body, the tension of the hanging rope connected with the basket body is increased, an inward swinging force (a force component of the tension of the hanging rope) is formed, the basket body is inhibited from swinging outward, the swinging amplitude of the basket body is reduced, the stability of the lifting of the earth lifting basket is improved, and the safety of the construction personnel is ensured. In addition, by flexibly adjusting the Kp, Kd and Ki parameters of the PID controller when the basket body is in different postures, the motor can be more accurately controlled to accelerate or decelerate, the swinging amplitude of the basket body can be more effectively reduced, and the stability of the lifting of the earth lifting basket is improved.

[0006] As a preferred scheme of the present application, the S1 step comprises: S1-1, the main control chip acquires the lifting posture of the basket body and the swinging direction through the posture sensor on the earth lifting basket in real time; S1-2, the main control chip acquires the swinging speed of the basket body through the acceleration sensor on the earth lifting basket in real time.

[0007] As a preferred scheme of the present application, the S2 step comprises: S2-1, the lifting posture of the basket, the speed and direction of the swing are input to the input layer of the fuzzy neural network and transmitted to the hidden layer; S2-2, the lifting posture of the basket, the speed and direction of the swing are input to the input layer of the fuzzy neural network and transmitted to the hidden layer;

[0008] As a preferred scheme of the present application, the PID controller in S3 and S4 steps further includes outputting a control signal after adjusting the Kp, Kd and Ki parameters, and mapping the control signal as a PWM (pulse width modulation) duty cycle signal to control the motor to accelerate or decelerate the basket to lift or lower the basket.

[0009] As a preferred scheme of the present application, the intelligent control system of the earth basket includes the intelligent control method of the earth basket as described above.

[0010] As a preferred scheme of the present application, a computer readable storage medium has a computer program stored thereon, and the computer program is executed by a host chip to perform the intelligent control method of the earth basket as described above.

[0011] As a preferred scheme of the present application, an electronic device includes a host chip, a memory, and a program, wherein the program is stored in the memory and is configured to be executed by the host chip, and the program includes instructions for performing the intelligent control method of the earth basket as described above. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 The flowchart of the intelligent control method of the earth basket of the present application is shown in the figure; Figure 2 The schematic diagram of the basket accelerating upward is shown in the figure; Figure 3 The schematic diagram of the force analysis of the basket accelerating upward is shown in the figure; Figure 4 The schematic diagram of the basket decelerating upward is shown in the figure; Figure 5 The schematic diagram of the force analysis of the basket decelerating upward is shown in the figure; Figure 6 The schematic diagram of the basket accelerating downward is shown in the figure; Figure 7 The schematic diagram of the force analysis of the basket accelerating downward is shown in the figure; Figure 8 The schematic diagram of the basket decelerating downward is shown in the figure; Figure 9 The schematic diagram of the force analysis of the basket decelerating downward is shown in the figure. DETAILED DESCRIPTION

[0013] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0014] A kind of earth basket intelligent control method, as shown in Figure 1 The method comprises the following steps: S1, the main control chip obtains the lifting posture of the basket, the speed and direction of swinging through the sensor on the earth basket in real time.

[0015] The main control chip obtains the lifting posture of the basket and the direction of swinging through the posture sensor on the earth basket in real time, and obtains the speed of swinging of the basket through the acceleration sensor on the earth basket. The lifting posture of the basket and the direction of swinging are transmitted to the fuzzy neural network in real time by the posture sensor, and the speed of swinging of the basket is transmitted to the fuzzy neural network in real time, so as to ensure the real-time data transmission, effectively adjust the basket in the first time, and improve the stability of the earth basket.

[0016] S2, the lifting posture of the basket, the speed and direction of swinging are input to the fuzzy neural network, to determine whether the lifting posture of the basket is rising or falling, and whether the current swinging direction of the basket is swinging to the vertical direction of the basket or swinging to the opposite direction, and to compare the current swinging speed of the basket with the preset speed threshold.

[0017] The lifting posture of the basket, the speed and direction of swinging are input to the input layer of the fuzzy neural network and transmitted to the hidden layer; the lifting posture of the basket, the speed and direction of swinging are non-linearly mapped to the output layer by the activation function in the hidden layer to determine whether the lifting posture of the basket is rising or falling, and whether the current swinging direction of the basket is swinging to the vertical direction of the basket or swinging to the opposite direction, and to compare the current swinging speed of the basket with the preset speed threshold.

[0018] S3, if the basket is rising, the swinging direction is swinging to the opposite direction of the vertical direction of the basket, and the swinging speed is greater than the preset speed threshold, then the Kp and Kd parameters of the PID controller are increased, the Ki parameter of the PID controller is reduced, the control amount signal is output, and the control amount signal is mapped as the PWM duty cycle signal to control the motor to accelerate and lift the basket; when the swinging direction is swinging to the vertical direction of the basket and the swinging speed is less than the preset speed threshold, the Kp and Kd parameters of the PID controller are reduced, the Ki parameter of the PID controller is kept unchanged, the control amount signal is output, and the control amount signal is mapped as the PWM duty cycle signal to control the motor to decelerate and lift the basket.

[0019] S4, if the basket is in the falling, the swing direction to the basket perpendicular direction swing and the swing speed is greater than the preset speed threshold, then increase the Kp and Kd parameters of the PID controller, reduce the Ki parameter of the PID controller, output the control amount signal, and map the control amount signal to the PWM duty cycle signal to control the motor to accelerate the basket; when the swing direction swings to the opposite direction of the basket perpendicular direction and the swing speed is less than the preset speed threshold, reduce the Kp and Kd parameters of the PID controller, keep the Ki parameter of the PID controller unchanged, output the control amount signal, and map the control amount signal to the PWM duty cycle signal to control the motor to decelerate the basket.

[0020] By flexibly adjusting the Kp, Kd and Ki parameters of the PID controller when the basket is in different attitudes, when the basket is rising, as shown in Figures 2-3 the swing direction swings to the opposite direction of the basket perpendicular direction and the swing speed is greater than the preset speed threshold, then increase the Kp and Kd parameters of the PID controller, reduce the Ki parameter, control the motor to accelerate the basket, so that the tension of the hanging rope connected to the basket instantaneously increases, thereby forming a centripetal force component in the opposite direction, which directly acts on the basket to swing it back towards the center, thereby effectively offsetting the current outward swing trend and reducing the swing amplitude of the earth lifting basket; when the basket is rising, as shown in Figures 4-5 the swing direction swings to the basket perpendicular direction and the swing speed is less than the preset speed threshold, reduce the Kp and Kd parameters of the PID controller, keep the Ki parameter unchanged, control the motor to decelerate the basket, so that the tension of the hanging rope connected to the basket is released, thereby avoiding the formation of a new reverse swing force, so that the basket will not produce strong outward swing again after passing through the center due to excessive tension, thereby achieving the purpose of reducing the swing amplitude of the basket; when the basket is falling, as shown in Figures 6-7 the swing direction swings to the basket perpendicular direction and the swing speed is greater than the preset speed threshold, then increase the Kp and Kd parameters of the PID controller, reduce the Ki parameter, trigger the motor to perform an acceleration descending action, which makes the reel lowering speed instantaneously greater than the actual descending speed of the basket, resulting in a significant reduction in the tension of the hanging rope, thereby reducing the inward force, directly weakening the inward force that maintains the swing of the basket, and by actively reducing the centripetal force supply during the outward swing stage, the outward swing energy of the basket can be effectively consumed, the outward swing amplitude is inhibited, and excessive reverse swing is fundamentally avoided, thereby significantly improving the safety and stability of the descending process; when the basket is falling, as shown in Figures 8-9When the basket body swings in the opposite direction of the vertical direction of the basket body and the swinging speed is less than the preset speed threshold, the Kp and Kd parameters of the PID controller are reduced, the Ki parameter is kept unchanged, the motor is controlled to slow down and the basket body is lowered, the hanging rope connected to the basket body increases the tension, an inward swinging force (a component of the tension of the hanging rope) is formed, the outward swinging of the basket body is inhibited, the swinging amplitude of the basket body is slowed down, and the motor is more accurately controlled to accelerate or decelerate, thereby improving the stability of the lifting of the earth lifting basket.

[0021] An intelligent control system of an earth lifting basket, comprising the intelligent control method of the earth lifting basket as described above.

[0022] A computer readable storage medium having a computer program stored thereon, the computer program being executed by a master chip to perform the intelligent control method of the earth lifting basket as described above.

[0023] An electronic device, comprising: a master chip, a memory, and a program, wherein the program is stored in the memory and is configured to be executed by the master chip, and the program comprises instructions for performing the intelligent control method of the earth lifting basket as described above.

[0024] The above embodiments are only used to illustrate the detailed solutions of the present application, and the present application is not limited to the above detailed solutions, i.e. it does not mean that the present application must rely on the above detailed solutions to be implemented. It should be understood by those skilled in the art that any improvement on the present application, equivalent replacement of each raw material of the product of the present application, addition of auxiliary ingredients, selection of specific modes, etc. are all within the protection scope and disclosure scope of the present application.

Claims

1. A method for intelligent control of a soil-lifting basket, comprising the following steps: S1. The main control chip obtains the lifting and lowering posture, swing speed and direction of the basket in real time through the sensors on the basket. S2. Input the lifting and lowering posture of the basket, the swing speed and direction into the fuzzy neural network to determine whether the lifting and lowering posture of the basket is rising or falling, and whether the current swing direction of the basket is swinging in the vertical direction or in the opposite direction, and compare the current swing speed of the basket with the preset speed threshold. S3. If the basket is rising, swings in the opposite direction to the vertical direction of the basket, and the swing speed is greater than the preset speed threshold, then increase the Kp and Kd parameters of the PID controller and decrease the Ki parameter of the PID controller to control the motor to accelerate and lift the basket; when the swing direction is perpendicular to the basket and the swing speed is less than the preset speed threshold, decrease the Kp and Kd parameters of the PID controller, keep the Ki parameter of the PID controller unchanged, and control the motor to decelerate and lift the basket. S4. If the basket is descending, swings in the direction perpendicular to the basket and the swing speed is greater than the preset speed threshold, then increase the Kp and Kd parameters of the PID controller and decrease the Ki parameter of the PID controller to control the motor to accelerate the descent of the basket; when the swing direction is in the opposite direction perpendicular to the basket and the swing speed is less than the preset speed threshold, decrease the Kp and Kd parameters of the PID controller, keep the Ki parameter of the PID controller unchanged, and control the motor to decelerate the descent of the basket.

2. The intelligent control method for lifting soil baskets according to claim 1, characterized in that, Step S1 includes: S1-1, The main control chip obtains the lifting and lowering attitude and swing direction of the basket in real time through the attitude sensor on the basket. S1-2 The main control chip obtains the swing speed of the basket in real time through the accelerometer on the basket.

3. The intelligent control method for lifting soil baskets according to claim 1, characterized in that, Step S2 includes: S2-1. Input the lifting and lowering posture, swing speed and direction of the basket into the input layer of the fuzzy neural network and transmit it to the hidden layer. S2-2. In the hidden layer, the rising and falling posture of the basket is nonlinearly mapped by the activation function. The speed and direction signals of the swing are sent to the output layer to determine whether the rising or falling posture of the basket is rising or falling, and whether the current swing direction of the basket is swinging in the vertical direction or in the opposite direction. The current swing speed of the basket is compared with the preset speed threshold.

4. The intelligent control method for lifting soil baskets according to claim 1, characterized in that, In steps S3 and S4, after the PID controller adjusts the parameters Kp, Kd, ​​and Ki, it also outputs a control signal and maps the control signal to a PWM duty cycle signal to control the motor to accelerate or decelerate the basket, or accelerate or decelerate the basket to descend.

5. An intelligent control system for lifting soil baskets, characterized in that: The intelligent control system for lifting soil baskets includes the intelligent control method for lifting soil baskets as described in any one of claims 1-4.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: The computer program is executed by the main control chip using the intelligent control method for lifting soil baskets as described in any one of claims 1-4.

7. An electronic device, characterized in that... include: The system includes a main control chip, a memory, and a program, wherein the program is stored in the memory and configured to be executed by the main control chip, the program including methods for performing the intelligent control method for lifting a soil basket as described in any one of claims 1-4.

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