CN113715906B - Steering monitoring method and system of multi-axis steering crane and crane - Google Patents
Steering monitoring method and system of multi-axis steering crane and crane Download PDFInfo
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- CN113715906B CN113715906B CN202111022021.XA CN202111022021A CN113715906B CN 113715906 B CN113715906 B CN 113715906B CN 202111022021 A CN202111022021 A CN 202111022021A CN 113715906 B CN113715906 B CN 113715906B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/065—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by specially adapted means for varying pressurised fluid supply based on need, e.g. on-demand, variable assist
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Abstract
The application provides a steering monitoring method and system of a multi-axle steering crane and the crane, and solves the technical problem that different steering power assistance cannot be provided for each steering axle in the prior art so as to protect a steering rod system. The axle weight state information of the steering axle is obtained in real time by obtaining the axle weight state information of the steering axle at the first moment and the axle weight state information of the steering axle at the second moment, the axle weight state of the steering axle is obtained according to the axle weight state information of the steering axle at the first moment and the axle weight state information of the steering axle at the second moment, and control information is generated and used for controlling the opening degree of a valve port of a reducing valve so as to change the oil pressure in an oil way of the steering axle and change the steering assistance of the steering axle, so that different steering assistance is provided for the steering axle in the steering process of a crane, the redundant steering assistance is prevented from being transmitted to a steering rod system, and the purpose of protecting the steering rod system is further realized.
Description
Technical Field
The application relates to the field of engineering machinery, in particular to a steering monitoring method and system of a multi-axle steering crane and the crane.
Background
A crane is a multi-action crane that vertically lifts and horizontally carries a heavy object within a certain range. The crane comprises a multi-axle steering crane; when the multi-axle steering crane steers, the oil cylinders of the steering axles are consistent in size, and the oil ways are communicated, so that the steering power of the steering axles is consistent in size; in the actual steering process, the axle weights and the turning angles of the steering axles are different, when the steering power-assisted forces of the steering axles are the same, the resistance moments to be overcome are also different, and the steering axle with the small resistance moment can transmit the redundant steering power-assisted force to the steering rod system, so that the steering rod system is overloaded, and the steering rod system is bent. Therefore, in order to prevent the steering assist force from being transmitted to the steering linkage and causing the steering linkage to bend, it is necessary to provide different steering assist forces to the steering axle.
Disclosure of Invention
In view of this, the present application provides a steering monitoring method and system for a multi-axle steering crane, and a crane, which solve the technical problem in the prior art that different steering assistances cannot be provided for each steering axle to protect a steering linkage.
According to an aspect of the present application, a steering monitoring method of a multi-axle steering crane, the crane comprising: the steering device comprises a steering axle, an oil way corresponding to the steering axle and a pressure reducing valve arranged on the oil way; the steering monitoring method comprises the following steps: acquiring second moment axle weight state information of the steering axle at the current moment and first moment axle weight state information of the steering axle at the first moment; the first time and the current time are two times arranged according to a time sequence, and the first time is smaller than the current time; and generating control information according to the second moment axle weight state information and the first moment axle weight state information, wherein the control information is used for controlling the opening degree of a valve port of the pressure reducing valve.
In a possible implementation manner, the generating control information according to the second time axle weight state information and the time axle weight state information includes: and when the axle weight state information at the second moment is smaller than the axle weight state information at the first moment, generating first control information, and controlling the reducing valve to reduce the opening of the valve port by the first control information.
In a possible implementation manner, the generating control information according to the axle weight state information at the second time and the axle weight state information at the first time further includes: and when the axle load state information at the second moment is equal to 0, generating second control information, wherein the second control information controls the opening degree of a valve port of the pressure reducing valve to be minimum.
In a possible implementation manner, the generating control information according to the axle weight state information at the second time and the axle weight state information at the first time further includes: and when the second moment axle weight state information is equal to the first moment axle weight state information, generating third control information, and controlling the reducing valve to increase the valve port opening degree by the third control information.
In a possible implementation manner, the obtaining axle load state information of the steering axle at the second time when the current time is obtained includes: acquiring second distance information between the steering axle and the vehicle body at the current moment; generating axle weight state information at the second moment according to the second distance information and preset axle weight calibration information; the obtaining of the axle load state information of the steering axle at the first moment includes: acquiring first distance information between the steering axle and the vehicle body at the first moment; generating first time axle weight state information according to the first distance information and the preset axle weight calibration information; wherein the step of obtaining the axle weight state information at the second time and the axle weight state information at the first time comprises: and when the second distance information is greater than the first distance information, the second moment axle weight state information is less than the first moment axle weight state information.
In a possible implementation manner, the step of obtaining, according to the second time axle weight state information and the first time axle weight state information, further includes: : and when the second distance information is equal to the preset distance information, the second moment axle weight state information is equal to 0.
In a possible implementation manner, the step of obtaining, according to the second time axle weight state information and the first time axle weight state information, further includes: and when the second distance information is equal to the first distance information, the second moment axle weight state information is equal to the first moment axle weight state information.
As a second aspect of the present application, a steering monitoring system of a multi-axle steering crane includes: the data acquisition module is used for acquiring axle load state information of the steering axle at the second moment at the current moment and acquiring axle load state information of the steering axle at the first moment; the first time and the current time are two times arranged according to a time sequence; and the control information generating module is used for generating control information according to the second moment axle weight state information and the first moment axle weight state information, wherein the control information is used for controlling the opening degree of a valve port of the pressure reducing valve.
As a second aspect of the present application, a crane includes: a steering axle; the steering mechanism comprises an oil way corresponding to the steering axle and a pressure reducing valve arranged on the oil way; the axle load monitoring device is used for detecting axle load state information of the steering axle; and the steering monitoring system is in communication connection with the pressure reducing valve and the axle load detection device respectively.
In one possible implementation, the axle weight monitoring device includes: the distance measuring sensor is arranged on the steering axle and used for measuring distance information between the steering axle and a vehicle body; and the axle load calibration device is in communication connection with the ranging sensor and is used for calibrating the axle load of the distance between the steering axle and the vehicle body to generate axle load state information of the steering axle.
As a fourth aspect of the present application, an electronic apparatus includes: a processor; and a memory for storing the processor executable information; wherein the processor is used for executing the steering monitoring method of the multi-axle steering crane.
As a fifth aspect of the present application, a computer-readable storage medium stores a computer program for executing the steering monitoring method of the multi-axle steering crane described above.
The application provides a steering monitoring method and system of a multi-axle steering crane and the crane, the axle weight state information of the steering axle at the first moment and the axle weight state information at the second moment are obtained in real time, the axle weight state of the steering axle is obtained according to the axle weight state information at the first moment and the axle weight state information at the second moment, and control information is generated and used for controlling the opening degree of a valve port of a reducing valve, so that the oil pressure in an oil way of the steering axle is changed, the steering assistance of the steering axle is changed, different steering assistance is provided for the steering axle during the steering process of the crane, the redundant steering assistance is prevented from being transmitted to a steering rod system, and the purpose of protecting the steering rod system is further realized.
Drawings
FIG. 1 illustrates a steering monitoring method for a multi-axle steering crane according to the present disclosure;
FIG. 2 is a schematic view of another method for monitoring steering of a multi-axle steering crane according to the present disclosure;
FIG. 3 illustrates another method for monitoring steering of a multi-axle steering crane provided herein;
FIG. 4 illustrates another method for monitoring steering of a multi-axle steering crane provided herein;
FIG. 5 illustrates another method for monitoring steering of a multi-axle steering crane provided herein;
FIG. 6 illustrates another method for monitoring steering of a multi-axle steering crane provided herein;
FIG. 7 illustrates another method for monitoring steering of a multi-axle steering crane provided herein;
FIG. 8 illustrates another method for monitoring steering of a multi-axle steering crane provided herein;
FIG. 9 is a schematic diagram of the operation of the steering monitoring system of the multi-axle steering crane according to the present invention;
FIG. 10 is a schematic diagram of the operation of a crane according to the present application;
fig. 11 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise. All directional indicators in the embodiments of the present application (such as upper, lower, left, right, front, rear, top, bottom … …) are only used to explain the relative positional relationship between the components, the movement, etc. in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Furthermore, reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 illustrates a steering monitoring method for a multi-axle steering crane provided by the present application, and fig. 10 illustrates an operation schematic diagram of a crane provided by the present application, and as shown in fig. 10, the crane includes: the steering axle comprises an oil way corresponding to the steering axle and a pressure reducing valve arranged on the oil way; as shown in fig. 1, the steering monitoring method of the multi-axle steering crane includes:
step S100, obtaining second moment axle load state information of the steering axle at the current moment;
step S100, setting the axle load state information of the crane borne by the steering axle at the current moment as second moment axle load state information for obtaining the axle load state information; specifically, for example: setting the current time as t2Obtaining the current time t2Axle load state information at a second moment of the steering axle; due to the fact thatIn the running process of the crane, the load borne by the steering axle of the crane is dynamically changed in real time, so that the axle weight state information of the steering axle at different moments needs to be acquired, namely the step S200 is executed;
step S200, obtaining first moment axle weight state information of the steering axle at a first moment; the first time and the current time are two times arranged according to a time sequence, and the first time is smaller than the current time;
step S200, setting the load of the crane born by the steering axle at the first moment as axle weight state information at the first moment, and setting the first moment to be smaller than the current moment as the first moment and the current moment are two moments arranged according to a time sequence, namely realizing the acquisition of the load of the crane born by the dynamic steering axle; specifically, for example, the first time is set to t1Obtaining t1Moment, first moment axle weight state information of the steering axle, wherein t1Less than t2；
Step S300, generating control information according to the axle weight state information and the first bearing state information at the second moment, wherein the control information is used for controlling the opening degree of a valve port of the pressure reducing valve;
step S300 is to generate control information according to the axle weight state information at the second time in step S100 and the axle weight state information at the first time in step S200, where the control information is used to control the opening degree of a valve port of the pressure reducing valve, that is, to control the pressure of an oil passage corresponding to the steering axle, so as to provide different steering assistance for the steering axle.
It should be noted that the steering axle includes: at least two steering axles; after the first moment axle weight state information and the second moment axle weight state information of each steering axle are obtained, each steering axle generates control information according to the obtained first moment axle weight state information and the second moment axle weight state information, namely each steering axle independently obtains the axle weight state information to generate the control information and performs independent control, namely each steering axle independently executes the steps S100-S300;
the utility model provides a steering monitoring method of multiaxis steering hoist, through obtaining the axle weight state information of the first moment of steering axle, axle weight state information of the second moment, promptly obtain the axle weight state information of steering axle in real time, after obtaining the axle weight state of steering axle according to the axle weight state information of the first moment, axle weight state information of the second moment, generate control information, this control information is used for controlling the valve port aperture of relief pressure valve, so that the oil pressure in the steering axle oil circuit changes, thereby change the power-assisted steering of steering axle, make the hoist in the steering process, provide different power-assisted steering for the steering axle, prevent to transmit unnecessary power-assisted steering to the steering linkage, and then realize the purpose of protection steering linkage.
In a possible implementation manner, as shown in fig. 2, the another steering monitoring method for a multi-axle steering crane provided by the present application, in step S300 (generating control information according to axle weight state information at the second time and axle weight state information at the first time), includes:
step S301, when the axle weight state information at the second moment is smaller than the axle weight state information at the first moment; generating first control information, wherein the first control information controls the reducing valve to reduce the opening degree of the valve port;
when the axle weight state information at the second moment is smaller than the axle weight state information at the first moment, namely the axle weight state information at the current moment is smaller than the axle weight state information at the first moment, the axle weight state of the steering axle is reduced, the steering resistance for balancing the steering power is reduced, and when the output steering power is too large, the redundant steering power is transmitted to the steering rod system, so that the first control information is generated at the moment, the reducing valve is controlled to reduce the opening of the valve port, namely the oil pressure in an oil way of the steering axle is reduced, the steering power of the steering axle is further reduced, the load transmitted to the steering rod system is reduced, and the purpose of protecting the steering rod system is realized.
It should be noted that when the axle load state information at the second moment is greater than the axle load state information at the first moment, the pressure reducing valve works normally without controlling the opening degree of a valve port of the pressure reducing valve; the axle weight state information at the second moment is larger than the axle weight state information at the first moment, so that the axle weight state of the steering axle is increased at the current moment in the running process of the crane, the steering resistance for balancing the steering power is increased, and when the output steering power is too large, the steering power is used for rotating the steering axle, so that the steering of the crane is realized, and no redundant steering power is transmitted to the steering rod system.
In a possible implementation manner, as shown in fig. 3, the another steering monitoring method for a multi-axle steering crane provided by the present application, in step S300 (generating control information according to axle weight state information at the second time and axle weight state information at the first time), includes:
step S302, when the axle load state information at the second moment is equal to 0, generating second control information, wherein the second control information controls the opening degree of a valve port of the pressure reducing valve to be minimum;
when the second axle weight state is equal to 0, it is indicated that the steering axle is in a suspended state at the present moment, the steering axle loses the steering resistance for balancing the steering power, if the output steering power is too large, the steering power is transmitted to the steering rod system, so that the steering rod system is overloaded, and the steering rod system is bent.
In a possible implementation manner, as shown in fig. 4, the another steering monitoring method for a multi-axle steering crane provided by the present application, in step S300 (generating control information according to axle weight state information at the second time and axle weight state information at the first time), includes:
step S303, when the axle weight state information at the second moment is equal to the axle weight state information at the first moment, generating third control information, and controlling the reducing valve to increase the opening degree of the valve port by the third control information;
when the axle weight state information at the second moment is equal to the axle weight state information at the first moment, the axle weight stress of the steering axle is relatively balanced, and then third control information is generated for increasing the opening degree of a valve port of the reducing valve, namely increasing the oil line pressure of the steering axle, so that the steering axle outputs larger steering power assistance.
In a possible implementation manner, as shown in fig. 5, in another steering monitoring method for a multi-axle steering crane provided by the present application, as shown in fig. 5, step S100 (obtaining axle weight state information of a steering axle at a current time) includes:
step S101, obtaining second distance information between a steering axle and a vehicle body at the current moment;
acquiring second distance information which is the distance between the steering axle and the vehicle body at the current moment; for example, the current time t is acquired2When the steering axle is at a distance S from the vehicle body2；
Step S102, generating second moment axle weight state information according to the second distance information and preset axle weight calibration information;
step S102 is to generate second moment axle weight state information according to the second distance information and the preset axle weight calibration information in the step S101; because the distance between the steering axle and the vehicle body can be changed according to the load of the vehicle body, the relationship between the distance and the axle weight can be set, namely the axle weight calibration information is preset, and the axle weight state information at the second moment is obtained by combining the second distance information;
step S200 (obtaining the axle load status information of the steering axle at the first time), includes:
step S201, acquiring first distance information between a steering axle and a vehicle body at a first moment;
since the first time and the current time are in chronological time sequence, i.e. the distance between the steering axle and the vehicle body is obtained in real time, for example, the first time t is obtained1When the steering axle is at a distance S from the vehicle body1；
Step S202, generating first time axle weight state information according to the first distance information and preset axle weight calibration information;
step S202 is that the first distance information and the preset axle weight calibration information in step S201 generate first time axle weight state information;
the axle weight state information at the first moment is generated through the acquired first distance information and the preset axle weight calibration information, the axle weight state information at the second moment is generated through the second distance information and the preset axle weight calibration information, namely the axle weight state information of the steering axle is obtained through acquiring the distance information between the steering axle and the vehicle body and combining the preset axle weight calibration information, and then the axle weight state of the steering axle is monitored in real time.
In a possible implementation manner, as shown in fig. 6, the present application provides another steering monitoring method for a multi-axle steering crane, where step S301 (generating first control information when the axle weight state information at the second time is less than the axle weight state information at the first time) includes:
step S3011, when the second distance information is greater than the first distance information, the axle weight state information at the second moment is less than the axle weight state information at the first moment;
the distance between the steering axle and the vehicle body can be changed according to the load of the vehicle body borne by the steering axle, and the distance between the steering axle and the vehicle body is smaller when the load of the vehicle body borne by the steering axle is larger, so that the axle weight state information at the second moment is smaller than the axle weight state information at the first moment when the second distance information is larger than the second distance information; and then the axle load state information of the dynamic steering axle can be accurately monitored in real time.
In a possible implementation manner, as shown in fig. 7, the present application provides another steering monitoring method for a multi-axle steering crane, where step S302 (generating second control information when the axle weight state information is equal to 0 at the second time) includes:
step S3021, when the second distance information is equal to the preset distance information, the axle weight state information at the second time is equal to 0;
when the second distance information is equal to the preset distance information, the axle weight state information at the second moment is equal to 0, wherein the preset distance information is the distance between the steering axle and the vehicle body according to the suspension state of the crane or the distance from the ground, so that the second distance information is equal to the preset distance information, and the axle weight state information at the second moment is equal to 0; so as to realize the accurate monitoring of the axle load state of the steering axle.
In a possible implementation manner, as shown in fig. 8, the present application provides another steering monitoring method for a multi-axle steering crane, where, in step S303 (when the axle weight status information at the second time is less than or equal to the axle weight status information at the first time), the method includes:
step S3031, when the second distance information is equal to the first distance information, the second moment axle weight state information is equal to the first moment axle weight state information;
and when the second distance information is equal to the first distance information, the distance between the steering axle and the vehicle body is equal when the crane runs, which indicates that the crane runs more stably, and the axle weight state information of the steering axle at the second moment is determined to be equal to the axle weight state information at the first moment by combining preset calibration axle weight calibration information, so that the axle weight state of the steering axle is accurately monitored.
In a second aspect of the present application, fig. 9 is a schematic diagram of a steering monitoring system of a multi-axle steering crane according to the present application, and as shown in fig. 9, the steering monitoring system includes: the data acquisition module 1 is used for acquiring axle load state information of the steering axle at a second moment at the current moment and acquiring axle load state information of the steering axle at a first moment; the first time and the current time are two times arranged according to a time sequence; the control information generating module 2 is configured to generate control information according to the axle weight state information at the second time and the first bearing state information, where the control information is used to control a valve port opening of the pressure reducing valve; in the working process of the steering monitoring system, a data acquisition module 1 acquires axle load state information of the steering axle at the second moment and first moment of the steering axle at the first moment; the first time and the current time are two times arranged according to a time sequence, real-time monitoring of the axle weight state of the steering axle is achieved, and the control information generation module 2 is used for generating control information after acquiring the specific axle weight state of the steering axle according to the axle weight state information at the second time and the axle weight state information at the first time, so that the oil pressure in an oil way of the steering axle is changed, the steering assistance of the steering axle is changed, different steering assistance is provided for the steering axle by the crane in the steering process, and the redundant steering assistance is prevented from being transmitted to the steering rod system, so that the purpose of protecting the steering rod system is achieved.
In a second aspect of the present application, as shown in fig. 10, a crane includes: a steering axle 11; an oil passage corresponding to the steering axle 11 and a pressure reducing valve 12 provided on the oil passage; the axle load monitoring device 13 is used for detecting axle load state information of the steering axle; and the steering monitoring system, which has been explained in detail above, are not described herein again; the steering monitoring system is in communication connection with the pressure reducing valve and the axle load detection device respectively; the steering monitoring system obtains axle weight state information of the steering axle detected by the axle weight detection device, controls the opening degree of a valve port of the pressure reducing valve according to the axle weight state information, and realizes the change of the output steering power, so that the steering of the steering axle can be realized by the steering power, the transmission of redundant steering power to the steering rod system is prevented, and the purpose of protecting the steering rod system is further achieved.
In one possible implementation, as shown in fig. 11, the axle weight monitoring device 13 includes: a distance measuring sensor 131 disposed on the steering axle 11, the distance measuring sensor 131 being configured to measure distance information between the steering axle and the vehicle body; the axle weight calibration device 132 is in communication connection with the ranging sensor 131, and the axle weight calibration device 132 is used for calibrating the axle weight of the distance between the steering axle and the vehicle body to generate axle weight state information of the steering axle. In the working process, the axle load monitoring device 13 measures the distance information between the steering axle and the vehicle body in real time through the distance measuring sensor 131, the axle load calibration device 132 obtains the distance information of the distance measuring sensor 131 to calibrate the axle load, axle load state information is obtained, accurate monitoring of the axle load state of the steering axle is achieved, and the axle load monitoring device 13 is convenient and fast to use.
Next, an electronic apparatus according to an embodiment of the present application is described with reference to fig. 11. Fig. 11 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
As shown in fig. 11, the electronic device 600 includes one or more processors 601 and memory 602.
The processor 601 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or information execution capabilities, and may control other components in the electronic device 600 to perform desired functions.
Memory 601 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program information may be stored on the computer readable storage medium and executed by the processor 601 to implement the steering monitoring method of the multi-axis steering crane of the various embodiments of the present application described above or other desired functions.
In one example, the electronic device 600 may further include: an input device 603 and an output device 604, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
The input device 603 may include, for example, a keyboard, a mouse, and the like.
The output device 604 can output various information to the outside. The output means 604 may comprise, for example, a display, a communication network, a remote output device connected thereto, and the like.
Of course, for the sake of simplicity, only some of the components related to the present application in the electronic device 600 are shown in fig. 11, and components such as a bus, an input/output interface, and the like are omitted. In addition, electronic device 600 may include any other suitable components depending on the particular application.
In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program information which, when executed by a processor, causes the processor to perform the steps in the steering monitoring method of a multi-axle steering crane according to various embodiments of the present application described in the present specification.
The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium having stored thereon computer program information which, when executed by a processor, causes the processor to perform the steps in the steering monitoring method of a multi-axle steering crane according to various embodiments of the present application.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The basic principles of the present application have been described above with reference to specific embodiments, but it should be noted that advantages, effects, etc. mentioned in the present application are only examples and are not limiting, and the advantages, effects, etc. must not be considered to be possessed by various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably herein. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention, and any modifications, equivalents and the like that are within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A steering monitoring method of a multi-axle steering crane, the crane comprising: the steering system comprises at least two steering axles, an oil way corresponding to the steering axles and a pressure reducing valve arranged on the oil way; the steering monitoring method is characterized by comprising the following steps:
acquiring second moment axle weight state information of each steering axle at the current moment and first moment axle weight state information of each steering axle at the first moment; the first time and the current time are two times arranged according to a time sequence, and the first time is smaller than the current time; and
and generating control information according to the axle weight state information of each steering axle at the second moment and the axle weight state information of each steering axle at the first moment, wherein the control information is used for controlling the opening degree of a valve port of the pressure reducing valve corresponding to the steering axle.
2. The steering monitoring method according to claim 1, wherein the generating control information according to the axle weight state information at the second time and the axle weight state information at the first time of each steering axle includes:
and when the second moment axle weight state information of each steering axle is smaller than the first moment axle weight state information, generating first control information, and controlling the reducing valve to reduce the opening of the valve port by the first control information.
3. The steering monitoring method according to claim 1, wherein the generating control information according to the axle weight state information at the second time and the axle weight state information at the first time of each steering axle further comprises:
and when the axle weight state information of each steering axle at the second moment is equal to 0, generating second control information, wherein the second control information controls the opening degree of a valve port of the pressure reducing valve to be minimum.
4. The steering monitoring method according to claim 1, wherein the generating control information according to the axle weight state information at the second time and the axle weight state information at the first time of each steering axle further comprises:
and when the second moment axle weight state information of each steering axle is equal to the first moment axle weight state information, generating third control information, and controlling the reducing valve to increase the valve port opening degree by the third control information.
5. The steering monitoring method according to claim 1,
the obtaining of the axle load state information of each steering axle at the current time includes:
acquiring second distance information between each steering axle and the vehicle body at the current moment;
generating axle weight state information at the second moment according to the second distance information and preset axle weight calibration information;
the obtaining of the axle weight state information of each steering axle at the first moment includes:
acquiring first distance information between each steering axle and a vehicle body at the first moment;
generating first time axle weight state information according to the first distance information and the preset axle weight calibration information;
wherein the second-time axle weight state information and the first-time axle weight state information according to each steering axle include:
and when the second distance information is greater than the first distance information, the second moment axle weight state information is less than the first moment axle weight state information.
6. The steering monitoring method according to claim 5, characterized in that: the second-time axle weight state information and the first-time axle weight state information according to each steering axle further include:
and when the second distance information is equal to the preset distance information, the second moment axle weight state information is equal to 0.
7. The steering monitoring method according to claim 5, characterized in that: the second-time axle weight state information and the first-time axle weight state information according to each steering axle further include:
and when the second distance information is equal to the first distance information, the second moment axle weight state information is equal to the first moment axle weight state information.
8. A steering monitoring system of a multi-axle steering crane adapted to the steering monitoring method of the multi-axle steering crane according to claim 1, comprising:
the data acquisition module is used for acquiring second moment axle weight state information of each steering axle at the current moment and acquiring first moment axle weight state information of each steering axle at the first moment; the first time and the current time are two times arranged according to a time sequence;
and the control information generating module is used for generating control information according to the axle weight state information of each steering axle at the second moment and the axle weight state information of each steering axle at the first moment, wherein the control information is used for controlling the opening degree of a valve port of the pressure reducing valve corresponding to the steering axle.
9. A crane, comprising:
at least two steering axles;
the steering mechanism comprises an oil way corresponding to the steering axle and a pressure reducing valve arranged on the oil way;
the axle load monitoring device is used for detecting axle load state information of the steering axle; and
the steering monitoring system of claim 8, wherein the steering monitoring system is in communication with the pressure reducing valve and the axle load detection device, respectively.
10. The crane according to claim 9, wherein the axle weight monitoring device comprises:
the distance measuring sensor is arranged on the steering axle and used for measuring distance information between the steering axle and a vehicle body; and
the axle load calibration device is in communication connection with the ranging sensor and is used for calibrating the axle load of the distance between the steering axle and the vehicle body to generate axle load state information of the steering axle.
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| CN202111022021.XA CN113715906B (en) | 2021-09-01 | 2021-09-01 | Steering monitoring method and system of multi-axis steering crane and crane |
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| CN114802434B (en) * | 2022-03-31 | 2023-08-29 | 湖南三一中型起重机械有限公司 | Steering control method and device, engineering vehicle and storage medium |
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| CN113715906A (en) | 2021-11-30 |
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