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CN-117466157-B - Self-adaptive speed reduction method, system and controller for tower crane travelling mechanism

CN117466157BCN 117466157 BCN117466157 BCN 117466157BCN-117466157-B

Abstract

The application discloses a self-adaptive speed reduction method, a self-adaptive speed reduction system and a self-adaptive speed reduction controller for a tower crane travelling mechanism. The method comprises the steps of receiving the position of an obstacle sent by a distance measuring device in real time, determining a first self-adaptive speed when the position of the obstacle is between the current position of a tower crane travelling mechanism and a deceleration limit, determining the smaller speed of the first self-adaptive speed and a given speed of a travelling operation table as a first maximum allowable speed, controlling the tower crane to operate at a speed not greater than the first maximum allowable speed, determining a second self-adaptive speed when the position of the obstacle is between the deceleration limit and a stop limit, determining the smallest speed of the second self-adaptive speed, the deceleration limit and the given speed as a second maximum allowable speed, and controlling the tower crane to operate at a speed not greater than the second maximum allowable speed. According to the application, the self-adaptive speed and the maximum allowable speed of the obstacle at different positions are determined, so that the stability and the accuracy of the speed reduction of the tower crane travelling mechanism when the obstacle is encountered can be improved.

Inventors

  • WANG FENG
  • LIU PAN

Assignees

  • 中联重科建筑起重机械有限责任公司

Dates

Publication Date
20260508
Application Date
20230913

Claims (10)

  1. 1. A method of adaptively decelerating a tower crane travel mechanism, applied to a controller, the controller in communication with a ranging device, the method comprising: receiving the position of an obstacle and the distance between the obstacle and the tower crane travelling mechanism, wherein the position of the obstacle and the distance between the obstacle and the tower crane travelling mechanism are sent in real time by the distance measuring device; determining a first self-adaptive speed under the condition that the position of the obstacle is between the current position of the tower crane travelling mechanism and the speed reduction limit; determining the smaller one of the first adaptive speed and the given speed of the walking operation table as a first maximum allowable speed; controlling the tower crane travelling mechanism to operate at a speed not greater than the first maximum allowable speed; Determining a second adaptive speed if the position of the obstacle is between the deceleration limit and the stop limit; Determining the smallest one of the second self-adaptive speed, the deceleration limiting speed and the given speed of the walking operation table as the second maximum allowable speed; And controlling the tower crane travelling mechanism to operate at a speed not greater than the second maximum allowable speed.
  2. 2. The method of claim 1, wherein the first adaptive speed and the second adaptive speed each satisfy formula (1): ;(1) Wherein, the For either the first adaptive speed or the second adaptive speed, For the distance between the obstacle and the tower crane travelling mechanism, In order for the time to be stopped, Is the delay time.
  3. 3. The method according to claim 2, wherein the method further comprises: acquiring the deceleration time of the tower crane travelling mechanism, the rated speed of the motor, the communication delay time and the program execution time; determining the stop time of the tower crane travelling mechanism according to the deceleration time, the current speed and the rated speed; and determining the delay time according to the communication delay time and the program execution time.
  4. 4. The method according to claim 1, wherein the method further comprises: And under the condition that the distance between the obstacle and the tower crane travelling mechanism is larger than the distance between the stop limit and the tower crane travelling mechanism or the condition that the distance measuring device does not detect the obstacle, controlling the tower crane travelling mechanism to operate to the stop limit according to the speed reduction limit limiting speed.
  5. 5. The method of claim 1, wherein the controller is further in communication with an alarm device, the method further comprising: And under the condition that the distance between the obstacle and the tower crane travelling mechanism is smaller than a preset distance, sending an alarm instruction to the alarm device so as to control the alarm device to carry out alarm prompt.
  6. 6. The method according to claim 1, wherein the method further comprises: judging whether the tower crane travelling mechanism triggers the stop limit; and under the condition that the tower crane travelling mechanism triggers the stop limit, controlling the tower crane travelling mechanism to stop running.
  7. 7. A controller for a vehicle, which is configured to control a controller, characterized by comprising the following steps: A memory configured to store instructions, and A processor configured to invoke the instructions from the memory and to enable, when executing the instructions, the method of adaptive deceleration of a tower crane travelling mechanism according to any one of claims 1 to 6.
  8. 8. A system for adaptive deceleration of a tower crane travel mechanism, comprising: The controller according to claim 7; A ranging device in communication with the controller configured to measure a position of an obstacle and a distance of the obstacle from a tower crane travel mechanism.
  9. 9. The system of claim 8, further comprising an alarm device in communication with the controller, the alarm device comprising: A light alarm unit configured to give a light alarm prompt according to the alarm instruction of the controller, and/or An audible alarm unit configured to perform audible alarm prompt according to an alarm instruction of the controller, and/or And the display alarm unit is configured to display an alarm prompt according to an alarm instruction of the controller.
  10. 10. A machine-readable storage medium having stored thereon instructions for causing a machine to perform a method of adaptively decelerating a tower crane travelling mechanism according to any one of claims 1 to 6.

Description

Self-adaptive speed reduction method, system and controller for tower crane travelling mechanism Technical Field The application relates to the technical field of building machinery, in particular to a self-adaptive speed reduction method, a self-adaptive speed reduction system and a self-adaptive speed reduction controller for a tower crane travelling mechanism. Background The walking process of the tower crane is an important link of the walking tower crane, in particular to hanging and walking. When the tower crane walks, special persons are required to command beside the ground track, so that dangerous accidents caused by the passing of obstacles or pedestrians are prevented. At present, the walking type tower crane in the market does not have a self-adaptive deceleration control method for the obstacle meeting of the walking mechanism of the tower crane, and only runs at a low speed when the speed is reduced and limited by touching, and stops running when the speed is stopped and limited by touching. The method for controlling the obstacle without self-adaptive deceleration during walking has high requirements on ground commanders, strong dependence and high walking risk. Therefore, the existing technical scheme has the problems that the self-adaptive deceleration control cannot be performed when the tower crane travelling mechanism encounters an obstacle, and the deceleration is unstable and inaccurate. Disclosure of Invention The embodiment of the application aims to provide a self-adaptive speed reduction method, a self-adaptive speed reduction system and a self-adaptive speed reduction controller for a tower crane travelling mechanism, which are used for solving the problems that the self-adaptive speed reduction control cannot be carried out and the speed reduction is unstable and inaccurate when the tower crane travelling mechanism encounters an obstacle in the prior art. In order to achieve the above object, a first aspect of the present application provides a method for adaptively decelerating a crane travelling mechanism, applied to a controller, the controller being in communication with a ranging device, the method comprising: receiving the position of an obstacle and the distance between the obstacle and a tower crane travelling mechanism, which are sent in real time by a distance measuring device; Determining a first self-adaptive speed under the condition that the position of the obstacle is between the current position of the tower crane travelling mechanism and the speed reduction limit; Determining the smaller of the first adaptive speed and the given speed of the walking operation table as a first maximum allowable speed; Controlling the tower crane travelling mechanism to operate at a speed not greater than a first maximum allowable speed; determining a second adaptive speed under the condition that the position of the obstacle is between the deceleration limit and the stop limit; Determining the smallest one of the second self-adaptive speed, the deceleration limiting speed and the given speed of the walking operation table as the second maximum allowable speed; and controlling the tower crane travelling mechanism to operate at a speed not greater than the second maximum allowable speed. In the embodiment of the present application, the first adaptive speed and the second adaptive speed both satisfy the formula (1): ;(1) Wherein, the For either the first adaptive speed or the second adaptive speed,For the distance between the obstacle and the tower crane travelling mechanism,In order for the time to be stopped,Is the delay time. In an embodiment of the present application, the method further includes: Acquiring the deceleration time of a tower crane travelling mechanism, the rated speed of a motor, the communication delay time and the program execution time; determining the stop time of the tower crane travelling mechanism according to the deceleration time, the current speed and the rated speed; and determining the delay time according to the communication delay time and the program execution time. In an embodiment of the present application, the method further includes: And under the condition that the distance between the obstacle and the tower crane travelling mechanism is larger than the distance between the stop limit and the tower crane travelling mechanism or the condition that the distance measuring device does not detect the obstacle, controlling the tower crane travelling mechanism to run to the stop limit according to the speed reduction limit limiting speed. In an embodiment of the present application, the controller is further in communication with an alarm device, the method further comprising: And under the condition that the distance between the obstacle and the tower crane travelling mechanism is smaller than the preset distance, sending an alarm instruction to the alarm device so as to control the alarm device to carry out alarm prompt. In the embodiment of the a