Crane and control method thereof

Abstract

The embodiment of the present invention provides a crane and a control method thereof. The crane includes a fuselage, a boom, a luffing mechanism, a tension sensor and a controller. One end of the boom is rotatably connected to the fuselage. The luffing mechanism is respectively connected to the fuselage and the boom. The tension sensor is arranged on the luffing mechanism, and the tension sensor is used to detect the tension value of the luffing mechanism on the boom. The controller is electrically connected to the tension sensor and the luffing mechanism, and the controller is configured to determine that the arm length of the boom exceeds the arm length threshold if the tension value is greater than the tension threshold. The crane and the control method thereof provided by the embodiment of the present invention detect the tension value of the luffing mechanism on the boom through the tension sensor, and can determine whether the arm length of the boom exceeds the arm length threshold according to the tension value, thereby avoiding the problem of overload damage to the boom.

Description

Technical Field

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

[0002] The boom of a truss crane is segmented, and the boom needs to be installed or removed section by section when in use. During the assembly and disassembly process, a luffing mechanism is used to connect the lower section of the main boom of the boom. Figure 1 As shown, the boom 2 is in a cantilever state at this time, which is equivalent to a cantilever beam, and the connection between the luffing mechanism 3 and the lower boom 21 of the main boom is subject to great force. Generally, the structure of the connection is designed according to the allowable boom length. When the actual boom length is greater than the allowable value, it will cause damage to the lower boom of the main boom and the luffing mechanism, and bring the risk of the boom falling to the ground and being damaged. The existing safety measure is to paste a warning sign of the allowable boom length in the driver's cab of the truss crane, and also add corresponding content to the product manual. However, if the operator makes a mistake in operation, it will still cause damage to the boom, posing a safety hazard. Summary of the invention

[0003] The embodiment of the present invention provides a crane and a control method thereof, aiming to avoid the problem that the boom and the luffing mechanism are damaged due to the boom being too long.

[0004] An embodiment of the present invention provides a crane, comprising:

[0005] body;

[0006] A boom, one end of which is rotatably connected to the fuselage;

[0007] A luffing mechanism, wherein the luffing mechanism is respectively connected to the fuselage and the boom;

[0008] a tension sensor, arranged on the luffing mechanism, and used for detecting the tension value of the luffing mechanism on the boom; and

[0009] A controller is electrically connected to the tension sensor and the amplitude changing mechanism, and the controller is configured to determine that the arm length of the boom exceeds an arm length threshold if the tension value is greater than a tension threshold.

[0010] The crane according to one embodiment of the present invention further comprises an angle sensor, the angle sensor being arranged on the boom, the angle sensor being used to detect a horizontal inclination angle value of the boom;

[0011] The controller is electrically connected to the angle sensor, and is configured to determine that the arm length of the boom exceeds an arm length threshold if the horizontal inclination angle value is less than an angle threshold and the tension value is greater than a tension threshold.

[0012] According to a crane of one embodiment of the present invention, the boom comprises a main boom lower section boom rotatably connected to the fuselage, and the angle sensor is arranged on the main boom lower section boom.

[0013] According to a crane of one embodiment of the present invention, the angle sensor is arranged at one end of the lower boom of the main boom close to the fuselage.

[0014] The crane according to one embodiment of the present invention further comprises an in-position detection sensor, which is arranged at the connection between the boom and the luffing mechanism, and is used to generate a trigger signal when the boom is connected to the luffing mechanism;

[0015] The controller is electrically connected to the in-position detection sensor, and is configured to determine that the arm length of the boom exceeds an arm length threshold if the trigger signal is received and the tension value is greater than a tension threshold.

[0016] According to the crane of one embodiment of the present invention, the in-position detection sensor is arranged on the boom.

[0017] According to the crane of one embodiment of the present invention, the in-position detection sensor is a proximity switch or a travel switch.

[0018] According to the crane of one embodiment of the present invention, the controller is arranged on the body.

[0019] According to a crane of an embodiment of the present invention, the luffing mechanism is connected to the boom via a boom pull plate and a luffing rope, and the tension sensor is provided on the boom pull plate or the luffing rope.

[0020] According to a crane of one embodiment of the present invention, the luffing mechanism comprises a fixed pulley block, a movable pulley block and a luffing rope, the movable pulley block is connected to the fixed pulley block via the luffing rope, and the fixed pulley block is rotatably connected to the boom.

[0021] An embodiment of the present invention further provides a crane control method, comprising:

[0022] Obtain the pulling force value of the luffing mechanism on the boom;

[0023] If the pulling force value is greater than the pulling force threshold, it is determined that the arm length of the arm rack exceeds the arm length threshold.

[0024] According to an embodiment of the present invention, the control method of a crane, if the pulling force value is greater than the pulling force threshold, before determining that the arm length of the boom exceeds the arm length threshold, further comprises:

[0025] Obtaining a horizontal inclination angle value of the boom;

[0026] If the pulling force value is greater than the pulling force threshold, determining that the arm length of the boom exceeds the arm length threshold includes:

[0027] If the horizontal inclination angle value is less than the angle threshold and the tension value is greater than the tension threshold, it is determined that the arm length of the boom exceeds the arm length threshold.

[0028] According to a control method for a crane according to an embodiment of the present invention, if the pulling force value is greater than a pulling force threshold, determining that the arm length of the boom exceeds an arm length threshold includes:

[0029] If a trigger signal is received and the pulling force value is greater than a pulling force threshold, it is determined that the arm length of the boom exceeds the arm length threshold, wherein the trigger signal is used to indicate that the boom is connected to the amplitude variation mechanism.

[0030] According to an embodiment of the present invention, the control method of a crane, if the pulling force value is greater than the pulling force threshold, after determining that the arm length of the boom exceeds the arm length threshold, further comprises:

[0031] A protection signal is generated, wherein the protection signal is used to prohibit the luffing mechanism from performing a boom raising operation.

[0032] An embodiment of the present invention further provides a control device for a crane, comprising:

[0033] A tension value acquisition unit, used to acquire the tension value of the luffing mechanism on the boom;

[0034] The determination unit is configured to determine that the arm length of the boom exceeds an arm length threshold if the pulling force value is greater than a pulling force threshold.

[0035] An embodiment of the present invention further provides a control device for a crane, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the control method for the crane as described above when executing the program.

[0036] An embodiment of the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the crane control method described above are implemented.

[0037] The crane and control method thereof provided in the embodiment of the present invention detects the pulling force value of the boom by the luffing mechanism through a pulling force sensor, and determines whether the boom length exceeds the boom length threshold according to the pulling force value, thereby avoiding the problem of boom overload damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 It is a structural diagram of an existing crane;

[0040] Figure 2 It is a structural schematic diagram of a crane provided by an embodiment of the present invention;

[0041] Figure 3 yes Figure 2 The enlarged schematic diagram of point A in the middle;

[0042] Figure 4 yes Figure 2 The enlarged schematic diagram of point B in the middle;

[0043] Figure 5 yes Figure 2 The enlarged schematic diagram of the center C;

[0044] Figure 6 yes Figure 2 The enlarged schematic diagram of point D in the middle;

[0045] Figure 7 It is a flow chart of a crane control method provided by an embodiment of the present invention;

[0046] Figure 8 is a structural schematic diagram of a crane control device provided by an embodiment of the present invention;

[0047] Fig. 9 It is a structural schematic diagram of another crane control device provided by an embodiment of the present invention.

[0048] Reference numerals:

[0049] 100: crane; 1: fuselage; 2: boom; 21: lower boom of main boom; 3: luffing mechanism; 31: boom pull plate; 32: fixed pulley block; 33: movable pulley block; 4: tension sensor; 41: first connecting line; 5: controller; 6: angle sensor; 61: second connecting line; 7: in-position detection sensor; 71: third connecting line. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution 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 part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] Combine the following Figures 2 to 6 Describe the crane of the embodiment of the present invention, such as Figures 2 to 4 As shown, the crane 100 includes a body 1 , a boom 2 , a luffing mechanism 3 , a tension sensor 4 and a controller 5 .

[0052] like Figure 2 As shown, one end of the arm 2 is rotatably connected to the fuselage 1. Specifically, as Figure 2 As shown, in this embodiment, the boom 2 includes a main arm lower section arm 21, and one end of the main arm lower section arm 21 is rotatably connected to the fuselage 1.

[0053] like Figure 2 As shown, the luffing mechanism 3 is connected to the fuselage 1 and the boom 2 respectively. The crane 100 can drive the boom 2 to rotate through the luffing mechanism 3 to complete the boom raising work. The end of the boom 2 close to the fuselage 1 is the rear end of the boom 2, the end of the boom 2 away from the fuselage 1 is the front end of the boom 2, and the part of the boom 2 facing upward in the cantilever state is the top of the boom 2. The luffing mechanism 3 is usually connected to the top of the boom 2, for example, the luffing mechanism 3 is connected to the front end top of the lower boom 21 of the main boom. Specifically, as shown in FIG. Figure 2 As shown, in this embodiment, the luffing mechanism 3 includes a fixed pulley block 32, a movable pulley block 33 and a luffing rope (not shown in the figure), the movable pulley block 33 is connected to the fixed pulley block 32 through the luffing rope, the fixed pulley block 32 is rotatably connected to the boom 2, and the luffing rope is dragged by the winch to complete the boom raising work. Among them, the rotation axis direction of the fixed pulley block 32 is the same as the rotation axis direction of the boom 2.

[0054] like Figure 2 and Figure 3As shown, the tension sensor 4 is arranged on the luffing mechanism 3, and the tension sensor 4 is used to detect the tension value of the luffing mechanism 3 on the boom 2. The part of the boom 2 located in front of the connection point between the luffing mechanism 3 and the boom 2 will form tension at the connection point, and the tension sensor 4 can detect the tension formed at the connection point. There is no special limitation on the specific setting position of the tension sensor 4 on the luffing mechanism 3. For example, the luffing mechanism 3 is connected to the boom 2 through the boom pull plate 31 and the luffing rope. The tension sensor 4 can be arranged at the boom pull plate 31 to detect the tension of the boom pull plate 31; the tension sensor 4 can also be arranged at the luffing rope to detect the tension of the luffing rope. In addition, the tension sensor 4 can be arranged in one or more. For example, the tension sensor 4 can be arranged in two symmetrical positions along the rotation axis direction of the boom 2.

[0055] like Figure 2 and Figure 4 As shown, the controller 5 is electrically connected to the tension sensor 4 and the variable amplitude mechanism 3, and the controller 5 is configured to determine that the arm length of the boom 2 exceeds the arm length threshold if the tension value is greater than the tension threshold. The tension sensor 4 transmits the detected tension value to the controller 5, and the controller 5 can determine the arm length of the boom 2 based on the detected tension value. Generally, the larger the detected tension value, the longer the arm length of the boom 2. Therefore, when the tension value is greater than the tension threshold, the controller 5 determines that the arm length of the boom 2 exceeds the arm length threshold, and prohibits the variable amplitude mechanism 3 from performing the arm raising operation, thereby achieving the effect of avoiding overload damage to the boom 2; when the tension value is less than the tension threshold, the controller 5 determines that the arm length of the boom 2 does not exceed the arm length threshold, and allows the variable amplitude mechanism 3 to perform the arm raising operation. Among them, the controller 5 can be set at a position such as the fuselage 1, the variable amplitude mechanism 3 or the lower boom 21 of the main arm, for example, Figure 4 As shown, the controller 5 is disposed on the fuselage 1, and the controller 5 is electrically connected to the tension sensor 4 through the first connection line 41. When the tension value is equal to the tension threshold, the judgment result of the controller 5 can be set according to the actual situation. In one case, when the tension value is equal to the tension threshold, the controller 5 determines that the arm length of the boom 2 exceeds the arm length threshold; in another case, when the tension value is equal to the tension threshold, the controller 5 determines that the arm length of the boom 2 does not exceed the arm length threshold.

[0056] like Figure 2 and Figure 5As shown, in this embodiment, the crane 100 further includes an angle sensor 6, which is arranged on the boom 2, and is used to detect the horizontal inclination value of the boom 2; the controller 5 is electrically connected to the angle sensor 6, and the controller 5 is configured to determine that the arm length of the boom 2 exceeds the arm length threshold if the horizontal inclination value is less than the angle threshold and the tension value is greater than the tension threshold. The angle sensor 6 can detect the relative angle between the boom 2 and the horizontal plane (i.e., the horizontal inclination value), and transmit the detected horizontal inclination value to the controller 5, and the controller 5 can determine the working state of the boom 2 according to the detected horizontal inclination value. When the working state of the boom 2 is the self-loading and unloading state, the boom 2 usually does not suffer from overload damage, so subsequent protection work can be omitted; when the working state of the boom 2 is the cantilever state, subsequent protection work is required. For example, when the horizontal inclination value detected by the angle sensor 6 is greater than 10 degrees, the controller 5 determines that the boom 2 is in a self-loading and unloading state at this time, and the controller 5 will not perform subsequent protection work, allowing the luffing mechanism 3 to perform the arm lifting work; when the horizontal inclination value detected by the angle sensor 6 is less than 10 degrees, the controller 5 will continue to obtain the tension value of the tension sensor 4. When the tension value is less than the tension threshold, the controller 5 determines that the arm length of the boom 2 does not exceed the arm length threshold, allowing the luffing mechanism 3 to perform the arm lifting work. When the tension value is greater than the tension threshold, the controller 5 determines that the arm length of the boom 2 exceeds the arm length threshold, prohibiting the luffing mechanism 3 from performing the arm lifting work, thereby achieving the effect of avoiding overload damage to the boom 2. When the horizontal inclination value is equal to the angle threshold, the judgment result of the controller 5 can be set according to the actual situation. One case is that when the horizontal inclination value is equal to the angle threshold, the controller 5 determines that the boom 2 is in a self-loading and unloading state; another case is that when the horizontal inclination value is equal to the angle threshold, the controller 5 determines that the boom 2 is in a cantilever state. There may be one or more angle sensors 6 , for example, there may be two angle sensors 6 symmetrically arranged along the rotation axis direction of the arm 2 .

[0057] The angle sensor 6 is arranged on the arm 2. Figure 2 and Figure 5 As shown, the angle sensor 6 is usually arranged on the lower arm 21 of the main arm. Specifically, in this embodiment, the angle sensor 6 is arranged on one end of the lower arm 21 of the main arm close to the fuselage 1, which makes it convenient to connect the angle sensor 6 and the controller 5, wherein the angle sensor 6 is electrically connected to the controller 5 via a second connecting line 61.

[0058] like Figure 2 and Figure 6As shown, in this embodiment, the crane 100 further includes an in-position detection sensor 7, which is arranged at the connection between the boom 2 and the luffing mechanism 3, and the in-position detection sensor 7 is used to generate a trigger signal when the boom 2 is connected to the luffing mechanism 3; the controller 5 is electrically connected to the in-position detection sensor 7, and the controller 5 is configured to determine that the arm length of the boom 2 exceeds the arm length threshold if the trigger signal is received and the tension value is greater than the tension threshold. The in-position detection sensor 7 can detect whether the boom 2 is connected to the luffing mechanism 3. When the boom 2 is not connected to the luffing mechanism 3, the controller 5 may not perform subsequent protection work; when the boom 2 is connected to the luffing mechanism 3, the in-position detection sensor 7 will generate a trigger signal and transmit it to the controller 5, and the controller 5 will determine whether the arm length of the boom 2 exceeds the arm length threshold according to the tension value or the combination of the tension value and the horizontal inclination angle value. Among them, the in-position detection sensor 7 can be a proximity switch or a travel switch, and in this embodiment, the in-position detection sensor 7 is electrically connected to the controller 5 through a third connection line 71.

[0059] The in-position detection sensor 7 is arranged at the connection between the boom 2 and the luffing mechanism 3. The in-position detection sensor 7 may be arranged at the boom 2 or the luffing mechanism 3, for example. Figure 2 and Figure 6 As shown, in this embodiment, the in-position detection sensor 7 is arranged at the top of the main arm lower section arm 21. There may be one or more in-position detection sensors 7, for example, there may be two in-position detection sensors 7 symmetrically arranged along the rotation axis direction of the boom 2.

[0060] Combine the following Figure 7 The control method of the crane according to the embodiment of the present invention is described. The control method is implemented based on the crane as described above. Figure 7 As shown, the crane control method according to the embodiment of the present invention includes steps S710 to S720.

[0061] Step S710: Obtain the pulling force value of the luffing mechanism on the boom.

[0062] Specifically, the crane can detect the pulling force value of the luffing mechanism on the boom through the pulling force sensor, and transmit the detected pulling force value to the controller. Optionally, the pulling force sensor can detect the pulling force value of the luffing mechanism on the boom in real time or periodically.

[0063] Step S720: If the pulling force value is greater than the pulling force threshold, it is determined that the arm length of the boom exceeds the arm length threshold.

[0064] Specifically, after the controller obtains the pulling force value of the boom by the variable amplitude mechanism, the controller can determine the arm length of the boom according to the pulling force value. When the pulling force value is greater than the pulling force threshold, the controller determines that the arm length of the boom exceeds the arm length threshold; when the pulling force value is less than the pulling force threshold, the controller determines that the arm length of the boom does not exceed the arm length threshold. When the pulling force value is equal to the pulling force threshold, the judgment result of the controller can be set according to the actual situation. One situation is that when the pulling force value is equal to the pulling force threshold, the controller determines that the arm length of the boom exceeds the arm length threshold; another situation is that when the pulling force value is equal to the pulling force threshold, the controller determines that the arm length of the boom does not exceed the arm length threshold.

[0065] Optionally, after determining whether the arm length of the boom exceeds the arm length threshold according to the pulling force value, the control method of the crane also includes: if it is determined that the arm length of the boom exceeds the arm length threshold, a protection signal is generated; if it is determined that the arm length of the boom does not exceed the arm length threshold, no protection signal is generated.

[0066] Specifically, the protection signal is used to prohibit the luffing mechanism from performing the arm raising operation. When the controller does not generate a protection signal, no subsequent protection work is performed, and the luffing mechanism is allowed to perform the arm raising operation; when the controller generates a protection signal, the luffing mechanism is prohibited from performing the arm raising operation, thereby achieving the effect of avoiding overload damage to the boom.

[0067] In addition to determining whether the arm length of the boom exceeds the arm length threshold according to the pulling force value, the controller can also determine whether the arm length of the boom exceeds the arm length threshold according to the pulling force value and the horizontal inclination angle value of the boom. Optionally, the controller can determine whether the arm length of the boom exceeds the arm length threshold according to the pulling force value and the horizontal inclination angle value by the following steps.

[0068] First, before step S720, the horizontal inclination angle value of the boom is obtained.

[0069] Specifically, the crane can detect the horizontal inclination angle value of the boom through the angle sensor, and transmit the detected horizontal inclination angle value to the controller. Optionally, the angle sensor can detect the horizontal inclination angle value of the boom in real time or periodically.

[0070] Then, if the horizontal inclination angle value is less than the angle threshold and the tension value is greater than the tension threshold, it is determined that the arm length of the boom exceeds the arm length threshold.

[0071] Specifically, when the horizontal inclination angle value is greater than the angle threshold, the controller determines that the boom is in a self-loading and unloading state, and no longer executes the step of determining whether the arm length of the boom exceeds the arm length threshold according to the tension value. When the horizontal inclination angle value is less than the angle threshold, the controller determines that the boom is in a cantilever state, and executes the step of determining whether the arm length of the boom exceeds the arm length threshold according to the tension value, that is, when the horizontal inclination angle value is less than the angle threshold and the tension value is greater than the tension threshold, the controller determines that the arm length of the boom exceeds the arm length threshold; when the horizontal inclination angle value is less than the angle threshold and the tension value is less than the tension threshold, the controller determines that the arm length of the boom does not exceed the arm length threshold. When the horizontal inclination angle value is equal to the angle threshold, the judgment result of the controller can be set according to the actual situation. One case is that when the horizontal inclination angle value is equal to the angle threshold, the controller determines that the boom is in a self-loading and unloading state; another case is that when the horizontal inclination angle value is equal to the angle threshold, the controller determines that the boom is in a cantilever state.

[0072] The controller may also determine whether the arm length of the boom exceeds the arm length threshold according to the pulling force value and the trigger signal at the same time. Optionally, the controller may determine whether the arm length of the boom exceeds the arm length threshold according to the pulling force value and the trigger signal by the following steps.

[0073] Step S720 is specifically as follows: if a trigger signal is received and the pulling force value is greater than the pulling force threshold, it is determined that the arm length of the boom exceeds the arm length threshold.

[0074] Specifically, the crane can detect whether the boom is connected to the luffing mechanism through the in-place detection sensor. When the in-place detection sensor detects that the boom is connected to the luffing mechanism, the in-place detection sensor generates a trigger signal and transmits the trigger signal to the controller. When the controller does not receive the trigger signal, the step of determining whether the arm length of the boom exceeds the arm length threshold according to the tension value is not executed; when the controller receives the trigger signal, the step of determining whether the arm length of the boom exceeds the arm length threshold according to the tension value is executed. Optionally, the in-place detection sensor can detect whether the boom is connected to the luffing mechanism in real time or periodically.

[0075] The controller can also determine whether the arm length of the boom exceeds the arm length threshold according to the tension value, the horizontal inclination value and the trigger signal at the same time. Optionally, the controller can determine whether the arm length of the boom exceeds the arm length threshold according to the tension value, the horizontal inclination value and the trigger signal by the following steps.

[0076] First, it is determined whether a trigger signal is received.

[0077] Then, when a trigger signal is received, the controller executes the step of determining whether the arm length of the boom exceeds the arm length threshold according to the tension value and the horizontal inclination angle value; when no trigger signal is received, the controller does not execute the step of determining whether the arm length of the boom exceeds the arm length threshold according to the tension value and the horizontal inclination angle value.

[0078] The control device of the crane provided in an embodiment of the present invention is described below. The control device of the crane described below and the control method of the crane described above can refer to each other.

[0079] like Figure 8 As shown, the control device of the crane provided in the embodiment of the present invention may be the controller as described above or a partial structure of the controller, and the control device of the crane includes: a tension value acquisition unit 810 and a determination unit 820.

[0080] The tension value acquisition unit 810 is used to acquire the tension value of the boom by the luffing mechanism; the determination unit 820 is used to determine that the arm length of the boom exceeds the arm length threshold if the tension value is greater than the tension threshold.

[0081] Fig. 9 The schematic diagram of the physical structure of a crane control device is shown as an example. Fig. 9 As shown, the control device of the crane provided in the embodiment of the present invention may be the controller or a partial structure of the controller as described above, and the control device of the crane may include: a processor (processor) 910, a communication interface (Communications Interface) 920, a memory (memory) 930 and a communication bus 940, wherein the processor 910, the communication interface 920, and the memory 930 complete mutual communication through the communication bus 940. The processor 910 may call the logic instructions in the memory 930 to execute the control method of the crane, and the method includes: obtaining the pulling force value of the luffing mechanism on the boom; if the pulling force value is greater than the pulling force threshold, determining that the arm length of the boom exceeds the arm length threshold.

[0082] In addition, the logic instructions in the above-mentioned memory 930 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including 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 method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0083] On the other hand, an embodiment of the present invention further provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the crane control method provided by the above-mentioned method embodiments, and the control method includes: obtaining the pulling force value of the boom mechanism on the boom; if the pulling force value is greater than a pulling force threshold, determining that the arm length of the boom exceeds the arm length threshold.

[0084] On the other hand, an embodiment of the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to execute the control method of the crane provided in the above-mentioned embodiments. The control method includes: obtaining the pulling force value of the boom mechanism on the boom; if the pulling force value is greater than a pulling force threshold, determining that the arm length of the boom exceeds the arm length threshold.

[0085] The crane and control method thereof provided in the embodiment of the present invention detects the pulling force value of the boom by the luffing mechanism through a pulling force sensor, and determines whether the boom length exceeds the boom length threshold according to the pulling force value, thereby avoiding the problem of boom overload damage.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A crane, characterized in that: include: body; A boom, one end of which is rotatably connected to the fuselage; A luffing mechanism, wherein the luffing mechanism is respectively connected to the fuselage and the boom; A tension sensor is arranged on the luffing mechanism, and is used to detect the tension value of the luffing mechanism on the boom; as well as, A controller electrically connected to the tension sensor and the amplitude changing mechanism; An angle sensor is arranged on the boom, and the angle sensor is used to detect the horizontal inclination value of the boom; the controller is electrically connected to the angle sensor, and the controller is configured to determine that the arm length of the boom exceeds the arm length threshold if the horizontal inclination value is less than an angle threshold and the tension value is greater than a tension threshold.

2. The crane according to claim 1, characterized in that: The boom comprises a main arm lower section arm rotatably connected to the fuselage, and the angle sensor is arranged on the main arm lower section arm.

3. The crane according to claim 1 or 2, characterized in that: It also includes an in-position detection sensor, which is arranged at the connection between the boom and the luffing mechanism, and is used to generate a trigger signal when the boom is connected to the luffing mechanism; The controller is electrically connected to the in-position detection sensor, and is configured to determine that the arm length of the boom exceeds an arm length threshold if the trigger signal is received and the tension value is greater than a tension threshold.

4. The crane according to claim 3, characterized in that: The in-position detection sensor is a proximity switch or a travel switch.

5. The crane according to claim 1 or 2, characterized in that: The luffing mechanism is connected to the boom via a boom pull plate and a luffing rope, and the tension sensor is arranged on the boom pull plate or the luffing rope.

6. A method for controlling a crane, characterized in that: include: Obtain the pulling force value of the luffing mechanism on the boom; Obtaining a horizontal inclination angle value of the boom; If the horizontal inclination angle value is less than the angle threshold and the tension value is greater than the tension threshold, it is determined that the arm length of the boom exceeds the arm length threshold.

7. The crane control method according to claim 6, characterized in that: If a trigger signal is received and the pulling force value is greater than a pulling force threshold, it is determined that the arm length of the boom exceeds the arm length threshold, wherein the trigger signal is used to indicate that the boom is connected to the amplitude variation mechanism.

8. The crane control method according to claim 6, characterized in that: After determining that the arm length of the boom exceeds the arm length threshold, the method further includes: A protection signal is generated, wherein the protection signal is used to prohibit the luffing mechanism from performing a boom raising operation.

9. A control device for a crane, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the crane control method according to any one of claims 6 to 8 are implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the crane control method according to any one of claims 6 to 8 are implemented.

Images