CN104057954B - Road condition self-adaptation system of crane and crane - Google Patents

Road condition self-adaptation system of crane and crane Download PDF

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Publication number
CN104057954B
CN104057954B CN201410291158.9A CN201410291158A CN104057954B CN 104057954 B CN104057954 B CN 104057954B CN 201410291158 A CN201410291158 A CN 201410291158A CN 104057954 B CN104057954 B CN 104057954B
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CN
China
Prior art keywords
driving mode
crane
module
road conditions
control
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CN201410291158.9A
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Chinese (zh)
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CN104057954A (en
Inventor
朱林
朱长建
李丽
陈正尚
高�浩
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徐州重型机械有限公司
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Priority to CN201410291158.9A priority Critical patent/CN104057954B/en
Publication of CN104057954A publication Critical patent/CN104057954A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18Propelling the vehicle
    • B60W30/182Selecting between different operative modes, e.g. comfort and performance modes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06Road conditions
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion

Abstract

The invention discloses a road condition self-adaptation system of a crane and the crane. The road condition self-adaptation system of the crane comprises a road condition parameter acquisition module, a driving mode analysis module and a driving mode control module, wherein the road condition parameter acquisition module is used for acquiring driving state parameters in real time, and sending the driving state parameters to the driving mode analysis module; the driving mode analysis module is used for judging the road condition in which the crane is located according to the driving state parameters and determining a driving mode, and sending a control parameter which corresponds to the driving mode to the driving mode control module; the driving mode control module is used for adjusting the driving state of the crane according to the control parameter. According to the road condition self-adaptation system of the crane and the crane disclosed by the invention, the road condition can be identified, and the driving mode is automatically determined or is manually determined by a driver; the corresponding driving cycle of a crane is adjusted, and thus, the bad working condition of the crane can be completely met; the safety, the economical efficiency and the comfort of crane driving can be improved; moreover, the cost is low, and installation and debugging are simple.

Description

The road conditions Adaptable System of a kind of crane and crane

Technical field

The present invention relates to technical field of engineering machinery, particularly relate to the road conditions self adaptation of a kind of crane System and crane.

Background technology

Along with automotive engineering constantly improves, not only need when vehicle travels on road to pay close attention to its safety Property, dynamic property, fuel economy and control stability, in addition it is also necessary to pay close attention to driving comfort Property, ride performance.For crane, the most large-scale full Terrain Cranes, carry out such as mountain Ground wind-powered electricity generation installation, the installation of grassland wind-powered electricity generation, the installation of on-site equipment, building construction, bridge formation etc. of repairing the roads Multiple lifting operation operating mode, full Terrain Cranes to be driven for vehicle in the face of Various Complex road conditions Sail comfortableness, ride performance requires higher.Affect the factor of driver comfort, ride performance More, as road roughness, travel speed, suspension rate, tire, power train and electromotor drive Dynamic model formula, seat air spring rigidity etc..Wherein, road roughness is objective reality, can not change Become;Travel speed, suspension rate, tire, power train and engine drive mode, seat gas Spring rate can be changed by actively control realization.

The most generally by many germlines such as ultrasonic ranging, vehicle-mounted sonar, image acquisition and identifications System combination carries out road conditions identification, but for oversize vehicle, particularly goliath, this technology without Method is applied.1, crane operating mode is severe, and dust, grease, dirt etc. make image acquisition and identification System cannot work.2, crane running road conditions complex, hole vibration of paddling is big, and Long-term field operation, above-mentioned road conditions identification system cannot ensure reliability.Accordingly, it would be desirable to it is a kind of The road conditions Adaptable System of novel crane.

Summary of the invention

In view of this, the technical problem that the invention solves the problems that is to provide the road conditions of a kind of crane Adaptable System and crane, it is possible to identify road conditions and determine driving mode.

A kind of road conditions Adaptable System of crane, including: road conditions parameter collection module, traveling mould Formula analyzes module and driving mode control module;Described road conditions parameter collection module Real-time Collection travels State parameter, and described transport condition parameter is sent to described driving mode analysis module;Described Driving mode is analyzed module and is judged the road conditions residing for crane according to described transport condition parameter and determine Driving mode, is sent to the control parameter corresponding with described driving mode described driving mode and controls Module;Described driving mode control module is according to the traveling shape of described control parameter adjustment crane State.

According to one embodiment of present invention, further, described road conditions parameter collection module bag Include: displacement transducer, double-shaft tilt angle sensor, pressure transducer, vehicle speed sensor;Described row Sail state parameter to include: suspension oil cylinder displacement, suspension system pressure, vehicle tilt, car Speed.

According to one embodiment of present invention, further, described driving mode analyze module according to The amplitude of the suspension oil cylinder displacement calculation suspension oil cylinder that institute's displacement sensors gathers and frequency, and The suspension system that the current vehicle speed gathered in conjunction with described vehicle speed sensor and described pressure transducer gather System pressure judges the surface roughness on road surface residing for Current vehicle;Described driving mode analyzes module root The vehicle tilt gathered according to described double-shaft tilt angle sensor judges the traveling attitude of current crane; It is true according to the traveling attitude of described surface roughness and current crane that described driving mode analyzes module Determine driving mode.

According to one embodiment of present invention, further, described driving mode control device according to The running status of multiple subsystems of described control state modulator crane, the plurality of subsystem bag Include: engine system, transmission system, suspension system, seat system.

According to one embodiment of present invention, further, described control parameter includes: travel mould Whether formula, power train differential control are opened, engine speed, engine torque, change speed gear box shelves Position, suspension rate, seat elasticity.

According to one embodiment of present invention, further, described driving mode includes: highway mould Formula, little place pattern, climbing pattern, descending pattern, cross-country pattern.

According to one embodiment of present invention, further, module is analyzed at described driving mode true Under the state that the driving mode determining crane is descending pattern and described driving mode control device Judging when transmitter rotating speed exceedes default threshold value, it is auxiliary that described driving mode controls device starting vehicle Help brake unit.

According to one embodiment of present invention, further, manual selection modes device;Described hands Selected driving mode is sent to described driving mode and analyzes module by dynamic selection mode device, described Driving mode is analyzed module and the control parameter corresponding with selected driving mode is sent to described traveling Mode control module.

A kind of crane, including the road conditions Adaptable System of crane as above.

The road conditions Adaptable System of the crane of the present invention and crane, it is possible to identify that road conditions are the most automatically Or driving mode is manually determined by driver, adjust the corresponding driving cycle of vehicle, can fully meet The bad working environments of crane, it is possible to increase the safety of vehicle drive, economy, comfortableness and Low cost, installation and debugging are simple.

Accompanying drawing explanation

In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will The accompanying drawing used required in embodiment or description of the prior art is briefly described, aobvious and easy Insight, the accompanying drawing in describing below is only some embodiments of the present invention, common for this area From the point of view of technical staff, on the premise of not paying creative work, it is also possible to according to these accompanying drawings Obtain other accompanying drawing.

Fig. 1 is the signal of an embodiment of the road conditions Adaptable System of the crane according to the present invention Figure;

Fig. 2 be the road conditions Adaptable System of the crane according to the present invention an embodiment in road conditions The schematic diagram of parameter collection module;

Fig. 3 be the road conditions Adaptable System of the crane according to the present invention an embodiment in travel Mode control module controls the block diagram of multiple subsystems of crane;

Fig. 4 is showing of another embodiment of the road conditions Adaptable System of the crane according to the present invention It is intended to;

Fig. 5 is the control logical schematic of the road conditions Adaptable System of the crane according to the present invention.

Detailed description of the invention

With reference to the accompanying drawings the present invention is described more fully, the example of the present invention is wherein described Property embodiment.Below in conjunction with the accompanying drawing in the embodiment of the present invention, to the skill in the embodiment of the present invention Art scheme is clearly and completely described, it is clear that described embodiment is only the present invention one Section Example rather than whole embodiments.Based on the embodiment in the present invention, this area is general The every other embodiment that logical technical staff is obtained under not making creative work premise, all Belong to the scope of protection of the invention.

As it is shown in figure 1, the road conditions Adaptable System of a kind of crane includes: road conditions parameter acquisition Module 11, driving mode analyze module 12 and driving mode control module 13.Road conditions parameter acquisition Module 11 Real-time Collection transport condition parameter, and transport condition parameter is sent to driving mode divides Analysis module 12.Driving mode is analyzed module 12 and is judged residing for crane according to transport condition parameter Road conditions also determine driving mode, and the control parameter corresponding with driving mode is sent to driving mode control Molding block 13.Driving mode control module 13 is according to the traveling shape controlling parameter adjustment crane State.

The road conditions Adaptable System of the crane of the present invention, vehicle can identify traveling road conditions automatically, Travel road conditions according to difference and automatically or work can be travelled accordingly by driver's hand switch adjustment vehicle Condition, as turned to pattern, power/economic model switching, type of drive, auxiliary braking to control, hang Frame system, seat system etc., to improve the safety of vehicle drive, economy, comfortableness.

According to one embodiment of present invention, road conditions parameter collection module 11 includes displacement sensing Device, double-shaft tilt angle sensor, pressure transducer, vehicle speed sensor etc., be mainly used in Real-time Collection Vehicle suspension oil cylinder displacement, suspension system pressure, the parameter such as vehicle tilt, speed.Travel Pattern analysis module 12 can be implemented as single-chip microcomputer, single board computer, PLC, integrated circuit etc..OK Sail pattern analysis module 12 and store relevant control program, computing, receive, send data.Example As, with size, the change frequency of suspension oil cylinder displacement, suspension system pressure size, pressure wave Dynamic value, speed are foundation, are conversed by the programmed algorithm in driving mode analysis module 12 and work as The surface roughness on road surface residing for vehicle in front;With vehicle tilt as foundation, divided by driving mode Programmed algorithm in analysis module 12 converses the angle of inclination of Current vehicle.

According to one embodiment of present invention, as in figure 2 it is shown, road conditions parameter collection module 11 wraps Include: displacement transducer 111, double-shaft tilt angle sensor 114, pressure transducer 112, speed sense Device 113.Displacement transducer is also known as linear transducer, for the sensing of Measuring Object mechanical displacement Device.Double-shaft tilt angle sensor is used for the sensor of Measuring Object with respect to the horizontal plane change of pitch angle amount; Twin shaft be two axially the most i.e.: X axis, Y-axis.Transport condition parameter includes: suspension oil cylinder position Shifting amount, suspension system pressure, vehicle tilt, speed.

According to one embodiment of present invention, in the process of moving, vehicle is produced by ground injustice Vibration be transferred to suspension oil cylinder by tire, bridge, suspension oil cylinder by piston rod in cylinder barrel back and forth Motion absorbs Vehicular vibration.Under equal speed, road surface is the poorest, vibrates the biggest, and piston rod movement is more Acutely, the pressure oscillation of suspension system is the biggest.

According to one embodiment of present invention, driving mode analyzes module 12 according to displacement transducer The amplitude of the 111 suspension oil cylinder displacement calculation suspension oil cylinders gathered and frequency, and combine speed biography Current vehicle speed and the suspension system pressure of pressure transducer 112 collection that sensor 113 gathers judge The surface roughness on road surface residing for Current vehicle;Driving mode analyzes module 12 according to double-shaft tilt angle The vehicle tilt that sensor 114 gathers judges the traveling attitude of current crane.

Suspension refers to the general name of all force transmission connections between vehicle frame and vehicle bridge, is usually by elasticity Element, vibroshock and guiding mechanism three part composition, its effect acts on road surface on wheel Vertical reaction (supporting force), longitudinal counter-force (pull strength and brake force) and lateral reaction and this The moment that a little counter-forces are caused is transmitted on vehicle frame by the purpose that people are predetermined, to ensure the normal of automobile Travel.Suspension oil cylinder is a kind of hydraulic jack, for the connection between vehicle bridge and vehicle frame, and leads to Cross hydraulic control and realize rigidity and elastic two states.

Displacement transducer 111 can be arranged accordingly according to the facilities of suspension oil cylinder, example As, displacement transducer 111 can be set in each suspension oil cylinder.Pass through displacement transducer 111 measure oil cylinder displacement in real time, can calculate amplitude and the frequency of suspension oil cylinder, in conjunction with car The current vehicle speed that speed sensor 113 gathers, it is possible to analyze the road conditions road that crane is presently in Spectrum.Use double-shaft tilt angle sensor 114 can be arranged on the turntable of chassis, before being used for measuring vehicle Afterwards, the inclination angle of left and right, the traveling attitude of current crane can be analyzed, as upward slope, descending, "Left"-deviationist, Right deviation etc..

The road conditions Adaptable System of the crane of the present invention, is passed by displacement transducer, double-shaft tilt angle Sensor, pressure transducer, velocity sensor etc. gather jib angle, suspension oil cylinder stroke, shake Frequently, the parameter such as amplitude, rigidity, travel the basis for estimation of road conditions as vehicle, according to driving mode Analysis module 12 automatically or is manually selected by driver and is pre-stored in phase in driving mode analysis module 12 The driving cycle adapted to, meets drive demand.

According to one embodiment of present invention, driving mode controls device 13 according to controlling parameter control The running status of multiple subsystems of crane processed, multiple subsystems include: engine system, change Speed case system, suspension system, seat system.As it is shown on figure 3, driving mode control module 13 The steering controller 23 of crane, Suspension control valve group 24, transmission control module can be controlled 25, the car body component such as Engine ECU 21, change speed gear box ECU22, seat controller 26, for Different driving modes is controlled, make crane have different driving traveling, suspension rate, Control of engine speed, gearbox shifting form etc., and it is obtained in that crane car body component runs Data.

According to one embodiment of present invention, control parameter to include: driving mode, power train differential Control whether unlatching, engine speed, engine torque, gearbox-gear, suspension rate, seat Chair is elastic.Driving mode control module 13 performs driving mode and analyzes module 12 to electromotor, change The Comprehensive Control of the systems such as speed case, suspension system, seat system, makes vehicle reach ride performance And the optimal balance point of comfortableness.

Driving mode control module 13 controls transmitter brake module by Engine ECU 21 211, gas pedal 212, rotating speed input module 213, Control for Speed Limitation modules 214 etc., control to send out The rotating speed of motivation.Driving mode control module 13 controls gearbox-gear by change speed gear box ECU22 221, handover module 222, retarder brake 223 control gearbox gear-shift form.Driving mode controls Module 13 is by steering controller 23 controls steering angle sensor 231, control valve group 232 is controlled The steering rate etc. of form processed.Driving mode control module 13 is controlled by Suspension control valve group 24 Suspension rate control valve 241 controls the rigidity of suspension.Driving mode control module 13 passes through transmission Control module 25 controls differential control valve 251, high and low shift control valve 252 and shelling control valve 253 Control whether to use differential control pattern.Driving mode control module 13 is by seat controller 26 Control inflation/deflation control valve 261 and baroceptor 262 control the elasticity of seat.

According to one embodiment of present invention, as shown in Figure 4, pattern analysis module 12 is being travelled Determine under the state that the driving mode of crane is descending pattern and driving mode controls device 13 Judging when transmitter rotating speed exceedes default threshold value, it is auxiliary that driving mode control device 13 starts vehicle Help brake unit 15.Complemental brake system refers to make the vehicle in traveling (special directly or indirectly It is the vehicle of lower long slope) slow down or keep the device of braking of constant speed.

Selected driving mode is sent to driving mode and analyzes module by manual selection modes device 14 12, driving mode is analyzed module 12 and the control parameter corresponding with selected driving mode is sent to Driving mode control module 13.

According to one embodiment of present invention, driving mode analysis module 12 comprises automatically and manually Both of which.Driving mode is analyzed module 12 and can be selected according to crane current road conditions parameter optimal Control model;Driver can manually select mode device 14 to select required traveling mould voluntarily Formula.Driving mode is analyzed module 12 and is received the suspension oil cylinder displacement change that road conditions identification module collects Change amount and vehicle dip angle parameter etc., draw road conditions residing for crane through programmed algorithm, according to difference Road conditions automatically or are pre-stored in driving mode by driver's manual actuation and analyze corresponding row in module 12 Sail pattern, improve ride performance and comfortableness.Driving mode includes: highway pattern, little place Pattern, climbing pattern, descending pattern, cross-country pattern etc..

According to one embodiment of present invention, the control logic of the road conditions Adaptable System of crane is shown It is intended to as shown in Figure 5:

Step 301, receives the transport condition parameter collected.

Step 302, it may be judged whether for automatic mode, enter step 312 if manual mode, If automatic mode, enter step 303, it is judged that whether speed is 0, if 0 entrance Step 312, if not being 0, enters step 304.

Step 304-307, determines whether highway pattern, little place pattern, climbing pattern successively Cross-country pattern, if it is judged that driving mode then enters step 308 to 311, performs corresponding behaviour Making, such as, differential is closed, speed limit is reported to the police, hung cross-country rigidity etc..

Step 312, driver can manually select mode device 14 to select required traveling mould voluntarily Formula.

Step 313-3316, determines whether highway pattern, little place pattern, climbing mould successively The cross-country pattern of formula, if it is judged that driving mode then enters step 317 to 321, performs corresponding Operation, such as, differential is closed, speed limit is reported to the police, hung cross-country rigidity etc..

According to one embodiment of present invention, a kind of crane, including the road conditions of crane as above Adaptable System.Crane can be full Terrain Cranes, and full Terrain Cranes is a kind of high-performance Hoisting machinery, can quickly move, distance travel, can meet again narrow and small and rugged and rough Or the requirement of muddy place operation.

The road conditions Adaptable System of the crane of the present invention and crane have a following advantage:

1, passed by suspension oil cylinder displacement transducer, obliquity sensor, vehicle speed sensor, pressure The element Real-time Collection crane running data such as sensor, and calculated residing for crane by programmed algorithm Road conditions.

2, the sensor that this case relates to ripe application in engineering machinery, can fully meet The bad working environments of heavy-duty machine;

3, the sensor that this case relates to is standard component, low cost, and installation and debugging are simple;

4, the present invention is focused on by central controller, travels road conditions and is controlling with driving mode One_to_one corresponding in program, possesses manually and automatically both of which, makes crane realize road conditions adaptive Should, it is effectively improved driving ride comfort, comfortableness.

5, driving mode kind can realize by controlling modification of program, and system design is convenient fast Prompt.

6, can be finely divided according to different limiting conditions, it is ensured that travel safety, effectively refer to Lead use.

The method and system of the present invention may be achieved in many ways.Such as, can be by soft Part, hardware, firmware or software, hardware, any combination of firmware realize the side of the present invention Method and system.For the said sequence of step of method merely to illustrate, the present invention's The step of method is not limited to order described in detail above, unless specifically stated otherwise. Additionally, in certain embodiments, the present invention also can be embodied as the journey recorded in the recording medium Sequence, these programs include the machine readable instructions for realizing the method according to the invention.Cause And, the present invention also covers the record of the program for performing the method according to the invention that stores and is situated between Matter.

Description of the invention is given for the sake of example and description, and is not exhaustively Or it limit the invention to disclosed form.Many modifications and variations are for the common skill of this area It is obvious for art personnel.Selecting and describing embodiment is the principle in order to the present invention is more preferably described Apply with reality, and make those of ordinary skill in the art it will be appreciated that the present invention thus design is suitable The various embodiments with various amendments in special-purpose.

Claims (8)

1. the road conditions Adaptable System of a crane, it is characterised in that including:
Road conditions parameter collection module, driving mode analyze module and driving mode control module;
Described road conditions parameter collection module Real-time Collection transport condition parameter, and by described transport condition Parameter is sent to described driving mode and analyzes module;Described driving mode analyzes module according to described row Sail state parameter judge the road conditions residing for crane and determine driving mode, will be with described driving mode Corresponding control parameter is sent to described driving mode control module;Described driving mode control module Transport condition according to described control parameter adjustment crane;Wherein, described road conditions parameter acquisition mould Block includes: displacement transducer, double-shaft tilt angle sensor, pressure transducer, vehicle speed sensor;Institute State transport condition parameter to include: suspension oil cylinder displacement, suspension system pressure, vehicle tilt, Speed.
2. the system as claimed in claim 1, it is characterised in that:
Described driving mode analyzes the suspension oil cylinder displacement that module gathers according to institute's displacement sensors Calculate the amplitude of suspension oil cylinder and frequency, and combine current vehicle speed that described vehicle speed sensor gathers with And the suspension system pressure that described pressure transducer gathers judges that the road surface on road surface residing for Current vehicle is thick Rugosity;
Described driving mode analyzes the vehicle tilt that module gathers according to described double-shaft tilt angle sensor Judge the traveling attitude of current crane;
Described driving mode analyzes the module traveling appearance according to described surface roughness and current crane State determines driving mode.
3. the system as claimed in claim 1, it is characterised in that:
Described driving mode controls the device multiple subsystems according to described control state modulator crane Running status, the plurality of subsystem includes: engine system, transmission system, suspension system System, seat system.
4. system as claimed in claim 3, it is characterised in that:
Described control parameter includes: whether driving mode, power train differential control are opened, electromotor Rotating speed, engine torque, gearbox-gear, suspension rate, seat are elastic.
5. the system as claimed in claim 1, it is characterised in that:
Described driving mode includes: highway pattern, little place pattern, climbing pattern, descending mould Formula, cross-country pattern.
6. system as claimed in claim 5, it is characterised in that:
Analyze module at described driving mode and determine the state that driving mode is descending pattern of crane Under and described driving mode control device judge when transmitter rotating speed exceedes default threshold value, institute State driving mode and control device starting auxiliary brake of vehicle.
7. the system as claimed in claim 1, it is characterised in that also include:
Manual selection modes device;
Selected driving mode is sent to described driving mode analysis by described manual selection modes device Module, described driving mode is analyzed module and the control parameter corresponding with selected driving mode is sent To described driving mode control module.
8. a crane, it is characterised in that:
Road conditions Adaptable System including the crane as described in claim 1 to 7 any one.
CN201410291158.9A 2014-06-25 2014-06-25 Road condition self-adaptation system of crane and crane CN104057954B (en)

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