Method, device and rough terrain crane for controlling speed

Abstract

The present application discloses a method, a device and an off-road tyre crane for controlling speed. The method includes: obtaining the working condition data of the off-road tyre crane; matching the acceleration curve in the database according to the working condition data; determining the measured tyre pressure and the theoretical tyre pressure of the off-road tyre crane; judging whether the measured tyre pressure is consistent with the theoretical tyre pressure; maintaining the acceleration curve when it is determined that the measured tyre pressure is consistent with the theoretical tyre pressure; and adjusting the acceleration curve according to the measured tyre pressure when it is determined that the measured tyre pressure is inconsistent with the theoretical tyre pressure. The present application can solve the problem that the load is prone to swing during load-carrying driving, reduce the heavy dependence on the operator, and improve the safety of the off-road tyre crane during load-carrying driving.

Description

Technical Field

[0001] The present application relates to the technical field of construction machinery, and particularly to a method and device for controlling speed and a rough terrain crane. Background Art

[0002] A rough terrain crane has the function of traveling at a certain speed while lifting a heavy load, that is, the load-carrying traveling function, which is an important characteristic function of a rough terrain crane.

[0003] When traveling with a load, the boom is lifting a heavy load, the whole machine has a large weight and a high center of gravity. During the acceleration and deceleration in the traveling process, the heavy load will directly swing due to inertia. If the operation is too fierce, dangerous situations that affect the operation safety, such as severe swinging of the suspended load, excessive dynamic load on the tires, and vehicle nodding, are likely to occur. The boom length, load weight, traveling speed, and acceleration during operation are all key factors affecting the operation stability. Under different working conditions, due to different conditions such as boom length, boom amplitude, and load weight, the corresponding optimal maximum vehicle speed and acceleration curve are also different. The existing technology only limits the maximum traveling speed in the control strategy, and the operation smoothness completely depends on the experience and habits of the operator.

[0004] Therefore, how to solve the problem of easy swinging of the suspended load during load-carrying traveling and reduce the heavy dependence on the operator has become a key technology and prominent problem in improving the load-carrying traveling safety of rough terrain cranes. Summary of the Invention

[0005] The purpose of the embodiments of the present application is to provide a method and device for controlling speed and a rough terrain crane, so as to solve the problems of easy swinging of the suspended load during load-carrying traveling and heavy dependence on the operator in the prior art.

[0006] To achieve the above purpose, the first aspect of the present application provides a method for controlling speed, which is applied to a rough terrain crane traveling with a load. The method includes:

[0007] Obtain the working condition data of the rough terrain crane;

[0008] Match the acceleration curve in the database according to the working condition data;

[0009] Determine the measured tire pressure and the theoretical tire pressure of the rough terrain crane;

[0010] Judge whether the measured tire pressure is consistent with the theoretical tire pressure;

[0011] When it is determined that the measured tire pressure is consistent with the theoretical tire pressure, keep the acceleration curve;

[0012] When it is determined that the measured tire pressure is inconsistent with the theoretical tire pressure, adjust the acceleration curve according to the measured tire pressure.

[0013] In the embodiments of the present application, the working condition data includes:

[0014] The boom length, the boom amplitude, and the lifting weight.

[0015] In the embodiments of the present application, the database includes multiple acceleration curves, and each acceleration curve is matched with the corresponding working condition.

[0016] In the embodiments of the present application, determining the measured tire pressure of the rough terrain crane includes:

[0017] Obtaining the current ambient temperature;

[0018] Obtaining the measured tire pressure at the current ambient temperature.

[0019] In the embodiments of the present application, determining the theoretical tire pressure includes:

[0020] Obtaining the information of the rough terrain crane stored in the database;

[0021] Determining the theoretical tire pressure through a calculation model according to the working condition data and the information of the rough terrain crane;

[0022] In the embodiments of the present application, adjusting the acceleration curve according to the measured tire pressure includes:

[0023] When the difference between the measured tire pressure and the theoretical tire pressure is less than or equal to the data difference threshold, correcting the slope and the maximum speed of the acceleration curve according to a preset mathematical model;

[0024] When the difference between the measured tire pressure and the theoretical tire pressure is greater than the data difference threshold, calling other acceleration curves.

[0025] The second aspect of the present application provides a controller, including:

[0026] A memory configured to store instructions; and

[0027] A processor configured to call the instructions from the memory and capable of implementing the above method for controlling speed when executing the instructions.

[0028] The third aspect of the present application provides a device for controlling speed, characterized by including:

[0029] An acquisition module configured to acquire working condition data;

[0030] According to the above controller.

[0031] In the embodiments of the present application, the acquisition module further includes:

[0032] A pressure sensor disposed on the tire of the rough terrain crane and configured to obtain the measured tire pressure of the tire;

[0033] A temperature sensor is disposed on the rough terrain crane and configured to obtain the current ambient temperature.

[0034] The fourth aspect of the present application provides a rough terrain crane, including the device for controlling speed described above.

[0035] Through the above technical solutions, the working condition data of the rough terrain crane is obtained, and the acceleration curve in the database is matched according to the working condition data. The measured tire pressure and the theoretical tire pressure of the rough terrain crane are determined, and it is judged whether the measured tire pressure is consistent with the theoretical tire pressure. When it is determined that the measured tire pressure is consistent with the theoretical tire pressure, the acceleration curve is maintained; when it is determined that the measured tire pressure is inconsistent with the theoretical tire pressure, the acceleration curve is adjusted according to the measured tire pressure. By collecting the working condition data and matching the corresponding acceleration curve, the present application maximally ensures the smoothness and efficiency of the load-carrying driving, solves the problem that the suspended load is prone to swing during the load-carrying driving, reduces the heavy dependence on the operator, and improves the safety of the rough terrain crane during the load-carrying driving.

[0036] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings are used to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used to explain the embodiments of the present application together with the following specific implementation, but do not constitute a limitation to the embodiments of the present application. In the drawings:

[0038] Figure 1 Schematically shows a flowchart of a method for controlling speed according to an embodiment of the present application;

[0039] FIG. 2(a) schematically shows an acceleration curve diagram according to an embodiment of the present application;

[0040] FIG. 2(b) schematically shows an acceleration curve diagram according to another embodiment of the present application;

[0041] Figure 3 Schematically shows a structural block diagram of a controller according to an embodiment of the present application;

[0042] Figure 4 Schematically shows a device diagram for controlling speed according to an embodiment of the present application.

[0043] DESCRIPTION OF THE REFERENCE NUMERALS

[0044] 410 Acquisition module 411 Pressure sensor

[0045] 412 Temperature sensor 420 Controller Detailed implementation manners

[0046] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It should be understood that the specific implementation manners described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts fall within the scope of protection of the present application.

[0047] It should be noted that if there are directional indications (such as up, down, left, right, front, back,...) involved in the embodiments of the present application, the directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0048] In addition, if descriptions such as "first" and "second" are involved 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 quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present application.

[0049] Figure 1 The flowchart of a method for controlling speed according to an embodiment of the present application is schematically shown. As Figure 1 shown, the embodiment of the present application provides a method for controlling speed, and the method may include the following steps.

[0050] Step 101: Obtain the working condition data of the rough terrain crane.

[0051] In the embodiment of the present application, when the rough terrain crane travels with a load, the whole machine has a large weight, a high center of gravity, and a large inertia. If the operation is too fierce, dangerous situations such as violent swinging of the suspended load, excessive dynamic load on the tires, and vehicle nodding are likely to occur, affecting the operation safety. The boom length, suspended load weight, traveling speed, and acceleration during operation are all key factors affecting the operation stability. Therefore, it is necessary to collect the working condition data of the rough terrain crane when traveling with a load. In one example, the working condition data in the embodiment of the present application may include but is not limited to the boom length, boom amplitude, and suspended load.

[0052] Step 102: Match the acceleration curve in the database according to the working condition data.

[0053] In the embodiment of the present application, the database may include the engine maximum speed setting and the acceleration curve setting. For an off-road tire crane with load-carrying driving, the key points of control are to control the maximum vehicle speed and the acceleration curve. Since the conditions such as the boom length, boom amplitude, and load weight are different under different working conditions, the corresponding optimal maximum vehicle speed and acceleration curve are also different. Therefore, the database may contain multiple engine maximum speeds and multiple acceleration curves. Each set of engine maximum speed and acceleration curve corresponds to a working condition. In one example, through precise calculation and experimental verification, the optimal maximum vehicle speed and acceleration curve under different working conditions can be established in the database. In this way, after the processor obtains the working condition data of the off-road tire crane during load-carrying driving, the corresponding acceleration curve can be matched from the database.

[0054] Step 103: Determine the measured tire pressure and the theoretical tire pressure of the off-road tire crane.

[0055] In the embodiment of the present application, the measured tire pressure is the current actual tire pressure of the tire obtained by the pressure sensor when the off-road tire crane is driving with load, and the theoretical tire pressure is the tire pressure of the tire calculated by the calculation model under the current working condition of the off-road tire crane. To judge whether the off-road tire crane is driving smoothly with load, the change of the tire pressure is a direct sensitive index. Therefore, after matching the acceleration curve corresponding to the working condition, it is necessary to obtain the measured tire pressure and the theoretical tire pressure of the off-road tire crane to compare the consistency of the measured tire pressure and the theoretical tire pressure, so as to adjust the acceleration curve to make it adapt to a wide range of working conditions. In one example, since the tire pressure is not only related to the load but also related to the ambient temperature, it is also necessary to obtain the ambient temperature to compare the consistency of the measured tire pressure and the theoretical tire pressure at this ambient temperature.

[0056] Step 104: When it is determined that the measured tire pressure is consistent with the theoretical tire pressure, keep the acceleration curve.

[0057] In the embodiment of the present application, after determining the measured tire pressure and the theoretical tire pressure of the off-road tire crane, it is necessary to judge whether the measured tire pressure and the theoretical tire pressure are consistent. If the processor determines that the measured tire pressure and the theoretical tire pressure are consistent, it means that the current acceleration curve matches the current working condition and does not need to be corrected. In one example, the measured tire pressure and the theoretical tire pressure are consistent means that the difference is within a preset range. Therefore, when the difference between the measured tire pressure and the theoretical tire pressure is within a preset range, it is determined that the measured tire pressure and the theoretical tire pressure data of the off-road tire crane are consistent, and the existing acceleration curve can be maintained.

[0058] Step 105: When it is determined that the measured tire pressure is inconsistent with the theoretical tire pressure, adjust the acceleration curve according to the measured tire pressure.

[0059] In an embodiment of the present application, if the processor determines that the measured tire pressure is inconsistent with the theoretical tire pressure, it indicates that the current acceleration curve does not fully match the current working condition and needs to be adjusted. In one example, the inconsistency between the measured tire pressure and the theoretical tire pressure means that the difference exceeds a preset range. Therefore, when the difference between the measured tire pressure and the theoretical tire pressure of the rough terrain crane exceeds the preset range, it is determined that the data of the measured tire pressure and the theoretical tire pressure of the rough terrain crane are inconsistent. When it is determined that the data of the measured tire pressure and the theoretical tire pressure of the rough terrain crane are inconsistent, the acceleration curve can be adjusted in two ways. For example, it can be determined whether the data difference between the measured tire pressure and the theoretical tire pressure of the rough terrain crane exceeds a preset difference threshold. When the data difference is less than or equal to the preset difference threshold, the acceleration curve is corrected according to the measured tire pressure. When the data difference is greater than the preset difference threshold, another acceleration curve is called. In this way, by adjusting and correcting the existing acceleration curves in the database, it is possible to better adapt to a wide range of working conditions.

[0060] Through the above technical solution, the working condition data of the rough terrain crane is first obtained, and the acceleration curve in the database is matched according to the working condition data. The measured tire pressure and the theoretical tire pressure of the rough terrain crane are determined, and it is judged whether the measured tire pressure is consistent with the theoretical tire pressure. When it is determined that the measured tire pressure is consistent with the theoretical tire pressure, the acceleration curve is maintained; when it is determined that the measured tire pressure is inconsistent with the theoretical tire pressure, the acceleration curve is adjusted according to the measured tire pressure. The present application collects working condition data and matches the corresponding acceleration curve, which maximally ensures the smoothness and efficiency of load-carrying driving, solves the problem of easy swinging of the suspended load during load-carrying driving, reduces the heavy dependence on the operator, and improves the safety of load-carrying driving of the rough terrain crane.

[0061] In an embodiment of the present application, the working condition data includes:

[0062] Jib length, jib amplitude, and suspended load.

[0063] Specifically, when a rough terrain crane is driving with a load, the whole machine has a large weight, a high center of gravity, and a large inertia. If the operation is too fierce, dangerous situations such as violent swinging of the suspended load, excessive dynamic load on the tires, and vehicle nodding are likely to occur, which affect the operation safety. The jib length, suspended load weight, driving speed, and acceleration during operation are all key factors affecting the operation stability mentioned above. Therefore, it is necessary to collect the working condition data of the rough terrain crane during load-carrying driving. The working condition data may include but is not limited to jib length, jib amplitude, suspended load, speed, and acceleration. Among them, speed and acceleration are auxiliary data but not essential items. When it is necessary to precisely control the driving of the rough terrain crane, speed and acceleration can be collected to accurately judge the actual state of the rough terrain crane.

[0064] In the embodiment of the present application, the database includes multiple acceleration curves, and each acceleration curve is matched with the corresponding working condition.

[0065] Specifically, through precise calculation and experimental verification, multiple acceleration curves and different maximum engine speeds can be pre-stored in the database. For an off-road tire crane with load-carrying driving, each acceleration curve and different maximum engine speeds respectively correspond to different working conditions. Under different working conditions, due to different conditions such as boom length, boom amplitude, and load weight, the corresponding optimal maximum vehicle speed and acceleration curve are also different. After the processor obtains the working condition data of the off-road tire crane during load-carrying driving, it can match the corresponding acceleration curve and maximum engine speed from the database and execute through the speed control execution unit.

[0066] In the embodiment of the present application, determining the measured tire pressure of the off-road tire crane includes:

[0067] Obtain the current ambient temperature;

[0068] Obtain the measured tire pressure at the current ambient temperature.

[0069] Specifically, the measured tire pressure is the actual tire pressure under the current working condition when the off-road tire crane is driving with load. The tire pressure is not only related to the load of the off-road tire crane but also related to the ambient temperature. Therefore, to accurately determine the measured tire pressure, it is necessary to first obtain the ambient temperature. Then, the measured tire pressure at the current time is obtained through the pressure sensor set on the tire of the off-road tire crane, and the measured tire pressure at the current ambient temperature is transmitted to the processor. In this way, the corresponding theoretical tire pressure can be obtained according to the current ambient temperature, so as to compare the measured tire pressure and the theoretical tire pressure at the same ambient temperature, making the subsequent adjustment of the acceleration curve more accurate.

[0070] In the embodiment of the present application, determining the theoretical tire pressure includes:

[0071] Obtain the information of the off-road tire crane stored in the database;

[0072] According to the working condition data and the information of the off-road tire crane, determine the theoretical tire pressure through a calculation model;

[0073] Among them, the information of the off-road tire crane includes weight and / or center of gravity position.

[0074] Specifically, the database stores the self-information of the off-road tire crane, such as information such as weight and center of gravity position. When determining the theoretical tire pressure of the off-road tire crane, the processor first obtains the self-information of the off-road tire crane pre-stored in the database, such as information such as weight and center of gravity position, and then combines the collected signals, such as working condition data such as boom length, boom amplitude, and lifting weight. The processor can quickly calculate the corresponding theoretical tire pressure under this working condition through the calculation model.

[0075] In the embodiments of the present application, adjusting the acceleration curve according to the measured tire pressure includes:

[0076] When the difference between the measured tire pressure and the theoretical tire pressure is less than or equal to the data difference threshold, the slope and maximum speed of the acceleration curve are corrected according to a preset mathematical model;

[0077] When the difference between the measured tire pressure and the theoretical tire pressure is greater than the data difference threshold, another acceleration curve is called.

[0078] FIG. 2(a) schematically shows an acceleration curve diagram according to an embodiment of the present application; FIG. 2(b) schematically shows an acceleration curve diagram according to another embodiment of the present application. In the embodiments of the present application, calling the acceleration curve during execution can maximize the smoothness and efficiency of the rough terrain crane during load-carrying driving, reduce the dependence on the operator, and improve the safety of the operation. As shown in FIGS. 2(a) and 2(b), the acceleration curve of the embodiments of the present application can be the curve shown in FIG. 2(a) or the curve shown in FIG. 2(b). In the embodiments of the present application, when the difference between the measured tire pressure and the theoretical tire pressure of the rough terrain crane exceeds the preset range, the processor determines that the data of the measured tire pressure and the theoretical tire pressure of the rough terrain crane is inconsistent. In the case where it is determined that the data of the measured tire pressure and the theoretical tire pressure of the rough terrain crane is inconsistent, the acceleration curve needs to be adjusted to adapt to the working conditions. Each acceleration curve in the database has a corresponding number, and the two key parameters of the acceleration curve are the curve slope k and the maximum speed v.

[0079] In one example, the processor determines that the difference between the measured tire pressure and the theoretical tire pressure of the rough terrain crane is less than or equal to the preset data difference threshold P in the database x , at this time, the slope k and the acceleration v of the acceleration curve can be slightly corrected according to the preset mathematical model in the database, so that the acceleration curve adapts to the current working conditions. In another example, the processor determines that the difference between the measured tire pressure and the theoretical tire pressure of the rough terrain crane is greater than the preset data difference threshold P in the database x , when the difference between the measured tire pressure and the theoretical tire pressure of the rough terrain crane is greater than the preset data difference threshold P in the database x , the processor directly calls another acceleration curve. In this way, the acceleration curve can have a wide range of working condition adaptability.

[0080] Figure 3 Schematically shows a structural block diagram of a controller according to an embodiment of the present application. As Figure 3 shown, the embodiments of the present application provide a controller, which may include:

[0081] A memory 310, configured to store instructions; and

[0082] A processor 320, configured to call instructions from a memory 310 and capable of implementing the above method for controlling a boom when executing the instructions.

[0083] Specifically, in an embodiment of the present application, the processor 320 may be configured to:

[0084] Obtain the working condition data of a rough terrain crane;

[0085] Match an acceleration curve in a database according to the working condition data;

[0086] Determine the measured tire pressure and the theoretical tire pressure of the rough terrain crane;

[0087] Judge whether the measured tire pressure is consistent with the theoretical tire pressure;

[0088] When it is determined that the measured tire pressure is consistent with the theoretical tire pressure, maintain the acceleration curve;

[0089] When it is determined that the measured tire pressure is inconsistent with the theoretical tire pressure, adjust the acceleration curve according to the measured tire pressure.

[0090] In an embodiment of the present application, the working condition data includes:

[0091] The boom length, the boom amplitude, and the load weight.

[0092] In an embodiment of the present application, the database includes multiple acceleration curves, and each acceleration curve is matched with a corresponding working condition.

[0093] In an embodiment of the present application, determining the measured tire pressure of the rough terrain crane includes:

[0094] Obtain the current ambient temperature;

[0095] Obtain the measured tire pressure at the current ambient temperature.

[0096] Furthermore, the processor 320 may also be configured to:

[0097] Obtain the information of the rough terrain crane stored in the database;

[0098] Determine the theoretical tire pressure through a calculation model according to the working condition data and the information of the rough terrain crane.

[0099] Furthermore, the processor 320 may also be configured to:

[0100] When the difference between the measured tire pressure and the theoretical tire pressure is less than or equal to a data difference threshold, correct the slope and the maximum speed of the acceleration curve according to a preset mathematical model;

[0101] When the difference between the measured tire pressure and the theoretical tire pressure is greater than the data difference threshold, other acceleration curves are called.

[0102] Through the above technical solution, by obtaining the working condition data of the rough terrain crane, the acceleration curve in the database is matched according to the working condition data. Determine the measured tire pressure and the theoretical tire pressure of the rough terrain crane, and judge whether the measured tire pressure is consistent with the theoretical tire pressure. When it is determined that the measured tire pressure is consistent with the theoretical tire pressure, the acceleration curve is maintained; when it is determined that the measured tire pressure is inconsistent with the theoretical tire pressure, the acceleration curve is adjusted according to the measured tire pressure. By collecting the working condition data and matching the corresponding acceleration curve, the present application maximally ensures the smoothness and efficiency of the load-carrying driving, solves the problem of the easy swing of the suspended load during the load-carrying driving, reduces the serious dependence on the operator, and improves the safety of the rough terrain crane during the load-carrying driving.

[0103] Figure 4 Schematically shows a device diagram for controlling speed according to an embodiment of the present application. As Figure 4 shown, an embodiment of the present application further provides a device for controlling speed, which may include:

[0104] A collection module 410, configured to collect working condition data;

[0105] According to the above-mentioned controller 420.

[0106] In an embodiment of the present application, the collection module 410 may include:

[0107] A pressure sensor 411, disposed on the tire of the rough terrain crane, configured to obtain the measured tire pressure of the tire;

[0108] A temperature sensor 412, disposed on the rough terrain crane, configured to obtain the current ambient temperature.

[0109] In the embodiment of the present application, when the rough terrain crane travels with load, the acquisition module can acquire signal such as working condition data including boom length, boom amplitude, load weight, etc. The processor matches the highest engine speed and acceleration curve pre-stored in the database according to the acquired working condition data and executes. The highest engine speed and acceleration curve in the database are excellent configurations corresponding to the working conditions after careful calculation and testing. Invoking the highest engine speed and acceleration curve corresponding to the current working condition can maximize the smoothness and efficiency of traveling with load, reduce the dependence on the operator, and improve the safety of operation. To determine whether the rough terrain crane travels with load smoothly, the change in tire pressure is a direct sensitive indicator. Therefore, after matching the acceleration curve corresponding to the working condition, it is necessary to obtain the measured tire pressure and theoretical tire pressure of the rough terrain crane to determine whether the rough terrain crane travels with load smoothly. The temperature sensor provided on the rough terrain crane first obtains the current ambient temperature, and then the pressure sensor provided on the tire of the rough terrain crane obtains the measured tire pressure at the current temperature. The processor determines whether the theoretical tire pressure obtained through the calculation model is consistent with the measured tire pressure data. When it is determined that the theoretical tire pressure is consistent with the measured tire pressure data, the existing acceleration curve is maintained; when it is determined that the theoretical tire pressure is inconsistent with the measured tire pressure data, the existing acceleration curve is adjusted. Among them, adjusting the existing acceleration curve includes correcting the existing acceleration curve and invoking other curves. When the data difference between the theoretical tire pressure and the measured tire pressure is less than or equal to the preset difference threshold, the processor slightly corrects the existing acceleration curve. When the data difference between the theoretical tire pressure and the measured tire pressure is greater than the preset difference threshold, the processor directly invokes another acceleration curve in the database. In this way, the acceleration curve can adapt to a wide range of working conditions.

[0110] In the embodiment of the present application, the rough terrain crane may further include a display, and the display communicates with the controller. When the controller detects that the real-time working condition data of the rough terrain crane exceeds the stable value, it can send an alarm message to the display to remind the operator to take corresponding measures. Among them, the alarm message may include a display warning and / or an audible and visual warning. In the embodiment of the present application, the situation where the real-time working condition data exceeds the stable value may include various types. In one example, under the corresponding working condition, when the load weight exceeds the performance lifting table, a display warning can be made on the screen of the rough terrain crane. In another example, when the measured tire pressure exceeds the theoretical tire pressure, a display warning can also be made on the screen of the rough terrain crane. Through the display warning and / or audible and visual warning function of the display, the operator can be reminded in time that there is a problem with the actual working condition of the rough terrain crane, improving the safety of driving operation.

[0111] The embodiment of the present application also provides a rough terrain crane, including the device for controlling speed described above.

[0112] An embodiment of the present application also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to cause the machine to execute the above method for controlling the boom.

[0113] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can 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.

[0114] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of the flows and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for realizing the specified functions in Figure 1 one or more of the flows Figure 1 or blocks.

[0115] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device for realizing the specified functions in Figure 1 one or more of the flows Figure 1 or blocks.

[0116] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for realizing the specified functions in Figure 1 one or more of the flows Figure 1 or blocks.

[0117] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and a memory.

[0118] 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.

[0119] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape 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.

[0120] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0121] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for controlling speed, characterized in that, Applied to an off-road tire crane for traveling with load, the method includes: Obtain the working condition data of the off-road tire crane; Match the acceleration curve in the database according to the working condition data; Determine the measured tire pressure and the theoretical tire pressure of the off-road tire crane, where the theoretical tire pressure is the tire pressure of the tire obtained by calculation through a calculation model under the current working condition of the off-road tire crane; Judge whether the measured tire pressure is consistent with the theoretical tire pressure; When it is determined that the measured tire pressure is consistent with the theoretical tire pressure, maintain the acceleration curve; When it is determined that the measured tire pressure is inconsistent with the theoretical tire pressure, adjust the acceleration curve according to the measured tire pressure.

2. The method according to claim 1, wherein The working condition data includes: Jib length, jib amplitude, load weight.

3. The method according to claim 1, wherein The database includes multiple acceleration curves, and each acceleration curve is matched with the corresponding working condition.

4. The method according to claim 1, wherein Determining the measured tire pressure of the off-road tire crane includes: Obtain the current ambient temperature; Obtain the measured tire pressure at the current ambient temperature.

5. The method according to claim 1, characterized in that, The determination of the theoretical tire pressure includes: Obtain the information of the off-road tire crane stored in the database; Determine the theoretical tire pressure through a calculation model according to the working condition data and the information of the off-road tire crane.

6. The method according to claim 1, characterized in that, The adjustment of the acceleration curve according to the measured tire pressure includes: When the difference between the measured tire pressure and the theoretical tire pressure is less than or equal to the data difference threshold, correct the slope and maximum speed of the acceleration curve according to a preset mathematical model; When the difference between the measured tire pressure and the theoretical tire pressure is greater than the data difference threshold, call other acceleration curves.

7. A controller, characterized in that, Includes: A memory configured to store instructions; And A processor configured to call the instructions from the memory and capable of implementing the method for controlling speed according to any one of claims 1 to 6 when executing the instructions.

8. A device for controlling speed, characterized in that, Includes: An acquisition module configured to acquire working condition data; A controller according to claim 7.

9. The device according to claim 8, characterized in that, The acquisition module includes: A pressure sensor disposed on the tire of the off-road tire crane and configured to obtain the measured tire pressure of the tire; A temperature sensor disposed on the off-road tire crane and configured to obtain the current ambient temperature.

10. An off-road tyre crane, characterized in that, Includes the device for controlling speed according to claim 8 or 9.

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