Crawler crane and control method, control device and controller thereof

Abstract

The embodiment of the present invention provides a crawler crane and its control method, control device and controller. The control method for the crawler crane includes: determining the vehicle weight of the crawler crane under the current working condition; determining the vehicle gravity moment parameter of the crawler crane under the current working condition; determining the whole machine overturning risk factor of the crawler crane under the current working condition according to the vehicle weight and the vehicle gravity moment parameter; and when the whole machine overturning risk factor exceeds the preset safety range, executing anti-overturning control measures according to the whole machine overturning risk factor. The embodiment of the present invention can improve work efficiency without removing the additional counterweight when it is necessary to rotate or walk or even when transferring in a small range, and has a more intuitive understanding of the forward and backward rollover stability of the whole vehicle, timely executing anti-overturning control measures, improving operation safety, and obtaining the working angle range allowed by the boom when the additional counterweight is completely off the ground in the current working condition with one click, to assist in operation decision-making.

Description

Technical Field

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

[0002] The additional counterweight is a detachable counterweight structure installed behind the turntable of the crawler crane. The additional counterweight is used to increase the weight of the crawler crane under specific working conditions, thereby improving the lifting performance of the whole machine. At present, after adding the additional counterweight to the crawler crane, if it is necessary to perform rotation and walking movements, the additional counterweight must be placed on the ground first, and the rotation and walking movements are allowed only after the additional counterweight is removed. During the hoisting process of the crawler crane, it is inevitable to perform walking or rotation movements. Frequent disassembly and assembly of the additional counterweight is time-consuming and labor-intensive, especially since this specific working condition is mostly a wind power working condition, which requires high hoisting efficiency. The lifting or lowering of the additional counterweight requires the operator to observe and subjectively determine whether the corresponding action of the additional counterweight is needed. Although adding the additional counterweight can more fully exert the lifting performance of the crane, it also brings the safety hazard of the whole machine tipping over. Therefore, it is urgent to propose a technical solution to solve the above-mentioned technical problems in the prior art. Summary of the invention

[0003] The purpose of the embodiments of the present invention is to provide a crawler crane and a control method, a control device and a controller thereof, so as to solve the above-mentioned technical problems in the prior art.

[0004] In order to achieve the above-mentioned purpose, the first aspect of the present invention provides a control method for a crawler crane, the crawler crane includes an additional counterweight, and the control method includes: determining the whole vehicle weight of the crawler crane under the current working condition; determining the whole vehicle gravity moment parameter of the crawler crane under the current working condition, wherein the whole vehicle gravity moment parameter is related to the magnitude of the gravity moment of each component of the crawler crane relative to the origin and the position of the center of gravity of each component relative to the rotation center line of the turntable, and the origin is the intersection of the rotation center line and the ground; determining the whole machine overturning risk coefficient of the crawler crane under the current working condition according to the whole vehicle weight and the whole vehicle gravity moment parameter; and when the whole machine overturning risk coefficient exceeds the preset safety range, executing anti-overturning control measures according to the whole machine overturning risk coefficient.

[0005] In an embodiment of the present invention, the crawler crane also includes an undercarriage, a turntable, a mast, a pull plate, a boom, a load and a counterweight behind the turntable; the weight of the entire vehicle is equal to the sum of the following items: the weight of the undercarriage, the weight of the turntable, the weight of the mast, the weight of the pull plate, the weight of the boom, the weight of the load, the weight of the counterweight behind the turntable and the effective weight of the additional counterweight.

[0006] In an embodiment of the present invention, the gravity moment parameter of the whole vehicle is equal to the sum of the following items: the gravity moment parameter of getting off the vehicle, the gravity moment parameter of the turntable, the gravity moment parameter of the mast, the gravity moment parameter of the pull plate, the gravity moment parameter of the boom, the gravity moment parameter of the load, the gravity moment parameter of the counterweight behind the turntable and the gravity moment parameter of the additional counterweight.

[0007] In an embodiment of the present invention, the absolute value of the gravity moment parameter is equal to the magnitude of the gravity moment of the corresponding component relative to the origin. The gravity moment parameter of the component corresponding to the center of gravity on the side of the rotation center line close to the boom is positive, and the gravity moment parameter of the component corresponding to the center of gravity on the side of the rotation center line close to the additional counterweight is negative.

[0008] In an embodiment of the present invention, determining the vehicle weight of the crawler crane under the current working condition includes: obtaining the weight of the unloaded vehicle, the weight of the turntable, the weight of the mast, the weight of the pull plate, the weight of the boom, the weight of the load, the weight of the counterweight behind the turntable, and the effective weight of the additional counterweight; and determining the sum of the weight of the unloaded vehicle, the weight of the turntable, the weight of the mast, the weight of the pull plate, the weight of the boom, the weight of the load, the weight of the counterweight behind the turntable, and the effective weight of the additional counterweight as the vehicle weight.

[0009] In an embodiment of the present invention, the additional counterweight includes a first lifting cylinder and a second lifting cylinder, the first lifting cylinder is configured to achieve lifting and lowering of the left side of the additional counterweight, and the second lifting cylinder is configured to achieve lifting and lowering of the right side of the additional counterweight; obtaining the effective weight of the additional counterweight includes: obtaining the first pressure of the rod chamber of the first lifting cylinder and the second pressure of the rod chamber of the second lifting cylinder; and determining the effective weight of the additional counterweight based on the first pressure and the second pressure.

[0010] In the embodiment of the present invention, the relationship between the effective weight of the additional counterweight and the first pressure and the second pressure satisfies: Among them, W_f is the effective weight of the additional counterweight, Pressure_L is the first pressure, Pressure_R is the second pressure, D_G is the cylinder diameter of the lifting cylinder, and D_g is the rod diameter of the lifting cylinder.

[0011] In an embodiment of the present invention, the crawler crane further includes a force limiter, and obtaining the weight of the load includes: obtaining the weight of the load through the force limiter.

[0012] In an embodiment of the present invention, determining the vehicle gravity moment parameters of the crawler crane under the current working condition includes: obtaining the center of gravity position parameters of the unloaded vehicle, the center of gravity position parameters of the turntable, the center of gravity position parameters of the mast, the center of gravity position parameters of the pull plate, the center of gravity position parameters of the boom, the center of gravity position parameters of the load, the center of gravity position parameters of the counterweight behind the turntable, and the center of gravity position parameters of the additional counterweight, wherein the absolute value of the center of gravity position parameter is equal to the distance from the center of gravity of the corresponding component to the rotation center line, the center of gravity position parameter of the component corresponding to the center of gravity on the side of the rotation center line close to the boom is positive, and the center of gravity position parameter of the component corresponding to the center of gravity on the side of the rotation center line close to the additional counterweight is negative; according to the center of gravity position parameters of the unloaded vehicle, the center of gravity position parameters of the turntable, the center of gravity position parameters of the mast, the center of gravity position parameters of the pull plate, the boom, the center of gravity position parameters of the load, the center of gravity position parameters of the counterweight behind the turntable, and the additional counterweight, the absolute value of the center of gravity position parameter is equal to the distance from the center of gravity of the corresponding component to the rotation center line, the center of gravity position parameter of the component corresponding to the center of gravity on the side of the rotation center line close to the additional counterweight is negative. The gravity moment parameters of getting off the vehicle, the gravity moment parameters of the turntable, the gravity moment parameters of the mast, the gravity moment parameters of the pull plate, the gravity moment parameters of the boom, the gravity moment parameters of the load, the gravity moment parameters of the counterweight behind the turntable and the gravity moment parameters of the additional counterweight are determined according to the gravity center position parameters of the frame, the gravity center position parameters of the load, the gravity center position parameters of the counterweight behind the turntable and the gravity center position parameters of the additional counterweight, the weight of getting off the vehicle, the weight of the turntable, the weight of the mast, the weight of the pull plate, the weight of the boom, the weight of the load, the weight of the counterweight behind the turntable and the effective weight of the additional counterweight; and the sum of the gravity moment parameters of getting off the vehicle, the gravity moment parameters of the turntable, the gravity moment parameters of the mast, the gravity moment parameters of the pull plate, the gravity moment parameters of the boom, the gravity moment parameters of the load, the gravity moment parameters of the counterweight behind the turntable and the gravity moment parameters of the additional counterweight is determined as the gravity moment parameters of the whole vehicle.

[0013] In the embodiment of the present invention, the gravity moment parameter is equal to the product of the gravity center position parameter of the corresponding component and the weight of the corresponding component.

[0014] In the embodiment of the present invention, the relationship between the rollover risk coefficient of the whole vehicle and the weight and gravity moment parameters of the whole vehicle satisfies: Among them, S_all is the rollover risk coefficient of the whole machine, M_all is the gravity moment parameter of the whole vehicle, W_all is the weight of the whole vehicle, and L_all is the distance from the origin to the rollover edge of the crawler crane.

[0015] In the embodiment of the present invention, the lower limit value of the preset safety range ranges from -0.7 to -0.6, and the upper limit value of the preset safety range ranges from 0.6 to 0.7.

[0016] In the embodiment of the present invention, the lower limit value is -0.68, and the upper limit value is 0.68.

[0017] In an embodiment of the present invention, executing anti-rollover control measures according to the rollover hazard coefficient of the whole machine includes: when the rollover hazard coefficient of the whole machine is a positive number, determining whether the additional counterweight is completely off the ground; when it is determined that the additional counterweight is not completely off the ground, controlling the additional counterweight to be lifted until the additional counterweight is completely off the ground; when the rollover hazard coefficient of the whole machine is a negative number, determining whether the additional counterweight is completely on the ground; and when it is determined that the additional counterweight is not completely on the ground, controlling the additional counterweight to be lowered until the additional counterweight is completely on the ground.

[0018] In an embodiment of the present invention, executing anti-overturning control measures according to the overturning risk coefficient of the whole machine also includes: when the overturning risk coefficient of the whole machine is a positive number, prompting that the crawler crane has a risk of tipping forward; and when the overturning risk coefficient of the whole machine is a negative number, prompting that the crawler crane has a risk of tipping backward.

[0019] In an embodiment of the present invention, executing anti-overturning control measures according to the overturning risk factor of the whole machine also includes: when it is determined that the additional counterweight is completely off the ground, prohibiting the additional counterweight from being lowered, prohibiting the main luffing winch of the crawler crane from releasing the rope, prohibiting the lifting winch of the crawler crane from retracting the rope, prohibiting the walking mechanism of the crawler crane from moving, and prohibiting the turntable of the crawler crane from rotating; and when it is determined that the additional counterweight is completely on the ground, prohibiting the additional counterweight from being lifted, prohibiting the main luffing winch of the crawler crane from retracting the rope, prohibiting the lifting winch of the crawler crane from releasing the rope, prohibiting the walking mechanism of the crawler crane from moving, and prohibiting the turntable of the crawler crane from rotating.

[0020] In an embodiment of the present invention, determining whether the additional counterweight is completely off the ground includes: obtaining an actual weight of the additional counterweight and an effective weight of the additional counterweight; determining a difference between the actual weight and the effective weight; determining whether a signal that the additional counterweight is completely off the ground is received; determining that the additional counterweight is completely off the ground if it is determined that the difference is not greater than a preset difference and a signal that the additional counterweight is completely off the ground is received; and determining that the additional counterweight is not completely off the ground if it is determined that the difference is greater than a preset difference or a signal that the additional counterweight is completely off the ground is not received.

[0021] In the embodiment of the present invention, the value of the preset difference is the weight of the lifting cylinder with the additional counterweight.

[0022] In an embodiment of the present invention, determining whether the additional counterweight has completely landed includes: obtaining an effective weight of the additional counterweight; determining whether a signal that the additional counterweight has completely left the ground is received; determining that the additional counterweight has completely landed if the effective weight is zero and the signal that the additional counterweight has completely left the ground is not received; and determining that the additional counterweight has not completely landed if the effective weight is not zero or a signal that the additional counterweight has completely left the ground is received.

[0023] In an embodiment of the present invention, the control method for a crawler crane also includes: determining whether a boom-allowed working angle acquisition signal is received; and when it is determined that a boom-allowed working angle acquisition signal is received, determining the maximum working angle and minimum working angle allowed by the boom when the additional counterweight is completely off the ground under the current working condition and displaying the maximum working angle and the minimum working angle.

[0024] In an embodiment of the present invention, the control method for a crawler crane further includes: displaying the overturning risk factor of the entire machine in real time.

[0025] A second aspect of the present invention provides a controller configured to execute the control method for a crawler crane according to the aforementioned embodiment.

[0026] A third aspect of the present invention provides a control device for a crawler crane, the crawler crane comprising an additional counterweight, an undercarriage, a turntable, a mast, a pull plate, a boom, a load and a counterweight behind the turntable, the additional counterweight comprising a first lifting cylinder and a second lifting cylinder, the first lifting cylinder being configured to lift and lower the left side of the additional counterweight, and the second lifting cylinder being configured to lift and lower the right side of the additional counterweight; the control device comprising: a first pressure sensor configured to detect the pressure of the rod chamber of the first lifting cylinder; a second pressure sensor configured to detect the pressure of the rod chamber of the second lifting cylinder; a force limiter configured to provide the weight of the load; and the controller of the aforementioned embodiment.

[0027] In an embodiment of the present invention, the control device for a crawler crane further comprises: a ground-lift detection device configured to detect whether the additional counterweight is completely off the ground and provide an additional counterweight completely off the ground signal when the additional counterweight is completely off the ground.

[0028] In an embodiment of the present invention, the control device for a crawler crane also includes: a human-computer interaction device, which is configured to: display prompt information; provide a signal for obtaining the allowable working angle of the boom; display the maximum and minimum working angles allowed by the boom when the additional counterweight is completely off the ground under the current working conditions; and / or display the risk factor of overturning of the entire machine.

[0029] A fourth aspect of the present invention provides a crawler crane, comprising: an additional counterweight; an undercarriage; a turntable; a mast; a pull plate; a boom; a load; a counterweight behind the turntable; and the control device for the crawler crane of the aforementioned embodiment.

[0030] Through the above-mentioned technical scheme, the embodiment of the present invention can achieve that there is no need to remove the additional counterweight when rotation or walking is required or even when transferring within a small range, thereby improving work efficiency and reducing the frequency of use of auxiliary cranes; by introducing the concept of overturning risk coefficient, there is a more intuitive digital understanding of the forward rollover stability and backward rollover stability of the whole vehicle; based on the size of the overturning risk coefficient of the whole machine, the center of gravity position of the whole machine is judged in real time, and when there is a risk of forward or backward rollover, anti-overturning control measures are implemented in time to improve operation safety; the allowable working angle range of the boom when the additional counterweight is completely off the ground under the current working condition can be obtained by one click to assist in operation decision-making.

[0031] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] 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:

[0033] Figure 1 is a flow chart of a control method 100 for a crawler crane according to an embodiment of the present invention;

[0034] Figure 2 is a schematic structural diagram of a control device 200 for a crawler crane according to an embodiment of the present invention;

[0035] Figure 3 is a structural schematic diagram of a crawler crane 300 according to an embodiment of the present invention;

[0036] Figure 4 Schematic diagram of the overall structure of an intelligent balancing control system for a crawler crane according to an example of the present invention;

[0037] Figure 5A It is a schematic diagram of the overall structure of the arm 7;

[0038] Figure 5B , Figure 5C and Figure 5D It is a structural schematic diagram of the head of the arm 7;

[0039] Fig. 6A and Figure 6B Shown is a schematic diagram of the structure of the additional counterweight 2;

[0040] Figure 6C is a schematic structural diagram of the ground-lift detection device 30; and

[0041] Figure 7 It is another structural schematic diagram of the additional counterweight 2. DETAILED DESCRIPTION

[0042] 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.

[0043] 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.

[0044] 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.

[0045] like Figure 1 As shown, in an embodiment of the present invention, a control method 100 for a crawler crane is provided. The crawler crane includes an additional counterweight. The control method 100 for the crawler crane includes the following steps:

[0046] Step S110: Determine the vehicle weight of the crawler crane under the current working condition.

[0047] Step S120: Determine the vehicle gravity moment parameters of the crawler crane under the current working condition. The vehicle gravity moment parameters are related to the magnitude of the gravity moment of each component of the crawler crane relative to the origin and the position of the center of gravity of each component relative to the rotation center line of the turntable, and the origin is the intersection of the rotation center line and the ground.

[0048] Step S130: Determine the overturning risk factor of the crawler crane under the current working condition according to the vehicle weight and vehicle gravity moment parameters.

[0049] Step S140: When the rollover risk factor of the whole machine exceeds a preset safety range, anti-rollover control measures are executed according to the rollover risk factor of the whole machine.

[0050] Specifically, the crawler crane, for example, further includes an undercarriage, a turntable, a mast, a pull plate, a jib, a load, and a counterweight behind the turntable.

[0051] Accordingly, the vehicle weight is, for example, equal to the sum of the following items: the weight of the vehicle, the weight of the turntable, the weight of the mast, the weight of the pull plate, the weight of the boom, the weight of the load, the weight of the counterweight behind the turntable and the effective weight of the additional counterweight.

[0052] Correspondingly, the gravity moment parameter of the whole vehicle is, for example, equal to the sum of the following items: the gravity moment parameter of getting off the vehicle, the gravity moment parameter of the turntable, the gravity moment parameter of the mast, the gravity moment parameter of the pull plate, the gravity moment parameter of the boom, the gravity moment parameter of the load, the gravity moment parameter of the counterweight behind the turntable and the gravity moment parameter of the additional counterweight.

[0053] Specifically, the absolute value of the gravity moment parameter is, for example, equal to the magnitude of the gravity moment of the corresponding component relative to the origin. The gravity moment parameter of the component corresponding to the center of gravity located on the side of the rotation center line close to the boom is, for example, positive. The gravity moment parameter of the component corresponding to the center of gravity located on the side of the rotation center line close to the additional counterweight is, for example, negative. The embodiment of the present invention associates the position of the center of gravity relative to the rotation center line with the positive and negative values ​​of the gravity moment parameter, so that the center of gravity position of the crawler crane vehicle can be determined by the positive and negative values ​​of the final vehicle gravity moment parameter values. Combined with the magnitude of the absolute value of the vehicle gravity moment parameter, it can be intuitively judged whether the crawler crane vehicle has the risk of tipping forward or backward.

[0054] Specifically, determining the vehicle weight of the crawler crane under the current working condition, that is, step S110, for example, includes:

[0055] (a1) Obtain the weight of the vehicle, the turntable, the mast, the gantry, the boom, the load, the counterweight behind the turntable, and the effective weight of the additional counterweight.

[0056] (a2) The total vehicle weight is determined as the sum of the weight of the lower vehicle, the weight of the turntable, the weight of the mast, the weight of the pull plate, the weight of the boom, the weight of the load, the weight of the counterweight behind the turntable and the effective weight of the additional counterweight.

[0057] Specifically, the additional counterweight includes, for example, a first lifting cylinder and a second lifting cylinder, wherein the first lifting cylinder is configured to lift and lower the left side of the additional counterweight, and the second lifting cylinder is configured to lift and lower the right side of the additional counterweight.

[0058] Accordingly, the acquisition of the effective weight of the additional counterweight in step (a1) includes, for example:

[0059] (a11) obtaining a first pressure of a rod chamber of a first lifting cylinder and a second pressure of a rod chamber of a second lifting cylinder.

[0060] (a12) determining the effective weight of the additional weight based on the first pressure and the second pressure.

[0061] More specifically, the relationship between the effective weight of the additional counterweight and the first pressure and the second pressure satisfies, for example:

[0062] Wherein, W_f is the effective weight of the additional counterweight, Pressure_L is the first pressure, Pressure_R is the second pressure, D_G is the cylinder diameter of the lifting cylinder, and D_g is the rod diameter of the lifting cylinder. Wherein, the unit of W_f is, for example, Newton, the units of Pressure_L and Pressure_R are, for example, MPa, and the units of D_G and D_g are, for example, meters.

[0063] Specifically, the crawler crane, for example, further includes a force limiter. Accordingly, the acquisition of the weight of the load in step (a1) includes, for example:

[0064] (a13) Obtain the weight of the load through the force limiter.

[0065] Specifically, determining the vehicle gravity moment parameter of the crawler crane under the current working condition, that is, step S120, for example, includes:

[0066] (b1) Obtain the gravity center position parameters of the unloading vehicle, the gravity center position parameters of the turntable, the gravity center position parameters of the mast, the gravity center position parameters of the pull plate, the gravity center position parameters of the boom, the gravity center position parameters of the load, the gravity center position parameters of the counterweight behind the turntable, and the gravity center position parameters of the additional counterweight. Among them, the absolute value of the gravity center position parameter is, for example, equal to the distance from the gravity center of the corresponding component to the rotation center line, the gravity center position parameter of the component corresponding to the gravity center located on the side of the rotation center line close to the boom is, for example, positive, and the gravity center position parameter of the component corresponding to the gravity center located on the side of the rotation center line close to the additional counterweight is, for example, negative.

[0067] (b2) Determine the gravity moment parameters of the unloading vehicle, the gravity moment parameters of the turntable, the gravity moment parameters of the mast, the gravity moment parameters of the pull plate, the gravity moment parameters of the boom, the gravity moment parameters of the load, the gravity moment parameters of the counterweight behind the turntable and the gravity moment parameters of the additional counterweight according to the gravity center position parameters of the unloading vehicle, the gravity center position parameters of the turntable, the gravity center position parameters of the mast, the gravity moment parameters of the pull plate, the gravity moment parameters of the boom, the gravity moment parameters of the load, the gravity moment parameters of the counterweight behind the turntable and the gravity moment parameters of the additional counterweight. And

[0068] (b3) The sum of the gravity moment parameter of the vehicle, the gravity moment parameter of the turntable, the gravity moment parameter of the mast, the gravity moment parameter of the pull plate, the gravity moment parameter of the boom, the gravity moment parameter of the load, the gravity moment parameter of the counterweight behind the turntable and the gravity moment parameter of the additional counterweight is determined as the gravity moment parameter of the whole vehicle.

[0069] Specifically, the gravity moment parameter is, for example, equal to the product of the center of gravity position parameter of the corresponding component and the weight of the corresponding component.

[0070] Specifically, the relationship between the rollover risk coefficient of the whole vehicle and the weight and gravity moment parameters of the whole vehicle satisfies, for example:

[0071] Wherein, S_all is the whole machine overturning risk coefficient, M_all is the whole vehicle gravity moment parameter, W_all is the whole vehicle weight, and L_all is the distance from the origin to the whole machine overturning edge of the crawler crane. Wherein, the unit of M_all is, for example, Newton·meter, the unit of W_all is, for example, Newton, and the unit of L_all is, for example, meter.

[0072] Specifically, the value range of the lower limit value of the preset safety range is, for example, -0.7 to -0.6, and the value range of the upper limit value of the preset safety range is, for example, 0.6 to 0.7.

[0073] More specifically, the lower limit value is, for example, -0.68, and the upper limit value is, for example, 0.68.

[0074] Specifically, anti-overturning control measures are executed according to the overturning risk factor of the whole machine, that is, step S140, for example, includes:

[0075] (c1) When the rollover risk factor of the whole machine is positive, determine whether the additional counterweight is completely off the ground.

[0076] (c2) When it is determined that the additional counterweight is not completely off the ground, the additional counterweight is controlled to be lifted until the additional counterweight is completely off the ground.

[0077] (c3) If the rollover risk factor of the whole machine is negative, determine whether the additional counterweight has completely landed.

[0078] (c4) When it is determined that the additional counterweight has not completely landed on the ground, the additional counterweight is controlled to be lowered until the additional counterweight has completely landed on the ground.

[0079] Furthermore, anti-overturning control measures are executed according to the overturning risk factor of the whole machine, that is, step S140, for example, also includes:

[0080] (c5) When the risk factor of the whole machine tipping over is positive, it indicates that the crawler crane has the risk of tipping over.

[0081] (c6) When the overturning risk coefficient of the whole machine is negative, it indicates that the crawler crane has the risk of overturning.

[0082] Furthermore, anti-overturning control measures are executed according to the overturning risk factor of the whole machine, that is, step S140, for example, further includes:

[0083] (c7) When the additional counterweight is completely off the ground, it is prohibited to lower the additional counterweight, release the main luffing winch of the crawler crane, retract the hoisting winch of the crawler crane, move the traveling mechanism of the crawler crane, or rotate the turntable of the crawler crane.

[0084] (c8) When it is determined that the additional counterweight has completely landed on the ground, it is prohibited to lift the additional counterweight, retract the main luffing winch of the crawler crane, release the hoisting winch of the crawler crane, move the traveling mechanism of the crawler crane, and rotate the turntable of the crawler crane.

[0085] Specifically, determining whether the additional counterweight is completely off the ground, that is, step (c1), for example, includes:

[0086] (c11) Obtaining the actual weight of the additional weight and the effective weight of the additional weight.

[0087] (c12) Determine the difference between the actual weight and the effective weight.

[0088] (c13) Determine whether a signal indicating that the additional counterweight has completely left the ground is received. The signal indicating that the additional counterweight has completely left the ground is, for example, a signal indicating that the additional counterweight has completely left the ground. The signal indicating that the counterweight has completely left the ground is, for example, sent by the ground separation detection device when the additional counterweight has completely left the ground.

[0089] (c14) if it is determined that the difference is not greater than the preset difference and a signal indicating that the additional counterweight is completely off the ground is received, determining that the additional counterweight is completely off the ground.

[0090] (c15) If it is determined that the difference is greater than the preset difference or the signal indicating that the additional weight is completely off the ground is not received, it is determined that the additional weight is not completely off the ground.

[0091] Of course, the embodiments of the present invention are not limited thereto, and whether the additional counterweight is completely off the ground can also be determined only by judging whether the difference between the actual weight and the effective weight is not greater than the preset difference. Specifically, for example, the additional counterweight can be determined to be completely off the ground if the difference between the actual weight and the effective weight is not greater than the preset difference, otherwise, the additional counterweight is determined not to be completely off the ground. Alternatively, whether the additional counterweight is completely off the ground can be determined only by whether a signal indicating that the additional counterweight is completely off the ground is received. Specifically, for example, the additional counterweight can be determined to be completely off the ground if a signal indicating that the additional counterweight is completely off the ground is received, otherwise, the additional counterweight is determined not to be completely off the ground.

[0092] Specifically, the value of the preset difference is, for example, the weight of the lifting cylinder with the additional counterweight, that is, the sum of the weights of the first lifting cylinder and the second lifting cylinder.

[0093] Specifically, determining whether the additional weight has completely landed, that is, step (c3), for example, includes:

[0094] (c31) Obtain the effective weight of the additional weight.

[0095] (c32) Determine whether a signal indicating that the additional counterweight has completely left the ground is received.

[0096] (c33) when the effective weight is zero and no signal indicating that the additional weight has completely left the ground is received, determining that the additional weight has completely landed.

[0097] (c34) When the effective weight is not zero or a signal indicating that the additional weight has completely left the ground is received, determining that the additional weight has not completely landed.

[0098] Of course, the embodiment of the present invention is not limited thereto, and whether the additional counterweight is completely landed can also be determined only by judging whether the effective weight is zero. Specifically, for example, the additional counterweight can be determined to be completely landed when the effective weight is zero, otherwise it is determined that the additional counterweight is not completely landed.

[0099] Furthermore, the control method 100 for a crawler crane may also include, for example:

[0100] Step S150: Determine whether a boom-permitted working angle acquisition signal is received. Specifically, the operator selects an option corresponding to obtaining the boom-permitted working angle on a human-machine interaction device such as a crawler crane instrument, for example, by pressing a corresponding button displayed on the human-machine interaction device, thereby triggering the human-machine interaction device to send a boom-permitted working angle acquisition signal to a controller such as a crawler crane vehicle controller. And

[0101] Step S160: When it is determined that the boom allowable working angle acquisition signal is received, the maximum working angle and the minimum working angle allowed by the boom when the additional counterweight is completely off the ground under the current working condition are determined and displayed, for example, on a human-machine interaction device such as a crawler crane instrument.

[0102] The control method 100 for a crawler crane in the embodiment of the present invention includes step S150 and step S160, which can achieve the effect of obtaining the allowed working angle of the boom when the additional counterweight is completely off the ground under the current working condition with one click.

[0103] Furthermore, the control method 100 for a crawler crane may also include, for example:

[0104] Step S170: Display the risk factor of overturning of the whole machine in real time.

[0105] It is also worth mentioning that the formula for determining the overturning risk coefficient S_all of the whole machine is: It can be seen that since the numerator and the denominator, namely M_all and W_all, have the same divisor such as the gravity constant g, namely 9.8N / kg, in an embodiment of the present invention, for example, all weight-related data involved in the method for determining the whole machine rollover risk coefficient can be replaced by mass. At this time, the data related to the gravity moment parameters are replaced by the product of the center of gravity position parameters of the component and the mass of the corresponding component. The rest of the method for determining the whole machine rollover risk coefficient remains unchanged. In this way, the value of the whole machine rollover risk coefficient obtained is still the same as the value obtained by the current method, and the amount of calculation involved in the method can be greatly reduced.

[0106] In an embodiment of the present invention, a controller is provided, which is configured to execute a control method 100 for a crawler crane according to any one of the aforementioned embodiments.

[0107] The specific functions and details of the control method 100 for a crawler crane can be referred to the relevant description of the aforementioned embodiment, which will not be repeated here.

[0108] Specifically, the controller may be, for example, a control device such as an industrial computer, an embedded system, a microprocessor, and a programmable logic device.

[0109] like Figure 2As shown, in an embodiment of the present invention, a control device 200 for a crawler crane is provided. The crawler crane includes an additional counterweight, a lower vehicle, a turntable, a mast, a pull plate, a boom, a load, and a counterweight behind the turntable. The additional counterweight includes a first lifting cylinder and a second lifting cylinder. The first lifting cylinder is configured to lift and lower the left side of the additional counterweight, and the second lifting cylinder is configured to lift and lower the right side of the additional counterweight. The control device 200 for a crawler crane includes: a controller 210, a first pressure sensor 230, a second pressure sensor 250, and a force limiter 270.

[0110] The controller 210 is, for example, a controller according to any of the aforementioned embodiments. The specific functions and details of the controller 210 can be referred to the relevant description of the aforementioned embodiments, which will not be repeated here. The controller 210 is, for example, electrically connected to the first pressure sensor 230, the second pressure sensor 250 and the force limiter 270. The controller 210 is, for example, a vehicle controller of a crawler crane.

[0111] The first pressure sensor 230 is configured, for example, to detect the pressure of the rod chamber of the first lift cylinder.

[0112] The second pressure sensor 250 is configured, for example, to detect the pressure of the rod chamber of the second lift cylinder.

[0113] The force limiter 270 is configured, for example, to provide the weight of the load.

[0114] Furthermore, the control device 200 for a crawler crane, for example, also includes: a ground-lift detection device 280. The ground-lift detection device 280 is, for example, configured to detect whether the additional counterweight is completely off the ground and provide a signal indicating that the additional counterweight is completely off the ground when the additional counterweight is completely off the ground. The signal indicating that the additional counterweight is completely off the ground is, for example, a signal indicating that the additional counterweight has been completely off the ground. The ground-lift detection device 280 communicates with the controller 210, for example, via a wired or wireless manner. The ground-lift detection device 280, for example, includes a ground-lift detection switch, a weight, and a chain, and the chain is, for example, used to connect the ground-lift detection switch and the weight. When the additional counterweight is off the ground to a certain height, the weight is off the ground, and the weight pulls the ground-lift detection switch by gravity, and the ground-lift detection switch is closed, and a signal indicating that the additional counterweight is completely off the ground is sent to the controller 210. The ground-lift detection switch is, for example, a travel switch.

[0115] Furthermore, the control device 200 for a crawler crane, for example, further includes: a human-machine interaction device 290. The human-machine interaction device 290 is, for example, configured to: display prompt information; provide a boom allowable working angle acquisition signal; display the maximum and minimum working angles allowed by the boom when the additional counterweight is completely off the ground under the current working condition; and / or display the overturning risk factor of the entire machine. The human-machine interaction device 290 communicates with the controller 210, for example, by wired means such as electrical connection or wireless means. The human-machine interaction device 290 is, for example, a display, and specifically, for example, may be an instrument of a crawler crane.

[0116] In an embodiment of the present invention, a crawler crane 300 is provided, including: a control device 310, an additional counterweight 320, an undercarriage 330, a turntable 340, a mast 350, a pull plate 360, a boom 370, a load 380 and a counterweight 390 behind the turntable.

[0117] The control device 310 is, for example, the control device 200 for a crawler crane according to any one of the aforementioned embodiments. The specific functions and details of the control device 310 can be referred to the relevant description of the aforementioned embodiments, which will not be repeated here.

[0118] The working process of the control method 100 for a crawler crane according to an embodiment of the present invention is described in detail below with reference to a specific example. The specific contents of the example of the present invention are as follows:

[0119] like Figure 4 As shown, the present invention provides an intelligent balancing control system for a crawler crane. The crawler crane includes a counterweight 1 behind a turntable, an additional counterweight 2, an undercarriage 3, a turntable 4, a mast 5, a pull plate 6, a boom 7 and a load 8.

[0120] Figure 5A Shown is a schematic diagram of the overall structure of the arm 7. Figure 5B , Figure 5C and 5D Shown is a schematic structural diagram of the head of the boom 7, i.e., the arm head.

[0121] like Fig. 6A and Figure 6B The figure shows a schematic diagram of the structure of the additional counterweight 2. The additional counterweight 2 mainly includes an additional counterweight block 21, an additional counterweight frame 22, a left lifting cylinder 23 and a right lifting cylinder 24. The left lifting cylinder 23 and the right lifting cylinder 24 are used to lift and lower the left side of the additional counterweight 2 and lift and lower the right side of the additional counterweight 2, respectively.

[0122] The additional counterweight 2 has a left lifting cylinder 23 and a right lifting cylinder 24, and the lifting and lowering of the additional counterweight 2 can be controlled by the extension and contraction of the cylinders. It is a movable counterweight different from the turntable rear counterweight 1. The difference is that the turntable rear counterweight 1 always generates torque in the torque balance of the whole vehicle, and the additional counterweight 2 will only generate torque in the torque balance of the whole vehicle when it is completely or partially off the ground. When the additional counterweight 2 is completely on the ground, it will not generate torque in the torque balance of the whole vehicle.

[0123] The intelligent balance control system mainly includes a vehicle controller (not shown in the figure) of a crawler crane, a left pressure sensor 10, a right pressure sensor 20, a force limiter (not shown in the figure), an instrument (not shown in the figure), and a ground-lift detection device 30. The left pressure sensor 10 and the right pressure sensor 20 are used to measure the rod chamber pressure of the left lifting cylinder 23 and the rod chamber pressure of the right lifting cylinder 24, respectively.

[0124] like Figure 6C The figure shows a schematic diagram of the structure of the lift-off detection device 30. The lift-off detection device 30 includes a lift-off detection switch 31, a weight 32 and a chain 33. The chain 33 is used to connect the lift-off detection switch 31 and the weight 32. The lift-off detection device is installed on the base of the additional counterweight 2. When the additional counterweight frame 22 is lifted off the ground to a certain height, the weight 32 is lifted off the ground, and the weight 32 pulls the lift-off detection switch 31 by gravity. At this time, the lift-off detection switch 31 is closed, and a signal indicating that the additional counterweight 2 has completely lifted off the ground is sent to the vehicle controller. The lift-off detection switch 31 is, for example, a travel switch.

[0125] The control principle of the intelligent balance control system of the present invention follows the principle of moment balance. When the additional counterweight 2 is needed to generate a moment, the additional counterweight 2 is automatically raised, and when the additional counterweight 2 is not needed to generate a moment, the additional counterweight 2 is automatically lowered. The working content of the intelligent balance control system mainly includes the following three parts:

[0126] 1. Determine the center of gravity position and overturning risk factor of crawler crane

[0127] like Figure 4 As shown in the figure, the intersection of the turntable's rotation centerline and the ground is taken as the origin O, the straight line formed by the projection of the hinge point of the boom 7 on the ground and the origin O is the horizontal coordinate axis, i.e., the X-axis. The side toward the boom 7 is horizontally positive, and the side toward the additional counterweight 2 is horizontally negative. The rotation centerline of the turntable is taken as the vertical coordinate axis, i.e., the Y-axis. The side perpendicular to the ground and facing upward is vertically positive.

[0128] 1. Calculate the vehicle weight Wall of the crawler crane under the current working conditions:

[0129] Wall=Wx+Wz+Wf+Ww+Wlb+Wb+Wq+Wp Formula (1)

[0130] The definitions of variables and data sources in formula (1) are shown in Table 1 below.

[0131] Table 1

[0132]

[0133]

[0134] It should be noted in advance that, in the aforementioned embodiments and examples of the present invention, “known structural parameters” refer to that when a crawler crane is selected, the corresponding parameters are known structural parameters that can be directly obtained.

[0135] The load weight is obtained from the data provided by the force limiter. The effective weight of the additional counterweight is calculated using formula (2). The remaining parameters are known structural parameters after the crawler crane and arm length are selected. The calculation method of the effective weight of the additional counterweight is described in detail below.

[0136] The effective weight Wf of the additional counterweight is calculated by the rod chamber pressure of the left lifting cylinder of the additional counterweight and the rod chamber pressure of the right lifting cylinder, unit: N.

[0137] According to mass (kg) = pressure (Mpa) × effective area (m 2 )×rate (unit conversion coefficient), 1Mpa=10.2kg / cm 2 =102000kg / m 2 , gravity constant g = 9.8N / kg, we can get:

[0138] Wf=(PressureL+PressureR)×π(DG 2 -Dg 2 ) / 4×102000×9. 8 formula (2)

[0139] Among them, PressureL is the rod chamber pressure of the left lifting cylinder with additional counterweight, which is obtained through the left pressure sensor, unit: MPa.

[0140] PressureR is the rod chamber pressure of the right lifting cylinder with additional counterweight, obtained through the right pressure sensor, unit: MPa.

[0141] DG is the cylinder diameter of the lifting cylinder with additional counterweight, a known structural parameter, unit: m.

[0142] Dg is the rod diameter of the lifting cylinder with additional counterweight, a known structural parameter, unit: m.

[0143] 2. Calculate the vehicle gravity moment parameter Mall of the crawler crane relative to the origin under the current working condition. As shown in formula (3), the gravity moment parameter Mall generated by the vehicle is considered from 8 factors, just like calculating the weight of the whole machine:

[0144] Mall=Wx×Xx+Wz×Xz+Wf×Xf+Ww×Xw+Wlb×Xlb+Wb×Xb+Wq×Xq+Wp×Xp Formula (3)

[0145] Where, (1) Wx×Xx is the gravity moment parameter of getting off the vehicle, unit: N·m.

[0146] Wherein, Wx is the dismounting weight, unit: N.

[0147] Xx is the horizontal coordinate of the center of gravity of the vehicle, with known structural parameters, unit: m.

[0148] Since the center of gravity of getting off the vehicle is located on the center line of rotation, Xx=0, and the weight moment parameter Wx×Xx of getting off the vehicle is 0.

[0149] (2)Wz×Xz is the gravity moment parameter of the turntable, unit: N·m.

[0150] Where Wz is the weight of the turntable, known structural parameters, unit: N.

[0151] Xz is the horizontal coordinate of the center of gravity of the turntable, with known structural parameters, unit: m.

[0152] (3)Wf×Xf is the additional counterweight moment, unit: N·m.

[0153] Wherein, Wf is the effective weight of the additional counterweight, which is calculated by formula (2) and is in N.

[0154] Xf is the horizontal coordinate of the center of gravity of the additional counterweight, with known structural parameters, unit: m.

[0155] (4)Ww×Xw is the gravity moment parameter of the mast, unit: N·m.

[0156] Where Ww is the mast weight, known structural parameters, unit: N.

[0157] Xw is the horizontal coordinate of the mast's center of gravity, calculated according to the following steps, unit: m.

[0158] (4.1) Calculate the coordinates X2 and Y2 of the hinge point of the top pull plate of the boom.

[0159] Combination Figure 4 , FIG. 5A to FIG. 5D It can be seen that:

[0160] xh2=xh1-h2×cotα Formula (4)

[0161] X2=Xb1+Lb×cosα-h2 / sinα-xh2×cosα Formula (5)

[0162] Y2=Yb1+Lb×sinα-xh2×sinα Formula (6)

[0163] Where X2 is the horizontal coordinate of the hinge point of the top plate of the boom, which is calculated by formula (5) and is in m.

[0164] Y2 is the ordinate of the hinge point of the top plate of the boom, calculated by formula (6), unit: m.

[0165] Xb1 is the horizontal coordinate of the boom hinge point, with known structural parameters, unit: m.

[0166] Yb1 is the vertical coordinate of the boom hinge point, a known structural parameter, unit: m.

[0167] Lb is the length of the boom, a known structural parameter, unit: m.

[0168] α is the angle formed between the boom and the positive direction of the horizontal axis, that is, the boom angle, which is obtained by the angle sensor set at the root of the boom, and the unit is degree.

[0169] h2 is the distance from the hinge point of the top pull plate of the boom to the axis of the boom, a known structural parameter, unit: m.

[0170] xh1 is the distance between the hinge point of the top pull plate of the boom and the center of the lifting pulley at the top of the boom in the direction of the boom axis. It is a known structural parameter, unit: m.

[0171] (4.2) Calculate the coordinates X1 and Y1 of the mast end tie plate hinge point.

[0172] The mast hinge coordinates Xw1 and Yw1 and the mast length Lw are known structural parameters, and the equation of the circle with the mast hinge as the center and the mast length as the radius can be determined, as shown in formula (7).

[0173] The coordinates X2 and Y2 of the hinge point of the top plate of the boom and the length of the plate Ls are all known structural parameters. The equation of the circle with the hinge point of the top plate of the boom as the center and the length of the plate as the radius can be determined, as shown in formula (8).

[0174] (X1-Xw1) 2 +(Y1-Yw1) 2 =Lw 2 Formula (7)

[0175] (X1-X2) 2 +(Y1-Y2) 2 =Ls 2 Formula (8)

[0176] Where X1 is the horizontal coordinate of the mast end tie plate hinge point, unit: m.

[0177] Y1 is the vertical coordinate of the mast end tension plate hinge point, unit: m.

[0178] X2 is the horizontal coordinate of the hinge point of the top plate of the boom, which is calculated by formula (5) and is in m.

[0179] Y2 is the ordinate of the hinge point of the top plate of the boom, calculated by formula (6), unit: m.

[0180] Xw1 is the horizontal coordinate of the mast hinge point, with known structural parameters, unit: m.

[0181] Yw1 is the ordinate of the mast hinge point, a known structural parameter, unit: m.

[0182] Lw is the length of the mast, a known structural parameter, unit: m.

[0183] Ls is the length of the pull plate, a known structural parameter, unit: m.

[0184] According to the equations of the two circles mentioned above, the coordinates X1 and Y1 of the mast end plate hinge point can be obtained by finding the intersection point. There are two intersection points obtained. The coordinates of the intersection point with a negative horizontal coordinate X1 are taken as the final coordinates X1 and Y1 of the mast end plate hinge point. The formula for finding the intersection point of the two circles is prior art and will not be repeated here.

[0185] (4.3) Calculate the mast angle, which is the angle β formed between the mast and the positive direction of the horizontal axis.

[0186] After the horizontal coordinate X1 of the mast end plate hinge is determined, the mast angle β can be obtained by the following formula:

[0187] cosβ=(X1-Xw1) / Lw formula (9)

[0188] β=arccos((X1-Xw1) / Lw) Formula (10)

[0189] (4.4) Calculate the horizontal coordinate Xw of the mast’s center of gravity.

[0190] Xw=Xw1+v×cosβ Formula (11)

[0191] Among them, Xw1 is the horizontal coordinate of the mast hinge point, the known structural parameters, unit: m.

[0192] v is the distance from the mast center of gravity to the mast hinge point, a known structural parameter, unit: m.

[0193] β is the mast angle, calculated from part (4.3), unit: degree.

[0194] (4.5) The gravitational moment parameter Mw of the mast is obtained.

[0195] Mw=Ww×Xw Formula (12)

[0196] (5)Wlb×Xlb is the gravity moment parameter of the pull plate, unit: N·m.

[0197] Xlb=(X1-X2) / 2 Formula (13)

[0198] Mlb=Wlb×Xlb Formula (14)

[0199] Where Mlb is the gravity moment parameter of the pull plate, which is calculated by formula (14) and the unit is N·m.

[0200] Wlb is the weight of the pull plate, with known structural parameters, unit: N.

[0201] Xlb is the horizontal coordinate of the center of gravity of the pull plate, calculated by formula (13), unit: m.

[0202] X1 is the horizontal coordinate of the mast end tie plate hinge point, calculated by part (4.2), unit: m.

[0203] X2 is the horizontal coordinate of the hinge point of the top plate of the boom, calculated by part (4.1), unit: m.

[0204] (6)Wb×Xb is the gravity moment parameter of the boom, unit: N·m.

[0205] Wherein, Wb is the weight of the boom, known structural parameters, unit: N.

[0206] Xb is the horizontal coordinate of the center of gravity of the boom, calculated by formula (15), unit: m.

[0207] Xb=Xb1+Lz×cosα Formula (15)

[0208] Among them, Xb1 is the horizontal coordinate of the boom hinge point, the known structural parameters, unit: m.

[0209] Lz is the distance from the center of gravity of the boom to the hinge point of the boom. It is a known structural parameter after the boom length is selected, unit: m.

[0210] α is the angle formed between the boom and the positive direction of the horizontal axis, that is, the boom angle, which is obtained by the angle sensor set at the root of the boom, and the unit is degree.

[0211] (7)Wq×Xq is the gravity moment parameter of the load, unit: N·m.

[0212] Wherein, Wq is the load weight, which is obtained by the actual lifting weight determined by the force limiter, unit: N.

[0213] Xq is the horizontal coordinate of the center of gravity of the load, which is obtained by the working amplitude determined by the force limiter. The value of Xq is the same as the working amplitude, unit: m.

[0214] (8)Wp×Xp is the gravity moment parameter of the counterweight behind the turntable, unit: N·m.

[0215] Wherein, Wp is the weight of the counterweight behind the turntable, a known structural parameter, unit: N.

[0216] Xp is the horizontal coordinate of the center of gravity of the counterweight behind the turntable, with known structural parameters, unit: m.

[0217] Through the above formula, the gravity moment parameters of the vehicle, the gravity moment parameters of the turntable, the gravity moment parameters of the additional counterweight, the gravity moment parameters of the mast, the gravity moment parameters of the pull plate, the gravity moment parameters of the boom, the gravity moment parameters of the load and the gravity moment parameters of the counterweight behind the turntable are calculated respectively. The sum of the gravity moment parameters of the above 8 components is Mall. Wall has been obtained from the above part 1. Then, the horizontal coordinate Xall of the center of gravity of the whole machine is calculated according to formula (16), and the unit is m.

[0218] Xall=Mall / Wall formula (16)

[0219] Then, the rollover risk factor Sall of the whole machine is calculated according to formula (17).

[0220] Sall=Xall / Lall Formula (17)

[0221] Wherein, Lall is the distance from the origin to the overturning edge of the whole machine. The overturning edge of the whole machine can be obtained through product specifications or measurements. It is a known structural parameter, unit: m.

[0222] Since the intersection of the rotation centerline and the ground is determined as the origin, the machine rollover risk coefficient Sall can directly reflect the forward rollover stability and backward rollover stability through its positive and negative signs. The larger the machine rollover risk coefficient Sall, the closer the center of gravity of the whole machine is to the front end of the boom, the worse the forward rollover stability is, that is, the greater the possibility of forward rollover; the smaller the machine rollover risk coefficient Sall, the closer the center of gravity of the whole machine is to the additional counterweight end, the worse the backward rollover stability is, that is, the greater the possibility of backward rollover.

[0223] 2. Automatically control the lifting and lowering of the additional counterweight 2 according to the overturning risk factor of the entire machine.

[0224] a) When the machine overturning risk factor Sall ≥ 0.68, there is a risk of rollover and additional counterweight needs to be raised. Perform the following control:

[0225] a1) The alarm prompts the operator that there is a risk of tipping forward.

[0226] a2) If the additional counterweight is not completely off the ground, the additional counterweight will be automatically lifted. When the additional counterweight is lifted to the point where it is completely off the ground, the lifting action of the additional counterweight will be automatically stopped.

[0227] a3) If the additional counterweight is completely off the ground, limit all actions that increase the gravity moment on one side of the boom, including: limiting the descent of the additional counterweight lifting cylinder; limiting the release of the main luffing winch, because releasing the main luffing winch will cause the boom angle to become smaller, thereby increasing the gravity moment on the boom side; limiting the lifting of the load, that is, the heavy object, that is, the retracting of the lifting winch; limiting walking and rotation.

[0228] b) When the machine overturning risk factor Sall≤-0.68, there is a risk of overturning and additional counterweight needs to be lowered. Perform the following control:

[0229] b1) The alarm prompts the operator that there is a risk of falling backwards.

[0230] b2) If the additional counterweight has not completely landed on the ground, that is, it is partially off the ground or completely off the ground, the additional counterweight will be automatically lowered until the additional counterweight completely lands on the ground, and the additional counterweight lowering action will be automatically stopped.

[0231] b3) If the additional counterweight falls completely to the ground, limit all actions that increase the gravity moment on one side of the additional counterweight, including: limiting the lifting of the additional counterweight lifting cylinder; limiting the retraction of the main luffing winch, because retraction of the main luffing winch will cause the boom angle to increase, thereby reducing the gravity moment on the boom side; limiting the lowering of the load, that is, the heavy object, that is, the rope release of the lifting winch; limiting walking and rotation.

[0232] According to the national standard GB / T14560-2016, the overturning risk coefficient of the whole machine must be between ±0.7. The above limit boundary values ​​are set to 0.68 and -0.68 to reserve a safety margin for the mechanism response.

[0233] Whether the additional counterweight is completely off the ground or completely on the ground can be determined by the ground-lift detection device. It is determined whether a signal indicating that the additional counterweight has completely left the ground is received from the ground-lift detection device. If a signal indicating that the additional counterweight has completely left the ground is received, it is considered that the additional counterweight is completely off the ground, or that the additional counterweight is in a state of not completely on the ground at this time. If a signal indicating that the additional counterweight has completely left the ground is not received, it is considered that the additional counterweight is not completely off the ground, or that the additional counterweight is in a state of partially or completely on the ground at this time.

[0234] Whether the additional counterweight is completely off the ground can be determined by whether the difference between the effective weight of the additional counterweight and the actual weight is greater than a preset difference. When it is determined that the difference between the actual weight of the additional counterweight and the effective weight of the additional counterweight is not greater than the preset difference, it can be determined that the additional counterweight is completely off the ground, or that the additional counterweight is not completely on the ground at this time; when it is determined that the difference between the actual weight of the additional counterweight and the effective weight of the additional counterweight is greater than the preset difference, it can be determined that the additional counterweight is not completely off the ground, or that the additional counterweight is partially on the ground or completely on the ground at this time. The preset difference is, for example, set to the sum of the weights of the left lifting cylinder and the right lifting cylinder.

[0235] Whether the additional counterweight has completely landed can be determined by whether the effective weight of the additional counterweight is zero. When it is determined that the effective weight of the additional counterweight is equal to zero, it can be determined that the additional counterweight has completely landed, or that the additional counterweight is not completely off the ground at this time. When it is determined that the effective weight of the additional counterweight is not equal to zero, it can be determined that the additional counterweight has not completely landed, or that the additional counterweight is partially off the ground or completely off the ground at this time.

[0236] The example of the present invention uses a combination of the above two methods to determine whether the additional counterweight is completely off the ground or completely on the ground, that is, the judgment rules corresponding to the two methods for the same state of the additional counterweight (completely on the ground, not completely on the ground, completely off the ground or not completely off the ground) must be satisfied at the same time to determine whether the additional counterweight is currently in this state. This is to prevent the failure of one judgment method and cause judgment errors. For specific combination details, please refer to the description of the above embodiment, which will not be repeated here. Of course, the embodiment of the present invention or the example of the present invention can also determine the state of the additional counterweight by only any one of the methods, and is not limited to the combination of the two methods.

[0237] In addition, the utilization rate of the additional counterweight can also be defined, and the utilization rate of the additional counterweight is defined as the ratio of the effective weight of the additional counterweight to the actual weight of the additional counterweight. By calculating the utilization rate of the additional counterweight, it is indirectly judged whether the difference between the actual weight of the additional counterweight and the effective weight of the additional counterweight is greater than the preset difference and whether the effective weight of the additional counterweight is equal to zero according to the size of the utilization rate of the additional counterweight, so as to determine whether the additional counterweight is completely off the ground or whether the additional counterweight is completely on the ground according to the above judgment rules. The specific judgment details are not repeated here.

[0238] 3. One-click acquisition of the allowable working angle of the boom when the additional counterweight 2 is completely off the ground under the current working condition

[0239] The operator presses the button corresponding to the boom's allowable working angle displayed on the human-machine interaction device on the instrument. After the instrument detects the operator's operation, it sends a boom's allowable working angle acquisition signal to the vehicle controller. After receiving the boom's allowable working angle acquisition signal, the vehicle controller will determine the maximum and minimum working angles allowed by the boom when the additional counterweight is completely off the ground under the current working condition. After determining the maximum and minimum working angles, the vehicle controller will send a corresponding signal to the instrument, and finally display the minimum and maximum working angles through the instrument, thereby achieving the technical effect of obtaining the boom's allowable working angle when the additional counterweight 2 is completely off the ground under the current working condition with one click. The relevant principles for the vehicle controller to determine the maximum and minimum working angles are as follows:

[0240] 1. Determine the maximum allowable working angle of the boom through the backward tipping stability.

[0241] The arm angle α is used as a variable, with an initial value of 90 degrees, and the following cycle is performed:

[0242] (1) Except for the following three differences, the rest is the same as the above-mentioned method for calculating the overturning risk factor of the whole machine to calculate the overturning risk factor of the whole machine corresponding to the current given value of the boom angle α.

[0243] (i) The boom angle α is the current given value.

[0244] (ii) The method of determining the horizontal coordinate Xq of the load center of gravity is different from the above-mentioned method of determining the working range by the force limiter, but is obtained by formula (18).

[0245] Specifically, Xq, ie, the horizontal coordinate of the center of gravity of the load, is determined according to the current given value of the boom angle α.

[0246] Combination Figure 4 , Figure 5A and Figure 5C , we can get formula (18).

[0247] Xq=Lb×cosα+h1×sinα+Xb1 Formula (18)

[0248] Where, Lb is the length of the boom, a known structural parameter, unit: m.

[0249] α is the boom angle, that is, the angle formed between the boom and the positive direction of the horizontal axis. The value is the current given value of the boom angle α, unit: degree.

[0250] h1 is the distance from the center of the lifting pulley at the top of the boom to the axis of the boom, a known structural parameter, unit: m.

[0251] Xb1 is the horizontal coordinate of the boom hinge point, with known structural parameters, unit: m.

[0252] (III) The effective weight Wf of the additional counterweight is different from the aforementioned one which is determined by the detection data of the pressure sensor of the lifting cylinder, but is directly taken as the actual weight of the additional counterweight.

[0253] (2) Determine whether the calculated rollover hazard coefficient of the whole machine corresponding to the current given value of the boom angle α is greater than -0.68. If the rollover hazard coefficient of the whole machine corresponding to the current given value of the boom angle α is greater than -0.68, it means that there is no risk of rollover, and the current given value of the boom angle α is used as the maximum allowable working angle of the boom under the current working condition. If the rollover hazard coefficient of the whole machine corresponding to the current given value of the boom angle α is not greater than -0.68, it means that there is a risk of rollover, and the current given value of the boom angle α is not an allowable working angle. The value of the boom angle α is updated to α-1 degrees, and the above-mentioned cycle process is continued, that is, the rollover hazard coefficient of the whole machine is recalculated according to the updated boom angle α, until the recalculated rollover hazard coefficient of the whole machine is greater than -0.68, that is, until the maximum allowable working angle of the boom under the current working condition is obtained, and the cycle is stopped.

[0254] 2. Determine the minimum allowable working angle of the boom through the forward flip stability.

[0255] According to the lifting performance table, the corresponding relationship between different arm lengths, different working ranges, and the maximum lifting weight, i.e., the rated lifting weight, can be determined. The load weight Wq, i.e., the working range, under the current working condition is a known structural parameter. According to the lifting performance table, the rated lifting weight that is greater than the load weight Wq and closest to the load weight Wq is determined. The working range Xq is determined according to the current arm length Lb and the determined rated lifting weight. Then, the boom angle α is determined according to the working range Xq and formula (18), and the determined boom angle α is used as the minimum working angle allowed by the boom.

[0256] In addition, it is worth mentioning that the example of the present invention does not utilize the change of the additional counterweight thrust mechanism, that is, in the example of the present invention, it is assumed that the position of the center of gravity of the additional counterweight in the horizontal direction is fixed. Figure 7 As shown, the additional counterweight 2 of the present invention can also include a thrust mechanism, and a length sensor is provided to obtain the change of the center of gravity of the additional counterweight in the horizontal direction, that is, the change of the horizontal coordinate. If the horizontal coordinate changes, the center of gravity algorithm is similar, and the final adjustment purpose is also to stabilize the torque. No further details are given here.

[0257] In summary, the embodiments of the present invention can achieve some or all of the following technical effects through the above technical solutions:

[0258] 1. After the heavy objects are hoisted into place, if they need to be rotated or moved, there is no need to remove the additional counterweight, which can save the process of disassembling and installing the additional counterweight in a hoisting cycle; even when transferring within a small range, there is no need to remove the additional counterweight, which can improve work efficiency and reduce the frequency of using auxiliary cranes.

[0259] 2. By introducing the concept of rollover risk coefficient and displaying the value in real time, the operator can have a more intuitive digital understanding of the vehicle's forward and backward rollover stability.

[0260] 3. Based on the overturning risk coefficient of the whole machine, the center of gravity of the whole machine is judged in real time. When there is a risk of forward or backward rollover, anti-overturning control measures are implemented in time, such as controlling the lifting or lowering of the additional counterweight, giving alarm prompts on the interface, and restricting certain actions. During the lifting process, the operator only needs to pay attention to the front load situation, that is, whether the front load is overloaded, and no longer needs to pay attention to the risk of backward rollover stability caused by the lifting or dropping of the additional counterweight at the rear, which can improve the safety of the operation.

[0261] 4. After unloading is completed and the additional counterweight has landed, if you want to rotate or walk at this time, you can obtain the allowable working angle range of the boom when the additional counterweight is completely off the ground under the current working condition with one click. By lifting the additional counterweight and changing the working angle of the boom, the center of gravity of the whole machine can be rotated or walked within the allowable range, eliminating the need to disassemble and install the additional counterweight, improving work efficiency, and assisting in operation decision-making.

[0262] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0263] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks 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.

[0264] 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 including 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.

[0265] These computer program instructions may 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 executing on the computer or other programmable device to implement 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.

[0266] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0267] 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.

[0268] Computer readable media include permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. 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.

[0269] 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 further restrictions, the elements defined by the sentence "comprises a ..." do not exclude the presence of other identical elements in the process, method, commodity or device including the elements.

[0270] The above are only embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A control method for a crawler crane, characterized in that: The crawler crane includes an additional counterweight, and the control method includes: Determine the vehicle weight of the crawler crane under the current working condition; Determine the vehicle gravity moment parameter of the crawler crane under the current working condition, wherein the vehicle gravity moment parameter is related to the magnitude of the gravity moment of each component of the crawler crane relative to the origin and the position of the center of gravity of each component relative to the rotation center line of the turntable, and the origin is the intersection of the rotation center line and the ground; The whole-machine overturning risk coefficient of the crawler crane under the current working condition is determined according to the whole-machine weight and the whole-machine gravity moment parameter, wherein the relationship between the whole-machine overturning risk coefficient and the whole-machine weight and the whole-machine gravity moment parameter satisfies: Wherein, S_all is the whole machine overturning risk coefficient, M_all is the whole vehicle gravity moment parameter, W_all is the whole vehicle weight, and L_all is the distance from the origin to the whole machine overturning edge of the crawler crane; and When the rollover risk factor of the whole machine exceeds a preset safety range, anti-rollover control measures are performed according to the rollover risk factor of the whole machine.

2. The control method according to claim 1, characterized in that: The crawler crane also includes a lower vehicle, a turntable, a mast, a pull plate, a boom, a load and a counterweight behind the turntable; the weight of the whole vehicle is equal to the sum of the following items: The weight of the lower vehicle, the weight of the turntable, the weight of the mast, the weight of the pull plate, the weight of the boom, the weight of the load, the weight of the counterweight behind the turntable and the effective weight of the additional counterweight.

3. The control method according to claim 2, characterized in that: The vehicle gravity moment parameter is equal to the sum of the following items: The gravity moment parameters of the dismount, the gravity moment parameters of the turntable, the gravity moment parameters of the mast, the gravity moment parameters of the pull plate, the gravity moment parameters of the boom, the gravity moment parameters of the load, the gravity moment parameters of the counterweight behind the turntable and the gravity moment parameters of the additional counterweight.

4. The control method according to claim 3, characterized in that: The absolute value of the gravity moment parameter is equal to the magnitude of the gravity moment of the corresponding component relative to the origin. The gravity moment parameter of the component corresponding to the center of gravity located on the side of the rotation center line close to the boom is positive, and the gravity moment parameter of the component corresponding to the center of gravity located on the side of the rotation center line close to the additional counterweight is negative.

5. The control method according to claim 4, characterized in that: Determining the vehicle weight of the crawler crane under the current working condition includes: Obtaining the weight of the lower vehicle, the weight of the turntable, the weight of the mast, the weight of the pull plate, the weight of the boom, the weight of the load, the weight of the counterweight behind the turntable, and the effective weight of the additional counterweight; and The weight of the whole vehicle is determined as the sum of the weight of the lower vehicle, the weight of the turntable, the weight of the mast, the weight of the pull plate, the weight of the boom, the weight of the load, the weight of the counterweight behind the turntable and the effective weight of the additional counterweight.

6. The control method according to claim 5, characterized in that: The additional counterweight comprises a first lifting cylinder and a second lifting cylinder, wherein the first lifting cylinder is configured to lift and lower the left side of the additional counterweight, and the second lifting cylinder is configured to lift and lower the right side of the additional counterweight; obtaining the effective weight of the additional counterweight comprises: acquiring a first pressure of a rod chamber of the first lifting cylinder and a second pressure of a rod chamber of the second lifting cylinder; and The effective weight of the additional weight is determined based on the first pressure and the second pressure.

7. The control method according to claim 6, characterized in that: The relationship between the effective weight of the additional counterweight and the first pressure and the second pressure satisfies: Among them, W_f is the effective weight of the additional counterweight, Pressure_L is the first pressure, Pressure_R is the second pressure, D_G is the cylinder diameter of the lifting cylinder, and D_g is the rod diameter of the lifting cylinder.

8. The control method according to claim 5, characterized in that: The crawler crane further includes a force limiter, and obtaining the weight of the load includes: The weight of the load is obtained through the force limiter.

9. The control method according to claim 5, characterized in that: Determining the vehicle gravity moment parameter of the crawler crane under the current working condition includes: Obtaining the center of gravity position parameters of the lower vehicle, the center of gravity position parameters of the turntable, the center of gravity position parameters of the mast, the center of gravity position parameters of the pull plate, the center of gravity position parameters of the boom, the center of gravity position parameters of the load, the center of gravity position parameters of the counterweight behind the turntable, and the center of gravity position parameters of the additional counterweight, wherein the absolute value of the center of gravity position parameter is equal to the distance from the center of gravity of the corresponding component to the rotation center line, the center of gravity position parameter of the component corresponding to the center of gravity on the side of the rotation center line close to the boom is positive, and the center of gravity position parameter of the component corresponding to the center of gravity on the side of the rotation center line close to the additional counterweight is negative; Determining gravity moment parameters of the lower vehicle, gravity moment parameters of the turntable, gravity moment parameters of the mast, gravity moment parameters of the pull plate, gravity moment parameters of the boom, gravity moment parameters of the load, gravity moment parameters of the counterweight behind the turntable, and gravity moment parameters of the additional counterweight according to the gravity center position parameters of the lower vehicle, gravity center position parameters of the turntable, gravity center position parameters of the mast, gravity moment parameters of the pull plate, gravity moment parameters of the boom, gravity moment parameters of the load, gravity moment parameters of the counterweight behind the turntable, and gravity moment parameters of the additional counterweight; and The sum of the gravity moment parameter of the dismount, the gravity moment parameter of the turntable, the gravity moment parameter of the mast, the gravity moment parameter of the pull plate, the gravity moment parameter of the boom, the gravity moment parameter of the load, the gravity moment parameter of the counterweight behind the turntable and the gravity moment parameter of the additional counterweight is determined as the gravity moment parameter of the whole vehicle.

10. The control method according to claim 9, characterized in that: The gravity moment parameter is equal to the product of the corresponding center of gravity position parameter of the component and the corresponding weight of the component.

11. The control method according to claim 1, characterized in that: The lower limit value of the preset safety range ranges from -0.7 to -0.6, and the upper limit value of the preset safety range ranges from 0.6 to 0.

7.

12. The control method according to claim 11, characterized in that: The lower limit value is -0.68, and the upper limit value is 0.

68.

13. The control method according to claim 1, characterized in that: The anti-overturning control measures implemented according to the overturning risk coefficient of the whole machine include: When the overturning risk coefficient of the whole machine is a positive number, determining whether the additional counterweight is completely off the ground; When it is determined that the additional counterweight is not completely off the ground, controlling the additional counterweight to be lifted until the additional counterweight is completely off the ground; When the overturning risk coefficient of the whole machine is negative, determining whether the additional counterweight has completely landed; and When it is determined that the additional counterweight has not completely landed on the ground, the additional counterweight is controlled to be lowered until the additional counterweight completely lands on the ground.

14. The control method according to claim 13, characterized in that: The anti-overturning control measures according to the overturning risk coefficient of the whole machine also include: When the whole machine overturning risk coefficient is a positive number, it indicates that the crawler crane has a risk of tipping forward; and When the whole machine overturning risk coefficient is negative, it indicates that the crawler crane has a risk of overturning.

15. The control method according to claim 13, characterized in that: The anti-overturning control measures according to the overturning risk coefficient of the whole machine also include: When it is determined that the additional counterweight is completely off the ground, the additional counterweight is prohibited from being lowered, the main luffing winch of the crawler crane is prohibited from releasing the rope, the hoisting winch of the crawler crane is prohibited from retracting the rope, the traveling mechanism of the crawler crane is prohibited from traveling, and the turntable of the crawler crane is prohibited from rotating; and When it is determined that the additional counterweight has completely landed on the ground, it is prohibited to lift the additional counterweight, to retract the rope of the main luffing winch of the crawler crane, to release the rope of the lifting winch of the crawler crane, to move the traveling mechanism of the crawler crane, and to rotate the turntable of the crawler crane.

16. The control method according to claim 13, characterized in that: Determining whether the additional weight is completely off the ground includes: Obtaining the actual weight of the additional counterweight and the effective weight of the additional counterweight; determining a difference between the actual weight and the effective weight; Determine whether a signal indicating that the additional counterweight is completely off the ground is received; In the case where it is determined that the difference is not greater than a preset difference and a signal that the additional counterweight is completely off the ground is received, determining that the additional counterweight is completely off the ground; and In the case where it is determined that the difference is greater than the preset difference or the signal indicating that the additional counterweight is completely off the ground is not received, it is determined that the additional counterweight is not completely off the ground.

17. The control method according to claim 16, characterized in that: The value of the preset difference is the weight of the lifting cylinder of the additional counterweight.

18. The control method according to claim 13, characterized in that: Determining whether the additional weight has completely landed includes: Obtaining the effective weight of the additional counterweight; Determine whether a signal indicating that the additional counterweight is completely off the ground is received; In a case where the effective weight is zero and a signal that the additional counterweight is completely off the ground is not received, determining that the additional counterweight is completely on the ground; and When the effective weight is not zero or a signal indicating that the additional weight is completely off the ground is received, it is determined that the additional weight is not completely on the ground.

19. The control method according to claim 1, characterized in that: Also includes: Determine whether a signal for obtaining the arm's working angle permission is received; as well as When it is determined that the boom allowed working angle acquisition signal is received, the maximum working angle and the minimum working angle allowed by the boom when the additional counterweight is completely off the ground under the current working condition are determined and the maximum working angle and the minimum working angle are displayed.

20. The control method according to claim 1, characterized in that: Also includes: The overturning risk factor of the whole machine is displayed in real time.

21. A controller, characterized in that: The method is configured to execute the control method for a crawler crane according to any one of claims 1 to 20.

22. A control device for a crawler crane, characterized in that: The crawler crane includes an additional counterweight, a lower vehicle, a turntable, a mast, a pull plate, a boom, a load, and a counterweight behind the turntable, wherein the additional counterweight includes a first lifting cylinder and a second lifting cylinder, wherein the first lifting cylinder is configured to lift and lower the left side of the additional counterweight, and the second lifting cylinder is configured to lift and lower the right side of the additional counterweight; The control device comprises: a first pressure sensor configured to detect the pressure of the rod chamber of the first lifting cylinder; a second pressure sensor configured to detect the pressure of the rod chamber of the second lifting cylinder; a force limiter configured to provide the weight of the load; and A controller according to claim 21.

23. The control device according to claim 22, characterized in that: Also includes: A ground-lift detection device is configured to detect whether the additional weight is completely off the ground and provide an additional weight completely off the ground signal when the additional weight is completely off the ground.

24. The control device according to claim 22, characterized in that Also includes: A human-computer interaction device, wherein the human-computer interaction device is configured to: Display prompt information; Providing an arm to allow working angles to acquire signals; Display the maximum and minimum working angles allowed by the boom when the additional counterweight is completely off the ground under the current working condition; and / or Displays the risk factor of overturning of the entire machine.

25. A crawler crane, characterized in that: include: Additional weight; get off; Turntable; Mast; Pull plate; Boom; Load; Counterweight behind the turntable; as well as A control device for a crawler crane according to any one of claims 22 to 24.

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