Crane energy management methods, devices and cranes

Abstract

The present application discloses a crane energy management method, device and crane, which relate to the technical field of engineering machinery. The crane energy management method comprises: obtaining the operation data of the crane; obtaining the target control parameters of the crane based on the energy management model and according to the operation data of the crane; and controlling the operation of the actuator according to the target control parameters of the crane to hoist the current target object. The crane energy management method, device and crane can reduce energy consumption and extend the life of the crane under the premise of ensuring the completion of the object hoisting operation.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to a crane energy management method, device and crane. Background Art

[0002] When electric cranes are operating purely on electricity, they have a high demand for electricity. In order to lift objects, it is often necessary to increase the power of the motor as much as possible, which increases battery energy consumption and reduces the crane's endurance time. Summary of the invention

[0003] In order to solve the above technical problems, the embodiments of the present application provide a crane energy management method, device and crane, which can reduce energy consumption and extend the crane's endurance time while ensuring the completion of the object lifting operation.

[0004] According to one aspect of the present application, a crane energy management method is provided, comprising:

[0005] Obtain crane operation data;

[0006] Based on the energy management model and according to the operation data of the crane, the target control parameters of the crane are obtained; wherein the energy management model is trained according to the historical operation data of the crane; wherein the target control parameters of the crane represent the control parameters of the crane that consume the least energy when the actuator of the crane meets the requirement of hoisting the current target object; and

[0007] According to the target control parameter of the crane, the actuator operation is controlled to hoist the current target object.

[0008] According to one aspect of the present application, obtaining the operation data of the crane includes:

[0009] Acquire the operation data information of the crane and the data information of the current hoisting object; wherein the operation data represents the data information represented by the operation signal sent by the operator when operating the crane; wherein the data information of the current hoisting object includes the weight information of the current hoisting object and the relative position information between the current hoisting object and the body of the crane.

[0010] According to one aspect of the present application, before obtaining the target control parameters of the crane based on the energy management model and according to the operation data of the crane, the crane energy management method further includes:

[0011] Establishing different types of initial models; wherein the different types of initial models correspond one-to-one to different types of working conditions of the crane;

[0012] After obtaining the operation data of the crane, the crane energy management method further includes:

[0013] The working condition of the crane is determined according to the operation data of the crane, and the initial model corresponding to the working condition of the crane is selected as the energy management model.

[0014] According to one aspect of the present application, after controlling the operation of the actuator according to the target control parameter of the crane, the crane energy management method further includes:

[0015] The energy consumption of the actuator during operation with the target control parameter is calculated and stored.

[0016] According to one aspect of the present application, after calculating and storing the energy consumption of the actuator during operation with the target control parameter, the crane energy management method further includes:

[0017] The current energy management model is updated according to the operation data of the crane, the target control parameters and the energy consumption to obtain a new energy management model.

[0018] According to one aspect of the present application, after updating the current energy management model to obtain a new energy management model, the crane energy management method further includes:

[0019] acquiring the operation data of the crane again;

[0020] The new energy management model is run according to the reacquired operation data of the crane to obtain the target control parameters of the crane again.

[0021] According to one aspect of the present application, the step of running the new energy management model based on the reacquired operation data of the crane to reacquire the target control parameters of the crane includes:

[0022] If the operating condition corresponding to the operating data of the crane acquired again is the same as one of the operating conditions corresponding to the data stored in the new energy management model, the target control parameter corresponding to the operating condition corresponding to the operating data of the crane acquired again is output.

[0023] According to one aspect of the present application, the step of running the new energy management model based on the reacquired operation data of the crane to reacquire the target control parameters of the crane includes:

[0024] If the operating condition corresponding to the operating data of the crane acquired again is different from any operating condition corresponding to the data stored in the new energy management model, the new energy management model is run to calculate the new target control parameters of the crane based on the operating data of the crane acquired again.

[0025] According to another aspect of the present application, a crane energy management device is provided, comprising: a first acquisition module, configured to acquire operation data of the crane; a first calculation module, based on an energy management model and according to the operation data of the crane, obtains target control parameters of the crane; wherein the target control parameters of the crane represent control parameters of the crane that consume the least energy under the premise of lifting a current target object; wherein the energy management model is trained based on historical operation data of the crane; and an adjustment module, configured to control the operation of the actuator based on the target control parameters of the crane to lift the current target object.

[0026] According to another aspect of the present application, a crane is provided, comprising: a machine body; and electronic equipment disposed on the machine body, wherein the electronic equipment is configured to execute the aforementioned crane energy management method.

[0027] The crane energy management method, device and crane provided in the present application obtain the operating data of the crane, and then obtain the target control parameters of the crane based on the energy management model according to the obtained operating data of the crane, and then control the operation of the actuator according to the target control parameters of the crane. In this way, since the target control parameters output by the energy management model according to the operating data can make the actuator consume the least energy under the premise of lifting the current target object, therefore, controlling the actuator to operate with the target control parameters can reduce energy consumption and effectively extend the endurance time of the crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0029] Figure 1 A schematic flow chart of a crane energy management method provided as an exemplary embodiment of the present application.

[0030] Figure 2 A schematic flow chart of a crane energy management method provided as another exemplary embodiment of the present application.

[0031] Figure 3 A schematic flow chart of a crane energy management method provided as another exemplary embodiment of the present application.

[0032] Figure 4 A schematic flow chart of a crane energy management method provided as another exemplary embodiment of the present application.

[0033] Figure 5 A schematic flow chart of a crane energy management method provided as another exemplary embodiment of the present application.

[0034] Figure 6 A schematic flow chart of a crane energy management method provided as another exemplary embodiment of the present application.

[0035] Figure 7 A schematic flow chart of a crane energy management method provided as another exemplary embodiment of the present application.

[0036] Figure 8 A schematic flow chart of a crane energy management method provided as another exemplary embodiment of the present application.

[0037] Fig. 9 A structural block diagram of a crane energy management device provided as an exemplary embodiment of the present application.

[0038] Fig.10 A structural block diagram of a crane energy management device provided for another exemplary embodiment of the present application.

[0039] Fig.11 A structural block diagram of a crane provided for an exemplary embodiment of the present application.

[0040] Fig.12 A structural block diagram of an electronic device provided for an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0041] Below, the exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the exemplary embodiments described here.

[0042] Figure 1 The following is a flow chart of a crane energy management method provided by an exemplary embodiment of the present application. Figure 1 As shown, the crane energy management method provided by the present application may include:

[0043] S310: Acquire the operation data of the crane.

[0044] In one embodiment, different types of operation data can be obtained by setting different types of sensors on the crane. Specifically, the operation data of the crane may include operation data information of the staff operating the crane and data information of the hoisted object. The operation data information and the data information of the hoisted object will be introduced in detail below.

[0045] S320: Based on the energy management model and according to the operation data of the crane, a target control parameter of the crane is obtained.

[0046] Specifically, the energy management model is trained based on the historical operation data of the crane. During the training process, the historical operation data is used as the input of the energy management model, and then the actual energy consumed by the output control parameters can be compared with the target energy consumption. If the actual energy consumed is large, the output control parameters can be adjusted again until the actual energy consumption of the output control parameters is less than or equal to the target energy consumption. The historical operation data may include the load of the hoisted object, the operator's stepping depth on the pedal, the opening of the operating handle, the motor speed, the motor torque, the hydraulic system pressure, and the switch value of the valve, etc. The working condition model library is determined through big data analysis, and based on reinforcement learning algorithms, such as random forest, SVM, BP neural network, etc., the optimal energy consumption model under different working conditions is obtained.

[0047] In one embodiment, after the energy management model is established based on historical operation data training, the obtained operation data of the crane is input into the energy management model. After the energy management model performs calculations based on the operation data of the crane, the target control parameters of the crane can be obtained.

[0048] It should be noted that the target control parameter can be understood as the control parameter of the crane that consumes the least energy under the premise of lifting the current target object. In other words, after the energy management model calculates the target control parameter based on the crane's operating data, if the crane's actuator is controlled to operate with the target control parameter, it can ensure that the lifting object is completed while consuming the least energy.

[0049] In one embodiment, the actuators of the aforementioned crane may include a motor, an oil pump, a hydraulic valve, etc., and the target control parameters may include the speed and power of the motor, the pressure of the oil pump, the switching conditions of different hydraulic valves, etc. Specifically, in the case of an electric crane, the motor can be used as a power source for the crane to hoist objects, and by adjusting the speed and power of the motor, the pressure of the oil pump, and the switching conditions of different hydraulic valves, the rate at which the crane's boom rises or falls can be changed.

[0050] S330: According to the target control parameters of the crane, the execution part operation is controlled to hoist the current target object.

[0051] Specifically, after obtaining the target control parameters of the crane, the system can control the actuator to run with the corresponding target control parameters, thereby completing the operation of lifting the current target object with minimal energy consumption.

[0052] In actual applications, the operating data of the crane gradually changes during the lifting process, so the target control parameters also change in real time. Therefore, the system needs to control and adjust the actuator in real time according to the real-time changing target control parameters to ensure that the energy consumption of the actuator is at the lowest state in different time periods, effectively reducing energy consumption and extending the crane's endurance time.

[0053] The crane energy management method provided in the embodiment of the present application obtains the operation data of the crane, and then obtains the target control parameters of the crane based on the energy management model according to the obtained operation data of the crane, and then controls the operation of the actuator according to the target control parameters of the crane. In this way, since the target control parameters output by the energy management model according to the operation data can make the actuator consume the least energy under the premise of lifting the current target object, therefore, controlling the actuator to operate with the target control parameters can reduce energy consumption and effectively extend the endurance time of the crane.

[0054] Figure 2 A schematic diagram of a flow chart of a crane energy management method provided by another exemplary embodiment of the present application. Figure 2 As shown, step S310 may include:

[0055] S311: Acquire the operation data information of the crane and the data information of the current hoisting object.

[0056] Specifically, as mentioned above, the operation data of the crane may include the operating data information of the crane and the data information of the current hoisting object, wherein the operating data can be understood as the data information represented by the operating signal issued when the operator operates the crane, for example, the opening degree of the operator's operating handle, the amplitude of the pedal, etc.; in addition, the data information of the current hoisting object may include the weight information of the current hoisting object and the relative position information between the current hoisting object and the body of the crane. It should be understood that the weight information of the hoisting object can be obtained through a weight sensor, and the relative position information between the hoisting object and the body of the crane can be obtained through a laser radar.

[0057] Figure 3 A schematic diagram of a crane energy management method provided by another exemplary embodiment of the present application. Figure 3 As shown, before step S320, the crane energy management method further includes:

[0058] S340: Establish different types of initial models.

[0059] Specifically, different types of initial models correspond one-to-one to different working conditions of the crane. According to the historical operation data of the crane under different working conditions, different types of initial models can be trained separately to establish different types of initial models.

[0060] It should be understood that when the crane is in different working conditions, the motor speed and power are different, the radius of the crane boom is different, the oil pump pressure is different, etc. Therefore, establishing different types of initial models can facilitate the selection of appropriate initial models according to different types of working conditions, so as to obtain target control parameters that are more suitable for the current working conditions, so that the crane can consume the least energy to complete the corresponding operations under different working conditions, effectively extending the crane's endurance time.

[0061] Correspondingly, after step S310, the crane energy management method further includes:

[0062] S350: Determine the working condition of the crane according to the operation data of the crane, and select an initial model corresponding to the working condition of the crane as the energy management model.

[0063] Specifically, due to different working conditions, the operation data of the crane are different. Therefore, in practical applications, the current working condition of the crane can be determined based on the operation data of the crane. After determining the working condition of the crane, the system can select an initial model corresponding to the current working condition of the crane as the energy management model, and then obtain the target control parameters of the crane based on the selected energy management model.

[0064] Figure 4 A schematic diagram of a flow chart of a crane energy management method provided by another exemplary embodiment of the present application. Figure 4 As shown, after step S330, the crane energy management method further includes:

[0065] S360: Calculate and store the energy consumption of the actuator during operation with the target control parameters.

[0066] Specifically, after executing step S330, the actuator runs with the target control parameters and hoists the current target object. The system can calculate the energy consumption of the actuator during the hoisting process. The calculated energy consumption can be fed back to the energy management module as new data, so that the original data in the energy management module is updated. In addition, the calculated energy consumption can also be displayed through a display device for easy reference by the staff.

[0067] Figure 5 A schematic diagram of a flow chart of a crane energy management method provided by another exemplary embodiment of the present application. Figure 5As shown, after step S360, the crane energy management method further includes:

[0068] S370: Update the current energy management model according to the crane's operating data, target control parameters, and energy consumption to obtain a new energy management model.

[0069] Specifically, after calculating the energy consumption during the lifting process of the actuator, the corresponding relationship between the operation data, target control parameters and energy consumption of the crane can be obtained, and the latest corresponding relationship can be stored in the current energy management model. Generally, if the actually measured energy consumption is different from the energy consumption calculated by the energy management model based on the operation data before the actuator is executed, the energy management model can be updated so that the actually measured energy consumption replaces the energy consumption previously calculated based on the operation data.

[0070] Figure 6 A schematic diagram of a flow chart of a crane energy management method provided by another exemplary embodiment of the present application. Figure 6 As shown, after step S370, the crane energy management method further includes:

[0071] S380: Acquire the crane operation data again.

[0072] Specifically, after executing step S370, a new energy management model is obtained, and in subsequent continuous operations, the operation data of the crane is obtained again and then input into the new energy management model. The type and method of the operation data of the crane obtained in step S380 can refer to the relevant introduction of step S310.

[0073] S390: Running a new energy management model based on the crane operation data acquired again to obtain target control parameters of the crane again.

[0074] In practical applications, after the operation data of the crane changes, the new energy management model is run to obtain the new target control parameters of the crane. Specifically, according to the newly acquired operation data of the crane, the energy management model can calculate the new target control parameters based on the input operation data. Alternatively, if the energy management model already has the same data as the input operation data, then according to the previously stored correspondence, the target control parameters corresponding to the same operation data can be directly called, reducing the calculation steps and improving the system's operation feedback efficiency. The specific execution process will be described in detail later.

[0075] Figure 7 A schematic diagram of a flow chart of a crane energy management method provided by another exemplary embodiment of the present application. Figure 7 As shown, step S390 may include:

[0076] S391: If the operating condition corresponding to the crane operation data acquired again is the same as one of the operating conditions corresponding to the data stored in the new energy management model, then the target control parameters corresponding to the operating condition corresponding to the crane operation data acquired again are output.

[0077] It should be understood that different crane operation data obtained correspond to different crane working conditions. After the crane operation data is obtained again, the crane's current working condition can be determined based on the crane operation data obtained again. If the current working condition is the same as one of the working conditions corresponding to the data stored in the new energy management model, then according to the confirmed working condition, the target control parameters corresponding to the confirmed working condition can be output, which reduces the process of recalculating the energy management model according to the newly obtained crane operation data, and effectively improves the system feedback efficiency and the crane's working efficiency.

[0078] Figure 8 A schematic diagram of a flow chart of a crane energy management method provided by another exemplary embodiment of the present application. Figure 8 As shown, step S390 may include:

[0079] S392: If the operating condition corresponding to the crane's operating data acquired again is different from any operating condition corresponding to the data stored in the new energy management model, the new energy management model is run to calculate the new target control parameters of the crane based on the crane's operating data acquired again.

[0080] Specifically, after determining the current working condition of the crane based on the crane's operating data acquired again, the crane's current working condition can be compared one by one with the various working conditions corresponding to the data stored in the new energy management model. If the crane's current working condition is different from any of the working conditions corresponding to the data stored in the new energy management model, the new energy management model can be run to calculate the new target control parameters of the crane based on the crane's operating data acquired again. After the actuator completes the operation according to the new target control parameters, the system can measure the energy consumed by the actuator throughout the entire process, and then store the corresponding relationship between the new operating data, the new target control parameters, and the new energy consumption in the new energy management model for subsequent calls.

[0081] Fig. 9 This is a structural block diagram of a crane energy management device provided by an exemplary embodiment of the present application. Fig. 9As shown, the crane energy management device 500 provided in the present application may include a first acquisition module 510, configured to acquire the operation data of the crane; a first calculation module 520, based on the energy management model and according to the operation data of the crane, obtains the target control parameters of the crane; wherein the target control parameters of the crane represent the parameters of the crane's actuator that consumes the least energy under the premise of lifting the current target object; wherein the energy management model is trained based on the historical operation data of the crane; and an adjustment module 530, configured to control the operation of the actuator based on the target control parameters of the crane to lift the current target object.

[0082] The crane energy management device provided in the present application obtains the operating data of the crane, and then obtains the target control parameters of the crane based on the energy management model according to the acquired operating data of the crane, and then controls the operation of the actuator according to the target control parameters of the crane. In this way, since the target control parameters output by the energy management model according to the operating data can make the actuator consume the least energy under the premise of meeting the lifting of the current target object, therefore, controlling the actuator to operate with the target control parameters can reduce energy consumption and effectively extend the endurance time of the crane.

[0083] Fig.10 This is a structural block diagram of a crane energy management device provided by another exemplary embodiment of the present application. Fig.10 As shown, in one embodiment, the first acquisition module 510 may also be configured to acquire operation data information of the crane and data information of the current hoisted object.

[0084] like Fig.10 As shown, in one embodiment, the crane energy management device 500 may also include a generation module 540, configured to establish different types of initial models; a selection module 550, configured to determine the working condition of the crane based on the operation data of the crane, and select the initial model corresponding to the working condition of the crane as the energy management model.

[0085] like Fig.10 As shown, in one embodiment, the crane energy management device 500 may further include a calculation storage module 560 configured to calculate and store energy consumption during operation of the actuator with target control parameters.

[0086] like Fig.10 As shown, in one embodiment, the crane energy management device 500 may further include an updating module 570 configured to update the current energy management model according to the crane's operating data, target control parameters, and energy consumption to obtain a new energy management model.

[0087] like Fig.10As shown, in one embodiment, the crane energy management device 500 may also include a second acquisition module 580, configured to acquire the crane operation data again; a second calculation module 590, configured to run a new energy management model based on the crane operation data acquired again to obtain the target control parameters of the crane again.

[0088] like Fig.10 As shown, in one embodiment, the second calculation module 590 may include a third calculation module 591, which is configured to output target control parameters corresponding to the operating conditions corresponding to the operating data of the crane acquired again if the operating conditions corresponding to the operating data of the crane acquired again are the same as one of the operating conditions corresponding to the data stored in the new energy management model.

[0089] like Fig.10 As shown, in one embodiment, the second calculation module 590 may include a fourth calculation module 592, which is configured to run a new energy management model to calculate new target control parameters of the crane based on the crane's operating data acquired again if the operating condition corresponding to the crane's operating data acquired again is different from any operating condition corresponding to the data stored in the new energy management model.

[0090] Fig.11 A structural block diagram of a crane provided for an exemplary embodiment of the present application. Fig.11 As shown, the crane 700 provided in the present application may include a body 710; an electronic device 720, which is disposed on the body 710, and the electronic device 720 is configured to execute the aforementioned crane energy management method.

[0091] The crane provided in the present application obtains the operating data of the crane, and then obtains the target control parameters of the crane based on the energy management model according to the acquired operating data of the crane, and then controls the operation of the actuator according to the target control parameters of the crane. In this way, since the target control parameters output by the energy management model according to the operating data can make the actuator consume the least energy under the premise of lifting the current target object, therefore, controlling the actuator to operate with the target control parameters can reduce energy consumption and effectively extend the endurance time of the crane.

[0092] Fig.12 This is a structural block diagram of an electronic device provided by an exemplary embodiment of the present application. Fig.12 As shown, the electronic device 720 may be any one or both of the first device and the second device, or a stand-alone device independent of them, and the stand-alone device may communicate with the first device and the second device to receive the collected input signals from them.

[0093] like Fig.12As shown, the electronic device 720 includes one or more processors 721 and a memory 721 .

[0094] The processor 721 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 720 to perform desired functions.

[0095] The memory 721 may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 721 may run the program instructions to implement the methods of the various embodiments of the present application described above and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

[0096] In one example, the electronic device 720 may further include: an input device 723 and an output device 724, and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0097] When the electronic device is a stand-alone device, the input device 723 may be a communication network connector for receiving collected input signals from the first device and the second device.

[0098] In addition, the input device 723 may also include, for example, a keyboard, a mouse, and the like.

[0099] The output device 724 can output various information to the outside, including the determined distance information, direction information, etc. The output device 724 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0100] Of course, to simplify, Fig.12 Only some of the components related to the present application in the electronic device 720 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application conditions, the electronic device 720 may also include any other appropriate components.

[0101] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for running the operation of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be run entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0102] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0103] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A crane energy management method, characterized in that: include: Obtain crane operation data; Based on the energy management model and according to the operation data of the crane, the target control parameters of the crane are obtained; wherein the energy management model is trained according to the historical operation data of the crane; wherein the target control parameters of the crane represent the control parameters of the crane that consume the least energy when the actuator of the crane meets the requirement of hoisting the current target object; and According to the target control parameter of the crane, control the operation of the actuator to hoist the current target object; Before obtaining the target control parameters of the crane based on the energy management model and according to the operation data of the crane, the crane energy management method further includes: Establishing different types of initial models; wherein the different types of initial models correspond one-to-one to different types of working conditions of the crane; After obtaining the operation data of the crane, the crane energy management method further includes: The working condition of the crane is determined according to the operation data of the crane, and the initial model corresponding to the working condition of the crane is selected as the energy management model.

2. The crane energy management method according to claim 1, characterized in that: The obtaining of the crane operation data comprises: Acquire the operation data information of the crane and the data information of the current hoisting object; wherein the operation data represents the data information represented by the operation signal sent by the operator when operating the crane; wherein the data information of the current hoisting object includes the weight information of the current hoisting object and the relative position information between the current hoisting object and the body of the crane.

3. The crane energy management method according to claim 1, characterized in that: After controlling the operation of the actuator according to the target control parameter of the crane, the crane energy management method further includes: The energy consumption of the actuator during operation with the target control parameter is calculated and stored.

4. The crane energy management method according to claim 3, characterized in that: After calculating and storing the energy consumption of the actuator during operation with the target control parameter, the crane energy management method further includes: The current energy management model is updated according to the operation data of the crane, the target control parameters and the energy consumption to obtain a new energy management model.

5. The crane energy management method according to claim 4, characterized in that: After updating the current energy management model to obtain a new energy management model, the crane energy management method further includes: acquiring the operation data of the crane again; The new energy management model is run according to the reacquired operation data of the crane to obtain the target control parameters of the crane again.

6. The crane energy management method according to claim 5, characterized in that: The step of running the new energy management model according to the operation data of the crane acquired again to obtain the target control parameter of the crane again includes: If the operating condition corresponding to the operation data of the crane acquired again is the same as one of the operating conditions corresponding to the data stored in the new energy management model, the target control parameter corresponding to the operating condition corresponding to the operation data of the crane acquired again is output.

7. The crane energy management method according to claim 5, characterized in that: The step of running the new energy management model according to the operation data of the crane acquired again to obtain the target control parameter of the crane again includes: If the operating condition corresponding to the operating data of the crane acquired again is different from any operating condition corresponding to the data stored in the new energy management model, the new energy management model is run to calculate the new target control parameters of the crane based on the operating data of the crane acquired again.

8. A crane energy management device, characterized in that: include: A first acquisition module is configured to acquire operation data of the crane; A first calculation module, based on an energy management model and according to the operation data of the crane, obtains a target control parameter of the crane; wherein the target control parameter of the crane represents a control parameter of the crane that consumes the least energy when the actuator of the crane meets the requirement of hoisting a current target object; wherein the energy management model is trained according to the historical operation data of the crane; and an adjustment module, configured to control the operation of the actuator according to the target control parameter of the crane to hoist the current target object; A generating module configured to establish different types of initial models; wherein the different types of initial models correspond one-to-one to different types of working conditions of the crane; The selection module is configured to determine the working condition of the crane according to the operation data of the crane, and select the initial model corresponding to the working condition of the crane as the energy management model.

9. A crane, characterized in that: include: Body; An electronic device is arranged on the machine body, and the electronic device is configured to execute the crane energy management method according to any one of claims 1 to 7.

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