CN112758823A - Crane control method and system and crane - Google Patents

Abstract

The invention provides a crane control method, a system and a crane, wherein the inclination angle of a main platform of the crane is acquired; collecting the pressure of the crane support legs, wherein the number of the support legs is multiple; collecting the hoisting tension of the crane; collecting the corner of the crane arm support, and judging the hoisting state of the crane according to the hoisting tension; numbering the support legs, and acquiring the number and the serial number of the support legs which are farthest from the hoisting weight according to the arm support corner; acquiring the number and the serial number of the lowest support leg according to the inclination angle of the main platform of the crane; and according to the hoisting state, the number and the serial number of the support legs which are farthest from the hoisting weight and the number and the serial number of the lowest support legs, processing related data, outputting and executing a data processing result, adjusting the support legs to identify and judge the tipping action trend problem of the supporting force of the ground to the support legs to the crane, and taking effective measures to reduce or eliminate the tipping action trend of the supporting force of the ground to the support legs to the crane if necessary, thereby improving the stability and the operation safety of the crane.

Description

Crane control method and system and crane

Technical Field

The invention relates to the technical field of mechanical control, in particular to a crane control method and system and a crane.

Background

The crane comprises an automobile crane, a crawler crane, a port crane, a cross-country crane, a full-road crane and the like, and is used for hoisting, stacking and the like.

Under the loading state, the crane is acted by a plurality of forces, and mainly comprises acting force of the gravity of the load on a crane lifting mechanism and supporting force of a supporting surface to the crane supporting legs, wherein the supporting force of the supporting surface to the crane supporting legs is a plurality of and is the same as the number of the crane supporting legs.

In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art:

the support forces of the support surface against the crane leg are generally greater than zero, i.e. the crane leg is subjected to forces of the support surface upwards, some of these support forces being in the same direction as the tendency of the load to act on the crane, all in the direction of tipping the crane.

At present, no feasible scheme is available in the prior art, the problem of the tilting action trend of the supporting force of the ground to the supporting legs to the crane can be identified and judged, and effective measures are taken if necessary to reduce or eliminate the tilting action trend of the supporting force of the ground to the supporting legs to the crane, so that the stability and the operation safety of the crane are improved.

Disclosure of Invention

The application provides a crane control method, a crane control system and a crane, which solve the problem of the tilting action trend of the supporting force of the ground of the crane to a supporting leg to the crane in the related technology, identify and judge the tilting action trend of the supporting force of the ground to the supporting leg to the crane, and take effective measures if necessary to reduce or eliminate the tilting action trend of the supporting force of the ground to the supporting leg to the crane, thereby improving the stability and the operation safety of the crane.

In order to solve the technical problem, the application provides the following technical scheme:

one aspect of the present application relates to a crane control method, including:

collecting the inclination angle of the main platform of the crane; collecting the pressure of the crane support legs, wherein the number of the support legs is multiple; collecting the hoisting tension of the crane; collecting the corner of the crane boom;

judging the hoisting state of the crane according to the hoisting tension; numbering the support legs, and acquiring the number and the serial number of the support legs which are farthest from the hoisting weight according to the arm support corner; acquiring the number and the serial number of the lowest support leg according to the inclination angle of the main platform of the crane; processing related data according to the lifting state, the number and the serial number of the support legs which are farthest from the lifting weight and the number and the serial number of the lowest support legs;

and outputting and executing the data processing result, and adjusting the supporting leg.

Wherein, according to the lifting tension judge the crane lifting state, including:

when at least one of the following conditions is met, the hoisting state of the crane is judged to be loaded:

the hoisting tension exceeds a preset hoisting tension threshold value;

the sum of the pressures of the support legs exceeds a preset total pressure threshold value;

the maximum pressure of the leg pressures exceeds a preset maximum pressure threshold.

Wherein, numbering the landing legs, obtaining the number and the serial number of the landing legs which are farthest away from the hoisting weight according to the boom corner, and the method comprises the following steps:

numbering the support legs: l1, L2 … Ln, where n is the total number of legs;

according to the number and the serial number of the support legs which are farthest from the hoisting weight, the method for acquiring the number of the support legs comprises at least one of the following steps:

a table look-up method, wherein a preset table is looked up according to the arm support corner, and the number of the support legs with the farthest distance from the hoisting weight are obtained through table look-up;

and the calculation method comprises the steps of calculating the distance from each supporting leg to the hoisting weight according to the corner of the arm support and the relative geometric dimension between the supporting legs, and then comparing the distances to obtain the maximum value, wherein the number of the maximum value is the number of the farthest supporting legs, the supporting leg corresponding to the maximum value is the farthest supporting leg, and further the number of the farthest supporting leg is obtained.

Wherein, according to the crane main platform inclination obtains the quantity and the serial number of minimum landing leg, include:

when the inclination angle of the main platform of the crane exceeds a preset inclination angle range of the main platform, projecting the supporting points of a plurality of supporting legs of the crane to the plane where the main platform of the crane is located to obtain a plurality of projection points with the same number as the supporting legs;

and comparing the heights of the plurality of projection points to obtain the projection point with the minimum height, further obtaining the number and the serial number of the support legs corresponding to the projection point with the minimum height, and further obtaining the number and the serial number of the lowest support legs.

Wherein, according to the lifting state, the number and the serial number of the support legs farthest from the lifting weight and the number and the serial number of the lowest support legs, the related data are processed, and the method comprises the following steps:

when the lifting state is loaded, the pressure Fi of the support leg farthest from the lifting weight is controlled, and the method comprises the following steps:

for a preset leg pressure threshold value F0, when Fi is larger than F0, outputting a control signal to control the pressure Fi of the leg farthest from the sling to be not larger than the leg pressure threshold value F0, wherein the control signal Y is a function of (Fi-F0); when Fi is less than or equal to F0, the output control signal is zero;

when one or more of the legs farthest from the sling weight is the lowest leg, the output control signal of the leg is zero.

Wherein, include:

the control signal calculation method comprises the following steps:

Y＝P×(Fi-F0)+D×d(Fi-F0)/dt

wherein P, D is a preset constant, Fi is the pressure of the ith leg, F0 is a preset leg pressure threshold, d (Fi-F0)/dt is the derivative of (Fi-F0) with respect to time t;

wherein F0 is 5.3127% of the sum of the self weight and the hanging weight of the crane.

Another aspect of the present application relates to a crane control system, comprising:

the detection module is used for acquiring the inclination angle of the main platform of the crane; collecting the pressure of the crane support legs, wherein the number of the support legs is multiple; collecting the hoisting tension of the crane; collecting the corner of the crane boom;

the control module comprises a controller and is used for judging the hoisting state of the crane according to the hoisting tension; numbering the support legs, and acquiring the number and the serial number of the support legs which are farthest from the hoisting weight according to the arm support corner; acquiring the number and the serial number of the lowest support leg according to the inclination angle of the main platform of the crane; processing related data according to the lifting state, the number and the serial number of the support legs which are farthest from the lifting weight and the number and the serial number of the lowest support legs;

and the execution mechanism is used for outputting and executing the data processing result and adjusting the supporting leg.

Wherein the detection module comprises:

the main platform inclination angle sensor is used for collecting the inclination angle of the main platform of the crane, is a double-shaft inclination angle sensor and can collect the inclination angles in two directions in a plane;

the supporting leg pressure sensors are used for acquiring the pressure of the supporting legs of the crane, the number of the supporting legs is the same as that of the supporting legs, and the supporting leg pressure sensors directly acquire the acting force of the supporting surfaces of the supporting legs;

the hoisting tension sensor is used for acquiring the hoisting tension of the crane;

and the boom corner sensor is used for acquiring the crane boom corner.

Wherein the actuator comprises:

a plurality of leg mechanisms for executing the control signal outputted from the control module, each leg mechanism comprising: mechanical system and hydraulic system, wherein, hydraulic system includes: the hydraulic control system comprises a hydraulic oil cylinder, a hydraulic valve and a hydraulic pump, wherein the hydraulic valve is used for receiving the control signal output by the control module and executing the control signal.

Yet another aspect of the present application relates to a crane comprising the crane control system described above.

One of the above technical solutions of the present application has the following beneficial effects:

the application provides a crane control method, a crane control system and a crane, wherein the inclination angle of a main platform of the crane is collected; collecting the pressure of the crane support legs, wherein the number of the support legs is multiple; collecting the hoisting tension of the crane; collecting the corner of the crane arm support, and judging the hoisting state of the crane according to the hoisting tension; numbering the support legs, and acquiring the number and the serial number of the support legs which are farthest from the hoisting weight according to the arm support corner; acquiring the number and the serial number of the lowest support leg according to the inclination angle of the main platform of the crane; and according to the hoisting state, the number and the serial number of the support legs which are farthest from the hoisting weight and the number and the serial number of the lowest support legs, processing related data, outputting and executing a data processing result, adjusting the support legs to identify and judge the tipping action trend problem of the supporting force of the ground to the support legs to the crane, and taking effective measures to reduce or eliminate the tipping action trend of the supporting force of the ground to the support legs to the crane if necessary, thereby improving the stability and the operation safety of the crane.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a flow chart of a crane control method according to a first embodiment of the present invention;

FIG. 2 is a block diagram of a crane control system according to a second embodiment of the present invention;

fig. 3 is another block diagram of a crane control system according to a second embodiment of the present invention.

The reference numbers illustrate:

2. a detection module; 4. a control module; 6. an actuator; 22. a main platform tilt sensor; 24. hoisting a pressure sensor; 26. a leg pressure sensor; 28. a boom rotation angle sensor; 42. a controller; 62. a first leg mechanism; 64. a second leg mechanism; 66. a third leg mechanism; 68. and a fourth leg mechanism.

Detailed Description

In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.

First embodiment

The present embodiment provides a crane control method, as shown in fig. 1, including:

s2, collecting the inclination angle of the main platform of the crane; collecting the pressure of a plurality of support legs of the crane; collecting the lifting tension of a crane; collecting a crane boom corner;

s4, judging the hoisting state of the crane according to the hoisting tension; numbering the support legs, and acquiring the number and the serial number of the support legs which are farthest from the hoisting weight according to the corner of the arm support; acquiring the number and the serial number of the lowest support leg according to the inclination angle of the main platform of the crane; processing related data according to the lifting state, the number and the serial number of the support legs which are farthest from the lifting weight and the number and the serial number of the support legs which are the lowest;

and S6, outputting and executing the result of the data processing, and adjusting the support legs.

It should be noted that the embodiment provides a crane control method, which solves the problem of the tilting action tendency of the supporting force of the ground to the supporting leg to the crane in the related art. In order to solve the problem, the inclination angle of a main platform of the crane needs to be acquired; collecting the pressure of a plurality of support legs of the crane; collecting the lifting tension of a crane; collecting the corner of a crane arm support, and judging the hoisting state of the crane according to the hoisting tension; numbering the support legs, and acquiring the number and the serial number of the support legs which are farthest from the hoisting weight according to the corner of the arm support; acquiring the number and the serial number of the lowest support leg according to the inclination angle of the main platform of the crane; according to the hoisting state, the number and the serial number of the support legs which are farthest from the hoisting weight and the number and the serial number of the support legs which are the lowest, relevant data are processed, the result of data processing is output and executed, the support legs are adjusted, the problem that the support force of the ground to the support legs has the tilting action trend to the crane is identified and judged, and effective measures are taken if necessary, the tilting action trend to the crane by the support force of the ground to the support legs is reduced or eliminated, so that the stability and the operation safety of the crane are improved.

Wherein, judge the state of lifting by crane of hoist according to lifting by crane pulling force, include:

when at least one of the following conditions is met, the hoisting state of the crane is judged to be loaded:

s422, the hoisting tension exceeds a preset hoisting tension threshold value;

s424, enabling the sum of the pressures of the support legs to exceed a preset total pressure threshold value;

and S426, the maximum pressure in the support leg pressures exceeds a preset maximum pressure threshold value.

It should be noted that, whether the hoisting state of the crane is loaded or not is judged, and the most intuitive mode is to judge according to the hoisting tension, because the hoisting tension is directly related to the load, the method is a direct and convenient technical means; the embodiment adopts the scheme of S422.

Besides the lifting tension, other technical schemes are adopted to judge the lifting state of the crane, including the judgment by the sum of the pressure of the supporting legs, namely the sum of the gravity of the crane and the load. Since the weight of the crane is substantially fixed, the sum of the weight of the crane and the weight of the load can substantially reflect the size of the load; in addition, the lifting state of the crane can be judged by taking the maximum pressure in the pressure of the supporting legs as a basis, the scheme does not directly calculate the load weight of the crane, but indirectly judges through the pressure received by the supporting legs, and the scheme can also be used as a suboptimal scheme.

It should be noted that, based on the above concepts, those skilled in the art can also list more methods for determining the hoisting state of the crane without creative work, and similar technical effects can be achieved, all of which are within the protection scope of the present application.

The method for acquiring the number and the serial number of the support legs which are farthest away from the hoisting weight according to the corner of the arm support comprises the following steps:

s442, numbering the legs: l1, L2 … Ln, where n is the total number of legs; in this embodiment, a common four-leg crane is adopted, that is, n is 4, and it should be noted that, a typical four-leg crane has four legs distributed in a rectangular shape, that is, four legs of the crane are located at four vertices of the rectangular shape, and connecting lines of the four legs may form a rectangular shape. In this embodiment, the four legs are numbered as follows:

l1: the first supporting leg is positioned in front of the left of the geometric center of the main platform of the crane;

l2: the second supporting leg is positioned at the right front of the geometric center of the main platform of the crane;

l3: the third supporting leg is positioned at the right rear part of the geometric center of the main platform of the crane;

l4: the fourth supporting leg is positioned at the left rear part of the geometric center of the main platform of the crane;

the front, the rear, the left, and the right of the driver sitting in the cab are defined as the front, the rear, the left, and the right in this embodiment.

According to the number and the serial number of the support legs which are farthest from the hoisting weight, the method for acquiring the number comprises at least one of the following steps:

s444, a table look-up method is adopted, a preset table is looked up according to the rotation angle of the arm support, and the number of the support legs which are farthest from the hoisting weight are obtained through the table look-up; it should be noted that the table lookup method is simple and fast, and this embodiment adopts this method. The following is a preset table adopted in this embodiment, which is used to obtain the number and serial number of the support legs farthest from the hoisting weight by looking up the table, as follows:

corner A of arm support	Number of furthest legs	Farthest leg number
			0°	2	L3、L4
0°＜A＜90°	1	L4
			90°	2	L1、L4
90°＜A＜180°	1	L1
			180°	2	L1、L2
-90°＜A＜0°	1	L3
			-90°	2	L2、L3
-180°＜A＜-90°	1	L2

In this embodiment, zero degree of the arm support corner is defined as the front, and the positive direction is defined as the clockwise direction, so the range of the arm support corner is [ -180 °,180 ° ].

In addition to the table lookup method, there are other methods that can be used to obtain the number and number of legs that are furthest from the sling, including:

and S446, calculating the distance from each supporting leg to the hoisting weight according to the corner of the arm support and the relative geometric dimension between the supporting legs, and then comparing the distances to obtain a maximum value, wherein the number of the maximum value is the number of the farthest supporting legs, the supporting leg corresponding to the maximum value is the farthest supporting leg, and further the number of the farthest supporting leg is obtained.

It should be noted that the calculation method needs to use the geometric dimensions of the crane, and for different cranes, calculation needs to be performed according to actual dimensions, but the calculation method and the calculation process are both relatively simple mathematical operations, and are not described in detail here.

It should be noted that, based on the above concepts, those skilled in the art can also list more methods without creative efforts, and similar technical effects can be achieved, all of which are within the protection scope of the present application.

Wherein, obtain quantity and the serial number of minimum landing leg according to hoist main platform inclination, include:

s462, when the inclination angle of the main platform of the crane exceeds the preset inclination angle range of the main platform, projecting the supporting points of a plurality of supporting legs of the crane onto the plane where the main platform of the crane is located to obtain a plurality of projection points with the same number as the supporting legs;

and S464, comparing the heights of the plurality of projection points to obtain the projection point with the minimum height, further obtaining the number and the serial number of the support legs corresponding to the projection point with the minimum height, and further obtaining the number and the serial number of the lowest support legs.

It should be noted that the intuitive meaning of the lowest leg is: the main platform of the crane is not horizontal, but is inclined to a certain direction, and the leg in the certain direction is the lowest leg.

It should be noted that the purpose of the lowest leg is: when the furthest leg is also the lowest leg, no adjustment is made to that leg. Since the furthest leg is also the lowest leg at the same time, this means that the main platform of the crane is no longer held horizontal, but is tilted in the direction of the furthest leg, which is already the safe position of the crane, and no readjustment is necessary.

It should be noted that there are many methods for finding the lowest leg, the preferred method is listed in this embodiment, and many other methods can be used.

Wherein, according to the landing leg quantity and the number of the farthest landing leg and the quantity and the number of the lowest landing leg of the state of lifting by crane, hanging heavy, handle relevant data, include:

when the state of lifting by crane is the area and carries, to the pressure Fi of the landing leg of the farthest distance of hanging heavy, include:

s482, for a preset support leg pressure threshold value F0, when Fi is larger than F0, outputting a control signal to control the pressure Fi of the support leg farthest from the sling weight to be not larger than the support leg pressure threshold value F0, wherein the control signal Y is a function of (Fi-F0);

s484, when Fi is less than or equal to F0, outputting a control signal to be zero;

s486, when one or more of the legs farthest from the sling weight is the lowest leg, the output control signal of the leg is zero.

It should be noted that the purpose of this embodiment is to reduce the force applied to the farthest leg to reduce the tendency of the farthest leg to tilt on the crane, because the tendency of the farthest leg to tilt on the crane is in the same direction as the tendency of the load to tilt on the crane, which is detrimental to the stability of the crane.

It should be noted that the setting purpose of F0 is: the stress of the farthest supporting leg is not reduced to zero but reduced to a small value F0, and the advantage of this is that when the farthest supporting leg is changed because the arm support is rotated, the acceptance of the farthest supporting leg does not need to be increased from zero, so that the supporting force can be provided for the crane quickly, and the safety of the crane can be ensured.

It should be noted that, when Fi is less than or equal to F0, the supporting leg force Fi is already small and does not need to be adjusted, so the output control signal is zero; when one or more of the legs furthest from the hoisting weight is the lowest leg, the crane's attitude is already a safe attitude and no adjustment is required for the furthest leg, and therefore the leg's output control signal is zero. That is, only when Fi > F0 and the leg farthest from the sling weight is not the lowest leg, the farthest leg needs to be adjusted to reduce its stress, i.e. a control signal needs to be output.

It should be noted that, based on the above concepts, those skilled in the art can also list more control logics without creative efforts, and similar technical effects can be achieved, all of which are within the protection scope of the present application.

Wherein, include:

s4822, the calculation method of the control signal is as follows:

Y＝P×(Fi-F0)+D×d(Fi-F0)/dt

wherein P, D is a preset constant, Fi is the pressure of the ith leg, F0 is a preset leg pressure threshold, d (Fi-F0)/dt is the derivative of (Fi-F0) with respect to time t;

wherein F0 is 5.3127% of the sum of the self weight and the hanging weight of the crane.

Note that the meaning of the control signal and (Fi-F0) is: (Fi-F0) directly represents the size that the stress of the support legs of the group members exceeds a preset threshold value, and can be directly used as a calculation basis of a control signal; in addition, d (Fi-F0)/dt is the derivative of (Fi-F0) to time t, represents the change speed of the force applied to the farthest landing leg, and the force applied to the farthest landing leg can be obtained by integrating the derivative, so that a certain prejudgment function is realized, and therefore, the derivative can be used as a calculation basis of a control signal.

It should be noted that, based on the above concepts, those skilled in the art can also list more calculation methods without creative efforts, and similar technical effects can be achieved, all of which are within the protection scope of the present application.

It should be noted that, in the control process and the calculation process in the present embodiment, there are various implementation manners of the sequence between the steps, and in the present embodiment, one of the manners is listed, and on the premise of not being contradictory, the order of the different steps in the control process and the calculation process is changed, so that the same effect can be achieved, and the scope of the present embodiment is also within the scope of the present embodiment.

The embodiment provides a crane control method, which solves the problem that the tipping action trend of the supporting force of the ground to a supporting leg to a crane in the related art is solved. In order to solve the problem, the inclination angle of a main platform of the crane is acquired; collecting the pressure of a plurality of support legs of the crane; collecting the lifting tension of a crane; collecting the corner of a crane arm support, and judging the hoisting state of the crane according to the hoisting tension; numbering the support legs, and acquiring the number and the serial number of the support legs which are farthest from the hoisting weight according to the corner of the arm support; acquiring the number and the serial number of the lowest support leg according to the inclination angle of the main platform of the crane; according to the hoisting state, the number and the serial number of the support legs which are farthest from the hoisting weight and the number and the serial number of the support legs which are the lowest, relevant data are processed, the result of data processing is output and executed, the support legs are adjusted, the problem that the support force of the ground to the support legs has the tilting action trend to the crane is identified and judged, and effective measures are taken if necessary, the tilting action trend to the crane by the support force of the ground to the support legs is reduced or eliminated, so that the stability and the operation safety of the crane are improved.

Second embodiment

The present embodiment provides a crane control system, as shown in fig. 2, including:

the detection module 2 is used for acquiring the inclination angle of the main platform of the crane; collecting the pressure of a plurality of support legs of the crane; collecting the lifting tension of a crane; collecting a crane boom corner;

the control module 4 comprises a controller 42 for judging the hoisting state of the crane according to the hoisting tension; numbering the support legs, and acquiring the number and the serial number of the support legs which are farthest from the hoisting weight according to the corner of the arm support; acquiring the number and the serial number of the lowest support leg according to the inclination angle of the main platform of the crane; processing related data according to the lifting state, the number and the serial number of the support legs which are farthest from the lifting weight and the number and the serial number of the support legs which are the lowest;

and the actuator 6 is used for outputting and executing the result of the data processing to adjust the supporting leg.

It should be noted that the embodiment provides a crane control system, which solves the problem of the tilting action tendency of the supporting force of the ground to the supporting leg to the crane in the related art. In order to solve the problem, the inclination angle of the main platform of the crane is acquired through a detection module 2; collecting the pressure of a plurality of support legs of the crane; collecting the lifting tension of a crane; collecting the corner of a crane boom, and judging the hoisting state of the crane according to the hoisting tension through a control module 4; numbering the support legs, and acquiring the number and the serial number of the support legs which are farthest from the hoisting weight according to the corner of the arm support; acquiring the number and the serial number of the lowest support leg according to the inclination angle of the main platform of the crane; according to the hoisting state, the number and the serial number of the support legs which are farthest from the hoisting weight and the number and the serial number of the support legs which are the lowest, relevant data are processed, the result of data processing is output and executed, the support legs are adjusted, the problem that the support force of the ground to the support legs has the tilting action trend to the crane is identified and judged, and effective measures are taken if necessary, the tilting action trend to the crane by the support force of the ground to the support legs is reduced or eliminated, so that the stability and the operation safety of the crane are improved.

As shown in fig. 3, the detection module 2 includes:

the main platform inclination angle sensor 22 is used for collecting the inclination angle of the main platform of the crane, and the main platform inclination angle sensor 22 is a double-shaft inclination angle sensor and can collect the inclination angles in two directions in a plane;

the supporting leg pressure sensors 26 are used for collecting the pressure of the supporting legs of the crane, the number of the supporting legs is the same as that of the supporting legs, and the supporting leg pressure sensors 26 directly collect the acting force of the supporting legs on the supporting surface;

the hoisting tension sensor 24 is used for collecting the hoisting tension of the crane;

and the boom corner sensor 28 is used for collecting the crane boom corner.

It should be noted that the hoisting tension sensor 24 has various embodiments, including: lifting hook tension sensor, wire rope tension sensor, hoist motor pressure etc. its measured value or the calculated value based on the measured value all represent the weight of load, and the effect that plays is also the same, all is in the protection scope of this application.

It should be noted that, based on the above concepts, those skilled in the art can also list more measurement methods without creative efforts, and similar technical effects can be achieved, all of which are within the protection scope of the present application.

As shown in fig. 3, the actuator 6 includes:

a plurality of leg mechanisms for executing the control signal outputted from the control module 4, each leg mechanism including: mechanical system and hydraulic system, wherein, hydraulic system includes: the hydraulic control system comprises a hydraulic oil cylinder, a hydraulic valve and a hydraulic pump, wherein the hydraulic valve is used for receiving and executing a control signal output by the control module 4. In this embodiment, the landing leg mechanism adopts four landing leg mechanisms, includes:

a first leg mechanism 62, a second leg mechanism 64, a third leg mechanism 66, a fourth leg mechanism 68, each leg mechanism comprising: mechanical system and hydraulic system, wherein, hydraulic system includes: the hydraulic control system comprises a hydraulic oil cylinder, a hydraulic valve and a hydraulic pump, wherein the hydraulic valve is used for receiving and executing a control signal output by the control module 4.

It should be noted that, in the above-mentioned components in the present embodiment, there are various combinations of the orders of the components, and what is listed in the present embodiment is one of the combinations, and the order of the components can be changed without contradiction, so that the same effect can be achieved, and the scope covered by the present embodiment is also included.

The embodiment provides a crane control system, solves the tipping action trend problem of the supporting force of the ground to the supporting leg to the crane in the related art. In order to solve the problem, the inclination angle of a main platform of the crane is acquired; collecting the pressure of a plurality of support legs of the crane; collecting the lifting tension of a crane; collecting the corner of a crane arm support, and judging the hoisting state of the crane according to the hoisting tension; numbering the support legs, and acquiring the number and the serial number of the support legs which are farthest from the hoisting weight according to the corner of the arm support; acquiring the number and the serial number of the lowest support leg according to the inclination angle of the main platform of the crane; according to the hoisting state, the number and the serial number of the support legs which are farthest from the hoisting weight and the number and the serial number of the support legs which are the lowest, relevant data are processed, the result of data processing is output and executed, the support legs are adjusted, the problem that the support force of the ground to the support legs has the tilting action trend to the crane is identified and judged, and effective measures are taken if necessary, the tilting action trend to the crane by the support force of the ground to the support legs is reduced or eliminated, so that the stability and the operation safety of the crane are improved.

Third embodiment

The embodiment provides a crane, which comprises the crane control system.

By adopting the crane control system in the embodiment, the beneficial effects brought by the crane control system in the embodiment are realized, the occurrence of tipping can be prevented, or the damage caused by tipping can be reduced, so that the operation safety of the crane is improved.

Moreover, it is noted that, in this document, relational terms such as "first" and "second," and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.

It should also be apparent to those skilled in the art that embodiments of the present invention may be provided as a method, apparatus, or computer program product. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks. These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While there has been described what are considered to be preferred embodiments of the present invention, it will be understood by those skilled in the art that, in light of the foregoing description, numerous modifications and enhancements which fall within the spirit and scope of the invention are possible without departing from the principles of the present invention. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.

Claims (10)

1. A crane control method, comprising:

collecting the inclination angle of the main platform of the crane; collecting the pressure of the crane support legs, wherein the number of the support legs is multiple; collecting the hoisting tension of the crane; collecting the corner of the crane boom;

judging the hoisting state of the crane according to the hoisting tension; numbering the support legs, and acquiring the number and the serial number of the support legs which are farthest from the hoisting weight according to the arm support corner; acquiring the number and the serial number of the lowest support leg according to the inclination angle of the main platform of the crane; processing related data according to the lifting state, the number and the serial number of the support legs which are farthest from the lifting weight and the number and the serial number of the lowest support legs;

and outputting and executing the data processing result, and adjusting the supporting leg.

2. The crane control method according to claim 1, wherein the determining the hoisting state of the crane based on the hoisting tension comprises:

when at least one of the following conditions is met, the hoisting state of the crane is judged to be loaded:

the hoisting tension exceeds a preset hoisting tension threshold value;

the sum of the pressures of the support legs exceeds a preset total pressure threshold value;

the maximum pressure of the leg pressures exceeds a preset maximum pressure threshold.

3. The crane control method according to claim 1, wherein numbering the support legs, and obtaining the number and the number of the support legs farthest from the hoisting weight according to the boom corner comprises:

numbering the support legs: l1, L2 … Ln, where n is the total number of legs;

according to the number and the serial number of the support legs which are farthest from the hoisting weight, the method for acquiring the number of the support legs comprises at least one of the following steps:

a table look-up method, wherein a preset table is looked up according to the arm support corner, and the number of the support legs with the farthest distance from the hoisting weight are obtained through table look-up;

and the calculation method comprises the steps of calculating the distance from each supporting leg to the hoisting weight according to the corner of the arm support and the relative geometric dimension between the supporting legs, and then comparing the distances to obtain the maximum value, wherein the number of the maximum value is the number of the farthest supporting legs, the supporting leg corresponding to the maximum value is the farthest supporting leg, and further the number of the farthest supporting leg is obtained.

4. The crane control method of claim 1, wherein obtaining the number and number of the lowest legs from the inclination angle of the main platform of the crane comprises:

when the inclination angle of the main platform of the crane exceeds a preset inclination angle range of the main platform, projecting the supporting points of a plurality of supporting legs of the crane to the plane where the main platform of the crane is located to obtain a plurality of projection points with the same number as the supporting legs;

and comparing the heights of the plurality of projection points to obtain the projection point with the minimum height, further obtaining the number and the serial number of the support legs corresponding to the projection point with the minimum height, and further obtaining the number and the serial number of the lowest support legs.

5. The crane control method according to claim 1, wherein the processing of the relevant data according to the hoisting state, the number and number of the legs farthest from the hoisting weight, and the number and number of the lowest legs comprises:

when the lifting state is loaded, the pressure Fi of the support leg farthest from the lifting weight is controlled, and the method comprises the following steps:

for a preset leg pressure threshold value F0, when Fi is larger than F0, outputting a control signal to control the pressure Fi of the leg farthest from the sling to be not larger than the leg pressure threshold value F0, wherein the control signal Y is a function of (Fi-F0); when Fi is less than or equal to F0, the output control signal is zero;

when one or more of the legs farthest from the sling weight is the lowest leg, the output control signal of the leg is zero.

6. The crane control method as claimed in claim 5, comprising:

the control signal calculation method comprises the following steps:

Y＝P×(Fi-F0)+D×d(Fi-F0)/dt

wherein P, D is a preset constant, Fi is the pressure of the ith leg, F0 is a preset leg pressure threshold, d (Fi-F0)/dt is the derivative of (Fi-F0) with respect to time t;

wherein F0 is 5.3127% of the sum of the self weight and the hanging weight of the crane.

7. A crane control system, comprising:

the detection module is used for acquiring the inclination angle of the main platform of the crane; collecting the pressure of the crane support legs, wherein the number of the support legs is multiple; collecting the hoisting tension of the crane; collecting the corner of the crane boom;

the control module comprises a controller and is used for judging the hoisting state of the crane according to the hoisting tension; numbering the support legs, and acquiring the number and the serial number of the support legs which are farthest from the hoisting weight according to the arm support corner; acquiring the number and the serial number of the lowest support leg according to the inclination angle of the main platform of the crane; processing related data according to the lifting state, the number and the serial number of the support legs which are farthest from the lifting weight and the number and the serial number of the lowest support legs;

and the execution mechanism is used for outputting and executing the data processing result and adjusting the supporting leg.

8. The crane control system of claim 7, wherein the detection module comprises:

the main platform inclination angle sensor is used for collecting the inclination angle of the main platform of the crane, is a double-shaft inclination angle sensor and can collect the inclination angles in two directions in a plane;

the supporting leg pressure sensors are used for acquiring the pressure of the supporting legs of the crane, the number of the supporting legs is the same as that of the supporting legs, and the supporting leg pressure sensors directly acquire the acting force of the supporting surfaces of the supporting legs;

the hoisting tension sensor is used for acquiring the hoisting tension of the crane;

and the boom corner sensor is used for acquiring the crane boom corner.

9. The crane control system of claim 7, wherein the actuator comprises:

a plurality of leg mechanisms for executing the control signal outputted from the control module, each leg mechanism comprising: mechanical system and hydraulic system, wherein, hydraulic system includes: the hydraulic control system comprises a hydraulic oil cylinder, a hydraulic valve and a hydraulic pump, wherein the hydraulic valve is used for receiving the control signal output by the control module and executing the control signal.

10. A crane comprising a crane control system as claimed in any one of claims 7 to 9.

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