A crane wind field perception and safety hierarchical control method and device

Abstract

The application discloses a crane wind field perception and safety grading control method and device in the technical field of engineering machinery management and control, which comprises the following steps: removing abnormal data from real-time acquired whole-circumferential wind field data of a crane boom head to obtain unobstructed wind field data; orthogonally decomposing the unobstructed wind field data to obtain axial wind speed data and lateral wind speed data; respectively weighting and fusing the axial wind speed data and the lateral wind speed data to obtain overall axial wind speed data and overall lateral wind speed data, and obtaining real-time safety control wind speed; dynamically correcting the rated load of a crane torque limiter according to the real-time safety control wind speed; and grading and limiting the control of the crane boom according to the real-time safety control wind speed and the corrected rated load. The application can adjust the rated load and limit the running speed of the boom in real time according to the unobstructed wind field data, thereby improving the safety of the crane operation and not excessively affecting the normal construction efficiency.

Description

Technical Field

[0001] This invention relates to a method and device for wind field perception and safety classification control of cranes, belonging to the field of engineering machinery management technology. Background Technology

[0002] Wheeled cranes are core mobile lifting equipment in the engineering construction field. Their operating scenarios are complex and the sites are not fixed. Wind load is a key accident cause leading to lateral instability of the boom, overturning of the entire machine, and loss of control over the load. Therefore, monitoring and early warning of wind conditions for cranes are necessary. Existing crane wind speed detection devices typically place a wind speed sensor at the boom tip. The sensor measures the wind speed and compares it with the wind load that the boom can withstand at different postures to safely limit movement during lifting operations. This operation can only detect the wind speed at a single location, and the measured value is often significantly lower due to factors such as boom obstruction, especially in crosswind conditions that have the greatest impact on the lateral stability of the boom, which can directly lead to safety accidents. Some technologies add a drive mechanism to the boom to move the wind speed sensor, obtaining wind speed data at sampling points at different boom heights, thus solving the problem of uneven wind speed distribution along the height. However, the measured value is still subject to obstruction and cannot accurately measure crosswinds.

[0003] Furthermore, existing logic for limiting crane movement based on wind speed is inadequate. It either only provides a warning when wind speed exceeds the limit, posing a safety hazard, or it directly restricts movement when wind speed exceeds the limit, reducing construction efficiency. Therefore, a wind field sensing and safety control technology suitable for the characteristics of cranes needs to be designed. Summary of the Invention

[0004] The purpose of this invention is to provide a method and device for wind field perception and safety classification control of cranes. On the one hand, by using redundant multi-sensor arrangement around the boom head and fusion and elimination algorithm for obstructed data, it completely solves the industry pain points of wind speed measurement distortion and crosswind identification failure caused by boom obstruction. On the other hand, by using a wind load-torque coupling control algorithm deeply integrated with the torque limiter, it achieves graded attenuation of work performance as wind speed increases, up to forced movement limitation at extreme wind speeds, thus balancing work efficiency and inherent safety.

[0005] To achieve the above objectives / to solve the above technical problems, the present invention is implemented using the following technical solution:

[0006] On one hand, the present invention provides a method for wind field perception and safety classification control of cranes, including:

[0007] Abnormal data is removed from the real-time acquired wind field data of the crane boom head in the full circumference to obtain unobstructed wind field data;

[0008] Orthogonal decomposition was performed on the unobstructed wind field data to obtain axial wind speed data and lateral wind speed data;

[0009] The axial wind speed data and the lateral wind speed data are weighted and fused separately to obtain the overall axial wind speed data and the overall lateral wind speed data, and then the real-time safety control wind speed is obtained.

[0010] The rated lifting capacity of the crane torque limiter is dynamically adjusted based on the real-time safety control wind speed.

[0011] Based on the real-time safety control wind speed and the corrected rated lifting capacity, the crane boom is subject to graded amplitude limiting control.

[0012] Optionally, the step of removing abnormal data from the real-time acquired circumferential wind field data of the crane boom head to obtain unobstructed wind field data includes:

[0013] The crane boom head wind field data is acquired in real time through multiple wind direction and speed sensors. The two-dimensional wind vector data output by each wind direction and speed sensor includes the original measured wind speed and local wind direction angle.

[0014] Calculate the arithmetic mean of all raw measured wind speeds in the full circumferential wind field data;

[0015] The original measured wind speed of each wind direction and wind speed sensor is compared with the arithmetic mean. If the original measured wind speed of a certain wind direction and wind speed sensor is less than & times the arithmetic mean, then the wind direction and wind speed sensor is determined to be in the wind shadow area blocked by the boom and is an invalid measurement point.

[0016] The wind field data of all invalid measurement points in the full circumferential wind field data are removed to obtain the unobstructed wind field data.

[0017] The formula for determining invalid measuring points is:

[0018] ;

[0019] in, is the original measured wind speed value of the i-th wind direction and speed sensor, n is the total number of wind direction and speed sensors, and & is the percentage value for determining the occlusion condition.

[0020] Optionally, the unobstructed wind field data can be orthogonally decomposed, as shown in the following formula:

[0021] ;

[0022] in, For the i-th axial wind speed component obtained from the decomposition, For the i-th lateral wind speed component obtained from the decomposition, Let be the i-th local wind direction angle, i=1,…,m, where m is the total number of valid measuring points in the unobstructed wind field data;

[0023] Axial wind speed data and lateral wind speed data are respectively constructed using the axial wind speed component and the lateral wind speed component of all effective wind direction and wind speed sensors.

[0024] Optionally, the step of weightedly fusing the axial wind speed data and the lateral wind speed data to obtain overall axial wind speed data and overall lateral wind speed data, and then obtaining the real-time safety control wind speed, includes:

[0025] The axial wind speed data is weighted and fused based on pre-set weighting coefficients to obtain the overall axial wind speed data, as shown in the following formula:

[0026] ;

[0027] in, For overall axial wind speed data, K i For the i-th weight coefficient, The i-th axial wind speed component obtained by decomposition, where m is the total number of valid measurement points in the unobstructed wind field data;

[0028] The lateral wind speed data is weighted and fused based on pre-set weighting coefficients to obtain the overall lateral wind speed data, as shown in the following formula:

[0029] ;

[0030] in, This represents the overall lateral wind speed component after fusion. The i-th lateral wind speed component obtained from the decomposition;

[0031] Real-time safety control wind speed is obtained based on overall lateral wind speed data:

[0032] ;

[0033] in, To ensure real-time and safe control of wind speed.

[0034] Optionally, different weighting coefficients can be set according to the different locations of the wind direction and speed sensors, with the weighting coefficients being larger for wind direction and speed sensors that are closer to the lateral windward side.

[0035] Optionally, the step of dynamically correcting the rated lifting capacity of the crane torque limiter based on real-time safety control wind speed includes:

[0036] Based on the current wind direction angle relative to the boom axis This yields the wind direction correction factor for the current moment; the formula for the wind direction correction factor K(θ) is:

[0037] ;

[0038] in, This is the minimum value of the wind direction correction factor;

[0039] Based on the real-time safety control wind speed and wind direction correction coefficient, the corrected rated lifting capacity of the crane torque limiter is calculated using the following formula:

[0040] ;

[0041] Where Q is the rated lifting capacity of the corrected crane torque limiter. This is the original rated lifting capacity. The wind speed is the preset level one warning level. This is the maximum operating wind speed.

[0042] Optionally, based on the real-time safety control wind speed and the corrected rated lifting capacity, the crane boom can be subject to graded amplitude limiting control, including:

[0043] The current warning level is obtained by comparing the real-time safety control wind speed with the preset multi-level wind speed warning values.

[0044] Based on the current warning level, the rated working parameters of the crane boom are limited by different amplitudes to obtain the limited working parameters;

[0045] The crane boom is controlled based on the revised rated lifting capacity and the limited working parameters.

[0046] Secondly, the present invention provides a crane wind field sensing and safety classification control device, comprising:

[0047] The data acquisition module is used to remove abnormal data from the real-time acquired wind field data of the crane boom head in the full circumference to obtain unobstructed wind field data.

[0048] The wind field decomposition module is used to orthogonally decompose unobstructed wind field data to obtain axial wind speed data and lateral wind speed data.

[0049] The wind speed control module is used to perform weighted fusion of axial wind speed data and lateral wind speed data to obtain overall axial wind speed data and overall lateral wind speed data, and then obtain the real-time safety control wind speed.

[0050] The lifting capacity correction module is used to dynamically correct the rated lifting capacity of the crane torque limiter based on the real-time safety control wind speed.

[0051] The safety classification control module is used to perform classified amplitude limiting control on the crane boom based on the real-time safety control wind speed and the corrected rated lifting capacity.

[0052] Optionally, the wind speed control module is specifically used for:

[0053] The axial wind speed data is weighted and fused based on pre-set weighting coefficients to obtain the overall axial wind speed data, as shown in the following formula:

[0054] ;

[0055] in, For overall axial wind speed data, K i For the i-th weight coefficient, The i-th axial wind speed component obtained by decomposition, where m is the total number of valid measurement points in the unobstructed wind field data;

[0056] The lateral wind speed data is weighted and fused based on pre-set weighting coefficients to obtain the overall lateral wind speed data, as shown in the following formula:

[0057] ;

[0058] in, This represents the overall lateral wind speed component after fusion. The i-th lateral wind speed component obtained from the decomposition;

[0059] Real-time safety control wind speed is obtained based on overall lateral wind speed data:

[0060] ;

[0061] in, To ensure real-time and safe control of wind speed.

[0062] Optionally, the safety classification control module is specifically used for:

[0063] The current warning level is obtained by comparing the real-time safety control wind speed with the preset multi-level wind speed warning values.

[0064] Based on the current warning level, the rated working parameters of the crane boom are limited by different amplitudes to obtain the limited working parameters;

[0065] The crane boom is controlled based on the revised rated lifting capacity and the limited working parameters.

[0066] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0067] This invention proposes a method and device for crane wind field perception and safety classification control. By collecting circumferential wind field data and removing abnormal data to obtain unobstructed wind field data, it can fundamentally solve the problem of low measured values ​​and safety misjudgments caused by boom obstruction during crane wind field perception. This invention decomposes and weights the unobstructed wind field data to obtain the real-time safety control wind speed. In this process, different weights are assigned according to the location of the data measurement points, giving higher weight to crosswind conditions to accurately capture the crosswind risks that have the greatest impact on boom stability. This is beneficial for subsequent crane safety control based on real-time safety control wind speed. This invention uses real-time safety control wind speed in the process of rated lifting capacity correction and crane safety classification control, realizing a closed-loop control of wind speed signal, wheeled crane torque limiter, and electro-hydraulic proportional system. The rated lifting capacity is adjusted in real time according to the wind speed, and the boom operating speed is limited. Through a combination of hardware and software classification control, the safety of crane operation is improved without excessively affecting normal construction efficiency. Attached Figure Description

[0068] Figure 1 The diagram shown is a schematic representation of the steps of a crane wind field sensing and safety classification control method provided by the present invention.

[0069] Figure 2 The diagram shows the location of the circumferential wind direction and speed sensor at the boom head of a crane in an embodiment of the present invention; where 1 is the wind direction and speed sensor.

[0070] Figure 3 The diagram shown is a schematic of the graded amplitude limiting control of the crane boom in an embodiment of the present invention;

[0071] Figure 4 The diagram shown is a structural schematic of a crane wind field sensing and safety classification control device provided by the present invention. Detailed Implementation

[0072] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations thereof. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0073] Example 1

[0074] This embodiment introduces a method for wind field perception and safety classification control of cranes, such as... Figure 1 As shown, the specific steps include the following:

[0075] Step 1: Acquire real-time wind field data of the crane boom head in the full circumference, and remove abnormal data caused by the boom obstruction to obtain unobstructed wind field data.

[0076] Step 101: Collect real-time wind field data around the entire circumference of the crane boom head by installing multiple wind direction and speed sensors on the boom head. Each wind direction and speed sensor can independently output two-dimensional wind vector data, which includes the original measured wind speed and local wind direction angle. The two-dimensional wind vector data output by all wind direction and speed sensors together constitute the wind field data.

[0077] like Figure 2 As shown, multiple wind direction and speed sensors are uniformly fixed around the front of the boom head to measure wind direction and speed at different locations, achieving 360° unobstructed synchronous acquisition of wind field data and solving the problem of boom obstruction. Figure 2 This is a schematic diagram for arranging three wind direction and speed sensors. It is for illustrative purposes only and does not limit the actual number used in practice.

[0078] Step 102: If a wind direction and speed sensor is blocked by the boom body and enters the wind shadow area, its measured wind speed will be significantly lower. If it is used in subsequent calculations, it will cause the wind field solution to be distorted. Therefore, such abnormal measuring points need to be removed first, and only valid measuring points are retained to participate in the wind vector solution.

[0079] Based on the redundancy of circumferential multi-sensor, the arithmetic mean of the original measured wind speeds of all wind direction and speed sensors is calculated. The original measured wind speed of each wind direction and speed sensor is compared with the arithmetic mean of wind speed. If the original measured wind speed of a certain wind direction and speed sensor is less than & times the arithmetic mean of wind speed, then the wind direction and speed sensor is determined to be in the wind shadow area blocked by the boom and is an invalid measuring point. Its corresponding wind field data is removed, and the remaining measuring points are valid measuring points. The wind field data of the valid measuring points are the unobstructed wind field data.

[0080] The formula for determining invalid measuring points is:

[0081] ;

[0082] in, is the original measured wind speed value of the i-th wind direction and speed sensor, n is the total number of wind direction and speed sensors, and & is the percentage value for determining the occlusion condition.

[0083] Step 2: Perform orthogonal decomposition on the unobstructed wind field data to obtain axial wind speed data and lateral wind speed data.

[0084] To accurately extract the axial and lateral wind load components of the boom, each two-dimensional wind vector data in the unobstructed wind field data needs to be orthogonally decomposed into a preset boom coordinate system to obtain the axial and lateral wind speed components of each wind direction and speed sensor. In the boom coordinate system, the X-axis represents the boom axis, and the Y-axis represents the boom lateral axis.

[0085] The specific decomposition formula is as follows:

[0086] ;

[0087] in, Let i be the wind speed component along the boom axis at the i-th measuring point. Let i be the lateral wind speed component along the boom at the i-th measuring point. Let be the i-th local wind direction angle, i=1,…,m, where m is the total number of valid measuring points in the unobstructed wind field data.

[0088] The axial wind speed component and the lateral wind speed component of all valid wind direction and wind speed sensors are used to form axial wind speed data and lateral wind speed data, respectively.

[0089] Step 3: Perform weighted fusion on the axial wind speed data and the lateral wind speed data respectively to obtain the overall axial wind speed data and the overall lateral wind speed data, and then obtain the real-time safety control wind speed.

[0090] This invention employs a "weighted fusion of independent wind vector components" strategy, focusing on enhancing the calculation accuracy of the lateral wind component to meet the safety control requirements for lateral instability of cranes. The specific weighted fusion approach includes: ① Instead of directly averaging the wind speed at each measuring point, independently fusing the axial wind speed data and lateral wind speed data to avoid calculation distortion caused by wind direction differences; ② Setting different weighting coefficients based on the location of the wind direction and wind speed sensors, assigning a higher weighting coefficient K to sensors closer to the lateral windward side. i To enhance the accuracy of crosswind identification and ensure the most accurate calculation of the crosswind component that has the greatest impact on crane safety; K i It can be adapted and adjusted according to the actual boom structure.

[0091] Step 301: Weight the axial wind speed data based on the pre-set weighting coefficients to obtain the overall axial wind speed data, as shown in the following formula:

[0092] ;

[0093] in, To integrate the overall axial wind speed data, K i Let be the i-th weight coefficient.

[0094] Step 302: Weight the lateral wind speed data based on the pre-set weighting coefficients to obtain the overall lateral wind speed data, as shown in the following formula:

[0095] ;

[0096] in, This represents the overall lateral wind speed component after fusion.

[0097] Step 303: Obtain the real-time safety control wind speed based on the overall lateral wind speed data:

[0098] ;

[0099] in, To ensure real-time and safe control of wind speed.

[0100] Step 4: Based on the wind load-torque coupling hierarchical algorithm, dynamically adjust the rated lifting capacity of the crane torque limiter according to the real-time safety control wind speed.

[0101] Step 401: Based on the real-time acquired unobstructed wind field data, calculate the wind direction angle between the current wind and the boom axis. Based on real-time safety control of wind speed and wind direction angle The wind direction correction coefficient for the current moment is matched from the preset wind direction correction database.

[0102] In this embodiment of the invention, with , , , Divide the 360° angle into four regions as boundaries: when When the crosswind has the least impact, its corresponding wind direction correction factor is also the smallest, which is: , The values ​​are generally set based on the actual boom structure and expert experience, and can be adjusted accordingly; when When the crosswind has the greatest impact, its corresponding wind direction correction factor is also the largest, which is 1.0; , , , The angle between them, The correction factor is calculated using linear interpolation between 1 and 1.0 to ensure that it conforms to the actual impact of different wind directions.

[0103] The formula for the wind direction correction factor K(θ) can be expressed as:

[0104] ;

[0105] Step 402: Calculate the corrected rated lifting capacity of the crane torque limiter based on the wind direction correction factor at the current moment, using the following formula:

[0106] ;

[0107] Where Q is the rated lifting capacity (in tons) of the corrected crane torque limiter. The original rated lifting capacity (unit: t) under the current operating range. The wind speed is the preset level one warning level. This is the maximum operating wind speed.

[0108] This formula achieves a linear decrease in rated lifting capacity as wind speed increases, balancing operational efficiency and safety.

[0109] Step 5: Based on the real-time safety control wind speed and the corrected rated lifting capacity, perform graded amplitude limiting control on the crane boom.

[0110] To achieve graded safety control of cranes, this invention designs control logic based on the crane's motion characteristics, sets multi-level wind speed warning values, and sets different control modes for different wind speeds: First, the real-time safety control wind speed is compared with the preset multi-level wind speed warning values ​​to obtain the current warning level (e.g., level one, level two, level three, etc.); according to the current warning level, the working rated parameters of the crane boom are limited by different amplitudes to obtain the limited working parameters. This invention pre-sets corresponding parameter limit amplitudes for different warning levels. The rated lifting capacity can be corrected in real time through step 4, and other working rated parameters can be adjusted according to the parameter limit amplitudes; the crane boom is controlled to work according to the corrected rated lifting capacity and the limited working parameters, improving the safety of crane operation in headwind / crosswind conditions.

[0111] In addition, the present invention can also set corresponding sound and light warning modes for different warning levels, so that operators can understand the current operational risks more quickly and accurately.

[0112] like Figure 3 As shown, four wind speed warning values ​​are set (in order: V). 1 V 2 V 3 V 4 And satisfy V 1 <V 2 <V 3 <V 4 For example:

[0113] Real-time safety control of wind speed ≤V 1 When the wind speed icon is displayed normally, there are no alarms or restrictions, and the operation continues with the original rated parameters; when V 1 < ≤V 2 When the wind speed icon is yellow, there are no restrictions on the rated operating parameters; operation should be carried out according to the corrected rated lifting capacity. When the real-time wind speed V... 2 < ≤V 3When the wind speed icon is yellow and flashing, operations should be carried out according to the corrected rated lifting capacity and the limited working parameters. Specifically, the direction in which the boom torque decreases during crane operation is defined as the safe direction, and the direction in which the torque increases is defined as the dangerous direction. Lifting-related actions in the safe direction (boom retraction, luffing, hoisting) are not subject to speed limits, while lifting-related actions in the dangerous direction (boom extension, luffing, hoisting) are limited to 60% of their original speed. When the real-time wind speed V... 3 < ≤V 4 When the wind speed icon is red and flashing, accompanied by a 1-second audible alarm, there is no speed limit for lifting-related actions in the safe direction, while the speed limit for lifting-related actions in the dangerous direction is reduced to 40% of the original speed; when the real-time wind speed V 4 When the wind speed icon is displayed in red and flashes, accompanied by an audible alarm at a frequency of 0.5 seconds, the speed of lifting-related actions in the safe direction is limited to 60% of the original speed, and movement is restricted in the dangerous direction.

[0114] Example 2

[0115] Based on the same inventive concept as Embodiment 1, this embodiment introduces a crane wind field sensing and safety classification control device, such as... Figure 4 As shown, it specifically includes:

[0116] The data acquisition module is used to remove abnormal data from the real-time acquired wind field data of the crane boom head in the full circumference, so as to obtain unobstructed wind field data.

[0117] The wind field decomposition module is used to orthogonally decompose unobstructed wind field data to obtain axial wind speed data and lateral wind speed data.

[0118] The wind speed control module is used to perform weighted fusion of axial wind speed data and lateral wind speed data to obtain overall axial wind speed data and overall lateral wind speed data, and then obtain the real-time safety control wind speed.

[0119] The lifting capacity correction module is used to dynamically correct the rated lifting capacity of the crane torque limiter based on the real-time safety control wind speed.

[0120] The safety classification control module is used to perform classified amplitude limiting control on the crane boom based on the real-time safety control wind speed and the corrected rated lifting capacity.

[0121] The specific functions of each module described above are explained in the relevant content of the method in Embodiment 1, and will not be repeated here.

[0122] In summary, this invention completely solves the core pain points of the crane wind field sensing industry. Through a circumferential multi-sensor full-section coverage design, it achieves 360° omnidirectional measurement without blind spots. Furthermore, it eliminates abnormal data with obstructions, obtaining wind field data with no obstructions in any wind direction, thereby improving the accuracy of subsequent sensing, calculation, and control. Compared to single-front-end deployment schemes, this invention significantly improves measurement accuracy under headwind / crosswind conditions, completely eliminating the problems of low readings and safety misjudgments caused by boom obstruction, thus eliminating the core cause of wind-related accidents at their source.

[0123] This invention applies real-time safety control of wind speed to the process of rated lifting capacity correction and crane safety classification control, realizing a closed-loop control of wind speed signals, wheeled crane torque limiters, and electro-hydraulic proportional systems. Moreover, it eliminates the fatal flaw of traditional solutions that "only alarm but do not limit movement." This invention can adjust the rated lifting capacity and limit the boom operating speed in real time according to wind speed. Through a combination of hardware and software classification control, it avoids the accident risk of drivers engaging in risky operations without excessively affecting normal construction efficiency. The closed-loop control logic achieves inherent safety and fills the compliance loopholes in existing technologies.

[0124] In the process of sensing and analyzing the wind field, this invention performs weighted fusion of wind field data from multiple measuring points and assigns different weights to measuring points at different locations. The crosswind condition has the highest priority, and the measurement accuracy and response speed of the front and crosswinds are optimal. It can accurately capture the crosswind risk that has the greatest impact on the stability of the boom and reduce the probability of wind-induced boom breakage and overturning accidents from the root.

[0125] The present invention provides a graded control strategy based on wind speed, which can improve hoisting efficiency while greatly reducing the restrictions on hoisting operations caused by excessive wind speeds in other wind directions.

[0126] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0127] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0128] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0129] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0130] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A method for wind field perception and safety classification control of cranes, characterized in that, include: Abnormal data is removed from the real-time acquired wind field data of the crane boom head in the full circumference to obtain unobstructed wind field data; Orthogonal decomposition was performed on the unobstructed wind field data to obtain axial wind speed data and lateral wind speed data; The axial wind speed data and the lateral wind speed data are weighted and fused separately to obtain the overall axial wind speed data and the overall lateral wind speed data, and then the real-time safety control wind speed is obtained. The rated lifting capacity of the crane torque limiter is dynamically adjusted based on the real-time safety control wind speed. Based on the real-time safety control wind speed and the corrected rated lifting capacity, the crane boom is subject to graded amplitude limiting control.

2. The crane wind field perception and safety classification control method according to claim 1, characterized in that, The process of removing outlier data from the real-time acquired circumferential wind field data of the crane boom head to obtain unobstructed wind field data includes: The crane boom head wind field data is acquired in real time through multiple wind direction and speed sensors. The two-dimensional wind vector data output by each wind direction and speed sensor includes the original measured wind speed and local wind direction angle. Calculate the arithmetic mean of all raw measured wind speeds in the full circumferential wind field data; The original measured wind speed of each wind direction and wind speed sensor is compared with the arithmetic mean. If the original measured wind speed of a certain wind direction and wind speed sensor is less than & times the arithmetic mean, then the wind direction and wind speed sensor is determined to be in the wind shadow area blocked by the boom and is an invalid measurement point. The wind field data of all invalid measurement points in the full circumferential wind field data are removed to obtain the unobstructed wind field data. The formula for determining invalid measuring points is: ； in, is the original measured wind speed value of the i-th wind direction and speed sensor, n is the total number of wind direction and speed sensors, and & is the percentage value for determining the occlusion condition.

3. The crane wind field sensing and safety classification control method according to claim 2, characterized in that, The unobstructed wind field data is orthogonally decomposed using the following formula: ； in, For the i-th axial wind speed component obtained from the decomposition, For the i-th lateral wind speed component obtained from the decomposition, Let be the i-th local wind direction angle, i=1,…,m, where m is the total number of valid measuring points in the unobstructed wind field data; Axial wind speed data and lateral wind speed data are respectively constructed using all axial wind speed components and lateral wind speed components.

4. The crane wind field sensing and safety classification control method according to claim 1, characterized in that, The axial wind speed data and lateral wind speed data are weighted and fused separately to obtain overall axial wind speed data and overall lateral wind speed data, thereby obtaining the real-time safety control wind speed, including: The axial wind speed data is weighted and fused based on pre-set weighting coefficients to obtain the overall axial wind speed data, as shown in the following formula: ； in, For overall axial wind speed data, K i For the i-th weight coefficient, The i-th axial wind speed component obtained by decomposition, where m is the total number of valid measurement points in the unobstructed wind field data; The lateral wind speed data is weighted and fused based on pre-set weighting coefficients to obtain the overall lateral wind speed data, as shown in the following formula: ； in, This represents the overall lateral wind speed component after fusion. The i-th lateral wind speed component obtained from the decomposition; Real-time safety control wind speed is obtained based on overall lateral wind speed data: ； in, To ensure real-time and safe control of wind speed.

5. The crane wind field sensing and safety classification control method according to claim 4, characterized in that, Different weighting coefficients are set according to the different locations of the wind direction and speed sensors, with the weighting coefficients being larger for wind direction and speed sensors that are closer to the lateral windward side.

6. The crane wind field sensing and safety classification control method according to claim 1, characterized in that, The method of dynamically adjusting the rated lifting capacity of the crane torque limiter based on real-time safety control wind speed includes: Based on the current wind direction angle relative to the boom axis This yields the wind direction correction factor for the current moment; the formula for the wind direction correction factor K(θ) is: ； in, This is the minimum value of the wind direction correction factor; Based on the real-time safety control wind speed and wind direction correction coefficient, the corrected rated lifting capacity of the crane torque limiter is calculated using the following formula: ； Where Q is the rated lifting capacity of the corrected crane torque limiter. This is the original rated lifting capacity. The wind speed is the preset level one warning level. This is the maximum operating wind speed.

7. The crane wind field sensing and safety classification control method according to claim 1, characterized in that, Based on real-time safety control wind speed and the corrected rated lifting capacity, the crane boom is subject to graded amplitude limiting control, including: The current warning level is obtained by comparing the real-time safety control wind speed with the preset multi-level wind speed warning values. Based on the current warning level, the rated working parameters of the crane boom are limited by different amplitudes to obtain the limited working parameters; The crane boom is controlled based on the revised rated lifting capacity and the limited working parameters.

8. A crane wind field sensing and safety classification control device, characterized in that, include: The data acquisition module is used to remove abnormal data from the real-time acquired wind field data of the crane boom head in the full circumference to obtain unobstructed wind field data. The wind field decomposition module is used to orthogonally decompose unobstructed wind field data to obtain axial wind speed data and lateral wind speed data. The wind speed control module is used to perform weighted fusion of axial wind speed data and lateral wind speed data to obtain overall axial wind speed data and overall lateral wind speed data, and then obtain the real-time safety control wind speed. The lifting capacity correction module is used to dynamically correct the rated lifting capacity of the crane torque limiter based on the real-time safety control wind speed. The safety classification control module is used to perform classified amplitude limiting control on the crane boom based on the real-time safety control wind speed and the corrected rated lifting capacity.

9. The crane wind field sensing and safety classification control device according to claim 8, characterized in that, The wind speed control module is specifically used for: The axial wind speed data is weighted and fused based on pre-set weighting coefficients to obtain the overall axial wind speed data, as shown in the following formula: ； in, For overall axial wind speed data, K i For the i-th weight coefficient, The i-th axial wind speed component obtained by decomposition, where m is the total number of valid measurement points in the unobstructed wind field data; The lateral wind speed data is weighted and fused based on pre-set weighting coefficients to obtain the overall lateral wind speed data, as shown in the following formula: ； in, This represents the overall lateral wind speed component after fusion. The i-th lateral wind speed component obtained from the decomposition; Real-time safety control wind speed is obtained based on overall lateral wind speed data: ； in, To ensure real-time and safe control of wind speed.

10. The crane wind field sensing and safety classification control device according to claim 8, characterized in that, The safety classification control module is specifically used for: The current warning level is obtained by comparing the real-time safety control wind speed with the preset multi-level wind speed warning values. Based on the current warning level, the rated working parameters of the crane boom are limited by different amplitudes to obtain the limited working parameters; The crane boom is controlled based on the revised rated lifting capacity and the limited working parameters.

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