Boom stretching control method and device, hoisting equipment and computer program product

Abstract

The invention provides a boom telescopic control method and device, hoisting equipment and a computer program product, and relates to the technical field of hoisting. The boom telescoping control method comprises the steps of obtaining a control instruction for controlling boom telescoping; and the winch is controlled to rotate according to the control instruction, the winch accommodates the steel wire rope under the condition that the arm frame is shortened and extended, and the winch releases the steel wire rope under the condition that the arm frame is extended. According to the boom stretching and retracting control method, the control instruction for controlling stretching and retracting of the boom is obtained, the winch is controlled to rotate according to the control instruction, under the condition that the boom is shortened and stretched, the winch stores the steel wire rope, and under the condition that the boom is stretched, the winch releases the steel wire rope, and the situation that a lifting hook rushes to the top or falls to the ground in the boom stretching and retracting process is effectively avoided; due to the fact that the telescopic boom and the lifting hook are automatically completed, manual intervention and operation are not needed, the labor intensity of operators is effectively reduced, and the lifting efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of lifting technology, and in particular to a boom extension and retraction control method, device, lifting equipment and computer program product. Background Art

[0002] A truck crane usually includes a boom mounted on a turntable and a hook suspended from the boom by a wire rope. When a truck crane is telescopic, the boom is usually telescoped manually while the hook is dropped or raised accordingly to prevent the hook from hitting the top or falling to the ground. This operation method is cumbersome and has low lifting efficiency. Summary of the invention

[0003] The invention provides a boom extension and retraction control method, which is used to solve the problems of complicated operation and low lifting efficiency in the prior art.

[0004] The present invention provides a boom extension control method, comprising: Obtain control instructions for controlling the extension and retraction of the boom; The winch is controlled to rotate according to the control instruction, wherein when the boom is shortened or extended, the winch stores the wire rope, and when the boom is extended, the winch releases the wire rope.

[0005] According to a boom extension control method provided by the present invention, before the step of obtaining a control instruction for controlling the boom extension, the control method further includes: Determine the lifting performance table according to the obtained lifting parameters; According to the determined lifting performance table, the boom is controlled to extend or shorten.

[0006] According to a boom extension and retraction control method provided by the present invention, the lifting parameters include at least one of a lifting amplitude, a height and a load weight.

[0007] According to a boom extension control method provided by the present invention, the winch is provided with a wire rope coil number detection sensor, and the control method further comprises: Obtaining the number of turns of the wire rope wound by the hoist; Determining the distance between the hook and the boom head of the boom according to the number of turns of the wire rope; When the distance between the hook and the boom head is greater than or less than a preset range, the winch is controlled to perform a compensation action.

[0008] According to a boom extension and retraction control method provided by the present invention, the step of controlling the winch to perform a compensation action comprises: When the distance between the hook and the boom head is greater than the preset range, controlling the winch to rotate faster so that the distance between the hook and the boom head is within the preset range; When the distance between the hook and the boom head is smaller than the preset range, the winch is controlled to decelerate so that the distance between the hook and the boom head is within the preset range.

[0009] According to a boom extension control method provided by the present invention, the control method further includes: When the target conditions are met, the boom is controlled to stop extending or shortening, and the winch is controlled to stop rotating; wherein, the target conditions include at least one of the following: the forced button or the overload release button is turned on, the operating handle is manually touched, the travel protection is triggered, the protection condition is triggered, and the wire rope turn detection sensor is abnormal.

[0010] According to a boom extension control method provided by the present invention, the lifting equipment is provided with a prompt unit, and while controlling the winch to perform a compensation action, the control method further includes: Control the prompt unit to output prompt information.

[0011] The present invention also provides a boom extension and retraction control device for a lifting device, comprising: The control unit is used to obtain a control instruction for controlling the extension and retraction of the boom; and control the rotation of the winch according to the control instruction, wherein when the boom is shortened or extended, the winch stores the steel wire rope, and when the boom is extended, the winch releases the steel wire rope. The present invention also provides a lifting equipment, including the boom extension and retraction control device of the lifting equipment as described above.

[0012] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the boom extension and retraction control method as described in any one of the above items is implemented.

[0013] The boom extension and retraction control method provided by the present invention obtains control instructions for controlling the boom extension and retraction, and controls the rotation of the winch according to the control instructions, wherein when the boom is shortened and extended, the winch stores the wire rope, and when the boom is extended, the winch releases the wire rope, thereby effectively preventing the hook from hitting the top or falling to the ground during the boom extension and retraction process; since the boom extension and retraction and hook lifting and lowering processes are completed automatically without manual intervention and operation, the labor intensity of the operator is effectively reduced and the lifting efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 It is a flow chart of the boom extension and retraction control method provided by the present invention.

[0016] Figure 2 It is a structural schematic diagram of the electronic device provided by the present invention.

[0017] Reference numerals: 810, processor; 820, communication interface; 830, memory; 840, communication bus. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0020] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0021] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0022] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0023] Figure 1 The flowchart of the boom extension control method provided by the present invention is illustrated as follows: Figure 1 As shown, the boom extension and retraction control method includes: Step S100, obtaining a control instruction for controlling the extension and retraction of the boom; Step S200, controlling the winch to rotate according to the control instruction, wherein when the boom is shortened or extended, the winch stores the wire rope, and when the boom is extended, the winch releases the wire rope.

[0024] The boom extension and retraction control method provided by the present invention obtains a control instruction for controlling the boom extension and retraction, and controls the rotation of the winch according to the control instruction, so that the hook of the lifting equipment rises relative to the boom head as the boom shortens, or falls relative to the boom head as the boom lengthens, thereby effectively preventing the hook from hitting the top or falling to the ground during the boom extension and retraction process. Since the boom extension and retraction and the hook rising and falling processes are completed automatically without manual intervention and operation, the labor intensity of the operator is effectively reduced and the lifting efficiency is improved.

[0025] In one embodiment of the present invention, the control unit controls the boom to extend and the winch to rotate forwardly, so that the hook is lowered as the boom is extended. The control unit controls the boom to shorten and the winch to rotate reversely, so that the hook is raised as the boom is shortened.

[0026] It should be noted that the forward rotation and reverse rotation are only used to indicate that the two rotation directions are opposite, and are not absolute rotation directions. For example, the forward rotation can be counterclockwise rotation, in which case the reverse rotation is clockwise rotation; the forward rotation can also be clockwise rotation, in which case the reverse rotation is counterclockwise rotation.

[0027] In one embodiment of the present invention, before the step of obtaining a control instruction for controlling the extension and retraction of the boom, the control method further includes: Step S80, determining a lifting performance table according to the obtained lifting parameters; The lifting parameters include at least one of the lifting amplitude, height and load weight. The lifting parameters are manually input through the interactive device of the lifting equipment. The interactive device can be a display screen or a keyboard. Of course, a wireless communication module can also be set on the lifting equipment, and the wireless communication module communicates with the user terminal, and the user inputs the lifting parameters through the user terminal.

[0028] After obtaining the lifting parameters, the control unit automatically generates a plurality of lifting performance tables. In this embodiment, the control unit automatically generates five lifting performance tables after obtaining the lifting parameters. Of course, the number of lifting performance tables is not limited thereto, and may also be three, four, six or more. Each lifting performance table contains different lifting parameter information, and the specific type of the lifting parameter information is determined according to actual needs.

[0029] It should be noted here that in order to achieve the effect of automatic telescopic extension to the greatest extent, the determination of lifting parameters needs to be determined in combination with working condition recommendations and winch follow-up technology. The height in the lifting parameters can be the height of the boom head, the height of the hook, or the height of the load.

[0030] Step S90, controlling the boom to extend or shorten according to the determined lifting performance table.

[0031] The lifting performance table can be determined by the operator comparing the lifting parameter information, determining the lifting performance table according to the comparison result, and then selecting the lifting performance table on the interactive device. Of course, the lifting performance table can also be determined automatically by the control unit. After determining the lifting performance table, the control unit controls the boom to extend or shorten so that the crane boom can be extended to the target length and amplitude.

[0032] In one embodiment of the present invention, the hoist is provided with a wire rope coil number detection sensor, and the control method further comprises: Step S110, obtaining the number of turns of the wire rope wound by the hoist; Step S120, determining the distance between the hook and the boom head of the boom according to the number of turns of the wire rope; The wire rope turn detection sensor is used to detect the number of rotations of the winch drum. In this embodiment, the wire rope turn detection sensor is an electronic three-turn sensor. Of course, the specific type of the wire rope turn detection sensor is not limited to this, and it can also be a mechanical rotation sensor or an optical rotation sensor. When the wire rope turn detection sensor detects the number of rotations of the drum, the wire rope turn detection sensor sends an electrical signal to the control unit, and the control unit calculates the number of wire rope turns wound on the drum based on the received electrical signal. Since the outer diameter of the drum and the total length of the wire rope are known, the control unit can calculate the length of the wire rope wound on the drum based on the outer diameter of the drum and the number of wire rope turns wound on the drum, and then calculate the distance between the hook and the arm head based on the total length of the wire rope, the length of the wire rope wound on the drum, and the length of the boom.

[0033] Step S130, when the distance between the hook and the boom head is greater than or less than a preset range, the winch is controlled to perform a compensation action.

[0034] When the distance between the hook and the boom head is not within the preset range, it means that the position of the hook is too high or too low, and the position of the hook is not within the safe range. If the boom continues to extend and retract, a safety accident is likely to occur. Therefore, it is necessary to control the winch to perform compensation actions to keep the distance between the hook and the boom head within the preset range. The control unit controls the winch to adjust the distance between the hook and the boom head in real time and keep the dynamic distance stable, which not only simplifies the operation steps of the lifting equipment, but also improves the safety of the lifting equipment.

[0035] It should be noted here that the size of the preset range is determined specifically according to the length of the hook and the length of the boom. The preset range is not a fixed range. When the length of the boom changes, the preset range will also change. The longer the length of the boom, the larger the preset range, and the smaller the length of the boom, the smaller the preset range. The value of the preset range is determined specifically according to the length of the boom and the size of the hook.

[0036] In one embodiment of the present invention, the step of controlling the winch to perform the compensation action includes: Step S131, when the distance between the hook and the boom head is greater than a preset range, controlling the winch to rotate faster so that the distance between the hook and the boom head is within the preset range; When the distance between the hook and the boom head is greater than the preset range, it means that the distance between the hook and the boom head is too far. If the current boom extension speed and winch rotation speed are followed, the hook will come into contact with the ground, i.e. the hook will fall to the ground. Therefore, it is necessary to control the speed of the winch, and control the winch to accelerate through the control unit. The length of the wire rope wound on the drum per unit time increases, so that the distance between the hook and the boom head is continuously reduced, and finally the distance between the hook and the boom head is within the preset range.

[0037] Step S132, when the distance between the hook and the boom head is less than a preset range, control the winch to decelerate so that the distance between the hook and the boom head is within the preset range.

[0038] When the distance between the hook and the boom head is less than the preset range, it means that the distance between the hook and the boom head is too close. If the current boom extension speed and winch rotation speed are followed, the hook will come into contact with the boom head, i.e., the hook will hit the top. Therefore, it is necessary to control the speed of the winch. The winch is decelerated by the control unit, and the length of the wire rope wound on the drum per unit time is reduced, so that the distance between the hook and the boom head continues to increase, and finally the distance between the hook and the boom head is within the preset range. The control unit controls the winch to perform compensation actions, so that the distance between the hook and the boom head is within the preset range, thereby improving the safety of the lifting equipment.

[0039] In one embodiment of the present invention, the control method further includes: Step S123, when the target conditions are met, the boom is controlled to stop extending or shortening, and the winch is controlled to stop rotating; wherein the target conditions include at least one of the following: the forced button or the overload release button is turned on, the operating handle is touched, the travel protection is triggered, the protection condition is triggered, and the wire rope coil detection sensor is abnormal. By setting the target conditions, safety accidents can be effectively avoided, and the safety of the lifting equipment is further improved.

[0040] It should be noted that when the mandatory button or the overload release button is turned on, if the boom continues to extend and retract and the winch continues to rotate, the lifting equipment will be damaged and a safety accident will occur. Therefore, when the mandatory button or the overload release button is turned on, the boom needs to be controlled to stop extending or shortening and the winch needs to be controlled to stop rotating. Of course, in order to improve the safety of the lifting equipment, after the mandatory button or the overload release button is turned on, the program of controlling the boom to extend or shorten and controlling the winch of the lifting equipment to rotate can also be prohibited.

[0041] When the operating handle is touched manually, it means that the operator begins to intervene. At this time, if the automatic extension and retraction program of the boom is continued, it will affect the normal operation of the operator. Therefore, it is necessary to control the boom to stop extending or shortening, and control the winch to stop rotating when the operating handle is touched manually.

[0042] When the stroke protection is triggered, it means that the distance between the hook and the boom head is not within the preset range, the wire is over-released or over-reeled, and the hook will hit the top or fall to the ground. Therefore, it is necessary to control the boom to stop extending or shortening, and control the winch to stop rotating when the stroke protection is triggered.

[0043] When the protection condition is triggered, it means that the working environment of the lifting equipment is not suitable for operation. For example, when the sensor detecting the lifting equipment detects that there is a high-voltage line near the boom, if the boom continues to extend or retract, a safety accident is likely to occur. Therefore, it is necessary to control the boom to stop extending or shortening and control the winch to stop rotating when the protection condition is triggered. Of course, the specific protection condition is not limited to detecting that there is a high-voltage line near the boom, but can also be detecting that the chassis angle of the car is tilted or other situations.

[0044] When the wire rope coil detection sensor is abnormal, it means that the number of drum rotations detected by the wire rope coil detection sensor is inaccurate, and the distance between the hook and the boom head calculated by the corresponding control unit is also inaccurate. If the boom continues to extend or retract, the hook will hit the top or fall to the ground. Therefore, it is necessary to control the boom to stop extending or shortening and control the winch to stop rotating when the wire rope coil detection sensor is abnormal.

[0045] In one embodiment of the present invention, the lifting equipment is provided with a prompting unit, and while controlling the winch to perform the compensation action, the control method further comprises: Step S122, controlling the prompt unit to output prompt information.

[0046] The prompt unit is used to remind the operator that the distance between the hook and the boom head is not within the preset range. The prompt unit can be a display screen, an indicator light, a buzzer or other prompt units. Correspondingly, when the prompt unit is a display screen, the prompt information can be text information or image information. When the prompt unit is an indicator light, the prompt information is a light, which can be continuously lit or flash intermittently. When the prompt unit is a buzzer, the prompt information is a prompt sound.

[0047] The boom extension and retraction control method provided by the present invention obtains a control instruction for controlling the boom extension and retraction, and controls the rotation of the winch according to the control instruction, so that the hook of the lifting equipment rises relative to the boom head as the boom shortens, or falls relative to the boom head as the boom lengthens, thereby effectively preventing the hook from hitting the top or falling to the ground during the boom extension and retraction process. Since the boom extension and retraction and the hook rising and falling processes are completed automatically without manual intervention and operation, the labor intensity of the operator is effectively reduced and the lifting efficiency is improved.

[0048] The present invention also provides a boom extension and retraction control device for a lifting device, the boom extension and retraction control device for the lifting device comprising: The control unit is used to obtain control instructions for controlling the extension and retraction of the boom, and control the rotation of the winch according to the control instructions. When the boom is shortened or extended, the winch retracts the wire rope, and when the boom is extended, the winch releases the wire rope.

[0049] The present invention also provides a lifting equipment, which comprises the boom extension and retraction control device of the lifting equipment as described above.

[0050] It should be noted here that the lifting equipment of the present invention is a truck crane. Of course, the specific type of the lifting equipment is not limited thereto, and it may also be a crawler crane or other types of cranes.

[0051] Figure 2 The structural diagram of the electronic device provided by the present invention is illustrated as follows: Figure 2 As shown, the present invention further provides an electronic device, which may include: a processor 810, a communications interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communications interface 820, and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute the boom extension control method, which includes: Step S100, obtaining a control instruction for controlling the extension and retraction of the boom; Step S200, controlling the winch to rotate according to the control instruction, wherein when the boom is shortened or extended, the winch stores the wire rope, and when the boom is extended, the winch releases the wire rope.

[0052] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0053] On the other hand, the present invention further provides a computer program product, the computer program product includes a computer program, the computer program can be stored in a non-transitory computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the boom extension control method provided by the above methods, the method includes: Step S100, obtaining a control instruction for controlling the extension and retraction of the boom; Step S200, controlling the winch to rotate according to the control instruction, wherein when the boom is shortened or extended, the winch stores the wire rope, and when the boom is extended, the winch releases the wire rope.

[0054] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the boom extension and retraction control method provided by the above methods is implemented, and the method includes: Step S100, obtaining a control instruction for controlling the extension and retraction of the boom; Step S200, controlling the winch to rotate according to the control instruction, wherein the winch stores the wire rope when the boom is shortened or extended, and releases the wire rope when the boom is extended. The device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, i.e., they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0055] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A boom extension control method, characterized in that: include: Obtain control instructions for controlling the extension and retraction of the boom; The winch is controlled to rotate according to the control instruction, wherein when the boom is shortened or extended, the winch stores the wire rope, and when the boom is extended, the winch releases the wire rope.

2. The boom extension control method according to claim 1, characterized in that: Before the step of obtaining the control instruction for controlling the extension and retraction of the boom, the control method further includes: Determine the lifting performance table according to the obtained lifting parameters; According to the determined lifting performance table, the boom is controlled to extend or shorten.

3. The boom extension control method according to claim 2, characterized in that: The lifting parameters include at least one of lifting amplitude, height and load weight.

4. The boom extension control method according to claim 1, characterized in that: The winch is provided with a wire rope coil number detection sensor, and the control method further comprises: Obtaining the number of turns of the wire rope wound by the hoist; Determining the distance between the hook and the boom head of the boom according to the number of turns of the wire rope; When the distance between the hook and the boom head is greater than or less than a preset range, the winch is controlled to perform a compensation action.

5. The boom extension control method according to claim 4, characterized in that: The step of controlling the winch to perform a compensation action comprises: When the distance between the hook and the boom head is greater than the preset range, controlling the winch to rotate faster so that the distance between the hook and the boom head is within the preset range; When the distance between the hook and the boom head is smaller than the preset range, the winch is controlled to decelerate so that the distance between the hook and the boom head is within the preset range.

6. The boom extension control method according to claim 4 or 5, characterized in that: The control method further comprises: When the target conditions are met, the boom is controlled to stop extending or shortening, and the winch is controlled to stop rotating; wherein, the target conditions include at least one of the following: the forced button or the overload release button is turned on, the operating handle is touched, the stroke protection is triggered, the protection condition is triggered, and the wire rope turn detection sensor is abnormal.

7. The boom extension control method according to claim 4 or 5, characterized in that: The lifting equipment is provided with a prompting unit, and while controlling the hoist to perform the compensation action, the control method further includes: Control the prompt unit to output prompt information.

8. A boom extension control device for a lifting equipment, characterized in that: include: A control unit, used to obtain control instructions for controlling the extension and retraction of the boom; The winch is controlled to rotate according to the control instruction, wherein when the boom is shortened or extended, the winch stores the wire rope, and when the boom is extended, the winch releases the wire rope.

9. A lifting device, characterized in that: The invention comprises the boom extension and retraction control device of the lifting equipment as described in claim 8.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the boom extension and retraction control method as claimed in any one of claims 1 to 7 is implemented.

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