Crane and its working condition recommendation method and system

Abstract

The present application relates to the field of engineering machinery, and specifically to a method, system, and crane for recommending operating conditions. The method comprises obtaining the crane's current operating condition and lifting requirements, determining the crane's initial and final states based on the lifting requirements and current operating condition, screening a family of alternative operating conditions based on the initial and final states, and recommending the screened family of alternative operating conditions. The present application combines the interactivity of a human-machine interface with real-time detection of the crane's current operating condition by a control unit. This application utilizes the configured recommendation logic to recommend operating conditions for the entire crane operation process, from preparation to completion. This reduces the crane's preparation time before formal operation and allows users to more accurately and rationally select operating conditions.

Description

Technical Field

[0001] The present application relates to the field of engineering machinery, and in particular to a method and system for recommending working conditions for a crane, and a crane. Background Art

[0002] As specialized equipment, cranes have strict operating conditions. To describe their lifting capacities under different operating conditions, cranes are equipped with a loadsheet. Before operation, operators must compare the loadsheet with the on-site conditions to select the appropriate operating conditions.

[0003] Large-tonnage cranes utilize single-cylinder latches and typically operate in a variety of conditions, resulting in dozens or even hundreds of load tables. Furthermore, a single crane operation may require the installation of its own accessories, such as outriggers and superlifts. This places high demands on operators, and the ability to quickly and correctly select the appropriate working condition for the entire operation is a crucial metric for evaluating an operator. However, due to limitations in their skills, operators risk selecting the wrong working condition, creating significant safety risks. Furthermore, the inability to select the optimal working condition combination results in wasted time and effort.

[0004] Currently, existing cranes can only recommend working conditions for the crane's formal operation, but cannot recommend working conditions for the crane's preparation stage, that is, they cannot recommend working conditions for the crane's entire operation process. The operating condition recommendation function generally lacks a good human-machine interface, and the unreasonable logic leads to the recommended working conditions being non-optimal, making it difficult to use. Summary of the Invention

[0005] The purpose of this application is to overcome the problem that existing cranes are unable to recommend and select working conditions for the entire operation process of the crane, and to provide a working condition selection method and system for the crane.

[0006] In order to achieve the above-mentioned objectives, the present application provides, in a first aspect, a method for recommending working conditions for a crane, the method comprising:

[0007] Obtain the current working condition and lifting requirements of the crane;

[0008] Determining the initial state and final state of the crane according to the lifting requirements and the current working conditions;

[0009] Filter out the candidate working condition families based on the initial state and final state;

[0010] Recommend the selected candidate operating condition families.

[0011] In the embodiment of the present application, the recommended candidate operating condition families include:

[0012] Determine the operating costs of the alternative operating condition family;

[0013] Sort the operation costs of all candidate working condition families and output the sorting results to the human-machine interface for selection;

[0014] Output corresponding operation instructions according to the selected working condition family.

[0015] In the embodiment of the present application, the initial state and final state of the crane are determined according to the hoisting requirements and the current working conditions, including:

[0016] Determine the initial state based on the current working condition of the crane and the current amplitude and height of the crane hook;

[0017] The final state is determined based on the required lifting height, required lifting range, required lifting weight and working condition details.

[0018] In the embodiment of the present application, the candidate operating condition families are screened out according to the initial state and the final state, including:

[0019] Obtain the required lifting range, required lifting weight, and required lifting height. The required lifting range includes the initial range and final range of the crane hook, and the required lifting height includes the initial height and final height of the crane hook.

[0020] Compare the required lifting amplitude with the amplitude points in the crane's performance table;

[0021] When the required lifting range is equal to the range point in the performance table, all the working condition families that meet the requirements of the operation weight greater than the required lifting weight and the operation range including the required lifting range are selected as the first candidate working condition families;

[0022] All working condition families whose working height range includes the required hoisting height are selected from the first alternative working condition family as alternative working condition families;

[0023] When the lifting amplitude is not equal to the amplitude point in the performance table, find the next amplitude point of the required lifting amplitude in the performance table as the judgment amplitude point;

[0024] According to the judgment amplitude point, all the working condition families that meet the requirements of the operation weight being greater than the required lifting weight and the operation amplitude range including the judgment amplitude point are selected as the second alternative working condition family;

[0025] In the second alternative working condition family, all working condition families whose working height range includes the required hoisting height are selected as alternative working condition families.

[0026] In the embodiment of the present application, screening out the candidate operating condition family according to the initial state and the final state also includes:

[0027] Determine the target working condition of the crane as operating condition or non-operating condition based on the lifting requirements;

[0028] Among them, when the judgment result is that the target working condition is a non-operating working condition, the ending amplitude, ending height and required lifting weight are the values ​​determined under the non-operating working condition.

[0029] In the embodiment of the present application, determining the operation cost of the alternative operating condition family includes:

[0030] Extracting operating factors that affect the operating time from the candidate operating condition family, where the operating factors include at least one of the outrigger status, the major operating condition type, the counterweight, and the arm length combination;

[0031] Assign corresponding weight coefficients to the operating elements;

[0032] Determine the element operation costs corresponding to the operation elements, which include the first element operation cost, the second element operation cost, the third element operation cost, and the fourth element operation cost;

[0033] The operation cost of the alternative working condition family is determined based on the weight coefficient and the element operation cost.

[0034] In the embodiment of the present application, determining the element operation cost corresponding to the operation element includes:

[0035] Determine whether the working condition of the previous step and the working condition of the next step in the alternative working condition family are the same working condition and whether they belong to the same major type of working condition, and determine the assignment of the first factor operation cost based on the judgment result;

[0036] Determine whether the weight of the previous working condition in the candidate working condition family is the same as the weight of the next working condition, and determine the value of the second factor operation cost based on the judgment result;

[0037] Determine whether the outrigger status of the previous working condition in the candidate working condition family is the same as the outrigger status of the next working condition, and determine the value of the third factor operation cost based on the determination result;

[0038] Determine the number of extensions and retractions and the retraction distances required to switch from the arm length combination of the previous working condition to the arm length combination of the next working condition in the alternative working condition family;

[0039] Assign corresponding weight values ​​to the number of expansion and contraction times and the expansion and contraction distance respectively;

[0040] The cost of the fourth factor operation is determined based on the weight value, the number of expansion and contraction times, and the expansion and contraction distance.

[0041] A second aspect of the present application provides a working condition selection system for a crane, comprising:

[0042] Multiple sensors for collecting various current data of the crane;

[0043] a control unit configured to obtain various current data of the crane collected by sensors and determine a current working condition of the crane based on the current data;

[0044] The human-machine interface is configured to input lifting requirements;

[0045] The torque limiter host is configured to execute the above-mentioned working condition recommendation method for the crane.

[0046] In an embodiment of the present application, the human-machine interface is used to output a working condition rapid switching instruction, and the torque limiter host is used to switch the crane working condition according to the working condition rapid switching instruction.

[0047] A third aspect of the present application provides a crane, comprising the above-mentioned working condition recommendation system for the crane.

[0048] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon. When the instructions are executed by a processor, the processor implements the above-mentioned working condition recommendation method for a crane.

[0049] Through the above technical solution, the crane combines the good interactivity of the human-machine interface with the real-time detection of the crane's current working conditions by the control unit. The set recommendation logic can be used to complete the recommendation of the working conditions of the crane from the preparation stage to the completion of the operation, saving the preparation time before the formal operation of the crane and making the user's selection of working conditions more reasonable and accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 The following schematically shows a flow chart of a method for recommending working conditions for a crane according to an embodiment of the present application;

[0051] Figure 2 The following schematically illustrates a flow chart of determining the initial state and final state of a crane according to a lifting requirement and a current working condition according to an embodiment of the present application;

[0052] Figure 3 A schematic diagram of a process for screening out a family of alternative operating conditions based on an initial state and a final state according to an embodiment of the present application is shown;

[0053] Figure 4 Another flow chart of screening out a candidate operating condition family based on an initial state and a final state according to an embodiment of the present application is schematically shown;

[0054] Figure 5 A schematic diagram of a process flow of a family of alternative operating conditions selected based on recommendations in an embodiment of the present application is shown;

[0055] Figure 6A schematic diagram of a process for determining the operation cost of an alternative operating condition family according to an embodiment of the present application is shown;

[0056] Figure 7 A schematic diagram of a process for determining an element operation cost corresponding to an operation element according to an embodiment of the present application is shown; and

[0057] Figure 8 The structural block diagram of the working condition recommendation system for a crane according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0058] The following describes the specific embodiments of the present application in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present application and are not intended to limit the present application.

[0059] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0060] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0061] Figure 1 The flowchart of the working condition recommendation method for a crane according to an embodiment of the present application is schematically shown. Figure 1 As shown, in one embodiment of the present application, a method for recommending working conditions for a crane is provided, and the method may include the following steps:

[0062] Step S101: obtaining the current working condition and lifting requirements of the crane;

[0063] Step S102: determining the initial state and final state of the crane according to the lifting requirements and the current working conditions;

[0064] Step S103: Filter out candidate operating condition families based on the initial state and the final state;

[0065] Step S104: recommending the selected candidate operating condition families.

[0066] In one embodiment of the present application, a crane can rely on a working condition recommendation system to complete the working condition recommendation of the crane. The working condition recommendation system may include a torque limiter host, a human-machine interface, a control unit, and a plurality of matching sensors. Figure 2 The schematic diagram shows a flow chart of determining the initial state and final state of a crane according to the hoisting requirements and the current working conditions according to an embodiment of the present application, as shown in FIG. Figure 2 As shown, in one embodiment of the present application, step S102 includes:

[0067] Step S201: determining an initial state based on the acquired current working condition of the crane and the current amplitude and height of the crane hook;

[0068] Step S202: Determine the final state according to the acquired required lifting height, required lifting range, required lifting weight and working condition details.

[0069] Prior to step S102, the system also includes step S101: obtaining the lifting demand and the current operating condition of the crane. The control unit monitors the crane's status in real time through various sensors distributed on the crane body, acquiring various real-time data. After performing logical operations on the real-time data, the control unit determines the crane's current operating condition. The current operating condition may specifically include the following operating condition details: outrigger status (fully extended or partially extended), boom status (number of boom sections and telescopic combination), counterweight status (weight combination and counterweight rotation radius), jib status (jib length, combination, and jib angle), overlift status (presence of overlift, etc.), and wire rope ratio. The torque limiter host combines the above current operating conditions with the current hook amplitude and height input by the operator via the interactive display screen of the human-machine interface to determine the crane's initial state. In another embodiment of the present application, the initial state of the crane can be set to the default state of the crane being deployed.

[0070] The operator enters the lifting requirements through the interactive display screen of the human-machine interface. The lifting requirements are sent to the torque limiter host. The lifting requirements entered by the operator include the required lifting height, required lifting range, required lifting weight, and other working condition details, such as: outrigger status, boom status, counterweight status, jib status, superlift status, and wire rope ratio. The torque limiter host combines the required lifting height, required lifting range, required lifting weight, and working condition details into the final state of the crane. It is worth noting that the operator can selectively enter some working condition details. The more detailed the working condition details entered, the fewer alternative working condition families the torque limiter host will screen out.

[0071] Figure 3A schematic diagram of a process for selecting a candidate operating condition family based on the initial state and the final state according to an embodiment of the present application is shown. Figure 3 As shown, in one embodiment of the present application, step S103 includes:

[0072] Step S311: Obtain the required lifting range, required lifting weight, and required lifting height;

[0073] Step S312: Compare the required lifting amplitude with the amplitude points in the crane's performance table;

[0074] Step S313a: When the required lifting range is equal to a certain range point in the performance table, all the working condition families that meet the requirements of the operation weight being greater than the required lifting weight and the operation range including the required lifting range are selected as the first candidate working condition family;

[0075] Step S314a: Filter out all working condition families whose working height ranges include the required hoisting height from the first candidate working condition family as candidate working condition families.

[0076] Before step S311, the method further includes step S310: determining whether the target working condition of the crane is an operating condition or a non-operating condition according to the lifting demand.

[0077] Non-operating crane conditions include outrigger hoisting (where the crane hoists its own outriggers and places them in the fully extended outrigger position), counterweight hoisting (where the crane hoists its own counterweight and places it in a fixed position on the crane frame), and overweight hoisting (where the crane hoists its own overweight and places it in a fixed position on the crane frame). The difference between non-operating and operating conditions is that the required lifting weight, end range, and end height for non-operating conditions are already determined.

[0078] In one embodiment of the present application, the crane has four major categories of working conditions, each of which contains multiple specific working conditions. The four major categories of working conditions are: main arm working condition, main arm super-lifting working condition, auxiliary arm super-lifting working condition and tower arm working condition. The non-operating working condition and the operating working condition of the crane correspond to one or more of the four major categories of working conditions of the crane. For example, the major categories of working conditions included in the support plate hoisting and super-lifting hoisting are only the main arm working condition, and the major categories of working conditions included in the counterweight hoisting are the main arm working condition and the main arm super-lifting working condition. The operating hoisting (i.e., the operating condition) includes the above four major categories of working conditions. In particular, the working condition selection method and system for the crane disclosed in the embodiment of the present application is for the recommendation and selection of working conditions for the entire operating process of the crane. Therefore, the working condition family composed of multiple specific working conditions is recommended and output to the human-machine interface by the torque limiter host through logical calculation.

[0079] In one embodiment of the present application, the torque limiter host determines whether the target working condition of the crane is an operating condition or a non-operating condition based on the obtained lifting requirements. If it is an operating condition, the required lifting weight, terminal amplitude and terminal height are all uncertain, so the torque limiter host needs to obtain the required lifting amplitude including the initial amplitude and the terminal amplitude, the required lifting height including the initial height and the terminal height, and the required lifting weight; if it is a non-operating condition, the terminal amplitude, the terminal height and the required lifting weight are all determined values, and the torque limiter host only needs to obtain the initial amplitude and the initial height to perform logical calculations for the recommended working condition.

[0080] In one embodiment of the present application, the required lifting amplitude is compared with the amplitude points in the performance table of the crane. When the required lifting amplitude is equal to a certain amplitude point in the performance table, all the working condition families that meet the requirements that the operating weight is greater than the required lifting weight and the operating amplitude range includes the required lifting amplitude are screened out as the first alternative working condition family. That is, all the first alternative working condition families not only have an operating weight greater than the required lifting weight obtained, but also meet the requirements that the minimum operating amplitude is less than the initial amplitude and the maximum operating amplitude is greater than the termination amplitude. The torque limiter host then screens out all the working condition families whose operating height range includes the required lifting height from the first alternative working condition family as the alternative working condition family. That is, the screened alternative working condition family, in addition to meeting the limiting conditions of the above-mentioned first alternative working condition, also needs to meet the requirements that the minimum operating height is less than the initial height and the maximum operating height is greater than the termination height.

[0081] It is worth noting that the operating height in the first alternative operating condition family is calculated based on the operating range of the first operating condition family. Optionally, the initial height obtained by the torque limiter host can be directly set as the current height of the crane hook.

[0082] In one embodiment of the present application, if the torque limiter host does not obtain the initial height, that is, the operator only inputs the end height, then the operating condition family with a maximum operating height greater than the end height is selected from the first alternative operating condition family as the alternative operating condition family.

[0083] Figure 4 Schematically illustrates another flow chart for selecting an alternative operating condition family based on the initial state and the final state according to an embodiment of the present application. In another embodiment of the present application, as shown in FIG. Figure 4 As shown, step S103 may further include:

[0084] Step S311: Obtaining the required lifting amplitude, required lifting weight, and required lifting height, where the required lifting amplitude includes the initial amplitude and final amplitude of the crane hook, and the required lifting height includes the initial height and final height of the crane hook;

[0085] Step S312: Compare the required lifting amplitude with the amplitude points in the crane's performance table;

[0086] Step S313b: When the required lifting amplitude is not equal to any amplitude point in the performance table, the next amplitude point of the required lifting amplitude in all working conditions in the performance table is searched and used as the judgment amplitude point. Based on the judgment amplitude point, all working condition families that meet the requirements of the operating weight being greater than the required lifting weight and whose operating amplitude range includes the judgment amplitude point are selected as the second candidate working condition family.

[0087] Step S314b: Filter out all the working condition families whose working height ranges include the required hoisting height from the second candidate working condition family as candidate working condition families.

[0088] In one embodiment of the present application, if the amplitude point corresponding to the required hoisting amplitude cannot be found in the performance table, the next amplitude point of the required hoisting amplitude in all working conditions in the performance table is selected as the judgment amplitude point, that is, there is an initial judgment amplitude point and a termination judgment amplitude point. According to the screening of all working condition families that meet the conditions where the operating weight is greater than the required hoisting weight and the operating amplitude range includes the judgment amplitude point, they are used as the second alternative working condition family. That is, all second alternative working condition families not only have an operating weight greater than the required hoisting weight obtained, but also meet the conditions where the minimum operating amplitude is less than the initial judgment amplitude point and the maximum operating amplitude is greater than the termination judgment amplitude point. The torque limiter host then screens out all working condition families whose operating height range includes the required hoisting height from the second alternative working condition family as the alternative working condition family, that is, the screened alternative working condition family, in addition to meeting the limiting conditions of the above-mentioned second alternative working condition, also needs to meet the conditions where the minimum operating height is less than the initial height and the maximum operating height is greater than the termination height.

[0089] It is worth noting that the operating height in the second alternative operating condition family is calculated based on the operating range of the second operating condition family. Optionally, the initial height obtained by the torque limiter host can be directly set as the current height of the crane hook.

[0090] In one embodiment of the present application, if the torque limiter host does not obtain the initial height, that is, the operator only inputs the end height, then the operating condition family with a maximum operating height greater than the end height is selected from the second alternative operating condition family as the alternative operating condition family.

[0091] Figure 5 A schematic diagram of a process flow of the candidate operating condition family selected according to the recommendation of the embodiment of the present application is shown as follows: Figure 5 As shown, in one embodiment of the present application, step 104 includes:

[0092] Step S410: determining the operation cost of the candidate operating condition family;

[0093] Step S420: sorting the operation costs of all candidate working condition families and outputting the sorting results to the human-machine interface for selection;

[0094] Step S430: Outputting corresponding operation instructions according to the selected working condition family.

[0095] In one embodiment of the present application, in step S103, there may be multiple alternative working condition families that meet the screening conditions when screening alternative working condition families. Therefore, it is necessary to calculate and sort the operation costs of all alternative working condition families based on the duration of the operation process, output the sorting results to the human-machine interface for the operator to select, and output corresponding operation instructions according to the selected working condition family.

[0096] Figure 6 A schematic diagram of a process for determining the operation cost of an alternative operating condition family according to an embodiment of the present application is shown as follows: Figure 6 As shown, in one embodiment of the present application, step S410 includes:

[0097] Step S411: extracting the operating factors that affect the operating time from the candidate operating condition family;

[0098] Step S412: assigning corresponding weight coefficients to the operation elements;

[0099] Step S413: determining the element operation cost corresponding to the operation element;

[0100] Step S414: Determine the operation cost of the candidate operating condition family based on the weight coefficient and the element operation cost.

[0101] In one embodiment of the present application, the calculation of the operation cost is based on the time consumed by the operation process, so the operation factors that affect the operation process time in the alternative working condition family are extracted, including the outrigger status, the major type of working condition, the counterweight and the arm length combination. The above operation factors will generate a certain time when switching between working conditions, namely the operation cost, that is, the element operation cost. The operation cost of each operation factor is assigned a corresponding weight coefficient. The specific size of the assigned weight coefficient can be determined according to the crane design standard, and this application does not limit this. The obtained value of the element operation cost is multiplied by the corresponding weight coefficient and then added to obtain the operation cost of the alternative working condition family. In one embodiment of the present application, the operation cost d of the alternative working condition family is calculated by the following formula:

[0102] d=d1×w1+d2×w2+d3×w3+d4×w4

[0103] Among them, d1 is the value of the first factor operation cost, w1 is the weight coefficient corresponding to the first factor operation cost, d2 is the value of the second factor operation cost, w2 is the weight coefficient corresponding to the second factor operation cost, d3 is the value of the third factor operation cost, w3 is the weight coefficient corresponding to the third factor operation cost, d4 is the value of the fourth factor operation cost, and w4 is the weight coefficient corresponding to the fourth factor operation cost.

[0104] Figure 7 A schematic diagram of a process for determining the element operation cost corresponding to the operation element according to an embodiment of the present application is shown as follows: Figure 7 As shown, in one embodiment of the present application, step S413 includes:

[0105] Step S100: determining whether the working condition of the previous step and the working condition of the next step in the candidate working condition family are the same working condition and whether they belong to the same major working condition type, and determining the assignment of the first element operation cost according to the determination result;

[0106] Step S200: determining whether the weight of the working condition in the previous step is the same as the weight of the working condition in the next step in the candidate working condition family, and determining the value of the second factor operation cost according to the determination result;

[0107] Step S300: determining whether the outrigger state of the previous working condition in the candidate working condition family is the same as the outrigger state of the next working condition, and determining the value of the third factor operation cost according to the determination result;

[0108] Step S400: determining the number of telescopic times and telescopic distances required to switch from the arm length combination of the previous working condition to the arm length combination of the next working condition in the candidate working condition family;

[0109] Step S500: assigning corresponding weight values ​​to the number of telescopic times and the telescopic distance respectively;

[0110] Step S600: Determine the fourth factor operation cost according to the weight value, the number of expansion and contraction times, and the expansion and contraction distance.

[0111] If the working condition of the previous step is recorded as working condition A and the working condition of the next step is recorded as working condition B, calculating the operation cost of the alternative working condition family requires traversing all possible combinations of specific working conditions in the previous and next steps in the operation process, that is, calculating the switching costs of multiple different combinations of working conditions A and working condition B of multiple different alternative working condition families, and combining the calculated operation costs of the alternative working condition families into a cost matrix for subsequent output to the human-computer interface.

[0112] First, determine whether working condition A and working condition B are the same working condition. If so, no working cost is generated for this working element. If not, continue to determine whether the working condition category needs to be switched from working condition A to working condition B. If so, the working cost can be used as the first element working cost d1, and the value is 200. If not, the working cost can be used as the first element working cost d1, and the value is 100.

[0113] After determining whether working condition A and working condition B are the same working condition, determine whether working condition A and working condition B have the same weight. If so, this operation element does not generate an operation cost. If not, this operation cost can be used as the second element operation cost d2 and assigned a value of 100.

[0114] After determining whether the counterweights of working conditions A and B are the same, determine whether the outrigger states of working conditions A and B are the same. If so, this operation factor does not generate an operation cost. If not, this operation cost can be used as the third element operation cost d3 and assigned a value of 50;

[0115] It is worth noting that the specific value assigned to the non-numerical operation cost can be set according to the needs of the crane design standards, etc., and this application does not impose any restrictions on this.

[0116] After determining whether the outrigger states of working conditions A and B are the same, the arm length combinations of working conditions A and B are obtained and the cost of switching the arm length combination is calculated.

[0117] In one embodiment of the present application, the arm length combination includes the number of arm sections and the telescopic combination. The main arm of a large-tonnage crane, especially the main arm of an ultra-large tonnage crane, can have many forms. For example, if there are 7 main arms in total, then generally it is a 6-section telescopic boom. However, in order to reduce weight, sometimes a few main arms are removed, for example, 3 sections are removed, then it is a 4-section main arm working condition, and only 3 sections of the boom are telescopic. The 4-section main arm and the 7-section main arm are both main arm working conditions, but the difference between the two is huge, and the switching workload is very large. There are several fixed points for the telescopic position of each boom section, so the telescopic arm section state of the boom can be represented by numbers, position 1 is represented by 1, and 2 is represented by 2. The state of the entire boom can also be represented by numbers. If the telescopic position of a single-section boom is 4, then the fully extended state of the 7-section boom can be represented by 444444, and the fully retracted state can be represented by 111111.

[0118] If the arm length combination of working condition A is 111222, and the arm length combination of working condition B is 111223, then the number of telescopic times from working condition A to working condition B is f=1, and the telescopic distance is s=3-2=1.

[0119] After calculating the number of telescopic times and telescopic distances of the arm length combination switching, this operation cost is used as the fourth element operation cost d4, and the calculation method is set to d4 = f×weight value q1+s×weight value q2.

[0120] Since d1, d2, d3 and d4 are all obtained, the operation cost d of switching from working condition A to working condition B in this alternative working condition family can be calculated and d is aggregated into the cost matrix.

[0121] In one embodiment of the present application, the operation costs of all candidate operating condition families are sorted, and the sorting results are output to a human-machine interface for selection, and the torque limiter host outputs corresponding operation instructions according to the selected operating condition family.

[0122] Figure 8 The structural block diagram of the working condition recommendation system for a crane according to an embodiment of the present application is schematically shown. Figure 8 As shown, in one embodiment of the present application, a working condition recommendation system for a crane is provided, comprising:

[0123] Multiple sensors 4 of various types for collecting various current data of the crane;

[0124] The control unit 1 is configured to obtain various current data of the crane collected by various sensors 4 and determine the current working condition of the crane based on the current data;

[0125] Human-machine interface 2, configured to input lifting requirements, including a lifting requirement input window;

[0126] In one embodiment of the present application, the human-machine interface 2 is configured to input an operation instruction and select an alternative working condition group, and the human-machine interface 2 further includes an operation instruction input window and an alternative working condition group selection window;

[0127] The torque limiter host 3 is configured to execute the above-mentioned recommended method for the crane working condition.

[0128] In one embodiment of the present application, the human-machine interface 2 obtains and displays various status signals sent by the control unit 1 and the torque limiter host 3, and issues relevant alarms and operation prompts.

[0129] In one embodiment of the present application, the operator can output a working condition fast switching instruction through the human-machine interface 2, and the torque limiter host 3 switches the crane working condition according to the working condition fast switching instruction.

[0130] In one embodiment of the present application, the control unit, the human-machine interface and the torque limiter host communicate using a CAN bus.

[0131] In one embodiment of the present application, a crane is provided, comprising the crane operating condition recommendation system as described above.

[0132] In one embodiment of the present application, a machine-readable storage medium is provided, on which instructions are stored, wherein when the instructions are executed by a processor, the processor implements the above-mentioned working condition recommendation method for a crane.

[0133] The preferred embodiments of the present application are described in detail above in conjunction with the accompanying drawings. However, the present application is not limited to the specific details in the above embodiments. Within the technical concept of the present application, various simple modifications can be made to the technical solution of the present application, and these simple modifications all fall within the scope of protection of the present application.

[0134] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner unless there is any contradiction. In order to avoid unnecessary repetition, this application will not further describe various possible combinations.

[0135] In addition, the various implementation methods of the present application may be arbitrarily combined, and as long as they do not violate the concept of the present application, they should also be regarded as the contents disclosed in the present application.

Claims

1. A method for recommending working conditions for a crane, characterized in that: include: Obtain the current working condition and lifting requirements of the crane; Determining the initial state and final state of the crane according to the lifting requirement and the current working condition; Filtering out a family of alternative operating conditions according to the initial state and the final state; Recommend the selected alternative working condition families; The step of selecting a candidate operating condition family according to the initial state and the final state includes: Obtaining a required lifting amplitude, a required lifting weight, and a required lifting height, wherein the required lifting amplitude includes an initial amplitude and an end amplitude of the crane hook, and the required lifting height includes an initial height and an end height of the crane hook; Comparing the required lifting amplitude with the amplitude points in the crane's performance table; When the required lifting amplitude is equal to the amplitude point in the performance table, all operating condition families that meet the requirements of an operating weight greater than the required lifting weight and an operating amplitude range including the required lifting amplitude are selected as the first candidate operating condition family; Filtering out all the working condition families whose working height range includes the required hoisting height from the first candidate working condition family as the candidate working condition family; When the hoisting amplitude is not equal to the amplitude point in the performance table, searching for the next amplitude point of the required hoisting amplitude in the performance table as a judgment amplitude point; According to the judgment amplitude point, all the working condition families that meet the requirements of the operation weight being greater than the required hoisting weight and the operation amplitude range including the judgment amplitude point are screened as the second candidate working condition family; All the operating condition families whose working height ranges include the required hoisting height are screened out from the second candidate operating condition family as the candidate operating condition family.

2. The working condition recommendation method according to claim 1, characterized in that: The recommended and screened candidate operating condition families include: Determining the operation cost of the alternative operating condition family; Sorting the operation costs of all the alternative working condition families, and outputting the sorting results to a human-machine interface for selection; Output corresponding operation instructions according to the selected working condition family.

3. The working condition recommendation method according to claim 1, characterized in that: The determining the initial state and the final state of the crane according to the hoisting requirement and the current working condition includes: Determining the initial state according to the acquired current working condition of the crane and the current amplitude and current height of the crane hook; The final state is determined according to the acquired required lifting height, required lifting range, required lifting weight and working condition details.

4. The working condition recommendation method according to claim 1, characterized in that: The selecting the candidate operating condition family according to the initial state and the final state further includes: Determining, according to the hoisting requirement, whether the target operating condition of the crane is an operating condition or a non-operating condition; Wherein, when the judgment result is that the target working condition is a non-operating working condition, the termination amplitude, the termination height and the required lifting weight are the values ​​determined under the non-operating working condition.

5. The working condition recommendation method according to claim 2, characterized in that: The operation cost of determining the alternative operating condition family includes: Extracting operating factors that affect the operating time from the candidate operating condition family, the operating factors including at least one of an outrigger state, a major operating condition type, a counterweight, and an arm length combination; Assigning corresponding weight coefficients to the operation elements; Determine the element operation cost corresponding to the operation element, the element operation cost including a first element operation cost, a second element operation cost, a third element operation cost, and a fourth element operation cost; The operation cost of the alternative operating condition family is determined according to the weight coefficient and the element operation cost.

6. The working condition recommendation method according to claim 5, characterized in that: Determining the element operation cost corresponding to the operation element includes: Determining whether the working condition of the previous step and the working condition of the next step in the candidate working condition family are the same working condition and whether they belong to the same major category of the working condition, and determining the assignment of the first factor operation cost according to the determination result; Determining whether the weight of the previous working condition in the candidate working condition family is the same as the weight of the next working condition, and determining the value of the second factor operation cost according to the determination result; Determining whether the outrigger state of the previous working condition in the candidate working condition family is the same as the outrigger state of the next working condition, and determining the assignment of the third factor operation cost according to the determination result; Determine the number of telescopic times and telescopic distances required for the arm length combination of the previous working condition in the family of alternative working conditions to switch to the arm length combination of the next working condition; Assigning corresponding weight values ​​to the number of telescopic times and the telescopic distance respectively; The fourth factor operation cost is determined according to the weight value, the number of expansion and contraction times, and the expansion and contraction distance.

7. A working condition recommendation system for a crane, characterized in that: include: Multiple sensors for collecting various current data of the crane; a control unit configured to obtain various current data of the crane collected by the sensors and determine a current working condition of the crane based on the current data; The human-machine interface is configured to input lifting requirements; A torque limiter host is configured to execute the working condition recommendation method for a crane according to any one of claims 1 to 6.

8. The working condition recommendation system for a crane according to claim 7, characterized in that: The human-machine interface is used to output a working condition rapid switching instruction, and the torque limiter host is used to switch the crane working condition according to the working condition rapid switching instruction.

9. A crane, characterized in that: The method comprises the working condition recommendation system for a crane as claimed in claim 7 or 8.

10. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instructions are executed by a processor, the processor implements the working condition recommendation method for a crane according to any one of claims 1 to 6.

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