CN107758513A - Acquisition methods, device, crane, storage medium and the processor of construction information - Google Patents
Acquisition methods, device, crane, storage medium and the processor of construction information Download PDFInfo
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- CN107758513A CN107758513A CN201710800795.8A CN201710800795A CN107758513A CN 107758513 A CN107758513 A CN 107758513A CN 201710800795 A CN201710800795 A CN 201710800795A CN 107758513 A CN107758513 A CN 107758513A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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Abstract
The invention discloses a kind of acquisition methods of construction information, device, crane, storage medium and processor.This method includes：The first coordinate information of initial Heave Here and the second coordinate information of target Heave Here are determined in vehicle axis system；The arm support length of crane is calculated by the structural parameters set of the first coordinate information, the second coordinate information and crane；The construction information of crane is obtained according to arm support length and default hoisting weight.The present invention solves that crane arrangement and method for construction complex operation, operating efficiency provided in correlation technique are relatively low, waste the technical problem of lifting performance.
Description
Technical Field
The invention relates to the field of mechanical engineering, in particular to a construction information acquisition method and device, a crane, a storage medium and a processor.
Background
At present, for the crane, due to the structural characteristics of the crane, especially for the single-cylinder pin-pulling crane, the operation process is very complex, and the factors causing the complex operation mainly comprise:
firstly, because the stable support is completed by the supporting legs when the crane lifts, the bearing capacity of the crane in different lifting areas is different. Fig. 1 is a schematic diagram of an influence of a lifting region on lifting performance according to the related art, as shown in fig. 1, a dotted line indicates a circle for providing user lifting characteristics with stability after simplification, and a solid line indicates an iso-contour of an actual stability range of lifting characteristics.
In view of the difference of the weight of the counterweight of the crane, the hoisting performance of the crane is different, and in general, the larger the counterweight is, the stronger the hoisting performance is, but the larger the counterweight is, the better the hoisting performance is, and the crane needs to be matched appropriately.
And thirdly, the hoisting performance is also different in different amplitudes, and the larger the amplitude is, the larger the overturning moment of the same hoisting heavy object on the crane is, so that the larger the amplitude is, the smaller the weight of the ultimate hoisting object is.
Fourthly, combining the arm supports with the same length by different arm support lengths, wherein the lifting performance of the arm supports is different although the arm supports are the same in length. When the total boom length is 19.7, there are three boom length combinations as follows:
(1) the second and third sections of arms extend out by 42 percent respectively, and the other sections of arms do not extend out;
(2) the fifth and sixth arms extend out by 42 percent respectively, and other arms do not extend out;
(3) the third and fourth sections of arms extend out by 42 percent respectively, and other sections of arms do not extend out;
the lifting weights corresponding to the three combination modes are different, the amplitude is also 16 meters, and the lifting weights in the three states are 20.7 tons, 14.7 tons and 23.1 tons respectively.
Fifthly, under a common condition, the crane cannot be telescopic under load, in other words, the amplitude changes from the point A for lifting a heavy object to the point B, the crane boom cannot be telescopic, and the telescopic action of the luffing cylinder of the crane boom needs to be changed, so that the included angle between the crane boom and the ground is changed. The selection of the hoisting parameters requires the selection of the worst state of the two points A, B.
Fig. 2 is a schematic view of a position of lifting a heavy object according to the related art, and as shown in fig. 2, if lifting the heavy object as shown in fig. 5, crane operations can be generally classified into the following categories from a point a to a point B:
for a light-load object, the positions of lifting areas of a point A and a point B are estimated according to experience, and then a counterweight, an arm support length combination, a lifting hook, multiplying power and the like are selected according to the weight and the lifting height of the lifted object to carry out lifting.
And secondly, for important hoisting objects, the hoisting area positions of the point A and the point B need to be accurately measured, and then, according to the weight, the hoisting height and a strict hoisting characteristic table of the crane of the hoisting objects, the balance weight, the boom length combination, the lifting hook, the multiplying power and the like are selected to implement hoisting.
In the third category, for very important hoisted objects, especially large and expensive equipment hoists, detailed hoisting schemes are also designed. The specification, the placing position, the installation position and the hoisting position of the crane need to be accurately calculated, designed and verified, and the hoisting is implemented by selecting a balance weight, an arm support length combination, a lifting hook, multiplying power and the like strictly according to a hoisting characteristic table of the crane.
The common thing among the three above-mentioned categories of solutions is that: in selecting the hoisting characteristic table, it is necessary that there be amplitudes of points a and B with respect to the radius of the turning center of the crane, i.e., A, B two points. The three schemes are different in that: the first scheme is executed in an estimation mode, the second scheme is executed in a measurement mode, and the third scheme is executed in a design and calculation mode. The hoisting operation is carried out according to a crane characteristic table, the application range of the characteristic table is 360 degrees, and the characteristic table is only related to amplitude, so that the hoisting performance of the support leg accessories in a part of areas is wasted greatly, and the whole performance of the crane is not exerted.
In addition, when the hoisting characteristic table is selected, the position coordinate values of the point A and the point B relative to the crane are required to be used, the position coordinate values are not related to the characteristic table of the crane, a hoisting scheme is required to be calculated and designed by adopting a manual mode corresponding to the characteristic table, particularly, the data volume of the characteristic table of a large and complex crane is too large, the selection and query work is required to be completed manually, and the hoisting scheme is adjusted continuously by multiple times of hoisting and trial hoisting, so that the workload is huge and the working efficiency is lower.
Considering that the hoisting characteristics of the crane in each hoisting area are different and the data amount is huge, a concise characteristic table is provided for a user generally for simplification. Based on the consideration of safety factors, the application range of the characteristic table is large, conservation is favored, and the hoisting performance is wasted excessively.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
At least part of embodiments of the invention provide a construction information acquisition method, a construction information acquisition device, a crane, a storage medium and a processor, so as to at least solve the technical problems that a crane construction scheme provided in the related art is complex in operation, low in working efficiency and wasteful in hoisting performance.
According to an embodiment of the present invention, a method for acquiring construction information is provided, including:
determining first coordinate information of an initial lifting point and second coordinate information of a target lifting point in a vehicle coordinate system; calculating the length of the arm support of the crane through the first coordinate information, the second coordinate information and the structural parameter set of the crane; and acquiring construction information of the crane according to the length of the arm support and the preset hoisting weight.
Optionally, determining the first coordinate information and the second coordinate information in the vehicle coordinate system comprises: setting the intersection point of the rotation axis of the crane and the horizontal plane as a coordinate origin, setting the direction of the crane pointing to the tail of the vehicle in an unused state as an X axis, setting the direction of the crane pointing to the right side of the vehicle in an unused state as a Y axis, and setting the direction of the rotation axis vertical to the horizontal plane upwards as a Z axis to establish a vehicle coordinate system; first coordinate information corresponding to the position information of the initial lifting point and second coordinate information corresponding to the position information of the target lifting point are determined in a vehicle coordinate system.
Optionally, calculating the boom length according to the first coordinate information, the second coordinate information, and the structural parameter set includes: acquiring a first coordinate value of the initial lifting point in the X-axis direction and a second coordinate value of the initial lifting point in the Y-axis direction through the first coordinate information, and acquiring a third coordinate value of the target lifting point in the X-axis direction and a fourth coordinate value of the target lifting point in the Y-axis direction through the second coordinate information; adopting a first coordinate value, a second coordinate value and a structural parameter set to calculate the length of a first arm support corresponding to the initial hoisting point, adopting a third coordinate value, and adopting a fourth coordinate value and a structural parameter set to calculate the length of a second arm support corresponding to the target hoisting point, wherein the structural parameter set comprises: the eccentricity of the rotary table, the minimum height of the hook pulley block and the height of the arm support hinge point; and selecting a larger value from the first arm support length and the second arm support length, and determining the larger value as the arm support length.
Optionally, the obtaining of the construction information according to the length of the boom and the preset hoisting weight includes: determining that the loads of the crane at an initial lifting point and a target lifting point meet the arm support bearing capacity according to the arm support length and a preset lifting weight, wherein the arm support length is used for determining the specification of a lifting hook and the multiplying power of a steel wire rope from the initial lifting point to the target lifting point, and the preset lifting weight is used for determining the rotation angle and the amplitude variation angle from the initial lifting point to the target lifting point; acquiring a first arm support length combination corresponding to the initial hoisting point and a second arm support length combination corresponding to the target hoisting point, and setting the larger one of the first arm support length combination and the second arm support length combination as an arm support length combination to be used; determining that the load of the crane at the initial lifting point and the target lifting point does not cause the crane to turn over according to the combination of the length of the arm support, the preset lifting weight and the length of the arm support to be used; and acquiring a first counterweight weight corresponding to the initial hoisting point and a second counterweight weight corresponding to the target hoisting point, and setting the larger one of the first counterweight weight and the second counterweight weight as the counterweight weight to be used.
Optionally, determining that the load of the crane at the initial lifting point and the target lifting point meets the arm support bearing capacity according to the arm support length and the preset lifting weight comprises: acquiring a first hoisting characteristic relation corresponding to the first coordinate information and a second hoisting characteristic relation corresponding to the second coordinate information; and determining that the hoisting weight inquired from the first hoisting characteristic relation is greater than or equal to the preset hoisting weight according to the first amplitude corresponding to the first coordinate information and the boom length, and determining that the hoisting weight inquired from the second hoisting characteristic relation is greater than or equal to the preset hoisting weight according to the second amplitude corresponding to the second coordinate information and the boom length.
Optionally, the obtaining of the construction information according to the length of the boom and the preset hoisting weight includes: determining that the load of the crane at the initial lifting point does not meet the arm support bearing capacity according to the arm support length and the preset lifting weight, and/or determining that the load of the crane at the initial lifting point can cause the crane to turn over according to the arm support length, the preset lifting weight and the arm support length combination to be used, wherein the arm support length is used for determining the hook specification and the steel wire rope multiplying power from the initial lifting point to the target lifting point, and the preset lifting weight is used for determining the rotation angle and the amplitude variation angle from the initial lifting point to the target lifting point; and adjusting the current position of the crane.
Optionally, the obtaining of the construction information according to the length of the boom and the preset hoisting weight includes: determining that the load of the crane at the target lifting point does not meet the arm support bearing capacity according to the arm support length and the preset lifting weight, and/or determining that the load of the crane at the target lifting point can cause the crane to turn over according to the arm support length, the preset lifting weight and the arm support length combination to be used, wherein the arm support length is used for determining the hook specification and the steel wire rope multiplying power from the initial lifting point to the target lifting point, and the preset lifting weight is used for determining the rotation angle and the amplitude variation angle from the initial lifting point to the target lifting point; one or more transitional lifting points are added between the initial lifting point and the target lifting point.
According to an embodiment of the present invention, there is also provided a construction information acquiring apparatus, including:
the determining module is used for determining first coordinate information of the initial lifting point and second coordinate information of the target lifting point in a vehicle coordinate system; the calculating module is used for calculating the length of the arm support of the crane through the first coordinate information, the second coordinate information and the structural parameter set of the crane; and the acquisition module is used for acquiring the construction information of the crane according to the length of the arm support and the preset hoisting weight.
Optionally, the determining module includes: the system comprises an establishing unit, a vehicle coordinate system and a control unit, wherein the establishing unit is used for setting the intersection point of the rotary axis of the crane and a horizontal plane as a coordinate origin, setting the direction of the crane pointing to the tail of the vehicle in an unused state as an X axis, setting the direction of the crane pointing to the right side of the vehicle in an unused state as a Y axis, and setting the direction of the rotary axis vertical to the horizontal plane upwards as a Z axis; and the first determining unit is used for determining first coordinate information corresponding to the position information of the initial lifting point and second coordinate information corresponding to the position information of the target lifting point in the vehicle coordinate system.
Optionally, the calculation module comprises: an acquisition unit, configured to acquire a first coordinate value of the initial lifting point in the X-axis direction and a second coordinate value in the Y-axis direction through the first coordinate information, and acquire a third coordinate value of the target lifting point in the X-axis direction and a fourth coordinate value in the Y-axis direction through the second coordinate information; the calculating unit is used for calculating the length of the first arm support corresponding to the initial hoisting point by adopting the first coordinate value, the second coordinate value and the structural parameter set, calculating the length of the second arm support corresponding to the target hoisting point by adopting the third coordinate value, the fourth coordinate value and the structural parameter set, wherein the structural parameter set comprises: the eccentricity of the rotary table, the minimum height of the hook pulley block and the height of the arm support hinge point; and the comparison unit is used for selecting a larger value from the first arm support length and the second arm support length and determining the larger value as the arm support length.
Optionally, the obtaining module includes: the second determining unit is used for determining that the load of the crane at the initial lifting point and the load of the crane at the target lifting point meet the arm support bearing capacity according to the arm support length and the preset lifting weight, wherein the arm support length is used for determining the specification of a lifting hook and the multiplying power of a steel wire rope from the initial lifting point to the target lifting point, and the preset lifting weight is used for determining the rotation angle and the amplitude variation angle from the initial lifting point to the target lifting point; the first processing unit is used for acquiring a first boom length combination corresponding to the initial hoisting point and a second boom length combination corresponding to the target hoisting point, and setting the larger one of the first boom length combination and the second boom length combination as a boom length combination to be used; the third determining unit is used for determining that the crane does not turn over at the initial lifting point and the target lifting point according to the combination of the length of the arm support, the preset lifting weight and the length of the arm support to be used; and the second processing unit is used for acquiring a first balance weight corresponding to the initial hoisting point and a second balance weight corresponding to the target hoisting point, and setting the larger of the first balance weight and the second balance weight as the balance weight to be used.
Optionally, the second determination unit includes: the acquiring subunit is used for acquiring a first hoisting characteristic relationship corresponding to the first coordinate information and a second hoisting characteristic relationship corresponding to the second coordinate information; and the determining subunit is used for determining that the hoisting weight inquired from the first hoisting characteristic relation is greater than or equal to the preset hoisting weight according to the first amplitude corresponding to the first coordinate information and the boom length, and determining that the hoisting weight inquired from the second hoisting characteristic relation is greater than or equal to the preset hoisting weight according to the second amplitude corresponding to the second coordinate information and the boom length.
Optionally, the obtaining module includes: the fourth determining unit is used for determining that the load of the crane at the initial lifting point does not meet the arm support bearing capacity according to the arm support length and the preset lifting weight, and/or determining that the load of the crane at the initial lifting point can cause the crane to turn over according to the arm support length, the preset lifting weight and the arm support length combination to be used, wherein the arm support length is used for determining the hook specification and the steel wire rope multiplying power from the initial lifting point to the target lifting point, and the preset lifting weight is used for determining the rotation angle and the amplitude changing angle from the initial lifting point to the target lifting point; and the third processing unit is used for adjusting the current position of the crane.
Optionally, the obtaining module includes: the fifth determining unit is used for determining that the load of the crane at the target lifting point does not meet the arm support bearing capacity according to the arm support length and the preset lifting weight, and/or determining that the load of the crane at the target lifting point can cause the crane to turn over according to the arm support length, the preset lifting weight and the arm support length combination to be used, wherein the arm support length is used for determining the hook specification and the steel wire rope multiplying power from the initial lifting point to the target lifting point, and the preset lifting weight is used for determining the rotation angle and the amplitude changing angle from the initial lifting point to the target lifting point; and the fourth processing unit is used for adding one or more transitional lifting points between the initial lifting point and the target lifting point.
There is also provided, in accordance with an embodiment of the present invention, a crane, including: the construction information acquisition device.
According to an embodiment of the present invention, there is further provided a storage medium including a stored program, where the apparatus on which the storage medium is located is controlled to execute the above construction information obtaining method when the program runs.
According to an embodiment of the present invention, there is further provided a processor, where the processor is configured to execute a program, and the program executes the above construction information obtaining method when running.
In at least some embodiments of the invention, a method of determining first coordinate information of an initial lifting point and second coordinate information of a target lifting point in a vehicle coordinate system is adopted, the boom length of a crane is calculated according to the first coordinate information, the second coordinate information and a structural parameter set of the crane, and construction information of the crane is obtained according to the boom length and a preset lifting weight, so that a technical effect of more quickly and accurately configuring a crane construction scheme is achieved, and further technical problems that a crane construction scheme provided in the related art is complex in operation, low in working efficiency and wasteful in lifting performance are solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a schematic diagram of an effect of a lifting region on lifting performance according to the related art;
FIG. 2 is a schematic illustration of a position of a hoisted weight according to the related art;
FIG. 3 is a flow chart of a method of obtaining construction information according to one embodiment of the present invention;
FIG. 4 is a schematic diagram of a vehicle establishing a three-dimensional coordinate system according to a preferred embodiment of the present invention;
FIG. 5 is a schematic illustration of a hoist point position coordinate in accordance with a preferred embodiment of the present invention;
FIG. 6 is a schematic illustration of determining the geometry of the boom length according to a preferred embodiment of the present invention;
FIG. 7 is a schematic diagram of the division of the lifting area of the whole vehicle according to a preferred embodiment of the invention;
FIG. 8 is a schematic diagram of the process of establishing multi-point hoist coordinates according to a preferred embodiment of the present invention;
fig. 9 is a flowchart of an acquisition apparatus of construction information according to one embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
First, some terms or terms appearing in the description of the embodiments of the present application are applicable to the following explanations:
(1) suspension arm: in particular to an assembly of a telescopic arm support when an automobile crane and a full-road crane are used for lifting objects with certain height and span, which consists of a plurality of sections of arm supports.
(2) Multiplying power: the crane lifts a heavy object by a steel wire rope, a pulley and a lifting hook, wherein the pulley on the lifting hook moves up and down along with the lifting hook, and the pulley is a movable pulley. If the lifting hook is provided with a movable pulley, half of force can be saved, and the multiplying power is 2; if the lifting hook has two movable pulleys, the multiplying power is 4, and the like. In a general situation, considering that two steel wire ropes need to be arranged on each movable pulley, the lifting hook is provided with N steel wire ropes, and the multiplying power is N, wherein N is a positive integer.
(3) Amplitude: the horizontal distance between the centre of rotation of the crane and the plumb line of the centre of gravity of the hoisting weight.
(4) Hoisting performance table: a regular curve reflecting the change in the lifting capacity of the crane with the change in the arm length and amplitude is called a "lifting capacity characteristic curve" of the crane, and is also called a "performance characteristic curve". The regular curve reflecting the change of the maximum lifting height of the crane along with the change of the arm length and the amplitude is called a lifting height characteristic curve of the crane and is also called a working range curve. The load characteristic curve and the hoisting height characteristic curve are collectively referred to as a characteristic curve of the crane. For convenience of use, the characteristic curve is usually quantized and made into a table form, and is therefore called a characteristic curve table or a performance characteristic table.
(5) Hoisting area: and hoisting the relative position of the operation object and the crane.
In accordance with one embodiment of the present invention, there is provided an embodiment of a construction information acquisition method, it should be noted that the steps shown in the flowchart of the drawings may be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that shown.
Fig. 3 is a flowchart of a construction information acquisition method according to an embodiment of the present invention, and as shown in fig. 3, the method includes the steps of:
step S32, determining first coordinate information of the initial lifting point and second coordinate information of the target lifting point in a vehicle coordinate system;
step S34, calculating the length of the arm support of the crane through the first coordinate information, the second coordinate information and the structural parameter set of the crane;
and step S36, acquiring construction information of the crane according to the length of the arm support and the preset hoisting weight.
Through the steps, the method that the first coordinate information of the initial lifting point and the second coordinate information of the target lifting point are determined in the vehicle coordinate system can be adopted, the boom length of the crane is calculated through the first coordinate information, the second coordinate information and the structural parameter set of the crane, and the construction information of the crane is obtained according to the boom length and the preset lifting weight, so that the technical effect of more quickly and accurately configuring the crane construction scheme is achieved, and the technical problems that the crane construction scheme provided in the related technology is complex in operation, low in working efficiency and capable of wasting lifting performance are solved.
The construction information may include, but is not limited to: arm support length combination, balance weight, lifting hook specification, multiplying power, elevation angle change value from an initial lifting point to a target lifting point and rotation angle change value.
Alternatively, in step S32, determining the first coordinate information and the second coordinate information in the vehicle coordinate system may include performing the steps of:
step S321, setting an intersection point of a rotary axis of the crane and a horizontal plane as a coordinate origin, setting a direction of the crane pointing to the tail of the vehicle in an unused state as an X axis, setting a direction of the crane pointing to the right side of the vehicle in an unused state as a Y axis, setting a direction of the rotary axis perpendicular to a horizontal plane as a Z axis, and establishing a vehicle coordinate system;
in step S322, first coordinate information corresponding to the position information of the initial lifting point and second coordinate information corresponding to the position information of the target lifting point are determined in the vehicle coordinate system.
Fig. 4 is a schematic diagram of establishing a three-dimensional coordinate system for a whole vehicle according to a preferred embodiment of the present invention, as shown in fig. 4, a three-dimensional coordinate system of a crane is established with an intersection point of a rotation axis and the ground as an origin, a direction perpendicular to the ground as a Z-axis, a direction pointing to the rear of the vehicle as an X-axis, and a direction pointing to the right of the vehicle as a Y-axis, and first coordinate information a (X1, Y1, Z1) corresponding to position information of an initial lifting point and second coordinate information B (X2, Y2, Z2) corresponding to position information of a target lifting point are determined in the vehicle coordinate system.
Fig. 5 is a schematic diagram of coordinates of a lifting point position according to a preferred embodiment of the present invention, and as shown in fig. 5, before operation, coordinate positions of an initial lifting point a (x1, y1, z1) and a target lifting point B (x2, y2, z2) can be obtained through measurement, pre-design, automatic position reception, and the like.
Optionally, in step S34, calculating the boom length according to the first coordinate information, the second coordinate information, and the structure parameter set may include the following steps:
step S341, obtaining a first coordinate value of the initial lifting point in the X-axis direction and a second coordinate value in the Y-axis direction through the first coordinate information, and obtaining a third coordinate value of the target lifting point in the X-axis direction and a fourth coordinate value in the Y-axis direction through the second coordinate information;
step S342, calculating a first boom length corresponding to the initial hoisting point by using the first coordinate value, the second coordinate value and the structural parameter set, and calculating a second boom length corresponding to the target hoisting point by using the third coordinate value, the fourth coordinate value and the structural parameter set, wherein the structural parameter set includes: the eccentricity of the rotary table, the minimum height of the hook pulley block and the height of the arm support hinge point;
step S343, selecting a larger value from the first boom length and the second boom length, and determining the length as the boom length.
Fig. 6 is a schematic diagram of determining the geometrical relationship of the boom length according to a preferred embodiment of the present invention, and as shown in fig. 6, the boom lengths required by the hoisting point a and B can be determined according to the geometrical dimensions of the crane turntable eccentricity B, the minimum height h of the hook pulley block, the boom hinge point height h1, the hoisting point coordinates a (x1, y1, z1), and the like.
The method for determining the boom length of the crane from the point A to the point B comprises the following processing steps: first, the spatial coordinates (x1, y1, z1) of the initial lifting point a and the spatial coordinates (x2, y2, z2) of the target lifting point B are acquired. And secondly, calculating the boom length required by the initial lifting point A and the boom length required by the target lifting point B. And then selecting the maximum value as the boom length of the crane between the boom length required by the initial lifting point A and the boom length required by the target lifting point B.
Optionally, in step S36, the obtaining of the construction information according to the boom length and the preset hoisting weight may include the following steps:
step S361, determining that the load of the crane at an initial lifting point and a target lifting point meets the arm support bearing capacity according to the arm support length and a preset lifting weight, wherein the arm support length is used for determining the specification of a lifting hook and the multiplying power of a steel wire rope from the initial lifting point to the target lifting point, and the preset lifting weight is used for determining the rotation angle and the amplitude variation angle from the initial lifting point to the target lifting point;
step S362, acquiring a first boom length combination corresponding to the initial hoisting point and a second boom length combination corresponding to the target hoisting point, and setting the larger one of the first boom length combination and the second boom length combination as a boom length combination to be used;
step 363, determining that the crane does not turn over at the initial lifting point and the target lifting point according to the combination of the length of the arm support, the preset lifting weight and the length of the arm support to be used;
step S364, acquiring a first counterweight weight corresponding to the initial hoisting point and a second counterweight weight corresponding to the target hoisting point, and setting the larger of the first counterweight weight and the second counterweight weight as a counterweight weight to be used.
In a preferred embodiment, the three-dimensional spatial coordinates of the lifting point A, B may be mapped into a vehicle coordinate system, a corresponding relationship is established between a vehicle lifting characteristic table and vehicle coordinates, the boom length required from the lifting point a to the lifting point B is determined according to A, B position coordinates, and then lifting parameters are selected according to a lifting weight, which may include but are not limited to: arm support length combination, counter weight, lifting hook. The lifting characteristic table is divided according to the lifting area, and the area division is fine, so that the lifting performance precision is higher.
Specifically, the crane can establish a three-dimensional coordinate system in the hoisting operation area and perform gridding processing on an XOY plane of the operation area, each grid point corresponds to one hoisting characteristic table, the coordinate points in the grid can obtain the corresponding hoisting characteristic table through an interpolation method, and association can be established between the coordinate points and the hoisting characteristic table. And respectively looking up the hoisting weight corresponding to the amplitude of the position of the point A and the length of the arm support and the hoisting weight corresponding to the amplitude of the position of the point B and the length of the arm support according to the hoisting characteristics related to the point A and the point B, and further determining whether the load of the crane with the preset hoisting weight meets the arm support bearing capacity.
Further, the crane needs to obtain a first boom length combination corresponding to the point a and a second boom length combination corresponding to the point B, and set the larger of the first boom length combination and the second boom length combination as the boom length combination to be used, so as to determine whether the crane meets the requirement of the stability of the whole vehicle for the load with the preset hoisting weight (i.e., whether rollover will occur).
Only when the crane meets the requirements of arm support bearing capacity and finished vehicle stability for the load of the preset hoisting weight, the first counterweight weight corresponding to the point A and the second counterweight weight corresponding to the point B are obtained, and the larger one of the first counterweight weight and the second counterweight weight is set to be the counterweight weight to be used.
Optionally, in step S361, determining that the loads of the crane at the initial hoisting point and the target hoisting point meet the boom bearing capacity according to the boom length and the preset hoisting weight may include the following steps:
step S3611, acquiring a first hoisting characteristic relation corresponding to the first coordinate information and a second hoisting characteristic relation corresponding to the second coordinate information;
step S3612, it is determined that the hoisting weight queried from the first hoisting characteristic relationship is greater than or equal to the preset hoisting weight according to the first amplitude and the boom length corresponding to the first coordinate information, and it is determined that the hoisting weight queried from the second hoisting characteristic relationship is greater than or equal to the preset hoisting weight according to the second amplitude and the boom length corresponding to the second coordinate information.
Fig. 7 is a schematic diagram of dividing a hoisting area of a whole vehicle according to a preferred embodiment of the present invention, and as shown in fig. 7, on the XOY plane coordinate system of the crane, the hoisting area is divided into regions, the principle is to subdivide the regions so that the hoisting performance characteristic table applicable to each region is linearly changed, the characteristic table of the region can be called by interpolation calculation, and the regions are associated with the corresponding region hoisting characteristic tables on a main frame of the whole vehicle. Particularly, due to the division of the hoisting area, the hoisting performance of the area is not obtained by selecting the minimum value according to the conventional 360-degree rotation mode, but is obtained in the area according to a hoisting characteristic table corresponding to the coordinate position and calculated according to the stability of the whole vehicle. Respectively looking up the hoisting weight corresponding to the amplitude of the position of the point A and the length of the arm support and the hoisting weight corresponding to the amplitude of the position of the point B and the length of the arm support according to the hoisting characteristics related to the point A and the point B, and further determining whether the load of the crane at the point A corresponding to the preset hoisting weight meets the arm support bearing capacity or not, namely whether the hoisting weight inquired at the point A is greater than or equal to the preset hoisting weight or not; and determining whether the load of the crane corresponding to the preset hoisting weight at the point B meets the arm support bearing capacity, namely whether the hoisting weight inquired at the point B is larger than or equal to the preset hoisting weight.
Optionally, in step S36, the obtaining of the construction information according to the boom length and the preset hoisting weight may include the following steps:
step S365, determining that the load of the crane at the initial lifting point does not meet the arm support bearing capacity according to the arm support length and the preset lifting weight, and/or determining that the load of the crane at the initial lifting point can cause the crane to turn over according to the arm support length, the preset lifting weight and the arm support length combination to be used, wherein the arm support length is used for determining the hook specification and the steel wire rope multiplying power from the initial lifting point to the target lifting point, and the preset lifting weight is used for determining the rotation angle and the amplitude changing angle from the initial lifting point to the target lifting point;
step S366, the current position of the crane is adjusted.
If the crane can be determined to fail to meet the arm support bearing capacity at the point A corresponding to the load of the preset hoisting weight, namely the hoisting weight inquired at the point A is smaller than the preset hoisting weight, and/or the crane is determined to fail to meet the stability requirement of the whole vehicle (namely the crane is easy to turn over) for the load of the preset hoisting weight, the current position of the crane needs to be adjusted, and further the position relation between the crane and the point A and the point B is changed.
Optionally, in step S36, the obtaining of the construction information according to the boom length and the preset hoisting weight may include the following steps:
step S367, determining that the load of the crane at the target lifting point does not meet the arm support bearing force according to the arm support length and the preset lifting weight, and/or determining that the load of the crane at the target lifting point can cause the crane to turn over according to the arm support length, the preset lifting weight and the combination of the arm support length to be used, wherein the arm support length is used for determining the specification of a lifting hook from the initial lifting point to the target lifting point and the multiplying power of a steel wire rope, and the preset lifting weight is used for determining the rotation angle and the amplitude variation angle from the initial lifting point to the target lifting point;
step S368, adding one or more transitional lifting points between the initial lifting point and the target lifting point.
In the actual operation process, considering that there may be an unavoidable obstacle between the point a and the point B or the influence of sudden factors such as the need to ensure the normal passage of a passage between the point a and the point B, the construction operation from the point a to the point B may not be directly completed at one time, and therefore, one or more transition hoisting points need to be newly added to assist in completing the hoisting operation.
Fig. 8 is a schematic diagram of a process for establishing a multi-point crane coordinate according to a preferred embodiment of the present invention, and as shown in fig. 8, if the crane cannot be completed at one time or is limited by a crane route, a plurality of crane operations need to be performed. Assuming that an object needs to be hoisted from a point a (x1, y1, z1) to a point D (x4, y4, z4), but the object cannot be hoisted directly from the point a to the point D due to the limitation of a hoisting route, and the object needs to pass through the points B (x2, y2, z2) and C (x3, y3, z3) for transfer, the crane needs to acquire the spatial coordinates of the points a, B, C and D, and then acquire the hoisting parameters from the point a to the point B, from the point B to the point C and from the point C to the point D, respectively, so as to complete the hoisting operation from the point a to the point D.
There is also provided an embodiment of an apparatus for acquiring construction information according to an embodiment of the present invention, and fig. 9 is a flowchart of the apparatus for acquiring construction information according to an embodiment of the present invention, as shown in fig. 9, the apparatus including: the determining module 10 is configured to determine first coordinate information of an initial lifting point and second coordinate information of a target lifting point in a vehicle coordinate system; the calculating module 20 is configured to calculate the boom length of the crane according to the first coordinate information, the second coordinate information and the structural parameter set of the crane; and the obtaining module 30 is configured to obtain construction information of the crane according to the length of the boom and the preset hoisting weight.
Optionally, the determining module 10 includes: an establishing unit (not shown in the figure) for setting an intersection point of a rotation axis of the crane and a horizontal plane as a coordinate origin, setting a direction of the crane pointing to the tail of the vehicle in an unused state as an X axis, setting a direction of the crane pointing to the right side of the vehicle in an unused state as a Y axis, and setting a direction of the rotation axis perpendicular to the horizontal plane upwards as a Z axis to establish a vehicle coordinate system; a first determining unit (not shown in the figure) for determining first coordinate information corresponding to the position information of the initial lifting point and second coordinate information corresponding to the position information of the target lifting point in the vehicle coordinate system.
Optionally, the calculation module 20 comprises: an acquisition unit (not shown in the figure) for acquiring a first coordinate value of the initial lifting point in the X-axis direction and a second coordinate value in the Y-axis direction by the first coordinate information and acquiring a third coordinate value of the target lifting point in the X-axis direction and a fourth coordinate value in the Y-axis direction by the second coordinate information; a calculating unit (not shown in the figure), configured to calculate, by using the first coordinate value, the second coordinate value, and the structural parameter set, a first boom length corresponding to the initial hoisting point, and calculate, by using the third coordinate value, a fourth coordinate value, and the structural parameter set, a second boom length corresponding to the target hoisting point, where the structural parameter set includes: the eccentricity of the rotary table, the minimum height of the hook pulley block and the height of the arm support hinge point; and a comparing unit (not shown in the figure) for selecting a larger value from the first boom length and the second boom length to determine the boom length.
Optionally, the obtaining module 30 includes: a second determining unit (not shown in the figure), configured to determine, according to the length of the boom and a preset hoisting weight, that loads of the crane at the initial hoisting point and the target hoisting point meet the boom bearing capacity, where the length of the boom is used to determine a specification of a hook and a steel wire rope magnification from the initial hoisting point to the target hoisting point, and the preset hoisting weight is used to determine a rotation angle and a luffing angle from the initial hoisting point to the target hoisting point; a first processing unit (not shown in the figure), configured to obtain a first boom length combination corresponding to the initial hoisting point and a second boom length combination corresponding to the target hoisting point, and set a larger one of the first boom length combination and the second boom length combination as a boom length combination to be used; a third determining unit (not shown in the figure) for determining that the crane does not turn over at the initial lifting point and the target lifting point according to the combination of the length of the boom, the preset lifting weight and the length of the boom to be used; and a second processing unit (not shown in the figure) configured to obtain a first counterweight weight corresponding to the initial hoisting point and a second counterweight weight corresponding to the target hoisting point, and set a larger one of the first counterweight weight and the second counterweight weight as a counterweight weight to be used.
Optionally, the second determination unit (not shown in the figure) includes: an acquiring subunit (not shown in the figure) configured to acquire a first hoisting characteristic relationship corresponding to the first coordinate information and a second hoisting characteristic relationship corresponding to the second coordinate information; and a determining subunit (not shown in the figure), configured to determine, according to the first amplitude and the boom length corresponding to the first coordinate information, that the hoisting weight queried in the first hoisting characteristic relationship is greater than or equal to the preset hoisting weight, and determine, according to the second amplitude and the boom length corresponding to the second coordinate information, that the hoisting weight queried in the second hoisting characteristic relationship is greater than or equal to the preset hoisting weight.
Optionally, the obtaining module 30 includes: a fourth determining unit (not shown in the figure), configured to determine, according to the boom length and a preset hoisting weight, that a load of the crane at the initial hoisting point does not satisfy the boom bearing capacity, and/or determine, according to a combination of the boom length, the preset hoisting weight, and a boom length to be used, that the load of the crane at the initial hoisting point may cause the crane to turn over, where the boom length is used to determine a hook specification and a wire rope magnification from the initial hoisting point to a target hoisting point, and the preset hoisting weight is used to determine a rotation angle and a luffing angle from the initial hoisting point to the target hoisting point; a third processing unit (not shown in the figure) for adjusting the current position of the crane.
Optionally, the obtaining module 30 includes: a fifth determining unit (not shown in the figure), configured to determine, according to the boom length and a preset hoisting weight, that a load of the crane at the target hoisting point does not meet the boom bearing capacity, and/or determine, according to a combination of the boom length, the preset hoisting weight, and a boom length to be used, that the load of the crane at the target hoisting point may cause the crane to turn over, where the boom length is used to determine a hook specification and a wire rope magnification from the initial hoisting point to the target hoisting point, and the preset hoisting weight is used to determine a rotation angle and a luffing angle from the initial hoisting point to the target hoisting point; a fourth processing unit (not shown in the figure) for adding one or more transitional hoisting points between the initial hoisting point and the target hoisting point.
According to an embodiment of the present invention, there is further provided a storage medium including a stored program, where the apparatus on which the storage medium is located is controlled to execute the above construction information obtaining method when the program runs. The storage medium may include, but is not limited to: various media capable of storing program codes, such as a U disk, a Read Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
According to an embodiment of the present invention, there is further provided a processor, where the processor is configured to execute a program, and the program executes the above construction information obtaining method when running. The processor may include, but is not limited to: a Microprocessor (MCU) or a programmable logic device (FPGA), etc.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (11)
1. A construction information acquisition method is characterized by comprising the following steps:
determining first coordinate information of an initial lifting point and second coordinate information of a target lifting point in a vehicle coordinate system;
calculating the length of the arm support of the crane according to the first coordinate information, the second coordinate information and the structural parameter set of the crane;
and acquiring the construction information of the crane according to the length of the arm support and the preset hoisting weight.
2. The method of claim 1, wherein determining the first coordinate information and the second coordinate information in the vehicle coordinate system comprises:
setting an intersection point of a rotation axis of the crane and a horizontal plane as a coordinate origin, setting a direction of the crane pointing to the tail of the vehicle in an unused state as an X axis, setting a direction of the crane pointing to the right side of the vehicle in the unused state as a Y axis, setting a direction of the rotation axis perpendicular to the horizontal plane upwards as a Z axis, and establishing a vehicle coordinate system;
and determining the first coordinate information corresponding to the position information of the initial lifting point and the second coordinate information corresponding to the position information of the target lifting point in the vehicle coordinate system.
3. The method of claim 1, wherein calculating the boom length from the first coordinate information, the second coordinate information, and the set of structural parameters comprises:
acquiring a first coordinate value of the initial lifting point in the X-axis direction and a second coordinate value of the initial lifting point in the Y-axis direction through the first coordinate information, and acquiring a third coordinate value of the target lifting point in the X-axis direction and a fourth coordinate value of the target lifting point in the Y-axis direction through the second coordinate information;
calculating a first boom length corresponding to the initial hoisting point by using the first coordinate value, the second coordinate value and the structural parameter set, and calculating a second boom length corresponding to the target hoisting point by using the third coordinate value, the fourth coordinate value and the structural parameter set, wherein the structural parameter set comprises: the eccentricity of the rotary table, the minimum height of the hook pulley block and the height of the arm support hinge point;
and selecting a larger value from the first arm support length and the second arm support length, and determining the larger value as the arm support length.
4. The method of claim 1, wherein obtaining the construction information according to the boom length and the preset hoist weight comprises:
determining that the loads of the crane at the initial lifting point and the target lifting point meet the arm support bearing capacity according to the arm support length and the preset hoisting weight, wherein the arm support length is used for determining the specification of a lifting hook and the multiplying power of a steel wire rope from the initial lifting point to the target lifting point, and the preset hoisting weight is used for determining the rotation angle and the amplitude variation angle from the initial lifting point to the target lifting point; acquiring a first boom length combination corresponding to the initial hoisting point and a second boom length combination corresponding to the target hoisting point, and setting the larger one of the first boom length combination and the second boom length combination as a boom length combination to be used; determining that the crane does not turn over at the initial lifting point and the target lifting point according to the combination of the length of the boom, the preset lifting weight and the length of the boom to be used; acquiring a first counterweight weight corresponding to the initial hoisting point and a second counterweight weight corresponding to the target hoisting point, and setting the larger of the first counterweight weight and the second counterweight weight as a counterweight weight to be used;
or,
determining that the load of the crane at the initial lifting point does not meet the arm support bearing capacity according to the arm support length and the preset lifting weight, and/or determining that the load of the crane at the initial lifting point can cause the crane to turn over according to the combination of the arm support length, the preset lifting weight and the arm support length to be used, wherein the arm support length is used for determining the specification of a lifting hook and the multiplying power of a steel wire rope from the initial lifting point to the target lifting point, and the preset lifting weight is used for determining the rotation angle and the amplitude-variable angle from the initial lifting point to the target lifting point; adjusting the current position of the crane;
or,
determining that the load of the crane at the target lifting point does not meet the arm support bearing capacity according to the arm support length and the preset hoisting weight, and/or determining that the load of the crane at the target lifting point can cause the crane to turn over according to the combination of the arm support length, the preset hoisting weight and the arm support length to be used, wherein the arm support length is used for determining the specification of a lifting hook and the multiplying power of a steel wire rope from the initial lifting point to the target lifting point, and the preset hoisting weight is used for determining the rotation angle and the amplitude variation angle from the initial lifting point to the target lifting point; adding one or more transitional lifting points between the initial lifting point and the target lifting point.
5. An acquisition apparatus of construction information, characterized by comprising:
the determining module is used for determining first coordinate information of the initial lifting point and second coordinate information of the target lifting point in a vehicle coordinate system;
the calculating module is used for calculating the length of the arm support of the crane according to the first coordinate information, the second coordinate information and the structural parameter set of the crane;
and the acquisition module is used for acquiring the construction information of the crane according to the length of the arm support and the preset hoisting weight.
6. The apparatus of claim 5, wherein the determining module comprises:
the building unit is used for setting an intersection point of a rotation axis of the crane and a horizontal plane as a coordinate origin, setting a direction of the crane pointing to the tail of the vehicle in an unused state as an X axis, setting a direction of the crane pointing to the right side of the vehicle in the unused state as a Y axis, setting a direction of the rotation axis perpendicular to the horizontal plane upwards as a Z axis, and building a vehicle coordinate system;
a first determining unit configured to determine the first coordinate information corresponding to the position information of the initial lifting point and the second coordinate information corresponding to the position information of the target lifting point in the vehicle coordinate system.
7. The apparatus of claim 5, wherein the computing module comprises:
an acquisition unit, configured to acquire a first coordinate value of the initial lifting point in the X-axis direction and a second coordinate value of the initial lifting point in the Y-axis direction through the first coordinate information, and acquire a third coordinate value of the target lifting point in the X-axis direction and a fourth coordinate value of the target lifting point in the Y-axis direction through the second coordinate information;
a calculating unit, configured to calculate, by using the first coordinate value, the second coordinate value, and the structural parameter set, a first boom length corresponding to the initial hoisting point, and calculate, by using the third coordinate value, the fourth coordinate value, and the structural parameter set, a second boom length corresponding to the target hoisting point, where the structural parameter set includes: the eccentricity of the rotary table, the minimum height of the hook pulley block and the height of the arm support hinge point;
and the comparison unit is used for selecting a larger value from the first arm support length and the second arm support length and determining the larger value as the arm support length.
8. The apparatus of claim 5, wherein the obtaining module comprises:
a second determining unit, configured to determine, according to the boom length and the preset hoisting weight, that loads of the crane at the initial lifting point and the target lifting point meet a boom bearing capacity, where the boom length is used to determine a hook specification and a wire rope magnification from the initial lifting point to the target lifting point, and the preset hoisting weight is used to determine a rotation angle and a luffing angle from the initial lifting point to the target lifting point; the first processing unit is used for acquiring a first boom length combination corresponding to the initial hoisting point and a second boom length combination corresponding to the target hoisting point, and setting the larger one of the first boom length combination and the second boom length combination as a boom length combination to be used; a third determining unit, configured to determine, according to the combination of the boom length, the preset hoisting weight, and the boom length to be used, that the crane does not turn over at the initial hoisting point and the target hoisting point by the load of the crane; the second processing unit is used for acquiring a first counterweight weight corresponding to the initial hoisting point and a second counterweight weight corresponding to the target hoisting point, and setting the larger one of the first counterweight weight and the second counterweight weight as a counterweight weight to be used;
or, the obtaining module includes: a fourth determining unit, configured to determine, according to the boom length and the preset hoisting weight, that a load of the crane at the initial hoisting point does not meet a boom bearing capacity, and/or determine, according to a combination of the boom length, the preset hoisting weight, and the boom length to be used, that the load of the crane at the initial hoisting point may cause the crane to turn over, where the boom length is used to determine a hook specification and a wire rope magnification from the initial hoisting point to the target hoisting point, and the preset hoisting weight is used to determine a rotation angle and a luffing angle from the initial hoisting point to the target hoisting point; the third processing unit is used for adjusting the current position of the crane;
or, the obtaining module includes: a fifth determining unit, configured to determine, according to the boom length and the preset hoisting weight, that a load of the crane at the target hoisting point does not satisfy a boom bearing capacity, and/or determine, according to a combination of the boom length, the preset hoisting weight, and the boom length to be used, that the load of the crane at the target hoisting point may cause the crane to turn over, where the boom length is used to determine a hook specification and a wire rope magnification from the initial hoisting point to the target hoisting point, and the preset hoisting weight is used to determine a rotation angle and a luffing angle from the initial hoisting point to the target hoisting point; and the fourth processing unit is used for adding one or more transitional lifting points between the initial lifting point and the target lifting point.
9. A crane, comprising: the construction information acquiring apparatus according to any one of claims 5 to 8.
10. A storage medium characterized by comprising a stored program, wherein an apparatus in which the storage medium is located is controlled to execute the construction information acquisition method according to any one of claims 1 to 4 when the program is executed.
11. A processor, characterized in that the processor is configured to execute a program, wherein the program executes the construction information obtaining method according to any one of claims 1 to 4.
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| CN113353820A (en) * | 2021-06-18 | 2021-09-07 | 安徽柳工起重机有限公司 | Crane performance table generation method |
| CN113353823A (en) * | 2021-06-18 | 2021-09-07 | 安徽柳工起重机有限公司 | Crane control method based on crane performance table database |
| CN113353823B (en) * | 2021-06-18 | 2022-09-23 | 安徽柳工起重机有限公司 | Crane control method based on crane performance table database |
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