CN111348556A

CN111348556A - Crane load weight detection method and device, computer equipment and storage medium

Info

Publication number: CN111348556A
Application number: CN202010081455.6A
Authority: CN
Inventors: 吴邦春; 魏勇超; 周航宇; 魏勇豪; 李少兵
Original assignee: SHENZHEN CELIJIA CONTROL TECHNOLOGY CO LTD
Current assignee: SHENZHEN CELIJIA CONTROL TECHNOLOGY CO LTD
Priority date: 2020-02-06
Filing date: 2020-02-06
Publication date: 2020-06-30
Anticipated expiration: 2040-02-06
Also published as: CN111348556B

Abstract

The application relates to a crane load weight detection method, a crane load weight detection device, computer equipment and a storage medium. The method comprises the following steps: acquiring electric quantity detection data of a motor in the running process of the crane; determining the running state of the crane according to the electric quantity detection data; acquiring a preset parameter value set of a crane transmission system model corresponding to the running state; determining a target steady-state parameter value corresponding to the crane in the running state according to the electric quantity detection data and each group of preset parameter values in the preset parameter value set; and calculating the real-time load weight of the crane according to the electric quantity detection data and the target steady-state parameter value. By adopting the method, the accuracy of the crane load weight detection can be improved.

Description

Crane load weight detection method and device, computer equipment and storage medium

Technical Field

The present application relates to the field of crane technologies, and in particular, to a crane load detection method and apparatus, a computer device, and a storage medium.

Background

The crane plays an important role in social production activities, has various types and large quantity, and is widely used in factories, ports and mines due to bridge cranes, gantry cranes, tower cranes and the like. As special equipment, a crane has strict safety protection requirements in the operation process, and load weight monitoring is an important measure for preventing overload accidents and equipment damage.

The crane load measurement technology carries out real-time detection and analysis on load weight signals in the operation process, combines the operation working condition of the crane to carry out overload protection, and is a mandatory safety technical requirement for the operation of the crane. With the continuous improvement of the requirements on the safety and the operation efficiency of the crane, the load monitoring technology also develops towards the trend of high precision, high reliability and multiple functions. The crane load measuring technology mainly comprises a force sensor direct measuring method and a motor signal measuring method by integrating the development and research conditions of crane safety protection products at home and abroad. The direct measurement method of the force sensor adopts a strain pressure sensor and a strain force sensor, the strain pressure sensor and the strain force sensor are arranged at the stress position of the crane together with a matched mechanical structure, the strain gauge of the force sensor is deformed due to the load weight, and the load weight is measured by combining a signal detection technology. The motor signal detection method is used for indirectly measuring the load weight through detecting and analyzing the current and power signals of the crane motor.

However, the existing crane load weight detection technology has the problem of large crane load weight detection error.

Disclosure of Invention

In view of the above, it is necessary to provide a crane load weight method, a crane load weight apparatus, a computer device, and a storage medium capable of improving the accuracy of crane load weight detection.

A crane load weight detection method, the method comprising:

acquiring electric quantity detection data of a motor in the running process of the crane;

determining the running state of the crane according to the electric quantity detection data;

acquiring a preset parameter value set of a crane transmission system model corresponding to the running state;

determining a target steady-state parameter value corresponding to the crane in the running state according to the electric quantity detection data and each group of preset parameter values in the preset parameter value set;

and calculating the real-time load weight of the crane according to the electric quantity detection data and the target steady-state parameter value.

In one embodiment, before the acquiring the electric quantity detection data of the motor of the crane during operation, the method further comprises the following steps:

obtaining a crane transmission system model of the crane; the crane simplified transmission model is used for describing the relation between the input power of the crane and/or the running power of the rotational inertia of the crane and the running power of the load weight;

and determining a preset parameter value set of the crane transmission system model according to a preset field debugging strategy.

In one embodiment, the charge detection data includes a real-time voltage and a real-time current; the determining the running state of the crane according to the electric quantity detection data comprises the following steps:

determining the real-time angular speed and the real-time acceleration of the crane according to the real-time voltage and the real-time current;

and determining the running state of the crane according to the real-time angular velocity and the real-time acceleration.

In one embodiment, the operation state is a constant speed operation state; the acquiring of the preset parameter value set of the crane transmission system model corresponding to the running state comprises:

and acquiring a preset steady-state parameter value set in a preset parameter value set of the crane transmission system model corresponding to the constant-speed running state.

In one embodiment, the determining, according to the electric quantity detection data and each set of preset parameter values in the preset parameter value set, a target steady-state parameter value corresponding to the crane in the operating state includes:

acquiring a functional relation between the real-time angular speed and the running power of the load weight from the crane transmission system model; the functional relation between the real-time angular speed and the running power of the load weight comprises a first steady-state parameter;

assigning each group of preset steady-state parameter values in the preset steady-state parameter value set to the first steady-state parameter in sequence, and substituting the real-time angular velocity into a functional relation between the real-time angular velocity and the running power of the load weight to obtain a running power set of the load weight;

and determining a target steady-state parameter value corresponding to the crane in the running state by fitting the running power set of the load weight and a preset load weight set corresponding to the preset parameter value set.

In one embodiment, the calculating the real-time load weight of the crane according to the electric quantity detection data and the target steady-state parameter value includes:

determining the real-time motor power of the crane according to the real-time voltage and the real-time current;

acquiring a functional relation between the load weight and the operating power of the load weight from the crane transmission system model, wherein the functional relation between the load weight and the operating power of the load weight comprises a second steady-state parameter;

and assigning the target steady-state parameter value to the second steady-state parameter, and substituting the real-time motor power into a functional relation between the load weight and the load weight running power to determine the real-time load weight of the crane.

In one embodiment, the operation state is a non-uniform speed operation state; before obtaining the preset parameter value set of the crane transmission system model corresponding to the running state, the method further comprises the following steps:

acquiring a default inertia parameter value of a crane transmission system model corresponding to the non-uniform speed running state;

substituting the default inertia parameter value and the real-time angular speed into the crane transmission system model to obtain an inertia calculation expression, and determining the rotational inertia of the crane;

and determining the real-time running power of the load weight of the crane according to the real-time motor power and the rotary inertia, and executing the step of acquiring a preset parameter value set of a crane transmission system model corresponding to the running state, wherein the preset parameter value set comprises a preset steady-state parameter value set and a preset inertia parameter value set.

and assigning the target steady-state parameter value to the second steady-state parameter, and substituting the real-time running power of the load weight into a functional relation between the load weight and the load weight running power to determine the real-time load weight of the crane.

In one embodiment, after assigning the target steady-state parameter value to the second steady-state parameter and substituting the real-time operating power of the load weight into the functional relation between the load weight and the load weight operating power to determine the real-time load weight of the crane, the method further comprises:

acquiring a preset inertia parameter value set corresponding to the crane transmission system model;

substituting each group of preset inertia parameter values in the preset inertia parameter value set and the real-time angular speed into a rotation inertia expression in the crane transmission system model to determine a corrected inertia parameter value; the rotary inertia expression is used for representing a functional relation between the real-time angular speed and the rotary inertia of the crane;

substituting the corrected inertia parameter value and the real-time load weight into a corrected rotary inertia expression in the crane transmission system model to determine the corrected rotary inertia of the crane; the modified moment of inertia expression is used for representing a functional relation between the load weight and the modified moment of inertia;

determining the corrected running power of the load weight of the crane in the non-uniform speed state according to the corrected rotational inertia and the real-time motor power;

and assigning the target steady-state parameter value in the non-uniform speed running state to the second steady-state parameter, and substituting the corrected running power of the load weight in the non-uniform speed state into the functional relation of the load weight and the load weight running power to determine the corrected real-time load weight of the crane.

A crane load weight detection apparatus, the apparatus comprising:

the first acquisition module is used for acquiring electric quantity detection data of a motor in the running process of the crane;

the first determining module is used for determining the running state of the crane according to the electric quantity detection data;

the second acquisition module is used for acquiring the preset parameter value set of the crane transmission system model corresponding to the running state;

the second determining module is used for determining a target steady-state parameter value corresponding to the crane in the running state according to the electric quantity detection data and each group of preset parameter values in the preset parameter value set;

and the calculation module is used for calculating the real-time load weight of the crane according to the electric quantity detection data and the target steady-state parameter value.

A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:

A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:

According to the crane load weight detection method, the crane load weight detection device, the computer equipment and the storage medium, the electric quantity detection data of the motor in the operation process of the crane are obtained; determining the running state of the crane according to the electric quantity detection data; acquiring a preset parameter value set of a crane transmission system model corresponding to the running state; determining a target steady-state parameter value corresponding to the crane in the running state according to the electric quantity detection data and each group of preset parameter values in the preset parameter value set; and calculating the real-time load weight of the crane according to the electric quantity detection data and the target steady-state parameter value. Determining the running state of the crane according to the electric quantity detection data of the motor, and determining a corresponding crane transmission system model and a preset parameter value set according to the running state of the crane; the real-time load weight of the crane is determined by combining the electric quantity detection data and the crane transmission system model, data measurement errors caused by factors such as vibration and impact in the running process of the starter are avoided, and the accuracy of crane load weight detection is improved.

Drawings

FIG. 1 is a diagram illustrating an internal structure of a computer device according to an embodiment;

FIG. 2 is a schematic flow chart of a method for detecting the weight of a load on a crane according to an embodiment;

FIG. 3 is a schematic flow chart illustrating a method for determining a predetermined set of parameter values of a model of a crane drive system according to an embodiment;

FIG. 4 is a schematic diagram of a system for real-time load weight detection of a crane according to an embodiment;

FIG. 5 is a schematic flow chart illustrating a method for detecting a load weight of a crane in a constant speed operation state according to another embodiment;

FIG. 6 is a schematic flow chart illustrating a method for detecting a load weight of a crane in a non-uniform operating state according to another embodiment;

FIG. 7 is a schematic diagram illustrating a process of a method for detecting a crane load weight and a method for correcting the crane load weight in a non-uniform operating state according to an embodiment;

FIG. 8 is a schematic flow chart of the crane load weight detection step in one embodiment;

FIG. 9 is a block diagram showing the structure of a device for detecting the weight of a load on a crane according to an embodiment;

FIG. 10 is a block diagram showing the structure of a device for detecting the load weight of a crane according to an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 1. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a load weight detection method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.

Those skilled in the art will appreciate that the architecture shown in fig. 1 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, as shown in fig. 2, a method for detecting a load weight of a crane is provided, and this embodiment is illustrated by applying the method to a terminal, and it is to be understood that the method may also be applied to a server, and may also be applied to a system including a terminal and a server, and is implemented by interaction between the terminal and the server. In this embodiment, the method includes the steps of:

step 202, acquiring electric quantity detection data of a motor in the running process of the crane.

The electric quantity detection data refers to data such as voltage and current of a driving motor in the operation process of the crane driving motor.

And step 204, determining the running state of the crane according to the electric quantity detection data.

The running state of the crane in the operation process can comprise a constant-speed running state and a non-constant-speed running state, the non-constant-speed state can comprise accelerated running and decelerated running, and the accelerated running can comprise accelerated ascending and accelerated descending; the deceleration operation may include deceleration rising and deceleration falling.

Specifically, the real-time angular speed of the crane is calculated according to the real-time voltage and the real-time current in the electric quantity detection data and by combining a motor rotating speed algorithm without a rotating speed sensor; and determining the real-time acceleration of the crane according to a relational expression which is satisfied by the angular velocity and the acceleration. Optionally, a rotation speed sensor is installed on the crane, the real-time angular speed of the crane is obtained through the rotation speed sensor, and real-time acceleration is determined according to the real-time angular speed.

In one embodiment, the charge detection data includes a real-time voltage and a real-time current; according to the electric quantity detection data, determining the running state of the crane, comprising the following steps:

determining the real-time angular speed and the real-time acceleration of the crane according to the real-time voltage and the real-time current; and determining the running state of the crane according to the real-time angular velocity and the real-time acceleration.

Optionally, the operation state of the crane can be determined according to the relation between the real-time angular velocity value and a preset angular velocity value (e.g., 0); for example, when the real-time angular velocity value is greater than 0, the running state of the crane is an ascending state; when the real-time angular velocity value is less than 0, the running state of the crane is a descending state; when the real-time acceleration is equal to 0, the running state of the crane is a constant-speed running state; when the real-time acceleration is greater than 0 and the real-time angular velocity value is greater than 0, the running state of the crane is accelerated and raised, and when the real-time acceleration is greater than 0 and the real-time angular velocity value is less than 0, the running state of the crane is decelerated and lowered; when the real-time acceleration is smaller than 0 and the real-time angular velocity value is larger than 0, the running state of the crane is deceleration and rising, and when the real-time acceleration is smaller than 0 and the real-time angular velocity value is smaller than 0, the running state of the crane is acceleration and falling.

And step 206, acquiring a preset parameter value set of the crane transmission system model corresponding to the running state.

The preset parameter value set is obtained by debugging the crane through the crane transmission system model in a debugging state. Each set of preset parameters in the set of preset parameter values may include three parameter values.

And 208, determining a target steady-state parameter value corresponding to the crane in the running state according to the electric quantity detection data and each group of preset parameter values in the preset parameter value set.

Specifically, a functional relation between the real-time angular speed and the running power of the load weight is obtained from a crane transmission system model according to the running state; determining the real-time angular speed of the crane according to the electric quantity detection data, and substituting each group of preset parameters in the determined real-time angular speed and the preset parameter value set into a functional relation between the real-time angular speed and the running power of the load weight to obtain the running power of the load weight corresponding to the real-time angular speed; and fitting the running power of the load weight and a corresponding preset load weight set in the preset parameter value set by a least square method, and determining a target steady-state parameter value corresponding to the crane in a running state.

And step 210, calculating the real-time load weight of the crane according to the electric quantity detection data and the target steady-state parameter value.

Specifically, determining the real-time running power of the load weight according to the real-time voltage and the real-time current in the electric quantity detection data; acquiring a functional relation between the load weight and the running power of the load weight from a crane transmission system model; and substituting the real-time running power of the load weight and the target steady-state parameter value into a functional relation between the load weight and the running power of the load weight to calculate the real-time load weight of the crane.

In the method for detecting the load weight of the crane, the electric quantity detection data of the motor in the running process of the crane are obtained; determining the running state of the crane according to the electric quantity detection data; acquiring a preset parameter value set of a crane transmission system model corresponding to the running state; determining a target steady-state parameter value corresponding to the crane in the running state according to the electric quantity detection data and each group of preset parameter values in the preset parameter value set; and calculating the real-time load weight of the crane according to the electric quantity detection data and the target steady-state parameter value. Determining the running state of the crane according to the electric quantity detection data of the motor, and determining a corresponding crane transmission system model and a preset parameter value set according to the running state of the crane; the real-time load weight of the crane is determined by combining the electric quantity detection data and the crane transmission system model, data measurement errors caused by factors such as vibration and impact in the running process of the starter are avoided, and the accuracy of crane load weight detection is improved.

In one embodiment, as shown in fig. 3, there is provided a method for determining a preset parameter value set of a crane drive system model, which is exemplified by applying the method to a terminal, the method comprising the following steps:

step 302, obtaining a crane transmission system model of a crane; the crane simplified transmission model is used for describing the relation between the input power of the crane and/or the running power of the rotational inertia of the crane and the running power of the load weight.

Specifically, the obtained crane transmission system model is as follows:

P＝P_J+P_m

P_J＝Jωα

P_m＝aω²+bω+c

J＝rω+s

J'＝r'm+s'

wherein P is the input power of the crane, P_JOperating power, P, for moment of inertia J_mM is the operating power of the load weight, ω is the real-time angular velocity, α is the real-time acceleration, J' is the corrected moment of inertia, and p ═ a, b, c]Is a first steady-state parameter, p '═ a', b ', c']Is the second steady state parameter, q ═ r, s]Is the inertia parameter, q ' ═ r ', s ']To correct the inertia parameters. P_m＝aω²+ b ω + c is used to describe the load weight mWhen it is constant, P_mIs in a quadratic function relation with omega;

for describing when ω is constant, P_mAnd m is a quadratic function. J is used to describe that J is linear with ω when m is constant; j 'r'm + s 'is used to describe that when ω is constant, J' is linear with m.

In one embodiment, there is provided a method of building a model of a crane drive train, the method comprising:

establishing an initial transmission system model of the crane, wherein the initial transmission system model is used for describing the relation between the input power of the crane and the consumed power of each component in the crane; and simplifying the initial transmission system model according to the coupling relation between the consumed powers of all parts in the crane to obtain the crane transmission system model of the crane.

The crane comprises a motor, a speed reducer, a winding drum, a steel wire rope fixed pulley and other parts, and according to the characteristics of each main equipment part of the crane, an initial transmission system model of the crane is established as follows:

P₀η＝J_mω_mα_m+J_rω_rα_r+J_dω_dα_d+J_pω_pα_p+fv+m_rgv+m_rav+m_lgv+m_lav

wherein, P₀η is the input power of the initial drive train model, i.e. the input power is the motor power P₀Product of the transmission efficiency of the speed reducer η, J_mω_mα_m+J_rω_rα_r+J_dω_dα_d+J_pω_pα_pPower consumption for the moment of inertia of the crane, J_mIs the moment of inertia of the motor, J_rMoment of inertia of the fixed sheave for the wire rope, J_dIs the moment of inertia of the reducer, J_pIs the moment of inertia of the drum; omega_mIs the real-time angular velocity, omega, of the motor_rReal-time angular velocity of fixed pulley for steel wire ropeDegree, omega_dFor real-time angular velocity, omega, of the speed reducer_pα real-time angular velocity of the web_mFor real-time acceleration of the motor, α_rFor real-time acceleration of wire rope fixed pulleys, α_dFor real-time acceleration of the retarder, α_pReal-time acceleration of the drum; fv is frictional resistance power, and f is system frictional resistance which mainly comes from movement friction of components such as a steel wire rope, a pulley and the like; v is the running speed of the steel wire rope and the load; m is_lgv+m_lav is the power consumed by the load weight and mainly consists of constant-speed power m_lgv and acceleration power m_lav two parts, m_lThe load weight, v the velocity and a the acceleration.

Optionally, in the simplified initial transmission system model, in order to meet the accuracy requirement on the calculation of the load weight, the accuracy can be required to be within 3-5% of the whole range; to meet the calculated response speed requirement for the load weight, it may be required to be within 0.5s or less, for example, the calculated weight is within 5% of the actual weight error within 0.5 s. Simplifying the initial drive system model according to the coupling relation between the consumed power of each part in the crane comprises the following steps:

according to the field measured data, in order to reduce the variable quantity, the crane can set the efficiency η of the speed reducer as a constant 1 during the operation process, and the influence of the efficiency of the speed reducer is transferred to the running power P of the rotary inertia_JAnd load weight operating power P_m。

J_mω_mα_m+J_rω_rα_r+J_dω_dα_d+J_pω_pα_pThe rotational inertia of the crane mainly comprises 4 parts of inertia of a motor, a speed reducer, a steel wire rope reel and a steel wire rope pulley, and the rotational inertia of all the parts can be combined into a rotational inertia J, a real-time angular velocity omega and a real-time acceleration α due to the fact that the rotating speed proportion of all the parts is fixed.

The friction resistance of the system is mainly the static friction resistance which needs to be overcome when the crane starts to operate, and the friction resistance in the operation process is smaller; frictional resistance and load, and transportationThe speed of travel is related and therefore the frictional drag power during operation, fv, is ignored for simplicity of the initial driveline model. Optionally, when the load weight m is a fixed value, the load weight running power P_mThe rotation speed omega is in a quadratic function relation; without frictional resistance, the load weight operating power P_mThe linear relation with the rotation speed omega is required; the frictional drag power is thus incorporated into the load weight operating power P in a simplified initial driveline model_m。

Since the wire rope weight is much less than the load weight, to reduce the initial drive system model parameters, the wire rope weight can be incorporated into the load weight. If the weight of the steel wire rope needs to be reduced, the length and the weight of the steel wire rope can be calculated according to the height of the load of the crane, and therefore the load weight can be corrected.

During the acceleration process of the crane, the load acceleration power m_lav is far smaller than the power of the system rotational inertia in the acceleration process, and the power can be selected to be ignored; optionally, the ratio of the load running speed of the crane to the real-time angular speed of the motor is fixed, and the load acceleration power m can also be set_lav operating power P that can be incorporated into the moment of inertia_JIn (1).

Through the simplified steps, the simplified transmission system model of the crane can be determined, the initial transmission system model of the crane is simplified, the number of measurement variables is reduced, data acquisition is convenient, the calculation processing performance and data accuracy of the terminal are improved, and the accuracy of crane load weight detection is ensured.

FIG. 4 is a schematic diagram of a system for real-time load weight detection of a crane based on power detection data according to an embodiment.

And 304, determining a preset parameter value set of the crane transmission system model according to a preset field debugging strategy.

The preset field debugging strategy refers to presetting a preset parameter value set for determining a crane transmission system model.

Alternatively, the commissioning strategy may be to use n (n ≧ 3) load weights m₁、m₂…m_nEach ofWhen the load weight is loaded on the crane, the motor is enabled to run at a constant speed of 3 or more than fixed speeds, electric quantity detection data in the process of acceleration, constant speed and deceleration to final stop during running each time are recorded, and the real-time angular speed omega and the real-time motor power P of the motor are calculated according to the electric quantity detection data.

When the running state of the crane is a uniform speed running state, P in the crane transmission system model_JIs 0, P ═ P_mThe first steady state parameter p is related to the load weight and the ascending and descending running directions, and preset steady state parameter values are respectively calculated according to different load weights and ascending and descending running directions to obtain a preset steady state parameter value set. I.e. at n load weights m₁、m₂…m_nThen, the uniform running segment under each running speed is counted to obtain the average angular velocity set of the uniform running segment

And corresponding average power set of motor outputs

According to the average angular velocity set and the average power set data of the motor in the previous step, a load weight m is selected arbitrarily_nAverage angular velocity

Respectively corresponding to the average power output by the motor

According to P_m＝aω²+ b ω + c vs. average speed

And power

Fitting by least square method to obtain the load weight m_nPreset steady state parameter value p_n＝[a,b,c](ii) a Repeating the above steps, respectively calculating preset steady state parameter values corresponding to each load weight ascending and descending operation direction, as shown in table 1,

which represents the average angular velocity as it rises,

represents the average power at rise;

indicating the average angular velocity at the time of the descent,

indicating the average power at the time of the drop.

TABLE 1 Preset Steady State parameter values calculated from Motor test data

P in the crane transmission system model when the running state of the crane is acceleration or deceleration_JIf not, the input power of the crane is the sum of the running power of the rotational inertia of the crane and the running power of the load weight, and the real-time motor power, the real-time angular velocity and the real-time acceleration in the acceleration or deceleration process are obtained according to the preset interval time (such as 0.1 s); according to the real-time angular velocity, the preset steady-state parameter value set obtained by debugging and the functional relation P of the running power of the real-time angular velocity and the load weight in the crane transmission system model_m＝aω²+ b ω + c, calculating the load weight corresponding to each real-time angular velocityThe operating power of (c); subtracting the running power of the load weight from the real-time motor power of the crane to obtain the running power of the rotational inertia; running power expression P according to real-time angular velocity, real-time acceleration and rotation inertia in crane transmission system model_JAnd fitting each real-time acceleration and moment of inertia value acquired by the acceleration or deceleration state of the crane by a least square method to obtain a preset inertia parameter value, wherein the acceleration state comprises acceleration rising and acceleration falling, and the deceleration state comprises deceleration falling and deceleration rising.

And executing the steps for the running direction, acceleration and deceleration processes of each load weight to obtain a preset inertia parameter value set corresponding to the running direction, acceleration and deceleration processes of each load weight. As shown in table 2.

Table 2 preset inertia parameter values under each load weight, running direction, acceleration and deceleration state

In the embodiment, a crane transmission system model of the crane is obtained; the crane simplified transmission model is used for describing the relation between the input power of the crane and/or the running power of the rotational inertia of the crane and the running power of the load weight, and the preset parameter value set of the crane transmission system model is determined according to a preset field debugging strategy, so that the data processing process can be reduced, and the data calculation accuracy is improved.

In one embodiment, as shown in fig. 5, a method for detecting a load weight of a crane in a constant speed operation state is provided, and this embodiment is illustrated by applying the method to a terminal, and the method includes the following steps:

step 502, acquiring real-time voltage and real-time current of a motor in the operation process of the crane.

And step 504, determining the real-time angular speed, the real-time acceleration and the real-time motor power of the crane according to the real-time voltage and the real-time current.

And 506, acquiring a preset steady-state parameter value set in a preset parameter value set of the crane transmission system model corresponding to the constant-speed running state.

Step 508, acquiring a functional relation between the real-time angular speed and the running power of the load weight from the crane transmission system model; the real-time angular velocity as a function of the operating power of the load weight includes a first steady-state parameter.

Specifically, a function relation P of the real-time angular speed and the running power of the load weight is obtained from a crane transmission system model_m＝aω²+ b ω + c, the real-time angular velocity as a function of the operating power of the load weight includes a first steady-state parameter p ═ a, b, c]。

And step 510, sequentially assigning each preset steady-state parameter value in the preset steady-state parameter value set to a first steady-state parameter, and substituting the real-time angular velocity into a functional relation between the real-time angular velocity and the operating power of the load weight to obtain an operating power set of the load weight.

Specifically, each preset steady-state parameter value in the preset steady-state parameter value set is sequentially assigned to a first steady-state parameter p ═ a, b, c]Substituting the real-time angular velocity into a functional relation P between the real-time angular velocity and the operating power of the load weight_m＝aω²+ b ω + c, resulting in a running power set for the load weight.

And step 512, fitting the running power set of the load weight and a preset load capacity set corresponding to the preset parameter value set to determine a target steady-state parameter value corresponding to the crane in the running state.

Specifically, the operating power of the real-time load weight and the load weight in the crane transmission system model is taken as a function of

And fitting the running power set of the load weight and a preset load weight set corresponding to the preset parameter value set by adopting a least square method, and determining a target steady-state parameter value corresponding to the crane in a running state.

And 514, acquiring a functional relation between the load weight and the operating power of the load weight from the crane transmission system model, wherein the functional relation between the load weight and the operating power of the load weight comprises a second steady-state parameter.

In particular, a functional relation between the load weight and the operating power of the load weight is obtained from a crane transmission system model

The function relation includes a second steady state parameter p '═ a', b ', c']。

And 516, assigning the target steady-state parameter value to a second steady-state parameter, and substituting the real-time motor power into a functional relation between the load weight and the load weight running power to determine the real-time load weight of the crane.

Specifically, the target steady-state parameter value is assigned to the second steady-state parameter p '═ a', b ', c']Substituting the real-time motor power into the functional relation between the load weight and the load weight running power

Determining the real-time load weight of the crane.

According to the method for detecting the load weight of the crane in the uniform-speed running state, the real-time voltage and the real-time current of the motor of the crane in the running process are obtained; determining real-time angular velocity, real-time acceleration and real-time motor power of the crane according to the real-time voltage and the real-time current; acquiring a preset steady-state parameter value set in a preset parameter value set of a crane transmission system model corresponding to a constant-speed running state; acquiring a functional relation between the real-time angular speed and the running power of the load weight from a crane transmission system model; the functional relation between the real-time angular speed and the running power of the load weight comprises a first steady state parameter; sequentially assigning each preset steady-state parameter value in the preset steady-state parameter value set to a first steady-state parameter, and substituting the real-time angular velocity into a functional relation between the real-time angular velocity and the running power of the load weight to obtain a running power set of the load weight; determining a target steady-state parameter value corresponding to the crane in the running state by fitting the running power set of the load weight and a preset load capacity set corresponding to the preset parameter value set; acquiring a functional relation between the load weight and the operating power of the load weight from a crane transmission system model, wherein the functional relation between the load weight and the operating power of the load weight comprises a second steady-state parameter; and assigning the target steady-state parameter value to a second steady-state parameter, substituting the real-time motor power into a functional relation between the load weight and the load weight running power, determining the real-time load weight of the crane, calculating the real-time load weight of the crane by acquiring the real-time voltage and the real-time current of the crane and combining a crane transmission system model, and improving the accuracy of real-time load weight detection.

In another embodiment, as shown in fig. 6, a method for detecting the load weight of a crane in a non-uniform speed running state is provided, and this embodiment is exemplified by applying the method to a terminal, and the method includes the following steps:

step 602, obtaining a default inertia parameter value of the crane transmission system model corresponding to the non-uniform speed running state.

Specifically, the non-uniform speed operation states may include an acceleration rising state, an acceleration falling state, a deceleration falling state and a deceleration rising state, and each operation state has different default inertia parameter values corresponding to the crane transmission system model.

And step 604, substituting the default inertia parameter value and the real-time angular speed into the crane transmission system model to obtain an inertia calculation expression, and determining the rotational inertia of the crane.

Specifically, the default inertia parameter value and the real-time angular speed are substituted into a crane transmission system model to obtain an inertia calculation expression, and the rotational inertia of the crane is determined.

And 606, determining the real-time running power of the load weight of the crane according to the real-time motor power and the rotary inertia, and executing the step of acquiring the preset parameter value set of the crane transmission system model corresponding to the running state, wherein the preset parameter value set comprises a preset steady-state parameter value set and a preset inertia parameter value set.

In particular toAccording to the running power expression P of the rotational inertia in the model of the transmission system of the crane_JJ ω α, calculating the real-time operation power of the rotational inertia, and substituting the real-time motor power and the real-time operation power of the rotational inertia into P ═ P_J+P_mAnd determining the real-time running power of the load weight of the crane.

Acquiring a function relation of the real-time angular velocity and the running power of the load weight from a crane transmission system model according to the running state, determining the real-time angular velocity of the crane according to the electric quantity detection data, and substituting each group of preset parameters in the set of the determined real-time angular velocity and the preset parameter value into the function relation of the real-time angular velocity and the running power of the load weight to obtain the running power of the load weight corresponding to the real-time angular velocity; and fitting the running power of the load weight and a corresponding preset load weight set in the preset parameter value set by a least square method, and determining a target steady-state parameter value corresponding to the crane in a running state.

And 608, assigning the target steady-state parameter value to a second steady-state parameter, and substituting the real-time running power of the load weight into a functional relation between the load weight and the running power of the load weight to determine the real-time load weight of the crane.

In the embodiment, the method for detecting the load weight of the crane in the non-uniform-speed running state comprises the steps of obtaining a default inertia parameter value of a crane transmission system model corresponding to the non-uniform-speed running state; substituting the default inertia parameter value and the real-time angular speed into a crane transmission system model to obtain an inertia calculation expression, and determining the running power of the rotational inertia of the crane; determining the real-time running power of the load weight of the crane according to the real-time motor power and the real-time running power of the rotary inertia, and executing the step of acquiring a preset parameter value set of a crane transmission system model corresponding to the running state, wherein the preset parameter value set comprises a preset steady-state parameter value set and a preset inertia parameter value set; and assigning the target steady-state parameter value to a second steady-state parameter, and substituting the real-time running power of the load weight into a functional relation between the load weight and the running power of the load weight to determine the real-time load weight of the crane. The accuracy of the crane load weight detection is improved.

In one embodiment, as shown in fig. 7, a method for correcting the load weight of a crane in a non-uniform speed operation state is provided, and this embodiment is exemplified by applying the method to a terminal, and the method includes the following steps:

step 702, acquiring a preset inertia parameter value set corresponding to the crane transmission system model.

Step 704, substituting each preset inertia parameter value in the preset inertia parameter value set and the real-time angular speed into a rotating inertia expression in the crane transmission system model, and determining a corrected inertia parameter value; the rotary inertia expression is used for representing the functional relation between the real-time angular speed and the rotary inertia of the crane.

Step 706, substituting the corrected inertia parameter value and the real-time load weight into a corrected rotary inertia expression in the crane transmission system model, and determining the corrected rotary inertia of the crane; the modified moment of inertia expression is used to characterize a functional relationship between the weight of the load and the modified moment of inertia.

And step 708, determining the corrected running power of the load weight of the crane in a non-uniform speed state according to the corrected rotational inertia and the real-time motor power.

Specifically, the corrected rotational inertia and the real-time angular speed are substituted into an operation power expression of the rotational inertia in a crane transmission system model, and the operation power of the corrected rotational inertia is determined; and subtracting the corrected running power of the rotational inertia from the real-time motor power to determine the corrected running power of the load weight of the crane in a non-uniform speed state.

And 710, assigning the target steady-state parameter value in the non-uniform-speed running state to a second steady-state parameter, and substituting the corrected running power of the load weight in the non-uniform-speed state into a functional relation between the load weight and the running power of the load weight to determine the corrected real-time load weight of the crane.

In the embodiment, a preset inertia parameter value set corresponding to a crane transmission system model is obtained; substituting each preset inertia parameter value in the preset inertia parameter value set and the real-time angular speed into a rotating inertia expression in the crane transmission system model, and determining a corrected inertia parameter value; the rotational inertia expression is used for representing a functional relation between the real-time angular speed and the rotational inertia of the crane; substituting the corrected inertia parameter value and the real-time load weight into a corrected rotary inertia expression in a crane transmission system model to determine the corrected rotary inertia of the crane; the modified moment of inertia expression is used for representing the functional relation between the load weight and the modified moment of inertia; determining the corrected running power of the load weight of the crane in a non-uniform speed state according to the corrected rotational inertia and the real-time motor power; and assigning the target steady-state parameter value in the non-uniform-speed running state to a second steady-state parameter, substituting the corrected running power of the load weight in the non-uniform-speed state into a functional relation between the load weight and the running power of the load weight, and determining the corrected real-time load weight of the crane. The rotational inertia of the crane in the non-uniform speed state is corrected, the real-time load weight of the crane is calculated through the corrected rotational inertia, and the accuracy of crane load weight detection is improved.

In one embodiment, as shown in fig. 8, there is provided a crane load weight detecting step, which is exemplified by applying the step to a terminal, the method comprising the steps of:

step 802, acquiring a real-time angular velocity, a real-time acceleration and a real-time motor power of the crane.

Step 804, judging whether the crane is in a constant speed running state, if so, executing step 806; otherwise, step 820 is performed.

Optionally, when the real-time acceleration is not equal to 0, the crane is in the constant-speed running state, and when the real-time acceleration is equal to 0, the crane is not in the constant-speed running state.

And 806, calculating the real-time load weight of the crane in the constant-speed running state.

And 808, calculating the running power of the load weight corresponding to each real-time angular speed through the crane transmission system model.

Optionally, the preset steady state parameter value set and the real-time angular velocity and load are obtained from the crane transmission system modelThe functional relation of the running power of the weight is obtained by substituting each group of steady state parameter values in the obtained real-time angular velocity and preset steady state parameter value set into the functional relation P of the running power of the real-time angular velocity and the load weight_m＝aω²In + b ω + c, the operating power of the load weight corresponding to each real-time angular velocity is calculated.

And step 810, fitting the running power of each load weight and the corresponding preset load weight to determine a corresponding target steady-state parameter value of the crane in a running state.

And step 812, determining and calculating the real-time load weight of the crane according to the real-time motor power and the target steady-state parameter value.

Optionally, in a constant-speed running state of the crane, the running power of the load weight is equal to the real-time motor power; substituting real-time motor power and target steady-state parameter values

And determining and calculating the real-time load weight of the crane.

And 814, calculating the real-time load weight of the crane in the non-uniform speed running state.

Step 816, judging whether to correct the rotational inertia of the crane, if not, executing step 818, otherwise, executing step

And 818, acquiring a corresponding default inertia parameter value according to the real-time angular velocity and the real-time acceleration.

Optionally, different real-time angular velocities and different real-time accelerations correspond to different default inertia parameter values.

And 820, substituting the default inertia parameter value and the real-time angular speed into the crane transmission system model to obtain an inertia calculation expression, and determining the running power of the rotational inertia of the crane.

Optionally, the default inertia parameter value and the real-time angular speed are substituted into the crane transmission system model to obtain an inertia calculation expression J ═ r ω + s, and the rotational inertia of the crane is determined.

Step 822, determining the real-time running power of the load weight of the crane according to the real-time motor power and the rotational inertia, and executing step 806.

Optionally, the expression P for the operating power according to the moment of inertia in the model of the crane drive system_JJ ω α, calculating the real-time operation power of the rotational inertia, and substituting the real-time motor power and the real-time operation power of the rotational inertia into P ═ P_J+P_mAnd determining the real-time running power of the load weight of the crane.

Step 824, the moment of inertia is corrected.

And step 826, acquiring a preset inertia parameter value set corresponding to the crane transmission system model.

And 828, substituting each group of preset inertia parameter values and real-time angular speed in the preset inertia parameter value set into a rotating inertia expression in the crane transmission system model to determine corrected inertia parameter values.

And 830, substituting the corrected inertia parameter value and the real-time load weight into a corrected rotary inertia expression in the crane transmission system model, determining the corrected rotary inertia of the crane, and executing 822.

It should be understood that although the various steps in the flowcharts of fig. 2, 3-8 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2 and 3-8 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least some of the other steps.

In one embodiment, as shown in fig. 9, there is provided a crane load weight detection apparatus 900 comprising: a first obtaining module 902, a first determining module 904, a second obtaining module 906, a second determining module 908, and a calculating module 910, wherein:

the first obtaining module 902 is configured to obtain electric quantity detection data of a motor of the crane during operation. .

And a first determining module 904, configured to determine an operating state of the crane according to the electric quantity detection data.

And a second obtaining module 906, configured to obtain a preset parameter value set of the crane transmission system model corresponding to the operation state.

The second determining module 908 is configured to determine a target steady-state parameter value corresponding to the crane in the operating state according to the electric quantity detection data and each set of preset parameter values in the preset parameter value set.

And a calculating module 910, configured to calculate a real-time load weight of the crane according to the electric quantity detection data and the target steady-state parameter value.

The crane load weight detection device obtains the electric quantity detection data of the motor in the operation process of the crane; determining the running state of the crane according to the electric quantity detection data; acquiring a preset parameter value set of a crane transmission system model corresponding to the running state; determining a target steady-state parameter value corresponding to the crane in the running state according to the electric quantity detection data and each group of preset parameter values in the preset parameter value set; and calculating the real-time load weight of the crane according to the electric quantity detection data and the target steady-state parameter value. Determining the running state of the crane according to the electric quantity detection data of the motor, and determining a corresponding crane transmission system model and a preset parameter value set according to the running state of the crane; the real-time load weight of the crane is determined by combining the electric quantity detection data and the crane transmission system model, data measurement errors caused by factors such as vibration and impact in the running process of the starter are avoided, and the accuracy of crane load weight detection is improved.

In one embodiment, as shown in fig. 10, there is provided a crane load weight detection apparatus 900, comprising a third acquisition module 912, a fitting module 914 and a correction module 916 in addition to a first acquisition module 902, a first determination module 904, a second acquisition module 906, a second determination module 908 and a calculation module 910, wherein:

a second obtaining module 906, further configured to obtain a crane transmission system model of the crane; the crane simplified transmission model is used for describing the relation between the input power of the crane and/or the running power of the rotational inertia of the crane and the running power of the load weight.

The second determining module 908 is further configured to determine a preset parameter value set of the crane transmission system model according to a preset field debugging strategy.

The first determining module 904 is further configured to determine a real-time angular velocity and a real-time acceleration of the crane according to the real-time voltage and the real-time current; and determining the running state of the crane according to the real-time angular velocity and the real-time acceleration.

In one embodiment, the second obtaining module 906 is further configured to obtain a preset steady-state parameter value set of the preset parameter value sets of the crane transmission system model corresponding to the constant speed operation state.

A third obtaining module 912, configured to obtain a functional relation between the real-time angular velocity and the operating power of the load weight from the crane transmission system model; the real-time angular velocity as a function of the operating power of the load weight includes a first steady-state parameter.

In an embodiment, the calculating module 910 is further configured to sequentially assign each group of preset steady-state parameter values in the preset steady-state parameter value set to the first steady-state parameter, and substitute the real-time angular velocity into a functional relation between the real-time angular velocity and the operating power of the load weight to obtain the operating power set of the load weight.

The fitting module 914 is configured to determine a target steady-state parameter value corresponding to the crane in the operating state by fitting the operating power set of the load weight and a preset load capacity set corresponding to the preset parameter value set.

In one embodiment, the first determination module 904 is further configured to determine a real-time motor power of the crane from the real-time voltage and the real-time current.

In one embodiment, the third determining module 914 is further configured to obtain a functional relationship between the load weight and the operating power of the load weight from the crane drive train model, wherein the functional relationship between the load weight and the operating power of the load weight comprises the second steady-state parameter.

In one embodiment, the calculation module 910 is further configured to assign the target steady-state parameter value to a second steady-state parameter, and substitute the real-time motor power into a functional relationship between the load weight and the load weight operating power to determine a real-time load weight of the crane.

The second obtaining module 904 is further configured to obtain a default inertia parameter value of the crane transmission system model corresponding to the non-uniform speed operation state.

The calculating module 910 is further configured to substitute the default inertia parameter value and the real-time angular velocity into the crane transmission system model to obtain an inertia calculation expression, and determine the operating power of the rotational inertia of the crane.

The second determining module 908 is further configured to determine the real-time operating power of the load weight of the crane according to the real-time motor power and the real-time operating power of the rotational inertia, and perform a step of obtaining a preset parameter value set of the crane transmission system model corresponding to the operating state, where the preset parameter value set includes a preset steady-state parameter value set and a preset inertia parameter value set.

The calculating module 910 is further configured to assign the target steady-state parameter value to a second steady-state parameter, and substitute the real-time running power of the load weight into a functional relation between the load weight and the load weight running power to determine the real-time load weight of the crane.

The second obtaining module 906 is further configured to obtain a preset inertia parameter value set corresponding to the crane transmission system model.

The correction module 916 is configured to substitute each set of preset inertia parameter values and the real-time angular velocity in the preset inertia parameter value set into a rotation inertia expression in the crane transmission system model, and determine a corrected inertia parameter value; the rotary inertia expression is used for representing the functional relation between the real-time angular speed and the rotary inertia of the crane.

The correction module 916 is further configured to substitute the corrected inertia parameter value and the real-time load weight into a corrected rotational inertia expression in the crane transmission system model, and determine a corrected rotational inertia of the crane; the modified moment of inertia expression is used to characterize a functional relationship between the weight of the load and the modified moment of inertia.

The correction module 916 is further configured to determine a corrected operating power of the load weight of the crane in the non-uniform speed state according to the corrected rotational inertia and the real-time motor power.

The calculating module 910 is further configured to assign the target steady-state parameter value in the non-uniform speed operation state to a second steady-state parameter, and substitute the corrected operation power of the load weight in the non-uniform speed state into a functional relation between the load weight and the load weight operation power, so as to determine the corrected real-time load weight of the crane.

In one embodiment, the real-time voltage and the real-time current of the motor during the operation process of the crane are obtained; determining real-time angular velocity, real-time acceleration and real-time motor power of the crane according to the real-time voltage and the real-time current; acquiring a preset steady-state parameter value set in a preset parameter value set of a crane transmission system model corresponding to a constant-speed running state; acquiring a functional relation between the real-time angular speed and the running power of the load weight from a crane transmission system model; the functional relation between the real-time angular speed and the running power of the load weight comprises a first steady state parameter; sequentially assigning each preset steady-state parameter value in the preset steady-state parameter value set to a first steady-state parameter, and substituting the real-time angular velocity into a functional relation between the real-time angular velocity and the running power of the load weight to obtain a running power set of the load weight; determining a target steady-state parameter value corresponding to the crane in the running state by fitting the running power set of the load weight and a preset load capacity set corresponding to the preset parameter value set; acquiring a functional relation between the load weight and the operating power of the load weight from a crane transmission system model, wherein the functional relation between the load weight and the operating power of the load weight comprises a second steady-state parameter; and assigning the target steady-state parameter value to a second steady-state parameter, and substituting the real-time motor power into a functional relation between the load weight and the load weight running power to determine the real-time load weight of the crane.

In one embodiment, a default inertia parameter value of a crane transmission system model corresponding to a non-uniform speed running state is obtained; substituting the default inertia parameter value and the real-time angular speed into a crane transmission system model to obtain an inertia calculation expression, and determining the running power of the rotational inertia of the crane; determining the real-time running power of the load weight of the crane according to the real-time motor power and the real-time running power of the rotary inertia, and executing the step of acquiring a preset parameter value set of a crane transmission system model corresponding to the running state, wherein the preset parameter value set comprises a preset steady-state parameter value set and a preset inertia parameter value set; and assigning the target steady-state parameter value to a second steady-state parameter, and substituting the real-time running power of the load weight into a functional relation between the load weight and the running power of the load weight to determine the real-time load weight of the crane.

Acquiring a preset inertia parameter value set corresponding to a crane transmission system model; substituting each preset inertia parameter value in the preset inertia parameter value set and the real-time angular speed into a rotating inertia expression in the crane transmission system model, and determining a corrected inertia parameter value; the rotational inertia expression is used for representing a functional relation between the real-time angular speed and the rotational inertia of the crane; substituting the corrected inertia parameter value and the real-time load weight into a corrected rotary inertia expression in a crane transmission system model to determine the corrected rotary inertia of the crane; the modified moment of inertia expression is used for representing the functional relation between the load weight and the modified moment of inertia; determining the corrected running power of the load weight of the crane in a non-uniform speed state according to the corrected rotational inertia and the real-time motor power; and assigning the target steady-state parameter value in the non-uniform-speed running state to a second steady-state parameter, substituting the corrected running power of the load weight in the non-uniform-speed state into a functional relation between the load weight and the running power of the load weight, and determining the corrected real-time load weight of the crane.

For specific limitations of the crane load weight detection device, reference may be made to the above limitations of the crane load weight detection method, which are not described herein again. All or part of the modules in the crane heavy load capacity detection device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a computer device is further provided, which includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above method embodiments when executing the computer program.

In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile memory may include Read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A crane load weight detection method, the method comprising:

2. The method of claim 1, wherein prior to said obtaining electrical quantity sensing data of the motor of the crane during operation, the method further comprises:

3. The method of claim 1, wherein the charge detection data comprises real-time voltage and real-time current; the determining the running state of the crane according to the electric quantity detection data comprises the following steps:

4. The method of claim 3, wherein the operating state is a constant speed operating state; the acquiring of the preset parameter value set of the crane transmission system model corresponding to the running state comprises:

5. The method according to claim 4, wherein the determining a target steady-state parameter value corresponding to the crane in the operating state according to the electric quantity detection data and each set of preset parameter values in the set of preset parameter values comprises:

6. The method of claim 5, wherein calculating the real-time load weight of the crane based on the charge detection data and the target steady state parameter value comprises:

7. The method of claim 3, wherein the operating state is a non-uniform operating state; before obtaining the preset parameter value set of the crane transmission system model corresponding to the running state, the method further comprises the following steps:

8. The method of claim 7, wherein calculating the real-time load weight of the crane based on the charge detection data and the target steady state parameter value comprises:

9. The method of claim 8, wherein after assigning the target steady-state parameter value to the second steady-state parameter and substituting the real-time operating power of the load weight into the functional relationship of load weight and load weight operating power to determine the real-time load weight of the crane, the method further comprises:

10. A crane load weight detection device, said device comprising:

11. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 9 when executing the computer program.

12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 9.