Glass sucker vehicle hoisting mechanism limiting method and system based on weight recognition

Abstract

The invention relates to the technical field of safety control of special equipment, in particular to a glass sucker vehicle hoisting mechanism limiting method and system based on weight recognition. The method comprises the following steps: monitoring the adsorption state of the vacuum chuck lifting appliance, the space attitude of the lifted glass and the real-time amplitude of the lifting mechanism in real time; the weight value of the hung glass is obtained, and a mechanism unlocking instruction is generated; unlocking the hoisting mechanism based on the mechanism unlocking instruction; correspondingly generating a safe operation mode based on the weight value; calling a corresponding amplitude-action restriction rule set according to the safe operation mode; the installation action is executed under the limitation of the amplitude-action limitation rule set, and action information of the hoisting mechanism is obtained in real time; if the action information touches the boundary of the amplitude-action limiting rule set, a mechanism locking instruction is generated, and the hoisting mechanism is locked; and if not, returning and continuously judging and monitoring. According to the method, reliable guarantee can be provided for operation safety of the glass suction cup vehicle, and the construction efficiency of curtain wall glass installation operation is remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of special equipment safety control technology, specifically to a method and system for limiting the lifting mechanism of a glass suction cup trolley based on weight recognition. Background Technology

[0002] With the rapid development of modern building technology, the design of building glass curtain walls is increasingly trending towards large-scale, integrated, and irregular shapes, posing unprecedented challenges to the installation of curtain wall glass. The hoisting of large glass panes (each weighing hundreds of kilograms to several tons) has become a crucial step in high-rise building construction, with its safety, efficiency, and precision directly affecting the quality and schedule of the entire project. Currently, the industry commonly uses glass suction cup trucks equipped with vacuum suction cups to complete such operations.

[0003] To meet the operational space requirements for curtain wall glass installation, the lifting mechanism of existing glass suction cup trolleys can often be adjusted in multiple positions for extension length and swing angle. Since the weight of the curtain wall glass directly determines the safe load of the glass suction cup trolley at different amplitudes (working radii), it is often necessary to conduct a prior assessment of the impact of the curtain wall glass on the lifting mechanism of the glass suction cup trolley for operational safety.

[0004] In existing technologies, safety assessments often rely on manual verification of safety checklists. This means that operators need to manually consult a static safety load-range checklist based on the glass specifications or the theoretical weight on the delivery note to determine whether the current glass suction cup truck configuration can safely perform lifting operations. Based on this, they can manually set or select the appropriate working mode (such as 0.8t mode, 1.2t mode, etc.).

[0005] However, due to the subjective errors in human judgment, and the fact that the actual weight of the glass may deviate from the theoretical value due to factors such as thickness tolerance, coating, and interlayer, the initial mode selection may be based on an incorrect foundation. In addition, the static safety checklist cannot cope with the dynamic changes in working conditions that occur during hoisting. For example, when the glass is sucked in at a non-standard amplitude or posture, the system lacks real-time weight recognition and adaptive limit capabilities.

[0006] In summary, existing safety assessment methods have inherent flaws such as subjective misjudgment, delayed response, and blind spots in control, which can easily lead to overloading or misoperation, limit the efficiency of curtain wall glass installation, and fail to meet the requirements of high-quality building construction. Summary of the Invention

[0007] The purpose of this invention is to provide a weight-based method and system for limiting the lifting mechanism of a glass suction cup trolley. This method can provide reliable protection for the operational safety of the glass suction cup trolley, improve the efficiency of curtain wall glass installation, and meet the requirements of high-quality building construction.

[0008] To achieve the above objectives, the technical solution provided by this invention is as follows.

[0009] In a first aspect, the present invention provides a method for limiting the lifting mechanism of a glass suction cup trolley based on weight recognition, the method comprising: The vacuum suction cup lifter grabs the glass to be lifted and enters the weight recognition mode to obtain the weight value of the glass to be lifted; Real-time monitoring of the adsorption status of the vacuum suction cup lifting device, the spatial posture of the suspended glass, and the real-time amplitude of the lifting mechanism; The safe operating mode of the glass suction cup vehicle is determined based on the adsorption state, spatial posture, and weight of the suspended glass; and the amplitude-motion restriction rule set corresponding to the safe operating mode is invoked. The installation actions of the lifting mechanism are restricted based on the amplitude-motion restriction rule set, and the motion information of the lifting mechanism is acquired in real time. If the motion information touches the boundary of the amplitude-motion restriction rule set, a mechanism locking command is generated and the lifting mechanism is locked. If it does not touch the boundary, the process returns and monitoring continues.

[0010] As a preferred embodiment of the present invention, a pre-confirmation step is further included before entering the weight recognition mode, specifically: The adsorption state of the vacuum suction cup is determined. If the adsorption state is complete, the spatial orientation of the suspended glass is determined. If it is vertical, the weight recognition mode is entered. If it is not vertical, the weight recognition mode is prohibited, and the process returns to the step of re-determining the spatial orientation of the suspended glass. If the adsorption state of the vacuum suction cup is incomplete, the weight recognition mode is prohibited, and the process returns to the step of determining the adsorption state of the vacuum suction cup.

[0011] As a preferred embodiment of the present invention, the steps for determining the safe operating mode of the glass suction cup vehicle are as follows: Set up multiple weight ranges, and associate each weight range with a safe operating mode; The weight value is mapped to one of the weight ranges, and a corresponding safe operating mode is determined; each safe operating mode defines the maximum safe amplitude and / or motion constraints of the lifting mechanism under that weight range.

[0012] As a preferred embodiment of the present invention, the locking logic of the mechanism locking command is specifically as follows: restricting the crane mechanism from moving beyond the range limited by the amplitude-motion restriction rule set; allowing the crane mechanism to move within the range limited by the amplitude-motion restriction rule set.

[0013] As a preferred embodiment of the present invention, the amplitude-motion restriction rule set includes one or more of the main arm amplitude variation motion rules, the main arm extension and retraction motion rules, and the elbow swing motion rules.

[0014] As a preferred embodiment of the present invention, the weight-based glass suction cup crane mechanism limiting method further includes a warning step, specifically: The specific type of crane motion information on which the output mechanism locking command is based is displayed on the human-machine interface, and the audible and visual alarm unit is activated to sound an alarm; the specific type of crane motion information includes, but is not limited to, one or more of "main boom luffing limit", "main boom extension limit", or "elbow deviation limit".

[0015] As a preferred embodiment of the present invention, the safe operating modes include, but are not limited to, 0.8t mode, 1.2t mode, 1.5t mode and overload mode.

[0016] Secondly, the present invention also provides a weight-based glass suction cup crane mechanism limiting system, the system comprising: The vacuum suction cup lifting module is used to grab the glass to be lifted and to identify its weight to obtain the weight value of the glass. The monitoring module is used to monitor the adsorption status of the vacuum suction cup lifting device, the spatial posture of the suspended glass, and the real-time amplitude of the lifting mechanism in real time. The safe operation mode determination module is used to determine the safe operation mode of the glass suction cup vehicle based on the adsorption state of the vacuum suction cup lifting device, the spatial posture and weight value of the glass being lifted, and to call the amplitude-motion restriction rule set corresponding to the safe operation mode. The control module is used to restrict the movement of the lifting mechanism based on the amplitude-motion restriction rule set and to acquire the movement information of the lifting mechanism in real time; if the movement information touches the boundary of the amplitude-motion restriction rule set, a mechanism locking command is generated and the lifting mechanism is locked; if it does not touch the boundary, the process returns and continues to monitor.

[0017] Thirdly, the present invention also provides a computer device, including a processor and a memory, wherein the memory stores computer program instructions, which are executed by the processor to implement the steps of the above-described weight-based glass suction cup crane mechanism limiting method.

[0018] Fourthly, the present invention also provides a computer-readable storage medium storing computer program instructions, which are executed by a processor to implement the steps of the above-described weight-based glass suction cup crane mechanism limiting method.

[0019] In summary, the beneficial effects of the present invention are as follows: 1. In the method provided by the present invention, by configuring a refined "amplitude-action restriction rule set" for different weight ranges (such as 0.8t, 1.2t, 1.5t modes), the system can dynamically allow or lock specific dangerous actions (such as main boom extension and amplitude change) based on the real-time detected state, which solves the inherent defect that static reference tables cannot cope with dynamic working conditions, and improves safety protection from "static point-like" to "dynamic continuous", eliminating blind spots in control.

[0020] 2. In the method provided by the present invention, when the operation touches the safety boundary, the system not only automatically locks the mechanism, but also clearly prompts the current status information through the human-machine interface to guide the operator to perform the correct operation; this combination of "hard restriction" and "soft prompt" greatly reduces the probability of accidents caused by operator negligence or misjudgment. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart of the method of the present invention; Figure 2 This is a system structure block diagram of the present invention. Detailed Implementation

[0023] The subject matter described herein will now be discussed with reference to exemplary embodiments. It should be understood that these embodiments are discussed merely to enable those skilled in the art to better understand and implement the subject matter described herein, and are not intended to limit the scope, applicability, or examples set forth in the claims. The function and arrangement of the elements discussed may be changed without departing from the scope of this specification. Various processes or components may be omitted, substituted, or added as needed in the various examples. For example, the described methods may be performed in a different order than described, and steps may be added, omitted, or combined. Furthermore, features described in some examples may be combined in other examples.

[0024] As used herein, the term "comprising" and its variations are open terms meaning "including but not limited to". The term "based on" means "at least partially based on". The terms "one embodiment" and "an embodiment" mean "at least one embodiment". The term "another embodiment" means "at least one other embodiment". The terms "first", "second", etc., may refer to different or the same objects. Other definitions, whether explicit or implicit, may be included below. Unless explicitly indicated by the context, the definition of a term shall remain consistent throughout the specification. Example 1

[0025] This embodiment provides a weight-based method for limiting the lifting mechanism of a glass suction cup trolley. Taking a glass suction cup trolley with a maximum allowable lifting capacity of 1.5t as an example, this embodiment details the execution process of the method of the present invention. Figure 1 The flowchart of the method of the present invention is shown below, and each step is explained in conjunction with the specific control logic.

[0026] First, mode initialization and status preparation are performed. After the glass suction cup trolley is powered on, the mode selection button on the HMI is initialized and set to "Weighing Mode Enabled" by default. To switch to a manual selection mode (such as "0.8t mode," "1.2t mode," or "1.5t mode"), the following safety prerequisites must be met: the main boom of the lifting mechanism must be in its lower limit position and fully retracted. This design prevents mode switching during unstable equipment operation, ensuring a safe starting point.

[0027] Real-time status monitoring is performed. Step 01: The vacuum suction cup lifter grabs the glass to be lifted and enters the weight recognition mode to obtain the weight value of the glass to be lifted.

[0028] The weight sensor on the vacuum suction cup lifting device can detect and obtain the weight of the glass that has been suctioned and lifted in real time. Upon obtaining the weight value, it will automatically enter the weight recognition mode.

[0029] Step 02: Real-time monitoring of the adsorption status of the vacuum suction cup lifting device, the spatial posture of the suspended glass, and the real-time amplitude of the lifting mechanism.

[0030] The vacuum pressure sensor on the vacuum suction cup lifting device can monitor the adsorption status of the glass (whether it has been successfully adsorbed or not); the tilt sensor on the lifting device can monitor the spatial attitude of the glass being lifted (in this embodiment, the vertical state is defined as having an angle of less than ±5° with the vertical plane); and the real-time amplitude of the lifting device can be calculated in real time by the angle sensor and length encoder installed on the lifting mechanism.

[0031] It should be noted that in this embodiment, a pre-confirmation step needs to be performed before entering the weight recognition mode, specifically: The adsorption state of the vacuum suction cup is determined. If the adsorption state is complete, the spatial orientation of the suspended glass is determined. If it is vertical, the weight recognition mode is entered. If it is not vertical, the weight recognition mode is prohibited, and the process returns to the step of re-determining the spatial orientation of the suspended glass. If the adsorption state of the vacuum suction cup is incomplete, the weight recognition mode is prohibited, and the process returns to the step of determining the adsorption state of the vacuum suction cup.

[0032] Specifically, when it is detected that the suction cup has adsorbed the glass (vacuum level meets the standard), the glass is in a vertical position, and the current amplitude is within the safe range of 1.5 tons, the weighing process is automatically triggered.

[0033] Upon entering weighing mode, the buzzer sounds for 5 seconds and displays "Weighing in progress, please do not operate the machine." Simultaneously, all mechanical movements are locked to ensure the equipment remains stationary during weighing, improving weight measurement accuracy. After weighing is complete, proceed to step 03.

[0034] Step 03: Determine the safe operating mode of the glass suction cup vehicle based on the adsorption state, spatial posture, and weight of the suspended glass; and call the amplitude-motion restriction rule set corresponding to the safe operating mode. Specifically, multiple weight ranges are set, and each weight range is associated with a safe operating mode; The weight value is mapped to a weight range, and a corresponding safe operating mode is determined; each safe operating mode defines the maximum safe radius and / or motion constraints of the crane within that weight range.

[0035] In this embodiment, the safe operating modes include, but are not limited to, 0.8t mode, 1.2t mode, and 1.5t mode. For example, the weight range K1 is: 0 ≤ weight of the suspended glass ≤ 0.8t * 105%, corresponding to the 0.8t mode; the weight range K2 is: 0.8t * 105% ≤ weight of the suspended glass ≤ 1.2t * 105%, corresponding to the 1.2t mode; the weight range K3 is: 1.2t * 105% ≤ weight of the suspended glass ≤ 1.5t * 105%, corresponding to the 1.5t mode; where 5% is a preset range adjustment threshold.

[0036] In addition, in this embodiment, the safe operation mode also includes an overload mode. If the weight of the glass being lifted exceeds the maximum working load of the glass suction cup truck (1.5t), the overload safety mode will be triggered. At this time, the display screen will display an "overload alarm" and quickly restrict the extension of the main boom (in some cases, the main boom can be forced to retract, lower, and the turntable can be forced to rotate).

[0037] Step 04: Restrict the installation action of the lifting mechanism based on the amplitude-action restriction rule set, and obtain the action information of the lifting mechanism in real time; if the action information touches the boundary of the amplitude-action restriction rule set, generate a mechanism locking command and lock the lifting mechanism; if it does not touch, return and continue to judge and monitor.

[0038] Specifically, each safe operating mode is associated with a set of amplitude-motion restriction rules preset in the controller. The amplitude-motion restriction rule set includes one or more of the following: boom amplitude variation rules, boom extension and retraction rules, and elbow swing rules.

[0039] Furthermore, for example, in the 1.2t mode, which uses the amplitude-motion restriction rule set A1, no restriction is applied when the elbow swing is ≤60°; when the elbow swing is >60°, it is considered that the above-mentioned motion information has touched the boundary of the elbow swing motion rule in the amplitude-motion restriction rule set A1. At this time, a mechanism locking command is generated and the crane mechanism is locked. It should be noted that, in this embodiment, the locking logic of the mechanism locking command is specifically as follows: restricting the crane mechanism from moving beyond the range restricted by the amplitude-motion restriction rule set; allowing the crane mechanism to move within the range restricted by the amplitude-motion restriction rule set; therefore, safety actions such as boom retraction and turntable rotation, as well as elbow swing within 60°, are not prohibited and can continue to be executed, providing the possibility for the boom to retract to a safe position. However, elbow swing in a direction exceeding 60° will be prohibited. At the same time, the display screen will clearly prompt the status information "Elbow deviates from the center position, please retract the boom completely..." to guide the operator to operate correctly.

[0040] Similarly, different amplitude-motion restriction rule sets can restrict the movements of different lifting mechanisms, and technicians can modify the amplitude-motion restriction rule sets to adapt to different products and application scenarios.

[0041] As can be seen from the above, the control method based on the present invention solves the inherent defect that static reference tables cannot cope with dynamic working conditions, upgrades safety protection from "static point-like" to "dynamic continuous", and eliminates blind spots in control.

[0042] In addition, this embodiment also includes a warning step, which, in conjunction with the human-machine interface and the audible and visual alarm unit, can effectively remind the operator. Specifically, the specific type of crane movement information on which the output mechanism locking command is based is displayed on the human-machine interface, and the audible and visual alarm unit is activated to sound an alarm; the specific type of crane movement information includes, but is not limited to, one or more of "main boom luffing limit exceeded", "main boom extension limit exceeded", or "elbow deviation limit exceeded". Example 2

[0043] This embodiment provides a weight-based glass suction cup trolley lifting mechanism limiting system. This embodiment corresponds to the method in Embodiment 1 above and is used to describe the specific configuration of the system. Specifically, as follows... Figure 2 As shown, the system includes: The vacuum suction cup lifting module is used to grab the glass to be lifted and to identify its weight to obtain the weight value of the glass. The monitoring module is used to monitor the adsorption status of the vacuum suction cup lifting device, the spatial posture of the suspended glass, and the real-time amplitude of the lifting mechanism in real time. The safe operation mode determination module is used to determine the safe operation mode of the glass suction cup vehicle based on the adsorption state of the vacuum suction cup lifting device, the spatial posture and weight value of the glass being lifted, and to call the amplitude-motion restriction rule set corresponding to the safe operation mode. The control module is used to restrict the movement of the lifting mechanism based on the amplitude-motion restriction rule set and to acquire the movement information of the lifting mechanism in real time; if the movement information touches the boundary of the amplitude-motion restriction rule set, a mechanism locking command is generated and the lifting mechanism is locked; if it does not touch the boundary, the process returns and continues to monitor.

[0044] The weight recognition capability of the vacuum suction cup lifting module can be achieved based on the weight detection sensor in the existing technology; the core controller connected to it is used to receive all sensor signals and strictly execute the judgment logic in Embodiment 1, such as weighing trigger conditions, pattern matching and overload judgment.

[0045] The safe operation mode determination module has multiple complete amplitude-motion restriction rule sets embedded in it, and these rule sets can be upgraded via OTA.

[0046] The control module is used to control the hoisting mechanism to perform installation actions under the constraints of the amplitude-motion limit rule set, and to acquire the hoisting mechanism's motion information in real time. If the motion information touches the boundary of the amplitude-motion limit rule set, a mechanism locking command is generated and the hoisting mechanism is locked. If it does not touch the boundary, the process returns and continues to monitor and judge.

[0047] The warning module consists of an in-vehicle visual display, a buzzer, a strobe light, and other components, and is responsible for presenting clear text prompts and issuing audible and visual alarms. Example 3

[0048] This embodiment provides a computer device, including a processor and a memory. The memory stores computer program instructions, which are executed by the processor to implement the steps of a weight-based glass suction cup crane mechanism limiting method in Embodiment 1.

[0049] This embodiment emphasizes that all the above control logic is stored in the memory of the vehicle industrial controller in the form of computer program instructions, and executed by the processor to realize the method of the present invention. Example 4

[0050] This embodiment provides a computer-readable storage medium storing computer program instructions that are executed by a processor to implement the steps of a weight-based glass suction cup crane mechanism limiting method in Embodiment 1. These program instructions are stored in a computer-readable storage medium (such as a Flash chip).

[0051] In summary, the method provided by this invention solves the inherent defect of static reference tables in the prior art that cannot cope with dynamic working conditions, and improves safety protection from "static point-like" to "dynamic continuous", eliminating blind spots in control.

[0052] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

Claims

1. A method for limiting the movement of a glass suction cup crane mechanism based on weight recognition, characterized in that the method... include: The vacuum suction cup lifter grabs the glass to be lifted and enters the weight recognition mode to obtain the weight value of the glass to be lifted; Real-time monitoring of the adsorption status of the vacuum suction cup lifting device, the spatial attitude of the suspended glass, and the real-time amplitude of the lifting mechanism; The safe operating mode of the glass suction cup vehicle is determined based on the adsorption state, spatial posture, and weight of the suspended glass; and the amplitude-motion restriction rule set corresponding to the safe operating mode is invoked. The installation actions of the lifting mechanism are restricted based on the amplitude-motion restriction rule set, and the motion information of the lifting mechanism is acquired in real time. If the motion information touches the boundary of the amplitude-motion restriction rule set, a mechanism locking command is generated and the lifting mechanism is locked. If it does not touch the boundary, the process returns and monitoring continues.

2. The method for limiting the lifting mechanism of a glass suction cup trolley based on weight recognition according to claim 1, characterized in that, Before entering weight recognition mode, a pre-confirmation step is also included, specifically: The adsorption state of the vacuum suction cup is determined. If the adsorption state is complete, the spatial orientation of the suspended glass is determined. If it is vertical, the weight recognition mode is entered. If it is not vertical, the weight recognition mode is prohibited, and the process returns to the step of re-determining the spatial orientation of the suspended glass. If the adsorption state of the vacuum suction cup is incomplete, the weight recognition mode is prohibited, and the process returns to the step of determining the adsorption state of the vacuum suction cup.

3. The method for limiting the lifting mechanism of a glass suction cup trolley based on weight recognition according to claim 1, characterized in that, The specific steps for determining the safe operating mode of the glass suction cup vehicle are as follows: Set up multiple weight ranges, and associate each weight range with a safe operating mode; The weight value is mapped to one of the weight ranges, and a corresponding safe operating mode is determined; each safe operating mode defines the maximum safe amplitude and / or motion constraints of the lifting mechanism under that weight range.

4. The method for limiting the lifting mechanism of a glass suction cup trolley based on weight recognition according to claim 1, characterized in that, The locking logic of the mechanism locking command is as follows: restricting the crane mechanism from moving beyond the range limited by the amplitude-motion restriction rule set; allowing the crane mechanism to move within the range limited by the amplitude-motion restriction rule set.

5. The method for limiting the lifting mechanism of a glass suction cup trolley based on weight recognition according to claim 1, characterized in that, The amplitude-motion restriction rule set includes one or more of the main arm amplitude movement rules, main arm extension and retraction movement rules, and elbow swing movement rules.

6. The method for limiting the lifting mechanism of a glass suction cup trolley based on weight recognition according to claim 1, characterized in that, This weight-based glass suction cup crane mechanism limiting method also includes a warning step, specifically: The specific type of crane motion information on which the output mechanism locking command is based is displayed on the human-machine interface, and the audible and visual alarm unit is activated to sound an alarm; the specific type of crane motion information includes, but is not limited to, one or more of "main boom luffing limit exceeded", "main boom extension limit exceeded", or "elbow deviation limit exceeded".

7. The method for limiting the lifting mechanism of a glass suction cup trolley based on weight recognition according to claim 3, characterized in that, The safe operating modes include, but are not limited to, 0.8t mode, 1.2t mode, 1.5t mode and overload mode.

8. A weight-based glass suction cup crane mechanism limiting system, characterized in that, The system includes: The vacuum suction cup lifting module is used to grab the glass to be lifted and to identify its weight to obtain the weight value of the glass. The monitoring module is used to monitor the adsorption status of the vacuum suction cup lifting device, the spatial posture of the suspended glass, and the real-time amplitude of the lifting mechanism in real time. The safe operation mode determination module is used to determine the safe operation mode of the glass suction cup vehicle based on the adsorption state of the vacuum suction cup lifting device, the spatial posture and weight value of the glass being lifted, and to call the amplitude-motion restriction rule set corresponding to the safe operation mode. The control module is used to restrict the movement of the lifting mechanism based on the amplitude-motion restriction rule set and to acquire the movement information of the lifting mechanism in real time; if the movement information touches the boundary of the amplitude-motion restriction rule set, a mechanism locking command is generated and the lifting mechanism is locked; if it does not touch the boundary, the process returns and continues to monitor.

9. A computer device comprising a processor and a memory, characterized in that, The memory stores computer program instructions, which are executed by the processor to implement the steps of the weight recognition-based glass suction cup crane mechanism limiting method according to any one of claims 1-7.

10. A computer-readable storage medium storing computer program instructions thereon, characterized in that, The computer program instructions are executed by the processor to implement the steps of the weight recognition-based glass suction cup crane mechanism limiting method as described in any one of claims 1-7.

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