阅读说明：本技术 一种用于悬臂吊的自动控制方法及系统 (Automatic control method and system for cantilever crane ) 是由 施明杰 钱毅强 张英锋 刘向东 程欢 陆妍 于 2021-07-30 设计创作，主要内容包括：本发明公开了一种用于悬臂吊的自动控制方法及系统,该方法包括：接收目标作业地点的位置信息和水深信息；根据位置信息分别确定大车机构的第一目标位置和小车机构的第二目标位置,以及,根据水深信息确定起升机构的目标降落位置；控制大车机构移动,在大车机构的移动过程中,实时获取大车机构的实际位置,以判断大车机构是否到达至第一目标位置；当大车机构到达第一目标位置时,控制小车机构移动至第二目标位置；待小车机构移动至第二目标位置后,控制起升机构下降至目标降落位置进行抓料作业。采用该方法,在用户设置参数后,悬臂吊系统可以根据用户设定的参数进行全自动作业,降低对操作人员的技术水平要求,减少人工劳动强度。(The invention discloses an automatic control method and system for a cantilever crane, wherein the method comprises the following steps: receiving position information and water depth information of a target operation site; respectively determining a first target position of the cart mechanism and a second target position of the trolley mechanism according to the position information, and determining a target landing position of the hoisting mechanism according to the water depth information; controlling the cart mechanism to move, and acquiring the actual position of the cart mechanism in real time in the moving process of the cart mechanism to judge whether the cart mechanism reaches a first target position; when the cart mechanism reaches the first target position, the trolley mechanism is controlled to move to a second target position; and after the trolley mechanism moves to the second target position, controlling the lifting mechanism to descend to the target descending position to carry out material grabbing operation. By adopting the method, after the user sets the parameters, the cantilever crane system can carry out full-automatic operation according to the parameters set by the user, the technical level requirement on operators is reduced, and the labor intensity of workers is reduced.)

1. An automatic control method for a cantilever crane, wherein the cantilever crane comprises a cart mechanism, a trolley mechanism and a hoisting mechanism, and is characterized in that the automatic control method comprises the following steps:

receiving position information and water depth information of a target operation site;

respectively determining a first target position of the cart mechanism and a second target position of the trolley mechanism according to the position information, and determining a target landing position of the hoisting mechanism according to the water depth information;

controlling the cart mechanism to move, and acquiring the actual position of the cart mechanism in real time in the moving process of the cart mechanism so as to judge whether the cart mechanism reaches the first target position;

when the cart mechanism reaches the first target position, the cart mechanism is controlled to move to the second target position;

and after the trolley mechanism moves to the second target position, controlling the lifting mechanism to descend to the target landing position to carry out material grabbing operation.

2. The automatic control method according to claim 1, wherein a pulse encoder and an absolute value encoder are arranged on the cart mechanism, the pulse encoder is connected with a motor of the cart mechanism and a pulse encoder card of a cart frequency converter connected with the motor of the cart mechanism, the pulse encoder is used for acquiring the running speed of the motor of the cart mechanism, and the absolute value encoder is connected with a rotating wheel on the sea and land side of the cart mechanism and is used for acquiring the position information of the cart mechanism; the acquiring of the actual position of the cart mechanism comprises:

the pulse encoder detects the running speed of a motor of the cart mechanism, and the position information of the cart mechanism is calculated according to the running speed detected by the pulse encoder and serves as first position information;

the absolute value encoder detects position information of the cart mechanism as second position information;

and calculating the distance between the first position information and the second position information, comparing the distance with a first preset value, and if the distance is smaller than or equal to the first preset value, taking the second position information as the actual position of the cart mechanism.

3. The automatic control method according to claim 1, further comprising: and in the moving process of the cart mechanism, monitoring whether an obstacle exists on a running track of the cart mechanism in real time, and if so, controlling the cart mechanism to decelerate or stop running.

4. The automatic control method according to claim 3, characterized in that the cart mechanism is further provided with a laser limiting device and a radar limiting device which are used for detecting whether an obstacle exists on a running track of the cart mechanism; when at least one of the laser limiting device and the radar limiting device detects an obstacle, the obstacle is considered to be present.

5. The automatic control method according to claim 1, wherein the trolley mechanism is provided with a pulse encoder, an absolute value encoder and a laser positioner; the controlling the cart mechanism to move to the second target position comprises:

controlling a trolley mechanism to move to the second target position, and monitoring the position information of the trolley mechanism in real time by using the pulse encoder, the absolute value encoder and the laser positioner respectively in the moving process of the trolley mechanism;

comparing the position information of the trolley mechanism monitored by the pulse encoder, the absolute value encoder and the laser positioner respectively, and if the distances among the position information monitored by the pulse encoder, the absolute value encoder and the laser positioner are smaller than or equal to a second preset value, taking the position information monitored by the absolute value encoder as the actual position of the trolley mechanism;

and comparing the actual position of the trolley mechanism with the second target position, judging that the trolley mechanism runs to the second target position when the distance between the actual position of the trolley mechanism and the second target position is less than or equal to a preset distance, and controlling the trolley mechanism to stop running.

6. The automatic control method according to claim 5, further comprising: and in the running process of the trolley mechanism, judging whether the trolley mechanism reaches a preset position, and if the trolley mechanism reaches the preset position, controlling the trolley mechanism to run at a reduced speed.

7. The automatic control method according to claim 1, further comprising:

after the material grabbing operation is finished, controlling the lifting mechanism to ascend from a sea side material grabbing target position to an upper stop position, and detecting the position of the lifting mechanism in real time in the ascending process of the lifting mechanism;

after the lifting mechanism reaches a stop position, controlling the trolley mechanism to move towards a discharging land side target until the trolley mechanism moves above a discharging opening, and then controlling the trolley mechanism to stop moving, wherein the position of the trolley mechanism is detected in real time in the running process of the trolley mechanism;

after the trolley mechanism reaches a discharging position, controlling the lifting mechanism to descend to a discharging land side target position, and detecting the position of the lifting mechanism in real time in the descending process of the lifting mechanism;

and after the unloading operation is finished, controlling the lifting mechanism to ascend from the unloading land side target position to the upper stop position.

8. The automatic control method according to claim 1, further comprising: and video information of the cart mechanism, the trolley mechanism and the lifting mechanism in the operation process is collected and stored in real time.

9. An automatic control system for a cantilever crane, the suspension arm comprising a cart mechanism, a trolley mechanism and a hoisting mechanism, the automatic control system comprising:

the control equipment is used for controlling the operation of the cart mechanism, the trolley mechanism and the lifting mechanism;

the first absolute value encoder is arranged at a rotating wheel on the sea-land side of the cart mechanism and connected with control equipment, and is used for detecting the position information of the cart mechanism and outputting the position information of the cart mechanism to the control equipment;

the second absolute value encoder is arranged on the reel side of the trolley mechanism and connected with the control equipment, and is used for detecting the position information of the trolley mechanism and outputting the position information of the trolley mechanism to the control equipment;

the third absolute value encoder is arranged on the winding drum side of the hoisting mechanism and connected with the control equipment, and is used for detecting the position information of the hoisting mechanism and outputting the position information of the hoisting mechanism to the control equipment;

the first pulse encoder is respectively connected with a motor of the cart mechanism and a pulse encoder card of a cart frequency converter connected with the motor of the cart mechanism, the cart frequency converter is also connected with the control equipment, and the first pulse encoder is used for detecting the motor running rotating speed information of the cart mechanism and outputting the motor rotating speed information to the control equipment through the cart frequency converter so as to obtain the position information of the cart mechanism;

the second pulse encoder is respectively connected with the motor of the trolley mechanism and a pulse encoder card of a trolley frequency converter connected to the motor of the trolley mechanism, the trolley frequency converter is also connected with the control equipment, and the second pulse encoder is used for detecting the running rotating speed information of the motor of the trolley mechanism and outputting the information to the control equipment through the trolley frequency converter so as to obtain the position information of the trolley mechanism;

and the third pulse encoder is respectively connected with the motor of the lifting mechanism and a pulse encoder card of a lifting frequency converter connected with the motor of the lifting mechanism, the lifting frequency converter is also connected with the control equipment, and the third pulse encoder is used for detecting the motor running speed information of the lifting mechanism and outputting the information to the control equipment through the lifting frequency converter so as to acquire the position information of the lifting mechanism.

10. The automatic control system of claim 9, further comprising: and the limiting equipment is arranged on the cart mechanism, the lifting mechanism and the trolley mechanism respectively, and is connected with the control equipment.

11. The automatic control system of claim 10, wherein the limit devices include a cart mechanism limit device and a cam limit device, wherein the cart mechanism limit device is configured to detect whether an obstacle exists on a running track of the cart mechanism, and when the cart mechanism limit device detects the obstacle, output a signal to the control device; the cam limiting equipment is respectively arranged on the lifting mechanism and the trolley mechanism, and is connected with the control equipment, and is used for respectively detecting the speeds of the lifting mechanism and the trolley mechanism and outputting the speeds to the control equipment.

12. The automated control system of claim 11, wherein the cart mechanism limit device comprises a radar limit stop and a laser limit stop, each connected to the control device.

13. The automatic control system according to claim 10, wherein the control device includes: the CPU processing module is respectively connected with the communication module, the analog input module and the input/output module; the first absolute value encoder, the second absolute value encoder, the third absolute value encoder, the cart frequency converter, the trolley frequency converter and the lifting frequency converter are all connected with the communication module; the limiting equipment is connected with the input and output module.

14. The automatic control system of claim 9, further comprising: and the video acquisition equipment is arranged on the cart mechanism, the trolley mechanism and the lifting mechanism respectively and is connected with the control equipment.

15. The automated control system of claim 9, wherein said carriage mechanism further comprises a laser positioner coupled to said control device.

Technical Field

The invention relates to the technical field of cranes, in particular to an automatic control method and system for a cantilever crane.

Background

At the present stage, the grab bucket for cleaning the dirt of the domestic large water conservancy system is required to work for 24 hours in the flood season, because the dirt removing openings are limited in size and numerous, when the grab bucket enters water, manpower is required to go to each water inlet continuously to assist a driver to correct the position, the working time in the whole flood season is long, the working intensity is high, and the safety cannot be fully guaranteed when the grab bucket works under a lifting arm for a long time. With the rise of labor cost and the requirement of domestic automation equipment, the original cantilever crane needing manual intervention and command cannot meet the requirement of users.

Disclosure of Invention

The invention aims to solve the technical problems of high labor intensity of operators and larger potential safety hazard caused by manual intervention required by a cantilever crane in the prior art. The invention provides an automatic control method for a cantilever crane, which can realize full-automatic control of the cantilever crane without manual intervention, greatly reduce labor intensity and reduce the technical level requirement of operators.

Based on this, the embodiment of the invention discloses an automatic control method for a cantilever crane, wherein the cantilever crane comprises a cart mechanism, a trolley mechanism and a hoisting mechanism, and is characterized in that the automatic control method comprises the following steps:

receiving position information and water depth information of a target operation site;

respectively determining a first target position of the cart mechanism and a second target position of the trolley mechanism according to the position information, and determining a target landing position of the hoisting mechanism according to the water depth information;

controlling the cart mechanism to move, and acquiring the actual position of the cart mechanism in real time in the moving process of the cart mechanism to judge whether the cart mechanism reaches a first target position;

when the cart mechanism reaches the first target position, the trolley mechanism is controlled to move to a second target position;

and after the trolley mechanism moves to the second target position, controlling the lifting mechanism to descend to the target descending position to carry out material grabbing operation.

By adopting the technical scheme, after the user sets the parameters, the cantilever crane system can carry out full-automatic operation according to the parameters set by the user, the technical level requirement on operators is reduced, the work-on-duty work of auxiliary workers can be greatly reduced, and the safety accidents are avoided because the manual work is not needed to be carried out under the lifting arm during the full-automatic operation.

According to another embodiment of the invention, the cart mechanism is provided with a pulse encoder and an absolute value encoder, the pulse encoder is connected with a motor of the cart mechanism and a pulse encoder card of a cart frequency converter connected to the motor of the cart mechanism, the pulse encoder is used for acquiring the running speed of the motor of the cart mechanism, and the absolute value encoder is connected with a rotating wheel on the sea and land side of the cart mechanism and is used for acquiring the position information of the cart mechanism; acquiring the actual position of the cart mechanism comprises:

the pulse encoder detects the running speed of a motor of the cart mechanism, and the position information of the cart mechanism is calculated according to the running speed detected by the pulse encoder and serves as first position information;

the absolute value encoder detects position information of the cart mechanism as second position information;

and calculating the distance between the first position information and the second position information, comparing the distance with a first preset value, and if the distance is smaller than or equal to the first preset value, taking the second position information as the actual position of the cart mechanism.

According to another embodiment of the present invention, the automatic control method further comprises: and in the moving process of the cart mechanism, monitoring whether the barrier exists on the running track of the cart mechanism in real time, and if so, controlling the cart mechanism to decelerate or stop running.

According to another specific embodiment of the invention, the cart mechanism is further provided with a laser limiting device and a radar limiting device which are used for detecting whether an obstacle exists on the running track of the cart mechanism; when at least one of the laser limit device and the radar limit device detects an obstacle, the obstacle is considered to be present.

According to another specific embodiment of the invention, the trolley mechanism is provided with a pulse encoder, an absolute value encoder and a laser positioner; controlling the cart mechanism to move to the second target position comprises:

controlling the trolley mechanism to move to a second target position, and monitoring the position information of the trolley mechanism in real time by using a pulse encoder, an absolute value encoder and a laser positioner respectively in the moving process of the trolley mechanism;

comparing the position information of the trolley mechanism monitored by the pulse encoder, the absolute value encoder and the laser positioner respectively, and if the distances among the position information monitored by the pulse encoder, the absolute value encoder and the laser positioner are smaller than or equal to a second preset value, taking the position information monitored by the absolute value encoder as the actual position of the trolley mechanism;

and comparing the actual position of the trolley mechanism with the second target position, judging that the trolley mechanism runs to the second target position when the distance between the actual position of the trolley mechanism and the second target position is less than or equal to the preset distance, and controlling the trolley mechanism to stop running.

According to another embodiment of the present invention, the automatic control method further comprises: and in the running process of the trolley mechanism, judging whether the trolley mechanism reaches a preset position, and if the trolley mechanism reaches the preset position, controlling the trolley mechanism to run at a reduced speed.

According to another embodiment of the present invention, the automatic control method further comprises:

after the material grabbing operation is finished, controlling a lifting mechanism to ascend from a sea side material grabbing target position to an upper stop position, and detecting the position of the lifting mechanism in real time in the ascending process of the lifting mechanism;

after the lifting mechanism reaches the stop position, controlling the trolley mechanism to move towards the discharging land side target until the trolley mechanism moves above the discharging opening, and then controlling the trolley mechanism to stop moving, and detecting the position of the trolley mechanism in real time in the operation process of the trolley mechanism;

after the trolley mechanism reaches the unloading position, controlling the lifting mechanism to descend to the target position on the unloading land side, and detecting the position of the lifting mechanism in real time in the descending process of the lifting mechanism;

and after the unloading operation is finished, controlling the lifting mechanism to ascend from the unloading land side target position to the upper stop position.

According to another embodiment of the present invention, the automatic control method further comprises: and video information of the cart mechanism, the trolley mechanism and the hoisting mechanism in the running process is collected and stored in real time.

Correspondingly, the embodiment of the invention also discloses an automatic control system for the cantilever crane, the suspension arm comprises a cart mechanism, a trolley mechanism and a hoisting mechanism, and the automatic control system comprises:

the control equipment is used for controlling the operation of the cart mechanism, the trolley mechanism and the hoisting mechanism;

the first absolute value encoder is arranged at the rotating wheel on the sea-land side of the cart mechanism and connected with the control equipment, and is used for detecting the position information of the cart mechanism and outputting the position information of the cart mechanism to the control equipment;

the second absolute value encoder is arranged on the reel side of the trolley mechanism and connected with the control equipment, and is used for detecting the position information of the trolley mechanism and outputting the position information of the trolley mechanism to the control equipment;

the third absolute value encoder is arranged on the winding drum side of the hoisting mechanism and connected with the control equipment, and is used for detecting the position information of the hoisting mechanism and outputting the position information of the hoisting mechanism to the control equipment;

the first pulse encoder is respectively connected with a motor of the cart mechanism and a pulse encoder card of a cart frequency converter connected with the motor of the cart mechanism, the cart frequency converter is also connected with the control equipment, and the first pulse encoder is used for detecting the motor running rotating speed information of the cart mechanism and outputting the motor rotating speed information to the control equipment through the cart frequency converter so as to obtain the position information of the cart mechanism;

the second pulse encoder is respectively connected with the motor of the trolley mechanism and a pulse encoder card of a trolley frequency converter connected to the motor of the trolley mechanism, the trolley frequency converter is also connected with the control equipment, and the second pulse encoder is used for detecting the running rotating speed information of the motor of the trolley mechanism and outputting the information to the control equipment through the trolley frequency converter so as to obtain the position information of the trolley mechanism;

and the third pulse encoder is respectively connected with the motor of the lifting mechanism and a pulse encoder card of a lifting frequency converter connected with the motor of the lifting mechanism, the lifting frequency converter is also connected with the control equipment, and the third pulse encoder is used for detecting the motor operation rotating speed information of the lifting mechanism and outputting the information to the control equipment through the lifting frequency converter so as to acquire the position information of the lifting mechanism.

According to another embodiment of the present invention, the automatic control system further comprises: and the limiting equipment is respectively arranged on the cart mechanism, the lifting mechanism and the trolley mechanism and is connected with the control equipment.

According to another specific embodiment of the invention, the limiting device comprises a cart mechanism limiting device and a cam limiting device, wherein the cart mechanism limiting device is used for detecting whether an obstacle exists on a running track of the cart mechanism, and when the cart mechanism limiting device detects the obstacle, a signal is output to the control device; the cam limiting equipment is respectively arranged on the lifting mechanism and the trolley mechanism, and is connected with the control equipment and used for respectively detecting the speeds of the lifting mechanism and the trolley mechanism and outputting the speeds to the control equipment.

According to another embodiment of the invention, the cart mechanism limiting device comprises a radar limiter and a laser limiter which are both connected with the control device.

According to another embodiment of the present invention, a control apparatus includes: the CPU processing module is respectively connected with the communication module, the analog input module and the input/output module; the first absolute value encoder, the second absolute value encoder, the third absolute value encoder, the cart frequency converter, the trolley frequency converter and the lifting frequency converter are all connected with the communication module; the limiting equipment is connected with the input and output module.

According to another embodiment of the present invention, the automatic control system further comprises: and the video acquisition equipment is respectively arranged on the cart mechanism, the trolley mechanism and the lifting mechanism and is connected with the control equipment.

According to another embodiment of the invention, the trolley mechanism is further provided with a laser positioner, and the laser positioner is connected with the control equipment.

Accordingly, the embodiment of the invention also discloses a computer readable storage medium, and the computer readable storage medium stores instructions which, when executed on a computer, cause the computer to execute the method.

Drawings

FIG. 1 illustrates a flow chart of an automated control method for a cantilever crane according to an embodiment of the present invention;

FIG. 2 is a first block diagram illustrating the configuration of an automatic control system for a jib crane according to an embodiment of the present invention;

FIG. 3 is a block diagram of an automatic control system for a jib crane according to an embodiment of the present invention;

FIG. 4 shows a schematic view of an electronic device of an embodiment of the invention;

FIG. 5 illustrates a schematic diagram of a system on a chip of an embodiment of the invention.

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure. While the invention will be described in conjunction with the preferred embodiments, it is not intended that features of the invention be limited to these embodiments. On the contrary, the invention is described in connection with the embodiments for the purpose of covering alternatives or modifications that may be extended based on the claims of the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be practiced without these particulars. Moreover, some of the specific details have been left out of the description in order to avoid obscuring or obscuring the focus of the present invention. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

It should be noted that in this specification, like reference numerals and letters refer to like items in the following drawings, and thus, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.

In the description of the present embodiment, it should be noted that the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

In the description of the present embodiment, it should be further noted that, unless explicitly stated or limited otherwise, the terms "disposed" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present embodiment can be understood in specific cases by those of ordinary skill in the art.

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

As shown in fig. 1, one embodiment of the present invention provides an automatic control method for a boom, specifically, a boom comprising a cart mechanism, a dolly mechanism, and a hoist mechanism. The method comprises the following steps:

step S1: receiving position information and water depth information of a target operation site;

step S2: and respectively determining a first target position of the cart mechanism and a second target position of the trolley mechanism according to the position information, and determining a target landing position of the hoisting mechanism according to the water depth information.

In particular, the operation of the various mechanisms in the cantilever crane may be controlled by means of a control device. Before step S1, the method may further include:

and storing the one-to-one correspondence between the position information of each operation place and the target positions of the cart mechanism and the trolley mechanism and the one-to-one correspondence between the water depth information and the target landing position of the hoisting mechanism in the control equipment.

During specific operation, after the cantilever crane receives operation instructions and target operation position information, the crane can automatically control the cart mechanism, the trolley mechanism and the lifting mechanism to move to corresponding positions.

Before the operation is carried out on the holes, the actual positions of the holes can be measured according to the actual conditions on site, then the target positions of the cart mechanism, the lifting mechanism and the trolley mechanism are determined according to the positions of the cart mechanism and the holes, and the determined data are written into a program to be stored in the control device. During specific implementation, the control equipment can automatically determine the target position information of the cart mechanism, the trolley mechanism and the hoisting mechanism according to the information set by a customer only by inputting the position information and the water depth information of a target operation place by a user, so that each mechanism is accurately controlled to run to a target position point.

Further, since the position information of each hole is generally fixed, that is, each hole corresponds to its position information one to one, the position information of each hole can be changed to its corresponding hole serial number in the control device, so that the user only needs to input the hole number and the water depth. The control equipment can select the positions of various mechanisms which are actually required to be reached according to the hole number and the water depth set by a user so as to control the operation of the cantilever crane, so that the operation of personnel is simplified, and the operation error rate of the operator is reduced.

Step S3: controlling the cart mechanism to move, and acquiring the actual position of the cart mechanism in real time in the moving process of the cart mechanism to judge whether the cart mechanism reaches a first target position;

step S4: when the cart mechanism reaches the first target position, the trolley mechanism is controlled to move to a second target position;

step S5: and after the trolley mechanism moves to the second target position, controlling the lifting mechanism to descend to the target descending position to carry out material grabbing operation.

The invention develops a fully-automatically controlled cantilever crane according to market demands, and is a blank in China. In the invention, after the user can set parameters, the cantilever crane system can carry out full-automatic operation according to the parameters set by the user, the technical level requirement on operators is reduced, the work-to-work overtime work of auxiliary workers can be greatly reduced, and because the full-automatic operation is carried out without manual work under the lifting arm, the safety accident is avoided.

Optionally, after step S5, the automatic control method for the cantilever crane may further include the following steps:

step S6: after the material grabbing operation is finished, controlling a lifting mechanism to ascend from a sea side material grabbing target position to an upper stop position, and detecting the position of the lifting mechanism in real time in the ascending process of the lifting mechanism;

step S7: after the lifting mechanism reaches the stop position, controlling the trolley mechanism to move towards the discharging land side target until the trolley mechanism moves above the discharging opening, and then controlling the trolley mechanism to stop moving, and detecting the position of the trolley mechanism in real time in the operation process of the trolley mechanism;

step S8: after the trolley mechanism reaches the unloading position, controlling the lifting mechanism to descend to the target position on the unloading land side, and detecting the position of the lifting mechanism in real time in the descending process of the lifting mechanism;

step S9: and after the unloading operation is finished, controlling the lifting mechanism to ascend from the unloading land side target position to the upper stop position.

The cantilever crane can automatically operate under the control of an automatic control system. The control system can comprise control equipment with a touch screen, a user can set working parameters (such as information of hole numbers, cycle times, water depth and the like) on the touch screen and then press a start key, and the control equipment can automatically control the cart, the trolley and the lifting mechanism to operate so as to carry out the operation of hole-entering dirt grabbing and discharging.

Specifically, pre-operation preparation work is required before performing automation work: that is, when a driver needs to grab grass, the lifting mechanism, the trolley mechanism and the cart mechanism need to be reset to zero respectively, and the lifting mechanism and the trolley mechanism are set to initial positions, for example, the lifting mechanism is lifted to a position of 6.5 to 7 meters, and the trolley mechanism is set to about 2.3 meters. The initial position can be set on site according to the requirements of users, and all values can be seen on a display screen in real time. Further, the touch screen operation interface can be provided with a single-hole setting and a multi-hole setting for selection of an operator.

The following description will be made of the working process of the lower cantilever crane with single hole setting by taking the example of repeating 4 times in the fifth hole:

and after the hole number 5, the cycle number 4 and the real-time water depth are set on the touch screen, an operator presses a start key. The whole equipment starts to automatically operate, at the moment, the equipment enters a computer self-control mode, and an automatic cart mechanism, a trolley mechanism and a lifting mechanism are operated to carry out manhole dirt grabbing and unloading operation. And after one cycle is finished, performing a second cycle, and repeating the steps until the set times are reached, and stopping the operation of the equipment.

Wherein, the main operation track of single circulation mode is:

a 1: and detecting the actual position of the cart mechanism and judging, wherein when the cart mechanism is not positioned in the No. 5 hole, the cart mechanism automatically runs to the cart target position with the set hole number from the far end in a computer control mode. In the operation process, the swing amplitude of the grab bucket suspended on the steel wire rope needs to be controlled, and the position of the cart needs to be detected.

a 2: after the cart mechanism is in place, the trolley mechanism automatically moves towards a sea side target, the trolley mechanism automatically moves to the position above the vacant position and then stops, and the trolley position needs to be detected while paying attention to the swinging amplitude of the grab bucket on the steel wire rope in the running process of the trolley.

a 3: after the trolley mechanism is in place, the lifting mechanism automatically descends to a material grabbing sea side target position, and the lifting position is detected in real time in the operation process of the lifting mechanism.

a 4: the lifting mechanism automatically ascends to an upper stop position from a sea side material grabbing target position, and the lifting position is detected in real time in the operation process.

a 5: the trolley mechanism runs towards the discharging land side target, automatically runs to the position above the discharging opening and then stops, and the position of the trolley needs to be detected while paying attention to the swinging amplitude of the grab bucket on the steel wire rope in the running process of the trolley.

a 6: after the hoisting mechanism is in place, the hoisting mechanism descends to the unloading land side target position, and the hoisting position is detected in real time in the operation process.

a 7: the hoisting mechanism automatically ascends to an upper stop position from the unloading land side target position.

Thus, for one cycle, the second cycle repeats acts a2-a 7.

Similarly, the operation process of the device in the multi-hole setting is substantially the same as that in the single-hole setting, for example, when the cycle times of the holes 1, 3, 5 and 6 are set to be 3, 2, 4 and 2 in sequence, the control device controls the cantilever crane to automatically execute the hole 1 cycle 3 times, then automatically execute the hole 3 cycle 2 times, then automatically execute the hole 5 cycle 4 times, then automatically execute the hole 6 cycle 2 times, and finally automatically stop.

And automatic multi-hole circulation is performed from small to large, and the circulation times of each hole are set as required for several times. The hole cycle is completed and the next hole operation is performed. In the process of executing single hole circulation, the manual intervention function of the hole inlet section and the hole outlet section is still kept, and the manual intervention function is the same as that of single hole automatic operation. I.e., all flow paths are in the single-hole setting mode, but the trajectory of action a1 is increased when changing holes.

Illustratively, a pulse encoder and an absolute value encoder are arranged on the cart mechanism, the pulse encoder is connected with a motor of the cart mechanism and connected with a pulse encoder card of a frequency converter connected to the motor of the cart mechanism and used for acquiring the running speed of the motor of the cart mechanism, and the absolute value encoder is connected with a rotating wheel on the sea side of the cart mechanism and used for acquiring the position information of the cart mechanism; acquiring the actual position of the cart mechanism comprises:

the pulse encoder detects the running speed of a motor of the cart mechanism, and the position information of the cart mechanism is calculated according to the running speed detected by the pulse encoder and serves as first position information;

the absolute value encoder detects position information of the cart mechanism as second position information;

and calculating the distance between the first position information and the second position information, comparing the distance with a first preset value, and if the distance is smaller than or equal to the first preset value, taking the second position information as the actual position of the cart mechanism.

In particular, the jib crane operates under the control of a control device. The pulse encoder and the absolute value encoder are both electrically connected with the control equipment. The pulse encoder and the absolute value encoder transmit data detected by them to the control device. The control equipment calculates the position of the cart mechanism according to the data output by the pulse encoder and the absolute value encoder, namely first position information and second position information, then the control equipment calculates the distance between the first position information and the second position information according to the first position information and the second position information, compares the distance between the first position information and the second position information with a first preset value, and takes the second position information as the actual position of the cart mechanism when the distance is smaller than or equal to the first preset value.

The pulse encoder and the absolute value encoder which are configured on the cart mechanism reach double positioning data confirmation, so that the problem of one positioning instrument is avoided, the positioning error is caused, and the precision of the full-automatic operation of the cantilever crane is influenced.

For example, an absolute value encoder and a pulse encoder may be disposed on the hoisting mechanism, and the actual position information of the hoisting mechanism is detected by the same method as the method for detecting the actual position information of the cart mechanism.

Illustratively, the automatic control method further includes: and in the moving process of the cart mechanism, monitoring whether the barrier exists on the running track of the cart mechanism in real time, and if so, controlling the cart mechanism to decelerate or stop running.

By the method, foreign matters or personnel on the track can be subjected to deceleration protection in a full-automatic process, so that the occurrence rate of safety accidents is further reduced.

Optionally, laser limiting equipment and radar limiting equipment can be arranged on the cart mechanism, and both the laser limiting equipment and the radar limiting equipment are used for detecting whether an obstacle exists on the running track of the cart mechanism; when at least one of the laser limit device and the radar limit device detects an obstacle, the obstacle is considered to be present.

Through setting up dual spacing check out test set promptly, further guarantee can fully screen the barrier of cart operation in-process, prevent the emergence of incident.

Illustratively, the trolley mechanism is also provided with a pulse encoder and an absolute value encoder, and in addition, the trolley mechanism is also provided with a laser positioner. These three devices are all used to detect the current position of the trolley. Controlling the cart mechanism to move to the second target position in step S4 may include the steps of:

controlling the trolley mechanism to move to a second target position, and monitoring the position information of the trolley mechanism in real time by using a pulse encoder, an absolute value encoder and a laser positioner respectively in the moving process of the trolley mechanism;

comparing the position information of the trolley mechanism monitored by the pulse encoder, the absolute value encoder and the laser positioner respectively, and if the distances among the position information monitored by the pulse encoder, the absolute value encoder and the laser positioner are smaller than or equal to a second preset value, taking the position information monitored by the absolute value encoder as the actual position of the trolley mechanism;

and comparing the actual position of the trolley mechanism with the second target position, judging that the trolley mechanism runs to the second target position when the distance between the actual position of the trolley mechanism and the second target position is less than or equal to the preset distance, and controlling the trolley mechanism to stop running.

Specifically, the pulse encoder, the absolute value encoder and the laser positioner are connected with the control device, during specific implementation, the pulse encoder, the absolute value encoder and the laser positioner respectively transmit data measured by the pulse encoder, the absolute value encoder and the laser positioner to the control device, the control device respectively calculates and obtains three pieces of current position information of the trolley mechanism according to data output by each instrument, then the three pieces of current position information obtained through calculation are respectively compared, and when conditions are met, second position information obtained through calculation according to output data of the absolute value encoder is used as an actual position of the trolley mechanism.

Namely, the trolley mechanism is positioned, the value A can be obtained by calculating through an absolute value encoder arranged on the side of the winding drum, and the data and the actual position of the pulse encoder and the absolute value encoder are not matched in order to prevent the trolley from sliding. And further, a laser sensor for fixing the banner is arranged at the foremost end of the trolley beam, and a reflecting device is welded and fixed on the moving trolley frame to ensure that the laser can horizontally irradiate the fixing device. And a signal terminal with analog quantity output of the laser sensor of the Banner is connected with an analog quantity input module of the PLC, and linear calibration is carried out on the actual moving position of the trolley and the data read by the analog quantity input module to calculate the distance data B measured and calculated by the trolley laser. And the data A and the data B are compared in a numerical value mode, and the equipment is allowed to continue to allow in a certain safety range, so that accidents caused by errors in the calculation of the encoder in the manual and automatic operation processes of the trolley are guaranteed.

Optionally, when the laser positioner is additionally arranged on the trolley to perform accurate protection for 2 times, the cam limit can be arranged at the position of a winding drum of the trolley mechanism to perform safety protection, the cam limit mainly has the function of preventing the positioning of the trolley mechanism from exceeding the positioning port or causing the overload phenomenon of the trolley mechanism, meanwhile, the lifting mechanism can perform safety protection by the lifting winding drum cam limit, and the lifting mechanism is provided with an absolute value encoder and an overload protection system to prevent the lifting positioning from exceeding the positioning port or causing the overload phenomenon of the lifting mechanism.

In specific implementation, the first preset value, the second preset value and the preset distance may be set according to specific actual conditions, and the values may be the same or different. For example, the first preset value, the second preset value, and the preset distance may be set to 30 mm. When the current actual position of any mechanism and the target position of the mechanism exceed 30mm (the control precision can be within 15mm during actual measurement operation), an out-of-alignment phenomenon can be generated, the mechanism needs to be stopped from running at the moment, the next action is not executed, namely, the mechanism is in an automatic pause state at the moment, and all main commands are in zero positions; and the current actual position of the mechanism is controlled within a reasonable range of the target position by alarming or informing manual intervention by other means, and then the automatic continuation can be pressed, so that the automatic suspension elimination is realized, and the automatic function operation is resumed.

Illustratively, in the running process of the trolley mechanism, whether the trolley mechanism reaches the preset position or not is judged, and if the trolley mechanism reaches the preset position, the trolley mechanism is controlled to run at a reduced speed.

Similarly, in the operation process of the hoisting mechanism, whether the hoisting mechanism reaches a hoisting preset position is judged, and if the hoisting mechanism reaches the hoisting preset position, the hoisting mechanism is controlled to operate at a reduced speed.

Namely, the hoisting mechanism, the cart mechanism and the trolley mechanism are positioned by absolute value encoders and are communicated by a DP protocol. The upper terminal point of the hoisting mechanism is used as a zero point, and the rear terminal point of the trolley mechanism and the left terminal point of the cart mechanism are respectively used as zero points for zero resetting of the trolley mechanism and the cart mechanism. The hoisting mechanism and the trolley mechanism adopt an intelligent speed reduction method, speed setting is carried out according to the difference value of the terminal point distance between each mechanism and a target position and the acceleration and deceleration time, and stall and position detection protection is carried out through speed reduction detection limiting.

Illustratively, the automatic control method further comprises the steps of:

and video information of the cart mechanism, the trolley mechanism and the hoisting mechanism in the running process is collected and stored in real time.

Alternatively, video image information during the operation of each mechanism can be acquired by video acquisition equipment (such as CCTV image acquisition equipment) arranged on the cart mechanism, the trolley mechanism and the hoisting mechanism. The video acquisition equipment and the control equipment can establish communication connection through optical fibers, and the video acquisition equipment uploads acquired video image information to the control equipment through the optical fibers and is stored by the control equipment so that a subsequent worker can call and check the information.

Specifically, cameras capable of automatically following can be arranged on the main beam and the cab, and the cameras can automatically follow the grab bucket in the whole process, so that the cab can observe the position and various states of the grab bucket more intuitively; cameras are arranged on four door legs of the cart, and various states occurring in the moving direction of the cart are observed in the whole process; cameras are arranged in the positions of the reels of the lifting appliance, the electric room and the machine room, and the condition of the positions of the associated mechanisms is observed, so that the data of the whole machine are stored and acquired.

When the cantilever crane works autonomously, an operator only needs to monitor the condition of each monitoring point including a material taking position in a driver cab or a central control room through a CCTV camera display device, so that the driver can intervene, stop and start full-automatic operation at any time in an emergency.

According to the automatic control method for the cantilever crane, provided by the invention, data are read through the pulse encoder arranged on the motor and the absolute value encoders matched with all mechanisms, so that the position information of the hoisting mechanism, the trolley mechanism and the cart mechanism is obtained, and the cart mechanism, the trolley mechanism and the hoisting mechanism are accurately positioned, so that the equipment can operate independently. Meanwhile, due to the fact that the CCTV camera shooting display device is matched with the video acquisition equipment, an operator can monitor the positions of each monitoring point including a cart and a grass grabbing machine through the CCTV camera shooting display device in a driver cab or a remote central control room, so that the operator can intervene and stop automatic operation at any time in emergency, and the safety of the equipment is improved.

Correspondingly, as shown in fig. 2, the present invention further provides an automatic control system for a cantilever crane, wherein the suspension arm comprises a cart mechanism, a trolley mechanism and a hoisting mechanism, and the automatic control system comprises:

the control equipment 1 is used for controlling the operation of the cart mechanism, the trolley mechanism and the hoisting mechanism;

the first absolute value encoder 2 is arranged at the rotating wheel on the sea-land side of the cart mechanism and is connected with the control device 1 (specifically, the first absolute value encoder 2 can be in communication connection with a processing module in the control device 1, and the processing module can be specifically S7-1500 PLC);

the second absolute value encoder 3 is arranged on the reel side of the trolley mechanism and connected with the control device 1 (specifically, the second absolute value encoder 3 can be in communication connection with a processing module in the control device 1), and the second absolute value encoder 3 is used for detecting the position information of the trolley mechanism and outputting the position information of the trolley mechanism to the control device 1;

the third absolute value encoder 4 is arranged on the reel side of the hoisting mechanism and connected with the control device 1 (specifically, the third absolute value encoder 4 can be in communication connection with a processing module in the control device 1), and the third absolute value encoder 4 is used for detecting the position information of the hoisting mechanism and outputting the position information of the hoisting mechanism to the control device 1;

first pulse coder 8 is connected with the motor of cart mechanism and the pulse coder card of cart converter 5 connected to the motor of cart mechanism respectively, cart converter 5 still is connected with controlgear 1, first pulse coder 8 is used for detecting the motor operation rotational speed information of cart mechanism and transmits this information to cart converter 5, cart converter 5 and then exports this information to controlgear 1 to obtain the position information of cart mechanism, specifically, controlgear 1 calculates the actual position of cart mechanism promptly through pulse coder's pulse count.

The second pulse encoder 9 is respectively connected with a motor of the trolley mechanism and a pulse encoder card of the trolley frequency converter 6 connected to the motor of the trolley mechanism, the trolley frequency converter 6 is also connected with the control equipment 1, the second pulse encoder 9 is used for detecting the running rotating speed information of the motor of the trolley mechanism and transmitting the information to the trolley frequency converter 6, and the trolley frequency converter 6 further outputs the information to the control equipment 1 so as to obtain the position information of the trolley mechanism;

and the third pulse encoder 10 is connected with the motor of the hoisting mechanism and a pulse encoder card of the hoisting frequency converter 7 connected with the motor of the hoisting mechanism respectively, the hoisting frequency converter 7 is also connected with the control equipment 1, the third pulse encoder 10 is used for detecting the motor operation rotating speed information of the hoisting mechanism and transmitting the information to the hoisting frequency converter 7, and the hoisting frequency converter 7 outputs the information to the control equipment 1 so as to acquire the position information of the hoisting mechanism.

In specific implementation, the first pulse encoder 8 detects the running speed of the motor of the cart mechanism and transmits the running speed to the control device 1, and the control device 1 calculates the position information of the cart mechanism according to the running speed detected by the first pulse encoder 8 and takes the position information as first position information;

the first absolute value encoder 2 detects the movement speed of the cart mechanism and transmits the detected number of turns to the control device 1, and the control device 1 calculates the position information of the cart mechanism according to the number of turns of the cart mechanism detected by the first absolute value encoder 2 and takes the position information as second position information;

the control device 1 calculates a distance between the first position information and the second position information from the first position information and the second position information, compares the distance with a first preset value, and if the distance is less than or equal to the first preset value, takes the second position information as an actual position of the cart mechanism.

Similarly, the process of obtaining the actual position information of the cart mechanism by using the second pulse encoder 9 and the second absolute value encoder 3 is similar to the process of obtaining the position information of the cart mechanism by using the first pulse encoder 8 and the first absolute value encoder 2, and is not described herein again.

Similarly, the process of obtaining the actual position information of the hoisting mechanism by using the third pulse encoder 10 and the third absolute value encoder 4 is similar to the process of obtaining the position information of the hoisting mechanism by using the first pulse encoder 8 and the first absolute value encoder 2, and is not described herein again.

Exemplarily, a laser positioner is further arranged on the trolley mechanism, and the laser positioner is connected with the control device 1 and used for performing secondary accurate protection on the positioning of the trolley mechanism. Meanwhile, a cam limit can be arranged at the position of a winding drum of the trolley mechanism for safety protection, the cam limit has the main function of preventing the trolley mechanism from exceeding a positioning port in a positioning mode or generating the overload phenomenon of the trolley mechanism, meanwhile, safety protection can be performed on the hoisting mechanism through the lifting winding drum cam limit, an absolute value encoder is arranged on the hoisting mechanism, and an overload protection system is arranged to prevent the lifting positioning from exceeding the positioning port or generating the overload phenomenon of the hoisting mechanism.

Specifically, the pulse encoder, the absolute value encoder and the laser positioner respectively transmit the monitored position information of the trolley mechanism to the control device 1, the control device 1 respectively calculates and obtains 3 pieces of current actual position information of the trolley mechanism according to data transmitted by the three, then compares the three pieces of actual position information, calculates the mutual distance between the three pieces of actual position information, and if the distance is smaller than or equal to a second preset value, the position information calculated by the data monitored by the absolute value encoder is used as the actual position of the trolley mechanism.

Illustratively, the automatic control system provided by the invention further comprises: and the limiting equipment is respectively arranged on the cart mechanism, the small cart mechanism and the lifting mechanism and is in communication connection with the control equipment 1. Specifically, the limiting device comprises a cart mechanism limiting device and a cam limiting device, wherein the cart mechanism limiting device is used for detecting whether an obstacle exists on a running track of the cart mechanism, and when the cart mechanism limiting device detects the obstacle, a signal is output to the control device 1 so that the control device 1 controls the cart mechanism to stop running or to run at a reduced speed, and therefore the operation safety is improved. The cam limiting equipment is respectively arranged on the lifting mechanism and the trolley mechanism, and is connected with the control equipment 1 and used for respectively detecting the speeds of the lifting mechanism and the trolley mechanism and outputting the speeds to the control equipment 1.

For example, the cart mechanism limiting device may include a radar limiting device and a laser limiting device, both of which are connected to the control device 1, and when the control device 1 receives a signal transmitted from at least one of the laser limiting device and the radar limiting device, the control device 1 controls the cart mechanism to stop operating or to accelerate operating.

Illustratively, as shown in fig. 3, the control apparatus 1 includes: the CPU processing module (specifically, S7-1500 CPU), the communication module, the analog input module and the input/output module, wherein the CPU processing module is respectively connected with the communication module, the analog input module and the input/output module; the first absolute value encoder, the second absolute value encoder and the third absolute value encoder are all connected with the CPU processing module through the communication module; the limiting equipment is connected with the input and output module; the laser positioner is connected with the analog input module.

Illustratively, the automatic control system provided by the invention further comprises: and the video acquisition equipment is respectively arranged on the cart mechanism, the trolley mechanism and the lifting mechanism and is connected with the control equipment 1.

Specifically, the video capture device may be a CCTV image capture device, and is configured to capture video image information of each mechanism during operation. The video acquisition equipment and the control equipment 1 can establish communication connection through a network cable, and a video controller on the machine is connected with a video controller of a remote central control through an optical fiber. The video acquisition equipment uploads the acquired video image information to the hard disk, the control equipment 1 performs picture switching and zooming control, and subsequent workers can directly call and view historical pictures from the hard disk.

Specifically, cameras capable of automatically following can be arranged on the main beam and the cab, and the cameras can automatically follow the grab bucket in the whole process, so that the cab can observe the position and various states of the grab bucket more intuitively; cameras are arranged on four door legs of the cart, and various states occurring in the moving direction of the cart are observed in the whole process; cameras are arranged in the positions of the reels of the lifting appliance, the electric room and the machine room, and the condition of the positions of the associated mechanisms is observed, so that the data of the whole machine are stored and acquired.

When the cantilever crane works autonomously, an operator only needs to monitor the condition of each monitoring point including a material taking position in a driver cab or a central control room through a CCTV camera display device, so that the driver can intervene, stop and start full-automatic operation at any time in an emergency.

Accordingly, the embodiment of the present invention further provides a computer-readable storage medium, which stores instructions that, when executed on a computer, cause the computer to execute the above automatic control method.

Referring to FIG. 4, shown is a block diagram of an electronic device 400 in accordance with one embodiment of the present application. The electronic device 400 may include one or more processors 401 coupled to a controller hub 403. For at least one embodiment, the controller hub 403 communicates with the processor 401 via a multi-drop Bus such as a Front Side Bus (FSB), a point-to-point interface such as a QuickPath Interconnect (QPI), or similar connection. Processor 401 executes instructions that control general types of data processing operations. In one embodiment, the Controller Hub 403 includes, but is not limited to, a Graphics Memory Controller Hub (GMCH) (not shown) and an Input/Output Hub (IOH) (which may be on separate chips) (not shown), where the GMCH includes a Memory and a Graphics Controller and is coupled to the IOH.

The electronic device 400 may also include a coprocessor 402 and memory 404 coupled to the controller hub 403. Alternatively, one or both of the memory and GMCH may be integrated within the processor (as described herein), with the memory 404 and coprocessor 402 coupled directly to the processor 401 and controller hub 403, with the controller hub 403 and IOH in a single chip.

The Memory 404 may be, for example, a Dynamic Random Access Memory (DRAM), a Phase Change Memory (PCM), or a combination of the two. Memory 404 may include one or more tangible, non-transitory computer-readable media for storing data and/or instructions therein. A computer-readable storage medium has stored therein instructions, and in particular, temporary and permanent copies of the instructions. The instructions may include: instructions that, when executed by at least one of the processors, cause the electronic device 400 to implement the method shown in fig. 1. The instructions, when executed on a computer, cause the computer to perform the methods disclosed in any one or combination of the embodiments above.

In one embodiment, the coprocessor 402 is a special-purpose processor, such as, for example, a high-throughput MIC (man Integrated Core) processor, a network or communication processor, compression engine, graphics processor, GPGPU (General-purpose computing on graphics processing unit), embedded processor, or the like. The optional nature of coprocessor 402 is represented in FIG. 4 by dashed lines.

In one embodiment, the electronic device 400 may further include a Network Interface Controller (NIC) 406. Network interface 406 may include a transceiver to provide a radio interface for electronic device 400 to communicate with any other suitable device (e.g., front end module, antenna, etc.). In various embodiments, the network interface 406 may be integrated with other components of the electronic device 400. The network interface 406 may implement the functions of the communication unit in the above-described embodiments.

The electronic device 400 may further include an Input/Output (I/O) device 405. I/O405 may include: a user interface designed to enable a user to interact with the electronic device 400; the design of the peripheral component interface enables peripheral components to also interact with the electronic device 400; and/or sensors are designed to determine environmental conditions and/or location information associated with electronic device 400.

It is noted that fig. 4 is merely exemplary. That is, although fig. 4 shows that the electronic device 400 includes a plurality of devices, such as a processor 401, a controller hub 403, a memory 404, etc., in practical applications, the device using the methods of the present application may include only a part of the devices of the electronic device 400, for example, may include only the processor 401 and the network interface 406. The nature of the optional device in fig. 4 is shown in dashed lines.

Referring now to fig. 5, shown is a block diagram of a SoC (System on Chip) 500 in accordance with an embodiment of the present application. In fig. 5, similar components have the same reference numerals. In addition, the dashed box is an optional feature of more advanced socs. In fig. 5, SoC500 includes: an interconnect unit 550 coupled to the processor 510; a system agent unit 580; a bus controller unit 590; an integrated memory controller unit 540; a set or one or more coprocessors 520 which may include integrated graphics logic, an image processor, an audio processor, and a video processor; a Static Random-Access Memory (SRAM) unit 530; a Direct Memory Access (DMA) unit 560. In one embodiment, coprocessor 520 comprises a special-purpose processor, such as, for example, a network or communication processor, compression engine, GPGPU (General-purpose computing on graphics processing units, General-purpose computing on a graphics processing unit), high-throughput MIC processor or embedded processor, or the like.

Static Random Access Memory (SRAM) unit 530 may include one or more tangible, non-transitory computer-readable media for storing data and/or instructions. A computer-readable storage medium has stored therein instructions, and in particular, temporary and permanent copies of the instructions. The instructions may include: instructions that when executed by at least one of the processors cause the SoC to implement the method as shown in fig. 1. The instructions, when executed on a computer, cause the computer to perform the methods disclosed in the embodiments described above.

The method embodiments of the present application may be implemented in software, magnetic, firmware, etc.

Program code may be applied to input instructions to perform the functions described herein and generate output information. The output information may be applied to one or more output devices in a known manner. For purposes of this application, a processing system includes any system having a Processor such as, for example, a Digital Signal Processor (DSP), a microcontroller, an Application Specific Integrated Circuit (ASIC), or a microprocessor.

The program code may be implemented in a high level procedural or object oriented programming language to communicate with a processing system. The program code can also be implemented in assembly or machine language, if desired. Indeed, the mechanisms described herein are not limited in scope to any particular programming language. In any case, the language may be a compiled or interpreted language.

One or more aspects of at least one embodiment may be implemented by representative instructions stored on a computer-readable storage medium, which represent various logic in a processor, which when read by a machine causes the machine to fabricate logic to perform the techniques herein. These representations, known as "IP (Intellectual Property) cores," may be stored on a tangible computer-readable storage medium and provided to a number of customers or production facilities to load into the manufacturing machines that actually manufacture the logic or processors.

In some cases, an instruction converter may be used to convert instructions from a source instruction set to a target instruction set. For example, the instruction converter may transform (e.g., using a static binary transform, a dynamic binary transform including dynamic compilation), morph, emulate, or otherwise convert the instruction into one or more other instructions to be processed by the core. The instruction converter may be implemented in software, hardware, firmware, or a combination thereof. The instruction converter may be on the processor, off-processor, or partially on and partially off-processor.

While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that the foregoing is a more detailed description of the invention, taken in conjunction with the specific embodiments thereof, and that no limitation of the invention is intended thereby. Various changes in form and detail, including simple deductions or substitutions, may be made by those skilled in the art without departing from the spirit and scope of the invention.