Crane control method, device and crane

Abstract

The present invention provides a crane control method, device and crane, and relates to the technical field of cranes. The method comprises: obtaining, through a controller, first images of a hook and a hoisted object collected by a plurality of first image acquisition devices when a rope is in a taut state, and processing the first images to obtain a first relative position of the hook and the hoisted object, and then calculating a first adjustment parameter of the actuator according to the first state and the first relative position of the actuator, and finally, controlling the actuator to adjust the action according to the first adjustment parameter to adjust the relative position of the hook and the hoisted object. The first image is obtained through the controller, and the first adjustment parameter is calculated according to the first state and the first relative position, and the relative position of the hook and the hoisted object is adjusted according to the first adjustment parameter, so that the hook and the hoisted object are vertical, so that the position of the crane hook is more accurate, the safety performance of the crane construction is improved, and the waste of human resources is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of cranes, and in particular to a crane control method, a crane control device and a crane. Background Art

[0002] Crane, also known as overhead crane, overhead crane, crane, refers to a multi-action lifting machinery that can vertically lift and horizontally transport heavy objects within a certain range. With the continuous investment in construction, construction machinery has developed rapidly, and cranes, as an important part of the construction machinery industry, have been widely used.

[0003] In the related art, when lifting an object by a crane, an experienced operator is near the lifting object and signals to the driver so that the driver controls the crane in the cab to move the position of the crane hook so that the center of gravity of the crane hook is directly above the center of gravity of the lifting object.

[0004] However, in the related art, the crane is controlled by an experienced operator who signals the driver, but the position of the mobile crane hook may not be accurate enough, and the crane may be tilted or lifted crookedly, which poses certain safety hazards and wastes unnecessary human resources. Summary of the invention

[0005] The object of the present invention is to provide a crane control method, device and crane in view of the deficiencies in the above-mentioned prior art, so as to solve the problem in the related technology that an experienced operator signals the driver to control the crane, which may result in the position of the moving crane hook being not accurate enough, and the crane being easily tilted and lifted, posing certain safety hazards, and also wasting unnecessary human resources.

[0006] To achieve the above purpose, the technical solution adopted by the embodiment of the present invention is as follows:

[0007] In a first aspect, an embodiment of the present invention provides a crane control method, which is applied to a crane, wherein the crane comprises: a boom, a controller, an actuator, a hook, and a plurality of first image acquisition devices, wherein a rope of a hoisting mechanism in the actuator is connected to the hook through a pulley at the end of the boom, and the beginning of the boom is provided with the controller and the plurality of first image acquisition devices; the controller is electrically connected to the plurality of first image acquisition devices, and the controller is also electrically connected to the actuator, and the method comprises:

[0008] The controller acquires first images of the hook and the hoisted object captured by the plurality of first image capture devices when the rope is in a taut state;

[0009] The controller processes the first image to obtain a first relative position between the hook and the hoisted object;

[0010] The controller calculates a first adjustment parameter of the actuator according to the first state of the actuator and the first relative position;

[0011] The controller controls the actuator to adjust its motion according to the first adjustment parameter, so as to adjust the relative position between the hook and the hoisted object.

[0012] Furthermore, a plurality of second image acquisition devices are provided at the end of the boom, and the method further comprises:

[0013] The controller acquires second images of the hook and the hoisted object captured by a plurality of second image capture devices when the rope is in a taut state;

[0014] The controller processes the first image to obtain a first relative position of the hook and the hoisted object, including:

[0015] The controller processes the first image and the second image to obtain the first relative position.

[0016] Furthermore, the crane further comprises: a position sensor, the position sensor being disposed on the hook, the position sensor being used to collect a second relative position between the hook and the hoisted object after the action adjustment, and the method further comprises:

[0017] The controller acquires the second relative position collected by the position sensor;

[0018] The controller calculates a second adjustment parameter of the actuator according to the second state of the actuator and the second relative position;

[0019] The controller controls the actuator to adjust its action again according to the second adjustment parameter, so as to adjust the relative position of the hook and the hoisted object again.

[0020] Furthermore, the position sensor is a tilt sensor, and the second relative position includes: an angle between the hook and the hoisted object, and a direction.

[0021] Further, the actuator includes a plurality of actuators, and the controller controls the actuator to adjust the action according to the first adjustment parameter, including:

[0022] The controller calculates a first adjustment time corresponding to each of the actuators according to the first state of each of the actuators and the first adjustment parameter of each of the actuators;

[0023] The controller determines, from among the plurality of actuators, an actuator with the shortest first adjustment time as a first target actuator;

[0024] The controller controls the first target actuator to adjust its motion according to the first adjustment parameter of the first target actuator.

[0025] Further, the actuator includes a plurality of actuators, and the controller controls the actuator to adjust its action again according to the second adjustment parameter, including:

[0026] The controller calculates the second adjustment time corresponding to each of the actuators according to the second state of each of the actuators and the second adjustment parameter of each of the actuators;

[0027] The controller determines, from among the plurality of actuators, an actuator with the shortest second adjustment time as a second target actuator;

[0028] The controller controls the second target actuator to adjust its motion according to the second adjustment parameter of the target actuator.

[0029] Furthermore, the plurality of actuators include at least two of a hoisting mechanism, a luffing mechanism, a traveling mechanism and a slewing mechanism.

[0030] In the second aspect, an embodiment of the present invention further provides a crane, comprising: a boom, a controller, an actuator, a hook, and a plurality of first image acquisition devices, wherein the rope of the hoisting mechanism in the actuator is connected to the hook via a pulley at the end of the boom, and the controller and the plurality of first image acquisition devices are provided at the starting end of the boom; the controller is electrically connected to the plurality of first image acquisition devices, and the controller is also electrically connected to the actuator.

[0031] In a third aspect, an embodiment of the present invention further provides a crane control device, which is applied to a crane, wherein the crane comprises: a boom, a controller, an actuator, a hook, and a plurality of first image acquisition devices, wherein a rope of a hoisting mechanism in the actuator is connected to the hook through a pulley at the end of the boom, and the beginning of the boom is provided with the controller and the plurality of first image acquisition devices; the controller is electrically connected to the plurality of first image acquisition devices, and the controller is also electrically connected to the actuator, and the device comprises:

[0032] A first acquisition module, used for acquiring first images of the hook and the hoisted object acquired by a plurality of the first image acquisition devices when the rope is in a taut state;

[0033] A processing module, used for processing the first image to obtain a first relative position between the hook and the hoisted object;

[0034] a first calculation module, configured to calculate a first adjustment parameter of the actuator according to a first state of the actuator and the first relative position;

[0035] The first adjustment module is used to control the actuator to adjust its motion according to the first adjustment parameter, so as to adjust the relative position between the hook and the hoisted object.

[0036] Furthermore, a plurality of second image acquisition devices are provided at the end of the boom, and the device further comprises:

[0037] A second acquisition module, used for acquiring second images of the hook and the hoisted object acquired by a plurality of second image acquisition devices when the rope is in a taut state;

[0038] The processing module is specifically used to process the first image and the second image to obtain the first relative position.

[0039] Furthermore, the crane further comprises: a position sensor, the position sensor being disposed on the hook, the position sensor being used to collect a second relative position between the hook and the hoisted object after the action adjustment, and the device further comprises:

[0040] A second acquisition module, used to acquire the second relative position collected by the position sensor;

[0041] a second calculation module, configured to calculate a second adjustment parameter of the actuator according to a second state of the actuator and the second relative position;

[0042] The second adjustment module is used to control the actuator to adjust its action again according to the second adjustment parameter, so as to adjust the relative position of the hook and the hoisted object again.

[0043] Furthermore, the position sensor is a tilt sensor, and the second relative position includes: an angle between the hook and the hoisted object, and a direction.

[0044] Furthermore, the actuator includes multiple actuators, and the first adjustment module is specifically used to calculate the first adjustment time corresponding to each actuator according to the first state of each actuator and the first adjustment parameter of each actuator; determine the actuator with the shortest first adjustment time as the first target actuator from the multiple actuators; and control the first target actuator to adjust its action according to the first adjustment parameter of the first target actuator.

[0045] Furthermore, the actuator includes multiple actuators, and the second adjustment module is specifically used to calculate the second adjustment time corresponding to each actuator according to the second state of each actuator and the second adjustment parameter of each actuator; determine the actuator with the shortest second adjustment time as the second target actuator from the multiple actuators; and control the second target actuator to adjust its action according to the second adjustment parameter of the target actuator.

[0046] Furthermore, the plurality of actuators include at least two of a hoisting mechanism, a luffing mechanism, a traveling mechanism and a slewing mechanism.

[0047] The beneficial effects of the present invention are as follows: a crane control method, device and crane, through a controller, obtains the first images of the hook and the hoisted object collected by multiple first image acquisition devices when the rope is in a taut state, and processes the first images to obtain the first relative position of the hook and the hoisted object, and then calculates the first adjustment parameter of the actuator according to the first state and the first relative position of the actuator, and finally controls the actuator to adjust the action according to the first adjustment parameter to adjust the relative position of the hook and the hoisted object. By setting the first image acquisition device at the beginning of the boom, the first image is obtained by the controller, and the first adjustment parameter is calculated according to the first state and the first relative position, and the relative position of the hook and the hoisted object is adjusted according to the first adjustment parameter, so that the hook and the hoisted object are vertical, the position of the crane hook is more accurate, the safety performance of the crane construction is improved, and the waste of human resources is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0049] Figure 1 A schematic structural diagram of a crane provided by an embodiment of the present invention;

[0050] Figure 2 A schematic flow chart of a crane control method provided by an embodiment of the present invention;

[0051] Figure 3 A schematic flow chart of a crane control method provided by an embodiment of the present invention;

[0052] Figure 4 A schematic flow chart of a crane control method provided by an embodiment of the present invention;

[0053] Figure 5 A schematic flow chart of a crane control method provided by an embodiment of the present invention;

[0054] Figure 6 A schematic flow chart of a crane control method provided by an embodiment of the present invention;

[0055] Figure 7 A schematic structural diagram of a crane provided by an embodiment of the present invention;

[0056] Figure 8 A schematic structural diagram of a crane control device provided by an embodiment of the present invention;

[0057] Fig. 9 A schematic structural diagram of a crane control device provided by an embodiment of the present invention;

[0058] Fig.10 A schematic structural diagram of a crane control device provided by an embodiment of the present invention;

[0059] Fig.11 A schematic structural diagram of a crane controller provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0061] Figure 1 A schematic diagram of the structure of a crane provided by an embodiment of the present invention is shown in FIG. Figure 1 As shown, the crane includes: a boom 11, a controller 12, an actuator 13, a hook 14 and a plurality of first image acquisition devices 15.

[0062] Among them, the rope of the hoisting mechanism 1301 in the actuator 13 is connected to the hook 14 through the pulley at the end of the boom 11, and a controller 12 and a plurality of first image acquisition devices 15 are provided at the starting end of the boom 11. The controller 12 is electrically connected to the plurality of first image acquisition devices 15, and the controller 12 is also electrically connected to the actuator.

[0063] When the crane is lifting an object, the controller 12 can obtain the first images of the hook 14 and the object captured by multiple first image acquisition devices 15 when the rope is in a taut state, and process the first images to obtain the first relative position of the hook 14 and the object. According to the first state and the first relative position of the actuator 13, the first adjustment parameter of the actuator 13 is calculated, and the actuator 13 is controlled to adjust its action according to the first adjustment parameter to adjust the relative position of the hook 14 and the object.

[0064] Figure 2 A flow chart of a crane control method provided by an embodiment of the present invention is as follows: Figure 2 As shown, the method includes:

[0065] S101. A controller obtains first images of a hook and a hoisted object captured by a plurality of first image capturing devices when a rope is in a taut state.

[0066] Wherein, the first image acquisition device is arranged at the beginning of the boom, and the crane further comprises: a handle, the handle is provided with a signal output end, and the signal output end is connected to the controller.

[0067] In a possible implementation, the driver can operate a handle, and the signal output end of the handle sends a stretching signal to the controller. The controller can receive the stretching signal and control the hoisting mechanism to keep the rope in a taut state. Multiple first image acquisition devices can capture first images of the hook and the hoisted object and send the first images to the controller, and the controller can receive the first images.

[0068] It should be noted that the multiple first image acquisition devices can be multiple cameras, and the first image acquisition devices should be set at positions that ensure that the hook and the hoisted object are within the shooting range of the first image acquisition devices.

[0069] In addition, the number of the first image acquisition devices may be two, three, or any other number, and the embodiment of the present invention does not impose any specific limitation on this.

[0070] S102: The controller processes the first image to obtain a first relative position of the hook and the hoisted object.

[0071] The first image may be a plurality of images captured by a plurality of first image capturing devices.

[0072] In some embodiments, the controller can receive multiple first images captured by multiple first image capture devices, and synthesize the multiple first images to obtain a synthesized first image, identify the hook and the hoisting object in the synthesized first image, and calculate the inclination direction of the hook and the inclination angle of the plane where the hook and the hoisting object are located.

[0073] In the embodiment of the present invention, the first relative position between the hook and the hoisted object may include: the tilting direction of the hook, and the tilting angle of the plane where the hook and the hoisted object are located.

[0074] S103: The controller calculates a first adjustment parameter of the actuator according to the first state and the first relative position of the actuator.

[0075] There may be multiple actuators, and the first state of the corresponding actuators may be detected by a detection mechanism.

[0076] In a possible implementation, the detection mechanism can detect the first state of each actuator and send the first state to the controller. The controller can receive the first state of each actuator and calculate the first adjustment parameter of each actuator based on the first state and the first relative position.

[0077] It should be noted that the first state may be state information such as speed information and position information of the actuator, and the first adjustment parameter may be a distance parameter, an angle parameter, a speed parameter, etc. of the actuator that needs to be adjusted.

[0078] In addition, the actuator may be at least two of the hoisting mechanism, luffing mechanism, traveling mechanism and slewing mechanism of the crane.

[0079] S104: The controller controls the actuator to adjust the action according to the first adjustment parameter to adjust the relative position of the hook and the hoisted object.

[0080] In some embodiments, the controller can calculate the time parameter of each actuator based on the first adjustment parameter of each actuator, determine at least one actuator with the shortest time as the target actuator, and control the target actuator to adjust its motion according to the first adjustment parameter corresponding to the target actuator, thereby adjusting the relative position of the hook and the lifting object so that the hook is perpendicular to the lifting object.

[0081] In the embodiment of the present invention, the motion adjustment of the control actuator may include distance adjustment of the control actuator, angle adjustment of the control actuator, speed adjustment of the control actuator, etc., and the embodiment of the present invention does not impose any specific limitation on this.

[0082] In summary, an embodiment of the present invention provides a crane control method, in which a controller acquires first images of a hook and a hoisted object acquired by a plurality of first image acquisition devices when the rope is in a taut state, and processes the first images to obtain a first relative position of the hook and the hoisted object, and then calculates a first adjustment parameter of the actuator according to the first state and the first relative position of the actuator, and finally controls the actuator to adjust the action according to the first adjustment parameter to adjust the relative position of the hook and the hoisted object. By setting a first image acquisition device at the beginning of the boom, the first image is acquired by the controller, and the first adjustment parameter is calculated according to the first state and the first relative position, and the relative position of the hook and the hoisted object is adjusted according to the first adjustment parameter, so that the hook and the hoisted object are vertical, the position of the crane hook is more accurate, the safety performance of the crane construction is improved, and the waste of human resources is reduced.

[0083] Optional, such as Figure 1 As shown, a plurality of second image acquisition devices 16 are also provided at the end of the boom 11, and the plurality of second image acquisition devices 16 are connected to the controller 12. Figure 3 A schematic diagram of the structure of a crane provided by an embodiment of the present invention is shown in FIG. Figure 3 As shown, the method also includes:

[0084] S201. A controller obtains second images of a hook and a hoisted object captured by a plurality of second image capture devices when the rope is in a taut state.

[0085] The crane also has a handle, which has a signal output end, and the signal output end of the handle is connected to the controller.

[0086] In a possible implementation, the driver can operate a handle, and the signal output end of the handle sends a stretching signal to the controller. The controller can receive the stretching signal and control the hoisting mechanism to keep the rope in a taut state. Multiple second image acquisition devices can capture second images of the hook and the hoisted object and send the second images to the controller, and the controller can receive the second images.

[0087] It should be noted that the multiple second image acquisition devices can be multiple cameras, and the second image acquisition devices should be set at positions that ensure that the hook and the hoisted object are within the shooting range of the second image acquisition devices.

[0088] In addition, the number of the second image acquisition devices may be two, three, or any other number, and the embodiment of the present invention does not impose any specific limitation on this.

[0089] In the above S201, the controller processes the first image to obtain a first relative position of the hook and the hoisted object, which may include:

[0090] S202: The controller processes the first image and the second image to obtain a first relative position.

[0091] The first image may be a plurality of images captured by a plurality of first image acquisition devices, and the second image may be a plurality of images captured by a plurality of second image acquisition devices.

[0092] In some embodiments, the controller can receive multiple first images captured by multiple first image acquisition devices, and synthesize the multiple first images to obtain a synthesized first image. The controller can receive multiple second images captured by multiple second image acquisition devices, and synthesize the multiple second images to obtain a synthesized second image, identify the hook and the hoisting object in the synthesized first image and the second image, and calculate the inclination direction of the hook and the inclination angle of the plane where the hook and the hoisting object are located.

[0093] Optionally, the multiple first image acquisition devices and the multiple second image acquisition devices are all cameras.

[0094] Optionally, the crane further comprises: a position sensor 17, the position sensor 17 is placed on the hook 14, the position sensor 17 is used to collect the relative position of the hook 14 and the hoisted object, and the position sensor 17 is also used to collect the second relative position of the hook 14 and the hoisted object after the action is adjusted. Figure 4 A schematic diagram of the structure of a crane provided by an embodiment of the present invention is shown in FIG. Figure 4 As shown, the method also includes:

[0095] S301. The controller obtains a second relative position collected by a position sensor.

[0096] The second relative position between the hook and the hoisted object may include: the direction in which the hook is tilted, and the tilt angle of the plane where the hook and the hoisted object are located.

[0097] In a possible implementation, after the controller controls the actuator to adjust the action according to the first adjustment parameter, the controller can receive the second relative position collected by the position sensor, and calculate the inclination direction of the hook and the inclination angle of the plane where the hook and the hoisting object are located according to the second relative position of the hook and the hoisting object.

[0098] S302: The controller calculates a second adjustment parameter of the actuator according to the second state and the second relative position of the actuator.

[0099] The actuator may be a plurality of actuators, and the second state of the corresponding actuator may be detected by a detection mechanism. The second state may be the state of the actuator after the controller controls the actuator to adjust its action according to the first adjustment parameter.

[0100] In a possible implementation, the detection mechanism can detect the second state of each actuator and send the second state to the controller. The controller can receive the second state of each actuator and calculate the second adjustment parameter of each actuator based on the second state and the second relative position.

[0101] It should be noted that the second state may be state information such as speed information and position information of the actuator, and the second adjustment parameter may be a distance parameter, an angle parameter, a speed parameter, etc. of the actuator that needs to be adjusted.

[0102] S303: The controller controls the actuator to adjust the action again according to the second adjustment parameter to adjust the relative position of the lifting object by the hook again.

[0103] In some embodiments, the controller can calculate the time parameter of each actuator based on the second adjustment parameter of each actuator, determine at least one actuator with the shortest time as the target actuator, and control the target actuator to adjust its motion according to the second adjustment parameter corresponding to the target actuator, thereby adjusting the relative position of the hook and the lifting object so that the hook is perpendicular to the lifting object.

[0104] In the embodiment of the present invention, the motion adjustment of the control actuator may include distance adjustment of the control actuator, angle adjustment of the control actuator, speed adjustment of the control actuator, etc., and the embodiment of the present invention does not impose any specific limitation on this.

[0105] Optionally, the position sensor is a tilt sensor, and the second relative position may include: an angle between the hook and the hoisted object, and a direction.

[0106] In summary, in the embodiment of the present invention, the controller obtains the second relative position collected by the position sensor, calculates the second adjustment parameter of the actuator according to the second state and the second relative position of the actuator, and controls the actuator to adjust the action again according to the second adjustment parameter to adjust the relative position of the hook hoisting object again. The relative position of the hook hoisting object is adjusted again through the second relative position collected by the sensor, so that the hook is perpendicular to the hoisting object, and the adjusted hook position is more accurate.

[0107] Optionally, the actuator comprises a plurality of actuators, Figure 5 A schematic diagram of the structure of a crane provided by an embodiment of the present invention is shown in FIG. Figure 5 As shown, in the above S104, the controller controls the first target actuator to adjust the action according to the first adjustment parameter of the first target actuator, which may include:

[0108] S401: The controller calculates a first adjustment time corresponding to each actuator according to a first state of each actuator and a first adjustment parameter of each actuator.

[0109] The first state may include: the speed of each actuator, and the first adjustment parameter may include: parameters such as the adjustment distance, angle and adjustment speed of each actuator.

[0110] In a possible implementation, the control may calculate the first adjustment time of each actuator according to the collected speed of each actuator, as well as the distance, angle, and adjustment speed of each actuator.

[0111] For example, the distance that an actuator needs to adjust is A=B+C, the speed of the actuator is V1, and the adjustment speed is V2. In the first B section of distance, the actuator runs at the speed V1, and the required time is T1=B / V1. In the last C section of distance, the actuator runs at the speed V2, and the required time is T2=C / V2. The adjustment time of the actuator can be T1+T2.

[0112] S402: The controller determines, from among multiple actuators, an actuator with the shortest first adjustment time as a first target actuator.

[0113] In some implementations, after obtaining the first adjustment times corresponding to the actuators, the controller sorts the first adjustment times of the actuators according to the length of time, and obtains the actuator with the shortest first adjustment time as the first target actuator.

[0114] S403: The controller controls the first target actuator to adjust its motion according to the first adjustment parameter of the first target actuator.

[0115] In the embodiment of the present invention, after the controller determines the first target actuator, it can control the first target actuator to adjust its motion according to the corresponding adjustment distance, angle, direction, speed and other parameters of the first target actuator and the first adjustment parameter.

[0116] It should be noted that the action adjustment of the first target actuator may be action adjustment of one actuator or action adjustment of two actuators simultaneously.

[0117] Optionally, the actuator comprises a plurality of actuators, Figure 6 A schematic diagram of the structure of a crane provided by an embodiment of the present invention is shown in FIG. Figure 6 As shown, in the above S303, the controller controls the actuator to adjust the action again according to the second adjustment parameter to adjust the relative position of the hook hoisting object again, which may include:

[0118] S501: The controller calculates a second adjustment time corresponding to each actuator according to a second state of each actuator and a second adjustment parameter of each actuator.

[0119] The second state may include: the speed of each actuator, and the second adjustment parameter may include: parameters such as the adjustment distance, angle and adjustment speed of each actuator.

[0120] In a possible implementation, the control may calculate the second adjustment time of each actuator according to the collected speed of each actuator, as well as the distance, angle, and adjustment speed of each actuator.

[0121] For example, the distance that an actuator needs to adjust is A=B+C, the speed of the actuator is V1, and the adjustment speed is V2. In the first B section of distance, the actuator runs at the speed V1, and the required time is T1=B / V1. In the last C section of distance, the actuator runs at the speed V2, and the required time is T2=C / V2. The adjustment time of the actuator can be T1+T2.

[0122] S502: The controller determines, from among a plurality of actuators, an actuator with the shortest second adjustment time as a second target actuator.

[0123] In some implementations, after obtaining the second adjustment times corresponding to the actuators, the controller sorts the second adjustment times of the actuators according to the length of time, and obtains the actuator with the shortest second adjustment time as the second target actuator.

[0124] S503: The controller controls the second target actuator to adjust its motion according to the second adjustment parameter of the second target actuator.

[0125] In the embodiment of the present invention, after the controller determines the second target actuator, it can control the second target actuator to adjust its motion according to the corresponding adjustment distance, angle, direction, speed and other parameters of the second target actuator and the second adjustment parameter.

[0126] It should be noted that the action adjustment of the second target actuator may be action adjustment of one actuator or action adjustment of two actuators simultaneously.

[0127] Optional, Figure 7 A schematic diagram of the structure of a crane provided by an embodiment of the present invention is shown in FIG. Figure 7 As shown, the plurality of actuators 13 include at least two of a hoisting mechanism 1301 , a luffing mechanism 1302 , a traveling mechanism 1303 and a slewing mechanism 1304 .

[0128] Optionally, the crane may further include a hoisting mechanism control valve 21 , a luffing mechanism control valve 22 , a traveling mechanism control valve 23 and a slewing mechanism control valve 24 .

[0129] The hoisting mechanism control valve 21 is connected to the hoisting mechanism 1301 , the luffing mechanism control valve 22 is connected to the luffing mechanism 1302 , the traveling mechanism control valve 23 is connected to the traveling mechanism 1303 , and the slewing mechanism control valve 24 is connected to the slewing mechanism 1304 .

[0130] In a possible embodiment, the controller 12 can control at least two of the hoisting mechanism 1301, the boom mechanism 1302, the walking mechanism 1303 and the slewing mechanism 1304 by controlling at least two of the hoisting mechanism control valve 21, the boom mechanism control valve 22, the walking mechanism control valve 23 and the slewing mechanism control valve 24.

[0131] Optional, such as Figure 7 As shown, in the embodiment of the present invention, the crane may further include a solenoid valve 31, which is respectively connected to the controller 12, the hoisting mechanism control valve 21, the luffing mechanism control valve 22, the walking mechanism control valve 23 and the slewing mechanism control valve 24.

[0132] It should be noted that the controller 12 can control the corresponding actuator 13 through the solenoid valve 31 and the control valve of the actuator 13 .

[0133] like Figure 7 As shown, optionally, the crane may further include a display 41 , which is connected to the controller 12 .

[0134] The display 41 can display the first state or the second state of each actuator 13. The display 41 can obtain a switch instruction in response to the user's operation and send the switch instruction to the controller 12. The controller 12 can be turned on or off according to the switch instruction. Figure 2-Figure 6 The functions corresponding to the crane control methods provided.

[0135] The crane control method, device and crane provided in the embodiments of the present invention can realize vertical lifting of objects by the hook within 5 seconds, achieve efficient adjustment of the hook, and are easy to operate. Whether to start the crane control function can be set on the display.

[0136] like Figure 1As shown, an embodiment of the present invention further provides a crane, which includes: a boom 11, a controller 12, an actuator 13, a hook 14, and a plurality of first image acquisition devices 15. The rope of a hoisting mechanism 1301 in the actuator 13 is connected to the hook 14 through a pulley at the end of the boom 11. The controller 12 and the plurality of first image acquisition devices 15 are provided at the beginning of the boom 11. The controller 12 is electrically connected to the plurality of first image acquisition devices 15, and the controller 12 is also electrically connected to the actuator 13.

[0137] The embodiment of the present invention further provides a crane control device, which is applied to a crane. The crane includes: a boom, a controller, an actuator, a hook, and a plurality of first image acquisition devices. The rope of a hoisting mechanism in the actuator is connected to the hook through a pulley at the end of the boom. The beginning of the boom is provided with a controller and a plurality of first image acquisition devices. The controller is electrically connected to the plurality of first image acquisition devices, and the controller is also electrically connected to the actuator. Figure 8 A schematic diagram of a crane control device provided by an embodiment of the present invention is shown in FIG. Figure 8 As shown, the device comprises:

[0138] A first acquisition module 801 is used to acquire first images of the hook and the hoisted object captured by multiple first image acquisition devices when the rope is in a taut state;

[0139] A processing module 802 is used to process the first image to obtain a first relative position between the hook and the lifting object;

[0140] A first calculation module 803, used for calculating a first adjustment parameter of the actuator according to a first state and a first relative position of the actuator;

[0141] The first adjustment module 804 is used to control the actuator to adjust the action according to the first adjustment parameter, so as to adjust the relative position of the hook and the hoisted object.

[0142] Optionally, a plurality of second image acquisition devices are also provided at the end of the boom, such as Fig. 9 As shown, the device also includes:

[0143] The second acquisition module 805 is used to acquire second images of the hook and the hoisted object captured by multiple second image acquisition devices when the rope is in a taut state;

[0144] The processing module 802 is specifically configured to process the first image and the second image to obtain a first relative position.

[0145] Optionally, the crane further comprises: a position sensor, the position sensor being disposed on the hook, the position sensor being used to collect a second relative position between the hook and the hoisted object after the action adjustment, such as Fig.10 As shown, the device also includes:

[0146] A third acquisition module 806 is used to acquire a second relative position collected by the position sensor;

[0147] A second calculation module 807, used for calculating a second adjustment parameter of the actuator according to the second state and the second relative position of the actuator;

[0148] The second adjustment module 808 is used to control the actuator to adjust the action again according to the second adjustment parameter, so as to adjust the relative position of the lifting object of the hook again.

[0149] Optionally, the position sensor is a tilt sensor, and the second relative position includes: the angle between the hook and the hoisted object, and the direction.

[0150] Optionally, the actuator includes multiple actuators, and the first adjustment module 704 is specifically used to calculate the first adjustment time corresponding to each actuator according to the first state of each actuator and the first adjustment parameter of each actuator; determine the actuator with the shortest first adjustment time as the first target actuator from the multiple actuators; and control the first target actuator to adjust its action according to the first adjustment parameter of the first target actuator.

[0151] Optionally, the actuator includes multiple actuators, and the second adjustment module 707 is specifically used to calculate the second adjustment time corresponding to each actuator according to the second state of each actuator and the second adjustment parameter of each actuator; determine the actuator with the shortest second adjustment time as the second target actuator from the multiple actuators; and control the second target actuator to adjust its action according to the second adjustment parameter of the target actuator.

[0152] Optionally, the multiple actuators include at least two of a hoisting mechanism, a luffing mechanism, a traveling mechanism and a slewing mechanism.

[0153] The above-mentioned device is used to execute the method provided by the aforementioned embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0154] The above modules may be one or more integrated circuits configured to implement the above methods, such as one or more application specific integrated circuits (ASIC), or one or more digital singnal processors (DSP), or one or more field programmable gate arrays (FPGA). For another example, when a module is implemented in the form of a processing element scheduling program code, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0155] Fig.11 A schematic diagram of the structure of a controller of a crane provided in an embodiment of the present invention. The controller may be integrated into a terminal device or a chip of the terminal device. The controller may be a computing device with data processing capabilities.

[0156] The device includes: a processor 1101 and a memory 1102 .

[0157] The memory 1102 is used to store programs, and the processor 1101 calls the programs stored in the memory 1102 to execute the above method embodiment. The specific implementation method and technical effect are similar and will not be repeated here.

[0158] Optionally, the present invention also provides a program product, such as a computer-readable storage medium, comprising a program, which is used to execute the above method embodiment when executed by a processor.

[0159] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0160] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0161] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0162] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to perform some 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 (English: Read-Only Memory, abbreviated: ROM), random access memory (English: Random Access Memory, abbreviated: RAM), disk or optical disk and other media that can store program codes.

Claims

1. A crane control method, characterized in that: The method is applied to a crane, the crane comprising: a boom, a controller, an actuator, a hook and a plurality of first image acquisition devices, the rope of a hoisting mechanism in the actuator is connected to the hook through a pulley at the end of the boom, the controller and the plurality of first image acquisition devices are arranged at the beginning of the boom; the controller is electrically connected to the plurality of first image acquisition devices, and the controller is also electrically connected to the actuator, and the method comprises: The controller acquires first images of the hook and the hoisted object captured by the plurality of first image capture devices when the rope is in a taut state; The controller processes the first image to obtain a first relative position of the hook and the hoisting object, wherein the first relative position includes a tilt direction of the hook and a tilt angle of a plane where the hook and the hoisting object are located; the controller receives a plurality of first images captured by a plurality of first image capture devices, synthesizes the plurality of first images to obtain a synthesized first image, identifies the hook and the hoisting object in the synthesized first image, and calculates a tilt direction of the hook and a tilt angle of a plane where the hook and the hoisting object are located; The controller calculates a first adjustment parameter of the actuator according to the first state of the actuator and the first relative position; The controller controls the actuator to adjust its motion according to the first adjustment parameter, so as to adjust the relative position between the hook and the hoisted object.

2. The method according to claim 1, characterized in that A plurality of second image acquisition devices are also provided at the end of the boom, and the method further comprises: The controller acquires second images of the hook and the hoisted object captured by a plurality of second image capture devices when the rope is in a taut state; The controller processes the first image to obtain a first relative position of the hook and the hoisted object, including: The controller processes the first image and the second image to obtain the first relative position.

3. The method according to claim 1, characterized in that The crane further includes: a position sensor, the position sensor being disposed on the hook, the position sensor being used to collect a second relative position between the hook and the hoisted object after the action adjustment, and the method further includes: The controller acquires the second relative position collected by the position sensor; The controller calculates a second adjustment parameter of the actuator according to the second state of the actuator and the second relative position; The controller controls the actuator to adjust its action again according to the second adjustment parameter, so as to adjust the relative position of the hook and the hoisted object again.

4. The method according to claim 3, characterized in that The position sensor is a tilt sensor, and the second relative position includes: an angle between the hook and the hoisted object, and a direction.

5. The method according to claim 1, characterized in that The actuator includes a plurality of actuators, and the controller controls the actuator to adjust its motion according to the first adjustment parameter, including: The controller calculates a first adjustment time corresponding to each of the actuators according to the first state of each of the actuators and the first adjustment parameter of each of the actuators; The controller determines, from among the plurality of actuators, an actuator with the shortest first adjustment time as a first target actuator; The controller controls the first target actuator to adjust its motion according to the first adjustment parameter of the first target actuator.

6. The method according to claim 3, characterized in that The actuator includes a plurality of actuators, and the controller controls the actuator to adjust its action again according to the second adjustment parameter, including: The controller calculates the second adjustment time corresponding to each of the actuators according to the second state of each of the actuators and the second adjustment parameter of each of the actuators; The controller determines, from among the plurality of actuators, an actuator with the shortest second adjustment time as a second target actuator; The controller controls the second target actuator to adjust its motion according to the second adjustment parameter of the target actuator.

7. The method according to claim 5 or 6, characterized in that The plurality of actuators include at least two of a hoisting mechanism, a luffing mechanism, a traveling mechanism and a slewing mechanism.

8. A crane control device, characterized in that: Applied to a crane, the crane comprises: a boom, a controller, an actuator, a hook and a plurality of first image acquisition devices, the rope of a hoisting mechanism in the actuator is connected to the hook through a pulley at the end of the boom, the controller and the plurality of first image acquisition devices are arranged at the beginning of the boom; the controller is electrically connected to the plurality of first image acquisition devices, and the controller is also electrically connected to the actuator, and the device comprises: A first acquisition module, used for acquiring first images of the hook and the hoisted object acquired by a plurality of the first image acquisition devices when the rope is in a taut state; a processing module, configured to process the first image to obtain a first relative position of the hook and the hoisted object, wherein the first relative position includes an inclination direction of the hook and an inclination angle of a plane where the hook and the hoisted object are located; a first calculation module, configured to calculate a first adjustment parameter of the actuator according to a first state of the actuator and the first relative position; The first adjustment module is used to control the actuator to adjust its motion according to the first adjustment parameter, so as to adjust the relative position between the hook and the hoisted object.

9. The device according to claim 8, characterized in that A plurality of second image acquisition devices are also provided at the end of the boom, and the device further comprises: A second acquisition module, used for acquiring second images of the hook and the hoisted object acquired by a plurality of second image acquisition devices when the rope is in a taut state; The processing module is specifically used to process the first image and the second image to obtain the first relative position.

10. A crane, characterized in that: The crane includes: a boom, a controller, an actuator, a hook, and multiple first image acquisition devices. The rope of the hoisting mechanism in the actuator is connected to the hook through a pulley at the end of the boom. The controller and the multiple first image acquisition devices are provided at the beginning of the boom. The controller is electrically connected to the multiple first image acquisition devices, and the controller is also electrically connected to the actuator. The crane uses the crane control method as described in any one of claims 1 to 7, or includes the crane control device as described in claim 8 or 9.

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