CN116119557A

CN116119557A - Method, processor, device and crane for determining side bending of crane boom

Info

Publication number: CN116119557A
Application number: CN202211739253.1A
Authority: CN
Inventors: 彭牧原; 罗贤智; 刘永赞; 郭纪梅; 田炯明
Original assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Current assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Priority date: 2022-12-30
Filing date: 2022-12-30
Publication date: 2023-05-16

Abstract

The invention relates to the technical field of engineering machinery, and discloses a method, a processor, a device and a crane for determining the side bending of a crane boom. The method comprises the following steps: under the condition that the left mast and the right mast are both changed to be vertical to the suspension arm and are both swung to the same swing angle, determining to enter a suspension arm side bending detection state; determining that the boom is bent sideways to the right side under the condition that the first length difference between the left steel wire rope and the right steel wire rope is larger than a preset allowable deviation; determining that the suspension arm is bent sideways to the left side under the condition that the second length difference between the right steel wire rope and the left steel wire rope is larger than a preset allowable deviation; and under the condition that the first length difference or the second length difference is smaller than or equal to the preset allowable deviation, determining that the suspension arm has no side bending. Based on the structural symmetry of the super-lifting device, the current side bending state of the crane boom is intuitively identified by comparing the lengths of the left steel wire rope and the right steel wire rope, the side bending phenomenon of the crane boom is rapidly and accurately identified, the accuracy is high, and the reliability is high.

Description

Method, processor, device and crane for determining side bending of crane boom

Technical Field

The invention relates to the technical field of engineering machinery, in particular to a method, a processor, a device and a crane for determining the side bending of a crane boom.

Background

In daily hoisting operations, the condition that the boom bends sideways sometimes occurs, and particularly in crane operations of 5-section arms and above, is more common. Illustratively, the specific reasons for boom side bending are: (1) The gap between the sliding blocks of each section of arm of the crane is too large, so that the sleeved part of the suspension arm swings left and right; the position of the head sliding block is incorrect, so that the suspension arm is deviated to one side, and as the existing suspension arms are all multi-section, when the sliding blocks of each section of suspension arm are not accurately debugged, the suspension arm can be more obviously expressed after being stretched; (2) Because of the technical problems in the manufacturing process of the suspension arm, stress reaction is caused to the suspension arm during pressing and welding, the suspension arm is micro-deformed, and the suspension arm can not be found by naked eyes and can be bent sideways after being assembled on a crane; (3) The butt joint deflection of the tail part of the suspension arm and the asymmetric clearance of the tail sliding block can lead to the stress deflection of the suspension arm, and the side bending of the hinge shaft of the tail part of the suspension arm and the copper sleeve is caused by the problems of the hinge shaft, the copper sleeve and the like when the turntable is installed.

The side bending of the suspension arm can cause a plurality of accidents, so the side bending phenomenon of the suspension arm needs to be rapidly and accurately identified, and then the specific adjustment is carried out. At present, the transmitters of the detection device are arranged at the left and right positions with equal vertical distance between the turntable and the suspension arm, the receiver of the detection device is arranged at the arm head, and the suspension arm side bending is identified through electric signal ranging, so that the identification accuracy of the suspension arm side bending is poor due to the fact that signals are easy to be interfered.

Disclosure of Invention

In order to overcome the defects in the prior art, the embodiment of the invention provides a method, a processor, a device and a crane for determining the side bending of a crane boom.

In order to achieve the above object, a first aspect of the present invention provides a method for determining a sideways bending of a crane boom, wherein the crane comprises a boom, the boom comprises a base arm on which a super-lift device is provided, the super-lift device comprises a left mast, a right mast, a left wire rope and a right wire rope, a first end of the left mast is provided on the base arm, the first end of the left wire rope is connected with a second end of the left mast, a second end of the left wire rope is connected with a head of the boom, and the right mast and the right wire rope are respectively symmetrically provided with the left mast and the left wire rope relative to the boom; the method comprises the following steps:

under the condition that the left mast and the right mast are both changed to be vertical to the suspension arm and are both swung to the same swing angle, determining to enter a suspension arm side bending detection state;

determining that the boom is bent sideways to the right side under the condition that the first length difference between the left steel wire rope and the right steel wire rope is larger than a preset allowable deviation;

determining that the suspension arm is bent sideways to the left side under the condition that the second length difference between the right steel wire rope and the left steel wire rope is larger than a preset allowable deviation;

And under the condition that the first length difference or the second length difference is smaller than or equal to the preset allowable deviation, determining that the suspension arm has no side bending.

In the embodiment of the invention, the super-lifting device further comprises a left winch and a right winch, wherein the left winch and the right winch are used for respectively controlling the winding and unwinding of the left steel wire rope and the right steel wire rope; the method further comprises the steps of:

under the condition that the boom is determined to be bent sideways to the left and the crane is determined to be in an operation state, setting the left winch and the right winch to be in an unlocking state;

and controlling the right winch to retract the rope and reducing the back pressure of the left winch until the second length difference is smaller than or equal to the preset allowable deviation.

In the embodiment of the invention, the method further comprises the following steps:

under the condition that the boom is determined to be bent sideways to the right and the crane is determined to be in an operation state, setting the left winch and the right winch to be in an unlocking state;

and controlling the left winch to retract the rope and reducing the back pressure of the right winch until the first length difference is smaller than or equal to the preset allowable deviation.

under the condition that the boom is determined to be bent sideways to the left and the crane is determined to be in an arm extending state, reducing the back pressure of the left winch to reduce the pulling force of the left steel wire rope;

and increasing the back pressure of the right winch to increase the pulling force of the right steel wire rope until the second length difference is smaller than or equal to the preset allowable deviation.

under the condition that the boom is determined to be bent sideways to the right side and the crane is determined to be in an arm extending state, reducing the back pressure of the right winch so as to reduce the pulling force of the right steel wire rope;

and increasing the back pressure of the left winch to increase the pulling force of the left steel wire rope until the first length difference is smaller than or equal to the preset allowable deviation.

under the condition that the boom is determined to be bent sideways to the left and the crane is determined to be in a telescopic arm state, the rope collecting speed of the left winch is slowed down so as to reduce the pulling force of the left steel wire rope;

and accelerating the rope winding speed of the right winch to increase the pulling force of the right steel wire rope until the second length difference is smaller than or equal to the preset allowable deviation.

under the condition that the boom is determined to be bent sideways to the right side and the crane is determined to be in a telescopic arm state, the rope collecting speed of the right winch is slowed down so as to reduce the pulling force of the right steel wire rope;

and accelerating the rope reeling speed of the left winch to increase the pulling force of the left steel wire rope until the first length difference is smaller than or equal to the preset allowable deviation.

and stopping the telescopic action and the rope collecting action of the crane under the condition that the tension of the left steel wire rope is larger than the preset safety tension.

A second aspect of the invention provides a processor configured to perform the above-described method for determining a crane boom sideways.

The invention provides a device for determining the side bending of a crane boom, which comprises a crane boom, wherein the crane boom comprises a basic arm, the basic arm is provided with a super-lifting device, the super-lifting device comprises a left mast, a right mast, a left steel wire rope and a right steel wire rope, the first end of the left mast is arranged on the basic arm, the first end of the left steel wire rope is connected with the second end of the left mast, the second end of the left steel wire rope is connected with the head of the crane boom, and the right mast and the right steel wire rope are respectively symmetrically arranged with the left mast and the left steel wire rope relative to the crane boom; the device comprises:

the first angle sensor is used for detecting the angle between the left mast and the suspension arm and the angle between the right mast and the suspension arm;

the second angle sensor is used for detecting the swing angles of the left mast and the right mast;

the left winch encoder is used for determining the length of the left steel wire rope;

the right winch encoder is used for determining the length of the right steel wire rope; and

the processor described above.

In the embodiment of the invention, the device further comprises:

the left tension sensor is used for detecting the tension of the left steel wire rope;

And the right tension sensor is used for detecting the tension of the right steel wire rope.

A fourth aspect of the invention provides a crane comprising a device for determining a sideways bending of a crane boom as described above.

In the embodiment of the invention, the crane comprises a suspension arm, the suspension arm comprises a basic arm, the basic arm is provided with a super-lifting device, the super-lifting device comprises a left mast, a right mast, a left steel wire rope and a right steel wire rope, the first end of the left mast is arranged on the basic arm, the first end of the left steel wire rope is connected with the second end of the left mast, the second end of the left steel wire rope is connected with the head of the suspension arm, and the right mast and the right steel wire rope are respectively symmetrically arranged with the left mast and the left steel wire rope relative to the suspension arm. The method for determining the side bending of the crane boom comprises the following steps: under the condition that the left mast and the right mast are both changed to be vertical to the suspension arm and are both swung to the same swing angle, determining to enter a suspension arm side bending detection state; determining that the boom is bent sideways to the right side under the condition that the first length difference between the left steel wire rope and the right steel wire rope is larger than a preset allowable deviation; determining that the suspension arm is bent sideways to the left side under the condition that the second length difference between the right steel wire rope and the left steel wire rope is larger than a preset allowable deviation; and under the condition that the first length difference or the second length difference is smaller than or equal to the preset allowable deviation, determining that the suspension arm has no side bending.

Therefore, based on the structural symmetry of the crane super-lifting device, the current side bending state of the crane boom is intuitively identified by comparing the lengths of the left steel wire rope and the right steel wire rope, and the possibility of signal interference in the identification process is eliminated; because the lengths of the left steel wire rope and the right steel wire rope can be obtained in real time, the current side bending state of the suspension arm can also be judged in real time. According to the embodiment of the invention, the judgment of the side bending state of the suspension arm is higher in accuracy and higher in reliability; the method and the device realize rapid and accurate identification of the side bending phenomenon of the suspension arm, and can make targeted adjustment for the side bending phenomenon of the suspension arm in the follow-up process, thereby ensuring the safety of operation.

Drawings

The accompanying drawings are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain, without limitation, the embodiments of the invention. In the drawings:

FIG. 1 schematically illustrates a front view of a superlift installation according to an embodiment of the present invention;

FIG. 2 schematically illustrates a side view of a superlift device installation according to an embodiment of the present invention;

FIG. 3 schematically illustrates a top view of a superlift device installation according to an embodiment of the present invention;

FIG. 4 schematically illustrates a flow chart of a method for determining crane boom side bending according to an embodiment of the invention;

fig. 5 schematically shows a hardware block diagram of a crane according to an embodiment of the invention.

Description of the reference numerals

10-a suspension arm; 11-a base arm;

12-left mast; 13-right mast;

14-left steel wire rope; 15-right wire rope;

16-the head of the boom; 17-left winding;

18-right winding; 19-luffing motion of the superlift device;

20-super-opening angle; swing action of 21-super lift device;

22-mounting holes; 23-an amplitude variable oil cylinder of the super-lifting device;

24-swinging oil cylinder of the super-lifting device; 25-a second articulated arm;

26-third arm section; 27-fourth arm;

28-super-lifting winch encoder; 29-an angular displacement sensor;

30-super-lift mast in-place proximity switch; 31-human-machine interface;

32-superlift tension sensor; 33-a control unit;

34-a super-lifting winch rope-collecting proportional electromagnetic valve; 35-an ultra-lifting winch unlocking electromagnetic valve;

36-super-lifting winch backpressure control electromagnetic valve.

Detailed Description

The following describes the detailed implementation of the embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.

In the present embodiment, if directional indications (such as up, down, left, right, front, and rear … …) are included, the directional indications are merely used to explain the relative positional relationship, movement, and the like between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the protection scope of the present application.

FIG. 1 schematically illustrates a front view of a superlift installation according to an embodiment of the present invention; FIG. 2 schematically illustrates a side view of a superlift device installation according to an embodiment of the present invention; fig. 3 schematically shows a top view of the installation of the superlift device according to an embodiment of the present invention. Referring to fig. 1, 2 and 3, the crane comprises a boom 10, the boom 10 comprises a basic arm 11, a super lifting device is arranged on the basic arm 11, the super lifting device comprises a left mast 12, a right mast 13, a left steel wire rope 4 and a right steel wire rope 15, a first end of the left mast 12 is arranged on the basic arm 11, a first end of the left steel wire rope 14 is connected with a second end of the left mast 12, a second end of the left steel wire rope 14 is connected with a head 16 of the boom, and the right mast 13 and the right steel wire rope 15 are respectively symmetrically arranged with the left mast 12 and the left steel wire rope 14 relative to the boom 10.

The boom 10 of a crane generally comprises a multi-joint arm, see for example fig. 3, fig. 3 schematically showing a case where the boom 10 comprises four joint arms, in particular in fig. 3 the boom 10 comprises a basic arm 11, a second joint arm 25, a third joint arm 26 and a fourth joint arm 27, the basic arm 11 being understood as a first joint arm. The basic arm 11 cannot be shortened, that is to say the shortest length of the boom 10 is the length of the basic arm 11, i.e. in the case of retraction of the other articulated arms (see fig. 1). With continued reference to fig. 3, in fig. 3, it can be seen that the boom 10 is in a straight state, and at this time, the boom 10 is not bent sideways, and since the right mast 13 and the right wire rope 15 are symmetrically disposed with respect to the left mast 12 and the left wire rope 14, respectively, with respect to the boom 10, that is, based on structural symmetry of the crane super lift device, at this time, the lengths of the left wire rope 14 and the right wire rope 15 are equal, that is, the difference in length between the left wire rope 14 and the right wire rope 15 is less than or equal to a preset allowable deviation.

Referring to fig. 1 and 2, the superlift device includes a mounting hole 22, and the superlift device may be fixedly coupled to the base arm 11 through the mounting hole 22. As shown in fig. 2, the left mast 12 and the right mast 13 may be combined into one body. In fig. 1, the luffing motion of the superlift device, which can be understood as a simultaneous rotational motion of the left mast 12 and the right mast 13 with the respective first ends as the base point, is schematically indicated by reference numeral 19. In fig. 1, the left mast 12 and the right mast 13 are perpendicular to the base arm 11, and when the super lift performs a luffing motion, the angle between the left mast 12 (or the right mast 13) and the base arm 11 is less than 90 degrees until the angle between the left mast 12 (or the right mast 13) and the base arm 11 is about 0 degrees. If the state in fig. 1 is based, at this time, when the superlift device performs the luffing motion, the angle between the left mast 12 (or the right mast 13) and the base arm 11 may be greater than 90 degrees until the angle between the left mast 12 (or the right mast 13) and the base arm 11 is about 180 degrees.

In fig. 2, reference numeral 21 schematically illustrates the swinging motion of the superlift device. As shown in fig. 2, the angle formed by the left mast 12 and the right mast 13 can be understood as the super-lift angle 20, and the swing angle of each of the left mast 12 and the right mast 13 can be understood as half of the super-lift angle 20. When the superlift device is in operation, the swing angle of the left mast 12 and the right mast 13 is generally in the range of 5-40 degrees, i.e., the superlift angle 20 is generally in the range of 10-80 degrees. The swing action of the super lift device comprises folding the left mast 12 and the right mast 13, and the super lift angle 20 is reduced at the moment; the swing action of the superlift also includes opening the left mast 12 and the right mast 13, at which point the superlift angle 20 increases.

Fig. 4 schematically shows a flow chart of a method for determining a crane boom side bending according to an embodiment of the invention. As shown in fig. 4, in an embodiment of the present invention, there is provided a method for determining a crane boom side bending, comprising the steps of:

step 401, determining to enter a boom side bending detection state under the condition that both the left mast 12 and the right mast 13 are changed to be vertical to the boom 10 and both the left mast 12 and the right mast 13 are swung to the same swing angle;

step 402, determining that the suspension arm 10 is bent sideways to the right side under the condition that the first length difference between the left steel wire rope 14 and the right steel wire rope 15 is larger than the preset allowable deviation;

step 403, determining that the suspension arm 10 is bent sideways to the left side when the second length difference between the right wire rope 15 and the left wire rope 14 is greater than the preset allowable deviation;

step 404, determining that boom 10 is free of side-bending if either the first length difference or the second length difference is less than or equal to a preset allowable deviation.

Based on the structural symmetry of the crane super-lifting device, the current side bending state of the crane boom is intuitively identified by comparing the lengths of the left steel wire rope and the right steel wire rope, so that the possibility of signal interference in the identification process is eliminated; because the lengths of the left steel wire rope and the right steel wire rope can be obtained in real time, the current side bending state of the suspension arm can also be judged in real time. According to the embodiment of the invention, the judgment of the side bending state of the suspension arm is higher in accuracy and higher in reliability; the method and the device realize rapid and accurate identification of the side bending phenomenon of the suspension arm, and can make targeted adjustment for the side bending phenomenon of the suspension arm in the follow-up process, thereby ensuring the safety of operation.

Before the operation of the crane, an operator firstly swings the left and right super-lifting masts (namely the left mast 12 and the right mast 13) to 90 degrees with the boom 10, swings the left mast 12 and the right mast 13 to the same swing angle, stops the rest actions of the crane, and a side bending state evaluation key in a man-machine interface of the crane can be lightened. When an operator presses a sideways bending state evaluation button, the current sideways bending state of the crane boom is evaluated according to the length L1 of the left steel wire rope 14, the length L2 of the right steel wire rope 15 and the allowable maximum deviation value L3 (namely, the preset allowable deviation L3); and displaying the side bending state, the length L1 of the left steel wire rope 14 and the length L2 of the right steel wire rope 15, and the maximum deviation value L3 allowed by the current working condition in a human-computer interface. If the current side-bending state is not side-bending (or referred to as no side-bending), the side-bending adjustment key may not be pressed, and if the current side-bending state is that boom 10 has been side-bent (boom 10 is side-bent to the right or boom 10 is side-bent to the left), the side-bending adjustment key may be pressed.

When an operator presses the sideways bending adjustment key, the crane automatically judges the current sideways bending state and automatically executes corresponding adjustment. In an embodiment, the super-lift device comprises a left winch 17 and a right winch 18, and the left winch 17 and the right winch 18 are used for respectively controlling the winding and unwinding of the left steel wire rope 14 and the right steel wire rope 15. The left winch 17 is arranged at the left side of the super-lifting device, one end of a steel wire rope in the left winch 17 is arranged and wound on a winding drum, and the other end of the steel wire rope is wound from a left movable pulley at the head 16 of the suspension arm and then fixed on a left super-lifting mast (namely the left mast 12) after being pulled out by the super-lifting winch. The right winch 18 is installed on the right side of the super-lift device, one end of a steel wire rope of the right winch 18 is installed and wound on a winding drum, and the other end of the steel wire rope is wound from a right movable pulley at the head 16 of the suspension arm and then fixed on a right super-lift mast (namely the right mast 13) after being pulled out by the super-lift winch.

In an embodiment, the method further comprises: in the case where it is determined that the boom 10 is bent sideways to the left and the crane is determined to be in an operating state, both the left winch 17 and the right winch 18 are set to an unlocking state; the right winch 18 is controlled to take up the rope and the back pressure of the left winch 17 is reduced until the second length difference is smaller than or equal to the preset allowable deviation.

When the L2-L1> L3 time represents that the suspension arm 10 bends sideways to the left side, at the moment, a control system in the crane firstly electrifies a super-lifting winch phase-locking release electromagnetic valve to enable the super-lifting device to enter a phase-locking release state (the left winch 17 and the right winch 18 are both set to be in the phase-locking release state), meanwhile electrifies a right super-lifting rope-collecting proportional electromagnetic valve to conduct right super-lifting rope collection (namely the right winch 18 receives ropes), the length of the right super-lifting rope (namely the length of the right steel wire rope 15) is gradually reduced, meanwhile, a left super-lifting winch back pressure valve supplies larger current to reduce the back pressure of the left super-lifting winch (namely the left winch 17), and the left super-lifting is passively released along with the change of the position of the arm head until L2-L1< L3. And the control system in the crane de-energizes the right superlift rope-collecting proportional electromagnetic valve and the left superlift winch back pressure valve, stops right superlift rope-collecting (namely stops right winch 18 rope-collecting), de-locks the superlift winch out of phase-locking electromagnetic valve, so that the superlift device enters a locking state, the side bending adjustment is finished, and the side bending amount of the suspension arm 10 is restored to be within an allowable deviation range.

In an embodiment, the method further comprises: when it is determined that the boom 10 is bent sideways to the right and the crane is in the working state, both the left winch 17 and the right winch 18 are set in the unlocking state; the left winch 17 is controlled to retract the rope and the back pressure of the right winch 18 is reduced until the first length difference is smaller than or equal to the preset allowable deviation.

When L1-L2> L3 represents that the boom 10 is bent sideways to the right side, at this moment, a control system in the crane firstly electrifies a super-lifting winch phase-locking release electromagnetic valve, so that the super-lifting device enters a phase-locking release state (a left winch 17 and a right winch 18 are both set to be in a phase-locking release state), meanwhile, the left super-lifting rope-collecting proportional electromagnetic valve is electrified, left super-lifting rope collection (namely left winch 17 rope collection) is carried out, the length of the left super-lifting rope (namely the length of left steel wire rope 14) is gradually reduced, meanwhile, a right super-lifting winch back pressure valve supplies larger current, the back pressure of the right super-lifting winch (namely right winch 18) is reduced, and the right super-lifting is passively released along with the change of the position of the boom head until L1-L2< L3. And the control system in the crane de-energizes the left superlift rope-collecting proportional electromagnetic valve and the right superlift winch back pressure valve, stops the left superlift rope-collecting (namely stops the left winch 17 rope-collecting), de-locks the superlift winch, de-locks the electromagnetic valve, and enables the superlift device to enter a locking state, the side bending adjustment is finished, and the side bending amount of the suspension arm 10 is restored to be within an allowable deviation range.

Before the crane performs the telescopic action, an operator firstly swings the left and right super-lifting masts (namely the left mast 12 and the right mast 13) of the crane to 90 degrees with the included angle of the boom, and simultaneously swings the left mast 12 and the right mast 13 to the same swing angle, so that the telescopic action can be performed. In the telescoping process, the crane evaluates the current side bending state of the crane boom in real time according to the length L1 of the left steel wire rope 14, the length L2 of the right steel wire rope 15 and the allowable maximum deviation value L3 (namely preset allowable deviation L3), when L2-L1> L3, the crane boom is bent to the left side, and when L1-L2> L3, the crane boom is bent to the right side.

In an embodiment, the method further comprises: in the case where it is determined that the boom 10 is bent sideways to the left and it is determined that the crane is in the boom state, the back pressure of the left hoist 17 is reduced to reduce the tension of the left wire rope 14; the back pressure of the right hoist 18 is increased to increase the tension of the right wire rope 15 until the second length difference is less than or equal to the preset allowable deviation.

When the crane executes telescopic action, the crane is specifically divided into an arm extending state and an arm shrinking state, and under the condition of the arm extending state, the left winch 17 and the right winch 18 are provided with rope releasing actions, and the left winch 17 and the right winch 18 are in unlocking states. In the arm-shrinking state of the crane, the left winch 17 and the right winch 18 are in rope-winding action, and the left winch 17 and the right winch 18 are in unlocking state. In the working state of the crane, the left winch 17 and the right winch 18 are in a locking state, and the left winch 17 and the right winch 18 do not take up and pay off ropes. Because the crane has different preconditions in the working state, the arm extending state and the arm retracting state, the corresponding side bending adjustment strategies are differentiated, so in the embodiment of the invention, six different side bending adjustment strategies are correspondingly executed according to the following six different conditions: (1) The boom 10 is bent sideways to the left and the crane is in the working state; (2) The boom 10 is bent sideways to the right and the crane is in the working state; (3) The boom 10 is bent sideways to the left and the crane is in an arm-extended state; (4) The boom 10 is bent sideways to the right and the crane is in an arm-extended state; (5) The boom is bent to the left side, and the crane is in a telescopic state; (6) The boom is bent sideways to the right and the crane is in a telescopic state.

When the crane is in the arm-extending state, if it is judged that the boom 10 has been bent sideways to the left, the crane intelligently and automatically adjusts the motor back pressure of the super-lift winch through the super-lift winch back pressure adjusting electromagnetic valve, reduces the left super-lift back pressure (namely the back pressure of the left winch 17), reduces the left super-lift tension (namely the tension of the left steel wire rope 14), increases the right super-lift back pressure (namely the back pressure of the right winch 18), and increases the right super-lift tension (namely the tension of the right steel wire rope 15). Due to the varying superlift tension on both sides, the arm head (i.e., the boom head 16) will move to the right and the amount of side bending will decrease, thereby ensuring that the amount of side bending of the boom 10 is maintained within the allowable range of deflection.

The method also comprises the following steps: in the case where it is determined that the boom 10 is bent sideways to the right and it is determined that the crane is in the boom-extended state, the back pressure of the right hoist 18 is reduced to reduce the tension of the right wire rope 15; the back pressure of the left hoist 17 is increased to increase the tension of the left wire rope 14 until the first length difference is less than or equal to the preset allowable deviation.

When the crane is in the arm-extending state, if it is judged that the boom 10 has been bent sideways to the right, the crane intelligently and automatically adjusts the motor back pressure of the super-lift winch through the super-lift winch back pressure adjusting electromagnetic valve, reduces the right super-lift back pressure (namely, the back pressure of the right winch 18), reduces the right super-lift tension (namely, the tension of the right wire rope 15), increases the left super-lift back pressure (namely, the back pressure of the left winch 17), and increases the left super-lift tension (namely, the tension of the left wire rope 14). Due to the varying superlift tension on both sides, the arm head (i.e., the boom head 16) will move to the left and the amount of side bending will decrease, thereby ensuring that the amount of side bending of the boom 10 is maintained within the allowable range of deflection.

In an embodiment, the method further comprises: in the case that it is determined that the boom 10 is bent sideways to the left and that the crane is in a contracted state, the rope take-up speed of the left winch 17 is slowed down to reduce the tension of the left wire rope 14; the rope take-up speed of the right winding machine 17 is increased to increase the tension of the right wire rope 15 until the second length difference is less than or equal to the preset allowable deviation.

When the crane is in the arm-shrinking state, if the boom 10 is judged to have been bent sideways to the left, the crane intelligently and automatically adjusts the rope-winding flow of the super-lift winch through the rope-winding proportional electromagnetic valve of the super-lift winch. The left superlift (i.e. the left winch 17) rope reeling speed is reduced, and the pulling force (i.e. the pulling force of the left steel wire rope 14) is reduced. Meanwhile, the right superlift rope collecting flow is increased, the right superlift (namely, the right winch 17) rope collecting speed is increased, and the pulling force (namely, the pulling force of the right steel wire rope 15) is increased. Due to the varying superlift tension on both sides, the arm head (i.e., the boom head 16) will move to the right and the amount of side bending will decrease, thereby ensuring that the amount of side bending of the boom 10 is maintained within the allowable range of deflection.

In an embodiment, the method further comprises: in the case that it is determined that the boom 10 is bent sideways to the right and that the crane is in a contracted state, the rope take-up speed of the right winch 18 is slowed down to reduce the tension of the right wire rope 15; the rope reeling speed of the left winch 17 is increased to increase the tension of the left wire rope 14 until the first length difference is less than or equal to the preset allowable deviation.

When the crane is in the arm-shrinking state, if the boom 10 is judged to have been bent sideways to the right, the crane intelligently and automatically adjusts the super-lift winch rope-collecting flow through the super-lift winch rope-collecting proportional electromagnetic valve. The right superlift rope winding flow is reduced, the right superlift (i.e. right winding 18) rope winding speed is reduced, the pulling force (i.e. the pulling force of the right steel wire rope 15) is reduced, the left superlift rope winding flow is increased, the left superlift (i.e. left winding 17) rope winding speed is increased, and the pulling force (i.e. the pulling force of the left steel wire rope 14) is increased. Due to the varying superlift tension on both sides, the arm head (i.e., the boom head 16) will move to the left and the amount of side bending will decrease, thereby ensuring that the amount of side bending of the boom 10 is maintained within the allowable range of deflection.

For a larger tonnage crane, various safety accidents are easily caused by slightly bending the arm head 16 (namely the head 16 of the boom) in the long-arm lifting process due to the large lifting capacity. Therefore, it is generally necessary to install an superlift device on the base arm 11, and referring to fig. 1, 2 and 3, two masts in the superlift device draw the arm head 16 by using a steel wire rope respectively, so as to apply a force to the arm head 16 in opposite directions, and ensure that the side bending degree of the arm head 16 is controlled within a reasonable range. The super-lifting device is a device capable of improving the stress condition of the components and the stability of the whole crane and improving the lifting performance of the crane.

(1) The boom 10 is bent sideways to the left and the crane is in the working state; (2) The boom 10 is bent sideways to the right and the crane is in the working state; (3) The boom 10 is bent sideways to the left and the crane is in an arm-extended state; (4) The boom 10 is bent sideways to the right and the crane is in an arm-extended state; (5) The boom is bent to the left side, and the crane is in a telescopic state; (6) The boom is bent sideways to the right and the crane is in a telescopic state. In the embodiment of the invention, six different side bending adjustment strategies are correspondingly set according to the six different conditions, and the side bending amount of the suspension arm 10 can be ensured to be maintained within the allowable deviation range under different working conditions, so that the safety of operation is ensured, and accidents caused by the excessive side bending amount of the suspension arm 10 are avoided.

L3 is used as the maximum rope length deviation amount allowed under different working conditions and arm length of the crane, and the left superlift rope length L1 (namely the length L1 of the left steel wire rope 14) and the right superlift rope length L2 (namely the length L2 of the right steel wire rope 15) are detected in real time. In the embodiment of the invention, the two conditions of operation adjustment and telescopic adjustment (namely, adjustment under the operation state of the corresponding crane and adjustment under the telescopic arm state) are divided, the included angles of the left and right super-lift masts and the boom are required to be ensured to be 90 degrees before adjustment (namely, the left mast 12 and the right mast 13 are both variable to be perpendicular to the boom 10), the left and right super-lift swing angles are equal (namely, the left mast 12 and the right mast 13 are both swung to the same swing angle), at the moment, the left and right super-lift winches and the masts are in symmetrical relation with the boom, and the left movable pulley of the head of the boom and the right movable pulley of the head of the boom are also in symmetrical relation with the boom. If boom 10 is free of side bending, the left and right superlift wire rope lengths will be substantially equivalent (i.e., the lengths of left wire rope 14 and right wire rope 15 are equal), and the side bending state of boom 10 can be evaluated by comparing L1, L2, and L3.

When the crane is in an operation state, a closed-loop control strategy is adopted during operation adjustment, the super-lift winch at the side opposite to the side bent by the boom is actively used for winding ropes through a PID (Proportion Integral Differential) algorithm, the side bent state of the boom is automatically adjusted in a mode of passively releasing ropes through the super-lift winch at the side bent by the boom in the same direction, and therefore the side bent amount of the boom can be always matched with the current arm length and working conditions, the possibility of safety accidents is eliminated, and operation safety is guaranteed.

When the crane is in a telescopic state, a closed-loop control strategy is adopted during telescopic adjustment, the current of the left and right super-lift back pressure valves is regulated through a PID algorithm during arm extension, the super-lift winding back pressure on the side opposite to the side bending of the suspension arm is increased, and the super-lift winding back pressure on the side same as the side bending of the suspension arm is reduced, so that the side bending state of the suspension arm is automatically regulated. When the arm is retracted, the current of the left and right super-lifting rope-collecting electromagnetic valves is regulated through a PID algorithm, the rope-collecting speed of the super-lifting winch at the side opposite to the side bending of the boom is accelerated, and the side bending state of the boom is automatically regulated in a mode that the rope-collecting speed of the super-lifting winch at the side opposite to the side bending of the boom is slowed down, so that the side bending amount of the boom can be always matched with the current arm length and working condition, the possibility of safety accidents is eliminated, and the operation safety is ensured.

In view of safety, the crane is provided with an emergency automatic cut-off function, and in case of emergency, a man-machine interface displays related alarm prompts, and meanwhile, the crane automatically cuts off actions in dangerous directions. The specific control logic is as follows: (1) When the super-lifting tension (namely the tension of the left steel wire rope 14 or the tension of the right steel wire rope 15) is larger than the maximum safe tension allowed by the current working condition, the side bending adjustment is automatically stopped, and the telescopic action and the rope winding and unwinding action are cut off. (2) When the deviation of the left and right superlift ropes exceeds the allowable safety upper limit value, the sideways bending adjustment is automatically stopped, and the telescopic action is cut off. (3) When the unlocking signal of the super-lifting ratchet winch is not detected during stretching, the side bending adjustment is automatically stopped, the stretching action and the rope winding and unwinding action are cut off, and when an operator opens a maintenance mode or the signal is recovered, the limitation is released.

The following describes a specific embodiment of a control flow corresponding to the crane in the working state, the arm extension state and the arm retraction state.

The operation adjustment control method of the crane in the operation state is as follows:

(1) And monitoring interface signals of each sensor and a human-computer on the crane in real time, reading arm length information of the current working condition of the crane, and calculating information such as the current rope length L1 of the left superlift winch (namely the length L1 of the left steel wire rope 14), the current rope length L2 of the right superlift winch (namely the length L2 of the right steel wire rope 15), the left superlift swing angle and the right superlift swing angle (namely the swing angles of the left mast 12 and the right mast 13) and the like.

(2) If the mast in-place signal is not detected, prohibiting operation adjustment, otherwise turning to next operation;

(3) If the left-right swing angles are not detected to be equal target angles, prohibiting operation adjustment, otherwise turning to next operation;

(4) The side bending adjusting key can be pressed, the allowable maximum rope length deviation L3 is calculated in real time according to the arm length information of the current working condition of the crane, and the crane is turned to operate in a next step after the side bending adjusting key is pressed;

(5) Judging whether the absolute value of (L1-L2) is larger than L3 in real time, if not, representing that the current boom side bending amount is in an allowable range, and not needing to be regulated; otherwise, turning to the next operation;

(6) Comparing the sizes of L1 and L2, if L1 is smaller than L2, turning to the step (7); if L1 is larger than L2, turning to the step (8);

(7) At this time, the boom 10 is bent sideways to the left side, the left and right superlift is unlocked (i.e. the left winch 17 and the right winch 18 are both set to be in an unlocking state), the left superlift back pressure valve supplies constant large current, the left superlift passively unwinds the rope along with the position change of the boom head, meanwhile, the right superlift (i.e. the right winch 18) actively receives the rope, and the right superlift rope receiving current is calculated by adopting a PID function.

(8) At this time, the boom 10 is bent sideways to the right, the left and right superlift is unlocked, the left and right superlift back pressure valve supplies constant high current, the right superlift passively releases ropes along with the position change of the boom head, meanwhile, the left superlift (namely the left winch 17) actively receives ropes, and the left superlift rope receiving current is calculated by adopting a PID function.

In the arm extension state, the arm extension adjustment control method of the crane is described as follows:

(2) If the mast in place and the super-lifting unlocking signal are not detected, prohibiting operation adjustment, otherwise turning to the next operation;

(4) Calculating the allowable maximum rope length deviation L3 according to the arm length information of the current working condition of the crane in real time, and turning to operate in the next step after the arm is stretched;

(5) Judging whether the absolute value of (L1-L2) is larger than L3 in real time, if not, representing that the current side bending amount of the suspension arm 10 is in an allowable range, and not needing to be regulated; otherwise, turning to the next operation;

(7) At this time, representing that the boom 10 is bent sideways to the left, the left and right superlift back pressure valve currents are calculated by using PID functions, the left superlift rope unwinding back pressure is reduced (i.e. the back pressure of the left winch 17 is reduced), and the right superlift rope unwinding back pressure is increased (i.e. the back pressure of the right winch 18 is increased).

(8) At this time, representing that the boom 10 is bent sideways to the right, the left and right superlift back pressure valve currents are calculated by using PID functions, the right superlift rope unwinding back pressure is reduced (i.e. the back pressure of the right winch 18 is reduced), and the left superlift rope unwinding back pressure is increased (i.e. the back pressure of the left winch 17 is increased).

The telescopic arm adjusting control method of the crane in the telescopic arm state is as follows:

(4) Calculating the allowable maximum rope length deviation L3 according to the arm length information of the current working condition of the crane in real time, and turning to operate in the next step after the arm shrinkage is started;

(7) At this time, representing that the boom 10 is bent sideways to the left, the left and right superlift rope collecting currents are calculated by adopting a PID function, the left superlift (i.e. the left winch 17) rope collecting speed is slowed down, and the right superlift (i.e. the right winch 18) rope collecting speed is accelerated.

(8) At this time, representing that the boom 10 is bent sideways to the right, the left and right superlift rope collecting currents are calculated by adopting a PID function, the rope collecting speed of the right superlift (namely, the right winch 18) is slowed down, and the rope collecting speed of the left superlift (namely, the left winch 17) is accelerated.

In the embodiment of the invention, the crane can be a super-tonnage crane, and the current side bending state of the crane boom can be intuitively estimated by comparing the left and right super-lifting rope lengths with the allowable maximum rope length deviation value by utilizing the structural symmetry of the super-lifting device of the super-tonnage crane and meeting the condition that the included angles of the left and right super-lifting masts and the boom are 90 degrees and the left and right super-lifting swing angles are equal. Compared with the traditional mode of manual measurement, the method for determining the side bending of the crane boom provided by the embodiment of the invention has the advantages of simple steps, short time consumption and high precision. All detection elements can be connected in a wired mode, the installation position is close to the position of the control device, and compared with a mode of detecting the side bending state through the wireless side bending detection device, the detection device is higher in reliability.

In the embodiment of the invention, the side bending amount of the suspension arm is automatically adjusted according to the difference value of the current left and right super lifting rope lengths, the whole process is intelligent and automatic, manual control is not needed, the operation difficulty is low, and the adjusting effect is better. The emergency automatic cutting-off device has the emergency automatic cutting-off function, dangerous actions are automatically cut off under the emergency, and an alarm is given on a man-machine interface, so that the safety is greatly improved. The convenience and the safety of operation are greatly improved due to the abundant human-computer interaction information and alarm functions. By adopting the PID algorithm, the response speed and the adjustment accuracy can be ensured. In addition, in the embodiment of the invention, the length of the left and right super hoisting ropes (namely the length of the left steel wire rope 14 and the length of the right steel wire rope 15) can be calculated in real time by using the super hoisting encoder, so that the method is accurate and reliable. The control unit can be set for data acquisition, logic operation and control output; CAN (Controller Area Network ) bus communication technology CAN be used.

Fig. 5 schematically shows a hardware block diagram of a crane according to an embodiment of the invention, see fig. 5, the hardware involved mainly comprising: the super-lift winch encoder 28, the angular displacement sensor 29, the super-lift mast in-place proximity switch 30, the man-machine interface 31, the super-lift tension sensor 32, the control unit 33, the super-lift winch rope-collecting proportional electromagnetic valve 34, the super-lift winch unlocking electromagnetic valve 35 and the super-lift winch backpressure control electromagnetic valve 36.

Control unit 33: all input signals are monitored in real time, logic operation processing is carried out, and output control is carried out on related electromagnetic valves.

Man-machine interface 31: the working condition information input by the operator CAN be collected and communicated with the control unit 33 through the CAN bus, various state signals sent by the control unit 33 are displayed, and the side bending adjusting signals are transmitted to the control unit 33.

Super lift hoist encoder 28: the left superlift winch encoder and the right superlift winch encoder are respectively arranged on reels of the left winch 17 and the right winch 18 through couplers, rotate concentrically with the reels, and send collected reel position signals and frequency signals to the control unit 33 through a CAN bus for calculating the length of the left superlift rope and the right superlift rope.

Angular displacement sensor 29: the left superlift angular displacement sensor and the right superlift angular displacement sensor are respectively arranged at the left superlift swinging oil cylinder and the right superlift swinging oil cylinder and are used for detecting the left superlift swinging angle and the right superlift swinging angle and transmitting signals to the control unit 33.

Superlift mast in place proximity switch 30: the left superlift mast in-place proximity switch and the right superlift mast in-place proximity switch are respectively installed near the left superlift mast and the right superlift mast and are used for detecting whether the included angle between the left superlift mast and the right superlift mast is 90 degrees or not and transmitting signals to the control unit 33.

Super-lift winch rope-winding proportional solenoid valve 34: the device is divided into a left superlift winch rope-collecting proportional electromagnetic valve and a right superlift winch rope-collecting proportional electromagnetic valve, wherein the flow of the left superlift winch rope-collecting proportional electromagnetic valve and the right superlift winch rope-collecting proportional electromagnetic valve are respectively controlled, and the larger the current is, the larger the corresponding flow is.

Super-lift winch unlocking electromagnetic valve 35: the electromagnetic valve is divided into a left super-lifting winch unlocking electromagnetic valve and a right super-lifting winch unlocking electromagnetic valve, and the left super-lifting winch and the right super-lifting winch can be controlled to unlock respectively.

Super-lift hoist backpressure control solenoid valve 36: the control device is divided into a left superlift winch back pressure control electromagnetic valve and a right superlift winch back pressure control electromagnetic valve, wherein the larger the current is, the smaller the corresponding back pressure is.

Superlift tension sensor 32: the left and right super-lifting tension sensors are respectively arranged on the left and right super-lifting steel wire ropes and are used for detecting the tension of the left steel wire rope 14 and the tension of the right steel wire rope 15.

An embodiment of the invention provides a processor configured to perform the method of any of the above embodiments for determining crane boom side bending.

The crane comprises a suspension arm, the suspension arm comprises a basic arm, the basic arm is provided with a super-lifting device, the super-lifting device comprises a left mast, a right mast, a left steel wire rope and a right steel wire rope, the first end of the left mast is arranged on the basic arm, the first end of the left steel wire rope is connected with the second end of the left mast, the second end of the left steel wire rope is connected with the head of the suspension arm, and the right mast and the right steel wire rope are symmetrically arranged with the left mast and the left steel wire rope relative to the suspension arm respectively.

In particular, the processor may be configured to:

In the embodiment of the invention, the super-lifting device further comprises a left winch and a right winch, wherein the left winch and the right winch are used for respectively controlling the winding and unwinding of the left steel wire rope and the right steel wire rope; the processor is configured to:

In an embodiment of the invention, the processor is configured to:

The embodiment of the invention provides a device for determining the side bending of a crane boom, which comprises a boom, wherein the boom comprises a basic arm, the basic arm is provided with a super-lifting device, the super-lifting device comprises a left mast, a right mast, a left steel wire rope and a right steel wire rope, the first end of the left mast is arranged on the basic arm, the first end of the left steel wire rope is connected with the second end of the left mast, the second end of the left steel wire rope is connected with the head of the boom, and the right mast and the right steel wire rope are respectively symmetrically arranged with the left mast and the left steel wire rope relative to the boom; the device comprises:

the processor described above.

In the embodiment of the invention, the device further comprises:

The embodiment of the invention provides a crane, which comprises the device for determining the side bending of a crane boom.

Embodiments of the present invention provide a machine-readable storage medium having stored thereon instructions for causing a machine to perform the above-described method for determining a crane boom camber.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

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

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

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

The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims

1. A method for determining the sideways bending of a crane boom, characterized in that the crane comprises a boom, the boom comprises a basic arm, a superlift device is arranged on the basic arm, the superlift device comprises a left mast, a right mast, a left wire rope and a right wire rope, a first end of the left mast is arranged on the basic arm, a first end of the left wire rope is connected with a second end of the left mast, a second end of the left wire rope is connected with the head of the boom, and the right mast and the right wire rope are respectively symmetrically arranged with the left mast and the left wire rope relative to the boom; the method comprises the following steps:

Under the condition that the left mast and the right mast are both changed to be perpendicular to the suspension arm and are both swung to the same swing angle, determining to enter a suspension arm side bending detection state;

determining that the suspension arm is bent sideways to the right side under the condition that the first length difference between the left steel wire rope and the right steel wire rope is larger than a preset allowable deviation;

determining that the suspension arm is bent sideways to the left side under the condition that the second length difference between the right steel wire rope and the left steel wire rope is larger than the preset allowable deviation;

2. The method of claim 1, wherein the super-lift device further comprises a left winch and a right winch for controlling the unwinding and winding of the left and right wire ropes, respectively; the method further comprises the steps of:

under the condition that the boom is determined to be bent sideways to the left side and the crane is determined to be in a working state, setting the left winch and the right winch to be in an unlocking state;

3. The method according to claim 2, wherein the method further comprises:

setting the left winch and the right winch to be in an unlocking state under the condition that the boom is determined to be bent sideways to the right side and the crane is determined to be in an operation state;

4. The method according to claim 2, wherein the method further comprises:

reducing the back pressure of the left winch to reduce the pulling force of the left steel wire rope under the condition that the boom is determined to be bent sideways to the left side and the crane is determined to be in an arm extension state;

5. The method according to claim 2, wherein the method further comprises:

under the condition that the boom is determined to be bent sideways to the right side and the crane is determined to be in an arm extending state, reducing the back pressure of the right winch to reduce the pulling force of the right steel wire rope;

6. The method according to claim 2, wherein the method further comprises:

under the condition that the boom is determined to be bent sideways to the left and the crane is determined to be in a telescopic arm state, slowing down the rope reeling speed of the left winch so as to reduce the tension of the left steel wire rope;

and accelerating the rope reeling speed of the right winch to increase the pulling force of the right steel wire rope until the second length difference is smaller than or equal to the preset allowable deviation.

7. The method according to claim 2, wherein the method further comprises:

under the condition that the boom is determined to be bent sideways to the right side and the crane is determined to be in a telescopic arm state, slowing down the rope reeling speed of the right winch so as to reduce the pulling force of the right steel wire rope;

8. The method of claim 7, wherein the method further comprises:

9. A processor, characterized by being configured to perform the method for determining crane boom side bending according to any one of claims 1 to 8.

10. The device for determining the side bending of the crane boom is characterized by comprising a boom, wherein the boom comprises a basic arm, a super-lifting device is arranged on the basic arm, the super-lifting device comprises a left mast, a right mast, a left steel wire rope and a right steel wire rope, a first end of the left mast is arranged on the basic arm, the first end of the left steel wire rope is connected with a second end of the left mast, a second end of the left steel wire rope is connected with the head of the boom, and the right mast and the right steel wire rope are symmetrically arranged relative to the boom respectively; the device comprises:

the processor of claim 9.

11. The apparatus of claim 10, wherein the apparatus further comprises:

A left tension sensor for detecting the tension of the left wire rope;

12. Crane, characterized in that it comprises a device for determining the sideways bending of a crane boom according to claim 10 or 11.