CN110790142A - Crane amplitude deflection compensation method and system and crane - Google Patents
Crane amplitude deflection compensation method and system and crane Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
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Abstract
The invention provides a crane variable amplitude deflection compensation method, a system and a crane, wherein the method comprises the following steps: when the hoisting operation of the crane starts, acquiring the initial working amplitude of the crane; acquiring the current working amplitude of the crane in the hoisting operation process; and executing amplitude variation compensation operation under the condition that the difference between the current working amplitude and the initial working amplitude exceeds a first threshold range until the difference between the current working amplitude and the initial working amplitude is smaller than a second threshold range, wherein the second threshold range is within the first threshold range. The invention can realize the automatic compensation of the amplitude deflection of the crane without excessive operation of the crane, has better compensation accuracy and can ensure that the heavy object does not swing or reduces the swing when being lifted and/or dropped.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to a crane variable amplitude deflection compensation method, a crane variable amplitude deflection compensation system and a crane comprising the crane variable amplitude deflection compensation system.
Background
When the crane is used for hoisting, the deflection deformation of the crane arm support is caused due to the load of a heavy object, so that the head of the arm support deviates from the position right above the heavy object when the heavy object leaves the ground, a lifting rope for lifting the heavy object is not in a vertical state any more, and the lifting rope is pulled in an inclined manner, so that the off-ground swinging of the heavy object is caused, and the operation safety and the operation accuracy are influenced. When the crane is in hook falling operation, the crane boom recovers a non-bearing state due to unloading of the load of the weight, and the head of the boom deviates from the position right above the weight at the final landing moment of the weight, so that the subsequent hoisting operation is influenced.
At present, most cranes are not provided with a deflection compensation system, and the control of the deflection of the hoisting weight off the ground caused by the deflection deformation of the boom of the crane is usually completed by manual operation of a manipulator. The manipulator repeatedly combines hoisting and amplitude-variable hoisting in the hoisting process by observing the amplitude, angle and weight information displayed by the torque limiter and the state of the hoisted heavy object and combining self experience until the hoist is lifted off the ground. If the lifting weight is larger than the deflection from the ground, the manipulator usually continues to adjust, and the manipulator observes and judges that the weight falls when being positioned in the deflection middle position and lifts again, so that the deflection of the lifting weight after the ground is reduced.
And a small part of cranes are provided with a working amplitude compensation system. The current compensation techniques mainly include: 1) and compensating by using the working amplitude and the amplitude variation angle. When the current working amplitude difference is detected to exceed a set threshold value in the hoisting process, a target amplitude variation angle is calculated according to the working amplitude difference, an amplitude variation mechanism is started to perform amplitude variation until the amplitude variation reaches the target amplitude variation angle, the amplitude variation is stopped, the hoisting is continued, and the real-time working amplitude is detected. 2) The angle of inclination of the lifting rope connected with the lifting hook is used for compensation. When the inclination angle of the lifting rope relative to the gravity direction is detected to be larger than a set threshold value, if the inclination angle is a longitudinal deflection angle, compensation is carried out by adjusting the elevation angle of the lifting arm; if the angle is the transverse deflection angle, the adjustment is carried out through the rotation of the rotary table.
For the existing method of controlling the deflection of the hoisting weight by manual operation without configuring deflection compensation, the following defects exist: 1) the control effect of the hoisting deflection depends on the experience and the control proficiency of the manipulator, the manipulator control level is higher in requirement, the manipulator cannot be timely compensated in place in many times, and the operation of dropping and hoisting is needed; 2) the compensation judgment and manual compensation are carried out by a manipulator in the hoisting process, the hoisting and amplitude-variable hoisting actions are usually switched manually for many times, and the operation process is complex; and 3) if the manipulator is not manually compensated in place, certain potential safety hazards exist and the operation precision is influenced.
For the mode of compensating by using the working amplitude and the amplitude variation angle, the following defects exist: 1) the compensation precision is limited, the calculation is complex, and the implementation is difficult, and the specific reasons are as follows. The target amplitude angle value is obtained by calculating the working amplitude before the crane is lifted, the current crane weight or the current working amplitude and the current boom extension length, and the aim is to ensure that the working amplitude after amplitude variation is equal to the working amplitude before the crane is lifted. The calculation method is to calculate at the moment of amplitude variation starting, and if the hoisting weight does not change in the amplitude variation process, the working amplitude after amplitude variation can be restored to the working amplitude before hoisting weight as expected. However, the crane can also lift heavy objects while performing amplitude variation compensation action, and the lifting weight can be changed from G before and after the amplitude variation process1Increase to G2Therefore, the generated deflection deformation of the arm support can bring about the work amplitude increment delta R, the compensation error of delta R can exist when the calculation method is adopted for compensation, and the compensation precision is limited. If the amplitude influence caused by the increase of the hoisting weight in the amplitude variation process is considered in the calculation method of the target amplitude variation angle value, the working amplitude before the hoisting weight, the current hoisting weight (before amplitude variation) and the hoisting weight when the amplitude variation stops are unknownThe quantities are mutually coupled, iterative solution is needed while the nonlinear deformation of the cantilever crane is considered, the calculated quantity is large, and the implementation in a real-time control system is difficult. 2) The compensation accuracy is limited by the resolution of the angle sensor. If the elevation angle variation of the arm support caused by the suspension load variation is within the resolution of the angle sensor, the control cannot be distinguished, but the amplitude variation value corresponding to the arm support is possibly large. At present, the resolution of a common angle sensor is about 0.03 degrees, and under partial working conditions, the working amplitude variation value corresponding to the elevation variation of the 0.03-degree arm support can reach more than 0.3 m. Therefore, the mode of carrying out amplitude variation compensation control through the amplitude variation angle cannot carry out accurate control, and the compensation precision is limited.
For the way of compensating with the angle of inclination of the hoisting rope, it has the following disadvantages: 1) the compensation accuracy is limited. The compensation accuracy of this method is limited by the measurement accuracy of the yaw angle detection device. At present, the actual measurement error of a common tilt angle sensor is usually more than 0.3 degrees, and if the height of the boom head from the ground is 50m, the distance error between the boom head and a heavy object in the horizontal direction of a variable amplitude plane, which is brought by angle measurement, reaches more than 0.26m, so that the compensation precision is directly limited. 2) The tilt sensor is inconvenient to install. If inclination sensor installs on the lifting hook, be difficult to solve the power supply problem of sensor on the one hand, on the other hand a hoist is furnished with a plurality of lifting hooks, can change the lifting hook that is applicable to different tonnages according to lifting by crane weight in the operation, then also need remove or change inclination sensor and circuit when changing the lifting hook. If the inclination angle sensor is installed on the lifting rope at the head of the arm support, an additional device needs to be added in order to solve the problem of movement of the lifting rope, and meanwhile, the disturbance influence of the lifting rope needs to be solved.
In summary, there is a need in the art for a crane luffing deflection compensation system that can accurately and automatically achieve crane luffing deflection compensation.
Disclosure of Invention
The invention provides a crane variable-amplitude deflection compensation method, a crane variable-amplitude deflection compensation system and a crane comprising the crane variable-amplitude deflection compensation system, which can realize automatic compensation of crane variable-amplitude deflection without excessive operation of a manipulator, have better compensation accuracy and can ensure that a heavy object does not swing or reduce swing when being lifted and/or dropped.
According to an embodiment of the invention, the invention provides a crane variable amplitude deflection compensation method, which comprises the following steps: when the hoisting operation of the crane starts, acquiring the initial working amplitude of the crane; acquiring the current working amplitude of the crane in the hoisting operation process; and executing amplitude variation compensation operation under the condition that the difference between the current working amplitude and the initial working amplitude exceeds a first threshold range until the difference between the current working amplitude and the initial working amplitude is smaller than a second threshold range, wherein the second threshold range is within the first threshold range.
Optionally, the hoisting operation may include a hoisting operation and/or a hoisting hook dropping operation.
Optionally, in the case that the hoisting operation is a hoisting operation, the amplitude-varying compensation operation is an upward amplitude-varying operation; and/or in the case that the hoisting operation is a hoisting hook-falling operation, the amplitude-variable compensation operation is amplitude-variable downwards.
Optionally, the method further includes: when the hoisting operation of the crane is started, acquiring the initial relative distance between the head of the arm support of the crane and a heavy object in an amplitude variation plane; the performing a variable amplitude compensation operation when the difference between the current working amplitude and the initial working amplitude exceeds a first threshold range until the difference between the current working amplitude and the initial working amplitude is less than a second threshold range further comprises: and under the condition that the difference between the current working amplitude and the initial relative distance exceeds the first threshold range, executing amplitude variation compensation operation until the difference between the current working amplitude and the initial relative distance is smaller than the second threshold range.
Optionally, the hoisting operation is stopped during the amplitude compensation operation.
Optionally, before performing the amplitude variation compensation operation, the method further includes: and performing control current calibration to obtain a variable amplitude critical control current value, wherein the variable amplitude compensation operation is performed based on the variable amplitude critical control current value.
Optionally, the crane luffing deflection compensation method is performed a plurality of times during: during the process of lifting the heavy object, during the period of starting to lift the heavy object until the heavy object is separated from the ground; and/or during the lowering of the weight, during the time when the weight begins to contact the ground until the weight is completely hooked down.
According to an embodiment of the present invention, there is provided a crane luffing deflection compensation system, comprising: a memory for storing computer program instructions; and a controller for executing the computer program instructions to perform the following operations: when the hoisting operation of the crane starts, acquiring the initial working amplitude of the crane; acquiring the current working amplitude of the crane in the hoisting operation process; and executing amplitude variation compensation operation under the condition that the difference between the current working amplitude and the initial working amplitude exceeds a first threshold range until the difference between the current working amplitude and the initial working amplitude is smaller than a second threshold range, wherein the second threshold range is within the first threshold range.
Optionally, the hoisting operation may include a hoisting operation and/or a hoisting hook dropping operation.
Optionally, in the case that the hoisting operation is a hoisting operation, the amplitude-varying compensation operation is an upward amplitude-varying operation; and/or in the case that the hoisting operation is a hoisting hook-falling operation, the amplitude-variable compensation operation is amplitude-variable downwards.
Optionally, the controller is further configured to obtain an initial relative distance between the boom head of the crane and the heavy object in the luffing plane when the hoisting operation of the crane starts; and executing amplitude variation compensation operation under the condition that the difference between the current working amplitude and the initial working amplitude exceeds a first threshold range until the difference between the current working amplitude and the initial working amplitude is smaller than a second threshold range. Further comprising: and under the condition that the difference between the current working amplitude and the initial relative distance exceeds the first threshold range, executing amplitude variation compensation operation until the difference between the current working amplitude and the initial relative distance is smaller than the second threshold range.
Optionally, the system further comprises: the camera is arranged at the head of the arm support and used for shooting an image of the heavy object; the controller is used for processing the image to obtain the initial relative distance between the boom head of the crane and the heavy object in the luffing plane.
Optionally, the system further comprises: the beam transmitter and the beam receiver are respectively arranged on the boom head and a lifting hook of the crane and are used for transmitting and receiving beams; the controller is used for acquiring the initial relative distance between the boom head of the crane and the heavy object in the variable amplitude plane according to the wave beams received by the wave beam receiver.
Optionally, the system further comprises: the at least two GPS positioning devices are respectively arranged on the boom head and the lifting hook of the crane and are used for detecting the respective positions of the boom head and the lifting hook; the controller is used for acquiring the initial relative distance between the boom head of the crane and a heavy object in a variable amplitude plane according to the respective positions of the boom head and the lifting hook.
Optionally, the controller is further configured to stop the hoisting operation during the execution of the amplitude compensation operation.
Optionally, before performing the amplitude compensation operation, the controller is further configured to: and performing control current calibration to obtain a variable amplitude critical control current value, wherein the variable amplitude compensation operation is performed based on the variable amplitude critical control current value.
Optionally, the operations performed by the controller are performed a plurality of times during: during the process of hoisting the heavy object, the heavy object is hoisted to the state that the heavy object is separated from the ground; and/or during the lowering of the weight, during the time when the weight begins to contact the ground until the weight is completely hooked down.
According to one embodiment of the invention, the invention provides a crane, which comprises the crane luffing deflection compensation system.
The invention also provides a machine-readable storage medium having stored thereon instructions for causing a machine to perform the crane luffing deflection compensation method described above, according to an embodiment of the invention.
The scheme of the invention adopts a control strategy of step-by-step automatic compensation, judges the difference between the current working amplitude and the initial working amplitude in real time, and executes amplitude-variable compensation operation until the difference between the current working amplitude and the initial working amplitude is within a certain smaller range under the condition that the difference between the current working amplitude and the initial working amplitude exceeds a first threshold range; and then, in the case that the difference between the current working amplitude and the initial working amplitude exceeds the first threshold range again during the further winding operation of the crane, performing the amplitude compensation operation again until the difference between the current working amplitude and the initial working amplitude is within a certain smaller range. Therefore, during the hoisting operation of the crane, the amplitude variation compensation operation can be executed for multiple times so as to control the difference between the current working amplitude and the initial working amplitude within a certain smaller range, thereby realizing the step-by-step automatic compensation.
The control strategy of the step-by-step automatic compensation can be suitable for the situation that the hoisting weight of actual hoisting operation is unknown. If the hoisting weight is unknown, the amplitude difference before and after hoisting cannot be predicted, and the automatic amplitude-variable starting and stopping point corresponding to the single-step compensation in-place cannot be given in advance. If a single step compensation is implemented, it is substantially not possible to compensate in place. The method adopts step-by-step automatic compensation, and repeatedly restores the current working amplitude to be close to the initial working amplitude through multiple amplitude compensation, thereby ensuring that the compensation under any hanging weight is basically in place. In addition, the compensation precision of the control strategy of the step-by-step automatic compensation is not limited by the calculation error of the target variable amplitude angle, the installation and precision of the angle sensor and the like, and the compensation precision is improved.
The compensation scheme of the invention can realize the following effects: when the crane lifts a heavy object, the heavy object can basically vertically rise when being lifted off the ground without swinging; when falling down, the weight can land stably without swing. The compensation scheme greatly improves the safety of hoisting operation, provides foundation guarantee for accurate hoisting, improves the intelligent level of the crane, and simultaneously reduces the control level requirement on the manipulator and the working strength of the manipulator.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIGS. 1A and 1B are schematic views of a crane lifting and lowering a weight, respectively;
FIG. 2 is a flow chart of a crane luffing deflection compensation method according to an embodiment of the present invention;
fig. 3A and 3B are flow charts of a crane variable amplitude deflection compensation method in a hoisting operation and a falling object operation, respectively, according to an embodiment of the present invention; and
fig. 4 is a schematic structural diagram of a crane luffing deflection compensation system according to an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation. It should be noted that, in this document, "sling" and "weight" may be used interchangeably.
Fig. 1A and 1B are schematic views of a crane lifting a weight and dropping a weight, respectively. The working principle of deflection compensation will now be explained with reference to fig. 1A and 1B.
When the crane is in hoisting and hoisting operation, as shown in fig. 1A, a boom head (which may be called as "boom head") a is located right above a heavy object M, and the working amplitude is RFront sideSteel wire rope
In a vertical position. Because the crane jib can generate deflection deformation under the action of heavy load, the position of the jib head is changed to A' when the crane jib leaves the ground, and the working amplitude is RRear end. At this moment, the steel wire ropeThe weight M is not kept vertical any more, and is subjected to the horizontal component force of the steel wire rope, so that the weight M can be thrown outwards when the weight M leaves the ground. The working principle of deflection compensation is that the head position of the arm support is pulled back to A' by the upward amplitude variation operation of the arm support in the lifting process when the arm support is lifted off the ground, and a steel wire rope is used for the deflection compensationThe weight M is still kept vertical, and the weight M is vertically lifted under the action of the upward pulling force of the steel wire rope.
When the crane is used for hoisting and falling objects, as shown in fig. 1B, the head a of the arm support is positioned right above the heavy object M, and the working amplitude is RFront sideSteel wire ropeIn a vertical position. Because the heavy load effect on the crane jib in the falling and hanging process can be gradually reduced to zero, the deflection deformation of the jib caused by the heavy load can be recovered, the position of the jib head is changed to A' when the jib leaves the ground, and the working amplitude is RRear end. At this moment, the steel wire ropeThe weight M is not kept vertical any more, the weight M is subjected to the horizontal component force of the steel wire rope in the hook falling process, if the horizontal component force is larger than the friction force between the weight and the ground, the weight can be thrown inwards in the hook falling process, and the head of the cantilever crane is not positioned right above the weight any more after the cantilever crane falls to the ground, so that the subsequent hoisting operation can be influenced. The working principle of deflection compensation is that the head position of the arm support is pulled back to A' by the downward amplitude variation operation of the arm support in the falling and hanging process when the arm support is lifted off the ground, and a steel wire rope is used for the deflection compensationThe weight M still keeps vertical, and the weight M cannot be thrown out under the action of the upward pulling force of the steel wire rope.
Fig. 2 is a flowchart of a crane luffing deflection compensation method according to an embodiment of the present invention. As shown in fig. 2, according to an embodiment of the present invention, there is provided a crane luffing deflection compensation method, including: when the hoisting operation of the crane starts, acquiring the initial working amplitude of the crane; acquiring the current working amplitude of the crane in the hoisting operation process; and executing amplitude variation compensation operation under the condition that the difference between the current working amplitude and the initial working amplitude exceeds a first threshold range until the difference between the current working amplitude and the initial working amplitude is smaller than a second threshold range, wherein the second threshold range is within the first threshold range.
It should be noted that the difference between the first threshold range and the second threshold range determines the magnitude of the single step compensation in the step automatic compensation process, and the larger the difference, the larger the magnitude of the single step compensation. In contrast to performing the amplitude compensation operation until the difference between the current working amplitude and the initial working amplitude is zero to achieve accurate compensation, the setting of the second threshold range may sufficiently consider that the actuator lags during the execution of the amplitude compensation operation to cause overcompensation, and in the case of overcompensation, may cause the amplitude compensation operation to need to be performed in the opposite direction, which may cause the compensation operation to be repeatedly performed back and forth. In addition, there is a certain degree of unnecessity in performing the amplitude compensation operation until the difference between the current working amplitude and the initial working amplitude is zero, since it may result in an excessively long compensation time or in an inefficient energy saving. Therefore, the second threshold range may be set after considering the above factors to integrate the respective advantages and disadvantages.
The above-mentioned initial working amplitude and current working amplitude can be obtained by any means known in the art, for example, directly by a measuring device, calculated by some parameters measured by the measuring device, obtained by an image obtaining device and obtained by an image processing technique, and so on. This working amplitude acquisition is further described herein below.
For performing the luffing compensation operation, specifically, the winding operation may include a winding hoisting operation and/or a winding hook dropping operation. Under the condition that the hoisting operation is hoisting and hoisting operation, the amplitude-variable compensation operation is upward amplitude-variable; and/or in the case that the hoisting operation is a hoisting hook-falling operation, the amplitude-variable compensation operation is amplitude-variable downwards. Of course, the present invention is not limited thereto, and other ways of achieving the amplitude compensation may be applicable.
The general control strategy of the crane variable amplitude deflection compensation method is as follows: and step-by-step automatic compensation is carried out on the working amplitude in the lifting and hooking processes. In particular, stepwise automatic compensation is performed for one or both of the following cases: during the process of lifting the heavy object, during the period of starting to lift the heavy object until the heavy object is separated from the ground; and/or during the lowering of the weight, during the time when the weight begins to contact the ground until the weight is completely hooked down. In the hoisting/descending process, if the real-time working amplitude is detected to be changed to a certain degree, the hoisting/descending is stopped (the operation is optional, the hoisting action can also not be stopped, but the hoisting/descending is ensured to be slow enough), and the amplitude-changing mechanism is driven to automatically carry out upward/downward amplitude-changing; and if the working amplitude is detected to be restored to the allowable range in the amplitude changing process, stopping upwards/downwards amplitude changing, and simultaneously continuing hoisting and lifting/descending. And continuously repeating the operations until the hoisting weight or the working amplitude is stable, and finishing the hoisting/hook falling. Wherein, stopping hoisting, lifting/descending and stopping upward/downward amplitude variation respectively represent that the hoisting weight does not lift/descend and does upward/downward movement.
The scheme of the invention adopts a control strategy of step-by-step automatic compensation, judges the difference between the current working amplitude and the initial working amplitude in real time, and executes amplitude-variation compensation operation according to the judgment result until the difference between the current working amplitude and the initial relative distance is within a certain smaller range. The invention adopts the automatic compensation step by step, and repeatedly restores the current working amplitude to be close to the initial working amplitude through multiple amplitude compensation, thereby ensuring that the compensation under any hanging weight is basically in place. In addition, the compensation precision of the control strategy of the step-by-step automatic compensation is not limited by the calculation error of the target variable amplitude angle, the installation and precision of the angle sensor and the like, and the compensation precision is improved.
The inventor finds that the initial relative distance between the head of the arm support and a heavy object can have a relatively great influence on the amplitude deflection compensation through research. Because the working amplitude only reflects the horizontal position of the boom head, the boom head position when the boom is lifted off the ground can only be ensured to return to the boom head position at the initial lifting moment by using the working amplitude for compensation. If the weight is not under the head of the arm support at the initial hoisting time, the weight is not under the head of the arm support when the crane lifts off the ground, and the hoisting deflection still occurs. Therefore, the initial relative distance between the head of the arm support of the crane and a heavy object in the amplitude variation plane is introduced into the amplitude variation deflection compensation method.
According to an embodiment, the method further comprises: when the hoisting operation of the crane is started, acquiring the initial relative distance between the head of the arm support of the crane and a heavy object in an amplitude variation plane; the performing a variable amplitude compensation operation when the difference between the current working amplitude and the initial working amplitude exceeds a first threshold range until the difference between the current working amplitude and the initial working amplitude is less than a second threshold range further comprises: and under the condition that the difference between the current working amplitude and the initial relative distance exceeds the first threshold range, executing amplitude variation compensation operation until the difference between the current working amplitude and the initial relative distance is smaller than the second threshold range. In the amplitude variation plane of the arm support, if the weight is projected in the horizontal direction of the arm support, the relative distance between the arm head and the weight is positive; if the weight projects outside the horizontal direction of the arm support, the relative distance between the arm head and the weight is negative.
The manner in which the initial relative distance of the boom head and the weight in the luffing plane is obtained will be explained below. The acquired relative distance data of the arm head and the heavy object can be output to a human-computer interaction interface on one hand, and a manipulator can adjust the position of the arm head before hoisting operation according to the relative distance data and adjust the arm head to be right above the hoisting operation through operations such as amplitude variation and the like; on the other hand, the initial relative distance can be used as a subentry for judging the current working amplitude and the initial working amplitude, so that the condition that the arm head is not positioned right above the heavy object at the initial hoisting moment is considered in compensation, and the method is more suitable for actual hoisting. The scheme of the invention considers the initial horizontal relative distance between the head of the arm support and the weight, avoids the situation of insufficient compensation caused by the fact that the head of the arm is not right above the weight at the starting time of lifting/dropping objects, improves the applicability of the system and further ensures the operation safety.
In order to stabilize the process of lifting and landing the heavy object and perform effective and accurate deflection compensation, the current in the process of amplitude compensation needs to be controlled so as to avoid too fast lifting and landing actions, which not only can not compensate the situation, but also can bring larger impact to the boom structure. At present, an open type or a closed type hydraulic control system adopted by a crane cannot provide a critical control current value when an arm support acts. Different cranes have different critical steering current values, and the critical steering current values also vary with the ambient temperature, the length of time the crane is used.
Preferably, before performing the luffing compensation operation, the method further comprises: and performing control current calibration to obtain a variable amplitude critical control current value, wherein the variable amplitude compensation operation is performed based on the variable amplitude critical control current value. The control current calibration can calibrate the critical winch lifting, winch descending, upward amplitude variation and/or downward amplitude variation control current values when the arm support moves. When the current is calibrated, an operator finds out the critical control current when the arm support corresponding to each operation moves through the operations of hoisting, hoisting and descending, upward amplitude variation and downward amplitude variation, and stores the critical control current. The hoisting and amplitude-variable control currents in the hoisting and hook falling processes with compensation can be given by referring to each critical current. Through the calibration of the control current, the critical control current values of the hoisting and amplitude variation of the boom during action can be obtained, the control current with proper speed in the process of compensating hoisting/falling objects can be obtained according to the critical control current values, and the adaptability of amplitude variation deflection compensation to different crane individuals is enhanced. In addition, a proper automatic amplitude variation starting and stopping point is set based on the calibrated amplitude variation critical control current value, and the compensation precision of amplitude variation deflection compensation can be improved.
Fig. 3A and 3B are flow charts of a crane variable amplitude deflection compensation method in a hoisting operation and a falling object operation, respectively, according to an embodiment of the present invention.
As shown in fig. 3A, the control flow in the hoisting process is as follows:
step 101: and detecting the opening state of the compensation switch. The compensation switch can be arranged on an operation panel of a crane cab, and can also be arranged on a human-computer interaction interface, such as a display screen of a moment limiter. Through the setting of the compensation switch, the mobile phone can independently select whether to start the amplitude deflection compensation according to the actual and personal control habits on site. If the compensation switch is turned on, automatic amplitude-variable deflection compensation is carried out during hoisting; if the switch is closed, the switch is completely manually operated by a machine hand.
Step 102: and detecting the hoisting state of the winch. And if the compensation switch is turned on, detecting whether the crane is in a hoisting state.
Step 103: and acquiring/calculating and storing initial data of the crane at the moment of hoisting starting. This initial data may comprise the initial working amplitude and/or the initial relative distance of the arm head from the weight, but may of course also comprise some other data, such as the initial hoisting weight of the crane, the initial boom elevation, the arm length, etc. If the accurate working amplitude cannot be obtained, the working amplitude can be obtained through calculation according to the obtained data of the hoisting weight, the elevation angle and the arm length.
Step 104: and in the hoisting process, calculating and/or acquiring the current working amplitude in real time. If the accurate working amplitude cannot be obtained, the current working amplitude can be obtained by obtaining data such as the current hoisting weight of the crane, the current boom elevation angle and the like through calculation.
Step 105: judging the difference value between the current working amplitude and the initial working amplitude;
step 106: and starting amplitude variation. And if the difference value (the current working amplitude-the initial relative distance between the arm head and the heavy object) is larger than the set first working amplitude difference threshold value, starting to perform compensation on the upward amplitude.
Step 107: and stopping amplitude variation. And if the amplitude is compensated and the difference between the current working amplitude and the initial relative distance between the arm head and the weight is less than the set second working amplitude difference threshold value, stopping upward amplitude variation.
Step 108: and finishing the hoisting. And starting and stopping upward amplitude variation (see step 104 and 107) according to the comparison condition of the working amplitude difference value and the working amplitude difference threshold value until the hoisting is finished.
The control flow of the variable-amplitude deflection compensation method in the hoisting hook falling process is similar to that in the hoisting process, and specifically comprises the following steps:
step 201: and detecting the opening state of the compensation switch. Detecting the state of the set compensation switch, and if the compensation switch is opened, performing automatic amplitude-variable deflection compensation when the ground falls; if the switch is closed, the switch is completely manually operated by a machine hand.
Step 202: and detecting the hoisting state of the winch. And if the compensation switch is turned on, detecting whether the compensation switch is in a winch landing state.
Step 203: and acquiring/calculating and storing initial data of the crane at the landing starting moment. This initial data may comprise the initial working amplitude and/or the initial relative distance of the arm head from the weight, but may of course also comprise some other data, such as the initial hoisting weight of the crane, the initial boom elevation, the arm length, etc. If the accurate working amplitude cannot be obtained, the working amplitude can be obtained through calculation according to the obtained data of the hoisting weight, the elevation angle and the arm length.
Step 204: and in the landing process, calculating and/or acquiring the current working amplitude in real time. If the accurate working amplitude cannot be obtained, the current working amplitude can be obtained by obtaining data such as the current hoisting weight of the crane, the current boom elevation angle and the like through calculation.
Step 205: judging the difference value between the current working amplitude and the initial working amplitude;
step 206: and starting amplitude variation. And if the current working amplitude-initial relative distance between the arm head and the weight is less than a set third working amplitude difference threshold value, starting downward amplitude variation for compensation.
Step 207: and stopping amplitude variation. And if the amplitude is compensated and the working amplitude is larger than the set fourth working amplitude difference threshold value, stopping downwards amplitude variation.
Step 208: and (5) finishing the hook falling. And starting and stopping the downward amplitude variation (see step 204 and 207) according to the comparison condition of the working amplitude difference value and the working amplitude difference threshold value until the hook falling is finished.
In the crane luffing deflection compensation method shown in fig. 3A-3B, the set first working amplitude difference threshold value may be a positive value, and the second working amplitude difference threshold value is smaller than the first threshold value. The set third working amplitude difference threshold value can be a negative value, and the fourth working amplitude difference threshold value is larger than the third working amplitude difference threshold value. In the lifting/landing process, if the lifting weight is kept stable within a certain time period, namely the fluctuation range of the lifting weight does not exceed the set lifting weight fluctuation valve value, the lifting/landing is finished. Or the working amplitude is kept stable within a certain time, and the lifting/landing is finished.
Fig. 4 is a schematic structural diagram of a crane luffing deflection compensation system according to an embodiment of the present invention. As shown in fig. 4, an embodiment of the present invention provides a crane luffing deflection compensation system, which includes: a memory (not shown) for storing computer program instructions; and a controller for executing the computer program instructions to perform the following operations: when the hoisting operation of the crane is started, acquiring the initial working amplitude of the crane, wherein the acquisition of the initial working amplitude may need to use data from an inclination angle sensor and a pressure/tension sensor; in the hoisting operation process, acquiring the current working amplitude of the crane, wherein the acquisition of the current working amplitude may need to use data from an inclination angle sensor and a pressure/tension sensor; and in the case that the difference between the current working amplitude and the initial working amplitude exceeds a first threshold range, performing a luffing compensation operation (for example, performing a luffing compensation operation by operating a luffing hydraulic system, during which the hoisting operation may also be stopped by operating a hoisting hydraulic system) until the difference between the current working amplitude and the initial working amplitude is smaller than a second threshold range, which is within the first threshold range.
For the specific details and benefits of the crane variable amplitude deflection compensation system provided by the invention, reference can be made to the description of the crane variable amplitude deflection compensation method, and further description is omitted here. Only the hardware configuration to which it relates will be described herein.
The crane variable amplitude deflection compensation system provided by the embodiment of the invention can be directly implemented on the existing crane without adding new hardware equipment. For example, the deflection compensation system can realize the functions of opening and closing of a compensation switch, calibrating compensation current, displaying data such as the relative distance between an arm head and a heavy object and the like by using a display screen of a torque limiter without configuring a separate human-computer interaction interface. The deflection compensation system can be embedded into a host controller as a subsystem without being provided with a separate controller; an independent controller can also be configured to output the control signals in compensation to a host controller, such as the winding current and the variable amplitude current.
For the detection means, only those detection means required by the luffing deflection compensation system for carrying out the working amplitude acquisition and/or calculation can be provided. For example, the sensor may utilize a sensor configured on a torque limiter. According to the data requirement of the compensation system, the required sensors comprise an inclination angle sensor arranged on the arm support, a pressure sensor arranged at the amplitude variation oil cylinder or a tension sensor arranged on a pulling plate of the crane. The number of the inclination angle sensors arranged on the arm support can be one or more, and the inclination angle sensors are used for acquiring the elevation angle information of the arm support and calculating the working amplitude. Usually, 1 tilt sensor is installed near the root of the arm support main arm, or 1 tilt sensor is installed near the root and the head of the arm support main arm respectively, and the arrangement of the plurality of sensors can calculate and obtain more accurate working amplitude. Similar to the main arm, 1 or more tilt sensors are also required to be installed on the arm section of the arm support tower. And the pressure sensor arranged at the amplitude-variable oil cylinder is used for testing the pressure of the inlet and the outlet of the oil cylinder so as to obtain the thrust of the oil cylinder for calculating the weight of the crane. And a tension sensor arranged on the pulling plate of the crane measures the pulling force borne by the pulling plate and is used for calculating the weight of the crane.
When the variable-amplitude deflection compensation system works, real-time data such as arm length, hanging weight, arm elevation angle and amplitude of the arm support and the like may need to be acquired. The data may be obtained by the following method:
1) the data of the tilt angle sensor, the pressure or tension sensor and the working condition data are transmitted to the moment limiter, the arm length, the arm frame elevation angle, the hanging weight and the amplitude are analyzed and calculated by the moment limiter, and are transmitted to the main controller of the crane and then transmitted to the deflection compensation system by the main controller.
2) The data of the tilt angle sensor, the pressure or tension sensor and the working condition data are transmitted to the torque limiter, the arm length, the arm frame elevation angle and the hanging weight are analyzed and calculated by the torque limiter, the data together with the data of the tilt angle sensor are transmitted to a main controller of the crane, the data are transmitted to a deflection compensation system by the main controller, and the working amplitude is calculated by the deflection compensation system.
3) The data of the tilt angle sensor, the pressure or tension sensor and the working condition data are transmitted to the moment limiter, the arm length and the arm frame elevation angle are analyzed and calculated by the moment limiter, the data together with the data of the tilt angle sensor and the pressure or tension sensor are transmitted to the main controller of the crane, the data are transmitted to the deflection compensation system by the main controller, and the crane weight and the working amplitude are calculated by the deflection compensation system.
The calculation of the working amplitude is carried out in the following way:
according to the arm length L, the arm support elevation α, the hanging weight G and the test data theta of each tilt sensoriAnd calculating the working amplitude R. Firstly, calculating the deflection omega of the arm support according to the arm length, the crane weight and the test data of each tilt sensor:
ω＝f1(L,α,G,θi)
and then calculating the working amplitude R according to the arm length L, the arm support elevation α and the arm support deflection omega:
R＝f2(L,α,ω)＝f2(L,α,f1(L,α,G,θi))
of course, the invention is not limited thereto, and other ways of obtaining the working amplitude and the hardware needed to implement the same are also feasible.
Referring to the description about the initial relative distance between the boom head and the heavy object in the luffing plane in the luffing deflection compensation method, the controller is further configured to obtain the initial relative distance between the boom head and the heavy object of the crane in the luffing plane before obtaining the initial working amplitude and the current working amplitude; the performing a variable amplitude compensation operation when the difference between the current working amplitude and the initial working amplitude exceeds a first threshold range until the difference between the current working amplitude and the initial working amplitude is less than a second threshold range further comprises: and under the condition that the difference between the current working amplitude and the initial relative distance exceeds the first threshold range, executing amplitude variation compensation operation until the difference between the current working amplitude and the initial relative distance is smaller than the second threshold range.
In order to achieve the acquisition of the initial relative distance, the system may further include an arm head and weight relative distance detection device, which is installed at the head of the arm support and/or the hook, and is used for acquiring the horizontal distance between the arm head and the hanging weight in the luffing plane.
Optionally, the device for detecting the relative distance between the arm head and the weight includes: the camera is arranged at the head of the arm support and used for shooting an image of the heavy object; the controller is used for processing the image to obtain the initial relative distance between the boom head of the crane and the heavy object in the luffing plane.
For example, the camera may take an image of an area within its vertical field of view in which the weight should be centered within the image taken under normal circumstances (i.e., the weight is located directly below the arm head). The controller may identify the center of the weight within the image and calculate the relative distance of the arm head and weight within the luffing plane based on the deviation between the center of the weight and the center of the image in combination with the length of the wire rope (i.e., the vertical distance between the weight and the arm head). In this solution, the image of the weight can be replaced by the image of the hook, because the hook and the weight are hooked together during hoisting, and the relative distance between the arm head and the hook can be equal to the relative distance between the arm head and the weight. Moreover, unlike weights that are variable in shape, the shape of the hook is fixed, and recognizing a hook of a known fixed shape within an image can be easier and more accurate than recognizing a weight of an indeterminate shape.
Optionally, the device for detecting the relative distance between the arm head and the weight includes: the beam transmitter and the beam receiver are respectively arranged on the boom head and a lifting hook of the crane and are used for transmitting and receiving beams; the controller is used for acquiring the initial relative distance between the boom head of the crane and the heavy object in the variable amplitude plane according to the wave beams received by the wave beam receiver.
For example, the beam emitter may be mounted on the hook for emitting a beam; the beam receiver may be mounted on the boom head for receiving the beam transmitted by the beam transmitter. Of course, the above mounting is exemplary and vice versa, for example, the beam emitter may be mounted on the boom head for emitting a beam; the beam receiver may be mounted on the hook for receiving the beam emitted by the beam emitter. The controller may be aware of the position of the beam received by the beam receiver under normal conditions (i.e. the weight is located directly below the boom head) (e.g. the position of the receiving element within the receiving array of the beam receiver receiving the beam may reflect the beam position, i.e. the position of the beam transmitter, i.e. the position of the weight), and in use, the controller may obtain the initial relative distance between the boom head of the crane and the weight in the luffing plane based on the deviation between the position of the beam received by the beam receiver and the beam position under the above normal conditions.
The beams transmitted and received by the beam transmitter and the beam receiver may be linearly propagated beams such as laser beams, infrared beams, and the like.
Optionally, the device for detecting the relative distance between the arm head and the weight further includes: the at least two GPS positioning devices are respectively arranged on the boom head and the lifting hook of the crane and are used for detecting the respective positions of the boom head and the lifting hook; the controller is used for acquiring the initial relative distance between the boom head of the crane and a heavy object in a variable amplitude plane according to the respective positions of the boom head and the lifting hook. Of course, the present invention is not limited to GPS positioning devices, and other devices that can position the boom head and the hook may be suitable.
According to one embodiment of the invention, the invention provides a crane, which comprises the crane luffing deflection compensation system.
The invention also provides a machine-readable storage medium having stored thereon instructions for causing a machine to perform the crane luffing deflection compensation method described above, according to an embodiment of the invention.
It should be noted that the crane luffing deflection compensation method and system of the present invention are not only suitable for cranes, but also can be used for other devices requiring boom luffing deflection compensation, such as cranes, concrete pump trucks, and so on. In addition, it should be noted that the stepwise compensation scheme provided by the present invention is directed to the weight deflection of the crane luffing plane, but the problem of weight deflection of the slewing plane can be solved by using similar ideas, which can be regarded as the equivalent of the technical scheme of the present invention.
The invention also provides a computer program product, which, when being executed on a data processing device, is adapted to carry out a procedure for initializing the method steps involved in the crane luffing deflection compensation method described above.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (19)
1. The crane luffing deflection compensation method is characterized by comprising the following steps:
when the hoisting operation of the crane starts, acquiring the initial working amplitude of the crane;
acquiring the current working amplitude of the crane in the hoisting operation process; and
and under the condition that the difference between the current working amplitude and the initial working amplitude exceeds a first threshold range, executing amplitude variation compensation operation until the difference between the current working amplitude and the initial working amplitude is smaller than a second threshold range, wherein the second threshold range is within the first threshold range.
2. The crane luffing deflection compensation method of claim 1 wherein the hoist operation comprises a hoist hoisting operation and/or a hoist hook drop operation.
3. The crane luffing deflection compensation method of claim 2,
under the condition that the hoisting operation is hoisting and hoisting operation, the amplitude-variable compensation operation is upward amplitude-variable; and/or
And under the condition that the hoisting operation is hoisting hook falling operation, the amplitude-variable compensation operation is downward amplitude variation.
4. The crane luffing deflection compensation method of any one of claims 1-3, further comprising: when the hoisting operation of the crane is started, the initial relative distance between the boom head of the crane and a heavy object in a luffing plane is obtained,
the performing a variable amplitude compensation operation when the difference between the current working amplitude and the initial working amplitude exceeds a first threshold range until the difference between the current working amplitude and the initial working amplitude is less than a second threshold range further comprises: and under the condition that the difference between the current working amplitude and the initial relative distance exceeds the first threshold range, executing amplitude variation compensation operation until the difference between the current working amplitude and the initial relative distance is smaller than the second threshold range.
5. The crane luffing deflection compensation method of any one of claims 1 to 3, wherein the hoisting operation is stopped during the luffing compensation operation.
6. The crane luffing deflection compensation method of any one of claims 1-3, wherein prior to performing the luffing compensation operation, the method further comprises:
and performing control current calibration to obtain a variable amplitude critical control current value, wherein the variable amplitude compensation operation is performed based on the variable amplitude critical control current value.
7. The crane luffing deflection compensation method of claim 1, wherein the crane luffing deflection compensation method is performed multiple times during:
during the process of hoisting the heavy object, the heavy object is hoisted to the state that the heavy object is separated from the ground; and/or
During the lowering of the weight, during the time when the weight begins to contact the ground until the weight is completely hooked down.
8. A crane luffing deflection compensation system, comprising:
a memory for storing computer program instructions; and
a controller to execute the computer program instructions to perform operations comprising:
when the hoisting operation of the crane starts, acquiring the initial working amplitude of the crane;
acquiring the current working amplitude of the crane in the hoisting operation process; and
and under the condition that the difference between the current working amplitude and the initial working amplitude exceeds a first threshold range, executing amplitude variation compensation operation until the difference between the current working amplitude and the initial working amplitude is smaller than a second threshold range, wherein the second threshold range is within the first threshold range.
9. The crane luffing deflection compensation system of claim 8, wherein the hoisting operation comprises a hoisting hoist operation and/or a hoisting hook drop operation.
10. The crane luffing deflection compensation system of claim 9,
under the condition that the hoisting operation is hoisting and hoisting operation, the amplitude-variable compensation operation is upward amplitude-variable; and/or
And under the condition that the hoisting operation is hoisting hook falling operation, the amplitude-variable compensation operation is downward amplitude variation.
11. The crane luffing deflection compensation system of any one of claims 8-10, wherein the controller is further configured to obtain an initial relative distance of the boom head of the crane and a weight in a luffing plane at the beginning of a hoisting operation of the crane,
the performing a variable amplitude compensation operation when the difference between the current working amplitude and the initial working amplitude exceeds a first threshold range until the difference between the current working amplitude and the initial working amplitude is less than a second threshold range further comprises: and under the condition that the difference between the current working amplitude and the initial relative distance exceeds the first threshold range, executing amplitude variation compensation operation until the difference between the current working amplitude and the initial relative distance is smaller than the second threshold range.
12. The crane luffing deflection compensation system of claim 11, further comprising:
a camera mounted on the head of the arm support for shooting images of the heavy object,
the controller is used for processing the image to obtain the initial relative distance between the boom head of the crane and the heavy object in the luffing plane.
13. The crane luffing deflection compensation system of claim 11, further comprising:
the beam transmitter and the beam receiver are respectively arranged on the boom head and a lifting hook of the crane and are used for transmitting and receiving beams;
the controller is used for acquiring the initial relative distance between the boom head of the crane and the heavy object in the variable amplitude plane according to the wave beams received by the wave beam receiver.
14. The crane luffing deflection compensation system of claim 11, further comprising:
at least two GPS positioning devices which are respectively arranged on the boom head and the lifting hook of the crane and are used for detecting the respective positions of the boom head and the lifting hook,
the controller is used for acquiring the initial relative distance between the boom head of the crane and a heavy object in a variable amplitude plane according to the respective positions of the boom head and the lifting hook.
15. The crane luffing deflection compensation system of any one of claims 8-10, wherein the controller is further configured to stop the hoisting operation during execution of a luffing compensation operation.
16. The crane luffing deflection compensation system of any one of claims 8-10, wherein the controller, prior to performing a luffing compensation operation, is further configured to: and performing control current calibration to obtain a variable amplitude critical control current value, wherein the variable amplitude compensation operation is performed based on the variable amplitude critical control current value.
17. The crane luffing deflection compensation system of claim 8, wherein the operations performed by the controller are performed a plurality of times during:
during the process of hoisting the heavy object, the heavy object is hoisted to the state that the heavy object is separated from the ground; and/or
During the lowering of the weight, during the time when the weight begins to contact the ground until the weight is completely hooked down.
18. A crane comprising a crane luffing deflection compensation system according to any one of claims 8-17.
19. A machine readable storage medium having stored thereon instructions for causing a machine to perform the crane luffing deflection compensation method of any one of claims 1-7.
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| CN118004945A (en) * | 2024-04-10 | 2024-05-10 | 徐州威卡电子控制技术有限公司 | Method for detecting arm support state of self-walking aerial working vehicle |
| CN118004945B (en) * | 2024-04-10 | 2024-06-11 | 徐州威卡电子控制技术有限公司 | Method for detecting arm support state of self-walking aerial working vehicle |
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