Method, processor, device and crane for crane

Abstract

The present invention relates to the technical field of engineering machinery, and discloses a method, a processor, a device and a crane for a crane. The crane includes a boom, a pull plate, a slewing platform and a support frame, the starting end of the boom is arranged on the slewing platform, one end of the pull plate is connected to the end of the boom, the other end of the pull plate is connected to one end of the support frame, and the other end of the support frame is arranged on the slewing platform; the method includes: obtaining the amplitude change force of the boom, the amplitude change force is the tension measured on the pull plate; determining the working condition of the boom; obtaining the relationship model between the amplitude change force and the boom length under the working condition; determining the actual boom length corresponding to the amplitude change force according to the amplitude change force and the relationship model; obtaining the set boom length input to the boom in the crane; when the difference between the actual boom length and the set boom length is greater than a preset threshold, determining that the set boom length does not match the actual boom length. The present invention can test the set boom length, improve the safety of crane hoisting, and has strong operability and high accuracy.

Description

Technical Field

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

[0002] A crane refers to a multi-action lifting machine that lifts and carries heavy objects vertically and horizontally within a certain range. The working characteristic of a crane is intermittent movement, that is, the corresponding mechanisms of the actions of picking up materials, moving, and unloading work alternately in a working cycle. The development and use of cranes in the market are becoming more and more extensive. Under the same working conditions, the lifting weight that a crane can bear is related to the length of the boom, and different boom lengths correspond to different lifting weights. Due to human negligence and other reasons at the construction site, there may be a deviation between the parameters of the boom length setting input into the crane system (i.e., the set boom length) and the actual boom length of the crane. When the set boom length does not match the actual boom length, it means that the lifting weight set in the crane system does not match the actual lifting weight that the crane can bear, which may cause a safety accident during lifting. For truss boom cranes, when using a wire length sensor to measure the boom length, there are wiring difficulties and tangled ropes. If the wire rope in the sensor is not wound according to the specified reel trajectory, there will be overlapping or crossing phenomena, which will lead to inaccurate length conversion and large errors. Summary of the invention

[0003] In order to overcome the shortcomings of the prior art, an embodiment of the present invention provides a method for a crane, the crane comprising a boom, a pull plate, a slewing platform and a support frame, the beginning end of the boom is arranged on the slewing platform, one end of the pull plate is connected to the end of the boom, the other end of the pull plate is connected to one end of the support frame, and the other end of the support frame is arranged on the slewing platform; the method comprises:

[0004] Obtain the variable amplitude force of the boom, where the variable amplitude force is the tension measured on the pull plate;

[0005] Determine the working conditions of the boom;

[0006] Obtain the relationship model between the amplitude-changing force and the arm length under working conditions;

[0007] Determine the actual arm length corresponding to the variable amplitude force according to the variable amplitude force and the relationship model;

[0008] Get the set boom length input to the boom of the crane;

[0009] When the difference between the actual arm length and the set arm length is greater than a preset threshold, it is determined that the set arm length does not match the actual arm length.

[0010] In the embodiment of the present invention, the relationship model is established in the following manner:

[0011] Under various working conditions, determine various arm lengths and various variable amplitude forces corresponding to each arm length;

[0012] According to each arm length and each variable amplitude force corresponding to each arm length, a relationship model between variable amplitude force and arm length under various working conditions is established.

[0013] In an embodiment of the present invention, the crane further comprises a rope and a hook, one end of the rope is arranged at the end of the boom, and the other end of the rope is provided with a hook;

[0014] Determine the working conditions of the boom including:

[0015] Determine the angle at which the boom is located;

[0016] Make sure the hook is placed on the ground.

[0017] In an embodiment of the present invention, the operating condition includes a first operating condition and a second operating condition, and the method further includes:

[0018] When the boom is in the first working condition and the difference between the actual boom length and the set boom length is greater than a preset threshold;

[0019] Convert the boom from a first working condition to a second working condition;

[0020] Under the second working condition, the actual arm length and the set arm length of the boom are re-determined;

[0021] When the boom is in the second working condition and the difference between the re-determined actual boom length and the set boom length is greater than a preset threshold, it is determined that the set boom length does not match the actual boom length, and an alarm is issued.

[0022] In the embodiment of the present invention, the working conditions of the boom include:

[0023] The jib is at an angle less than 10 degrees and the hook is on the ground.

[0024] In the embodiment of the present invention, the amplitude variation force satisfies the following formula (1):

[0025] Fg=K*(G1*L1+G2*L2) / L3 Formula (1)

[0026] Among them, Fg represents the variable amplitude force, G1 represents the gravity of the boom, G2 represents the gravity of the pull plate, L1 represents the vertical distance from the starting end to the vertical line of the center of gravity of the boom, L2 represents the vertical distance from the starting end to the vertical line of the center of gravity of the pull plate, L3 represents the vertical distance from the starting end to the pull plate, and K is the coefficient.

[0027] In the embodiment of the present invention, when the hook of the crane leaves the ground, K takes a first value; when the hook is placed on the ground, K takes a second value; the first value is greater than the second value.

[0028] In an embodiment of the present invention, the method further includes:

[0029] After determining that the set boom length does not match the actual boom length, obtaining a revised set boom length to be re-input into the boom in the crane;

[0030] When the difference between the corrected set arm length and the actual arm length is not greater than a preset threshold, it is determined that the corrected set arm length matches the actual arm length.

[0031] A second aspect of the present invention provides a processor configured to execute the above method for a crane.

[0032] A third aspect of the present invention provides a device for a crane, comprising:

[0033] Tension sensor, used to detect the luffing force of the boom;

[0034] An angle sensor for detecting the angle of the boom; and

[0035] The processors described above.

[0036] A fourth aspect of the present invention provides a crane comprising the above-mentioned device.

[0037] In an embodiment of the present invention, the crane comprises a lattice boom crane.

[0038] The construction personnel will input the length of the boom into the crane system to determine the set boom length of the crane. Under the same working conditions, the rated lifting capacity of the crane is related to the boom length, and different boom lengths correspond to different rated lifting capacities. The crane system determines the rated lifting capacity based on the set boom length. Due to human negligence and other reasons, the construction site may cause the boom length setting parameters input into the crane system (i.e., the set boom length) to deviate from the actual boom length of the crane, resulting in the rated lifting capacity set in the crane system not matching the actual lifting capacity of the crane, which may cause safety accidents during lifting, such as failure to lift, or the actual lifting capacity exceeding the allowable lifting capacity of the load.

[0039] In an embodiment of the present invention, the variable amplitude force of the boom is obtained; the working condition of the boom is determined; the relationship model between the variable amplitude force and the arm length under the working condition is obtained; the actual arm length corresponding to the variable amplitude force is determined according to the variable amplitude force and the relationship model; the set arm length input into the boom in the crane is obtained; when the difference between the actual arm length and the set arm length is greater than the preset threshold, it is determined that the set arm length does not match the actual arm length, and then an alarm can be issued to remind the construction personnel, or some actions of the crane can be restricted. In this way, the set arm length can be checked, the verification process of the arm length is increased, the situation where the set arm length is inconsistent with the actual arm length is avoided, the safety hazards caused by the wrong setting of the arm length are eliminated, and the safety of the crane hoisting is improved. In addition, there is no need to set a length detection sensor, which avoids the large error caused by the wire length sensor. The relationship model between the variable amplitude force and the arm length is established in advance. The actual arm length can be obtained by obtaining the variable amplitude force, and the intelligent detection of the arm length is realized, which has strong operability and high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0041] Figure 1 One of the schematic diagrams of a crane according to an embodiment of the present invention is schematically shown;

[0042] Figure 2 A flow chart of a method for a crane according to an embodiment of the present invention is schematically shown;

[0043] Figure 3 A second schematic diagram of a crane according to an embodiment of the present invention is schematically shown;

[0044] Figure 4 Schematically shows a schematic diagram of a modular truss arm implemented according to the present invention;

[0045] Figure 5 A third schematic diagram of a crane according to an embodiment of the present invention is schematically shown.

[0046] Description of Reference Numerals

[0047] 10-arm; 11-pull plate;

[0048] 12-slewing platform; 13-support frame;

[0049] 14-tension sensor; 15-rope;

[0050] 16-hook; 17-bottom arm;

[0051] 18- first section arm; 19- second section arm;

[0052] 20-third arm section; 21-top arm section;

[0053] 22-Luffing pulley block. DETAILED DESCRIPTION

[0054] The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0055] It should be noted that if the implementation methods of the present application involve directional indications (such as up, down, left, right, front, back...), such directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0056] In addition, if there are descriptions involving "first", "second", etc. in the implementation methods of this application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various implementation methods can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0057] Figure 1 Schematically shows a schematic diagram of a crane according to an embodiment of the present invention. Figure 1 The crane includes a boom 10, a pull plate 11, a rotating platform 12 and a support frame 13. The starting end of the boom 10 is set on the rotating platform 12, one end of the pull plate 11 is connected to the end of the boom 10, the other end of the pull plate 11 is connected to one end of the support frame 13, and the other end of the support frame 13 is set on the rotating platform 12.

[0058] Figure 2 A flow chart of a method for a crane according to an embodiment of the present invention is schematically shown. Figure 2 In one embodiment of the present invention, a method for a crane is provided, comprising the following steps:

[0059] Step 201, obtaining the amplitude change force of the boom, where the amplitude change force is the tension measured on the pull plate;

[0060] Step 202, determining the working condition of the boom;

[0061] Step 203, obtaining a relationship model between the amplitude variation force and the arm length under working conditions;

[0062] Step 204, determining the actual arm length corresponding to the amplitude variation force according to the amplitude variation force and the relationship model;

[0063] Step 205, obtaining a set arm length input to the boom of the crane;

[0064] Step 206: When the difference between the actual arm length and the set arm length is greater than a preset threshold, it is determined that the set arm length does not match the actual arm length.

[0065] Before the operation, the construction personnel will input the length of the boom 10 into the crane system to determine the set boom length of the crane. Under certain working conditions, the rated lifting capacity of the crane is related to the length of the boom 10, and different boom lengths correspond to different rated lifting capacities. The crane system determines the rated lifting capacity based on the set boom length. Due to human negligence and other reasons, the construction site may cause the parameters for the boom length setting input into the crane system (i.e., the set boom length) to deviate from the actual boom length of the crane, resulting in the rated lifting capacity set in the crane system not matching the actual lifting capacity of the crane, which may cause safety accidents in hoisting, such as failure to lift, or the actual lifting capacity exceeding the allowable lifting capacity of the load.

[0066] See also Figure 1 , the tension sensor 14 is arranged on the pull plate 11, and the amplitude-changing force Fg is the tension measured on the pull plate 11, and the amplitude-changing force Fg can be obtained through the tension sensor 14. Under certain working conditions, the amplitude-changing force has a corresponding relationship with the actual arm length, and a relationship model between the amplitude-changing force and the arm length can be established in advance in the test stage. In an embodiment of the present invention, after determining that the set arm length does not match the actual arm length, an alarm can be sounded to remind the construction personnel, or some actions of the crane can be restricted. In this way, the set arm length can be checked, the verification process of the arm length is increased, the situation that the set arm length does not match the actual arm length is avoided, the safety hazards caused by the wrong setting of the arm length are eliminated, and the safety of the crane hoisting is improved. In addition, there is no need to set a length detection sensor, which avoids the large error caused by the wire length sensor, and the relationship model between the amplitude-changing force and the arm length is established in advance. The actual arm length can be obtained by obtaining the amplitude-changing force, and the intelligent detection of the arm length is realized, which has strong operability and high accuracy.

[0067] Figure 3 A second schematic diagram schematically shows a crane according to an embodiment of the present invention, which can be seen in FIG. Figure 3 In one embodiment, the crane further comprises a rope 15 and a hook 16, one end of the rope 15 is arranged at the end of the boom 10, and the other end of the rope 15 is provided with the hook 16;

[0068] Determining the working conditions of the boom 10 includes:

[0069] Determine the angle at which the arm 10 is located;

[0070] Determine whether the hook 16 is placed on the ground.

[0071] The angle of the boom 10 can be understood as the angle formed by the boom 10 and the horizontal ground. The angle of the boom 10 and whether the hook 16 is placed on the ground will affect the amplitude-changing force. Therefore, before determining the actual boom length, in addition to obtaining the amplitude-changing force of the current boom 10, it is also necessary to determine the working conditions of the boom 10 at this time. Specifically, the working conditions may include the angle of the boom 10 and whether the hook 16 is placed on the ground. Obtain the relationship model between the corresponding amplitude-changing force and the boom length under the same working conditions (such as the same boom angle and the same hook state), and then according to the amplitude-changing force of the current boom 10 and the relationship model, the actual boom length of the current boom 10 can be determined.

[0072] In one embodiment, the working conditions of the boom 10 include:

[0073] The angle of the boom 10 is less than 10 degrees and the hook 16 is placed on the ground.

[0074] The angle of the boom 10 being lower than 10 degrees can be understood as the boom 10 not being raised or being raised very little. When the angle is greater than 10 degrees, the hook 16 may leave the ground. Since the process of crane hoisting at high altitude is relatively dangerous, the boom length inspection process is set when the boom 10 is not raised or is raised very little and the hook 16 is placed on the ground. In this way, the length of the boom 10 is checked and confirmed before the operation, which can not only improve the safety of the operation, but also facilitate the inspection process.

[0075] In one embodiment, the operating condition includes a first operating condition and a second operating condition, and the method further includes:

[0076] When the boom 10 is in the first working condition and the difference between the actual boom length and the set boom length is greater than a preset threshold;

[0077] Converting the boom 10 from a first operating condition to a second operating condition;

[0078] Under the second working condition, the actual arm length and the set arm length of the boom are re-determined;

[0079] When the boom is in the second working condition and the difference between the re-determined actual boom length and the set boom length is greater than a preset threshold, it is determined that the set boom length does not match the actual boom length, and an alarm is issued.

[0080] Exemplarily, the first working condition is set as follows: the angle of the boom 10 is 0 degrees, and the hook 16 is placed on the ground. The first working condition is set as follows: the angle of the boom 10 is 5 degrees, and the hook 16 is placed on the ground. First, the boom 10 is set to the first working condition, the amplitude force of the boom 10 is obtained, and the relationship model between the amplitude force and the arm length under the first working condition is obtained. The actual arm length under the first working condition is determined according to the amplitude force and the relationship model. When the difference between the actual arm length and the set arm length under the first working condition is greater than a preset threshold value (for example, the ratio of the difference to the actual arm length is greater than 5%), it can be determined that the set arm length does not match the actual arm length. At this time, in order to ensure the accuracy of the judgment, the boom 10 can be converted from the first working condition to the second working condition, and then under the second working condition, the actual arm length and the set arm length of the boom 10 are re-determined. When the boom 10 is in the second working condition, and the difference between the re-determined actual arm length and the set arm length is greater than the preset threshold value, it is determined that the set arm length does not match the actual arm length, and an alarm is issued to remind the construction personnel, or some actions of the crane are restricted.

[0081] In one embodiment, the method further comprises:

[0082] After determining that the set boom length does not match the actual boom length, obtaining a revised set boom length that is re-input into the boom 10 in the crane;

[0083] When the difference between the corrected set arm length and the actual arm length is not greater than a preset threshold, it is determined that the corrected set arm length matches the actual arm length.

[0084] When it is determined that the set arm length does not match the actual arm length, an alarm is sounded to remind the construction personnel, who are then required to re-enter the set arm length and correct the set arm length until the corrected set arm length matches the actual arm length under the current working conditions.

[0085] In one embodiment, the relationship model is established in the following manner:

[0086] Under various working conditions, determine various arm lengths and various variable amplitude forces corresponding to each arm length;

[0087] According to each arm length and each variable amplitude force corresponding to each arm length, a relationship model between variable amplitude force and arm length under various working conditions is established.

[0088] The boom 10 is taken as a combined truss boom for exemplary description. Figure 4 A schematic diagram of a combined truss arm according to the present invention is shown schematically. Figure 4 When the combined truss arm includes the first section arm 18, the second section arm 19 and the third section arm 20, the length of the combined truss arm can be obtained according to formula (2):

[0089] L=A0+n1*A1+n2*A2+n3*A3+Ax Formula (2)

[0090] Wherein, L represents the length of the combined truss arm, A1 represents the length of the first section arm 18, n1 represents the number of the first section arms 18, A2 represents the length of the second section arm 19, n2 represents the number of the second section arms 19, A3 represents the length of the third section arm 20, n3 represents the number of the third section arms 20, A0 represents the length of the bottom section arm 17, and Ax represents the length of the top section arm 21. For the combined truss arm, the commonly used combinations of arm lengths are limited. When establishing a relationship model between the variable amplitude force and the arm length, the corresponding relationship between the variable amplitude force and the arm length can be obtained by enumeration in advance under experimental conditions, as shown in Table 1. The corresponding working conditions in Table 1 can be set as follows: the angle of the boom 10 is 0 degrees and the hook 16 is placed on the ground.

[0091] Table 1

[0092] Arm length L1 L2 L3 L4 L5 L6 L7 L8 L9 L10 L11 L12 L13 L14 L15 Amplitude force T1 T2 T3 T4 T5 T6 T7 T8 T9 T10 T11 T12 T13 T14 T15

[0093] Similarly, the relationship between the variable amplitude force and the arm length under other working conditions can be obtained, for example, the working conditions are: the angle of the boom 10 is 2.5 degrees, 5 degrees, 7.5 degrees or 10 degrees, and the hook 16 is placed on the ground. In this way, the relationship model between the variable amplitude force and the arm length under various working conditions is obtained in advance.

[0094] It should be noted that the above Table 1 only exemplifies one of the relationship expressions in the combined truss arm. There are many ways to express the relationship between the variable amplitude force and the arm length, for example, the numerical range of the arm length corresponds to the numerical range of the variable amplitude force, or the relationship between the variable amplitude force and the arm length is fitted into a certain functional relationship, etc.

[0095] The angle of the boom 10 can be detected by an angle sensor. In one embodiment, the parameters of the angle sensor can be set as follows: accuracy: 0.1 degrees, response time: 0.02 seconds, response frequency: 1 to 20 Hz. The amplitude change force of the boom 10 can be detected by a tension sensor 14. The parameters of the tension sensor 14 can be set as follows: error: 0.1%. The measurement error of the tension sensor 14 is smaller than the difference in amplitude change force under different arm lengths. There will be no repeated detection of amplitude change force under different arm lengths.

[0096] When the working conditions such as the length and angle of the boom 10 are constant, the amplitude-changing force is a constant value. Figure 5 A third schematic diagram schematically shows a crane according to an embodiment of the present invention, which can be seen in FIG. Figure 5 In one embodiment, the amplitude variation force satisfies the following formula (1):

[0097] Fg=K*(G1*L1+G2*L2) / L3 Formula (1)

[0098] Among them, Fg represents the variable amplitude force, G1 represents the gravity of the boom, G2 represents the gravity of the pull plate, L1 represents the vertical distance from the starting end to the vertical line of the center of gravity of the boom, L2 represents the vertical distance from the starting end to the vertical line of the center of gravity of the pull plate, L3 represents the vertical distance from the starting end to the pull plate, and K is a coefficient. The starting end of the boom 10 is set on the rotating platform 12, and the starting end of the boom 10 is marked as point O. L1 can also be understood as the arm length from the boom 10 to point O, L2 can also be understood as the arm length from the pull plate 11 to point O, and L3 can also be understood as the arm length of the variable amplitude force to point O.

[0099] In one embodiment, when the hook 16 of the crane is off the ground, K takes a first value; when the hook 16 is placed on the ground, K takes a second value; the first value is greater than the second value. The K value is a coefficient, which is affected by whether the hook 16 is placed on the ground.

[0100] In an embodiment of the present invention, the amplitude-changing force of the boom 10 is obtained; the working condition of the boom 10 is determined; the relationship model between the amplitude-changing force and the arm length under the same working condition is obtained; the actual arm length corresponding to the amplitude-changing force is determined according to the amplitude-changing force and the relationship model; the set arm length input into the boom in the crane is obtained; when the difference between the actual arm length and the set arm length is greater than the preset threshold, it is determined that the set arm length does not match the actual arm length, and then an alarm can be issued to remind the construction personnel, or some actions of the crane can be restricted. In this way, the set arm length can be checked, the verification process of the arm length is increased, the situation where the set arm length does not match the actual arm length is avoided, the safety hazard caused by the wrong setting of the arm length is eliminated, and the safety of the crane hoisting is improved. In addition, there is no need to set a length detection sensor, which avoids the large error caused by the wire length sensor. The relationship model between the amplitude-changing force and the arm length is established in advance, and the actual arm length can be obtained by obtaining the amplitude-changing force, which is easy to operate and accurate.

[0101] An embodiment of the present invention provides a processor, wherein the processor is configured to execute any one of the methods for a crane in the above embodiments.

[0102] The crane includes a boom, a pull plate, a slewing platform and a support frame, wherein the beginning of the boom is arranged on the slewing platform, one end of the pull plate is connected to the end of the boom, the other end of the pull plate is connected to one end of the support frame, and the other end of the support frame is arranged on the slewing platform; the processor may be configured as follows:

[0103] Obtain the variable amplitude force of the boom, where the variable amplitude force is the tension measured on the pull plate;

[0104] Determine the working conditions of the boom;

[0105] Obtain the relationship model between the amplitude-changing force and the arm length under working conditions;

[0106] Determine the actual arm length corresponding to the variable amplitude force according to the variable amplitude force and the relationship model;

[0107] Get the set boom length input to the boom of the crane;

[0108] When the difference between the actual arm length and the set arm length is greater than a preset threshold, it is determined that the set arm length does not match the actual arm length.

[0109] In an embodiment of the present invention, the processor is configured to:

[0110] The relationship model is established in the following way:

[0111] Under various working conditions, determine various arm lengths and various variable amplitude forces corresponding to each arm length;

[0112] According to each arm length and each variable amplitude force corresponding to each arm length, a relationship model between variable amplitude force and arm length under various working conditions is established.

[0113] In an embodiment of the present invention, the crane further comprises a rope and a hook, one end of the rope is arranged at the end of the boom, and the other end of the rope is provided with a hook; the processor is configured to:

[0114] Determine the working conditions of the boom including:

[0115] Determine the angle at which the boom is located;

[0116] Make sure the hook is placed on the ground.

[0117] In an embodiment of the present invention, the operating condition includes a first operating condition and a second operating condition, and the processor is configured to:

[0118] When the boom is in the first working condition and the difference between the actual boom length and the set boom length is greater than a preset threshold;

[0119] Convert the boom from a first working condition to a second working condition;

[0120] Under the second working condition, the actual arm length and the set arm length of the boom are re-determined;

[0121] When the boom is in the second working condition and the difference between the re-determined actual boom length and the set boom length is greater than a preset threshold, it is determined that the set boom length does not match the actual boom length, and an alarm is issued.

[0122] In an embodiment of the present invention, the processor is configured to:

[0123] The working conditions of the boom include:

[0124] The jib is at an angle less than 10 degrees and the hook is on the ground.

[0125] In an embodiment of the present invention, the processor is configured to:

[0126] The amplitude force satisfies the following formula (1):

[0127] Fg=K*(G1*L1+G2*L2) / L3 Formula (1)

[0128] Among them, Fg represents the variable amplitude force, G1 represents the gravity of the boom, G2 represents the gravity of the pull plate, L1 represents the vertical distance from the starting end to the vertical line of the center of gravity of the boom, L2 represents the vertical distance from the starting end to the vertical line of the center of gravity of the pull plate, L3 represents the vertical distance from the starting end to the pull plate, and K is the coefficient.

[0129] In an embodiment of the present invention, the processor is configured to:

[0130] When the hook of the crane leaves the ground, K takes a first value; when the hook is placed on the ground, K takes a second value; the first value is greater than the second value.

[0131] In an embodiment of the present invention, the processor is configured to:

[0132] After determining that the set boom length does not match the actual boom length, obtaining a revised set boom length to be re-input into the boom in the crane;

[0133] When the difference between the corrected set arm length and the actual arm length is not greater than a preset threshold, it is determined that the corrected set arm length matches the actual arm length.

[0134] An embodiment of the present invention provides a device for a crane, comprising:

[0135] Tension sensor, used to detect the luffing force of the boom;

[0136] An angle sensor for detecting the angle of the boom; and

[0137] The processors described above.

[0138] An embodiment of the present invention provides a crane, comprising the above-mentioned device.

[0139] In an embodiment of the present invention, the crane comprises a lattice boom crane. Exemplarily, the crane may be a crawler crane.

[0140] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0141] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0142] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0143] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0144] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0145] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0146] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0147] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0148] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for a crane, characterized in that The crane comprises a boom, a pull plate, a slewing platform and a support frame, wherein the beginning end of the boom is arranged on the slewing platform, one end of the pull plate is connected to the end of the boom, the other end of the pull plate is connected to one end of the support frame, and the other end of the support frame is arranged on the slewing platform; the method comprises: Acquire the amplitude variation force of the arm, wherein the amplitude variation force is the tension measured on the pull plate; Determining the working condition of the boom; Obtaining a relationship model between the amplitude variation force and the arm length under the working conditions; Determine the actual arm length corresponding to the amplitude variation force according to the amplitude variation force and the relationship model; Obtaining a set boom length input to the boom of the crane; When the difference between the actual arm length and the set arm length is greater than a preset threshold, determining that the set arm length does not match the actual arm length; The operating condition includes a first operating condition and a second operating condition, and the method further includes: When the boom is in the first working condition and the difference between the actual boom length and the set boom length is greater than the preset threshold; converting the boom from the first operating condition to the second operating condition; Under the second working condition, re-determine the actual arm length and the set arm length of the boom; When the boom is in the second working condition and the difference between the re-determined actual boom length and the set boom length is greater than the preset threshold, it is determined that the set boom length does not match the actual boom length, and an alarm is issued.

2. The method according to claim 1, characterized in that The relationship model is established in the following way: Under various working conditions, determining various arm lengths and various amplitude change forces corresponding to the various arm lengths; According to the arm lengths and the amplitude-changing forces corresponding to the arm lengths, a relationship model between the amplitude-changing force and the arm length under various working conditions is established.

3. The method according to claim 1, characterized in that The crane further comprises a rope and a hook, one end of the rope is arranged at the end of the boom, and the other end of the rope is arranged with the hook; Determining the working condition of the boom includes: determining the angle at which the boom is located; Determine whether the hook is placed on the ground.

4. The method according to claim 3, characterized in that The working conditions of the boom include: The angle of the boom is less than 10 degrees and the hook is placed on the ground.

5. The method according to claim 1, characterized in that The amplitude variation force satisfies the following formula (1): Fg=K*(G1*L1+G2*L2) / L3 Formula (1) Among them, Fg represents the variable amplitude force, G1 represents the gravity of the boom, G2 represents the gravity of the pull plate, L1 represents the vertical distance from the starting end to the vertical line of the center of gravity of the boom, L2 represents the vertical distance from the starting end to the vertical line of the center of gravity of the pull plate, L3 represents the vertical distance from the starting end to the pull plate, and K is a coefficient.

6. The method according to claim 5, characterized in that When the hook of the crane leaves the ground, K takes a first value; when the hook is placed on the ground, K takes a second value; wherein the first value is greater than the second value.

7. The method according to claim 1, characterized in that Also includes: After determining that the set boom length does not match the actual boom length, obtaining a revised set boom length to be re-input into the boom of the crane; When the difference between the corrected set arm length and the actual arm length is not greater than a preset threshold, it is determined that the corrected set arm length matches the actual arm length.

8. A processor, characterized in that: The method is configured to perform the method for a crane according to any one of claims 1 to 7.

9. A device for a crane, characterized in that: include: Tension sensor, used to detect the luffing force of the boom; An angle sensor, used to detect the angle of the arm; as well as A processor according to claim 8.

10. A crane, characterized in that: Comprising the device according to claim 9.

11. The crane according to claim 10, characterized in that The crane comprises a lattice boom crane.

Images