Hook control method, system and crane

Abstract

The present application relates to the field of crane technology, and specifically provides a hook control method, a hook control system, and a crane. During use, during the extension phase, a first pump and a second pump jointly drive a hydraulic cylinder to improve the extension efficiency of the hydraulic cylinder. During the retraction phase, due to gravity, the movement direction of each boom section is downward when retracting, and the movement direction of the hydraulic cylinder is also downward. The downward movement of the boom section presses the cylinder to move downward more easily. Therefore, only the first pump driving the hydraulic cylinder to retract can achieve a higher retraction efficiency, while the second pump performs hook following. In summary, during the hook following process, the present invention can implement a more appropriate control strategy based on the specific telescopic boom state, and can more efficiently perform boom extension, boom retraction, and hook following while ensuring that the hook is within a safe range.

Description

Technical Field

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

[0002] Currently, crane hook follow-up requires one hydraulic pump to drive the winch, and another to extend and retract the telescopic boom. This affects the efficiency of extension and retraction. For example, when the boom is extended, only one hydraulic pump is driving the boom, which seriously affects the efficiency of extension. Similarly, when the telescopic boom is stationary, only one hydraulic pump is driving the winch, which makes the retraction and retraction efficiency inefficient.

[0003] In summary, how to achieve more efficient extension and retraction of the boom and rotation of the winch during the hook following process is a technical problem that needs to be solved. Summary of the Invention

[0004] In view of this, the present application provides a hook control method, system and crane, which can achieve more efficient arm extension, arm retraction and winch rotation.

[0005] In a first aspect, the present application provides a hook control method, which includes: obtaining telescopic stage information of a telescopic arm, the telescopic stage information including an extension stage and a retraction stage; if the telescopic arm is in the extension stage, controlling the first pump and the second pump of the crane to jointly drive the hydraulic cylinder to extend; and if the telescopic arm is in the retraction stage, controlling the first pump to drive the hydraulic cylinder to retract, and controlling the second pump to drive the winch to control the hook to follow.

[0006] When this aspect is in use, during the extension phase, the first and second pumps jointly drive the hydraulic cylinder to improve the extension efficiency of the hydraulic cylinder. During the retraction phase, due to gravity, the movement direction of each boom section is downward when retracting, and the oil cylinder of the hydraulic cylinder also moves downward. The downward movement of the boom section presses the oil cylinder to move downward more easily. Therefore, only the first pump driving the hydraulic cylinder to retract can achieve a higher retraction efficiency, while the second pump performs the hook follow-up. In summary, during the hook follow-up process, this aspect can implement a more appropriate control strategy based on the specific state of the telescopic boom, and can more efficiently perform the boom extension, retraction, and hook follow-up actions while ensuring that the hook is within a safe range.

[0007] In combination with the first aspect, in a possible implementation, the method further includes: if the telescopic arm is fully extended or fully retracted, controlling the first pump and the second pump to jointly drive the winch to adjust the height of the hook from the ground to the initial height.

[0008] In combination with the first aspect, in a possible implementation, the telescopic arm includes multiple arm sections, the extension stage includes an extension stage and an empty cylinder extension stage, and the retraction stage includes a retraction stage and an empty cylinder retraction stage; if the telescopic arm is in the retraction stage, controlling the first pump to drive the hydraulic cylinder to retract, and controlling the second pump to drive the winch to control the hook to follow includes: if the current arm section is completed and is not the last section, controlling the first pump to drive the hydraulic cylinder to retract the empty cylinder, and controlling the second pump to drive the winch to control the hook to follow; if the telescopic arm is in the extension stage, controlling the first pump and the second pump of the crane to jointly drive the hydraulic cylinder to extend includes: if the current arm section is completed and is not the last section, controlling the first pump and the second pump to jointly drive the hydraulic cylinder to retract the empty cylinder.

[0009] In combination with the first aspect, in a possible implementation, the method further includes: if the hook triggers the first safety protection level, pausing the driving of the hydraulic cylinder to extend or retract, and controlling the winch to drive the hook back to the initial height.

[0010] In combination with the first aspect, in a possible implementation, the hook triggering the first safety protection level includes: obtaining the ground height value of the hook, the distance between the hook and the arm head of the telescopic arm, and the number of turns of the winch; if the ground height value is less than the initial height, the first safety protection level is triggered; if the distance between the hook and the arm head of the telescopic arm is less than the first protection value, the first safety protection level is triggered; and if the number of turns of the winch is less than the second protection value, the first safety protection level is triggered.

[0011] In combination with the first aspect, in a possible implementation, before obtaining the telescopic stage information of the telescopic arm, the method also includes: if the second safety protection level is not triggered, obtaining the telescopic stage information; and if the second safety protection level is triggered, controlling the power device to stop working.

[0012] In combination with the first aspect, in a possible implementation, triggering the second safety protection level includes: obtaining the absolute height of the hook above the ground; if the absolute height above the ground is less than a third protection value, triggering the second safety protection level; if the height trigger limit signal of the hook is obtained, triggering the second safety protection level; if the communication signal between the winch and the telescopic arm is interrupted, triggering the second safety protection level; and if the hydraulic cylinder sends an overextension signal and a pressure alarm signal, triggering the second safety protection level.

[0013] In combination with the first aspect, in a possible implementation, if the telescopic arm is in the retraction stage, controlling the first pump to drive the hydraulic cylinder to retract, and controlling the second pump to drive the winch to control the hook to follow, includes: obtaining the actual change value of the rope of the winch during the winding and unwinding process; and if the deviation between the actual change value and the target change value of the rope disappears, controlling the winch to stop winding and unwinding.

[0014] In a second aspect, the present application provides a hook control system for a crane, the crane comprising a telescopic arm, a hook, a winch and a power unit, the telescopic arm comprising a hydraulic cylinder, the power unit comprising a first pump and a second pump, the hook control system comprising: a receiving module configured to obtain telescopic stage information; the telescopic stage comprising an extension stage and a retraction stage; a first control module, respectively communicating and connected with the telescopic arm, the winch, the hydraulic cylinder, the power unit and the receiving module, the first control module being configured to: if in the extension stage, control the first pump and the second pump to jointly drive the hydraulic cylinder to extend; and a second control module, respectively communicating and connected with the telescopic arm, the winch, the hydraulic cylinder, the power unit and the receiving module, the second control module being configured to: if in the retraction stage, control the first pump to drive the hydraulic cylinder to retract, and control the second pump to drive the winch to control the hook to follow.

[0015] When this aspect is in use, during the extension phase, the first and second pumps jointly drive the hydraulic cylinder to improve the extension efficiency of the hydraulic cylinder. During the retraction phase, due to gravity, the movement direction of each boom section is downward when retracting, and the oil cylinder of the hydraulic cylinder also moves downward. The downward movement of the boom section presses the oil cylinder to move downward more easily. Therefore, only the first pump driving the hydraulic cylinder to retract can achieve a higher retraction efficiency, while the second pump performs the hook follow-up. In summary, during the hook follow-up process, this aspect can implement a more appropriate control strategy based on the specific state of the telescopic boom, and can more efficiently perform the boom extension, retraction, and hook follow-up actions while ensuring that the hook is within a safe range.

[0016] In a third aspect, the present application provides a crane comprising: a telescopic arm, the telescopic arm comprising a hydraulic cylinder; a hook; a winch; a power unit, the power unit comprising a first pump and a second pump; and the aforementioned hook control system.

[0017] This aspect includes all the technical features of the second aspect, and therefore includes the technical effects of the second aspect. The technical effects of this aspect will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1Shown is a schematic diagram of the method steps of a hook control method provided in one embodiment of the present application.

[0019] Figure 2 Shown is a schematic diagram of the method steps of a hook control method provided in another embodiment of the present application.

[0020] Figure 3 Shown is a schematic diagram of the method steps of a hook control method provided in another embodiment of the present application.

[0021] Figure 4 Shown is a schematic diagram of the method steps of a hook control method provided in another embodiment of the present application.

[0022] Figure 5 Shown is a schematic diagram of the method steps of a hook control method provided in another embodiment of the present application.

[0023] Figure 6 Shown is a schematic diagram of the method steps of a hook control method provided in another embodiment of the present application.

[0024] Figure 7 Shown is a schematic diagram of the method steps of a hook control method provided in another embodiment of the present application.

[0025] Figure 8 Shown is a schematic diagram of the method steps of a hook control method provided in another embodiment of the present application.

[0026] Figure 9 Shown is a schematic diagram of the workflow of a hook control method provided by another embodiment of the present application during application.

[0027] Figure 10 Shown is a schematic diagram of the system structure of a hook control system provided in one embodiment of the present application.

[0028] Figure 11 Shown is a structural schematic diagram of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0029] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0030] When a crane's main boom is extended or retracted, the change in boom length causes the hook to passively rise or fall. Therefore, hook follow-up control can be used to maintain the hook's height during boom extension and retraction, preventing it from hitting the top or falling to the ground, potentially causing a safety accident. Current hook follow-up control measures the target change value of the wire rope and the actual change in wire rope length as the main boom is extended or retracted. By comparing the target change value with the actual change in wire rope length, hoisting control is performed based on the comparison result. Current crane hook follow-up requires one hydraulic pump to drive the hoist and another hydraulic pump to drive the telescopic boom, which affects the efficiency of extension and retraction. For example, when the boom is extended, only one hydraulic pump is driving the boom, significantly reducing its efficiency. Another example is when the telescopic boom is stationary, only one hydraulic pump is driving the hoist, resulting in inefficient hoisting and retraction. Therefore, achieving more efficient boom extension and retraction, as well as hoist rotation, during hook follow-up is a technical problem that needs to be solved.

[0031] Exemplary Hook Control Method

[0032] In one embodiment, the present application provides a hook control method that can be applied to a process in which a crane performs hook following motion. The crane includes a telescopic arm, a hook, a winch, a hydraulic cylinder, and a power unit, and the power unit includes a first pump and a second pump.

[0033] Among them, the telescopic arm is driven to extend or retract through the telescopic action of the hydraulic cylinder, and the power unit can adjust the first pump and the second pump to switch to provide power to the hydraulic cylinder and the winch. Specifically, a flow separation and confluence control valve is provided in the power unit, and the flow separation and confluence control valve is connected to the first pump and the second pump as well as the hydraulic cylinder and the winch respectively. The flow separation and confluence control valve can switch to output the hydraulic oil output by the first pump to the hydraulic cylinder alone or to the hydraulic cylinder and the winch at the same time. The flow separation and confluence control valve can also switch to output the hydraulic oil output by the second pump to the winch alone or to the hydraulic cylinder and the winch at the same time. In the execution of this method, the flow separation and confluence control valve in the power unit can be controlled to switch to the first state, so as to control the first pump and the second pump to drive the hydraulic cylinder or the winch together; or the flow separation and confluence control valve can be controlled to switch to the second state, corresponding to controlling the first pump to drive the hydraulic cylinder alone and the second pump to drive the winch alone; these are all existing technologies and will not be described in detail here.

[0034] Figure 1 The figure shows a method step diagram of a hook control method provided by an embodiment of the present application. In this embodiment, the hook control method is executed during the hook follow-up control process. In one embodiment, as shown in FIG. Figure 1 As shown, the hook control method includes the steps of:

[0035] Step 101: Acquire telescopic phase information of the telescopic arm, where the telescopic phase information includes an extension phase and a retraction phase.

[0036] Step 102: If the telescopic arm is in the extension stage, control the first pump and the second pump of the crane to jointly drive the hydraulic cylinder to extend.

[0037] Step 103: If the telescopic arm is in the retraction stage, control the first pump to drive the hydraulic cylinder to retract, and control the second pump to drive the winch to control the hook to follow.

[0038] The extension phase includes the arm extension phase and the empty cylinder extension phase, while the retraction phase includes the arm retraction phase and the empty cylinder retraction phase. Specifically, the hydraulic cylinder can drive the telescopic arm to extend during the extension phase (without the empty cylinder extension phase), while the empty cylinder extension phase is used to prepare for the next retraction phase. The hydraulic cylinder can drive the telescopic arm to retract during the retraction phase (without the empty cylinder retraction phase), while the empty cylinder retraction phase is used to prepare for the next extension phase.

[0039] During the extension phase of this embodiment, the first and second pumps jointly drive the hydraulic cylinders, improving their efficiency. During the retraction phase, due to gravity, the movement of each boom section is downward, and the hydraulic cylinders also move downward. The downward movement of the boom section compresses the cylinders, allowing for easier downward movement. Therefore, high retraction efficiency can be achieved by simply driving the hydraulic cylinders with the first pump, while the second pump performs hook follow-up. In summary, during the hook follow-up process, this embodiment can implement a more appropriate control strategy based on the specific state of the telescopic boom, ensuring that the hook remains within a safe range while enabling more efficient extension, retraction, and hook follow-up.

[0040] Figure 2 FIG. 1 is a schematic diagram of the steps of a hook control method provided by another embodiment of the present application. In one embodiment, as Figure 2 As shown, the hook control method also includes the steps of:

[0041] Step 104: If the telescopic arm is fully extended or fully retracted, the first pump and the second pump are controlled to jointly drive the winch to adjust the height of the hook from the ground to the initial height.

[0042] In this step, once the telescopic arm is fully extended or retracted, the first and second pumps are controlled to jointly drive the winch. This step adjusts the hook to its initial height, facilitating subsequent actions. This step can increase the hook's height adjustment speed, allowing the hook to reach its initial height more quickly. Specifically, the telescopic arm can include multiple sections. Full extension means all sections are fully extended, while full retraction means all sections are fully retracted.

[0043] Specifically, before the arm extension stage is executed, based on the specific construction conditions on site and the experience of the crane operator, the first pump and / or the second pump is manually controlled to drive the winch to adjust the height position of the hook to a height value that is suitable for the current site conditions and the height position of the hook will not be too high or too low. The current height value is then recorded as the first initial height through the software program, and the hook needs to return to the first initial height after the arm is fully extended.

[0044] Specifically, before the boom retraction stage is executed, based on the specific construction conditions on site and the experience of the crane operator, the first pump and / or the second pump is manually controlled to drive the winch to adjust the height position of the hook to a height value that is suitable for the current site conditions and the height position of the hook will not be too high or too low. The current height value is then recorded as the second initial height through the software program, and the hook needs to return to the second initial height after the boom is fully retracted.

[0045] The first initial height and the second initial height may be the same or different, and are collectively referred to as the aforementioned initial heights. When the first initial height and the second initial height are different, if the hook needs to be returned to the initial height during the extended boom phase, the hook is returned to the first initial height corresponding to the extended boom phase; if the hook needs to be returned to the initial height during the retracted boom phase, the hook is returned to the second initial height corresponding to the retracted boom phase.

[0046] In one embodiment, the telescopic boom includes a plurality of boom sections, the boom extension phase refers to extending the boom sections one by one, and the boom retraction phase refers to retracting the boom sections one by one.

[0047] Figure 3 The figure shows a schematic diagram of the steps of a hook control method provided by another embodiment of the present application. Figure 3 As shown, step 103 includes:

[0048] Step 1031: If the current boom section is extended and is not the last section, control the first pump to drive the hydraulic cylinder to retract the empty cylinder, and control the second pump to drive the winch to control the hook to follow.

[0049] In the arm extension stage, it is determined whether the arm extension of the current section is completed. If it is completed, it is determined whether it is the last section. If the arm extension of the current section is completed and it is the last section, step 1031 is executed.

[0050] This embodiment is particularly suitable for single-cylinder latch cranes. After the current boom section is extended, the empty cylinder is retracted to prepare for the next boom section extension. Furthermore, during the empty cylinder retraction process, gravity forces the hydraulic cylinder's oil rod downward. Under the influence of gravity, a single pump is required for efficient empty cylinder retraction. A second pump can then be used to control the hook's follow-up, ensuring both the empty cylinder retraction and hook follow-up are executed smoothly. After the empty cylinder is retracted, the next boom section extension is executed. This embodiment allows the hook to follow the telescopic boom during extension without compromising its efficiency.

[0051] like Figure 3 As shown, step 102 includes:

[0052] Step 1021: If the current boom section is completed and is not the last section, control the first pump and the second pump to jointly drive the hydraulic cylinder to retract the empty cylinder.

[0053] In the boom retraction stage, it is determined whether the current boom section is retracted. If so, it is determined whether it is the last section. If the current boom section is retracted and is the last section, step 1021 is executed.

[0054] This embodiment is particularly suitable for single-cylinder latch cranes. After the current boom section is extended, the empty cylinder is retracted to prepare for the next boom section's retraction. Furthermore, during the empty cylinder retraction process, the first and second pumps work together to retract the empty cylinder, improving the efficiency of the empty cylinder retraction and indirectly improving the overall efficiency of the retraction process. This embodiment improves the efficiency of the empty cylinder retraction process while the hook follows the telescopic boom during retraction.

[0055] Figure 4 FIG. 1 is a schematic diagram of the steps of a hook control method provided by another embodiment of the present application. In one embodiment, as Figure 4 As shown, in the telescopic stage, the hook control method further includes:

[0056] Step 105: If the hook triggers the first safety protection level, the driving of the hydraulic cylinder to extend or retract is stopped, and the winch is controlled to drive the hook back to the initial height.

[0057] During this step, the first safety protection level can be a preset safe height range for the hook, ensuring that the hook can move within the safe height range to prevent it from touching the ground or colliding with the boom. When the first safety protection level is triggered, the extension or retraction of the hydraulic cylinder is temporarily suspended, requiring the hook to return to its initial height before continuing to operate, such as continuing to drive the hydraulic cylinder to extend or retract.

[0058] Figure 5FIG. 1 is a schematic diagram of the steps of a hook control method provided by another embodiment of the present application. In one embodiment, as Figure 5 As shown, step 105 includes:

[0059] Step 1051: Obtain the height of the hook from the ground, the distance between the hook and the boom head of the telescopic boom, and the number of turns of the winch.

[0060] Step 1052: If the height above the ground is less than the initial height, the first safety protection level is triggered.

[0061] Step 1053: If the distance between the hook and the arm head of the telescopic arm is less than the first protection value, the first safety protection level is triggered.

[0062] Step 1054: If the number of turns of the winch is less than the second protection value, the first safety protection level is triggered.

[0063] When this embodiment is applied, the height of the hook from the ground and the distance between the hook and the boom head are obtained through software calculation. When the following three conditions are met at the same time: 1. The height from the ground is greater than or equal to the initial height, 2. The distance between the hook and the boom head is greater than or equal to the first protection value, 3. The number of circles is greater than or equal to the second protection value, the first safety protection level will not be triggered, and the first pump and the second pump will be controlled to work together to extend or retract the arm.

[0064] The first protection value can be set according to the on-site conditions. For example, it can be set to about 2m, that is, the first safety protection level is triggered when the calculated distance between the hook and the arm head is less than 2m. The second protection value can be set to 2, that is, when the number of turns is less than 2 turns, the extension of the telescopic arm is stopped, and the height of the hook from the ground is adjusted to the initial height before subsequent work is carried out. If one of the above three conditions is not met, the first safety protection level will be triggered. Specifically, the actual length of the wire rope can be known by obtaining the number of turns of the winch, and the distance between the hook and the arm head can be calculated based on the arm length of the telescopic arm. Then, the pitch angle of the telescopic arm can be obtained to calculate the height of the hook from the ground. The number of turns can be known through the sensor of the winch. This calculation method is already an existing technology and will not be repeated here. The first safety protection level is essentially a software protection control strategy, that is, it is calculated by a software program to ensure that the above three conditions are met and to ensure that the hook moves within a safe range.

[0065] Figure 6 FIG. 1 is a schematic diagram of the steps of a hook control method provided by another embodiment of the present application. In one embodiment, as Figure 6 As shown, step 103 includes:

[0066] Step 1032: Obtain the actual change value of the hoist rope during the winding and unwinding process of the winch.

[0067] Step 1033: If the deviation between the actual change value and the target change value of the suspension rope disappears, the winch is controlled to stop winding and unwinding.

[0068] During use, this embodiment compares the actual change value with the target change value. The target change value can be pre-set. For example, during hook follow-up, the target change value can be set to a fixed value, a change value that is a function of the telescopic arm length, or a change value that is a function of the number of winch turns. This process is conventional hook follow-up technology and will not be described in detail here. When there is a deviation, the winch is continuously controlled to reel in and out so that the rope length reaches the target change value, thereby continuously adjusting the hook height. When the deviation disappears, the winch is controlled to stop.

[0069] Figure 7 FIG. 1 is a schematic diagram of the steps of a hook control method provided by another embodiment of the present application. In one embodiment, as Figure 7 As shown, before obtaining the telescopic stage information of the telescopic arm, the hook control method further includes:

[0070] Step 106: Determine whether the second security protection level is triggered. If not, proceed to step 101.

[0071] If triggered, step 107 is executed to control the power device to stop working.

[0072] During use, this embodiment first determines whether the second safety protection level is triggered, further improving the safety of the hook follow-up process. The second safety protection level can be determined through hardware testing, which can prevent hardware accidents. The second safety protection level has a higher priority than the first safety protection level, meaning that the second safety protection level must be met before step 101 can be executed.

[0073] Figure 8 FIG. 1 is a schematic diagram of the steps of a hook control method provided by another embodiment of the present application. In one embodiment, as Figure 8 As shown, if the second security protection level is triggered, it includes:

[0074] Step 1061: Obtain the absolute height of the hook from the ground.

[0075] Step 1062: If the absolute height above the ground is less than the third protection value, trigger the second safety protection level.

[0076] Step 1063: If a hook height trigger limit signal is obtained, the second safety protection level is triggered.

[0077] Step 1064: If the communication signal between the hoist and the telescopic arm is interrupted, the second safety protection level is triggered.

[0078] Step 1065: If the hydraulic cylinder sends an over-extension signal and a pressure alarm signal, the second safety protection level is triggered.

[0079] When this embodiment is in use, the absolute height of the hook from the ground can be detected by a sensor. The sensor can be, for example, a height sensor, a ranging radar, or other device that can directly or indirectly detect the height of the hook from the ground. The protection range can be pre-set. For example, the height of the hook from the ground can be set to 5m as the third protection value. The height of 5m can prevent the hook from touching the ground or hitting people. That is, the absolute height from the ground needs to be greater than or equal to 5m to not trigger the second safety protection level. A height sensor can be set on the telescopic arm to detect the height of the hook. For example, the distance of 1m between the hook and the arm head can be set as the highest point the hook can reach. That is, when the distance between the hook and the arm head is less than 1m, the height trigger limit signal will be triggered. An arm-internal signal input and output module can be set in the telescopic arm. The arm-internal signal input and output module can detect the extension and retraction of the telescopic arm. If the communication signal of the winch or the communication signal of the arm-internal signal input and output module is interrupted, the second safety protection level will be triggered. A cylinder sensor can be set in the hydraulic cylinder to detect whether the cylinder is overextended and whether the hydraulic oil pressure of the hydraulic cylinder is too high. This embodiment enables the hook control method of the present application to be executed when all components of the telescopic arm and hydraulic cylinder are in normal operation, ensuring the normal execution of the telescopic operation. In summary, the second safety protection level is essentially a hardware protection control strategy that ensures that the hook moves within a safe range through hardware detection.

[0080] Figure 9 The figure shows a workflow diagram of a hook control method provided by another embodiment of the present application when it is applied. In a specific embodiment, as Figure 9 As shown, after the hook starts to follow up, it is first determined whether the hardware protection control strategy is triggered. If it is triggered, the process ends. If not, the telescopic state of the telescopic arm is received.

[0081] If the boom is in the extended state, the dual pumps drive the boom and the hook remains stationary. During the extension process, a determination is made as to whether the software protection control strategy has been triggered. If so, the boom is paused and the hook is returned to its initial height before continuing to extend. If not, a determination is made as to whether the current boom section has been extended. If not, the boom continues to be extended. If the current boom section has been extended, a determination is made as to whether it is the last boom section. If so, the dual pumps control the hook to return to its initial height and the process ends. If the current boom section being extended is not the last, an empty cylinder retraction is executed, with the single pump controlling the empty cylinder retraction and the hook following the movement. During the empty cylinder retraction process, a determination is made as to whether the empty cylinder retraction is complete. If not, the empty cylinder retraction continues. If the empty cylinder retraction is complete, the next boom section is extended.

[0082] If the boom is in the retracted state, a single pump controls the retraction of the boom and the hook's follow-up movement. During the retraction process, a determination is made as to whether the software protection control strategy has been triggered. If so, retraction is paused and the hook is returned to its initial height before retraction continues. If not, a determination is made as to whether the current boom section has been retracted. If retraction of the current boom section has not been completed, retraction continues with the single pump and the hook's follow-up movement. If retraction of the current boom section has been completed, a determination is made as to whether the current boom section is the last. If so, both pumps control the hook's return to its initial height and the process ends. If not, empty cylinder extension is executed, with both pumps controlling the empty cylinder extension and the hook remaining stationary. During empty cylinder extension, a determination is made as to whether empty cylinder extension is complete. If not, empty cylinder extension continues. If complete, retraction of the next boom section is executed.

[0083] Exemplary Hook Control System

[0084] The present application also provides a hook control system that can be applied to a crane that performs hook following, wherein the crane includes a telescopic arm, a hook, a winch, and a power unit, wherein the telescopic arm includes a hydraulic cylinder, and the power unit includes a first pump and a second pump. In one embodiment, Figure 10 As shown, the hook control system 901 includes a receiving module 902 , a first control module 903 and a second control module 904 .

[0085] The receiving module 902 is configured to obtain scaling phase information, where the scaling phase includes an expansion phase and a contraction phase.

[0086] The first control module 903 is communicatively connected with the telescopic arm, the winch, the hydraulic cylinder, the power unit and the receiving module 902 respectively. The first control module 903 is configured to: if in the extension stage, control the first pump and the second pump to jointly drive the hydraulic cylinder to extend.

[0087] The second control module 904 is communicatively connected with the telescopic arm, winch, hydraulic cylinder, power unit and receiving module 902 respectively. The second control module 904 is configured as follows: if it is in the retraction stage, it controls the first pump to drive the hydraulic cylinder to retract, and controls the second pump to drive the winch to control the hook to follow.

[0088] In this embodiment, the extension phase includes the arm extension phase and the empty cylinder extension phase, while the retraction phase includes the arm retraction phase and the empty cylinder retraction phase. Specifically, during the extension operation (without the empty cylinder extension state), the hydraulic cylinder can drive the telescopic arm to extend, while the empty cylinder extension process is used to prepare for the next retraction operation. During the retraction operation (without the empty cylinder retraction state), the hydraulic cylinder can drive the telescopic arm to retract, while the empty cylinder retraction process is used to prepare for the next extension operation.

[0089] During the extension phase of this embodiment, the first and second pumps jointly drive the hydraulic cylinders, improving their efficiency. During the retraction phase, due to gravity, the movement of each boom section is downward, and the hydraulic cylinders also move downward. The downward movement of the boom section compresses the cylinders, allowing for easier downward movement. Therefore, high retraction efficiency can be achieved by simply driving the hydraulic cylinders with the first pump, while the second pump performs hook follow-up. In summary, during the hook follow-up process, this embodiment can implement a more appropriate control strategy based on the specific state of the telescopic boom, ensuring that the hook remains within a safe range while enabling more efficient extension, retraction, and hook follow-up.

[0090] Example crane

[0091] The present application also provides a crane, in one embodiment, comprising: a telescopic arm, a hook, a winch, a power unit, and the aforementioned hook control system, wherein the telescopic arm comprises a hydraulic cylinder; and the power unit comprises a first pump and a second pump.

[0092] During operation, the first and second pumps jointly drive the hydraulic cylinder for extension. The first pump can also retract the hydraulic cylinder, controlling the second pump to drive the winch and control the hook's follow-up. During the extension phase, the combined power of the first and second pumps improves the cylinder's extension efficiency. During the retraction phase, gravity forces the boom downward, compressing the cylinder more easily. Therefore, retraction efficiency can be achieved by simply driving the first pump to retract the hydraulic cylinder, while the second pump controls the hook's follow-up. This crane can implement a more appropriate control strategy based on the specific telescopic boom state, ensuring more efficient extension, retraction, and hook follow-up while maintaining the hook within a safe range.

[0093] Exemplary electronic devices

[0094] Below, reference Figure 11 To describe the electronic device according to the embodiment of the present application. Figure 11 Shown is a structural schematic diagram of an electronic device provided in one embodiment of the present application.

[0095] like Figure 11 As shown, the electronic device 150 includes one or more processors 1501 and a memory 1502 .

[0096] The processor 1501 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 150 to perform desired functions.

[0097] The memory 1502 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Non-volatile memory may include, for example, read-only memory (ROM), a hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 1501 may execute the program instructions to implement the hook control method of the various embodiments of the present application described above or other desired functions. The computer-readable storage medium may also store various contents, such as control error parameters.

[0098] In one example, the electronic device 150 may further include an input device 1503 and an output device 1504 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0099] The input device 1503 may include, for example, a keyboard, a mouse, a joystick, a touch screen, and the like.

[0100] The output device 1504 can output various information to the outside, including the determined motion data, etc. The output device 1504 can include, for example, a display, a communication network and a remote output device connected thereto, etc.

[0101] Of course, to simplify, Figure 11 Only some of the components related to the present application in the electronic device 150 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, the electronic device 150 may further include any other appropriate components according to specific application scenarios.

[0102] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions. When the computer program instructions are executed by a processor, the processor executes the steps of the hook control method according to various embodiments of the present application described in this specification.

[0103] The computer program product may be written in any combination of one or more programming languages ​​to implement the program code for performing the operations of the embodiments of the present application, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0104] In addition, an embodiment of the present application may also be a computer-readable storage medium having computer program instructions stored thereon. When the computer program instructions are executed by a processor, the processor executes the steps of the hook control method according to various embodiments of the present application in this specification.

[0105] Computer readable storage media 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, for example, include but is not limited to a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. 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 thereof.

[0106] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this application are merely illustrative and not restrictive, and it should not be assumed that these advantages, strengths, and effects are required of each embodiment of this application. In addition, the specific details disclosed above are merely illustrative and facilitating understanding, and are not restrictive. The above details do not limit this application to necessarily being implemented using the above specific details.

[0107] The block diagrams of the devices, devices, equipment, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0108] It should also be noted that in the devices and apparatuses of the present application, the components can be decomposed and / or reassembled, and such decompositions and / or reassemblies should be regarded as equivalent solutions of the present application.

[0109] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to be applied in the widest sense consistent with the principles and novel features of the present invention.

[0110] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A hook control method, characterized in that: include: Acquiring telescopic phase information of the telescopic arm, wherein the telescopic phase information includes an extension phase and a retraction phase; If the telescopic arm is in the extension stage, controlling the first pump and the second pump of the crane to jointly drive the hydraulic cylinder to extend; as well as If the telescopic arm is in the retracting stage, the first pump is controlled to drive the hydraulic cylinder to retract, and the second pump is controlled to drive the winch to control the hook to follow; The telescopic arm includes a plurality of sections, the extension stage includes an arm extension stage and an empty cylinder extension stage, and the retraction stage includes an arm retraction stage and an empty cylinder retraction stage; If the telescopic arm is in the retracting stage, controlling the first pump to drive the hydraulic cylinder to retract, and controlling the second pump to drive the winch to control the hook to follow the movement includes: If the current boom section is extended and is not the last section, the first pump is controlled to drive the hydraulic cylinder to retract the empty cylinder, and the second pump is controlled to drive the winch to control the hook to follow up; If the telescopic arm is in the extension stage, controlling the first pump and the second pump of the crane to jointly drive the hydraulic cylinder to extend the telescopic arm includes: If the current boom section is completed and is not the last section, the first pump and the second pump are controlled to jointly drive the hydraulic cylinder to perform empty cylinder retraction.

2. The hook control method according to claim 1, characterized in that: Also includes: If the telescopic arm is fully extended or fully retracted, the first pump and the second pump are controlled to jointly drive the winch to adjust the height of the hook from the ground to the initial height.

3. The hook control method according to claim 1 or 2, characterized in that: Also includes: If the hook triggers the first safety protection level, the driving of the hydraulic cylinder to extend or retract is stopped, and the winch is controlled to drive the hook back to the initial height.

4. The hook control method according to claim 3, characterized in that: The hook triggering the first safety protection level includes: Obtaining the height of the hook from the ground, the distance between the hook and the arm head of the telescopic arm, and the number of turns of the winch; If the height above the ground is less than the initial height, the first safety protection level is triggered; If the distance between the hook and the arm head of the telescopic arm is less than a first protection value, triggering a first safety protection level; and If the number of turns of the hoist is less than the second protection value, the first safety protection level is triggered.

5. The hook control method according to claim 1 or 2, characterized in that: Before obtaining the telescopic stage information of the telescopic arm, the method further includes: If the second security protection level is not triggered, obtaining the telescoping stage information; and If the second safety protection level is triggered, the power device is controlled to stop working.

6. The hook control method according to claim 5, characterized in that: Triggering the second security protection level includes: Obtaining the absolute height of the hook from the ground; If the absolute height above the ground is less than a third protection value, the second safety protection level is triggered; If the height trigger limit signal of the hook is obtained, the second safety protection level is triggered; If the communication signal between the hoist and the telescopic arm is interrupted, the second safety protection level is triggered; and If the hydraulic cylinder sends an overextension signal and a pressure alarm signal, the second safety protection level is triggered.

7. The hook control method according to claim 1 or 2, characterized in that: If the telescopic arm is in the retracting stage, controlling the first pump to drive the hydraulic cylinder to retract, and controlling the second pump to drive the winch to control the hook to follow the movement includes: Obtaining an actual change value of the hoist rope during the winding and unwinding process of the hoist; and If the deviation between the actual change value and the target change value of the hoisting rope disappears, the hoist is controlled to stop winding and unwinding.

8. A hook control system, applied to a crane, the crane comprising a telescopic arm, a hook, a winch and a power unit, the telescopic arm comprising a hydraulic cylinder, the power unit comprising a first pump and a second pump, characterized in that: The hook control system includes: A receiving module configured to obtain information about a telescoping phase, wherein the telescoping phase includes an extending phase and a shrinking phase; a first control module, communicatively connected to the telescopic arm, the hoist, the hydraulic cylinder, the power unit, and the receiving module, wherein the first control module is configured to control the first pump and the second pump to jointly drive the hydraulic cylinder to extend when in the extension phase; and a second control module, communicatively connected to the telescopic arm, the hoist, the hydraulic cylinder, the power unit, and the receiving module, respectively, wherein the second control module is configured to: if in the retraction phase, control the first pump to drive the hydraulic cylinder to retract, and control the second pump to drive the hoist to control the hook to follow; The telescopic arm includes a plurality of sections, the extension stage includes an arm extension stage and an empty cylinder extension stage, and the retraction stage includes an arm retraction stage and an empty cylinder retraction stage; The second control module is further configured to control the first pump to drive the hydraulic cylinder to retract the empty cylinder, and control the second pump to drive the winch to control the hook to follow-up if the current boom section is extended and is not the last section; The first control module is further configured to control the first pump and the second pump to jointly drive the hydraulic cylinder to retract the hydraulic cylinder if the current boom section is completed and is not the last section.

9. A crane, characterized in that: include: a telescopic arm, the telescopic arm comprising a hydraulic cylinder; hook; hoist; A power device, the power device comprising a first pump and a second pump; as well as The hook control system according to claim 8.

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