CN112661017B - Crane control method and device and crane - Google Patents
Crane control method and device and crane Download PDFInfo
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Abstract
The invention provides a control method and a control device of a crane and the crane, wherein the crane comprises a plurality of actuating mechanisms, and the control method comprises the following steps: acquiring the working speed of the actuating mechanism; receiving a first input of a user to start cruising; and responding to the first input, and controlling the target execution mechanism to operate at a target speed under the condition that the working speed of the target execution mechanism is in a target speed interval, wherein the target speed is in the target interval. According to the control method of the crane, the speed of the actuating mechanism is determined to meet the requirement, then the cruise mode is switched in based on the input of the user, the operating strength of the driver can be effectively reduced under the condition of ensuring safe operation, fatigue driving is prevented, and the difficulty of the execution of the whole method and the implementation cost are low.
Description
Technical Field
The invention relates to the technical field of control of working machines, in particular to a control method and a control device of a crane and the crane.
Background
In the working process of the crane, a driver needs to continuously control the crane, for example, when a certain material on the ground is lifted to a target position, the main lifting winch needs to be controlled to continuously work to lift the material, and after the material is lifted to a target height, the amplitude variation mechanism is controlled to work. In the whole operation process, a considerable part of operations are repeated, so that the operation load of a driver is large. In the related art, some automatic control methods are designed for reducing the operation load, but all the methods need to acquire environment information and establish an environment 3D model, so that the realization difficulty is high, the required calculation force is high, and the implementation cost is high.
Disclosure of Invention
The invention provides a control method and a control device of a crane and the crane, which are used for overcoming the defect of high operation intensity in the prior art and realizing the reduction of the operation intensity with lower cost.
The invention provides a control method of a crane, wherein the crane comprises a plurality of actuating mechanisms, and the control method comprises the following steps:
acquiring the working speed of the actuating mechanism;
receiving a first input of a user to start cruising;
and responding to the first input, and controlling the target execution mechanism to operate at a target speed under the condition that the working speed of the target execution mechanism is in a target speed interval, wherein the target speed is in the target interval.
According to the control method of the crane provided by the invention, the method further comprises the following steps:
receiving a second input of a user under the condition that the target execution mechanism operates at a target speed;
adjusting the target speed in response to the second input.
According to the control method of the crane provided by the invention, the second input is the operation of a push-pull handle or the operation of a touch screen or the voice input, and the variation of the target speed corresponding to the unit operation amount is delta v, so that the following requirements are met: delta v is more than or equal to 0.1r/min and less than or equal to 1r/min.
According to the control method of the crane, when the target actuating mechanism is one, the variation of the target speed corresponding to the unit operation amount is larger than that when the target actuating mechanisms are multiple, and the variation of the target speed corresponding to the unit operation amount is larger than that when the target actuating mechanisms are multiple.
According to the control method of the crane, when the target execution mechanism is one, the target speed interval is (5, 25) r/min;
when the target actuator is plural, the target speed interval is (5, 20) r/min.
The control method of the crane further comprises the following steps: acquiring the rotating speed of an engine of the crane;
the controlling the target executing mechanism to operate at the target speed under the condition that the working speed of the target executing mechanism is in the target interval in response to the first input comprises the following steps:
and responding to the first input, controlling the rotating speed of the engine to a target rotating speed interval, and controlling the target actuating mechanism to operate at a target speed under the condition that the working speed of the target actuating mechanism is in the target speed interval.
The present invention also provides a control device for a crane, the crane including a plurality of actuators, the control device comprising:
the first receiving module is used for acquiring the working speed of the executing mechanism;
the second receiving module is used for receiving a first input of starting cruising by a user;
and the first execution module is used for responding to the first input and controlling the target execution mechanism to operate at a target speed under the condition that the working speed of the target execution mechanism is in a target speed interval, wherein the target speed is in the target interval.
The invention also provides a crane, which comprises a plurality of actuating mechanisms and the control device of the crane.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize the steps of the crane control method.
The invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the method of controlling a crane according to any one of the above.
According to the crane control method, the crane control device and the crane, the speed of the actuating mechanism is determined to meet the requirement, the cruise mode is switched in based on the input of the user, the operating strength of a driver can be effectively reduced and fatigue driving can be prevented under the condition that safe operation is ensured, and the difficulty and implementation cost of the whole method are low.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a control method of a crane provided by the present invention;
FIG. 2 is a schematic structural diagram of a control device of a crane provided by the present invention;
fig. 3 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the related art, for a crane operated by a driver, the driver needs to operate the handle for a long time, for example, when the crane is lifted, the driver needs to hold the handle to keep the handle still at a specific gear, and the driver is easy to fatigue operate due to holding the handle for a long time, so that safety accidents are caused.
The control method of the crane provided by the embodiment of the invention can help a driver to reduce the time for holding the handle under the condition of ensuring safe operation, effectively reduce the operation intensity of the driver, prevent fatigue driving, and greatly reduce the execution difficulty and the implementation cost of the whole method compared with automatic operation.
The control method of the crane of the present invention is described below with reference to fig. 1. The execution main body of the control method of the crane can be a controller of the crane, or the crane itself, or a remote or cloud control system.
The crane comprises a plurality of actuators, which may comprise at least one of: the system comprises a main amplitude variation winch, an auxiliary amplitude variation winch, a super amplitude variation winch, a main lifting winch and an auxiliary lifting winch.
As shown in fig. 1, the method for controlling a crane according to the present invention includes: step 110, step 120 and step 130.
in the actual execution process, sensors can be installed at each execution mechanism of the crane, for example, rotation speed sensors can be installed at the main luffing winch, the auxiliary luffing winch, the super-luffing winch, the main hoisting winch and the auxiliary hoisting winch, and the sensors are electrically connected with a controller of the crane.
in this step, the first input is used to activate the cruise function.
The first input may be expressed in at least one of the following ways:
first, the first input may be represented as a screen touch input, including but not limited to a click input, a slide input, a press input, and the like.
In this embodiment, receiving the first input by the user may be expressed as receiving the first input by the user in a display area of a display screen of the terminal.
In order to reduce the misoperation rate of the user, the action area of the first input can be limited to a specific area, such as the lower middle area of the display area of the terminal display screen; or the target control is displayed on the interface, and the first input can be realized by touching the target control.
Second, the first input may be represented as a physical key input.
For example, a physical button for switching to cruise is provided for each actuator, which button can be provided independently or on the operating handle of the actuator.
Third, the first input may appear as a voice input.
In this embodiment, the terminal may send control instruction information to the controller upon receiving a voice such as "cruise on".
Fourth, the first input may appear as a text input.
In this embodiment, the receiving of the first input of the user may be represented as receiving text information input by the user in a display area of a display screen of the terminal, and performing semantic analysis on the terminal.
Of course, in other embodiments, the first input may also be represented in other forms, including but not limited to a physical key input, which may be determined according to actual needs, and the embodiments of the present invention do not limit this.
Of course, in some embodiments, this step may be preceded by: receiving identity recognition information; control permissions are determined in response to the identification information.
In other words, when the identification passes, the command input is allowed, if the identification does not pass, no response is made, or prompt information is sent to a preset terminal to realize the function of warning, or only video display is carried out.
For example, the cruise function may be enabled only for a specific driver, such as a driver at a specific level, to prevent a driver unfamiliar with the function from operating erroneously.
The identification can be expressed in at least one of the following ways:
first, identification can be realized by checking a text password, which includes but is not limited to a numeric password or a mixed password composed of numbers, letters, symbols, and the like.
Secondly, the identification can be realized by checking a biological password, wherein the biological password comprises but is not limited to a fingerprint password, an iris password, a face password or a voice password.
It should be noted that, before step 120, the control method may further include:
and outputting prompt information under the condition that the working speed of the target actuating mechanism is in the target speed interval, wherein the prompt information is used for prompting a driver to start cruising.
In actual implementation, after the sensor detects that the operating speed of the actuator is kept at the target speed interval for a period of time, the information can be sent to a control console or a remote controller in the cloud or the cab, and the prompting information includes, but is not limited to, changes of colors, icons and other characteristics on a display so as to attract the attention of a driver or make voice prompt through a loudspeaker. The driver may make the first input on-site or remotely after receiving the prompt.
And step 130, responding to the first input, and controlling the target execution mechanism to operate at the target speed under the condition that the working speed of the target execution mechanism is in the target speed interval, wherein the target speed is in the target interval.
It should be noted that after the controller receives the first input of the user, it is not necessary to perform the cruise according to the first input, but it is necessary to confirm whether the operating speed of the target actuator is within the target speed range, and only when the operating speed of the target actuator is within the target speed range, the target actuator is controlled to operate at the target speed according to the first input, and the target speed is within the target range.
In other words, if the current action requires the actions of a plurality of actuators, for each actuator, the actuator which is not adjusted to the target speed interval needs to be kept in the manual operation mode until the working speed of the actuator reaches the target speed interval, and the cruise is switched in.
And if the working speed of the target execution mechanism is out of the target speed interval when the first input is received, the target execution mechanism is not controlled to operate at the target speed, and the manual control mode is still executed.
At cruise start, the target speed may be expressed in at least one of the following ways:
first, the target speed may be the current operating speed of the target actuator.
For example, the target execution mechanism is a main amplitude winch, and when the first input is received, the working speed of the main amplitude winch is within the target speed interval, and the main amplitude winch operates at a constant speed according to the current working speed.
Second, the target speed may be input by the user in real time.
The target speed may be included in the first input or may be received separately from the first input, and the operating speed of the target actuator is adjusted to the target speed when the target actuator is engaged in cruise.
Third, the target speed may be a fixed value.
The target speed may be a preset constant value, and the operating speed of the target actuator is adjusted to the target speed when the target actuator is switched into cruise.
According to the control method of the crane, the speed of the actuating mechanism is determined to meet the requirement, then the cruise mode is switched in based on the input of the user, the operating strength of a driver can be effectively reduced under the condition of ensuring safe operation, fatigue driving is prevented, and the difficulty of the execution of the whole method and the implementation cost are low.
In some embodiments, the control method may further include: and receiving a third input of the user for closing the cruise, and controlling the target actuating mechanism to exit the cruise in response to the third input.
The manner of the third input may be referenced to the first input.
In some embodiments, in the case where the target actuator is operating at the target speed, it is determined that the operating speed is above the maximum value of the target speed interval, and cruise is turned off.
In other words, in the embodiment of the invention, when the target actuating mechanism is in the cruise operating mode, the operation is not completely cancelled by the operation of the driver, but the safety control logic is provided, and when the operating speed is higher than the maximum value of the target rotating speed interval, the cruise is automatically stopped, so that the safety is enhanced.
In some embodiments, the method for controlling a crane may further include: acquiring the rotating speed of an engine of the crane;
step 130, in response to the first input, controlling the target actuator to operate at the target speed under the condition that the working speed of the target actuator is within the target interval, and the step includes:
and responding to the first input, controlling the rotating speed of the engine to a target rotating speed interval, and controlling the target actuating mechanism to operate at the target speed under the condition that the working speed of the target actuating mechanism is in the target speed interval and the rotating speed of the engine is in the target rotating speed interval.
In other words, when the first input of the user for starting the cruise is received, if the rotating speed of the engine is in the target rotating speed interval, the rotating speed of the engine does not need to be adjusted, and if the rotating speed of the engine is out of the target rotating speed interval, the rotating speed of the engine is automatically adjusted to the target speed interval.
In some embodiments, the target speed interval is [1200,1400] r/min. When the first input is received, when the cruise is carried out, if the rotating speed of the engine exceeds 1400r/min, the rotating speed of the engine is automatically reduced to 1400r/min; and when the first input is received, when the cruise is carried out, if the rotating speed of the engine is lower than 1200r/min, automatically increasing the rotating speed of the engine to 1200r/min.
It should be noted that the target rotation speed interval is related to the performance of the engine, and basically, the target rotation speed interval may be different for different engines with reference to the most stable rotation speed interval of the engine.
It should be noted that, before step 120, the control method may further include:
and outputting prompt information under the condition that the working speed of the target actuating mechanism is in the target speed interval, wherein the prompt information is used for prompting a driver to start cruising.
In actual implementation, after the sensor detects that the working speed of the actuating mechanism is kept in the target speed interval for a period of time, the rotating speed of the engine is automatically adjusted to the target rotating speed interval, and prompt information including, but not limited to, changes of colors, icons and other characteristics on a display is sent to a control console or a remote controller in a cloud or a cab, so that the driver can be noticed or voice prompt is made through a loudspeaker. The driver may make the first input on-site or remotely after receiving the prompt.
In some embodiments, the maximum speed of the target actuator in a compound motion is less than the maximum speed in a single actuator motion.
When the target actuating mechanism is one, the target speed interval is (5, 25) r/min; when the target actuator is plural, the target speed interval is (5, 20) r/min. The speed interval can ensure that each actuating mechanism stably acts and is not easy to shake.
In some embodiments, the method for controlling a crane may further include:
receiving a second input of the user under the condition that the target execution mechanism runs at the target speed;
in response to the second input, the target speed is adjusted.
In this step, the second input is used to adjust the target speed of the target actuator.
The second input may be expressed in at least one of the following ways:
first, the second input may be represented as a physical handle input.
For example, for a crane, each actuating mechanism is provided with a handle for controlling speed, and the speed can be increased or decreased by pushing or pulling the handle.
Second, the second input may be represented as a screen touch input, including but not limited to a click input, a slide input, a press input, and the like.
In this embodiment, receiving the second input by the user may be expressed as receiving the second input by the user in a display area of a display screen of the terminal.
In order to reduce the misoperation rate of the user, the action area of the second input can be limited in a specific area, such as the lower middle area of the display area of the terminal display screen; or the target control is displayed on the interface, and the second input can be realized by touching the target control.
Third, the second input may be presented as a voice input.
In this embodiment, the terminal may send control instruction information to the controller upon receiving a voice such as "spin down".
Fourth, the second input may appear as a text input.
In this embodiment, the receiving of the second input of the user may be represented by receiving text information input by the user in a display area of a display screen of the terminal, and performing semantic analysis on the terminal.
Of course, in other embodiments, the second input may also be represented in other forms, including but not limited to physical key input, which may be determined according to actual needs, and the embodiments of the present invention do not limit this.
The second input is used as an example of the operation of the push-pull lever.
In some embodiments, the second input is an operation of a push-pull handle, and the change amount of the target speed per unit operation amount of the handle is Δ v, satisfying: delta v is more than or equal to 0.1r/min and less than or equal to 1r/min.
For example, each time the handle is pushed by one unit operation amount, the target speed of the corresponding executing mechanism is increased by 0.4r/min, and each time the handle is pulled by one unit operation amount, the target speed of the corresponding executing mechanism is decreased by 0.4r/min.
In the related art, on a working machine, when an engine or a main pump is cruising, an impact phenomenon is easy to occur, and the speed regulation is generally considered to be unsafe when the engine or the main pump is cruising. The inventors of the present application have found through a large number of experiments that the shock of the engine or the main pump does not occur in the cruise mode by setting the variation amount in the above range.
In some embodiments, when the target actuator is one, the amount of change in the target speed per unit operation amount of the handle is larger than the amount of change in the target speed per unit operation amount of the handle when the target actuator is plural.
Thus, the load jump of the engine can be reduced, and the cruising safety can be improved.
For example, when the number of the target actuators is one, the variation of the target speed corresponding to the unit operation amount of the handle is 0.5r/min; when there are a plurality of target actuators, the amount of change in the target speed per unit operation amount of the handle is 0.2r/min.
When the second input is the operation of the touch screen, one screen is clicked to correspond to one unit operation amount; when the second input is a voice input, "speed up" or "speed down" is input once corresponding to one unit operation amount.
Table 1 shows an example of the target speed interval of each actuator and the amount of change in the target speed per unit operation amount.
TABLE 1
In summary, the crane control method provided by the embodiment of the invention can realize independent cruise of each actuator and composite cruise of multiple actuators by determining the necessary conditions of multiple cut-in cruise operating modes, and can effectively reduce the operating intensity of a driver under the condition of ensuring safe operation, the speed control of the mechanism is stable and has no impact, and the execution difficulty and the implementation cost of the whole method are low.
The following describes a control device of a crane provided by the present invention, and the control device of a crane described below and the control method of a crane described above may be referred to in correspondence with each other.
As shown in fig. 2, a control device for a crane according to an embodiment of the present invention includes: a first receiving module 210, a second receiving module 220, and a first executing module 230.
The first receiving module 210 is configured to obtain a working speed of the actuator;
the second receiving module 220 is used for receiving a first input of starting cruising by a user;
and a first executing module 230, configured to, in response to the first input, control the target executing mechanism to operate at a target speed in a target speed interval, where the target speed is within the target speed interval.
According to the control device of the crane, the speed of the actuating mechanism is determined to meet the requirement, the cruise mode is switched in based on the input of the user, the operating strength of a driver can be effectively reduced under the condition of ensuring safe operation, fatigue driving is prevented, and the difficulty in execution and the implementation cost are low.
In some embodiments, the control device of a crane according to an embodiment of the present invention may further include:
the third receiving module is used for receiving a second input of the user under the condition that the target execution mechanism runs at the target speed;
a second execution module to adjust the target speed in response to the second input.
In some embodiments, the second input is an operation of a push-pull handle, and a change amount of the target speed per unit operation amount of the handle is Δ v, satisfying: delta v is more than or equal to 0.1r/min and less than or equal to 1r/min.
In some embodiments, when the target actuator is one, the amount of change in the target speed per unit operation amount of the handle is larger than the amount of change in the target speed per unit operation amount of the handle when the target actuator is plural.
In some embodiments, when the target actuator is one, the target speed interval is (5, 25) r/min;
when the target actuating mechanism is a plurality of actuating mechanisms, the target speed interval is (5, 20) r/min.
In some embodiments, the control device of a crane according to an embodiment of the present invention may further include: the fourth receiving module is used for acquiring the rotating speed of an engine of the crane;
the first executing module 230 is further configured to, in response to the first input, control the target executing mechanism to operate at a target speed if the operating speed of the target executing mechanism is in a target speed interval and the rotating speed is in a target rotating speed interval.
The invention also discloses a crane, which comprises a plurality of actuating mechanisms and the control device.
The actuator may comprise at least one of: the system comprises a main amplitude variation winch, an auxiliary amplitude variation winch, a super amplitude variation winch, a main lifting winch and an auxiliary lifting winch.
The crane may be a crawler crane, a wheel crane or a tower crane.
The crane can also comprise a display screen, wherein the display screen can display a cruise starting interface, the interface can display a target control for starting or closing cruise, and the display screen can also display the working speed of each actuating mechanism.
According to the crane provided by the embodiment of the invention, the speed of the actuating mechanism is determined to meet the requirement, and then the cruise mode is switched in based on the input of the user, so that the operating strength of a driver can be effectively reduced under the condition of ensuring safe operation, fatigue driving is prevented, and the difficulty in execution and the implementation cost are low.
Fig. 3 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 3: a processor (processor) 310, a communication Interface (communication Interface) 320, a memory (memory) 330 and a communication bus 340, wherein the processor 310, the communication Interface 320 and the memory 330 communicate with each other via the communication bus 340. The processor 310 may invoke logic instructions in the memory 330 to perform a method of controlling a crane, the crane comprising a plurality of actuators, the method comprising: acquiring the working speed of an actuating mechanism; receiving a first input of a user to start cruising; and in response to the first input, controlling the target actuator to operate at the target speed under the condition that the working speed of the target actuator is within the target speed interval, wherein the target speed is within the target interval.
In addition, the logic instructions in the memory 330 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform a method of controlling a crane provided by the above methods, the crane comprising a plurality of actuators, the method comprising: acquiring the working speed of an actuating mechanism; receiving a first input of a user to start cruising; and in response to the first input, controlling the target execution mechanism to operate at the target speed under the condition that the working speed of the target execution mechanism is within the target speed interval, wherein the target speed is within the target interval.
In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, the computer program being implemented by a processor to perform the method of controlling a crane provided in each of the above aspects, the crane including a plurality of actuators, the method comprising: acquiring the working speed of an actuating mechanism; receiving a first input of a user to start cruising; and in response to the first input, controlling the target actuator to operate at the target speed under the condition that the working speed of the target actuator is within the target speed interval, wherein the target speed is within the target interval.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A control method of a crane, the crane including a plurality of target actuators, the control method comprising:
acquiring the working speed of the target actuating mechanism;
receiving a first input of a user for starting a cruise function, wherein the first input is used for starting the cruise function;
in response to the first input, controlling the target execution mechanism to operate at a target speed under the condition that the working speed of the target execution mechanism is within a target speed interval, wherein the target speed is within the target speed interval;
receiving a second input of a user under the condition that the target execution mechanism operates at a target speed;
adjusting the target speed in response to the second input, wherein the second input is used to adjust the target speed of the target actuator.
2. The method according to claim 1, wherein the second input is a push-pull handle operation, a touch screen operation, or a voice input, and the variation of the target speed per unit operation amount is Δ v, which satisfies: 0.1 Delta v is more than or equal to r/min and less than or equal to 1r/min.
3. The control method of a crane according to claim 2,
when the target actuator is one, the amount of change in the target speed per unit operation amount is larger than the amount of change in the target speed per unit operation amount when the target actuator is plural.
4. The control method of a crane according to claim 1, wherein when the target actuator is one, the target speed interval is (5, 25) r/min;
when the target actuator is plural, the target speed interval is (5, 20) r/min.
5. The control method of a crane according to any one of claims 1 to 4, further comprising: acquiring the rotating speed of an engine of the crane;
the responding to the first input, and controlling the target executing mechanism to operate at a target speed under the condition that the working speed of the target executing mechanism is in a target speed interval, wherein the controlling comprises the following steps:
and responding to the first input, controlling the rotating speed of the engine to a target speed interval, and controlling the target actuating mechanism to operate at a target speed under the condition that the working speed of the target actuating mechanism is in the target speed interval.
6. A control device for a crane, the crane including a plurality of target actuators, the control device comprising:
the first receiving module is used for acquiring the working speed of the target actuating mechanism;
the second receiving module is used for receiving a first input of starting the cruise by a user, wherein the first input is used for starting the cruise function;
the first execution module is used for responding to the first input and controlling the target execution mechanism to operate at a target speed under the condition that the working speed of the target execution mechanism is in a target speed interval, and the target speed is in the target speed interval;
the third receiving module is used for receiving a second input of the user under the condition that the target executing mechanism runs at the target speed;
a second execution module to adjust the target speed in response to the second input, wherein the second input is to adjust the target speed of the target actuator.
7. A crane, comprising a plurality of target actuators and a control device of the crane according to claim 6.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method for controlling a crane according to any one of claims 1 to 5 are implemented when the computer program is executed by the processor.
9. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of a method of controlling a crane according to any one of claims 1 to 5.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110043432.0A CN112661017B (en) | 2021-01-13 | 2021-01-13 | Crane control method and device and crane |
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| CN202110043432.0A CN112661017B (en) | 2021-01-13 | 2021-01-13 | Crane control method and device and crane |
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