CN113682956B - Material environment condition automatic identification and analysis method and system for intelligent tower crane - Google Patents
Material environment condition automatic identification and analysis method and system for intelligent tower crane Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
The application discloses a material environment condition automatic identification analysis method and a material environment condition automatic identification analysis system for an intelligent tower crane, wherein the material environment condition automatic identification analysis method comprises the steps of firstly collecting airflow conditions near a lifting piece in real time in the lifting process of the lifting piece, then obtaining the current deflection state of the lifting piece based on the windward area of the lifting piece, the airflow conditions at the last moment and the current lifting stage, predicting the deflection state of the lifting piece based on the current change condition of the airflow conditions and the stage switching condition of the lifting stage, and finally pre-adjusting the execution parameters of an execution mechanism under the current lifting stage, which are related to the expected movement of the lifting piece, to the preset deflection angle which is lower than the super-angle threshold value when the predicted deflection angle is not greater than the micro-angle threshold value, and pre-adjusting the execution parameters of the execution mechanism under the current lifting stage, which are related to the expected movement of the lifting piece, within the parameter permission range. The method can improve the stability of the lifting appliance and the materials.
Description
Technical Field
The application relates to the technical field of environment recognition, in particular to an automatic recognition analysis method and system for material environment conditions of an intelligent tower crane.
Background
The tower crane, also called tower crane, is a kind of common hoisting equipment used in building site and is used to hoist building material, such as steel bar, wood beam, concrete, steel pipe, etc. for construction. In the mechanical structure of the tower crane, an actuating mechanism for actually lifting the material is a lifting hook, the lifting hook is controlled by a pulley to descend to the vicinity of the upper part of the material before lifting the material each time, the material is already loaded into a lifting appliance of a stacking area or packed onto the lifting appliance of the stacking area, a steel rope or a connecting structure is sleeved on the lifting appliance as a lifting part of the lifting appliance, the lifting part is used as a medium sleeved with the lifting hook, the lifting part can be placed on the inner side hook-shaped surface of the lifting hook, then the lifting hook is controlled by the pulley to lift, and the lifting part drives the lifting appliance and the material in or on the lifting appliance to lift away from the lifting appliance.
In the lifting process, the lifting appliance carrying the materials in a transshipment mode can be influenced by external environment, for example, the lifting appliance swings under the influence of airflow, in addition, the lifting process can change the state of the lifting appliance, for example, the position and the orientation of the lifting appliance can be changed when the tower crane drives the lifting appliance to lift and turn. The influence exerted by the external environment and the state change of the lifting appliance can also affect the lifting process in turn, and can be used as an unstable factor in the lifting process to cause the instability of the lifting appliance, and even the observation on the state of the lifting appliance can be smoothly carried out, so that the detection and the identification on the environmental state in the lifting process are a problem to be solved urgently at present.
Disclosure of Invention
Based on this, in order to improve the stability of hoist at handling in-process, avoid cable wire and hoist to take place to damage, improve the quality of observing the hoist state, this application discloses following technical scheme.
In one aspect, a method for automatically identifying and analyzing environmental conditions of materials for an intelligent tower crane is provided, which comprises the following steps:
acquiring the air flow condition near the lifting piece in real time in the lifting process of the lifting piece, wherein the air flow condition comprises the wind receiving direction and the wind receiving speed;
obtaining a current deflection state of the lifting piece based on the windward area of the lifting piece, the airflow condition at the previous moment and the current lifting stage, wherein the deflection state comprises a deflection direction and a deflection angle;
predicting the deflection state of the lifting piece based on the current change condition of the airflow condition and the stage switching condition of the lifting stage;
when the predicted yaw angle reaches the super-angle threshold, the execution parameters of the execution mechanism related to the expected motion of the lifting piece in the current lifting stage are pre-adjusted downwards until the predicted yaw angle is lower than the super-angle threshold, and when the predicted yaw angle is not greater than the micro-angle threshold, the execution parameters of the execution mechanism related to the expected motion of the lifting piece in the current lifting stage are pre-adjusted upwards within a parameter permission range.
In one possible implementation manner, the obtaining the current deflection state of the lifting member based on the windward area of the lifting member, the airflow condition at the last moment and the current lifting stage includes:
acquiring a basic attitude of the lifting piece based on the current lifting stage of the lifting piece;
establishing a sweeping plane perpendicular to the wind direction, sweeping the lifting piece in the basic attitude through the sweeping plane, and taking the maximum cross-sectional area obtained by the sweeping as the wind area;
obtaining the thrust of the air flow received by the lifting piece based on the wind speed and the wind area;
and obtaining a deflection state based on the thrust and the weight of the lifting piece.
In one possible embodiment, the predicting the yaw state of the trolley based on the current change in the airflow condition and a phase switching condition of a trolley phase includes:
acquiring the wind receiving direction and wind receiving speed after the airflow condition changes, and acquiring the stage switching condition after a certain time, wherein the stage switching condition comprises no need of starting switching, switching to be started and switching in progress;
obtaining the thrust and the direction of the lifting piece under the changed wind receiving direction and wind receiving speed, and obtaining the traction force and the direction of the lifting piece under the condition of stage switching after a certain time;
And predicting the deflection state of the lifting piece based on the thrust and the direction thereof and the traction and the direction thereof.
In one possible implementation manner, when the deflection state is predicted, the deflection state is also predicted based on a lifting speed section where the actuating mechanism is located in the current lifting stage, wherein the lifting speed section comprises an acceleration section, a uniform speed section, a deceleration section and a stop section.
In one possible embodiment, the method further comprises:
obtaining the orientation change of the image acquisition equipment according to a lifting route contained in a lifting task, wherein the image acquisition equipment is arranged on a lifting piece or a tower crane component and is used for acquiring images of the lifting piece;
obtaining a relative position between the light source and the image acquisition device based on the position of the light source in the environment;
and obtaining the predicted orientation of the image acquisition equipment in the orientation change based on the pre-adjusted deflection state of the lifting piece, and adjusting the orientation of the image acquisition equipment based on the predicted orientation and the relative position so as to avoid the direct orientation of the image acquisition equipment to the light source.
On the other hand, still provide a material environmental condition automatic identification analysis system for intelligent tower crane, include:
The air flow condition acquisition module is used for controlling the air flow condition acquisition equipment to acquire the air flow condition near the lifting piece in real time in the lifting process of the lifting piece, wherein the air flow condition comprises a wind receiving direction and a wind receiving speed;
the current deflection state acquisition module is used for acquiring the current deflection state of the lifting piece based on the windward area of the lifting piece, the airflow condition at the last moment and the current lifting stage, wherein the deflection state comprises a deflection direction and a deflection angle;
the future deflection state prediction module is used for predicting the deflection state of the lifting piece based on the current change condition of the airflow condition and the phase switching condition of the lifting phase;
and the execution parameter adjustment module is used for pre-adjusting the execution parameters of the execution mechanism related to the expected movement of the lifting piece in the current lifting stage to a state that the predicted deflection angle is lower than the super-angle threshold value when the predicted deflection angle reaches the super-angle threshold value, and pre-adjusting the execution parameters of the execution mechanism related to the expected movement of the lifting piece in the current lifting stage within a parameter permission range when the predicted deflection angle is not greater than the micro-angle threshold value.
In one possible implementation manner, the current yaw state acquisition module includes:
The basic attitude acquisition unit is used for acquiring the basic attitude of the lifting piece based on the current lifting stage of the lifting piece;
the wind-receiving area acquisition unit is used for establishing a sweeping plane perpendicular to the wind-receiving direction, sweeping the lifting piece in the basic attitude through the sweeping plane, and taking the maximum cross-sectional area obtained by the sweeping as the wind-receiving area;
the airflow thrust calculating unit is used for obtaining the thrust of the air flow received by the lifting piece based on the wind receiving speed and the wind receiving area;
and the deflection state calculating unit is used for obtaining a deflection state based on the thrust and the weight of the lifting piece.
In one possible implementation manner, the future yaw state prediction module includes:
the information acquisition unit is used for acquiring the wind receiving direction and the wind receiving speed after the airflow condition changes and acquiring the phase switching condition after a certain time, wherein the phase switching condition comprises no need of starting switching, about to start switching and in-switching;
the stress calculation unit is used for obtaining the thrust and the direction of the lifting piece under the changed wind receiving direction and wind receiving speed, and obtaining the traction force and the direction of the lifting piece under the condition of stage switching after a certain time;
And the deflection state prediction unit is used for predicting the deflection state of the lifting piece based on the thrust and the direction thereof and the traction and the direction thereof.
In one possible implementation manner, when the deflection state prediction unit predicts the deflection state, the deflection state prediction unit also predicts the deflection state based on a lifting speed section where the actuating mechanism is located in the current lifting stage, where the lifting speed section includes an acceleration section, a uniform speed section, a deceleration section and a stop section.
In one possible embodiment, the system further comprises:
the image acquisition equipment is arranged on the lifting piece or the tower crane component and is used for acquiring images of the lifting piece;
the direction change acquisition module is used for acquiring the direction change of the image acquisition equipment according to the lifting route contained in the lifting task;
the relative position acquisition module is used for acquiring the relative position between the light source and the image acquisition equipment based on the position of the light source in the environment;
and the orientation adjusting module is used for obtaining the predicted orientation of the image acquisition equipment in the orientation change based on the pre-adjusted deflection state of the lifting piece, and adjusting the orientation of the image acquisition equipment based on the predicted orientation and the relative position so as to avoid the direct orientation of the image acquisition equipment to the light source.
According to the automatic identification and analysis method and the system for the material environment condition of the intelligent tower crane, the surrounding environment of the material being lifted on the tower crane is detected, particularly the airflow environment is detected, the parameter condition which possibly affects the lifting of the material in the environment is obtained, meanwhile, the degree of the material which is commonly affected by the two is predicted based on the parameter condition and the current lifting stage of the material, particularly the degree of the generated shaking and deflection, further, the damage which possibly occurs to the lifting process under the combined action of the environment and the lifting stage, particularly the damage caused by excessive friction of a steel rope, the material turning, the material winding rotation, the difficulty in landing, the unstable structure of the tower crane and the like are predicted through the prediction result, and at the moment, the affected degree of the material is reduced to a safe interval through controlling the lifting parameter of the tower crane, particularly the parameter in the aspect of speed control before the damage does not occur, namely the damage is avoided through the prediction and the parameter pre-adjustment, and the stability of the lifting tool and the material is improved.
Drawings
The embodiments described below with reference to the drawings are exemplary and intended for the purpose of illustrating and explaining the present application and are not to be construed as limiting the scope of protection of the present application.
Fig. 1 is a schematic flow chart of an embodiment of a method for automatically identifying and analyzing environmental conditions of materials for an intelligent tower crane.
Fig. 2 is a schematic view of the bin and the swept plane thereon.
FIG. 3 is a schematic cross-sectional view of a bin showing the swept maximum area cross-section.
Fig. 4 is a schematic view of the bin when it is raised vertically during the lifting phase and unaffected by the air flow.
FIG. 5 is a schematic diagram of the deflection of the bin after vertical ascent during the lifting phase and being affected by the airflow.
Fig. 6 is a block diagram of an embodiment of an automated material environmental condition identification analysis system for an intelligent tower crane as disclosed herein.
Detailed Description
In order to make the purposes, technical solutions and advantages of the implementation of the present application more clear, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the embodiments of the present application.
Embodiments of the method for automatically identifying and analyzing material environmental conditions of an intelligent tower crane disclosed in the application are described in detail below with reference to fig. 1-5. As shown in fig. 1, the method disclosed in this embodiment includes the following steps 100 to 400.
And 100, controlling an air flow condition acquisition device to acquire the air flow condition near the lifting piece in real time by the air flow condition acquisition module in the lifting process of the lifting piece.
The lifting piece refers to a lifting appliance loaded with materials, wherein the materials can be round steel pipe columns, I-steel, cement bags, bricks and tiles, glass, water pipes, canned paint, mechanical equipment and the like, and the lifting appliance can adopt a wooden tray or a steel tray or a wooden box or a steel box.
Since the lifting member is deflected by the influence of the air flow after lifting, in order to obtain the deflection, it is necessary to obtain the influence of the air flow on the lifting member. The airflow condition may specifically include a wind direction and a wind speed, and the airflow condition acquisition device for acquiring the airflow condition may be a wind speed sensor and a wind direction sensor. The wind speed sensor and the wind direction sensor can be arranged on the lifting appliance, and also can be arranged on a lifting hook of the tower crane or other structures which are closer to the lifting appliance.
It will be appreciated that in general, the spreader will not spin during the lifting process, and for some tower cranes, the hook is provided with means for securing the cable or other components of the spreader for connection to the hook, so as to substantially avoid rotation of the cable or the connection components in the horizontal direction, and thus make the actual spin angle of the spreader negligible. And for the lifting hook without the fixing device, the lifting speed, the steering speed and the like in the lifting process are controlled, so that the hanger can be almost prevented from rotating. Therefore, the wind direction sensor cannot influence the accuracy of the measurement data of the wind direction due to the extremely small amount of rotation of the lifting appliance in the lifting process.
The windward area of the lifting member refers to the effective area of the lifting member affected by the air flow in the current posture. The attitude of the lifting piece when the lifting piece is influenced only can be obtained through the lifting stage, and the air flow influence is only a secondary factor because the contribution force of the lifting piece to deflection is the largest is caused by the lifting stage, so that the attitude when the lifting piece is influenced only is taken as the current attitude (the current moment attitude), namely the attitude when the lifting piece is influenced by wind, and the wind direction is combined and calculated, so that the wind area can be obtained.
The swing piece does not rotate, but is deflected due to the aspects of steering, influence by air flow and the like in the swing process, and the swing state can be influenced by different swing stages of the swing piece, wherein the swing state specifically comprises a swing direction and a swing angle, the swing direction refers to the deviation direction of the swing piece from the original position, and the swing angle refers to the included angle between the deviation direction and the original position when the pulley is used as the center of a circle.
For example, in the lifting stage of the lifting piece in the lifting stage, when the pulley controls the lifting rope (connecting the pulley and the lifting hook) to drive the lifting hook to lift, the lifting piece is lifted along with the lifting rope, when the transverse or oblique air flow passes through the lifting piece at the previous moment in the lifting process, the lifting piece deflects to a certain extent due to the thrust of the air flow at the next moment, and when the lifting rope deflects, an included angle exists between the lifting rope and the gravity center line from a state of being coincided with the gravity center line perpendicular to the ground, the included angle is the deflection angle, the direction of the included angle relative to the gravity center line is the deflection direction, wherein the influence factor of the deflection direction in the lifting process is mainly the wind-receiving direction and the same as the wind-receiving direction, and the influence factor of the deflection angle is mainly the wind-receiving speed and the wind-receiving area, and the larger the wind-receiving area is the larger the deflection angle is the larger the deflection angle. The deflected state at this time is generated only by the influence of the air flow.
For example, in the horizontal turning stage in the lifting stage, after the lifting piece is lifted to a certain height by the pulley, under the condition of keeping the height unchanged, the swing mechanism drives the lifting arm to horizontally rotate, so as to drive the lifting piece to circularly move, at this time, the lifting piece is subjected to centripetal force during the circular movement, so that a certain degree of deflection can also occur, and an included angle is formed between the lifting rope and the gravity center line, the included angle is a deflection angle, the direction of the included angle relative to the gravity center line is a deflection direction, wherein the influence factor of the deflection direction in the turning process is mainly the rotation direction, the deflection direction is the same as the rotation direction, the influence factor of the deflection angle is mainly the rotation speed, and the larger the rotation speed is, the larger the deflection angle is. The swing state is generated only by the swing in the swing stage because the swing piece is not influenced by any airflow.
It will be appreciated that during the horizontal turning phase or other phase in which the trolley is likely to be subjected to horizontal forces, a transverse or oblique air flow may also be encountered, so that the deflection at the next moment is the result of both the air flow and the implementation of the trolley phase, and the result of the deflection is the sum of the effects of both. It should be noted that the yaw state obtained in the step 200 is an instantaneous state, and corresponds to an instantaneous air flow condition.
It should be noted that, the reason that the current deflection state is obtained by adopting the airflow state at the previous moment rather than the airflow state at the current moment is that the influence caused by the airflow state is delayed to some extent, so that the airflow state at the previous moment can be reflected on the deflection state of the lifting member at the current moment, and the airflow state at the current moment needs to be reflected on the deflection state of the lifting member at the next moment, so that the airflow needs to be calculated by using the data at the previous moment.
And 300, predicting the deflection state of the lifting piece by a future deflection state predicting module based on the current change condition of the air flow condition and the stage switching condition of the lifting stage.
The air flow condition in the air is changed, and sometimes the change occurs in a very short time, for example, the horizontal southeast wind with the time t1 of 1m/s and the time t2 suddenly changes to the same direction wind with the time of 4 m/s, so that the current change condition of the air flow condition is that the wind direction is unchanged, and the wind speed is increased by 3 m/s. Of course, the airflow conditions may also be slowly varying, e.g., a wind speed of 4 m/s from time t3 slows down until the current time t10 drops to 1.5 m/s, and may also continue to slowly drop.
Due to the inertia of the movement of the trolley, it takes a certain time from being influenced by the air flow until reaching a new position equilibrium state, for example, the air speed increases from 1m/s to 4 m/s only by 0.2s, and assuming that the air speed of 4 m/s will remain the same, the swing angle of the trolley increases from an angle at the air speed of 1m/s to an angle at the air speed of 4 m/s and stabilizes, and it may take 2s, namely, the swing state change time, that is, the response time of the trolley, after 2s the trolley reaches a new force equilibrium state, the position will not change unless the swing speed or the air flow state changes again. Regarding the length of time of one moment, the reaction time of the trolley to the change in the air flow state may be regarded as the length of time of one moment, such as a minimum reaction time, an average reaction time, and the like.
Thus, the deflection state can be predicted within the reaction time, and a prediction result can be obtained before the lifting piece reaches the deflection state corresponding to the airflow change, for example, when the wind speed starts to change from 1m/s, the prediction is performed once every a period of unit time, or each time the change degree of the wind speed or the wind direction reaches the wind speed change threshold value or the wind direction change threshold value, the prediction result is obtained, and if the wind direction or the wind speed is continuously changed, the prediction can be performed for multiple times, so that a plurality of prediction results with different time can be obtained.
In addition to changes in the air flow conditions, transitions and switches in the handling phase also trigger predictions of yaw conditions, such as when the handling phase is switching from the lifting phase to the steering phase, or switching between the steering phase and the translating phase (luffing trolley movement), or switching from the translating phase or the steering phase to the lowering phase, etc., because changes in phase and switches indicate changes in yaw conditions, and predictions are therefore required.
In the aspect of the air flow state, the current deflection state is obtained by utilizing the previous moment, the deflection state at the next moment is predicted by utilizing the current moment, and in the aspect of the lifting phase, the deflection effect caused by the lifting phase is faster than the deflection effect caused by the air flow state, so the deflection effect generated by the lifting phase is regarded as the instantaneous effective effect, the current deflection state is obtained by utilizing the lifting phase at the current moment, and the deflection state at the next moment is predicted by utilizing the lifting phase which is about to occur at the next moment.
When predicting the deflection state, the influence of the current deflection state is estimated mainly according to the change condition of the airflow and the change condition of the lifting stage. If the wind speed is increased and the wind direction is unchanged in the lifting stage, the deflection angle is increased and the deflection direction is unchanged; if the wind speed is increased but the wind direction is opposite to the previous one in the lifting stage, the deflection angle may be reduced first and then increased, and the deflection direction is opposite to the previous one, namely the lifting piece swings from the original deflection side to the opposite deflection side; if the wind speed is increased and the wind direction is always approximately the same as the rotation direction in the steering stage, the yaw angle is reduced, and even if the yaw caused by steering is offset due to the excessive wind speed, the yaw angle is reduced and then increased (downwind), and the yaw direction is approximately opposite to the previous direction.
The deflection angle cannot be too large no matter how the deflection direction changes, otherwise, the smooth proceeding of the lifting process is affected, for example, the deflection speed is too high in a steering stage so that the deflection angle is too large, larger friction is generated between a steel rope and a lifting hook, the lifting piece can possibly turn, the lifting piece can possibly rotate around a circle for a long time so that the lifting piece is difficult to stably descend to a designated place, and the structural stability of the tower crane is further damaged.
Therefore, the super-angle threshold is set to judge whether the swing angle reaches the damage degree, if the predicted swing angle exceeds the super-angle threshold, the swing angle can be maintained for a long time no matter how long the swing angle reaches the super-angle threshold, and once the swing angle is increased to be equal to or larger than the super-angle threshold at a certain moment after the prediction, the condition that the smooth swing is damaged is possibly caused is described, and therefore, related parameters are immediately adjusted to reduce the swing angle, so that the predicted swing angle is lower than the super-angle threshold. The relevant parameters here refer to the execution parameters of the executing mechanism related to the expected motion of the lifting piece in the current lifting stage, for example, the executing mechanism is mainly an amplitude changing mechanism when the current lifting stage is an amplitude changing stage, and the execution parameters related to the expected motion of the lifting piece mainly comprise amplitude changing moving speed and also can be amplitude changing moving acceleration, when the wind speed at the current time t0 suddenly increases, the deflection angle at the time t1 is predicted to be increased and reaches the super-angle threshold value, so that the amplitude changing speed or the amplitude changing acceleration starts to be reduced immediately, when the predicted moment (time t 1) reaches the super-angle threshold value, the amplitude changing speed is reduced in advance, so that even if the influence on the lifting piece reaches an equilibrium state after the wind speed becomes large, the equilibrium state also counteracts the effect caused by partial or even total wind speed increase due to the reduction of the amplitude changing speed, and the deflection angle of the lifting piece at the time t1 under the combined action of the amplitude changing mechanism and the air flow still can not reach the super-angle threshold value.
The reason for setting the micro-angle threshold is to improve the dispatching efficiency, when the micro-angle threshold is in a lifting stage for driving the lifting piece to move in the horizontal direction, if the deflection angle is very small and is not as small as the micro-angle threshold (the micro-angle threshold is smaller than the super-angle threshold), the execution speed of the executing mechanism can be improved, the lifting efficiency can be improved, the lifting safety and stability can be ensured, but the improved execution speed cannot enable the predicted deflection angle to reach the super-angle threshold, otherwise, the ascending amplitude is too high.
It will be appreciated that when adjusting the execution parameters related to the expected movement of the trolley, the speed of adjustment can be determined according to the difference between the deflection angle and the corresponding threshold, the greater the difference, the faster the speed of adjustment is required, otherwise the execution parameters cannot be reduced to a safe area before the predicted moment comes, and the smaller the difference, the slower the speed of adjustment can be.
Specifically, assuming that the luffing trolley is currently in a luffing stage, at the moment t0, the luffing trolley drives the lifting piece to move along the direction of the suspension arm towards the tail end, no air flow blows through at the moment t0, the deflection direction is the direction away from the tail end of the suspension arm, the deflection angle is gamma 0, and gamma 0 is larger than a micro-angle threshold value but smaller than a super-angle threshold value; when the current moment (t 1 moment) suddenly detects that the wind direction is parallel to the moving direction of the luffing trolley, the movement amount of the lifting piece in the direction close to the tail end, which is generated by the thrust of the air flow, can be predicted, namely the deflection angle is reduced, and is reduced to be lower than the micro-angle threshold value, after the prediction result is obtained, the moving speed of the luffing trolley can be increased under the help of the air flow at the t1 moment, as long as the moving speed of the trolley does not exceed the allowable speed and the deflection angle is not increased until the super-angle threshold value is reached, so that the lifting piece can be accelerated at the t2 moment and does not exceed the super-angle threshold value. It can be understood that if the airflow changes again during the speed increasing process of the trolley, the airflow is restored to be windless again, and the yaw angle exceeds the super-angle threshold value due to the speed increasing, the speed reducing process is immediately performed on the trolley until the yaw angle does not reach the super-angle threshold value at the expected exceeding moment when the yaw angle exceeds the super-angle threshold value without speed reducing.
According to the method, the surrounding environment of the materials which are being lifted on the tower crane is detected, particularly the air flow environment is detected, the parameter condition which possibly affects the lifting of the materials in the environment is obtained, meanwhile, the degree of the materials which are affected by the two conditions together is predicted based on the parameter condition and the current lifting stage of the materials, particularly the degree of the generated shaking and deflection, further, the damage which possibly affects the lifting process under the combined action of the environment and the lifting stage, particularly the damage caused by excessive friction of steel ropes, the material turning, the difficulty in falling to the ground due to the rotation of the material winding, the unstable structure of the tower crane and the like are predicted through the prediction result, and at the moment, the affected degree of the materials can be reduced to a safe interval by controlling the lifting parameters of the tower crane, particularly the parameters in the aspect of speed control before the damage occurs, namely the damage is avoided through the prediction and the parameter pre-adjustment, and the stability of the lifting tool and the materials is improved.
In one embodiment, the current yaw state obtaining module in step 200 specifically obtains the current yaw state of the lifting member through the following steps 210 to 240.
In step 210, the basic attitude acquiring unit acquires the basic attitude of the lifting member based on the current lifting stage in which the lifting member is located.
If the deflection state of the lifting member under the influence of the airflow is obtained, the windward area is obtained first, and the posture of the lifting member before the influence of the airflow, namely the basic posture, needs to be determined first. The basic attitude is the attitude of the lifting piece under the influence of no airflow, but the basic attitude is determined based on the current lifting stage because the lifting piece in different lifting stages has attitude change.
If the current lifting stage is a lifting stage or a descending stage or other lifting stages without moving amount in the horizontal direction, the basic posture of the lifting piece is a stable posture without any deflection; if the current lifting stage is a steering stage or a luffing stage or other lifting stages with movement in the horizontal direction, the basic posture of the lifting piece is a deflection posture which is only influenced by lifting, the deflection posture is known and can be obtained according to the pre-established corresponding relation between the lifting stage and the deflection posture, for example, the deflection state of the lifting piece under each lifting stage and under the condition of no air flow influence is recorded in advance, the mapping relation of stage-deflection is established, and the deflection posture of the lifting stage is obtained directly through the mapping relation.
And 220, establishing a sweeping plane perpendicular to the wind direction, sweeping the lifting piece in the basic posture through the sweeping plane model, and taking the maximum cross-sectional area obtained by sweeping as the wind area.
After the basic attitude is obtained, a model of the lifting member under the basic attitude can be established, and then a sweeping plane is utilized to start sweeping from one end of the lifting member model until the lifting member model completely passes through. Referring to fig. 2 and 3, the left side of fig. 2 is a perspective view of a square bin model 100 for loading materials during lifting, the structures such as a steel cable and a lifting hook are not shown in the drawings, the current basic posture is assumed to be a stable posture (no airflow), and the wind direction is shown by an arrow on the right side of fig. 2 and is parallel to a line connecting two vertexes on a body diagonal of the bin model 100. After the wind direction sensor detects the wind direction, a sweep plane perpendicular to the wind direction is obtained, fig. 2 is a section 120 taken by the sweep plane when the sweep plane sweeps to one position of the bin model 100, the section 120 passes through three edges of the bin model 100, which are adjacent to the edges of the edges 110, fig. 3 shows a section 130 with the largest area obtained after the bin model 100 is swept, and the section 130 is specifically a regular hexagon, and then the area of the section 130 is taken as the windward area.
And 230, the airflow thrust calculating unit obtains the thrust of the air flow received by the lifting piece based on the wind receiving speed and the wind receiving area.
After the windward area is obtained, the thrust force F born by the lifting piece can be calculated by combining the windward wind speed, and the thrust force F can be calculated by the following formula: f=ρ×v2×s, where ρ is the air density, v is the wind speed of the wind at the previous moment, and s is the wind area.
In step 240, the yaw state calculating unit obtains a yaw state based on the thrust force and the weight of the lifting member.
After the thrust is obtained, since the total weight of the trolley is known, it is obtained by summing the weight of the spreader itself and the weight of the material. Referring to fig. 4 and 5, fig. 4 shows a situation of the previous moment (time t 0), in which the bin model 100 is in a lifting stage and receives a pulling force indicated by an upward arrow in the drawing and also receives a wind force indicated by a leftward arrow, and fig. 5 shows a situation of the current moment (time t 1), in which the bin is pushed by a pushing force F of an air flow in a direction indicated by the leftward arrow, and receives a pulling force F of the wire rope 200 and a gravity G, and after the bin is subjected to an automatic stress analysis, a calculation formula about a deflection angle θ1 is obtained: tan (θ1) =f push/mg, where m is the total weight of the trolley, g is the gravitational acceleration, and the yaw direction is determined by the direction of the resultant force, thus obtaining the current yaw state. Since the tower crane is in the lifting stage, the horizontal force applied by the tower crane is not received, and therefore the yaw direction is determined only by the wind direction and is determined to be the same as the wind direction.
It will be appreciated that it is also possible that the trolley is affected by the air flow during the lifting phase when it is subjected to horizontal forces, or that the trolley is subjected to horizontal forces when it is continuously affected by the air flow, in both cases the trolley is subjected to horizontal tension of the wire rope in addition to the air flow thrust, but the force analysis and the yaw state of the trolley are obtained in the same way, except that the forces involved in the force analysis differ in magnitude and direction.
In one embodiment, the future yaw state prediction module in step 300 predicts the yaw state of the trolley based on the current change of the airflow condition and the phase switching condition of the trolley phase by specifically using the following steps 310 to 330.
In step 310, the information obtaining unit obtains the wind direction and wind speed after the airflow condition changes, and obtains the phase switching condition after a certain time, where the phase switching condition includes no need to start switching, about to start switching and switching.
After the airflow conditions change, the wind direction may change, for example, from one side of the lifting member to the other side of the lifting member, and may be from no wind to no wind or from no wind to no wind, and the wind direction may be from large to small to large, and from no speed to speed or from speed to no speed.
In the three cases of the stage switching conditions, the fact that switching is not required to be started means that switching is just completed currently or the distance from the switching position is far, so that switching cannot occur within a certain time, for example, the target lifting height is 50 meters, only 10 meters are lifted currently, t1 time is required to reach 50 meters, and t1 is larger than the certain time t0; the switching is started when the distance from the switching position is short, for example, the target lifting height is 50 meters, the current lifting height is 47 meters, the position of 50 meters can be reached in the expected time of t2, and t2 is smaller than the certain time t0; the switching is the moment when the actuator of the previous lifting phase just stops moving and the actuator of the next lifting phase is not yet started. The switching is followed by a phase switching situation in which the switching need not be initiated, and the phase switching situation is cycled through these three situations until there is no next lifting phase.
And 320, the stress calculation unit obtains the thrust and the direction of the lifting piece under the changed wind receiving direction and wind receiving speed, and obtains the traction force and the direction of the lifting piece under the condition of stage switching after a certain time.
The calculation method of the thrust is the same as the calculation formula of the thrust in step 230, and is f=ρv2×s, except that v is the wind speed at the current moment.
The traction force is obtained by the parameters of the actuating mechanism such as power, moving speed, swing length and the like, can be obtained and recorded in advance by means of experiments and the like, and can be directly used as the traction force received by the lifting piece according to the recorded content when the method is implemented.
In step 330, the yaw state prediction unit predicts the yaw state of the lifting member based on the thrust force and the direction thereof and the traction force and the direction thereof.
The method of predicting the yaw state in this step is substantially the same as that of calculating the current yaw state in step 240, and is a stress analysis method, except that the data base in this step is the current airflow state instead of the previous airflow state, and the phase switching condition is adopted instead of the current phase state. By carrying out automatic stress analysis on thrust, traction, gravity and the like, the deflection angle theta is calculated, and the deflection direction is determined by the direction of the resultant force.
In one embodiment, when the yaw state prediction unit predicts the yaw state in step 330, the yaw state is further predicted based on a hoisting speed section where the actuator is located in the current hoisting stage, where the hoisting speed section includes an acceleration section, a uniform speed section, a deceleration section, and a stop section.
Each handling phase will typically include a start acceleration process, an intermediate constant velocity process, an end deceleration process, and a final stop process, and thus these four predetermined processes are referred to as an acceleration segment, a constant velocity segment, a deceleration segment, and a stop segment, respectively. Switching between different speed segments at the same swing stage can also have an effect on the yaw state, thus taking the speed variation into account for yaw state prediction. Specifically, the traction force received is different when the speed section is different, so that the traction force is related to the magnitude of the traction force, and the traction force can be obtained according to the speed section by the relation between the speed section and the magnitude of the traction force, which is established in advance.
It should be noted that the four speed segments and the phase switching situation are not completely related, so that the speed segments and the phase switching situation can be simultaneously taken as consideration factors of yaw prediction, for example, the front part of the acceleration segment, the constant speed segment and the deceleration segment can be corresponding to the start-up switching, and the rest part of the deceleration segment can be corresponding to the start-up switching.
In one embodiment, the method further comprises the following steps A1 to A3.
A1, an orientation change acquisition module acquires orientation change of image acquisition equipment according to a lifting route contained in a lifting task, wherein the image acquisition equipment is arranged on a lifting piece or a tower crane component and is used for carrying out image acquisition on the lifting piece.
Since the tower crane may be equipped with an image acquisition device such as a camera to monitor the condition of the trolley, for example, the crane is equipped with a camera on the hook and aligned with the connection between the trolley and the wire rope to monitor whether the connection between the wire rope and the trolley is stable. Since the handling path of the handling member is pre-arranged and the camera is usually directed towards the target position of the handling member, the orientation of the camera is known in advance from initial lifting to final placement, i.e. how the orientation changes during handling, which is known.
And step A2, a relative position acquisition module obtains the relative position between the light source and the image acquisition device based on the position of the light source in the environment.
The light source refers to a strong light source such as sun or searchlight, and the like, because the target position is in the center in the image collected by the camera, a large area of the image is left white, for example, the camera is aligned to a hanging ring at one vertex of the feed box, the upper half of the image is a background, namely a ground background, when the sun falls into a mountain or the searchlight exists on the ground, if the light source is directly irradiated into the image, the exposure of the camera is possibly caused, the image is darkened and difficult to identify, and even the photosensitive element of the camera is damaged. Therefore, in order to avoid this, it is necessary to obtain how the relative position between the light source and the image acquisition device changes by using the known characteristics of changing the orientation and the constant position of the light source during the lifting.
And A3, obtaining the predicted orientation of the image acquisition equipment in the orientation change based on the pre-adjusted deflection state of the lifting piece by the orientation adjusting module, and adjusting the orientation of the image acquisition equipment based on the predicted orientation and the relative position so as to avoid the direct orientation of the image acquisition equipment to the light source.
After predicting that the swing piece swings due to wind, although the swing piece is prevented from exceeding the super-angle threshold value through pre-adjustment, the swing state of the swing piece is changed after all, because the purpose of adjustment is only to not exceed the super-angle threshold value, but not to keep the swing angle unchanged all the time, so that the swing state (the swing angle and the swing direction) at the next moment after pre-adjustment is obtained first, then the orientation of the swing angle is added by combining the orientation of the camera in the current swing stage (namely the orientation of the current position in the change of the orientation), because the existence of the swing angle possibly causes the light source to enter the acquisition range of the camera, the orientation of the added swing angle is compared with the relative position in the step A2, and if the orientation of the swing angle added at the next moment is predicted to cause the light source to enter the acquisition range, the orientation of the camera is adjusted immediately, the position of the light source is avoided, and the reduction of image quality and the damage of hardware of the camera are avoided.
An embodiment of the material environment condition automatic identification and analysis system for an intelligent tower crane disclosed in the present application is described in detail below with reference to fig. 6. The embodiment is a system for implementing the embodiment of the automatic identification and analysis method for the environmental conditions of materials.
As shown in fig. 6, the system disclosed in this embodiment mainly includes:
the air flow condition acquisition module is used for controlling the air flow condition acquisition equipment to acquire the air flow condition near the lifting piece in real time in the lifting process of the lifting piece, wherein the air flow condition comprises a wind receiving direction and a wind receiving speed;
the current deflection state acquisition module is used for acquiring the current deflection state of the lifting piece based on the windward area of the lifting piece, the airflow condition at the last moment and the current lifting stage, wherein the deflection state comprises a deflection direction and a deflection angle;
the future deflection state prediction module is used for predicting the deflection state of the lifting piece based on the current change condition of the airflow condition and the phase switching condition of the lifting phase;
and the execution parameter adjustment module is used for pre-adjusting the execution parameters of the execution mechanism related to the expected movement of the lifting piece in the current lifting stage to a state that the predicted deflection angle is lower than the super-angle threshold value when the predicted deflection angle reaches the super-angle threshold value, and pre-adjusting the execution parameters of the execution mechanism related to the expected movement of the lifting piece in the current lifting stage within a parameter permission range when the predicted deflection angle is not greater than the micro-angle threshold value.
In one embodiment, the current yaw state acquisition module includes:
the basic attitude acquisition unit is used for acquiring the basic attitude of the lifting piece based on the current lifting stage of the lifting piece;
the wind-receiving area acquisition unit is used for establishing a sweeping plane perpendicular to the wind-receiving direction, sweeping the lifting piece in the basic attitude through the sweeping plane, and taking the maximum cross-sectional area obtained by the sweeping as the wind-receiving area;
the airflow thrust calculating unit is used for obtaining the thrust of the air flow received by the lifting piece based on the wind receiving speed and the wind receiving area;
and the deflection state calculating unit is used for obtaining a deflection state based on the thrust and the weight of the lifting piece.
In one embodiment, the future yaw state prediction module includes:
the information acquisition unit is used for acquiring the wind receiving direction and the wind receiving speed after the airflow condition changes and acquiring the phase switching condition after a certain time, wherein the phase switching condition comprises no need of starting switching, about to start switching and in-switching;
the stress calculation unit is used for obtaining the thrust and the direction of the lifting piece under the changed wind receiving direction and wind receiving speed, and obtaining the traction force and the direction of the lifting piece under the condition of stage switching after a certain time;
And the deflection state prediction unit is used for predicting the deflection state of the lifting piece based on the thrust and the direction thereof and the traction and the direction thereof.
In one embodiment, when the deflection state prediction unit predicts the deflection state, the deflection state prediction unit further predicts the deflection state based on a lifting speed section where the actuating mechanism is located in the current lifting stage, where the lifting speed section includes an acceleration section, a uniform speed section, a deceleration section and a stop section.
In one embodiment, the system further comprises:
the image acquisition equipment is arranged on the lifting piece or the tower crane component and is used for acquiring images of the lifting piece;
the direction change acquisition module is used for acquiring the direction change of the image acquisition equipment according to the lifting route contained in the lifting task;
the relative position acquisition module is used for acquiring the relative position between the light source and the image acquisition equipment based on the position of the light source in the environment;
and the orientation adjusting module is used for obtaining the predicted orientation of the image acquisition equipment in the orientation change based on the pre-adjusted deflection state of the lifting piece, and adjusting the orientation of the image acquisition equipment based on the predicted orientation and the relative position so as to avoid the direct orientation of the image acquisition equipment to the light source.
In the description of the present application, it should be understood that the terms "center," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, are merely used for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of the present application.
The division of modules, units or components herein is merely a division of logic functions, and other manners of division are possible in actual implementation, e.g., multiple modules and/or units may be combined or integrated in another system. The modules, units, and components illustrated as separate components may or may not be physically separate. The components displayed as cells may be physical cells or may not be physical cells, i.e., may be located in a specific place or may be distributed in grid cells. And therefore some or all of the elements may be selected according to actual needs to implement the solution of the embodiment.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions easily conceivable by those skilled in the art within the technical scope of the present application should be covered in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (6)
1. The automatic material environment condition identifying and analyzing method for the intelligent tower crane is characterized by comprising the following steps of:
acquiring the air flow condition near the lifting piece in real time in the lifting process of the lifting piece, wherein the air flow condition comprises the wind receiving direction and the wind receiving speed;
obtaining a current deflection state of the lifting piece based on the windward area of the lifting piece, the airflow condition at the previous moment and the current lifting stage, wherein the deflection state comprises a deflection direction and a deflection angle;
predicting the deflection state of the lifting piece based on the current change condition of the airflow condition and the stage switching condition of the lifting stage;
pre-downregulating the execution parameters of the execution mechanism in the current lifting stage relative to the expected movement of the lifting piece to the extent that the predicted deflection angle is lower than the super-angle threshold value when the predicted deflection angle reaches the super-angle threshold value, and pre-upregulating the execution parameters of the execution mechanism in the current lifting stage relative to the expected movement of the lifting piece within the parameter permission range when the predicted deflection angle is not greater than the micro-angle threshold value,
The current deflection state of the lifting piece is obtained based on the windward area of the lifting piece, the airflow condition at the last moment and the current lifting stage, and the method comprises the following steps:
acquiring a basic attitude of the lifting piece based on the current lifting stage of the lifting piece;
establishing a sweeping plane perpendicular to the wind direction, sweeping the lifting piece in the basic attitude through the sweeping plane, and taking the maximum cross-sectional area obtained by the sweeping as the wind area;
obtaining the thrust of the air flow received by the lifting piece based on the wind speed and the wind area; obtaining a yaw state based on the thrust and the weight of the trolley;
the predicting the deflection state of the lifting piece based on the current change condition of the air flow condition and the phase switching condition of the lifting phase comprises the following steps:
acquiring the wind receiving direction and wind receiving speed after the airflow condition changes, and acquiring the stage switching condition after a certain time, wherein the stage switching condition comprises no need of starting switching, switching to be started and switching in progress;
obtaining the thrust and the direction of the lifting piece under the changed wind receiving direction and wind receiving speed, and obtaining the traction force and the direction of the lifting piece under the condition of stage switching after a certain time;
And predicting the deflection state of the lifting piece based on the thrust and the direction thereof and the traction and the direction thereof.
2. The method for automatically identifying and analyzing the environmental condition of the material according to claim 1, wherein when the predicting of the deflection state is performed, the predicting of the deflection state is further performed based on a lifting speed section in which an actuator is located in a current lifting stage, wherein the lifting speed section comprises an acceleration section, a uniform speed section, a deceleration section and a stop section.
3. The method for automatically identifying and analyzing environmental conditions of materials according to claim 1, further comprising:
obtaining the orientation change of the image acquisition equipment according to a lifting route contained in a lifting task, wherein the image acquisition equipment is arranged on a lifting piece or a tower crane component and is used for acquiring images of the lifting piece;
obtaining a relative position between the light source and the image acquisition device based on the position of the light source in the environment;
and obtaining the predicted orientation of the image acquisition equipment in the orientation change based on the pre-adjusted deflection state of the lifting piece, and adjusting the orientation of the image acquisition equipment based on the predicted orientation and the relative position so as to avoid the direct orientation of the image acquisition equipment to the light source.
4. A material environmental condition automatic identification analysis system for intelligent tower crane, characterized by comprising:
the air flow condition acquisition module is used for controlling the air flow condition acquisition equipment to acquire the air flow condition near the lifting piece in real time in the lifting process of the lifting piece, wherein the air flow condition comprises a wind receiving direction and a wind receiving speed;
the current deflection state acquisition module is used for acquiring the current deflection state of the lifting piece based on the windward area of the lifting piece, the airflow condition at the last moment and the current lifting stage, wherein the deflection state comprises a deflection direction and a deflection angle;
the future deflection state prediction module is used for predicting the deflection state of the lifting piece based on the current change condition of the airflow condition and the phase switching condition of the lifting phase;
an execution parameter adjustment module for pre-adjusting the execution parameter of the execution mechanism related to the expected motion of the lifting piece in the current lifting stage to a state that the predicted swing angle is lower than the super-angle threshold value when the predicted swing angle reaches the super-angle threshold value, and pre-adjusting the execution parameter of the execution mechanism related to the expected motion of the lifting piece in the current lifting stage within a parameter permission range when the predicted swing angle is not greater than the micro-angle threshold value,
The current yaw state acquisition module comprises:
the basic attitude acquisition unit is used for acquiring the basic attitude of the lifting piece based on the current lifting stage of the lifting piece;
the wind-receiving area acquisition unit is used for establishing a sweeping plane perpendicular to the wind-receiving direction, sweeping the lifting piece in the basic attitude through the sweeping plane, and taking the maximum cross-sectional area obtained by the sweeping as the wind-receiving area;
the airflow thrust calculating unit is used for obtaining the thrust of the air flow received by the lifting piece based on the wind receiving speed and the wind receiving area;
the deflection state calculating unit is used for obtaining a deflection state based on the thrust and the weight of the lifting piece;
an information acquisition unit for acquiring the wind direction and wind speed after the change of the airflow condition and acquiring the stage switching condition after a certain time,
the phase switching conditions include no need to initiate a switch, about to initiate a switch and being switched;
the stress calculation unit is used for obtaining the thrust and the direction of the lifting piece under the changed wind receiving direction and wind receiving speed, and obtaining the traction force and the direction of the lifting piece under the condition of stage switching after a certain time;
And the deflection state prediction unit is used for predicting the deflection state of the lifting piece based on the thrust and the direction thereof and the traction and the direction thereof.
5. The automatic material environment condition recognition analysis system according to claim 4, wherein the deflection state prediction unit predicts the deflection state based on a lifting speed section of the actuator in a current lifting stage, and the lifting speed section comprises an acceleration section, a uniform speed section, a deceleration section and a stop section.
6. The automated material environmental condition identification and analysis system of claim 5, further comprising:
the image acquisition equipment is arranged on the lifting piece or the tower crane component and is used for acquiring images of the lifting piece;
the direction change acquisition module is used for acquiring the direction change of the image acquisition equipment according to the lifting route contained in the lifting task;
the relative position acquisition module is used for acquiring the relative position between the light source and the image acquisition equipment based on the position of the light source in the environment;
and the orientation adjusting module is used for obtaining the predicted orientation of the image acquisition equipment in the orientation change based on the pre-adjusted deflection state of the lifting piece, and adjusting the orientation of the image acquisition equipment based on the predicted orientation and the relative position so as to avoid the direct orientation of the image acquisition equipment to the light source.
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| CN118833734B (en) * | 2024-08-28 | 2025-03-21 | 湖北三思科技股份有限公司 | A crane safety monitoring method and system based on wireless communication |
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