CN114873456A - Remote control system and method of crane and crane - Google Patents

Abstract

The application relates to the field of engineering machinery, in particular to a remote control system and method of a crane and the crane. The system comprises a vehicle controller, a vehicle state acquisition device, a first mobile terminal and a second mobile terminal. The whole vehicle controller controls an actuating mechanism; the whole vehicle state acquisition device acquires working condition information and transmits the working condition information to the whole vehicle controller; the first mobile terminal is in communication connection with the vehicle control unit, receives working condition information transmitted by the vehicle control unit and remotely controls the crane; and the second mobile terminal is in communication connection with the vehicle control unit. And the second mobile terminal controls the crane according to the working condition information when the communication between the first mobile terminal and the vehicle control unit is interrupted. The control system can realize the remote control of the crane, takes the second mobile terminal as an alternative terminal, realizes the management of the crane by virtue of the second mobile terminal, and improves the fault tolerance rate of system management.

Description

Remote control system and method of crane and crane

Technical Field

The application relates to the field of engineering machinery, in particular to a remote control system and method of a crane and the crane.

Background

At present, the control of the crane is mainly realized by controlling a vehicle-mounted control panel by an operator, and the operator cannot comprehensively, intuitively and real-timely acquire the state of the whole crane in a control mode, so that the control of the whole crane is not accurate enough and real-time.

In the related art, some people monitor the crane through mobile devices such as a mobile phone application program to solve the problem, but in this way, once the current mobile devices are damaged or communication is interrupted, the crane cannot work due to loss of remote control, so that safety accidents are easily caused while a construction period is delayed, and thus this way is not complete.

Disclosure of Invention

In view of this, the application provides a remote control system and method for a crane and the crane, which solve or improve the technical problem that the crane control cannot be accurately controlled only by a vehicle-mounted control panel in the prior art.

According to a first aspect of the present application, there is provided a remote control system for a crane, the remote control system for a crane comprising: the whole vehicle controller is used for controlling an actuating mechanism of the crane; the whole vehicle state acquisition device is electrically connected with the whole vehicle controller, and acquires working condition information of the crane and transmits the working condition information to the whole vehicle controller; the first mobile terminal is in communication connection with the vehicle control unit, receives the working condition information transmitted by the vehicle control unit and remotely controls the crane; the second mobile terminal is in communication connection with the whole vehicle controller; the second mobile terminal is used for controlling the crane according to the working condition information when the communication between the first mobile terminal and the vehicle control unit is interrupted.

In one possible implementation manner, the vehicle state acquisition device includes: a first length sensor for detecting a leg length of the crane; the pressure sensor is used for detecting the stress borne by the supporting leg; the inclination angle sensor is used for detecting the levelness of the crane and the rotation angle of a rotating mechanism of the crane; and a second length sensor for detecting a length of a main arm of the crane. .

In a possible implementation manner, the first mobile terminal is a mobile phone or a wireless remote controller; the second mobile terminal is a mobile phone or a wireless remote controller.

In one possible implementation manner, the first mobile terminal and the second mobile terminal each include: and the display device is electrically connected with the vehicle control unit and is used for displaying the working condition information.

In a possible implementation manner, the first mobile terminal and the second mobile terminal each further include: the alarm device is used for generating alarm information when the working condition information exceeds a preset safety value of the crane; the alarm device is electrically connected with the display device, and the display device generates an alarm prompt according to the alarm information.

In one possible implementation, the remote control system of the crane further includes: the first controller is used for controlling an upper vehicle control system of the crane; a second controller for controlling a leg control system of the crane; a third controller for controlling an engine of the crane; the first controller, the second controller and the third controller are all electrically connected with the vehicle control unit.

According to a second aspect of the present application, there is also provided a remote control method of a crane, the remote control method of a crane including: the method comprises the steps that a vehicle control unit obtains working condition information of a crane and transmits the working condition information to a first mobile terminal; the first mobile terminal generates a control instruction according to the working condition information, and the control instruction is used for controlling an executing mechanism of the crane; the vehicle control unit acquires the control command; the vehicle control unit controls the executing mechanism according to the control instruction; when the communication between the vehicle control unit and the first mobile terminal is interrupted, the vehicle control unit is in communication connection with a second mobile terminal; and the second mobile terminal receives the working condition information and generates the control instruction according to the working condition information.

In a possible implementation manner, the generating, by the first mobile terminal, a control instruction according to the operating condition information includes: the first mobile terminal generates a control instruction according to the working condition information and a preset working condition target value, wherein the control instruction is used for enabling the crane to reach the preset working condition target value; the whole vehicle controller obtains feedback working condition information of the crane, generates a completion flag bit when the feedback working condition information is equal to the preset working condition target value, and transmits the completion flag bit to the first mobile terminal.

In a possible implementation manner, the generating, by the first mobile terminal, a control instruction according to the operating condition information further includes: and the first mobile terminal generates alarm information according to the working condition information and a preset safety value, wherein the alarm information is used for prompting that the working condition information is greater than the preset safety value.

According to a third aspect of the present application, there is also provided a crane comprising: an actuator; and the remote control system of the crane is connected with the actuating mechanism.

The application provides a remote control system and a method of a crane and the crane. The whole vehicle controller is used for controlling an actuating mechanism of the crane; the whole vehicle state acquisition device is electrically connected with the whole vehicle controller, acquires the working condition information of the crane and transmits the working condition information to the whole vehicle controller; the first mobile terminal is in communication connection with the vehicle control unit, receives working condition information transmitted by the vehicle control unit and remotely controls the crane; and the second mobile terminal is in communication connection with the vehicle control unit. The second mobile terminal is used for controlling the crane according to the working condition information when the communication between the first mobile terminal and the vehicle control unit is interrupted. The control system can utilize information interaction between the first mobile terminal and the whole vehicle controller to realize remote control of the crane, and the second mobile terminal is used as the alternative terminal, so that when the first mobile terminal fails and cannot be used continuously, undifferentiated remote management of the crane can be realized by means of the second mobile terminal, the fault tolerance rate of system management is improved, and the use safety and the control accuracy of the crane are further guaranteed.

Drawings

Fig. 1 is a schematic diagram illustrating an operation of a remote control system of a crane according to an embodiment of the present disclosure.

Fig. 2 is a schematic diagram illustrating an operation of a first mobile terminal in a remote control system of a crane according to an embodiment of the present disclosure.

Fig. 3 is a schematic diagram illustrating an operation of a remote control system of a crane according to another embodiment of the present disclosure.

Fig. 4 is a schematic flow chart of a method for remotely controlling a crane according to an embodiment of the present disclosure.

Fig. 5 is a schematic flow chart of a crane remote control method according to another embodiment of the present disclosure.

Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Description of reference numerals: 10. a boarding control system; 20. a leg control system; 30. an engine; 100. a vehicle control unit; 200. a vehicle state acquisition device; 201. a first length sensor; 202. a pressure sensor; 203. a tilt sensor; 204. a second length sensor; 300. a first mobile terminal; 301. a display device; 302. an alarm device; 400. a second mobile terminal; 501. a first controller; 502. a second controller; 503. a third controller; 600. an electronic device; 601. a processor; 602. a memory; 603. an input device; 604. and an output device.

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 but may alternatively include other steps or elements not expressly 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 obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

Fig. 1 is a schematic diagram illustrating an operation of a remote control system of a crane according to an embodiment of the present disclosure. As shown in fig. 1, the remote control system of the crane specifically includes: the system comprises a vehicle control unit 100, a vehicle state acquisition device 200, a first mobile terminal 300 and a second mobile terminal 400. The vehicle control unit 100 is configured to control an execution structure of the crane, such as an boarding control system 10, a leg control system 20, an engine 30, and the like of the crane, and the vehicle control unit 100 controls the crane through controlling an operation of the execution mechanism. The vehicle state acquisition device 200 is electrically connected to the vehicle controller 100, and the vehicle state acquisition device 200 acquires the working condition information of the crane and transmits the working condition information to the vehicle controller 100, so that the vehicle controller 100 can transmit the received working condition information to the first mobile terminal 300. The first mobile terminal 300 is in communication connection with the vehicle controller 100, receives the working condition information transmitted by the vehicle controller 100, and remotely controls the crane according to the working condition information. The second mobile terminal 400 is in communication connection with the vehicle control unit 100, and the second mobile terminal 400 is configured to control the crane according to the working condition information when the first mobile terminal 300 is damaged or powered off, which causes communication interruption with the vehicle control unit 100, that is, the second mobile terminal 400 has a related control function of the first mobile terminal 300.

The remote control system of the crane provided by the present application includes a vehicle controller 100, a vehicle state collecting device 200, a first mobile terminal 300, and a second mobile terminal 400. The vehicle control unit 100 is used for controlling an actuating mechanism of the crane; the whole vehicle state acquisition device 200 is electrically connected with the whole vehicle controller 100, and the whole vehicle state acquisition device 200 acquires working condition information of the crane and transmits the working condition information to the whole vehicle controller 100; the first mobile terminal 300 is in communication connection with the vehicle control unit 100, and the first mobile terminal 300 receives the working condition information transmitted by the vehicle control unit 100 and remotely controls the crane; the second mobile terminal 400 is in communication connection with the vehicle control unit 100. The second mobile terminal 400 is configured to control the crane according to the operating condition information when the communication between the first mobile terminal 300 and the vehicle control unit 100 is interrupted. The control system can utilize information interaction between the first mobile terminal 300 and the vehicle control unit 100 to realize remote control of the crane, and the second mobile terminal 400 is used as an alternative terminal, so that when the first mobile terminal 300 fails and cannot be used continuously, undifferentiated remote management of the crane can be realized by means of the second mobile terminal 400, the fault tolerance rate of system management is improved, and the use safety and the control accuracy of the crane are further ensured.

It should be noted that the remote management processes of the crane by the first mobile terminal 300 and the second mobile terminal 400 are independent and do not affect each other, and the second mobile terminal 400 does not participate in the control management of the crane when the first mobile terminal 300 and the vehicle controller 100 normally interact. Meanwhile, the vehicle controller 100 of the crane may directly shield the signal of the second mobile terminal 400 on the above-mentioned premise, and selectively receive only the signal of the first mobile terminal 300; the working condition information may be shared only with the second mobile terminal 400, but the feedback signal of the second mobile terminal 400 is not received, so as to ensure that the second mobile terminal 400 can manage and control the crane as soon as possible according to the current working condition information when the first mobile terminal 300 is damaged or cannot transmit a signal, and improve the timeliness of the response of the second mobile terminal 400.

In a possible implementation manner, as shown in fig. 1, the entire vehicle state collecting device 200 in the remote control system of the crane may specifically include: a first length sensor 201, a pressure sensor 202 and a tilt sensor 203. The first length sensor 201 and the pressure sensor 202 are arranged close to the supporting legs of the crane, when the supporting leg control system 20 controls the supporting legs to horizontally stretch out and draw back the single supporting leg, vertically stretch out and draw back the single supporting leg, unfold the four supporting legs one by one, retract the four supporting legs one by one or level the vehicle body one by one, the first length sensor 201 detects the length of the current supporting leg, the pressure sensor 202 senses the stress borne by the supporting legs, and the two sensors are electrically connected with the vehicle controller 100 to transmit related data to the vehicle controller 100. The tilt angle sensor 203 is disposed near a swing mechanism of the crane and electrically connected to the vehicle controller 100, and when the swing mechanism is controlled by the boarding control system 10 to perform a boarding swing action, a landing action, and a main and auxiliary hoisting and landing action, the tilt angle sensor 203 measures tilt angle related data such as a vehicle body levelness and a boarding swing angle, and transmits the obtained data to the vehicle controller 100. Therefore, after the vehicle controller 100 receives the data related to the vehicle state, the type of working condition information data is transmitted to the first mobile terminal 300, so that the first mobile terminal 300 generates an accurate control instruction according to the received working condition information data, and the accuracy and the safety of the first mobile terminal 300 in remote control of the crane are improved.

Optionally, as shown in fig. 1, the vehicle state collecting device 200 may further include: and the second length sensor 204 is arranged close to the main arm of the crane, and the second length sensor 204 is electrically connected with the vehicle control unit 100 and used for detecting the length of the main arm of the crane and transmitting the detected data to the vehicle control unit 100.

Specifically, the first mobile terminal 300 may be one of a tablet computer, a mobile phone application program, or a wireless remote controller, and the second mobile terminal 400 may also be one of the above mobile terminal devices. In addition, the first mobile terminal 300 and the second mobile terminal 400 may be the same device or different devices, and the specific type of the mobile terminal depends on a specific application scenario, which is not further limited in this application.

In another possible implementation manner, fig. 2 is a schematic diagram illustrating an operation of a first mobile terminal in a remote control system of a crane according to an embodiment of the present application. As shown in fig. 2, the first mobile terminal 300 and the second mobile terminal 400 may each be provided with a display device 301 electrically connected to the vehicle control unit 100, and the display device 301 is used for displaying the operating condition information, so that an operator of the crane can more intuitively observe the operating condition information data of the crane.

Optionally, as shown in fig. 2, each of the first mobile terminal 300 and the second mobile terminal 400 may further include: an alarm device 302. This alarm device 302 is used for when operating mode information surpasss the preset safe value of hoist, generates alarm information, and this alarm information is used for the suggestion operator current hoist to have the operation risk, should in time handle to guarantee the safety of hoist operation.

Further, as shown in fig. 2, the alarm device 302 and the display device 301 are electrically connected, and after the alarm device 302 generates alarm information, the display device 301 generates an alarm prompt according to the alarm information, so as to remind an operator that the current crane operating condition is abnormal and needs to be handled in time. Meanwhile, the first mobile terminal 300 may generate a compensation command according to a difference between the current working condition information and a preset safety value, where the compensation command is used to control a relevant executing mechanism to perform automatic compensation adjustment on devices with abnormal parameters, such as a supporting leg, a hoisting mechanism, a slewing mechanism, and the like.

Specifically, fig. 3 is a schematic diagram illustrating an operation of a remote control system of a crane according to another embodiment of the present disclosure. As shown in fig. 3, the remote control system of the crane may further include: a first controller 501, a second controller 502, and a third controller 503. The first controller 501 is used for controlling the boarding control system 10 of the crane; the second controller 502 is used to control the leg control system 20 of the crane; the third controller 503 is used to control the engine 30 of the crane. In addition, the first controller 501, the second controller 502, and the third controller 503 are all electrically connected to the vehicle control unit 100. The vehicle control unit 100 controls the boarding control system 10, the leg control system 20, and the engine 30 by controlling the first controller 501, the second controller 502, and the third controller 503, respectively.

The first controller 501 and the second controller may be electrically controlled switch devices such as solenoid valves, or may be programmable controllers, and specific implementation devices are determined according to specific application scenarios, which are not further limited in this application.

The crane remote control system provided by the application controls the crane in the following process: taking the first controller 501 as an electromagnetic valve as an example, the first mobile terminal 300 transmits a control command, such as a left turning command of the vehicle, to the vehicle control unit 100 through wireless communication, after receiving the left turning command of the vehicle control unit 100, the electromagnetic valve is controlled to be closed, and the corresponding turning mechanism is started, so that the turning mechanism completes the left turning action of the vehicle control unit, after the turning is completed, the adjacent tilt sensor 203 collects the current turning angle and transmits the collected data to the vehicle control unit 100, the vehicle control unit 100 transmits the data to the first mobile terminal 300 through wireless communication, and finally the angle data is displayed on the display device 301.

Furthermore, according to a second aspect of the present application, the present application also relates to a method for remotely controlling a crane, which will be described below with reference to fig. 4 to 5.

Fig. 4 is a schematic flow chart of a method for remotely controlling a crane according to an embodiment of the present disclosure. As shown in fig. 4, the method for remotely controlling a crane provided by the present application is applied to the remote control system of a crane in any of the above embodiments, and specifically includes the following steps:

step 100: the vehicle control unit acquires working condition information of the crane and transmits the working condition information to the first mobile terminal.

The vehicle control unit 100 is a device that receives information of each driving mechanism, comprehensively determines a vehicle state, and realizes multi-system coordination control. The working condition information refers to state parameters and the like of each actuating mechanism of the crane, and includes but is not limited to support leg pressure, support leg length, body levelness, getting-on rotation angle and the like of the crane. The working condition information detected by the vehicle state acquisition device 200 is transmitted to the vehicle controller 100, so that the vehicle controller 100 can transmit the working condition information to the first mobile terminal 300, and the first mobile terminal 300 can conveniently control and manage the crane according to the working condition data.

Step 200: and the first mobile terminal generates a control instruction according to the working condition information, and the control instruction is used for controlling an actuating mechanism of the crane.

The actuating mechanism of the crane comprises a boarding control system 10 for executing boarding rotation action, lifting and lowering amplitude action and main and auxiliary hoisting and landing action, a support leg control system 20 for executing single support leg horizontal expansion, single support leg vertical expansion, four support leg one-key recovery and vehicle body one-key leveling, and an engine 30 for executing acceleration and deceleration of the engine 30, starting of the engine 30 and stopping of the engine 30. The first mobile terminal 300 accurately generates a control command according to the working condition information transmitted by the vehicle control unit 100, and it is easy to understand that the control command may be preset by the first mobile terminal 300 or manually input, depending on the specific application scenario.

Step 300: and the vehicle control unit acquires a control command.

Step 400: and the vehicle control unit controls the actuating mechanism according to the control command.

After receiving the control command, the vehicle control unit 100 correspondingly controls the relevant executing mechanism to complete the command action according to the command content, thereby realizing the remote control of the crane.

In addition, when the first mobile terminal 300 is damaged or powered off, and the like, such that the first mobile terminal 300 cannot continue to communicate with the vehicle control unit 100, the vehicle control unit 100 establishes a communication connection with the second mobile terminal 400, and the second mobile terminal 400 is used as a remote control center to perform the above steps 100 to 400. Through the arrangement of the second mobile terminal 400, the fault tolerance rate of the control method to the remote control process of the crane is higher, and further the operation effectiveness and the safety of the crane are guaranteed.

The remote control method for the crane, provided by the application, is applied to the remote control system for the crane in the above embodiment, and specifically comprises the following steps: the vehicle control unit 100 acquires working condition information of the crane and transmits the working condition information to the first mobile terminal 300; the first mobile terminal 300 generates a control instruction according to the working condition information, and the control instruction is used for controlling an executing mechanism of the crane; the vehicle control unit 100 acquires a control instruction; the vehicle control unit 100 controls the actuating mechanism according to the control instruction; when the communication between the vehicle control unit 100 and the first mobile terminal 300 is interrupted, the vehicle control unit 100 is in communication connection with the second mobile terminal 400; the second mobile terminal 400 receives the operating condition information and generates a control command according to the operating condition information. The control method not only realizes the remote terminal control of the crane, but also combines the current working condition information of the crane in the control process, so that the command is more accurate and effective to issue, and in addition, the second mobile terminal 400 is arranged, so that the fault tolerance rate of the remote control process of the crane is higher, and the operation effectiveness and the safety of the crane are improved.

In a possible implementation manner, fig. 5 is a schematic flow chart of a remote control method of a crane according to another embodiment of the present application. As shown in fig. 5, step 200 may further include the steps of:

step 210: and the first mobile terminal generates a control instruction according to the working condition information and the preset working condition target value, wherein the control instruction is used for enabling the crane to reach the preset working condition target value.

The preset working condition target value is a target value which needs to be completed by an actuating mechanism of the crane for realizing operation, such as a target value of a rotation angle, a one-key unfolding action of a supporting leg and the like. After receiving the current working condition information of the crane, the first mobile terminal 300 generates a reasonable and effective control instruction by combining the preset working condition target value, and the control instruction enables the relevant executing mechanism to complete the target action, so that the automatic control of the crane is realized.

Step 220: the whole vehicle controller obtains feedback working condition information of the crane, when the feedback working condition information is equal to a preset working condition target value, a completion flag bit is generated, and the completion flag bit is transmitted to the first mobile terminal.

The feedback working condition information is the current working condition information collected by the corresponding sensor after the execution of one action is finished under the control of the control instruction of the execution mechanism. When the feedback condition information is equal to the preset condition target value, which indicates that the execution of the action is completed, the completion flag bit is fed back to the first mobile terminal 300, so as to form closed-loop monitoring of the control process.

Optionally, as shown in fig. 5, step 200 may further include the following steps:

step 230: the first mobile terminal generates alarm information according to the working condition information and the preset safety value, and the alarm information is used for prompting that the working condition information is larger than the preset safety value.

The first mobile terminal 300 compares the current working condition information with a preset safety value, generates alarm information immediately when the working condition information exceeds the preset safety value, and gives an alarm through the alarm device 302 to remind an operator that the current crane has operation risks, and needs to be stopped and adjusted in time, so that operation accidents are reduced.

Specifically, the following exemplifies the control process by using a control instruction as a leg control instruction: the first mobile terminal 300 sends a four-leg one-key unfolding instruction to the vehicle control unit 100 in a wireless communication manner, and after receiving the instruction, the vehicle control unit 100 controls the electromagnetic valve of the leg control system 20 to be closed, so that the related circuits are communicated, and the four legs are unfolded by one key. In the process of unfolding the four legs or after the unfolding is finished, the first length sensor 201 acquires length values of the four legs, transmits the acquired current length values as feedback working condition information to the vehicle control unit 100, transmits the length values to the first mobile terminal 300 through the vehicle control unit 100 by a wireless communication technology, and displays the length values on a display interface of the first mobile terminal 300. The extension length of the support leg and the like can be preset as a preset working condition target value through the first mobile terminal 300, when the real-time length of the support leg does not reach the preset working condition target value, a control instruction for controlling the support leg control system 20 is generated, so that the real-time length value of the support leg reaches the preset working condition target value, and after the real-time length value of the support leg reaches the preset working condition target value or a 'completion flag bit' transmitted by the vehicle controller 100 is received, a control instruction for controlling the support leg control system 20 to stop working is generated, so that the automatic control of the crane is realized.

According to a third aspect of the present application, there is also provided a crane comprising a plurality of actuators and a crane remote control system as described in any of the above embodiments, the crane remote control system being electrically connected to each of the actuators of the crane. The crane comprises a remote control system of the crane electrically connected with an actuating mechanism, so that the crane can execute the following control method: the vehicle control unit 100 acquires working condition information of the crane and transmits the working condition information to the first mobile terminal 300; the first mobile terminal 300 generates a control instruction according to the working condition information, and the control instruction is used for controlling an executing mechanism of the crane; the vehicle control unit 100 acquires a control instruction; the vehicle control unit 100 controls the actuating mechanism according to the control instruction; when the communication between the vehicle control unit 100 and the first mobile terminal 300 is interrupted, the vehicle control unit 100 is in communication connection with the second mobile terminal 400; the second mobile terminal 400 receives the operating condition information and generates a control command according to the operating condition information. The control method not only realizes the remote terminal control of the crane, but also combines the current working condition information of the crane in the control process, so that the command is more accurate and effective to issue, and in addition, the second mobile terminal 400 is arranged, so that the fault tolerance rate of the remote control process of the crane is higher, and the operation effectiveness and the safety of the crane are improved.

Next, an electronic apparatus according to an embodiment of the present application is described with reference to fig. 6. Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

As shown in fig. 6, 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 602 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 remote control method of the 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, mouse, etc.

The output device 604 can output various kinds of 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 simplicity, only some of the components of the electronic device 600 relevant to the present application are shown in fig. 6, and components such as buses, input/output interfaces, 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 method for remote control of a 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 method for remote control of a 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 foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the 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 therewith. 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 remote control system for a crane, comprising:

the vehicle control unit (100), the vehicle control unit (100) is used for controlling an actuating mechanism of a crane;

the crane control system comprises a whole vehicle state acquisition device (200), wherein the whole vehicle state acquisition device (200) is electrically connected with a whole vehicle controller (100), and the whole vehicle state acquisition device (200) acquires working condition information of the crane and transmits the working condition information to the whole vehicle controller (100);

the first mobile terminal (300) is in communication connection with the vehicle control unit (100), and the first mobile terminal (300) receives the working condition information transmitted by the vehicle control unit (100) and remotely controls the crane; and

a second mobile terminal (400), wherein the second mobile terminal (400) is in communication connection with the vehicle control unit (100);

the second mobile terminal (400) is used for controlling the crane according to the working condition information when the communication between the first mobile terminal (300) and the vehicle control unit (100) is interrupted.

2. The remote control system of a crane according to claim 1, wherein the vehicle state acquisition device (200) comprises:

a first length sensor (201), the first length sensor (201) being for detecting a leg length of the crane;

a pressure sensor (202), the pressure sensor (202) being used for detecting the stress on the supporting leg;

the inclination angle sensor (203) is used for detecting the levelness of the crane and the rotation angle of a rotation mechanism of the crane; and

a second length sensor (204), the second length sensor (204) for detecting a length of a jib of the crane.

3. The remote control system of a crane according to claim 1, wherein the first mobile terminal (300) is a mobile phone or a wireless remote controller; the second mobile terminal (400) is a mobile phone or a wireless remote controller.

4. The remote control system of a crane according to claim 1, wherein the first mobile terminal (300) and the second mobile terminal (400) each comprise:

the display device (301), the display device (301) with vehicle control unit (100) electricity is connected, display device (301) are used for showing the operating mode information.

5. The remote control system of a crane according to claim 4, wherein the first mobile terminal (300) and the second mobile terminal (400) each further comprise:

the alarm device (302), the alarm device (302) is used for generating alarm information when the working condition information exceeds the preset safety value of the crane;

the alarm device (302) is electrically connected with the display device (301), and the display device (301) generates an alarm prompt according to the alarm information.

6. The remote control system of a crane according to claim 1, further comprising:

a first controller (501), the first controller (501) being for controlling a get-on handling system (10) of the crane;

a second controller (502), the second controller (502) for controlling a leg control system (20) of the crane;

a third controller (503), the third controller (503) being for controlling an engine (30) of the crane;

wherein the first controller (501), the second controller (502) and the third controller (503) are all electrically connected with the vehicle control unit (100).

7. A method for remotely controlling a crane, comprising:

the method comprises the steps that a vehicle control unit obtains working condition information of a crane and transmits the working condition information to a first mobile terminal;

the first mobile terminal generates a control instruction according to the working condition information, and the control instruction is used for controlling an executing mechanism of the crane;

the vehicle control unit acquires the control command; and

the vehicle control unit controls the executing mechanism according to the control instruction;

when the communication between the vehicle control unit and the first mobile terminal is interrupted, the vehicle control unit is in communication connection with a second mobile terminal;

and the second mobile terminal receives the working condition information and generates the control instruction according to the working condition information.

8. The remote control method of the crane according to claim 7, wherein the first mobile terminal generates a control command according to the operating condition information, and the method comprises the following steps:

the first mobile terminal generates a control instruction according to the working condition information and a preset working condition target value, wherein the control instruction is used for enabling the crane to reach the preset working condition target value;

the whole vehicle controller obtains feedback working condition information of the crane, generates a completion flag bit when the feedback working condition information is equal to the preset working condition target value, and transmits the completion flag bit to the first mobile terminal.

9. The remote control system of a crane according to claim 8, wherein the first mobile terminal generates a control command according to the operating condition information, further comprising:

and the first mobile terminal generates alarm information according to the working condition information and a preset safety value, wherein the alarm information is used for prompting that the working condition information is greater than the preset safety value.

10. A crane, comprising:

an actuator; and

the crane remote control system according to any one of claims 1 to 6, said remote control system being connected to said actuator.

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