Crane super-lifting radius control method, device and crane

Abstract

The present invention provides a crane super-lifting radius control method, system, and crane. The crane super-lifting radius control method includes: obtaining physical status information of a boom and a super-lifting arm; receiving a first input from a user; determining a target super-lifting radius in response to the first input; and adjusting the super-lifting radius based on the target super-lifting radius and the physical status information when the physical status information of the boom and the super-lifting arm is suitable for adjusting the super-lifting radius. The crane super-lifting radius control method, system, and crane provided by the present invention automatically adjust the angle of the super-lifting arm by combining the physical status information of the boom and the super-lifting arm with the target super-lifting radius input by the user. When it is determined that the boom and the super-lifting arm are suitable for adjusting the super-lifting radius, the super-lifting arm can be automatically adjusted, thereby making the adjustment of the super-lifting radius more accurate and improving efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of operating machinery, and in particular to a crane super-lifting radius control method and device, and a crane. Background Art

[0002] For cranes with superlift devices, if the rated load of the crane is to be changed, in order to ensure the balance of the crane, the superlift radius needs to be adjusted. For example, if heavier objects are to be lifted, the superlift radius needs to be increased.

[0003] Currently, the method of adjusting the super-lifting radius requires manual operation of the handles of the main luffing winch and the super-lifting luffing winch at the same time, or switching back and forth between the handles of the main luffing winch and the super-lifting luffing winch. This control method requires a high level of human operation, resulting in inaccurate adjustment of the super-lifting radius and low efficiency of manual operation. Summary of the Invention

[0004] The present invention provides a crane super-lifting radius control method, device and crane, which are used to solve the defects in the prior art that the adjustment of the super-lifting radius is not accurate enough and the manual operation is inefficient, and realizes automatic adjustment of the super-lifting arm, making the adjustment of the super-lifting radius more accurate and improving efficiency.

[0005] The present invention provides a crane super-lifting radius control method, which includes: acquiring physical status information of a boom and a super-lifting arm; receiving a first input from a user; determining a target super-lifting radius in response to the first input; and adjusting the super-lifting radius based on the target super-lifting radius and the physical status information when the physical status information of the boom and the super-lifting arm is suitable for adjusting the super-lifting radius.

[0006] According to a crane super-lifting radius control method provided by the present invention, the physical state information includes a boom angle and a super-lifting arm angle, and adjusting the super-lifting radius based on the target super-lifting radius and the physical state information includes: controlling the speed of the main luffing winch and the super-lifting luffing winch based on the target super-lifting radius, the boom angle and the super-lifting arm angle to adjust the super-lifting radius.

[0007] According to a crane super-lifting radius control method provided by the present invention, the super-lifting radius is adjusted by controlling the speeds of the main luffing winch and the super-lifting luffing winch based on the target super-lifting radius, the boom angle and the super-lifting arm angle, including: ensuring that the boom angle remains unchanged, and performing PID regulation on the speeds of the main luffing winch and the super-lifting luffing winch of the crane to adjust the super-lifting radius.

[0008] According to a crane super-lifting radius control method provided by the present invention, the crane also includes: a safety limit component, and the super-lifting radius control method also includes: confirming that the safety limit component detects a limit signal, and controlling the main luffing winch and the super-lifting luffing winch to stop working.

[0009] The present invention also provides a crane super-lifting radius control system, which includes: an acquisition module for acquiring physical status information of the boom and the super-lifting arm; a receiving module for receiving a first input from a user; a determination module for determining a target super-lifting radius in response to the first input; and an adjustment module for adjusting the super-lifting radius based on the target super-lifting radius and the physical status information when the physical status information of the boom and the super-lifting arm is suitable for adjusting the super-lifting radius.

[0010] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of any one of the above-described crane super-lifting radius control methods are implemented.

[0011] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of any of the above-mentioned crane super-lifting radius control methods are implemented.

[0012] The crane super-lifting radius control method provided by the present invention combines the physical state information of the boom and the super-lifting arm with the target super-lifting radius input by the user. When it is judged that the boom and the super-lifting arm are suitable for adjusting the super-lifting radius, the angle of the super-lifting arm is automatically adjusted, which can realize automatic adjustment of the super-lifting arm, make the adjustment of the super-lifting radius more accurate, and improve efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0014] Figure 1 It is a flow chart of the crane super-lifting radius control method provided by the present invention;

[0015] Figure 2 It is a flowchart of the crane super-lifting radius control method provided by the present invention;

[0016] Figure 3 This is one of the structural diagrams of the crane super-lifting radius control system provided by the present invention;

[0017] Figure 4 It is a structural schematic diagram of the crane provided by the present invention;

[0018] Figure 5 This is the second structural diagram of the crane super-lifting radius control system provided by the present invention;

[0019] Figure 6 It is a structural schematic diagram of the electronic device provided by the present invention.

[0020] Reference numerals:

[0021] 10: Main boom; 11: Super boom; 12: Luffing jib;

[0022] 20: Super-lift luffing winch; 21: Main luffing winch; 30: Main boom angle sensor;

[0023] 31: Super boom angle sensor; 32: Luffing jib angle sensor; 40: Main boom tension sensor;

[0024] 41: luffing jib tension sensor; 42: main boom anti-tilt pressure sensor; 43: super lift anti-tilt pressure sensor;

[0025] 50: Main boom upper limit detection device; 51: Super boom lower limit detection device; 60: Height limit device;

[0026] 61: Ground lift detection device; 70: Super lift counterweight; R1: Super lift radius;

[0027] R2: Hook working radius. DETAILED DESCRIPTION

[0028] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0029] The following combination Figures 1-6 The present invention describes a method and device for controlling the super-lifting radius of a crane and a crane.

[0030] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a crane super-lifting radius control method, and the crane super-lifting radius control method includes: the following steps 110 to 140.

[0031] Step 110 : Acquire the physical status information of the boom and the super lifting arm 11 .

[0032] It is understood that a crane may include a boom and a jib 11. The boom may include a main boom 10 and a luffing jib 12. A hook is mounted on the top of the main boom 10 for lifting objects. The jib 11 is a device arranged opposite the main boom 10 to act as a balance. The jib 11, also known as a jib mast, has a counterweight suspended from the top of the jib 11. The counterweight, jib 11, main boom 10, objects to be lifted, and other components of the crane can form a force balance.

[0033] The super-lifting radius is the projected length of the super-lifting boom 11 on the horizontal plane. The hook working radius R2 is the projection of the main boom 10 plus the variable-length jib 12 (when there is a jib) on the horizontal plane, or the distance between the hook and the rotation center of the crane on the horizontal plane. If the hook working radius R2 remains unchanged, the size of the super-lifting radius can be adjusted to adjust the weight of the object lifted by the hook.

[0034] The luffing jib 12 can be selected according to the working conditions of the crane.

[0035] Here, the physical status information of the boom and the super-lifting boom 11 can be obtained by the detection device installed on the boom and the super-lifting boom 11. The physical status information may include: main boom angle, super-lifting boom angle, variable-length jib angle, main boom tension, variable-length jib tension, main boom anti-tilt pressure, super-lifting anti-tilt pressure, among which the main boom angle is the angle between the main boom 10 and the horizontal line, the super-lifting boom angle is the angle between the main boom 10 and the horizontal line, and the variable-length jib angle is the angle between the variable-length jib 12 and the horizontal line.

[0036] Step 120: Receive a first input from the user.

[0037] It is understandable that the crane can receive the user's first input. For example, the crane can have a display screen, and the user can give the first input through a button or touch module according to the inquiry window displayed on the display screen. For example, the inquiry window displayed on the display screen may include: Please enter the target over-lifting radius. The user can enter the target over-lifting radius according to the prompt information in the inquiry window.

[0038] Step 130: Determine a target take-off radius in response to the first input.

[0039] It is understandable that a target super-lift radius may be obtained according to the first input of the user, where the target super-lift radius is a target value to which the user wants to adjust the super-lift radius.

[0040] Step 140: If the physical state information of the boom and the super-lifting arm is suitable for adjusting the super-lifting radius, adjust the super-lifting radius based on the target super-lifting radius and the physical state information.

[0041] It can be understood that whether the boom and the super-lifting arm 11 are suitable for adjusting the super-lifting radius can be judged based on the physical state information of the boom and the super-lifting arm 11. For example, if the angle of the super-lifting arm 11 is already the minimum value, the angle of the super-lifting arm 11 cannot be reduced at this time, and it is not suitable to increase the super-lifting radius. For example, if the pressure of the boom and the super-lifting arm 11 exceeds the limit value, it is not suitable to adjust the super-lifting radius. The super-lifting radius is only adjusted when the physical state information of the boom and the super-lifting arm 11 is suitable for adjusting the super-lifting radius.

[0042] The physical state information of the super-lifting arm 11 may include the angle of the super-lifting arm 11. According to the angle of the super-lifting arm 11, the actual super-lifting radius of the super-lifting arm 11 can be calculated. According to the difference between the actual super-lifting radius and the target super-lifting radius of the super-lifting arm 11, the super-lifting arm 11 can be adjusted so that the difference between the actual super-lifting radius and the target super-lifting radius becomes smaller and smaller, that is, the actual super-lifting radius becomes closer and closer to the target super-lifting radius.

[0043] Here, there is no need to manually adjust the angle of the super-lifting arm 11. Instead, the actual angle value of the super-lifting arm 11 is compared with the target angle value of the super-lifting arm 11 corresponding to the target super-lifting radius, and the super-lifting arm 11 is controlled to adjust the angle so that the actual angle value gradually approaches the target angle value, thereby realizing automatic adjustment of the super-lifting radius.

[0044] The crane super-lifting radius control method provided by the present invention combines the physical state information of the boom and the super-lifting arm 11 with the target super-lifting radius input by the user. When it is determined that the boom and the super-lifting arm 11 are suitable for adjusting the super-lifting radius, the angle of the super-lifting arm 11 is automatically adjusted. Automatic adjustment of the super-lifting arm 11 can be achieved, making the adjustment of the super-lifting radius more accurate and improving efficiency.

[0045] like Figure 2 As shown, in some embodiments, the physical status information includes the boom angle, and the step 140 of adjusting the super-lifting radius based on the target super-lifting radius and the physical status information includes: based on the target super-lifting radius, the boom angle and the super-lifting arm angle, controlling the speed of the main luffing winch 21 and the super-lifting luffing winch 20 to adjust the super-lifting radius.

[0046] It can be understood that the actual super-lifting radius can be calculated based on the super-lifting arm angle. The actual super-lifting radius is the product of the length of the super-lifting arm 11 and the cosine value of the super-lifting arm angle. The actual super-lifting radius and the target super-lifting radius are compared. If the actual super-lifting radius is smaller than the target super-lifting radius, it is judged that the super-lifting arm 11 should move in the direction of increasing the super-lifting radius. At this time, the main luffing winch 21 can be controlled to reel in the rope and the super-lifting luffing winch 20 can be controlled to release the rope. When the actual super-lifting radius is larger than the target super-lifting radius, it is judged that the super-lifting arm 11 should move in the direction of reducing the super-lifting radius. At this time, the main luffing winch 21 can be controlled to release the rope and the super-lifting luffing winch 20 can be controlled to reel in the rope.

[0047] Of course, the actual hook working radius R2 can also be calculated based on the boom angle. The actual hook working radius R2 is the product of the boom length and the cosine value of the boom angle. When adjusting the super-lifting radius R1, it is necessary to ensure that the product of the actual hook working radius R2 and the gravity of the items on the hook is balanced with the product of the actual super-lifting radius and the gravity of the counterweight block to avoid the risk of the crane overturning during the adjustment of the super-lifting radius.

[0048] like Figure 2 As shown, in some embodiments, based on the target super-lifting radius and the boom angle, the rope retraction and release speeds of the main luffing winch 21 and the super-lifting luffing winch 20 are controlled to adjust the super-lifting radius, including:

[0049] Ensure that the boom angle remains unchanged and perform PID regulation on the speed of the crane's main luffing winch 21 and super-lifting luffing winch 20 to adjust the super-lifting radius.

[0050] Here, the angle of the main boom 10 in the boom can be ensured to remain unchanged, and the speeds of the main luffing winch 21 and the super-lifting luffing winch 20 of the crane can be PID-regulated to adjust the super-lifting radius.

[0051] Of course, errors may occur in actual operation. For example, if the arm angle is 75 degrees, there may be an error of 0.1 degrees or even smaller. Here, the arm angle can be allowed to change slightly within a certain error range.

[0052] It can be understood that when controlling the speed of the main luffing winch 21 and the super-lifting luffing winch 20, the boom angle can be kept unchanged, that is, the working radius of the hook is guaranteed to remain unchanged, and the speed of the main luffing winch 21 and the super-lifting luffing winch 20 of the crane is PID-adjusted, that is, only the super-lifting radius R1 is adjusted, and the hook working radius R2 is not adjusted.

[0053] For example, Figure 2As shown, when it is judged that the physical state information is suitable for adjusting the super-lifting radius, the operating handle for controlling the main luffing is used at this time without considering the direction and amplitude of the operating handle. When the driver pushes the operating handle, it is equivalent to giving the PID system a signal to start adjustment. At this time, the main arm angle at the moment of automatic adjustment is turned on is used as the target value, and the speeds of the main luffing winch 21 and the super-lifting luffing winch 20 of the crane are PID-adjusted. The main luffing handle can control the speed of the main luffing winch 21, and the speed of the super-lifting luffing winch 20 is controlled by the PID adjustment result. When the super-lifting radius is adjusted to the target super-lifting radius, the PID adjustment ends, the system stops the output of the proportional valve or proportional pump, and the display shows that the automatic adjustment of the super-lifting radius is completed. At this time, the operating handle returns to the middle position.

[0054] like Figure 2 and Figure 3 As shown, in some embodiments, the crane further includes: a safety limit assembly, the safety limit assembly is electrically connected to the controller, and the safety limit assembly is used to feed back a limit signal to the controller when a limit signal is identified.

[0055] The super-lifting radius control method further includes: confirming that a limit signal is detected, and controlling the main luffing winch 21 and the super-lifting luffing winch 20 to stop working.

[0056] It can be understood that the safety limit component can be connected to the main arm 10, super-lifting arm 11 or other devices of the crane, and can detect whether the main arm 10, super-lifting arm 11 or other devices have reached the extreme position. When the main arm 10, super-lifting arm 11 or other devices reach the extreme position, the safety limit component detects the limit signal. At this time, if the main luffing winch 21 and the super-lifting luffing winch 20 continue to work, there will be danger. At this time, the main luffing winch 21 and the super-lifting luffing winch 20 are controlled to stop working.

[0057] like Figure 3 and Figure 4 As shown, an embodiment of the present invention further provides a crane, which includes: a boom, a super-lifting boom 11 , a super-lifting luffing winch 20 and a main luffing winch 21 .

[0058] The boom and the super-elevation arm 11 are both connected to a detection device, and the detection device is used to detect physical status information of the boom and the super-elevation arm 11 .

[0059] Here, the physical status information of the boom and the super-lifting boom 11 can be obtained by the detection device installed on the boom and the super-lifting boom 11. The physical status information may include: main boom angle, super-lifting boom angle, variable-length jib angle, main boom tension, variable-length jib tension, main boom anti-tilt pressure, super-lifting anti-tilt pressure, among which the main boom angle is the angle between the main boom 10 and the horizontal line, the super-lifting boom angle is the angle between the main boom 10 and the horizontal line, and the variable-length jib angle is the angle between the variable-length jib 12 and the horizontal line.

[0060] The receiving device is used to receive a first input from a user.

[0061] The crane can receive the user's first input. For example, the crane can have a display screen. The user can give the first input through a button or touch module according to the inquiry window displayed on the display screen. For example, the inquiry window displayed on the display screen may include: Please enter the target over-lifting radius. The user can enter the target over-lifting radius according to the prompt information in the inquiry window.

[0062] The controller, the detection device, the receiving device, the main luffing winch 21 and the super-lifting luffing winch 20 are all electrically connected to the controller.

[0063] The controller can be electrically connected to a power supply module of the crane, and the power supply module can supply power to the controller.

[0064] The controller is configured to control the speeds of the main luffing winch 21 and the superlifting luffing winch 20 based on the first input and the physical state information to adjust the superlifting radius.

[0065] It is understandable that a target super-lift radius may be obtained according to the first input of the user, where the target super-lift radius is a target value to which the user wants to adjust the super-lift radius.

[0066] Whether the boom and the super-lifting arm 11 are suitable for adjusting the super-lifting radius can be judged based on the physical status information of the main boom 10 and the super-lifting arm 11. For example, if the angle of the super-lifting arm 11 is already the minimum value, the angle of the super-lifting arm 11 cannot be reduced at this time, and it is not suitable to increase the super-lifting radius. For example, if the pressure of the boom and the super-lifting arm 11 exceeds the limit value, it is not suitable to adjust the super-lifting radius R1. Only when the physical status information of the boom and the super-lifting arm 11 is suitable for adjusting the super-lifting radius R1, the super-lifting radius R1 is adjusted.

[0067] The physical state information of the super-lifting arm 11 may include the angle of the super-lifting arm 11. According to the angle of the super-lifting arm 11, the actual super-lifting radius of the super-lifting arm 11 can be calculated. According to the difference between the actual super-lifting radius and the target super-lifting radius of the super-lifting arm 11, the super-lifting arm 11 can be adjusted so that the difference between the actual super-lifting radius and the target super-lifting radius becomes smaller and smaller, that is, the actual super-lifting radius becomes closer and closer to the target super-lifting radius.

[0068] Here, there is no need to manually adjust the angle of the super-lifting arm 11. Instead, the actual angle value of the super-lifting arm 11 is compared with the target angle value of the super-lifting arm 11 corresponding to the target super-lifting radius, and the super-lifting arm 11 is controlled to adjust the angle so that the actual angle value gradually approaches the target angle value, thereby realizing automatic adjustment of the super-lifting radius R1.

[0069] The crane provided by the present invention combines the physical state information of the boom and the super-lifting arm 11 with the target super-lifting radius input by the user. When it is determined that the boom and the super-lifting arm 11 are suitable for adjusting the super-lifting radius, the angle of the super-lifting arm 11 is automatically adjusted, thereby realizing automatic adjustment of the super-lifting arm 11, making the adjustment of the super-lifting radius more accurate and improving efficiency.

[0070] like Figure 4 As shown, in some embodiments, the boom includes a main boom 10 and a luffing jib 12 .

[0071] A hook is installed on the top of the main arm 10, which can lift objects. The main arm 10 can bear the gravity of the objects. The detection device is connected to the main arm 10, and the detection device is used to detect the physical status information of the main arm 10.

[0072] The luffing jib 12 can be located at the top of the main arm 10, and the hook can be set on the luffing jib 12. The luffing jib 12 can be set according to the specific working conditions of the crane. The detection device is connected to the luffing jib 12, and the detection device is also used to detect the physical state information of the luffing jib 12.

[0073] like Figure 4 As shown, in some embodiments, the detection device includes: a main boom angle sensor 30, a super boom angle sensor 31 and a luffing jib angle sensor 32.

[0074] The main arm angle sensor 30 is provided on the main arm 10 for detecting the angle of the main arm 10 . The angle of the main arm 10 may be the angle between the main arm 10 and a horizontal plane.

[0075] The super-elevation arm angle sensor 31 is provided on the super-elevation arm 11 and is used to detect the angle of the super-elevation arm 11 . The angle of the super-elevation arm 11 may be the angle between the super-elevation arm 11 and a horizontal plane.

[0076] The luffing jib angle sensor 32 is provided on the luffing jib 12 for detecting the angle of the luffing jib 12 . The angle of the luffing jib 12 may be the angle between the luffing jib 12 and a horizontal plane.

[0077] In some embodiments, the detection device further includes: a main arm tension sensor 40, a main arm anti-backward tilt pressure sensor 42 and an super lift anti-backward tilt pressure sensor 43.

[0078] The main arm tension sensor 40 is provided on the main arm 10 and is used to detect the tension borne by the main arm 10 .

[0079] The luffing jib tension sensor 41 is provided on the luffing jib 12 and is used to detect the tension borne by the luffing jib 12 .

[0080] The main arm anti-tilt pressure sensor 42 is provided on the main arm anti-tilt oil cylinder of the crane and is used to measure the pressure of the main arm anti-tilt oil cylinder.

[0081] The super-lifting anti-backward tilting pressure sensor 43 is provided on the super-lifting anti-backward tilting oil cylinder of the crane and is used to detect the pressure of the super-lifting anti-backward tilting oil cylinder.

[0082] like Figure 4 As shown, in some embodiments, the crane further includes: a safety limit assembly.

[0083] The safety limit assembly is electrically connected to the controller. The safety limit assembly is used to feed back a limit signal to the controller when a limit signal is identified. The controller is configured to control the main luffing winch 21 and the super-lifting luffing winch 20 to stop working based on the limit signal.

[0084] It can be understood that the safety limit component can be connected to the main arm 10, super-lifting arm 11 or other devices of the crane, and can detect whether the main arm 10, super-lifting arm 11 or other devices have reached the extreme position. When the main arm 10, super-lifting arm 11 or other devices reach the extreme position, the safety limit component detects the limit signal. At this time, if the main luffing winch 21 and the super-lifting luffing winch 20 continue to work, there will be danger. At this time, the main luffing winch 21 and the super-lifting luffing winch 20 are controlled to stop working.

[0085] like Figure 4 As shown, in some embodiments, the safety limit assembly includes: a main arm upper limit detection device 50.

[0086] The main arm upper limit detection device 50 is connected to the main arm 10 and is used to detect whether the main arm 10 has reached the upper limit position. When the main arm 10 reaches the upper limit position, if the main luffing winch 21 and the super-lifting luffing winch 20 continue to work, there will be danger. At this time, the main luffing winch 21 and the super-lifting luffing winch 20 are controlled to stop working.

[0087] like Figure 4 As shown, in some embodiments, the safety limit assembly includes: an ultra-lift arm lower limit detection device 51.

[0088] The super-lifting arm lower limit detection device 51 is connected to the super-lifting arm 11 and is used to detect whether the super-lifting arm 11 has reached the lower limit position. If the super-lifting arm 11 reaches the lower limit position, there will be danger if the main luffing winch 21 and the super-lifting luffing winch 20 continue to work. At this time, the main luffing winch 21 and the super-lifting luffing winch 20 are controlled to stop working.

[0089] In some embodiments, the safety limit assembly includes: a three-ring protector.

[0090] The wire ropes of the main luffing winch 21 and the super-lifting luffing winch 20 are both connected to three-turn protectors. The three-turn protectors are used to detect whether the wire ropes have reached the limit position. The three-turn protectors are used to provide the last remaining protection for the hoisting wire ropes. If the wire ropes reach the limit position, there will be danger if the main luffing winch 21 and the super-lifting luffing winch 20 continue to work. At this time, the main luffing winch 21 and the super-lifting luffing winch 20 are controlled to stop working.

[0091] like Figure 4 As shown, in some embodiments, the safety limit assembly includes: a height limit device 60 and a ground clearance detection device 61.

[0092] The height limit device 60 is connected to the arm head wire rope of the main arm 10 and is used to detect whether the crane hook has reached the limit position. The height limit device 60 can prevent the hook from being over-retracted. If the crane hook reaches the limit position, if the main luffing winch 21 and the super-lifting luffing winch 20 continue to work, there will be danger. At this time, the main luffing winch 21 and the super-lifting luffing winch 20 are controlled to stop working.

[0093] The ground detection device 61 is connected to the super-lifting counterweight 70 of the crane and is used to detect whether the super-lifting counterweight 70 is off the ground. If the super-lifting counterweight 70 is not off the ground, there will be danger if the main luffing winch 21 and the super-lifting luffing winch 20 continue to work. At this time, the main luffing winch 21 and the super-lifting luffing winch 20 are controlled to stop working.

[0094] like Figure 3 As shown, in some embodiments, the receiving device includes: a touch screen display, the touch screen display is electrically connected to the controller, and the touch screen display is used to receive the user's first input.

[0095] It is understandable that the user can perform a tapping operation on the touch screen, and the touch screen can recognize the user's tapping operation, thereby receiving the user's first input. A virtual button can be displayed on the touch screen, and the user can input the target take-off radius through the virtual button.

[0096] like Figure 5 As shown, the crane super-lifting radius control system provided by the present invention is described below. The crane super-lifting radius control system described below and the crane super-lifting radius control method described above can be referenced to each other.

[0097] The present invention provides a crane super-lifting radius control system, which includes: an acquisition module 510, a receiving module 520, a determination module 530 and an adjustment module 540.

[0098] The acquisition module 510 is used to acquire the physical status information of the boom and the super lifting arm 11 .

[0099] The receiving module 520 is configured to receive a first input from a user.

[0100] The determination module 530 is configured to determine a target take-off radius in response to a first input.

[0101] The adjustment module 540 is configured to adjust the superlift radius based on the target superlift radius and the physical status information when the physical status information of the boom and the superlift arm is suitable for adjusting the superlift radius.

[0102] Figure 6 An example of a physical structure diagram of an electronic device is shown below. Figure 6 As shown, the electronic device may include: a processor 610, a communications interface 620, a memory 630, and a communications bus 640. The processor 610, the communications interface 620, and the memory 630 communicate with each other via the communications bus 640. The processor 610 may invoke logic instructions in the memory 630 to execute a crane super-lifting radius control method, which includes: obtaining physical state information of the boom and super-lifting jib; receiving a first input from a user; determining a target super-lifting radius in response to the first input; and adjusting the super-lifting radius based on the target super-lifting radius and the physical state information when the physical state information of the boom and super-lifting jib is suitable for adjusting the super-lifting radius.

[0103] In addition, the logic instructions in the above-mentioned memory 630 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. 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 enabling 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: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0104] On the other hand, the present invention also 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 super-lifting radius control method provided by the above-mentioned methods, and the method includes: obtaining physical state information of the boom and the super-lifting arm; receiving a first input from the user; determining a target super-lifting radius in response to the first input; and adjusting the super-lifting radius based on the target super-lifting radius and the physical state information when the physical state information of the boom and the super-lifting arm is suitable for adjusting the super-lifting radius.

[0105] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the above-mentioned crane super-lifting radius control method, the method comprising: obtaining physical state information of the boom and the super-lifting arm; receiving a first input from a user; determining a target super-lifting radius in response to the first input; and adjusting the super-lifting radius based on the target super-lifting radius and the physical state information when the physical state information of the boom and the super-lifting arm is suitable for adjusting the super-lifting radius.

[0106] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0107] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0108] 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 various embodiments of the present invention.

Claims

1. A crane superlift radius control method, characterized in that: include: Acquiring physical status information of the boom and the super-lifting arm, wherein the physical status information includes the super-lifting arm angle; receiving a first input from a user; In response to the first input, determining a target take-off radius; When the physical state information of the boom and the super-lifting arm is suitable for adjusting the super-lifting radius, adjusting the super-lifting radius based on the target super-lifting radius and the physical state information; Wherein, adjusting the superlift radius based on the target superlift radius and the physical state information includes: According to the comparison between the actual angle value of the super-lifting arm angle and the target angle value of the super-lifting arm angle corresponding to the target super-lifting radius, the adjustment angle of the super-lifting arm is controlled so that the actual angle value gradually approaches the target angle value, thereby realizing automatic adjustment of the super-lifting radius; The physical state information further includes a boom angle, and adjusting the superlift radius based on the target superlift radius and the physical state information includes: Based on the target superlift radius, the boom angle, and the superlift jib angle, the speeds of the main luffing winch and the superlift luffing winch are controlled to adjust the superlift radius; Wherein, controlling the speeds of the main luffing winch and the super-lifting luffing winch based on the target super-lifting radius, the boom angle, and the super-lifting boom angle to adjust the super-lifting radius includes: Ensure that the boom angle remains unchanged, perform PID adjustment on the speed of the main luffing winch and super-lifting luffing winch of the crane to adjust the super-lifting radius, control the main luffing operating handle, give the PID system a signal to start adjustment, take the main boom angle at the moment of automatic adjustment as the target value, perform PID adjustment on the speed of the main luffing winch and super-lifting luffing winch of the crane, the main luffing handle controls the speed of the main luffing winch, and the speed of the super-lifting luffing winch is controlled by the PID adjustment result. When the super-lifting radius is adjusted to the target super-lifting radius, the PID adjustment ends.

2. The crane superlift radius control method according to claim 1, characterized in that: The crane also includes: a safety limit assembly, The super-lifting radius control method further includes: confirming that the safety limit component detects a limit signal, and controlling the main luffing winch and the super-lifting luffing winch to stop working.

3. A crane super lifting radius control system, characterized in that: include: An acquisition module, configured to acquire physical status information of the boom and the super-elevation arm, wherein the physical status information includes the super-elevation arm angle; A receiving module, configured to receive a first input from a user; a determination module, configured to determine a target take-off radius in response to the first input; An adjustment module, configured to adjust the superlift radius based on the target superlift radius and the physical status information when the physical status information of the boom and the superlift arm is suitable for adjusting the superlift radius; Wherein, adjusting the superlift radius based on the target superlift radius and the physical state information includes: According to the comparison between the actual angle value of the super-lifting arm angle and the target angle value of the super-lifting arm angle corresponding to the target super-lifting radius, the adjustment angle of the super-lifting arm is controlled so that the actual angle value gradually approaches the target angle value, thereby realizing automatic adjustment of the super-lifting radius; The physical state information also includes a boom angle. The adjustment module is specifically used to control the speeds of the main luffing winch and the super-lifting luffing winch based on the target super-lifting radius, the boom angle, and the super-lifting arm angle to adjust the super-lifting radius, ensure that the boom angle remains unchanged, and perform PID adjustment on the speeds of the main luffing winch and the super-lifting luffing winch of the crane to adjust the super-lifting radius. The main luffing operating handle is controlled to give the PID system a signal to start adjustment. The main boom angle at the moment of automatic adjustment is turned on is used as the target value, and PID adjustment is performed on the speeds of the main luffing winch and the super-lifting luffing winch of the crane. The main luffing handle controls the speed of the main luffing winch, and the speed of the super-lifting luffing winch is controlled by the PID adjustment result. When the super-lifting radius is adjusted to the target super-lifting radius, the PID adjustment ends.

4. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the super-lift radius control method according to any one of claims 1 to 2 are implemented.

5. 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 superlift radius control method according to any one of claims 1 to 2 are implemented.

6. A crane, characterized in that: include: Jib, superlift jib, superlift luffing winch and main luffing winch; a detection device, the boom and the super-elevation arm are both connected to the detection device, the detection device is used to detect physical status information of the boom and the super-elevation arm, the physical status information including the super-elevation arm angle; A receiving device, configured to receive a first input from a user, wherein the first input includes a target take-off radius; a controller having a crane super-lifting radius control system as described in claim 3, wherein the detection device, the receiving device, the main luffing winch, and the super-lifting luffing winch are all electrically connected to the controller, the controller being configured to control the speeds of the super-lifting luffing winch and the main luffing winch based on the target super-lifting radius and the physical state information to adjust the super-lifting radius, the controller being configured to control the adjustment angle of the super-lifting boom based on a comparison between an actual angle value of the super-lifting boom angle and a target angle value of the super-lifting boom angle corresponding to the target super-lifting radius, so as to make the actual angle value gradually approach the target angle value, thereby achieving automatic adjustment of the super-lifting radius; The physical state information also includes a boom angle. The adjustment module is specifically used to control the speeds of the main luffing winch and the super-lifting luffing winch based on the target super-lifting radius, the boom angle, and the super-lifting arm angle to adjust the super-lifting radius, ensure that the boom angle remains unchanged, and perform PID adjustment on the speeds of the main luffing winch and the super-lifting luffing winch of the crane to adjust the super-lifting radius. The main luffing operating handle is controlled to give the PID system a signal to start adjustment. The main boom angle at the moment of automatic adjustment is turned on is used as the target value, and PID adjustment is performed on the speeds of the main luffing winch and the super-lifting luffing winch of the crane. The main luffing handle controls the speed of the main luffing winch, and the speed of the super-lifting luffing winch is controlled by the PID adjustment result. When the super-lifting radius is adjusted to the target super-lifting radius, the PID adjustment ends.

7. The crane according to claim 6, characterized in that The arm comprises: A main arm, the detection device is connected to the main arm, and the detection device is used to detect physical status information of the main arm; The luffing jib is connected to the luffing jib, and the detection device is used to detect physical status information of the luffing jib.

8. The crane according to claim 7, characterized in that The detection device comprises: A main arm angle sensor is provided on the main arm and is used to detect the angle of the main arm; An over-lift arm angle sensor is provided on the over-lift arm and is used to detect the angle of the over-lift arm; a luffing jib angle sensor, the luffing jib angle sensor being provided on the luffing jib and being used to detect the angle of the luffing jib; A main arm tension sensor, the main arm tension sensor being provided on the main arm and being used to detect the tension borne by the main arm; a luffing jib tension sensor, the luffing jib tension sensor being provided on the luffing jib and being used for detecting the tension borne by the luffing jib; A main arm anti-backward tilt pressure sensor, which is provided on the main arm anti-backward tilt oil cylinder of the crane and is used to measure the pressure of the main arm anti-backward tilt oil cylinder; The super-lifting anti-backward tilting pressure sensor is provided on the super-lifting anti-backward tilting oil cylinder of the crane and is used to detect the pressure of the super-lifting anti-backward tilting oil cylinder.

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