CN113697695B - Crane luffing control method and system and crane - Google Patents

Abstract

The invention provides a crane luffing control method, a crane luffing control system and a crane, wherein the method does not need human participation, can be automatically realized, not only improves the automation degree of crane luffing control, but also can avoid the interference of human factors on the control process and improves the control accuracy. And the first type of working winch is determined through the working condition information, so that the determination of the control object is realized. According to the difference information between the current working radius and the target working radius, the automatic control precision of the crane luffing can be improved, and the real-time working radius of the crane can be ensured to accurately reach the target working radius.

Description

Crane luffing control method and system and crane

Technical Field

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

Background

During the operation of the crane, fixed obstacles such as high-voltage wires, buildings and the like are frequently encountered, and if the amplitude angle of the crane is not limited, the contact between the crane boom and the high-voltage wires and the like can be possibly caused, so that accidents such as electric shock and the like can be caused.

The conventional crane luffing control is usually operated manually by an operator, and automatic control cannot be realized. Moreover, if the crane is required to accurately change the amplitude to a certain designated position, the operator is required to have higher skill requirements, the operation is generally difficult, or the crane can reach the designated position through multiple fine adjustments, and the operator is required to command on site, so that the working efficiency is greatly influenced.

Disclosure of Invention

The invention provides a crane luffing control method and system and a crane, which are used for solving the defects in the prior art.

The invention provides a crane luffing control method, which comprises the following steps:

acquiring working condition information, an initial working radius and a target working radius of a crane, and determining a first type of working winch based on the working condition information;

and controlling the first-type working winch to act based on the initial difference information between the initial working radius and the target working radius, so that the real-time working radius of the crane is adjusted from the initial working radius to the target working radius.

According to the crane luffing control method provided by the invention, the first type of working winch is determined based on the working condition information, and the method specifically comprises the following steps:

If the working condition information comprises a tower arm working condition, determining that the first type of working winch is a secondary amplitude-variable winch of the crane; otherwise the first set of parameters is selected,

if the working condition information comprises an over-lifting working condition, determining that the first type of working winch is an over-lifting amplitude-variable winch of the crane; otherwise the first set of parameters is selected,

and if the working condition information is the working condition of the main arm, determining that the first type of working winch is the main amplitude winch of the crane.

According to the crane luffing control method provided by the invention, the method further comprises the following steps:

if a lifting hook height maintaining signal of the crane is received, acquiring the current working lifting hook height of the crane, and taking the current working lifting hook height as a target lifting hook height;

and determining a second type of working winch of the crane, and controlling the second type of working winch to act based on a closed-loop control algorithm in the process of controlling the first type of working winch to act so as to enable the real-time working lifting hook height of the crane to be consistent with the target lifting hook height.

According to the crane luffing control method provided by the invention, in the process that the real-time working radius is adjusted from the initial working radius to the target working radius, the method further comprises the following steps:

Receiving a first user input, and responding to the first user input, and recording a first designated working radius corresponding to the first user input;

correspondingly, the controlling the first type working winch to act based on the initial difference information between the initial working radius and the target working radius, so that the real-time working radius of the crane is adjusted from the initial working radius to the target working radius, and then further comprises:

and controlling the first type working winch to act based on first specified difference information between the first specified working radius and the target working radius, so that the real-time working radius is adjusted from the target working radius to the first specified working radius.

According to the crane luffing control method provided by the invention, the first type working winch is controlled to act based on the initial difference information between the initial working radius and the target working radius, so that the real-time working radius of the crane is adjusted from the initial working radius to the target working radius, and then the crane luffing control method further comprises the following steps:

and receiving a crane control lever control instruction, and controlling the first type working winch to act based on the crane control lever control instruction so as to adjust the real-time working radius from the target working radius to the ideal radius of a user.

According to the crane luffing control method provided by the invention, in the process that the real-time working radius is adjusted from the target working radius to the ideal radius of a user, the method further comprises the following steps:

receiving a second user input, and responding to the second user input, and recording a second designated working radius corresponding to the second user input;

correspondingly, based on the crane control lever control instruction, the first type working winch is controlled to act so as to adjust the real-time working radius from the target working radius to the ideal radius of a user, and then the method further comprises the following steps:

and controlling the working winch to act based on second designated difference information between the second designated working radius and the user ideal radius, so that the real-time working radius is adjusted from the user ideal radius to the second designated working radius.

According to the crane luffing control method provided by the invention, the first type working winch is controlled to act based on the initial difference information between the initial working radius and the target working radius, so that the real-time working radius of the crane is adjusted from the initial working radius to the target working radius, and the method concretely comprises the following steps:

Acquiring safety limit information of the crane;

and if the safety limit information is in the safety limit range of the crane, controlling the first-type working winch to act based on the initial difference information so as to adjust the real-time working radius of the crane from the initial working radius to the target working radius.

According to the crane luffing control method provided by the invention, the first type working winch is controlled to act based on the initial difference information between the initial working radius and the target working radius, so that the real-time working radius of the crane is adjusted from the initial working radius to the target working radius, and the method concretely comprises the following steps:

and based on the initial difference information, controlling the action speed of the first-class working winch to change in the order of acceleration, maintenance and deceleration so as to adjust the real-time working radius from the initial working radius to the target working radius.

The invention also provides a crane luffing control system, which comprises:

the acquisition module is used for acquiring working condition information, an initial working radius and a target working radius of the crane and determining a first type of working winch based on the working condition information;

And the control module is used for controlling the first type working winch to act based on the initial difference information between the initial working radius and the target working radius so as to adjust the real-time working radius of the crane from the initial working radius to the target working radius.

The invention also provides a crane comprising: the crane luffing control system.

Drawings

In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic flow chart of a crane luffing control method provided by the invention;

FIG. 2 is a schematic diagram of a crane structure when the working condition information of the crane provided by the invention is the working condition of a tower arm;

FIG. 3 is a schematic diagram of a crane structure when the working condition information of the crane provided by the invention is an over-lifting working condition;

FIG. 4 is a schematic diagram of a crane structure when the working condition information of the crane provided by the invention is the working condition of a main arm;

FIG. 5 is a second flow chart of the crane luffing control method provided by the invention;

FIG. 6 is a schematic diagram of one of the configurations of the crane luffing control system provided by the present invention;

FIG. 7 is a second schematic diagram of the crane luffing control system provided by the present invention;

fig. 8 is a schematic structural diagram of an electronic device provided by the present invention;

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Because the conventional crane luffing control is usually operated manually by an operator, automatic control cannot be realized. Moreover, if the crane is required to accurately change the amplitude to a certain designated position, the operator is required to have higher skill requirements, the operation is generally difficult, or the crane can reach the designated position through multiple fine adjustments, and the operator is required to command on site, so that the working efficiency is greatly influenced. For this reason, it is urgently required to provide a crane luffing control method.

Fig. 1 is a schematic flow chart of a crane luffing control method provided in an embodiment of the present invention, as shown in fig. 1, the method includes:

s1, working condition information, an initial working radius and a target working radius of a crane are acquired, and a first type of working winch is determined based on the working condition information;

s2, controlling the first type working winch to act based on initial difference information between the initial working radius and the target working radius, so that the real-time working radius of the crane is adjusted from the initial working radius to the target working radius.

Specifically, the crane luffing control method provided by the embodiment of the invention has the implementation main body of a crane luffing control system, and the crane luffing control system can be configured in the crane luffing control system, so that the crane luffing control method is not particularly limited in the embodiment of the invention.

Step S1 is executed first, working condition information, initial working radius and target working radius of the crane are obtained. The crane may be a general crane or a crawler crane, and the type of the crane is not particularly limited in the embodiment of the present invention. The working condition information of the crane is used for representing the working condition of the crane, the working condition information can comprise a tower arm working condition, a super-lift working condition and a main arm working condition, and different working conditions can be identified through different working condition codes.

The tower arm working condition can be also called as tower working condition and amplitude-variable auxiliary arm working condition, is of a closed structure and is composed of two H-shaped or box-shaped sections with larger heights, and the rigidity is good. The super-lift condition means that the actual load of the crane is more than 105% of the designed maximum load. The super-lifting working condition is generally used for ground lifting, in particular to a large-sized crawler crane, wherein a super-lifting mast is arranged on a turntable to improve the relation between a main arm and a steel wire rope, so that the main arm and the steel wire rope can form a plurality of relations of excessive triangles, and an extra counterweight is added at the tail part of the crane. The working condition of the main arm mainly works through the main arm, and is a non-super-lifting working condition.

The initial working radius represents the horizontal distance between the position of the center of gravity of the lifting hook of the crane and the position of the center of rotation of the turntable of the crane when the crane luffing is started to be controlled (i.e. at the current moment), and can be calculated by a force limiter system in the crane. The force limiter system can acquire the working arm angle and the working arm length of the crane, and then calculate and output an initial working radius according to the working arm angle and the working arm length. The working arm of the crane may comprise a main arm and an auxiliary arm.

The target working radius represents a horizontal distance between a center of gravity position when the hook of the crane is at the luffing target position and a center of rotation position of the turntable therein. The target working radius is a given value, and can be obtained by inputting the target working radius on a display screen in a crane cab at the current moment of a user, or can be obtained by a history record of a crane luffing control system, and the target working radius is not particularly limited in the embodiment of the invention. Wherein the user may be the driver of the crane.

The first type of working winch can be determined through the working condition information of the crane. The first type of working winch is a working winch corresponding to working condition information of the crane in the crane, and the working winch is a winch in a working state for ensuring normal working of the crane. The first working winch is the winch which needs to be controlled in the crane. The working condition information of the cranes is different, and the corresponding first-type working winches are also different.

And then executing step S2, and controlling the first type working winch to act according to the initial difference information between the initial working radius and the target working radius so as to adjust the real-time working radius of the crane from the initial working radius to the target working radius, namely, the real-time difference value between the real-time working radius of the crane and the target working radius is 0. The initial difference information between the initial working radius and the target working radius may include an initial magnitude relation between the initial working radius and the target working radius and an initial difference value between the initial working radius and the target working radius, which may be an absolute value of a difference between the initial working radius and the target working radius. The motion direction of the first-class working winch can be indicated through the initial size relation, the motion amplitude of the first-class working winch can be indicated through the initial difference value, and further the real-time working radius of the crane reaches the target working radius by controlling the first-class working winch to perform motion.

In the embodiment of the invention, the actions of the first type of working winch can comprise rope unreeling and rope reeling of the winch rope, the real-time working radius of the crane can be increased by rope unreeling, and the real-time working radius of the crane can be reduced by rope reeling.

According to the crane luffing control method provided by the embodiment of the invention, working condition information, an initial working radius and a target working radius of a crane are firstly obtained, and a first type of working winch is determined based on the working condition information; and then controlling the first type working winch to act based on the initial difference information between the initial working radius and the target working radius, so that the real-time working radius of the crane is adjusted from the initial working radius to the target working radius. The method does not need human participation, can be automatically realized, not only improves the automation degree of crane luffing control, but also can avoid the interference of human factors on the control process and improve the control accuracy. And the first type of working winch is determined through the working condition information, so that the determination of the control object is realized. And through the initial difference information between the initial working radius and the target working radius, the automatic control precision of the crane luffing is improved, and the real-time working radius is ensured to accurately reach the target working radius.

On the basis of the foregoing embodiment, the method for controlling crane luffing according to the embodiment of the present invention controls the first-type working winch to act based on initial difference information between the initial working radius and the target working radius, so that a real-time working radius of the crane is adjusted from the initial working radius to the target working radius, specifically including:

controlling the first type working winch to act based on the initial difference information between the initial working radius and the target working radius, so that the real-time difference value in the real-time difference information between the real-time working radius of the crane and the target working radius is reduced in the process of acting by the first type working winch;

and if the real-time difference value is within the preset range, controlling the first-class working winch to act according to a closed-loop control algorithm, so that the real-time working radius of the crane is adjusted from the initial working radius to the target working radius.

Specifically, in the embodiment of the invention, the real-time working radius of the crane can be obtained in the process of controlling the first-class working winch to act. The real-time working radius of the crane can also be calculated by a force limiter system in the crane. The force limiter system can acquire the working arm angle and the working arm length of the crane in real time, and then calculate and output the real-time working radius according to the working arm angle and the working arm length.

Real-time difference information between the real-time working radius of the crane and the target working radius is then calculated, which may include a real-time magnitude relation and a real-time difference value. In general, the real-time size relationship and the initial size relationship are identical, and the real-time variance value is gradually reduced compared to the initial variance value.

After the real-time difference information is determined, it may be determined whether the real-time difference value is within a preset range. The preset range may be a predetermined range of values of the difference between the working radius and the target radius, for example [0,0.5m ]. When the real-time difference value is within the preset range, the first type working winch can be controlled to act according to a closed-loop control algorithm, so that the real-time working radius of the crane is adjusted to the target working radius. The closed-loop control algorithm can be a PID control algorithm, the real-time working radius can be input into the closed-loop controller, the real-time difference information between the real-time working radius and the target working radius is determined by the closed-loop controller, and a control instruction is output according to the real-time difference information to control the first type of working winches so as to enable the first type of working winches to act, and finally, the real-time working radius of the crane is adjusted to the target working radius.

In the embodiment of the invention, the action of the first type of working winch can be roughly controlled through the initial difference information between the initial working radius and the target working radius, so that the real-time difference value in the real-time difference information is reduced. When the real-time difference value is within the preset range, the action of the first type of working winch can be accurately controlled through a closed-loop control algorithm. By combining rough control and precise control, the automatic control precision of the crane luffing can be greatly improved, and the real-time working radius of the crane can be ensured to accurately reach the target radius.

On the basis of the embodiment, the crane luffing control method provided by the embodiment of the invention comprises the steps that the initial difference information comprises an initial size relation between the initial working radius and the target working radius and an initial difference value between the initial working radius and the target working radius; in response to this, the control unit,

the method for controlling the first type working winch to act based on the initial difference information between the initial working radius and the target working radius, so that the real-time difference value in the real-time difference information between the real-time working radius of the crane and the target working radius is reduced in the process of the first type working winch acting, specifically comprises the following steps:

Determining a real-time action direction of the first-class work winch based on the initial size relation, and determining a real-time action amplitude of the first-class work winch based on the initial difference value;

and controlling the first-class working winch to act based on the real-time action direction and the real-time action amplitude.

Specifically, in the embodiment of the invention, when the first-class working winch is controlled to act, the initial size relationship is consistent with the real-time size relationship, so that the real-time acting direction of the first-class working winch can be determined through the initial size relationship between the initial working radius and the target working radius. For example, if the initial working radius is larger than the target working radius, it is described that the real-time working radius of the crane needs to be reduced, and thus the real-time motion direction of the first type working winch can be determined to be the direction in which the real-time working radius is reduced, that is, the motion may be rope winding. If the initial working radius is smaller than the target working radius, the real-time working radius needs to be increased, so that the action direction of the first-type working winch can be determined to be the direction in which the real-time working radius is increased, namely the action can be rope unreeling.

Based on the initial difference value between the initial working radius and the target working radius, the real-time motion amplitude of the first type of working winch can be determined. The real-time action amplitude is the length of the rope wound and unwound by the first working winch. In order to ensure the control stability, the first type working winch can be controlled to perform continuous multiple actions, so that the action amplitude can be multiple single action amplitudes, and can be determined according to the action times and the difference value, and the method is not particularly limited in the embodiment of the invention.

Then, according to the real-time action direction and the real-time action amplitude of the first-class work winch, the first-class work winch can be controlled to act.

In the embodiment of the invention, the control of the motion of the first-class work winch is realized by determining the real-time motion direction and the real-time motion amplitude of the first-class work winch, so that the control process is more stable.

On the basis of the above embodiment, the crane luffing control method provided in the embodiment of the present invention determines a first type of working winch based on the working condition information, and specifically includes:

if the working condition information comprises a tower arm working condition, determining that the first type of working winch is a secondary amplitude-variable winch of the crane; otherwise the first set of parameters is selected,

if the working condition information comprises an over-lifting working condition, determining that the first type of working winch is an over-lifting amplitude-variable winch of the crane; otherwise the first set of parameters is selected,

and if the working condition information is the working condition of the main arm, determining that the first type of working winch is the main amplitude winch of the crane.

Specifically, in the embodiment of the present invention, when determining the first type of working winch according to the working condition information of the crane, it is first determined whether the working condition information includes a tower arm working condition, and if the working condition information includes a tower arm working condition, as shown in fig. 2, the crane may include at least a main arm 21, an amplitude-variable auxiliary arm 22 and an auxiliary amplitude-variable winch 23, so that it may be determined that the first type of working winch is the auxiliary amplitude-variable winch of the crane directly. Wherein the auxiliary amplitude transformer 23 is arranged on the main arm 21. In fig. 2D is the real-time working radius of the crane.

If the working condition information does not include the tower arm working condition, further judging whether the working condition information includes the super-lift working condition, and if the working condition information includes the super-lift working condition, as shown in fig. 3, the crane at least includes a main arm 31, a super-lift luffing winch 32 and a super-lift mast 33, so that the first type of working winch can be directly determined to be the super-lift luffing winch of the crane. Wherein the superlift luffing winch 32 is arranged on the superlift mast 33.

If the working condition information does not include the super-lift working condition, further judging whether the working condition information is a main arm working condition, and if the working condition information is a main arm working condition, as shown in fig. 4, the crane at least can include a main arm 41 and a main luffing winch 42, so that the first type of working winch can be directly determined to be the main luffing winch of the crane. Wherein the main luffing winch 42 is arranged in the turntable of the crane.

In the embodiment of the invention, the first type of working winch is determined by different working condition information, so that the application scene of the crane luffing control method is wider, and the method is suitable for luffing automatic control of cranes of different working condition types.

On the basis of the embodiment, the crane luffing control method provided by the embodiment of the invention further comprises the following steps:

If a lifting hook height maintaining signal of the crane is received, acquiring the current working lifting hook height of the crane, and taking the current working lifting hook height as a target lifting hook height;

and determining a second type of working winch of the crane, and controlling the second type of working winch to act based on a closed-loop control algorithm in the process of controlling the first type of working winch to act so as to enable the real-time working lifting hook height of the crane to be consistent with the target lifting hook height.

Specifically, in the embodiment of the invention, an indication of whether the height of the lifting hook needs to be kept by a user can also be introduced. Wherein the user indication of whether or not the hook height needs to be maintained may be characterized by a hook height maintenance signal of the crane acquired in response to user input. To simplify the operation, it is considered that the user is determined to need to hold the hook height if the hook height holding signal is received, and the user is determined not to need to hold the hook height if the hook height holding signal is not received.

Under the condition that a lifting hook height maintaining signal of the crane is received, the current working lifting hook height of the crane is obtained, wherein the current working lifting hook height refers to the working lifting hook height of the crane when the lifting hook height maintaining signal of the crane is received. In the embodiment of the invention, the current working hook height can be used as the target hook height, and then the real-time working hook height of the crane needs to be kept at the target hook height even in the process of controlling the first type working winch to act.

In the process of controlling the first type of working winch to act, the real-time working lifting hook height of the crane can be obtained. The real-time working lifting hook height can be calculated through a force limiter system in the crane, the force limiter system can acquire the rotation number of the first type of working winch, and the real-time working lifting hook height is calculated according to the rotation number and the radius of each circle. The number of turns may be detected by a winding counting device provided on the first type of working winding, which may be an encoder or a motor counter, which is not particularly limited in the embodiment of the present invention.

In order to keep the real-time working hook height of the crane at the target hook height, a second type working winch of the crane can be determined, and the real-time working hook height is adjusted to be kept at the target hook height by controlling the second type working winch to act. In the embodiment of the invention, the second-type working winch can be a lifting winch, the actions of the second-type working winch can comprise rope releasing and rope collecting of the winch rope, the rope releasing can reduce the height of the working lifting hook, and the rope collecting can increase the height of the working lifting hook.

In the embodiment of the invention, a closed-loop control algorithm can be adopted to control the actions of the second-class working winch, and the closed-loop control algorithm can be a PID control algorithm. The acquired real-time working lifting hook height can be input into the closed-loop controller, real-time difference information between the real-time working lifting hook height and the target lifting hook height is determined by the closed-loop controller, and a control instruction is output according to the real-time difference information to control the second-class working winch so as to enable the second-class working winch to act, and finally the real-time working lifting hook height is consistent with the target lifting hook height.

Wherein, the real-time difference information between the real-time working hook height and the target hook height may include a magnitude relation between the real-time working hook height and the target hook height and a difference value between the real-time working hook height and the target hook height, which may be an absolute value of a difference between the real-time working hook height and the target hook height. The action direction of the second-class working winch can be indicated through the magnitude relation, the action amplitude of the second-class working winch can be indicated through the difference value, and then the second-class working winch is controlled to act through a closed-loop control algorithm, so that the height of the real-time working lifting hook is consistent with the height of the target lifting hook.

In the embodiment of the invention, the second type working winch is controlled to act in the process of controlling the first type working winch to act through a closed-loop control algorithm, so that the height of the real-time working lifting hook is consistent with the height of the target lifting hook, the height of the lifting hook can be kept unchanged, and the requirements of special scenes are met.

On the basis of the embodiment, the target working radius is determined based on the historical target working radius, and the historical target working radius is obtained by responding to the historical input of the user and then is obtained through recording.

Specifically, in the embodiment of the present invention, the target working radius may be a historical target working radius, that is, the target working radius is not obtained in response to an input of the user on a display screen in a cab of the crane at the current moment, but is obtained by calling the historical target working radius.

The historical target working radius can be acquired and recorded after the input of the user on the display screen in the crane cab at the historical moment is responded before the historical target working radius is acquired and recorded, so that the historical target working radius can be directly called when the target working radius is needed later, manual operation is reduced, human errors are avoided being introduced, and the control effect can be more accurate.

On the basis of the foregoing embodiment, in the crane luffing control method provided in the embodiment of the present invention, in the process of adjusting the real-time working radius from the initial working radius to the target working radius, the method further includes:

receiving a first user input, and responding to the first user input, and recording a first designated working radius corresponding to the first user input;

correspondingly, the controlling the first type working winch to act based on the initial difference information between the initial working radius and the target working radius, so that the real-time working radius of the crane is adjusted from the initial working radius to the target working radius, and then further comprises:

And controlling the first type working winch to act based on first specified difference information between the first specified working radius and the target working radius, so that the real-time working radius is adjusted from the target working radius to the first specified working radius.

Specifically, in the embodiment of the invention, in order to improve the luffing control efficiency of the crane, the action memory can be introduced into the luffing automatic control method of the crane, namely, the action memory function is introduced into the luffing control system of the crane. That is, during adjustment of the real-time working radius from the initial working radius to the target working radius, a first user input may be received and, in response to the first user input, a first specified working radius corresponding to the first user input may be recorded.

The first user input may be triggered by a user clicking operation on the record button, where the first specified working radius is a real-time working radius of the crane at a time of receipt of the first user input. The recording button can be arranged on a display screen in a crane cab or on a terminal device at a far end, and the terminal device is in communication connection with a crane luffing control system. When a user clicks a record button, the crane luffing control system receives a first user input and responds to the first user input to record the real-time working radius of the crane at the moment, wherein the real-time working radius is the first appointed working radius.

The first user input may also be a user edit manipulation trigger to the input box, where the first specified working radius is a working radius entered by the user in the input box. The input frame can be arranged on a display screen in a crane cab or on terminal equipment at a far end, and the terminal equipment is in communication connection with a crane luffing control system. Editing operations may include text input and voice input, which are not particularly limited in embodiments of the present invention. When the user enters a working radius in the input box, he needs to click a record button, at which point the crane luffing control system will record the working radius and take it as the first specified working radius.

Further, when the first specified working radius is the working radius input by the user in the input box, it is also necessary to determine whether the working radius input by the user in the input box is within a radius range formed by the initial working radius and the target working radius. If the working radius input by the user is within the height range, the input is successful, otherwise, the input fails.

Further, after the working winch is controlled to act through the initial difference information so that the real-time working radius of the crane is adjusted from the initial working radius to the target working radius, the working winch can be controlled to act according to the first appointed difference information between the first appointed working radius and the target working radius so that the real-time working radius is adjusted from the target working radius to the first appointed working radius. The first specified difference information refers to difference information between the first specified working radius and the target working radius, and the first specified difference information may include a magnitude relation between the first specified working radius and the target working radius and a difference value between the first specified working radius and the target working radius. The method for controlling the working winch to perform the operation according to the first specified difference information may be identical to the method for controlling the working winch to perform the operation according to the initial difference information, which is not described herein.

In the embodiment of the invention, the first designated working radius is recorded, so that the quick positioning of the lifting hook of the crane can be realized, and the real-time working radius of the crane can be conveniently and quickly adjusted from the target working radius to the first designated working radius.

On the basis of the foregoing embodiment, in the crane luffing control method provided by the embodiment of the present invention, the controlling the first-type working winch to perform an action based on the initial difference information between the initial working radius and the target working radius, so that the real-time working radius of the crane is adjusted from the initial working radius to the target working radius, further includes:

and receiving a crane control lever control instruction, and controlling the first type working winch to act based on the crane control lever control instruction so as to adjust the real-time working radius from the target working radius to the ideal radius of a user.

Specifically, in the embodiment of the present invention, after the working winch is controlled to act according to the initial difference information, so that the real-time working radius of the crane is adjusted from the initial working radius to the target working radius, a working condition of manually adjusting the real-time working radius may be introduced, that is, after the real-time working radius is adjusted from the initial working radius to the target working radius, a crane control command may be received, where the command may be triggered by manually controlling the crane control lever. The working winch can be controlled by the control command of the crane control lever, so that the real-time working radius is adjusted from the target working radius to the ideal radius of a user. The ideal radius of the user is the target that the user wants to achieve the real-time working radius through the crane control lever.

In the embodiment of the invention, after the working winch is automatically controlled to act through the initial difference information, the real-time working radius can be manually adjusted, so that the user requirement can be fully met.

On the basis of the foregoing embodiment, in the crane luffing control method provided in the embodiment of the present invention, in the process of adjusting the real-time working radius from the target working radius to the ideal radius of the user, the method further includes:

receiving a second user input, and responding to the second user input, and recording a second designated working radius corresponding to the second user input;

correspondingly, based on the crane control lever control instruction, the first type working winch is controlled to act so as to adjust the real-time working radius from the target working radius to the ideal radius of a user, and then the method further comprises the following steps:

and controlling the working winch to act based on second designated difference information between the second designated working radius and the user ideal radius, so that the real-time working radius is adjusted from the user ideal radius to the second designated working radius.

Specifically, in the embodiment of the invention, the action memory in the crane luffing control method can be expressed as follows: and in the process of adjusting the real-time working radius from the target working radius to the ideal radius of the user, receiving a second user input, and responding to the second user input, and recording a second designated working radius corresponding to the second user input. I.e. the action memory can also be applied in the process of manually adjusting the real-time working radius.

The second user input may be triggered by a user's click operation of the record button, at which time the second specified working radius is the real-time working radius of the crane at the time of receipt of the second user input. The recording button can be arranged on a display screen in a crane cab or on a terminal device at a far end, and the terminal device is in communication connection with a crane luffing control system. When the user clicks the record button, the crane luffing control system receives a second user input and responds to the second user input to record the real-time working radius of the crane at the moment, wherein the real-time working radius is the second designated working radius.

The second user input may also be a user edit manipulation trigger to the input box, where the second specified working radius is a working radius entered by the user in the input box. The input frame can be arranged on a display screen in a crane cab or on terminal equipment at a far end, and the terminal equipment is in communication connection with a crane luffing control system. Editing operations may include text input and voice input, which are not particularly limited in embodiments of the present invention. When the user enters a working radius in the input box, he needs to click a record button, at which point the crane luffing control system will record the working radius and take it as the first specified working radius.

Further, when the second specified working radius is the working radius input by the user in the input box, it is also necessary to determine whether the working radius input by the user is within a radius range formed by the target working radius and the ideal radius of the user. If the working radius input by the user is within the radius range, the input is successful, otherwise, the input fails.

Further, after the working winch is controlled to act through the initial difference information so that the real-time working radius of the crane is adjusted from the initial working radius to the target working radius, the working winch can be controlled to act according to the second specified difference information between the second specified working radius and the ideal radius of the user so that the real-time working radius is adjusted from the ideal radius of the user to the second specified working radius. Wherein the second specified difference information refers to difference information between the second specified working radius and the user's ideal radius, and the second specified difference information may include a magnitude relation between the second specified working radius and the user's ideal radius and a difference value between the second specified working radius and the user's ideal radius. The method for controlling the working winch to perform the operation according to the second specified difference information may be identical to the above-described method for controlling the working winch to perform the operation according to the initial difference information, and will not be described herein.

In the embodiment of the invention, the second designated working radius is recorded, so that the quick positioning of the lifting hook of the crane can be realized, and the real-time working radius of the crane can be conveniently and quickly adjusted from the ideal radius of a user to the second designated working radius.

On the basis of the foregoing embodiment, the method for controlling crane luffing according to the embodiment of the present invention controls the first-type working winch to act based on initial difference information between the initial working radius and the target working radius, so that a real-time working radius of the crane is adjusted from the initial working radius to the target working radius, specifically including:

acquiring safety limit information of the crane;

and if the safety limit information is in the safety limit range of the crane, controlling the first-type working winch to act based on the initial difference information so as to adjust the real-time working radius of the crane from the initial working radius to the target working radius.

Specifically, in the embodiment of the invention, when the first type working winch is controlled to act so that the real-time working radius of the crane is adjusted from the initial working radius to the target working radius, the safety limit information of the crane can be acquired first. The safety limit information can comprise working arm angle information, whole machine inclination angle information, lifting hook height information, three-circle protection information and the like of the crane, the working arm can comprise a main arm and an auxiliary arm, and accordingly, the working arm angle information can comprise a main arm angle and an auxiliary arm angle. The overall machine tilt information may include an overall machine forward tilt angle and an overall machine backward tilt angle.

And then, carrying out safety limit judgment on the crane through the safety limit information. Namely judging whether the safety limit information is within the safety limit range of the crane. The safety limit range of the crane refers to a threshold range of safety limit information when the crane is ensured to safely operate, and if the safety limit information is within the safety limit range of the crane, the first type working winch is allowed to act, so that the first type working winch can be controlled to act through initial difference information between an initial working radius and a target working radius.

If the safety limit information is not in the safety limit range of the crane, the first type working winch is not allowed to act, and therefore the first type working winch cannot be controlled to act. At the moment, the crane luffing control system triggers the safety limit to control the first-class working winch to stop motion so as to improve the safety protection performance of the crane.

On the basis of the foregoing embodiment, the method for controlling crane luffing according to the embodiment of the present invention controls the first-type working winch to act based on initial difference information between the initial working radius and the target working radius, so that a real-time working radius of the crane is adjusted from the initial working radius to the target working radius, specifically including:

Based on the initial difference information, the action speed of the first type working winch is controlled to change in the order of acceleration, maintenance and deceleration, so that the real-time working radius of the crane is adjusted from the initial working radius to the target working radius.

Specifically, in the embodiment of the invention, when the first-class working winch is controlled to act, the action speed of the first-class working winch is controlled to change according to the order of acceleration, maintenance and deceleration through the initial difference information between the initial working radius and the target working radius, so that the real-time working radius of the crane is adjusted from the initial working radius to the target working radius. This shortens the time required for the real-time working radius to be adjusted from the initial working radius to the target working radius.

When the first type working winch is controlled to act, the first type working winch can be accelerated with a given acceleration until the action speed reaches a preset speed, then the first type working winch acts at a constant speed with the preset speed until the real-time difference value between the real-time working radius and the target working radius is within a preset range, namely the absolute value of the difference between the real-time working radius and the target working radius is within the preset range, the first type working winch is controlled to conduct deceleration action with the given acceleration through a closed-loop control algorithm until the real-time working radius is equal to the target working radius, and the action speed is set to zero.

In the embodiment of the invention, when the first-class working winch is controlled to act, the first-class working winch can be controlled by controlling the winch proportional valve and the winch pump corresponding to the first-class working winch, namely, the first-class working winch can be controlled by controlling the winch proportional valve and the winch pump corresponding to the first-class working winch. Under normal conditions, the winch pump can be controlled first, and then the winch proportional valve can be controlled, so that the control precision is higher.

Correspondingly, when the second-class working winch is controlled to act, the winch proportional valve and the winch pump corresponding to the second-class working winch can be controlled through the difference information between the height of the working lifting hook and the height of the target lifting hook, so that the second-class working winch acts.

In the embodiment of the invention, the control logic can be simplified by controlling the winch proportional valve and the winch pump, and the control efficiency of the first-type work winch and the second-type work winch is improved.

Fig. 5 is a schematic flow chart of a crane luffing control method provided in an embodiment of the present invention, as shown in fig. 5, the method includes:

1) The user sets a target working radius through a display screen in a crane cab or obtains the target working radius through a history record, and clicks a start button;

2) Judging whether the target working radius is in an allowable range or not, wherein the allowable range can be determined by the length of a working arm of the crane; if the target working radius is within the allowable range, turning to step 3), and if the target working radius is not within the allowable range, turning to step 1) to re-acquire the target working radius;

3) If the lifting hook height maintaining signal is received, the step 4) and the step 5) are carried out, and the first type working winch and the second type working winch synchronously act; if not, only turning to the step 5), and only the first type of working winch acts;

4) The method comprises the steps of obtaining the height of a current working lifting hook, taking the height of the current working lifting hook as the height of a target lifting hook, taking the height of the target lifting hook as a target, performing PID (proportion integration differentiation) adjustment on the height of the working lifting hook of the crane, and controlling the second-class working winch to act until the real-time working radius of the crane is consistent with the target working radius or a user clicks a cancel button.

5) Judging whether the initial working radius is smaller than the target working radius, if the initial working radius is smaller than the target working radius, turning to step 6), if the initial working radius is larger than the target working radius, turning to step 7), otherwise turning to step 1) to acquire the target working radius again.

6) And judging whether the current condition allows the real-time working radius to be increased, namely judging whether the angle information of the working arm is within the safety limit range of the crane. And if not, controlling the first-class work winch to stop and giving an alarm prompt. If the speed is allowed, controlling the first type working winch to perform acceleration action with a given acceleration until the action speed reaches a preset speed, and then controlling the first type working winch to perform uniform action at the preset speed.

And judging whether the real-time difference value between the real-time working radius and the target working radius is within a preset range, and if not, continuously controlling the first-class working winch to perform uniform motion at a preset speed. And if the real-time working radius of the crane is the target working radius, PID adjustment is carried out on the real-time working radius of the crane, and the first type working winch is controlled to act.

Judging whether safety protection and fault alarming occur or not, namely judging whether the safety limit information is in the safety limit range of the crane or not, judging whether each sensor of the crane works normally or not, and if the safety limit information is not in the safety limit range of the crane or any sensor of the crane works abnormally, controlling the first-class working winch to stop and carrying out alarm prompt.

7) And judging whether the current condition allows the real-time working radius to be reduced, namely judging whether the safety limit information is in the safety limit range of the crane. And if not, controlling the first-class work winch to stop and giving an alarm prompt. If the speed is allowed, controlling the first type working winch to perform acceleration action with a given acceleration until the action speed reaches a preset speed, and then controlling the first type working winch to perform uniform action at the preset speed.

And judging whether the real-time difference value between the real-time working radius and the target working radius is within a preset range, and if not, continuously controlling the first-class working winch to perform uniform motion at a preset speed. And if the real-time working radius of the crane is the target working radius, PID adjustment is carried out on the real-time working radius of the crane, and the first type working winch is controlled to act.

Judging whether safety protection and fault alarming occur or not, namely judging whether the safety limit information is in the safety limit range of the crane or not, judging whether each sensor of the crane works normally or not, and if the safety limit information is not in the safety limit range of the crane or any sensor of the crane works abnormally, controlling the first-class working winch to stop and carrying out alarm prompt.

As shown in fig. 6, on the basis of the above embodiment, an embodiment of the present invention provides a crane luffing control system, including:

the acquiring module 61 is configured to acquire working condition information, an initial working radius and a target working radius of the crane, and determine a first type of working winch based on the working condition information;

and the control module 62 is used for controlling the first type working winch to act based on the initial difference information between the initial working radius and the target working radius so as to adjust the real-time working radius of the crane from the initial working radius to the target working radius.

On the basis of the above embodiment, the crane luffing control system provided in the embodiment of the present invention, the acquisition module is specifically configured to:

if the working condition information comprises a tower arm working condition, determining that the first type of working winch is a secondary amplitude-variable winch of the crane; otherwise the first set of parameters is selected,

if the working condition information comprises an over-lifting working condition, determining that the first type of working winch is an over-lifting amplitude-variable winch of the crane; otherwise the first set of parameters is selected,

and if the working condition information is the working condition of the main arm, determining that the first type of working winch is the main amplitude winch of the crane.

On the basis of the above embodiment, the crane luffing control system provided in the embodiment of the present invention further includes:

the target lifting hook height determining module is used for acquiring the current working lifting hook height of the crane and taking the current working lifting hook height as the target lifting hook height if a lifting hook height maintaining signal of the crane is received;

the working lifting hook height acquisition module is used for determining a second type of working winch of the crane and acquiring the working lifting hook height of the crane in the process of controlling the first type of working winch to act;

the control module is also used for controlling the second class working winch to act based on a closed-loop control algorithm so as to enable the height of the working lifting hook to be consistent with the height of the target lifting hook.

On the basis of the embodiment, the crane luffing control system provided by the embodiment of the invention has the advantages that the process of adjusting the real-time working radius from the initial working radius to the target working radius comprises a plurality of continuous luffing processes; correspondingly, the system further comprises:

the recording module is used for recording the initial working radius;

the control module is further configured to:

Controlling the first-type working winch to act based on the initial difference information so as to adjust the real-time working radius from the target working radius to the initial working radius;

wherein the process of adjusting the real-time working radius from the target working radius to the initial working radius comprises a single continuous luffing process.

On the basis of the above embodiment, the crane luffing control system provided in the embodiment of the present invention, the control module is specifically configured to:

acquiring safety limit information of the crane;

and if the safety limit information is within the safety limit range of the crane, controlling the first-class working winch to act based on the initial difference information.

On the basis of the above embodiment, the crane luffing control system provided in the embodiment of the present invention, the control module is further specifically configured to:

and controlling the action speed of the first-class working winch to change according to the order of acceleration, maintenance and deceleration based on the initial difference information.

Specifically, the functions of each module in the crane luffing control system provided in the embodiment of the present invention are in one-to-one correspondence with the operation flows of each step in the method embodiment, and the achieved effects are consistent.

Fig. 7 is a schematic structural diagram of a crane luffing control system provided in an embodiment of the present invention, where the crane luffing control system, as shown in fig. 7, may interact with a display screen in a cab of a crane, and may interact with a winch proportional valve and a winch pump corresponding to a first type of working winch, and interact with a winch proportional valve and a winch pump corresponding to a second type of working winch. The crane luffing control system can also acquire the angle information and the length information of the working arm. The crane luffing control system can be connected with the winch counting device and the safety limiting component.

On the basis of the above embodiment, in an embodiment of the present invention, there is provided a crane, including: according to the crane luffing control system provided by the embodiments, the crane luffing control system is used for realizing automatic control of crane luffing, so that the crane has luffing automatic control function.

Fig. 8 illustrates a physical structure diagram of an electronic device, as shown in fig. 8, which may include: processor 810, communication interface (Communications Interface) 820, memory 830, and communication bus 840, wherein processor 810, communication interface 820, memory 830 accomplish communication with each other through communication bus 840. The processor 810 may invoke logic instructions in the memory 830 to perform the crane luffing control method provided in the embodiments described above, the method comprising: acquiring working condition information, an initial working radius and a target working radius of a crane, and determining a first type of working winch based on the working condition information; and controlling the first-type working winch to act based on the initial difference information between the initial working radius and the target working radius, so that the real-time working radius of the crane is adjusted from the initial working radius to the target working radius.

Further, the logic instructions in the memory 830 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform 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, random Access Memory), a magnetic disk, or an optical disk, or 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, are capable of performing the crane luffing control method provided in the above embodiments, the method comprising: acquiring working condition information, an initial working radius and a target working radius of a crane, and determining a first type of working winch based on the working condition information; and controlling the first-type working winch to act based on the initial difference information between the initial working radius and the target working radius, so that the real-time working radius of the crane is adjusted from the initial working radius to the target working radius.

In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the crane luffing control method provided in the above embodiments, the method comprising: acquiring working condition information, an initial working radius and a target working radius of a crane, and determining a first type of working winch based on the working condition information; and controlling the first-type working winch to act based on the initial difference information between the initial working radius and the target working radius, so that the real-time working radius of the crane is adjusted from the initial working radius to the target working radius.

The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (9)

1. A crane luffing control method, comprising:

acquiring working condition information, an initial working radius and a target working radius of a crane, and determining a first type of working winch based on the working condition information;

controlling the first type working winch to act based on initial difference information between the initial working radius and the target working radius so as to adjust the real-time working radius of the crane from the initial working radius to the target working radius;

based on the working condition information, determining a first type of working winch specifically comprises the following steps:

if the working condition information comprises a tower arm working condition, determining that the first type of working winch is a secondary amplitude-variable winch of the crane; otherwise the first set of parameters is selected,

if the working condition information comprises an over-lifting working condition, determining that the first type of working winch is an over-lifting amplitude-variable winch of the crane; otherwise the first set of parameters is selected,

and if the working condition information is the working condition of the main arm, determining that the first type of working winch is the main amplitude winch of the crane.

2. The crane luffing control method of claim 1, further comprising:

if a lifting hook height maintaining signal of the crane is received, acquiring the current working lifting hook height of the crane, and taking the current working lifting hook height as a target lifting hook height;

And determining a second type of working winch of the crane, and controlling the second type of working winch to act based on a closed-loop control algorithm in the process of controlling the first type of working winch to act so as to enable the real-time working lifting hook height of the crane to be consistent with the target lifting hook height.

3. The crane luffing control method of claim 1, wherein during the adjustment of the real-time working radius from the initial working radius to the target working radius, the method further comprises:

receiving a first user input, and responding to the first user input, and recording a first designated working radius corresponding to the first user input;

correspondingly, the controlling the first type working winch to act based on the initial difference information between the initial working radius and the target working radius, so that the real-time working radius of the crane is adjusted from the initial working radius to the target working radius, and then further comprises:

and controlling the first type working winch to act based on first specified difference information between the first specified working radius and the target working radius, so that the real-time working radius is adjusted from the target working radius to the first specified working radius.

4. The crane luffing control method of claim 1, wherein the controlling the first type of working winch to act based on the initial difference information between the initial working radius and the target working radius such that the real-time working radius of the crane is adjusted from the initial working radius to the target working radius further comprises:

and receiving a crane control lever control instruction, and controlling the first type working winch to act based on the crane control lever control instruction so as to adjust the real-time working radius from the target working radius to the ideal radius of a user.

5. The crane luffing control method of claim 4, wherein during the adjustment of the real-time working radius from the target working radius to the user desired radius, the method further comprises:

receiving a second user input, and responding to the second user input, and recording a second designated working radius corresponding to the second user input;

correspondingly, based on the crane control lever control instruction, the first type working winch is controlled to act so as to adjust the real-time working radius from the target working radius to the ideal radius of a user, and then the method further comprises the following steps:

And controlling the working winch to act based on second designated difference information between the second designated working radius and the user ideal radius, so that the real-time working radius is adjusted from the user ideal radius to the second designated working radius.

6. The crane luffing control method of any of claims 1-5, wherein controlling the first type of working winch to act so that the real-time working radius of the crane is adjusted from the initial working radius to the target working radius based on initial difference information between the initial working radius and the target working radius, specifically comprises:

acquiring safety limit information of the crane;

and if the safety limit information is in the safety limit range of the crane, controlling the first-type working winch to act based on the initial difference information so as to adjust the real-time working radius from the initial working radius to the target working radius.

7. The crane luffing control method of any of claims 1-5, wherein controlling the first type of working winch to act so that the real-time working radius of the crane is adjusted from the initial working radius to the target working radius based on initial difference information between the initial working radius and the target working radius, specifically comprises:

And based on the initial difference information, controlling the action speed of the first-class working winch to change in the order of acceleration, maintenance and deceleration so as to adjust the real-time working radius from the initial working radius to the target working radius.

8. A crane luffing control system, comprising:

the acquisition module is used for acquiring working condition information, an initial working radius and a target working radius of the crane and determining a first type of working winch based on the working condition information;

the control module is used for controlling the first type working winch to act based on initial difference information between the initial working radius and the target working radius so as to adjust the real-time working radius of the crane from the initial working radius to the target working radius;

the acquisition module is specifically configured to:

if the working condition information comprises a tower arm working condition, determining that the first type of working winch is a secondary amplitude-variable winch of the crane; otherwise the first set of parameters is selected,

if the working condition information comprises an over-lifting working condition, determining that the first type of working winch is an over-lifting amplitude-variable winch of the crane; otherwise the first set of parameters is selected,

And if the working condition information is the working condition of the main arm, determining that the first type of working winch is the main amplitude winch of the crane.

9. A crane, comprising: the crane luffing control system as defined in claim 8.

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