Working condition identification control method, device and crawler crane

Abstract

The embodiments of the present invention provide a working condition identification control method, device and crawler crane, which relate to the technical field of crawler cranes. The method comprises: receiving the setting working condition information of the crawler crane; obtaining the current actual working condition information of the crawler crane; judging whether the setting working condition information matches the current actual working condition information; if the setting working condition information matches the current actual working condition information, then controlling the crawler crane to execute the setting working condition information; otherwise, controlling the crawler crane not to execute the setting working condition information. The above-mentioned working condition identification control method, device and crawler crane can improve the product safety of the crawler crane, prevent human errors, reduce safety accidents, and ensure the service life of the crane.

Description

Technical Field

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

[0002] Crawler cranes have many arm combinations and complex connection relationships. Users are prone to miss or fail to set the working condition parameters. Once the working condition is set incorrectly, there will be a greater safety risk during the heavy lifting process. Of course, some people deliberately set the working condition incorrectly to evade safety monitoring and protection.

[0003] Existing crawler cranes lack the ability to detect the actual current working condition information of the crawler cranes. If the working condition parameters are set incorrectly, it will lead to danger during the lifting process, and even cause serious accidents and equipment damage, resulting in significant economic and personnel losses. Summary of the invention

[0004] The objects of the present invention include, for example, providing a working condition identification control method, device and crawler crane, which can improve the product safety of the crawler crane, prevent human errors, reduce safety accidents, and ensure the service life of the crane.

[0005] The embodiments of the present invention can be implemented as follows:

[0006] In a first aspect, an embodiment provides a working condition identification control method for a crawler crane, the method comprising: receiving the set working condition information of the crawler crane; acquiring the current actual working condition information of the crawler crane; determining whether the set working condition information matches the current actual working condition information; if the set working condition information matches the current actual working condition information, controlling the crawler crane to execute the set working condition information; otherwise, controlling the crawler crane not to execute the set working condition information.

[0007] In an optional embodiment, the step of obtaining the current actual working condition information of the crawler crane includes: obtaining the boom connection information of the crawler crane; judging whether the crawler crane is equipped with a super-lifting counterweight ground-lift detection device according to the boom connection information; judging whether the crawler crane is provided with a jib upper and lower angle sensor; if the crawler crane is equipped with the super-lifting counterweight ground-lift detection device and the jib upper and lower angle sensor, it is judged that the crane is in a first working condition, and the first working condition is used as the current actual working condition information; if the crawler crane is not equipped with the super-lifting counterweight ground-lift detection device, and is provided with the jib upper and lower angle sensor, it is judged that the crane is in a second working condition, and the second working condition is used as the current actual working condition information.

[0008] In an optional embodiment, the step of obtaining the current actual working condition information of the crawler crane also includes: determining whether the crawler crane is provided with a jib angle sensor, wherein the jib angle sensor is used to obtain the rotation angle of the jib relative to the main arm of the crawler crane; if the crawler crane is not provided with the jib angle sensor, determining whether the main arm tension sensor of the crawler crane is the main arm channel of the crawler crane; if the crawler crane is equipped with the super-lifting counterweight ground-lifting detection device, is not provided with the jib upper and lower angle sensor and the jib angle sensor, and the main arm tension sensor is the main arm channel, determining that the crane is in the third working condition, and using the third working condition as the current actual working condition information; if the crawler crane is equipped with the super-lifting counterweight ground-lifting detection device, is not provided with the jib upper and lower angle sensor and the jib angle sensor, and the main arm tension sensor is the main arm channel. If the jib upper and lower angle sensor and the jib angle sensor are installed and the main arm tension sensor is not the main arm channel, it is determined that the crane is in the fourth working condition, and the fourth working condition is used as the current actual working condition information; if the crawler crane is not equipped with the super-lifting counterweight ground-lifting detection device, is not equipped with the jib upper and lower angle sensor and the jib angle sensor, and the main arm tension sensor is the main arm channel, it is determined that the crane is in the fifth working condition, and the fifth working condition is used as the current actual working condition information; if the crawler crane is not equipped with the super-lifting counterweight ground-lifting detection device, is not equipped with the jib upper and lower angle sensor and the jib angle sensor, and the main arm tension sensor is not the main arm channel, it is determined that the crane is in the sixth working condition, and the sixth working condition is used as the current actual working condition information.

[0009] In an optional embodiment, the step of obtaining the current actual working condition information of the crawler crane also includes: if the crawler crane is provided with the jib angle sensor, then determining whether the crawler crane is provided with a fixed jib; if the crawler crane is provided with a fixed jib, then determining whether the main arm tension sensor is the main arm channel; if the crawler crane is equipped with the super-lifting counterweight ground-lift detection device, is not provided with the jib upper and lower angle sensor, is provided with the jib angle sensor and the fixed jib and the main arm tension sensor is the main arm channel, then determining that the crane is in the seventh working condition, and using the seventh working condition as the current actual working condition information; if the crawler crane is equipped with the super-lifting counterweight ground-lift detection device, is not provided with the jib upper and lower angle sensor, is provided with the jib angle sensor and the fixed jib and the main arm tension sensor is the main arm channel. If the jib is fixed and the main arm tension sensor is not the main arm channel, it is determined that the crane is in the eighth working condition, and the eighth working condition is used as the current actual working condition information; if the crawler crane is not equipped with the super-lifting counterweight ground-lifting detection device, is not provided with the jib upper and lower angle sensor, is provided with the jib angle sensor and the fixed jib, and the main arm tension sensor is the main arm channel, it is determined that the crane is in the ninth working condition, and the ninth working condition is used as the current actual working condition information; if the crawler crane is not equipped with the super-lifting counterweight ground-lifting detection device, is not provided with the jib upper and lower angle sensor, is provided with the jib angle sensor and the fixed jib, and the main arm tension sensor is not the main arm channel, it is determined that the crane is in the tenth working condition, and the tenth working condition is used as the current actual working condition information.

[0010] In a second aspect, an embodiment provides a working condition identification control device for a crawler crane, the device comprising: a receiving module: used to receive the set working condition information of the crawler crane; an acquisition module: used to acquire the current actual working condition information of the crawler crane; a judgment module: used to judge whether the set working condition information matches the current actual working condition information; a control module: used to control the crawler crane to execute the set working condition information if the set working condition information matches the current actual working condition information; otherwise, control the crawler crane not to execute the set working condition information.

[0011] In an optional embodiment, the acquisition module is also used to: acquire the boom connection information of the crawler crane; determine whether the crawler crane is equipped with an ultra-lifting counterweight ground-release detection device based on the boom connection information; determine whether the crawler crane is provided with a jib upper and lower angle sensor; if the crawler crane is equipped with the ultra-lifting counterweight ground-release detection device and the jib upper and lower angle sensor, determine that the crane is in a first working condition, and use the first working condition as the current actual working condition information; if the crawler crane is not equipped with the ultra-lifting counterweight ground-release detection device, and is provided with the jib upper and lower angle sensor, determine that the crane is in a second working condition, and use the second working condition as the current actual working condition information.

[0012] In an optional embodiment, the acquisition module is also used to: determine whether the crawler crane is provided with a jib angle sensor, wherein the jib angle sensor is used to obtain the rotation angle of the jib relative to the main arm of the crawler crane; if the crawler crane is not provided with the jib angle sensor, then determine whether the main arm tension sensor of the crawler crane is the main arm channel of the crawler crane; if the crawler crane is equipped with the super-lifting counterweight ground-lift detection device, is not provided with the jib up and down angle sensor and the jib angle sensor, and the main arm tension sensor is the main arm channel, then determine that the crane is in the third working condition, and use the third working condition as the current actual working condition information; if the crawler crane is equipped with the super-lifting counterweight ground-lift detection device, is not provided with the jib up and down angle sensor If the crawler crane is not equipped with the super-lifting counterweight ground-lifting detection device, the jib upper and lower angle sensor and the jib angle sensor are not provided, and the main arm tension sensor is not the main arm channel, it is determined that the crane is in the fourth working condition, and the fourth working condition is used as the current actual working condition information; if the crawler crane is not equipped with the super-lifting counterweight ground-lifting detection device, the jib upper and lower angle sensor and the jib angle sensor are not provided, and the main arm tension sensor is not the main arm channel, it is determined that the crane is in the sixth working condition, and the sixth working condition is used as the current actual working condition information.

[0013] In an optional embodiment, the acquisition module is also used for: if the crawler crane is provided with the jib angle sensor, then determining whether the crawler crane is provided with a fixed jib; if the crawler crane is provided with a fixed jib, then determining whether the main arm tension sensor is the main arm channel; if the crawler crane is equipped with the super-lifting counterweight ground-lift detection device, is not provided with the jib upper and lower angle sensor, is provided with the jib angle sensor and the fixed jib, and the main arm tension sensor is the main arm channel, then determining that the crane is in the seventh working condition, and using the seventh working condition as the current actual working condition information; if the crawler crane is equipped with the super-lifting counterweight ground-lift detection device, is not provided with the jib upper and lower angle sensor, is provided with the jib angle sensor and the fixed jib, and the main arm tension sensor is the main arm channel. If the force sensor is not the main arm channel, it is determined that the crane is in the eighth working condition, and the eighth working condition is used as the current actual working condition information; if the crawler crane is not equipped with the super-lifting counterweight ground separation detection device, is not provided with the jib upper and lower angle sensor, is provided with the jib angle sensor and the fixed jib, and the main arm tension sensor is the main arm channel, it is determined that the crane is in the ninth working condition, and the ninth working condition is used as the current actual working condition information; if the crawler crane is not equipped with the super-lifting counterweight ground separation detection device, is not provided with the jib upper and lower angle sensor, is provided with the jib angle sensor and the fixed jib, and the main arm tension sensor is not the main arm channel, it is determined that the crane is in the tenth working condition, and the tenth working condition is used as the current actual working condition information.

[0014] In a third aspect, an embodiment provides a crawler crane, comprising a controller, wherein a working condition identification control program is stored on the controller, and when the working condition identification control program is executed, a method as described in any one of the aforementioned embodiments is implemented.

[0015] In a fourth aspect, an embodiment provides a crawler crane, comprising a controller, a main arm, a secondary arm and a boom detection assembly, wherein the main arm is connected to the secondary arm, the boom detection assembly is installed on the main arm and is used to detect boom information of the main arm, and the controller is electrically connected to the boom detection assembly and is used to determine boom connection information of the main arm based on the boom information.

[0016] In an optional embodiment, the boom detection assembly includes a host, a base station, a sending module and a boom identity module, and the number of the base station, the sending module and the boom identity module is a corresponding multiple; the main arm includes a lower arm and a plurality of booms connected in sequence, the lower arm is connected to one of the plurality of booms, the host is installed on the lower arm, the base station is installed in the middle of the boom, the sending module is installed at the rear end of the boom, and the identity module is installed at the front end of the boom; the sending module is used to collect the identity information of the boom and send the identity information to the base station, the base station is used to send the identity information to the host, and the host is used to determine the boom connection information according to the identity information.

[0017] In an optional embodiment, the crawler crane also includes a super-lifting device and a super-lifting counterweight ground-release detection device, the super-lifting device is installed on the main arm, the super-lifting counterweight ground-release detection device is installed on the super-lifting device and is used to detect the working status of the super-lifting device, and the controller is also used to determine whether the crawler crane is provided with the super-lifting counterweight ground-release detection device according to the boom connection information, and determine the current actual working condition information of the crawler crane according to the setting of the super-lifting counterweight ground-release detection device.

[0018] In an optional embodiment, the crawler crane also includes a jib upper and lower angle sensor, which includes a jib upper angle sensor and a jib lower angle sensor, both of which are electrically connected to the controller, the jib upper angle sensor is arranged at one end of the jib away from the main arm, and is used to detect its angle information, and the jib lower angle sensor is arranged at the other end of the jib and is used to detect its angle information, the controller is used to determine whether the crawler crane is equipped with the jib upper and lower angle sensor, and is used to determine the current actual working condition information according to the boom connection information and the setting of the upper and lower angle sensors.

[0019] In an optional embodiment, the crawler crane also includes a jib angle sensor, which is installed on the jib and electrically connected to the controller. The controller is also used to determine the current actual working condition information based on the boom connection information and the setting of the jib angle sensor.

[0020] In an optional embodiment, the crawler crane also includes a main arm upper angle sensor and a main arm lower angle sensor, both of which are electrically connected to the controller, the main arm upper angle sensor and the main arm lower angle sensor are respectively installed at both ends of the main arm, and the main arm upper angle sensor is close to the auxiliary arm, and is used to detect angle information of the upper end and lower end of the main arm, respectively.

[0021] In an optional embodiment, the crawler crane further includes a main arm tension sensor, which is installed at one end of the main arm close to the auxiliary arm and is electrically connected to the controller for detecting tension information of the main arm.

[0022] In an optional embodiment, the crane further includes a jib tension sensor, which is installed at one end of the jib away from the main arm and is electrically connected to the controller for detecting tension information applied to the jib.

[0023] The beneficial effects of the embodiments of the present invention include, for example: obtaining the current actual working condition information of the crawler crane, and comparing the current actual working condition information with the set working condition information, and only when the set working condition information matches the current actual working condition information, controlling the crawler crane to perform the corresponding operation according to the set working condition information, otherwise the operation of the set working condition information is not performed. The embodiments of the present invention can improve the product safety of the crawler crane, prevent human errors, reduce safety accidents, and ensure the service life of the crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] 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.

[0025] Figure 1 It is a schematic structural block diagram of a crawler crane according to an embodiment of the present invention;

[0026] Figure 2 It is a schematic flow chart of the working condition identification control method according to an embodiment of the present invention;

[0027] Figure 3 for Figure 2 A schematic flow chart of sub-steps S201 to S205 of step S200;

[0028] Figure 4 for Figure 2 A schematic flow chart of sub-steps S206 to S211 of step S200;

[0029] Figure 5 for Figure 2 A schematic flow chart of sub-steps S212 to S217 of step S200;

[0030] Figure 6 for Figure 1 Schematic diagram of the structure of the medium operating condition identification control device.

[0031] Icons: 10 - crawler crane; 100 - working condition identification control device; 110 - receiving module; 120 - acquisition module; 130 - judgment module; 140 - control module; 200 - controller. DETAILED DESCRIPTION

[0032] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0033] See also Figure 1 The embodiment of the present invention provides a working condition identification control method and a working condition identification control device 100, which are applied to a crawler crane 10. The crawler crane 10 includes a controller 200 and a working condition identification control device 100. The working condition identification control device 100 includes at least one software function module that can be stored in the controller 200 in the form of software or firmware or solidified in the operating system (OS) of the server. The controller 200 is used to execute the executable module stored therein, such as the software function module and computer program included in the working condition identification control device 100.

[0034] The controller 200 may be an integrated circuit chip with signal processing capabilities. The above-mentioned controller 200 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The disclosed methods, steps and logic block diagrams in the embodiments of the present invention may be implemented or executed. The general-purpose processor may be a microprocessor. The controller 200 may also be any conventional processor, etc.

[0035] The controller 200 is burned with a working condition identification control program. When the controller 200 receives an execution instruction, it executes the control program.

[0036] See also Figure 2 , the operating condition identification control method includes the following steps.

[0037] Step S100: receiving the setting working condition information of the crawler crane 10.

[0038] It should be noted that the setting working condition information may come from the setting of an operator, such as inputting working condition data through an operating panel of the crawler crane 10 .

[0039] Step S200: obtaining the current actual working condition information of the crawler crane 10.

[0040] It should be noted that, in the embodiment of the present invention, by obtaining the current actual working condition information of the crawler crane 10 and comparing it with the setting working condition information input by the user, it is determined whether the setting is wrong, thereby ensuring the safety of use.

[0041] See also Figure 3 , step S200 includes sub-steps S201 to S205.

[0042] Sub-step S201: Acquire the boom connection information of the crawler crane 10 .

[0043] The boom connection information includes the boom length, type and connection sequence, and determines whether the connection is correct. This process can be obtained through a boom detection component, wherein the boom detection component may include a host, a base station, a sending module and a boom identity module, and the number of base stations, sending modules and boom identity modules is a corresponding plurality; the main arm includes a lower section arm and a plurality of booms connected in sequence, the lower section arm is connected to one of the plurality of booms, the host is installed on the lower section arm, the base station is installed on the middle of the boom, the sending module is installed on the rear end of the boom, and the identity module is installed on the front end of the boom; the sending module is used to collect the identity information of the boom and send the identity information to the base station, the base station is used to send the identity information to the host, and the host is used to determine the boom connection information according to the identity information.

[0044] It should be noted that, in the specific setting, each arm is provided with an arm identity module, a base station and a sending module. In the setting, the sending module can be configured to obtain the identity information of the upper arm and send it to the base station of the arm, and the sending module of the arm itself is used to send the identity information to the host. The host judges whether the arm connection is correct, as well as the type and length of the arm and other information through each identity information.

[0045] Sub-step S202: judging whether the crawler crane 10 is equipped with a super-lift counterweight ground clearance detection device according to the boom connection information.

[0046] Sub-step S203: Determine whether the crawler crane 10 is provided with a jib up-and-down angle sensor.

[0047] Among them, the jib upper and lower angle sensors include a jib upper angle sensor and a jib lower angle sensor, both of which are electrically connected to the controller 200. The jib upper angle sensor is arranged at one end of the jib away from the main arm, and is used to detect its angle information. The jib lower angle sensor is arranged at the other end of the jib and is used to detect its angle information. The controller 200 is used to determine whether the crawler crane 10 is provided with a jib upper and lower angle sensor, and is used to determine the current actual working condition information according to the boom connection information and the setting of the upper and lower angle sensors.

[0048] Sub-step S204: If the crawler crane 10 is equipped with a super-lift counterweight ground clearance detection device and a jib up and down angle sensor, it is determined that the crane is in the first working condition, and the first working condition is used as the current actual working condition information.

[0049] Sub-step S205: If the crawler crane 10 is not equipped with a super-lift counterweight ground clearance detection device and is provided with a jib up and down angle sensor, it is determined that the crane is in the second working condition, and the second working condition is used as the current actual working condition information.

[0050] See also Figure 4 Furthermore, step S200 may also include sub-steps S206 to S211.

[0051] Sub-step S206 : determining whether the crawler crane 10 is provided with a jib angle sensor, wherein the jib angle sensor is used to obtain a rotation angle of the jib relative to the main arm of the crawler crane 10 .

[0052] Sub-step S207 : if the crawler crane 10 is not provided with a secondary arm angle sensor, it is determined whether the main arm tension sensor of the crawler crane 10 is a main arm channel of the crawler crane 10 .

[0053] Sub-step S208: If the crawler crane 10 is equipped with an over-lift counterweight ground clearance detection device, is not provided with a jib upper and lower angle sensor and a jib angle sensor, and the main arm tension sensor is a main arm channel, it is determined that the crane is in the third working condition, and the third working condition is used as the current actual working condition information.

[0054] Sub-step S209: If the crawler crane 10 is equipped with an over-lift counterweight ground clearance detection device, is not equipped with a jib upper and lower angle sensor and a jib angle sensor, and the main arm tension sensor is not a main arm channel, it is determined that the crane is in the fourth working condition, and the fourth working condition is used as the current actual working condition information.

[0055] Sub-step S210: If the crawler crane 10 is not equipped with a super-lifting counterweight ground clearance detection device, a jib upper and lower angle sensor and a jib angle sensor are not provided, and the main arm tension sensor is a main arm channel, it is determined that the crane is in the fifth working condition, and the fifth working condition is used as the current actual working condition information.

[0056] Sub-step S211: If the crawler crane 10 is not equipped with an ultra-lifting counterweight ground-lifting detection device, a jib upper and lower angle sensor and a jib angle sensor are not provided, and the main arm tension sensor is not a main arm channel, it is determined that the crane is in the sixth working condition, and the sixth working condition is used as the current actual working condition information.

[0057] See also Figure 5 Furthermore, step S200 may also include sub-steps S212 to S217.

[0058] Sub-step S212: if the crawler crane 10 is provided with a jib angle sensor, determining whether the crawler crane 10 is provided with a fixed jib;

[0059] Sub-step S213: if the crawler crane 10 is provided with a fixed auxiliary arm, determining whether the main arm tension sensor is a main arm channel;

[0060] Sub-step S214: if the crawler crane 10 is equipped with a super-lift counterweight ground-lift detection device, is not equipped with a jib up-and-down angle sensor, is equipped with a jib angle sensor and a fixed jib, and the main arm tension sensor is a main arm channel, it is determined that the crane is in the seventh working condition, and the seventh working condition is used as the current actual working condition information;

[0061] Sub-step S215: If the crawler crane 10 is equipped with a super-lift counterweight ground-lift detection device, is not equipped with a jib up-and-down angle sensor, is equipped with a jib angle sensor and a fixed jib, and the main arm tension sensor is not a main arm channel, it is determined that the crane is in the eighth working condition, and the eighth working condition is used as the current actual working condition information;

[0062] Sub-step S216: If the crawler crane 10 is not equipped with a super-lift counterweight ground-lift detection device, is not provided with a jib up-and-down angle sensor, is provided with a jib angle sensor and a fixed jib, and the main arm tension sensor is a main arm channel, it is determined that the crane is in the ninth working condition, and the ninth working condition is used as the current actual working condition information;

[0063] Sub-step S217: If the crawler crane 10 is not equipped with an ultra-lifting counterweight ground-lifting detection device, is not equipped with a jib upper and lower angle sensor, is equipped with a jib angle sensor and a fixed jib, and the main arm tension sensor is not a main arm channel, it is determined that the crane is in the tenth working condition, and the tenth working condition is used as the current actual working condition information.

[0064] Optionally, the operating condition type may include but is not limited to: H, HDB, HJ, HJDB, LJ, LJDB, FJ, FJDB, HJFJ, HJFJDB and other operating conditions;

[0065] In the embodiment of the present invention, the current actual working condition information of the crawler crane 10 is obtained through the above sub-steps S201 to S217. The above sub-steps S201 to S217 are used to check the actual working condition of the crawler crane 10 according to the set sensors and other equipment. Only one of the above first to tenth working conditions may appear, and two or more working conditions cannot appear at the same time.

[0066] After the current actual working condition information of the crawler crane 10 is acquired, step S300 is executed.

[0067] Step S300: Determine whether the set operating condition information matches the current actual operating condition information.

[0068] It should be noted that under different working conditions, the connection modes and the number of components of the crawler crane 10 are different. The setting working condition information input by the user and the current actual working condition information obtained should match, so that the crawler crane 10 can perform the operation corresponding to the setting working condition information.

[0069] If the set working condition information matches the current actual working condition information, step S400 is executed: controlling the crawler crane 10 to execute the set working condition information.

[0070] Otherwise, execute step S500: control the crawler crane 10 not to execute the set working condition information, so as to prevent the crawler crane 10 from working only under the input working condition information that matches it, thereby ensuring the safety of use.

[0071] In step S500 , an alarm may be issued to help the user adjust the setting of the working condition information or check the setting of the crawler crane 10 in time.

[0072] The beneficial effect of the working condition automatic identification method of the embodiment of the present invention is: obtaining the current actual working condition information of the crawler crane 10, and comparing the current actual working condition information with the set working condition information, and only when the set working condition information matches the current actual working condition information, the crawler crane 10 is controlled to perform the corresponding operation according to the set working condition information, otherwise the operation of the set working condition information is not performed. The embodiment of the present invention can improve the product safety of the crawler crane 10, prevent human errors, reduce safety accidents, and ensure the service life of the crane.

[0073] See also Figure 6 An embodiment of the present invention provides a working condition identification control device 100, which includes a receiving module 110, an acquisition module 120, a judgment module 130 and a control module 140.

[0074] The receiving module 110 is used to receive the setting working condition information of the crawler crane 10 .

[0075] In the embodiment of the present invention, the above step S100 is performed by the receiving module 110 .

[0076] The acquisition module 120 is used to acquire the current actual working condition information of the crawler crane 10 .

[0077] In the embodiment of the present invention, the above step S200 is performed by the acquisition module 120 .

[0078] In an optional embodiment, the acquisition module 120 is also used to: obtain the boom connection information of the crawler crane 10; determine whether the crawler crane 10 is equipped with an ultra-lifting counterweight ground-lift detection device based on the boom connection information; determine whether the crawler crane 10 is provided with a jib upper and lower angle sensor; if the crawler crane 10 is equipped with an ultra-lifting counterweight ground-lift detection device and a jib upper and lower angle sensor, it is determined that the crane is in a first working condition, and the first working condition is used as the current actual working condition information; if the crawler crane 10 is not equipped with a ultra-lifting counterweight ground-lift detection device, and is provided with a jib upper and lower angle sensor, it is determined that the crane is in a second working condition, and the second working condition is used as the current actual working condition information.

[0079] In the embodiment of the present invention, the above sub-steps S201 to S205 are executed by the acquisition module 120 .

[0080] In an optional embodiment, the acquisition module 120 is further used to: determine whether the crawler crane 10 is provided with a jib angle sensor, wherein the jib angle sensor is used to obtain the rotation angle of the jib relative to the main arm of the crawler crane 10; if the crawler crane 10 is not provided with a jib angle sensor, then determine whether the main arm tension sensor of the crawler crane 10 is the main arm channel of the crawler crane 10; if the crawler crane 10 is equipped with a super-lifting counterweight off-the-ground detection device, is not provided with a jib up and down angle sensor and a jib angle sensor, and the main arm tension sensor is the main arm channel, then determine that the crane is in the third working condition, and use the third working condition as the current actual working condition information; if the crawler crane 10 is equipped with a super-lifting counterweight off-the-ground detection device, If the jib up and down angle sensor and the jib angle sensor are not provided and the main arm tension sensor is not the main arm channel, it is determined that the crane is in the fourth working condition, and the fourth working condition is used as the current actual working condition information; if the crawler crane 10 is not equipped with an ultra-lifting counterweight ground-lift detection device, is not equipped with a jib up and down angle sensor and a jib angle sensor, and the main arm tension sensor is the main arm channel, it is determined that the crane is in the fifth working condition, and the fifth working condition is used as the current actual working condition information; if the crawler crane 10 is not equipped with an ultra-lifting counterweight ground-lift detection device, is not equipped with a jib up and down angle sensor and a jib angle sensor, and the main arm tension sensor is not the main arm channel, it is determined that the crane is in the sixth working condition, and the sixth working condition is used as the current actual working condition information.

[0081] In the embodiment of the present invention, the above sub-steps S206 to S211 are executed by the acquisition module 120 .

[0082] In an optional embodiment, the acquisition module 120 is also used for: if the crawler crane 10 is provided with a jib angle sensor, then determining whether the crawler crane 10 is provided with a fixed jib; if the crawler crane 10 is provided with a fixed jib, then determining whether the main arm tension sensor is the main arm channel; if the crawler crane 10 is equipped with an over-lifting counterweight ground-lift detection device, no jib upper and lower angle sensor is provided, a jib angle sensor and a fixed jib are provided, and the main arm tension sensor is the main arm channel, then determining that the crane is in the seventh working condition, and using the seventh working condition as the current actual working condition information; if the crawler crane 10 is equipped with an over-lifting counterweight ground-lift detection device, no jib upper and lower angle sensor is provided, a jib angle sensor and a fixed jib are provided, and the main arm tension sensor is the main arm channel. If the jib and the main arm tension sensor are not the main arm channel, it is determined that the crane is in the eighth working condition, and the eighth working condition is used as the current actual working condition information; if the crawler crane 10 is not equipped with an ultra-lifting counterweight ground-lift detection device, is not equipped with a jib upper and lower angle sensor, is equipped with a jib angle sensor and a fixed jib, and the main arm tension sensor is the main arm channel, it is determined that the crane is in the ninth working condition, and the ninth working condition is used as the current actual working condition information; if the crawler crane 10 is not equipped with an ultra-lifting counterweight ground-lift detection device, is not equipped with a jib upper and lower angle sensor, is equipped with a jib angle sensor and a fixed jib, and the main arm tension sensor is not the main arm channel, it is determined that the crane is in the tenth working condition, and the tenth working condition is used as the current actual working condition information.

[0083] In the embodiment of the present invention, the above sub-steps S212 to S217 are executed by the acquisition module 120 .

[0084] The judgment module 130 is used to judge whether the set working condition information matches the current actual working condition information.

[0085] In the embodiment of the present invention, the above step S300 is executed by the determination module 130 .

[0086] The control module 140 is used to control the crawler crane 10 to execute the set working condition information if the set working condition information matches the current actual working condition information; otherwise, control the crawler crane 10 not to execute the set working condition information.

[0087] In the embodiment of the present invention, the above step S400 is executed by the control module 140 .

[0088] The beneficial effect of the working condition identification control device of the embodiment of the present invention is: obtaining the current actual working condition information of the crawler crane 10, and comparing the current actual working condition information with the set working condition information, and only when the set working condition information matches the current actual working condition information, the crawler crane 10 is controlled to perform the corresponding operation according to the set working condition information, otherwise the operation of the set working condition information is not performed. The embodiment of the present invention can improve the product safety of the crawler crane 10, prevent human errors, reduce safety accidents, and ensure the service life of the crane.

[0089] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0090] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0091] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, 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. The computer software product is stored in a storage medium and includes several instructions for 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 methods described in the various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory, a random access memory, a magnetic disk or an optical disk.

[0092] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0093] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A working condition identification control method for a crawler crane, characterized in that: The method comprises: Receiving setting working condition information of the crawler crane; Acquiring current actual working condition information of the crawler crane; Determining whether the set operating condition information matches the current actual operating condition information; If the set working condition information matches the current actual working condition information, the crawler crane is controlled to execute the set working condition information; otherwise, the crawler crane is controlled not to execute the set working condition information; The step of obtaining the current actual working condition information of the crawler crane includes: obtaining the boom connection information of the crawler crane; judging whether the crawler crane is equipped with a super-lift counterweight ground-lift detection device according to the boom connection information, and judging whether the crawler crane is provided with a jib up-and-down angle sensor, to obtain the current actual working condition information; The step of obtaining the current actual working condition information of the crawler crane also includes: determining whether the crawler crane is provided with a jib angle sensor, wherein the jib angle sensor is used to obtain the rotation angle of the jib relative to the main arm of the crawler crane; if the crawler crane is not provided with the jib angle sensor, determining whether the main arm tension sensor of the crawler crane is the main arm channel of the crawler crane to obtain the current actual working condition information.

2. The operating condition identification control method according to claim 1, characterized in that: The step of obtaining the current actual working condition information of the crawler crane comprises: If the crawler crane is equipped with the super-lift counterweight ground-lift detection device and the auxiliary arm upper and lower angle sensor, it is determined that the crane is in the first working condition, and the first working condition is used as the current actual working condition information; If the crawler crane is not equipped with the super-lift counterweight ground clearance detection device and is provided with the auxiliary arm upper and lower angle sensor, it is determined that the crane is in the second working condition, and the second working condition is used as the current actual working condition information.

3. The operating condition identification control method according to claim 2, characterized in that: The step of obtaining the current actual working condition information of the crawler crane also includes: If the crawler crane is equipped with the super-lift counterweight ground-lift detection device, is not provided with the auxiliary arm up-down angle sensor and the auxiliary arm angle sensor, and the main arm tension sensor is the main arm channel, it is determined that the crane is in the third working condition, and the third working condition is used as the current actual working condition information; If the crawler crane is equipped with the super-lift counterweight ground-lift detection device, is not provided with the auxiliary arm up-down angle sensor and the auxiliary arm angle sensor, and the main arm tension sensor is not the main arm channel, it is determined that the crane is in the fourth working condition, and the fourth working condition is used as the current actual working condition information; If the crawler crane is not equipped with the super-lift counterweight ground-lift detection device, is not provided with the auxiliary arm up-down angle sensor and the auxiliary arm angle sensor, and the main arm tension sensor is the main arm channel, it is determined that the crane is in the fifth working condition, and the fifth working condition is used as the current actual working condition information; If the crawler crane is not installed with the super-lifting counterweight ground clearance detection device, is not equipped with the auxiliary arm upper and lower angle sensor and the auxiliary arm angle sensor, and the main arm tension sensor is not the main arm channel, it is determined that the crane is in the sixth working condition, and the sixth working condition is used as the current actual working condition information.

4. The operating condition identification control method according to claim 3, characterized in that: The step of obtaining the current actual working condition information of the crawler crane also includes: If the crawler crane is provided with the jib angle sensor, determining whether the crawler crane is provided with a fixed jib; If the crawler crane is provided with a fixed auxiliary arm, determining whether the main arm tension sensor is the main arm channel; If the crawler crane is equipped with the super-lift counterweight ground-lift detection device, is not equipped with the jib up-and-down angle sensor, is equipped with the jib angle sensor and the fixed jib, and the main arm tension sensor is the main arm channel, it is determined that the crane is in the seventh working condition, and the seventh working condition is used as the current actual working condition information; If the crawler crane is equipped with the super-lift counterweight ground-lift detection device, is not equipped with the jib up-and-down angle sensor, is equipped with the jib angle sensor and the fixed jib, and the main arm tension sensor is not the main arm channel, it is determined that the crane is in the eighth working condition, and the eighth working condition is used as the current actual working condition information; If the crawler crane is not equipped with the super-lift counterweight ground-lift detection device, is not provided with the auxiliary arm upper and lower angle sensor, is provided with the auxiliary arm angle sensor and the fixed auxiliary arm, and the main arm tension sensor is the main arm channel, it is determined that the crane is in the ninth working condition, and the ninth working condition is used as the current actual working condition information; If the crawler crane is not equipped with the super-lifting counterweight ground clearance detection device, is not equipped with the jib upper and lower angle sensor, is equipped with the jib angle sensor and the fixed jib, and the main arm tension sensor is not the main arm channel, it is determined that the crane is in the tenth working condition, and the tenth working condition is used as the current actual working condition information.

5. A working condition identification control device for a crawler crane, characterized in that: The device comprises: Receiving module: used for receiving the setting working condition information of the crawler crane; Acquisition module: used to acquire the current actual working condition information of the crawler crane; Judgment module: used to judge whether the set working condition information matches the current actual working condition information; A control module: used for controlling the crawler crane to execute the set working condition information if the set working condition information matches the current actual working condition information; otherwise, controlling the crawler crane not to execute the set working condition information; The acquisition module is used to acquire the boom connection information of the crawler crane; determine whether the crawler crane is equipped with a super-lift counterweight ground-lift detection device according to the boom connection information, and determine whether the crawler crane is provided with a jib up and down angle sensor, so as to obtain the current actual working condition information; The acquisition module is used to determine whether the crawler crane is provided with a jib angle sensor, wherein the jib angle sensor is used to obtain the rotation angle of the jib relative to the main arm of the crawler crane; if the crawler crane is not provided with the jib angle sensor, it is determined whether the main arm tension sensor of the crawler crane is the main arm channel of the crawler crane to obtain the current actual working condition information.

6. A crawler crane, characterized in that: It comprises a controller, on which a working condition identification control program is stored, and when the working condition identification control program is executed, the method as described in any one of claims 1 to 4 is implemented.

7. A crawler crane, used for executing the method according to any one of claims 1 to 4, characterized in that: The crawler crane includes a controller, a main arm, a secondary arm and a boom detection component, the main arm is connected to the secondary arm, the boom detection component is installed on the main arm and is used to detect boom information of the main arm, and the controller is electrically connected to the boom detection component and is used to determine boom connection information of the main arm based on the boom information.

8. The crawler crane according to claim 7, characterized in that: The boom detection assembly includes a host, a base station, a sending module and a boom identity module, and the number of the base station, the sending module and the boom identity module is a corresponding plurality; the main arm includes a lower arm and a plurality of booms connected in sequence, the lower arm is connected to one of the plurality of booms, the host is installed on the lower arm, the base station is installed on the middle of the boom, the sending module is installed on the rear end of the boom, and the identity module is installed on the front end of the boom; The sending module is used to collect the identity information of the boom and send the identity information to the base station. The base station is used to send the identity information to the host. The host is used to determine the boom connection information according to the identity information.

9. The crawler crane according to claim 8, characterized in that: The crawler crane also includes a super-lifting device and a super-lifting counterweight ground-lifting detection device, wherein the super-lifting device is installed on the main arm, and the super-lifting counterweight ground-lifting detection device is installed on the super-lifting device and is used to detect the working status of the super-lifting device. The controller is also used to determine whether the crawler crane is provided with the super-lifting counterweight ground-lifting detection device according to the boom connection information, and to determine the current actual working condition information of the crawler crane according to the setting of the super-lifting counterweight ground-lifting detection device.

10. The crawler crane according to any one of claims 7 to 9, characterized in that: The crawler crane also includes a jib upper and lower angle sensor, which includes a jib upper angle sensor and a jib lower angle sensor, both of which are electrically connected to the controller. The jib upper angle sensor is arranged at one end of the jib away from the main arm and is used to detect its angle information. The jib lower angle sensor is arranged at the other end of the jib and is used to detect its angle information. The controller is used to determine whether the crawler crane is provided with the jib upper and lower angle sensor, and is used to determine the current actual working condition information according to the boom connection information and the setting of the upper and lower angle sensors.

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