4767results about "Cranes" patented technology

The invention relates to the field of crane management, and discloses an intelligent agent control method and system.The method comprises the steps that operation parameters and operation environment data are collected in real time through multiple sensors arranged on a crane and subjected to standardization processing; transmitting the processed data to an operation state analysis model, and outputting an operation state evaluation value so as to analyze the current operation state of the crane and predict potential risks; based on the analysis result, an optimization control instruction is generated and issued to each execution mechanism controller, and corresponding mechanisms are driven to execute precise actions; through multi-source data fusion and intelligent analysis, real-time monitoring and risk assessment of the running state of the crane are achieved, the self-adaptive capacity and safety of the control system are improved, the manual intervention requirement is effectively reduced, and the method is suitable for intelligent crane control in the complex working environment.

A handling truck comprises a mast assembly, a base, a moving assembly, and a connecting member. The base is fixedly disposed at the bottom end of the mast assembly, and the base is provided with a socket portion. The moving assembly includes a leg assembly and a connecting portion, wherein one end of the connecting portion is connected to the leg assembly, and the other end of the connecting portion is configured for socket engagement with the socket portion. The moving assembly is configured to drive the mast assembly to move on a plane. The connecting member is configured to pass through the socket portion and the connecting portion to achieve a detachable connection between the moving assembly and the base. The present application provides a handling truck capable of reducing packaging costs and transportation costs.

The invention relates to the technical field of intelligent control of engineering machinery, and provides a tower crane hoisting whole process dynamic mapping and sensing coverage method and system. The method comprises the following steps: respectively mounting two rotary radars on a rotatable bracket of the tower crane; the current hoisting operation stage of the tower crane is obtained in real time; switching a shooting view angle of the double-radar module according to the hoisting operation stage, and controlling the double-radar module to obtain continuous point cloud data of the corresponding operation stage; tower crane operation parameters are collected, and continuous lifting hook tracks are generated in combination with continuous point cloud data obtained by the double-radar module; identifying a dynamic obstacle and a static background contained in the target monitoring space from the continuous point cloud data, and constructing a construction environment point cloud model; performing space-time registration on the construction environment point cloud model and the physical coordinate system, and establishing a global dynamic map; and a dynamic sensing area coverage map is constructed by fusing the continuous lifting hook track and the global dynamic map, so that the real-time sensing of the space environment of the tower crane hoisting operation is realized.

The invention relates to the technical field of attitude control, and discloses a method for realizing self-adaptive active leveling compensation, which comprises the following steps: acquiring real-time data of a vehicle, the data being provided by a plurality of sensors; processing the real-time data through a data fusion algorithm; according to the inclination state and the motion parameters of the vehicle, hydraulic supporting leg adjusting parameters are calculated through a multi-objective optimization algorithm; according to the calculated hydraulic supporting leg adjusting parameters, the action of the hydraulic supporting leg is adjusted through a PI D controller for vehicle balance recovery; the stability of the hydraulic supporting leg adjusting system is verified through the Lyapunov stability theory, and the hydraulic supporting leg adjusting system is used for enabling the adjusting process of the hydraulic supporting leg to be completed in all operation states; and the vehicle inclination state is fed back in real time. By fusing multi-sensor data and adopting a Kalman filtering or particle filtering algorithm, high-precision perception of the real-time inclination state and dynamic parameters of the vehicle is realized, and a more accurate and reliable vehicle attitude judgment effect is obtained.

A constant-flow control valve group, an auxiliary arm control module, a complete hydraulic system, and a crane. The constant-flow control valve group comprises: a cartridge valve; a cartridge reversing valve, comprising a working oil port on one side and a main oil return port and a reversing valve oil inlet selectively connected to the working oil port on the other side, the working oil port being connected to a control oil port of the cartridge valve, and the reversing valve oil inlet being connected to a main oil inlet of the cartridge valve; and a feedback on-off valve, disposed in a working feedback oil path connected between the main oil inlet of the cartridge valve and a main feedback oil port of the constant-flow control valve group. The auxiliary arm control module comprises the constant-flow control valve group and a main reversing valve. The complete hydraulic system comprises the auxiliary arm control module and an auxiliary arm luffing cylinder, and may further comprise a load-sensitive oil pump and a main valve. The present application can achieve the effect of directly connecting an auxiliary arm hydraulic system to an existing complete hydraulic system as a sub-module without altering the original system.

The invention relates to the technical field of tower crane control, and provides an aerial high-risk area identification and hoisting path reconstruction method and system. The method comprises the following steps of: respectively mounting two rotary radars on a rotatable bracket of the tower crane to form a radar sensing module comprising a double-radar module; dynamically scanning the potential risk area in the construction scene through a radar sensing module to obtain real-time position information of the potential risk area; receiving the real-time position information through a processing module, and converting the real-time position information into real-time three-dimensional coordinate data in a motion coordinate system of the hoisting equipment by adopting a three-dimensional coordinate conversion algorithm; constructing a three-dimensional model of the potential risk area based on the real-time three-dimensional coordinate data; and identifying the three-dimensional model to determine a high-risk area, adopting an improved fast exploration random tree algorithm as a path obstacle avoidance algorithm, combining the three-dimensional model to dynamically reconstruct an initial hoisting path set by a user, and generating an optimal risk-avoiding hoisting track avoiding the high-risk area.

The invention discloses an intelligent and safe hoisting monitoring method for a large-tonnage I-beam, relates to the field of construction safety, is based on a monitoring system consisting of a sensing layer, a transmission layer, a data layer, a decision layer and an execution layer, and comprises the following steps: deploying the sensing layer, constructing the transmission layer, configuring the data layer, constructing the decision layer and responding to the execution layer. Structural stress is monitored through a high-precision strain gauge and a distributed optical fiber sensor, the posture is monitored through an MEMS tilt angle sensor and a six-axis gyroscope, the state of the lifting appliance is monitored through a tension sensor and a visual recognition sensor, the environment is monitored through an ultrasonic anemograph and a laser radar, and multi-dimensional data collection is conducted through a displacement sensor monitoring device. Full-scene monitoring of the state of the I-shaped beam, the performance of a lifting appliance, the working environment and crane equipment is achieved, potential risks are captured without dead corners, the accuracy and reliability of data under complex working conditions are ensured, the problems that traditional monitoring data are prone to being interfered by the environment and insufficient in precision are solved, and the safety coefficient is increased.

The invention relates to the field of automation, and particularly provides a crane boom anti-collision method and system based on dynamic detection, and the method comprises the following steps: obtaining power parameters, motion data and structural data of a main engine boom and an auxiliary engine boom; determining the current position information of a main engine boom, and determining the current position information of an auxiliary engine boom; acquiring predicted deceleration position information and predicted stop position information of the main engine arm support based on the motion data, the power parameters and the structural data of the main engine arm support; based on the current position information of the main machine arm frame, the current position information of the auxiliary machine arm frame and the predicted deceleration position information and the predicted stop position information of the main machine arm frame, judging a collision risk assessment result of the main machine arm frame and the auxiliary machine arm frame; and when the collision risk assessment result is early warning, the main engine boom is decelerated, or when the collision risk assessment result is dangerous, the main engine boom is stopped. According to the anti-collision method, collision of the crane boom can be avoided.

The invention belongs to the technical field of underwater operation, and relates to a maintenance device for a lower hinged support of a dock gate and a construction method thereof. The device comprises a waterproof cover box, a diving barge, a hoisting system and a drainage assembly, the waterproof cover box comprises a cover body and a channel well, openings are formed in the bottom and the top of the cover body, the bottom face of the cover body is in sealed compression joint with the surrounding structure of the lower hinged support to be maintained, the channel well is connected to the opening in the top of the cover body in a sealed mode, and the top face of the channel well is higher than the water surface. The diving barge is provided with a plurality of hydraulic supporting legs capable of ascending and descending so that the diving barge can be supported in the horizontal door pit. The hoisting system comprises a tower frame and an arm frame which are arranged on the diving barge, and one end of the arm frame is located above the cover body and connected with the cover body in a pressing mode; the drainage assembly comprises a submersible pump and a drainage pipe, the submersible pump is arranged in the cover body, one end of the drainage pipe is connected with the submersible pump, and the other end is led to the water surface through the channel well. According to the method, a stable dry operation environment can be rapidly constructed at the dock gate lower hinged support to be maintained, rapid maintenance is achieved, pollution to a sea area is avoided, and operation safety is improved.

The invention relates to the technical field of hoisting equipment intelligent control based on multi-sensor cooperation, and discloses a hoisting equipment intelligent control method based on multi-sensor cooperation. A control unit reads and stores parameters such as air density, windward projection area, wind load arm length, arm section rotational inertia, rated output force of a hydraulic cylinder, sampling period and the like, and static self-inspection and dynamic calibration are performed on a wind speed sensor, a rotary encoder and a pressure sensor respectively; multiple paths of wind speeds are collected in parallel during operation, fused wind speeds are obtained through weighted fusion after abnormities are removed, and the wind load torque is calculated and limited by combining the windward area and the force arm length; reading two continuous encoder angle differences, performing amplitude limiting, calculating an angular velocity and kinetic energy, performing adaptive adjustment according to kinetic energy deviation, and performing amplitude limiting on a damping coefficient to generate a damping torque; and the amplitude-limited wind load torque and damping torque are synthesized into total control torque, and after amplitude limiting, the total control torque is converted into amplitude-limiting hydraulic cylinder operation output force which is issued and executed by a control unit.

A crane assembly for erecting a tower from a plurality of tower sections includes a first telescopic mast connected to a second telescopic mast. A crane is mounted on top of the first telescopic mast. The first telescopic mast is configured to increase in length from a retracted state in a first direction and includes a first clamp assembly that selectively grips portions of the tower. The second telescopic mast is configured to increase in length from a retracted state in a second direction opposite to the first direction and includes a second clamp assembly that selectively grips portions of the tower.

The invention relates to the technical field of intelligent control of engineering machinery, and provides a self-adaptive perception control method and system for dual-radar cooperative scheduling. According to the method, the first rotary radar and the second rotary radar are respectively installed on the rotatable support; obstacle distribution data of a tower crane hoisting operation area are obtained in real time through the first rotating radar and the second rotating radar, and real-time stage information of hoisting operation is obtained in real time through the operation state sensing module. Calculating a sensing dead angle position according to the real-time stage information; dynamically generating a first task instruction and a second task instruction according to the priority level, the sensing dead angle position and the obstacle distribution data of the target monitoring area, and controlling the first rotary radar and the second rotary radar to adjust the rotation angle and the sensing parameter, so that the first rotary radar performs emphasized sensing on the target monitoring area with high priority, and the second rotary radar performs emphasized sensing on the target monitoring area with high priority. And the second rotary radar performs compensation sensing on areas corresponding to the sensing blind area and the sensing dead angle of the first rotary radar.

The invention relates to the technical field of artificial intelligence, and provides a tower crane multi-dimensional data dynamic analysis and visualization method and system and terminal equipment. The method comprises the following steps: acquiring multi-dimensional monitoring data of the tower crane; establishing a synchronous monitoring model of the tower crane by adopting a digital twin technology based on the multi-dimensional monitoring data, and synchronously displaying the synchronous monitoring model in a user interface; based on a viewing instruction of a user to the synchronous monitoring model, matching a target display dimension for the user, synchronously setting a folding dimension which is not matched with the viewing instruction, and hiding model display information corresponding to the folding dimension in the synchronous monitoring model; calling a preset analysis model matched with the target display dimension, extracting target monitoring information from the synchronous monitoring model, and performing tower crane dynamic analysis on the target monitoring information through the preset analysis model; and updating the dynamic analysis result of the tower crane into the synchronous monitoring model to update model display information matched with the target display dimension in the synchronous monitoring model, thereby improving the operation and maintenance decision efficiency and accuracy.

The invention discloses a pipe grabbing system for building water well vertical pipe construction, and relates to the technical field of building mechanical and electrical installation, the pipe grabbing system comprises a pipe grabbing mechanism, a rotating disc, a lifting rod, a base, a visual module and a controller; the controller is configured to acquire image data fed back by the visual module if pipe grabbing demand information initiated by a user is received, and perform pipeline identification based on the image data to obtain pipe diameter data of a pipeline; a pipe grabbing control quantity is generated based on the pipe diameter data, a pipe grabbing control instruction is sent to a pipe grabbing mechanism according to the pipe grabbing control quantity, a rotating mechanism is controlled to lift the pipeline away from the ground, and a rotating disc is controlled to rotate; and calling the image data, determining a pipeline mounting position, generating a pipeline height movement amount and a pipeline positioning movement amount, sending a pipeline height control instruction to the lifting rod according to the pipeline height movement amount, and sending a pipeline positioning control instruction to the rotating mechanism according to the pipeline positioning movement amount. The construction method has the effect of improving the construction efficiency.

The invention discloses an extended-range hybrid power system and a control method therefor, and a crane, and belongs to the technical field of construction machinery. The extended-range hybrid power system comprises a power battery, an all-in-one controller, a first motor, a second motor and an engine, wherein the first motor is connected to a lower traveling mechanism; the engine is connected to the second motor, and the second motor is connected to an upper operating mechanism; the power battery, the first motor and the second motor are connected to the all-in-one motor, and the all-in-one motor is connected to an external power supply.

The present invention pertains to a wear pad for a telescopic boom of a work machine, comprising a base part configured to be fixedly mounted to the telescopic boom, and a top layer part configured to provide a wear-resistant, low friction sliding surface. The top layer part is configured to be releasably mounted to the base part. The invention further pertains to a telescopic boom assembly for a work machine, comprising a first boom segment having at least one first wear pad assembly mounted to a free end of the first boom segment, and a second boom segment having at least one second wear pad assembly mounted to a sliding end of the second boom segment, wherein at least one of the wear pad assemblies comprise a wear pad having a base part and a top layer part configured to provide a wear-resistant, low friction sliding surface. The top layer part is configured to be releasably mounted to the base part. Further, the present invention pertains to a work machine comprising such telescopic boom assembly.

A five-degree-of-freedom zero-gravity simulation suspension device for a space complex unfolding track belongs to the technical field of space mechanism zero-gravity simulation unfolding and mainly comprises a rocker arm frame mounting plate, a rocker arm frame assembly, a spring suspension assembly, a guide rail fine adjustment assembly, a movable constant-force suspension assembly and a mass center point connecting assembly. Wherein the guide rail fine adjustment assembly is used for adjusting the levelness of a guide rail in the movable constant-force hanging assembly. During installation, the rocker arm frame assembly is installed on the rocker arm frame installation plate through screws, the three spring hanging assemblies are installed on the rocker arm frame through the rocker arm frame embracing rings, the movable constant-force hanging assembly is installed on the rocker arm frame through the three guide rail fine adjustment assemblies, and the mass center point connecting assembly is installed on the movable constant-force hanging assembly through the spring buckles. According to the invention, the movable constant-force hanging assembly is added to realize gravity follow-up unloading in the vertical direction, and the mass center connecting assembly containing the spherical hinge assembly is superposed for use, so that the zero-gravity unfolding test requirement of a complex mechanism with five-degree-of-freedom unfolding in space can be met.

The invention relates to the technical field of hoisting vehicles, and discloses a method for realizing active center-of-gravity shift compensation, which comprises the following steps of: acquiring related data reflecting the working condition of a vehicle by using a plurality of sensors arranged at different positions of the hoisting vehicle; constructing a system model comprising a suspension arm, a counterweight and a vehicle chassis on the basis of the collected data, and considering the relative motion relation of all parts, the elastic deformation of the suspension arm and the terrain condition of the vehicle in the model; and the real-time gravity center position of the suspension arm in the operation process is calculated through the system model in combination with a Lagrange equation. Through cooperative operation of multiple links, the effects of high-precision sensing of multi-dimensional physical quantities of the lifting vehicle, sub-centimeter-level precision calculation of the gravity center position, keeping of control precision at a high level, fault diagnosis, quick response and the like are achieved, the safety and stability of operation of the lifting vehicle are guaranteed in an all-around mode, and the operation quality and efficiency are improved. The problem that the gravity center of a traditional lifting vehicle cannot be accurately maintained to be stable under complex working conditions is solved.

The invention relates to the technical field of port machinery loading and unloading, and provides a ship-shore linkage loading and unloading method and system suitable for a mast crane. The method comprises the steps that position data, course data and attitude data of a ship are obtained in real time through ship navigation equipment, and tide height data and tide flow velocity data of the sea surface are obtained in real time through tide monitoring equipment; inputting the obtained ship position data, course data, attitude data, tidal height data and tidal flow velocity data into a control system of the mast crane; the control system generates a corresponding control instruction according to the calculated dynamic compensation parameter, and sends the control instruction to a variable amplitude control system of the mast crane; the hoisting path and the hoisting posture of the mast crane are adjusted in real time through the variable amplitude control system according to the control instruction, so that the hoisting point is kept vertical and the stress is balanced in the equipment lowering process; in the whole hoisting operation process, the operation process is monitored in real time through monitoring equipment arranged on the mast crane and the ship.

The utility model provides an active dynamic balancing device based on a tower crane. The active dynamic balancing device comprises a tower body, a working arm and a balancing arm, wherein the working arm and the balancing arm are fixedly mounted on two sides of the top of the tower body respectively; a water storage tank and a balance water tank are fixedly mounted on the balance arm, and the bottom of the water storage tank is communicated with the balance water tank through a connecting pipeline; and a control valve group for controlling water distribution between the water storage tank and the balance water tank is arranged on the connecting pipeline. According to the utility model, the balance weight of the balance arm is designed into the capacity-adjustable water tank, the working moment is balanced by utilizing the moment generated by the dead weight of the water body, the volume of the balanced water body is adjusted in real time according to requirements, so that the moment is changed, and the quantity of the water body distributed in the water storage tank and the balanced water tank is adjusted in real time according to the working moment. And the balance moment is synchronously equal to the working moment in real time.

A removeable vehicle hardtop lift apparatus is described which includes a lower platform, an upper platform and a linear actuator there-between. The upper platform may have adjustable supports, The linear actuator may be configured to move the upper platform linearly. The linear actuator may include a drive mechanism with a hand crank that is operable to cause the linear actuator to raise and lower the upper platform.

The invention relates to the technical field of emergency rescue, in particular to a movable emergency rescue conveyor which comprises a conveying truck, a hoisting machine is fixedly connected to the top of the conveying truck, a conveyor angle control seat is fixedly connected to the rear side of the top of the conveying truck, and a rescue conveyor is arranged on the front side of the conveyor angle control seat. According to the movable emergency rescue conveyor, by arranging the conveying truck, the hoisting machine, the conveyor angle control base and the rescue conveyor, rapid unfolding and flexible adjustment of the movable emergency rescue conveyor on a rescue site are achieved, and the movable emergency rescue conveyor can be accurately controlled through an electric push rod within a short time; lifting of the conveyor body and height difference adjustment among the conveyors are achieved, so that the material conveying requirements in different rescue scenes are met, meanwhile, the structural strength and stability of the conveyor in the unfolded state are ensured through the unique supporting structure design, and reliable guarantee is provided for rescue actions.

The invention relates to the technical field of engineering machinery control, and provides a mast crane wind load posture self-stabilizing method and system for high wind area operation. The method comprises the following steps: acquiring wind speed data of a current environment in real time through a wind speed sensor arranged at the top end of a main arm of the mast crane, and acquiring current arm angle data of the main arm of the mast crane in real time through an arm angle detector; a control instruction is sent to an execution mechanism of the mast crane, so that the mast crane executes an operation deceleration action, a lifting braking action or a posture fine adjustment action; in the process of executing the control instruction, historical wind load data and rigidity model parameters of the mast crane boom frame are obtained, and predictive analysis is conducted on the current wind load stress state of the mast crane; and according to a predictive analysis result, parameters of the control instruction are adjusted so as to dynamically correct the operation deceleration amplitude, the lifting braking force or the posture fine adjustment angle of the mast crane.

The present invention relates to a six-point truss-type sand pumping and lifting device for a mattress laying vessel. The device comprises a support assembly and six working assemblies. The six working assemblies are all slidably connected to the support assembly. Each working assembly comprises a moving assembly, a sand pumping assembly, and a lifting assembly. The sand pumping assembly and the lifting assembly are both connected to the moving assembly, and thus move and work by means of the moving assembly. The support assembly comprises two main beams. Two ends of each main beam are respectively connected to one main frame support leg. Two auxiliary beams are connected between every left and right main frame support legs. The moving assembly is slidably connected to the two main beams. Each auxiliary beam is connected to a hydraulic pump station, a frequency converter cabinet, and a cab. The present invention minimizes the labor intensity of operators and labor costs, and can effectively improve medium precision control, safety performance, and construction efficiency in the construction process.

The invention relates to the field of wind power tower construction, in particular to a wind power tower self-climbing crane which comprises a frame unit, a variable-diameter clamping unit and a crane unit. The frame unit comprises a main frame and a movable frame which are in sliding connection, and the main frame and the movable frame are connected through a hydraulic driving mechanism. The crane unit is arranged on the top of the main frame. The variable-diameter clamping unit comprises a first variable-diameter clamping mechanism and a second variable-diameter clamping mechanism which are arranged around the wind power tower drum, the first variable-diameter clamping mechanism is connected with the main frame, and the second variable-diameter clamping mechanism is connected with the movable frame. The first variable-diameter clamping mechanism and the second variable-diameter clamping mechanism alternately clamp the wind power tower, and the main frame and the movable frame are alternately pushed and pulled through the hydraulic driving mechanism to ascend and descend so as to drive the crane unit to move in the axial direction of the wind power tower. The problems that existing wind power hoisting equipment is difficult to enter a site, the hoisting height is limited, transition is inconvenient, and the installation efficiency is low are solved.

The invention relates to a safety collision avoidance risk assessment method for a crane jib and electrified equipment, and belongs to the technical field of power construction. The method comprises the following steps: measuring electric field intensity by using an electric field sensor, and measuring and calculating a distance L1 from high-voltage live equipment to a test point; measuring and calculating the radial length L2 of the crane jib by using a pulse laser flight time measurement method; comparing the distance L1 from the electrified high-voltage equipment to the test point with the safety distance Ls1, and calculating a risk coefficient K1; comparing the radial length L2 of the crane jib with a safety threshold value Ls2, and calculating a risk coefficient K2; calculating a comprehensive risk coefficient Kave; and then the risk level is judged, and corresponding early warning is carried out. According to the invention, the problems of complex installation, high cost, poor compatibility and the like of a traditional anti-collision system are solved, the safety distance between the suspension arm and the electrified equipment in the hoisting operation can be evaluated in real time, the occurrence of collision accidents is effectively avoided, and the operation safety of an electric power construction site is guaranteed.

The embodiment of the invention relates to the technical field of pipe hoisting machines, and provides an all-dimensional pipe hoisting machine which comprises a walking vehicle, one side of the walking vehicle is provided with a rotatable hoisting arm, the hoisting arm can be driven by a steel wire rope to swing, the hoisting arm is provided with a lifting hook capable of ascending and descending, and the lifting hook can be driven by the steel wire rope to ascend and descend; the lifting appliance can be hung on the lifting hook and is used for lifting a pipe; the upper arc-shaped blocking piece is arranged on the side, close to the lifting hook, of the lifting arm and used for blocking the pipeline from the upper portion and the two sides. By means of the technical scheme, the technical problems that in the pipe hoisting process of a pipe hoisting machine in the prior art, a pipeline easily shakes, the pipeline quality is affected, and the service life of equipment is shortened are solved. The upper arc-shaped blocking piece blocks the pipeline from the upper portion and the two sides, the pipeline can be effectively prevented from being separated from the lifting appliance due to shaking in the lifting process, and the safety risk is reduced.

The invention discloses a special tool for a hoisting core of a main transformer on-load switch. The special tool comprises a hoisting mechanism and a main transformer fixing mechanism. The hoisting mechanism comprises a hoisting frame and a hoisting structure, and the hoisting structure is arranged on the hoisting frame and used for hoisting objects. The main transformer fixing mechanism comprises a fixing disc, a plurality of foot rods and a plurality of fixers, the fixing disc is fixed to the lower end of the hoisting frame, the fixing disc is provided with a plurality of foot rod mounting positions, the foot rod mounting positions are distributed in the circumferential direction of the fixing disc, the foot rods are suitable for being mounted in the foot rod mounting positions at any positions, and the foot rods are arranged in the horizontal direction after being mounted; the fixing devices are suitable for being arranged at different positions of the foot rods in the length direction and used for fixing the foot rods and an external structure together, detachable structures are arranged between the foot rods and the foot rod installation positions, detachable structures are arranged between the fixing devices and the foot rods, and the foot rods have different lengths. The special tool for the on-load switch hanging core of the main transformer can be applied to assembly and disassembly of the on-load switch hanging core of the main transformer, and is convenient to transport and use, stable in installation and safe in operation.

This invention discloses a boom identification method, a processor, a boom identification device, and a computer-readable storage medium. The boom identification method includes: obtaining the output current I of the Nth boom segment. N2 The Xth arm receives the output current I from the (X+1)th arm. (X+1)2 As the input current I of the Xth arm segment X1 and the input current I X1 The process is performed to obtain the output current I of the Xth arm segment. X2 For the output current I 12 The process involves processing to obtain identification parameters for each boom segment. Based on these parameters, the current boom segment type and connection relationship are determined, and the correctness of these parameters is then assessed. The boom identification method, processor, device, and computer-readable storage medium of this invention can identify both the boom segment type and the connection sequence of each segment, ensuring that the correct boom segment type is used and connected in the correct order. This reduces safety accidents caused by boom segment identification errors, thereby minimizing casualties and property damage.

The invention relates to an accurate measurement device for the reaction force of a crane, and aims to improve the measurement precision and the operation safety of the reaction force of a support leg of the crane. According to the device, the tilt angle sensor, the action control unit, the supporting leg control panel and the pressure monitoring assembly are integrated, so that accurate measurement of the supporting reaction force of the supporting leg of the crane is realized. The tilt angle sensor is used for measuring the tilt angle state of the crane chassis, and the pressure monitoring assembly is installed at the large cavity end of the horizontal oil cylinder and the vertical oil cylinder of the supporting leg and used for monitoring the pressure of the oil cylinders in real time. The invention further relates to a method for controlling the movable supporting leg of the crane. According to the method, the telescopic actions of the horizontal oil cylinder and the vertical oil cylinder are accurately controlled through the action control unit. Data of the tilt angle sensor and the pressure sensor are used for adjusting stretching of the supporting legs in real time, and it is ensured that the crane reaches the optimal stable state before operation. According to the method, all wheels are off the ground, a vehicle body is horizontal, and the pressure measured by the four vertical oil cylinder pressure sensors is within a set threshold interval.