A caterpillar crane gravity center control method, system, storage medium and intelligent terminal

Abstract

The application relates to a caterpillar crane barycenter control method and system, a storage medium and an intelligent terminal, and relates to the field of caterpillar cranes. The method comprises the following steps: acquiring current state information and current load information; calculating current weight information and current barycenter position information; judging whether the current barycenter position information is located in a critical stable line range information; if yes, normally working; if not, calculating force arm length information and relative angle information; determining required symmetry angle information; determining required jack plug number information; acquiring counterweight weight information of a counterweight block; calculating required force arm length information; determining required rotation angle information; moving the counterweight trolley to an angle corresponding to the required symmetry angle information, and rotating the connecting pipe on the counterweight block into the required jack plug number information and then rotating according to the required rotation angle information. The application has the effect that the barycenter position returns to the stable line range, the caterpillar crane is relatively stable and is not prone to overturning, and the purpose of controlling the barycenter is achieved.

Description

Technical Field

[0001] This application relates to the field of crawler cranes, and in particular to a method, system, storage medium, and intelligent terminal for controlling the center of gravity of a crawler crane. Background Technology

[0002] A crawler crane is a self-propelled crane used in high-rise building construction. It is a type of luffing boom crane that moves using tracks. The tracks have a large ground contact area, good maneuverability, and strong adaptability, allowing it to travel with a load and making it suitable for lifting operations on construction sites. It can perform various operations such as excavation, tamping, and pile driving. However, due to its slow travel speed, long-distance relocation to construction sites requires the use of other vehicles for transport.

[0003] In related technologies, such as Chinese Patent No. CN101934990A, a crawler crane anti-tipping device based on a torque limiter is disclosed. This device includes: a level for measuring the tilt angle of the crawler crane in the horizontal direction; an encoder for measuring the rotation angle of the crawler crane; a torque limiter for measuring the real-time load information of the crawler crane; a controller for calculating the center of gravity position of the crawler crane in real time and controlling the display of the center of gravity position; and a display for displaying the current center of gravity position of the crawler crane in real time. The level, encoder, and torque limiter are all connected to the controller, which in turn is connected to the display.

[0004] Regarding the aforementioned technologies, the inventors believe that the controller is only used to display information about the center of gravity position and only serves as a prompt, but it cannot control changes in the center of gravity and cannot solve practical problems, so there is still room for improvement. Summary of the Invention

[0005] To address the issue that controllers only display information about the center of gravity position, serving only as a prompt but not controlling changes in the center of gravity and thus failing to solve practical problems, this application provides a method, system, storage medium, and intelligent terminal for controlling the center of gravity of a crawler crane.

[0006] Firstly, this application provides a method for controlling the center of gravity of a crawler crane, employing the following technical solution:

[0007] A method for controlling the center of gravity of a crawler crane includes:

[0008] Obtain current status information and current load information;

[0009] The current weight information and current center of gravity position information are calculated based on the current status information, current load information, preset basic weight information and basic center of gravity position information;

[0010] Determine whether the current center of gravity position is within the range corresponding to the preset critical stability line range;

[0011] If so, then it works normally;

[0012] If not, the lever arm length and relative angle information are calculated based on the current center of gravity position information and the preset origin position information.

[0013] Matching analysis is performed based on the symmetrical angle information and relative angle information stored in the preset offset database to determine the symmetrical angle corresponding to the relative angle information, and this symmetrical angle is defined as the required symmetrical angle information;

[0014] The socket number information and the required symmetry angle information stored in the preset socket database are matched and analyzed to determine the socket number corresponding to the required symmetry angle information, and the socket number is defined as the required socket number information.

[0015] Obtain the counterweight weight information;

[0016] The required lever arm length is calculated based on the lever arm length information, current weight information, and counterweight weight information.

[0017] The rotation angle information and demand lever arm length information stored in the preset adjustment database are matched and analyzed to determine the rotation angle corresponding to the demand lever arm length information, and the rotation angle is defined as the demand rotation angle information.

[0018] Move the counterweight trolley to the angle corresponding to the required symmetrical angle information, insert the connecting tube on the counterweight block into the required socket number information, and then rotate it according to the required rotation angle information.

[0019] By adopting the above technical solution, when the center of gravity position exceeds the critical stability line range, it is easy to cause overturning. Therefore, when it exceeds the range, the counterweight trolley is moved to the opposite insertion hole, and then the counterweight block is installed on the crawler crane, so that the center of gravity position returns to the stability line range, making the crawler crane more stable and less prone to overturning, thus achieving the purpose of controlling the center of gravity.

[0020] Optionally, methods for determining whether the current center of gravity position information is within the range corresponding to the critical stability line range information include:

[0021] Calculate the distance between any point on the range line corresponding to the critical stability line range information and the origin position information;

[0022] Filter out the point with the largest distance information, define the distance information as the maximum distance information, and define the point as the maximum lever arm point information;

[0023] The load lever arm information and load angle information are calculated based on the current weight information, maximum lever arm point information, current load information, foundation weight information, and foundation center of gravity position information.

[0024] The lever arm range information and the current state information stored in the preset range database are matched and analyzed to determine the lever arm range corresponding to the current state information, and the lever arm range is defined as the implementation lever arm range information.

[0025] Determine whether the load lever arm information is within the lever arm corresponding to the implementation lever arm range information;

[0026] If it is in the critical stability line range, then adjust the angle information of the crawler crane and the angle of the slewing mechanism according to the load angle information, and adjust the angle of the boom according to the load arm information.

[0027] If not, the output will not be within the range corresponding to the critical stability line range information.

[0028] By adopting the above technical solution, the center of gravity of the crawler crane is changed by rotating the body while keeping the boom stationary. If the center of gravity can be adjusted to the stable line range during the change, it can be changed by altering the relative angle between the boom and the body, eliminating the need for counterweights and improving the portability and self-adjustment capability of the crawler crane.

[0029] Optionally, methods for calculating the required lever arm length based on the lever arm length information, current weight information, and counterweight weight information include:

[0030] The total weight is calculated based on the current load information, base weight information, and counterweight weight information.

[0031] Determine whether the total weight information is greater than the preset weight threshold information;

[0032] If the weight exceeds the weight threshold, the safety counterweight information is calculated based on the current load information, the base weight information, and the preset safety weight information.

[0033] The actual required lever arm length is calculated based on the maximum distance information, current weight information, and safety counterweight information.

[0034] The spacing information and the required socket number information stored in the preset spacing database are matched and analyzed to determine the spacing between the bottom of the required socket number and the origin position information, and this spacing is defined as the socket spacing information.

[0035] The maximum counterweight arm information is calculated based on the socket spacing information and the preset total length of the connecting pipe.

[0036] Determine whether the actual required lever arm length is greater than the maximum counterweight lever arm information;

[0037] If the value exceeds the maximum counterweight arm value, an alarm message will be output.

[0038] If the value is less than the maximum counterweight lever arm information, the counterweight on the counterweight block will be reduced to the safe counterweight information, and the actual required lever arm length information will be output as the required lever arm length information.

[0039] If the weight is less than the weight threshold, the required lever arm length is calculated based on the lever arm length, current weight, and counterweight weight.

[0040] By adopting the above technical solution, the overall weight after the counterweight is increased is calculated to determine whether it exceeds the weight threshold information, thereby avoiding damage to the ground caused by excessive weight of the crawler crane. If the weight threshold information is exceeded, the weight of the counterweight can be reduced by increasing the lever arm of the counterweight under the same torque, thus improving the safety of the crawler crane.

[0041] Optionally, when the required lever arm length information is greater than the maximum counterweight lever arm information, the method for further calculating the required lever arm length information based on the lever arm length information, current weight information, and counterweight weight information includes:

[0042] The required counterweight information is calculated based on the maximum counterweight lever arm information, current weight information, and lever arm length information.

[0043] The theoretical total weight is calculated based on the required counterweight information, current load information, and basic weight information.

[0044] Determine whether the theoretical total weight information is greater than the weight threshold information;

[0045] If the value is greater than the specified value, an operation failure message will be output.

[0046] If it is not greater than, then calculate the difference between the required counterweight information and the counterweight weight information, and define this difference as the weight difference information;

[0047] Obtain the height information and horizontal placement height information of the trolley;

[0048] Calculate the difference between the horizontal placement height information and the trolley height information, and define this difference as the height distance information;

[0049] Matching analysis is performed based on the magnetic attraction strength information, current magnitude information, weight difference information, and height distance information stored in the preset magnetic database to determine the magnetic attraction strength and current magnitude corresponding to the weight difference information and height distance information. The magnetic attraction strength is defined as the required magnetic attraction strength information, and the current magnitude is defined as the required current magnitude information.

[0050] The electromagnet on the trolley is energized according to the required current information to apply a magnetic attraction force to the counterweight according to the required magnetic attraction strength information.

[0051] By adopting the above technical solution, when the required weight of the counterweight is large, the electromagnet on the trolley is energized to attract the counterweight, which is equivalent to adding weight to the counterweight. This allows the purpose of weight change to be achieved without adding an extra counterweight, thus improving the flexibility of the counterweight.

[0052] Optionally, it also includes a method for changing the electromagnet current during lifting or unloading, the method comprising:

[0053] Calculate the difference between the current load information and the preset crane boom weight information, and define the difference as the load weight information;

[0054] The weight change curve information and the weight information of the suspended object stored in the preset change database are matched and analyzed to determine the weight change curve corresponding to the weight information of the suspended object, and the weight change curve is defined as the loading and unloading weight change curve information.

[0055] The crane boom weight information and the loading / unloading weight change curve information are combined to obtain the load change curve information;

[0056] After updating the load change curve information to the current load information, the change curve of the current weight information is obtained. Then, the change curve of the counterweight weight is obtained by calculating according to the required lever arm length information.

[0057] The difference is calculated based on the counterweight weight change curve information and the counterweight weight information, and this difference is defined as the weight difference change curve information.

[0058] The forward distance is calculated based on the maximum counterweight lever arm information and the required lever arm length information.

[0059] The height of the counterweight is calculated based on the forward distance information, the height distance information, and the required rotation angle information.

[0060] Calculate the difference between the counterweight height information and the trolley height information, and define this difference as the actual distance information;

[0061] Matching analysis is performed based on the magnetic attraction strength information, current magnitude information, weight difference change curve information, and actual distance information stored in the magnetic database to determine the magnetic attraction strength and current magnitude corresponding to the weight difference change curve information and actual distance information. The magnetic attraction strength is defined as the variable magnetic attraction strength information, and the current magnitude is defined as the variable current magnitude information.

[0062] After the counterweight trolley moves along the length of the connecting pipe on the horizontal plane according to the forward distance information, it is positioned below the counterweight block. Then, when the lifting or unloading begins, the electromagnet on the trolley is energized according to the changing current information to apply a magnetic attraction force to the counterweight block by changing the magnetic attraction strength information.

[0063] By adopting the above technical solution, the weight of the counterweight changes accordingly by energizing the electromagnet with a changing current. This simulates the load changes during the initial lifting and unloading, ensuring that the center of gravity remains within the stable range. This prevents overturning caused by sudden changes in the center of gravity during lifting or unloading, and improves the intelligent adaptability of the counterweight and its stability throughout the entire dynamic working process.

[0064] Optionally, the method for positioning the counterweight trolley below the counterweight block after advancing along the length of the connecting pipe in the horizontal plane according to the forward distance information includes:

[0065] The distance measurement information in the direction forward of the counterweight trolley toward the origin position is obtained;

[0066] Determine whether the distance measurement information is greater than the forward distance information;

[0067] If it is greater than the distance, then proceed according to the distance traveled;

[0068] If it is less than, the deviation distance information is calculated based on the ranging information and the forward distance information;

[0069] The tilt distance and tilt angle are calculated based on the deviation distance information and the actual distance information.

[0070] The tilt weight difference change curve information is calculated based on the tilt angle information and the weight difference change curve information;

[0071] Matching analysis is performed based on the magnetic attraction strength information, current magnitude information, tilt weight difference change curve information, and tilt distance information stored in the magnetic database to determine the magnetic attraction strength and current magnitude corresponding to the tilt weight difference change curve information and tilt distance information. The magnetic attraction strength is defined as the tilt change magnetic attraction strength information, and the current magnitude is defined as the tilt change current magnitude information.

[0072] After the trolley moves forward according to the distance measurement information, the electromagnet on the trolley is energized according to the tilt change current information when lifting or unloading begins, so as to apply a magnetic attraction force to the counterweight by tilt change magnetic attraction strength information.

[0073] By adopting the above technical solution, obstacles in front of the counterweight trolley are detected. When the counterweight trolley cannot be moved to the corresponding position, the trolley is moved according to the distance measurement information, and then the corresponding magnetic force is provided according to the actual distance, thereby improving the adaptability of the counterweight trolley.

[0074] Optionally, methods for testing the counterweight after use include:

[0075] Obtain vehicle weight information and vehicle body weight information after the counterweight is repositioned onto the counterweight trolley;

[0076] The deviation weight information is calculated based on the vehicle weight information, counterweight weight information, body weight information, and connecting pipe weight information;

[0077] Determine if the deviation weight information is greater than 0;

[0078] If the weight is greater than the target weight, clean along the circumference of the counterweight block and then re-acquire the vehicle weight information. Define this vehicle weight information as the verification vehicle weight information.

[0079] Verify that the vehicle weight information matches the vehicle weight information.

[0080] If they match, update the vehicle weight information to "Check Vehicle Weight Information";

[0081] If they are inconsistent, the vehicle weight information will be updated to the point where the deviation weight information is recalculated after verifying the vehicle weight information until the deviation weight information is 0 or the vehicle weight information is consistent with the vehicle weight information.

[0082] If the value is less than 0, a counterweight block with deviation weight information will be added to the counterweight block.

[0083] By adopting the above technical solution, the weight of the trolley and counterweight is detected after use and compared with the previous weight. If the weight of the counterweight changes, different measures are taken according to the change. This ensures that the counterweight maintains a stable weight before each use, thereby improving the stability and accuracy of the counterweight mechanism.

[0084] Secondly, this application provides a crawler crane center of gravity control system, which adopts the following technical solution:

[0085] A crawler crane center of gravity control system, comprising:

[0086] The information acquisition module is used to acquire current status information and current load information;

[0087] The processing module, connected to the information acquisition module and the judgment module, is used for information storage and processing;

[0088] The calculation module, connected to the processing module, is used to calculate the current weight information and the current center of gravity position information based on the current status information, the current load information, the preset basic weight information, and the basic center of gravity position information.

[0089] The judgment module is used to determine whether the current center of gravity position information is within the range corresponding to the preset critical stability line range information;

[0090] If the judgment module determines that it is true, the processing module will control the normal operation.

[0091] If the judgment module determines no, the calculation module calculates the lever arm length and relative angle information based on the current center of gravity position information and the preset origin position information.

[0092] The processing module performs matching analysis based on the symmetry angle information and relative angle information stored in the preset offset database to determine the symmetry angle corresponding to the relative angle information, and defines the symmetry angle as the required symmetry angle information;

[0093] The processing module performs matching analysis based on the socket number information and the required symmetry angle information stored in the preset socket database to determine the socket number corresponding to the required symmetry angle information, and defines the socket number as the required socket number information.

[0094] The information acquisition module acquires the counterweight weight information of the counterweight block;

[0095] The calculation module calculates the required lever arm length based on the lever arm length information, current weight information, and counterweight weight information.

[0096] The processing module performs matching analysis based on the rotation angle information and demand lever arm length information stored in the preset adjustment database to determine the rotation angle corresponding to the demand lever arm length information, and defines the rotation angle as the demand rotation angle information;

[0097] The processing module moves the counterweight trolley to the angle corresponding to the required symmetrical angle information, inserts the connecting tube on the counterweight block into the required socket number information, and then rotates it according to the required rotation angle information.

[0098] By adopting the above technical solution, when the center of gravity position exceeds the critical stability line range, it is easy to cause overturning. Therefore, when it exceeds the range, the counterweight trolley is moved to the opposite insertion hole, and then the counterweight block is installed on the crawler crane, so that the center of gravity position returns to the stability line range, making the crawler crane more stable and less prone to overturning, thus achieving the purpose of controlling the center of gravity.

[0099] Thirdly, this application provides a smart terminal, which adopts the following technical solution:

[0100] A smart terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed any of the above-mentioned crawler crane center of gravity control methods.

[0101] By adopting the above technical solution, when the center of gravity position exceeds the critical stability line range, it is easy to cause overturning. Therefore, when it exceeds the range, the counterweight trolley is moved to the opposite insertion hole, and then the counterweight block is installed on the crawler crane, so that the center of gravity position returns to the stability line range, making the crawler crane more stable and less prone to overturning, thus achieving the purpose of controlling the center of gravity.

[0102] Fourthly, this application provides a computer-readable storage medium capable of storing corresponding programs, characterized by high detection sensitivity and high accuracy.

[0103] A computer-readable storage medium adopts the following technical solution:

[0104] A computer-readable storage medium storing a computer program that can be loaded by a processor and executed by any of the above-described crawler crane center of gravity control methods.

[0105] By adopting the above technical solution, when the center of gravity position exceeds the critical stability line range, it is easy to cause overturning. Therefore, when it exceeds the range, the counterweight trolley is moved to the opposite insertion hole, and then the counterweight block is installed on the crawler crane, so that the center of gravity position returns to the stability line range, making the crawler crane more stable and less prone to overturning, thus achieving the purpose of controlling the center of gravity.

[0106] In summary, this application includes at least one of the following beneficial technical effects:

[0107] 1. Installing counterweights on the crawler crane brings the center of gravity back to the stability line range, making the crawler crane more stable and less prone to tipping over, thus achieving the purpose of controlling the center of gravity;

[0108] 2. By energizing the electromagnet with varying current, the center of gravity is kept within the stable range, preventing overturning caused by sudden changes in the center of gravity during lifting or unloading, thus improving the intelligent adaptability of the counterweight and its stability throughout the entire dynamic working process.

[0109] 3. By detecting the weight of the trolley and the counterweight, the counterweight can be guaranteed to maintain a stable weight before each use, thus improving the stability and accuracy of the counterweight mechanism. Attached Figure Description

[0110] Figure 1 This is a flowchart of a crawler crane center of gravity control method in an embodiment of this application.

[0111] Figure 2 This is a schematic diagram of the counterweight device for the crawler crane in the embodiments of this application.

[0112] Figure 3 This is a top view of the crawler crane in the embodiments of this application.

[0113] Figure 4 This is a flowchart of a method for determining whether the current center of gravity position information is within the range corresponding to the critical stability line range information in an embodiment of this application.

[0114] Figure 5 This is a flowchart illustrating the method for calculating the required lever arm length information based on lever arm length information, current weight information, and counterweight weight information in an embodiment of this application.

[0115] Figure 6 This is a flowchart illustrating a method for further calculating the required lever arm length information based on lever arm length information, current weight information, and counterweight weight information, as described in this application embodiment.

[0116] Figure 7 This is a flowchart of the method for changing the current of an electromagnet during lifting or unloading, as described in the embodiments of this application.

[0117] Figure 8 This is a flowchart of a method in this application embodiment for positioning the counterweight trolley below the counterweight block after advancing along the length of the connecting pipe on the horizontal plane according to the forward distance information.

[0118] Figure 9 This is a flowchart of the method for detecting the counterweight after its use in the embodiments of this application.

[0119] Figure 10 This is a block diagram of a crawler crane center of gravity control method according to an embodiment of this application. Detailed Implementation

[0120] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figure 1-10 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0121] The embodiments of the present invention will now be described in further detail with reference to the accompanying drawings.

[0122] See Figure 1 This invention provides a method for controlling the center of gravity of a crawler crane. The main process of this method is described below:

[0123] Step 100: Obtain current status information and current load information.

[0124] The current status information refers to the tracked crane's own status, such as tilting or traveling. A tracked crane includes a traveling mechanism, a slewing mechanism, and a lifting mechanism; therefore, the status also includes the slewing state of the slewing mechanism. Each status is measured by a specific instrument. A level measures the tilt angle of the tracked crane in two horizontal directions, and an encoder measures the slewing angle. The current load information includes the weight of the load being lifted and the lifting angle. A torque display measures the real-time load conditions, such as operating conditions, boom length, hook weight, boom angle, and current load.

[0125] Step 101: Calculate the current weight information and current center of gravity position information based on the current status information, current load information, preset basic weight information and basic center of gravity position information.

[0126] The basic weight information refers to the weight of the crawler crane itself, excluding the load and hook. The basic center of gravity position information indicates the location of the basic weight information. The current weight information includes the weight of each part of the crawler crane and the load. This can be obtained from a weighing instrument installed at the bottom of the tracks, or calculated cumulatively from the current load information and the basic weight information. The current center of gravity position information is calculated based on the basic principles of center of gravity composition, such as... Figure 2 As shown.

[0127] Step 102: Determine whether the current center of gravity position information is within the range corresponding to the preset critical stability line range information.

[0128] The critical stability line range refers to the area within the bounded boundary of the critically stable crawler crane. When the center of gravity is within this stability line, the crawler crane is in a relatively safe operating state and is unlikely to overturn; when the center of gravity crosses this stability line, it indicates that the crawler crane's current operating condition is very dangerous and an overturning accident is highly likely.

[0129] Step 1021: If yes, then it works normally.

[0130] If so, it means that it is within the stability range and in a relatively safe operating state, so it can work normally.

[0131] Step 1022: If not, calculate the lever arm length and relative angle information based on the current center of gravity position information and the preset origin position information.

[0132] The origin position information refers to the coordinate center, i.e., the position of the center of gravity when there are no workpieces on it and it is in a resting state. In this application, it is generally the center of the range corresponding to the critical stability line range information. The lever arm length information is the length of the lever arm when the current weight generates torque with the origin position information as the fulcrum. The relative angle information is the angle formed by the direction shown in the figure, i.e., the forward direction of the traveling mechanism, and the forward direction. It can also be the angle of any ray passing through the origin position information, which is only for reference, as long as this ray is fixed. If it is not, it means that it has exceeded the critical stability line range, and overturning may occur.

[0133] Step 103: Perform matching analysis based on the symmetry angle information and relative angle information stored in the preset offset database to determine the symmetry angle corresponding to the relative angle information, and define the symmetry angle as the required symmetry angle information.

[0134] The required symmetry angle information is defined as the angle at which installing the counterweight on the corresponding straight line will pull the current center of gravity back to within the critical stability range. Generally, this angle forms a straight line with the current center of gravity and the origin, with the counterweight on the side furthest from the origin. The database stores the mapping relationship between the required symmetry angle information and the relative angle information. This information is calculated by those skilled in the art based on the principle that the current center of gravity and the origin form a straight line with the counterweight on the side furthest from the origin. When the system receives relative angle information, it automatically retrieves the required symmetry angle information from the database and outputs it.

[0135] Step 104: Perform a matching analysis based on the socket number information and the required symmetry angle information stored in the preset socket database to determine the socket number corresponding to the required symmetry angle information, and define the socket number as the required socket number information.

[0136] The required socket number information refers to the number of the socket into which the connecting tube on the counterweight is inserted. The database stores a mapping relationship between socket numbers and required symmetry angle information. This mapping is performed by personnel skilled in the art, who number the sockets and then match different angles with their corresponding numbers. When the system receives the required symmetry angle information, it automatically retrieves the socket number from the database and outputs the required socket number information.

[0137] Step 105: Obtain the counterweight information of the counterweight block.

[0138] The counterweight information refers to the weight of the counterweight block on the counterweight trolley that will be installed on the crawler crane. It's important to note that this weight includes the weight of the connecting pipe. In subsequent operations, whenever the angle of the connecting pipe changes, the torque generated by the weight of the connecting pipe must be equivalently replaced by the torque generated on the counterweight block. For example... Figure 3 As shown, a pressure sensor is located on top of the counterweight trolley to obtain the weight of the counterweight.

[0139] Step 106: Calculate the required lever arm length based on the lever arm length information, current weight information, and counterweight weight information.

[0140] The required lever arm length information refers to the length of the lever arm of the counterweight that cancels out the torque generated by the current weight information. It is calculated by multiplying the lever arm length information and the current weight information, and then dividing by the counterweight weight information.

[0141] Step 107: Perform a matching analysis based on the rotation angle information and demand lever arm length information stored in the preset adjustment database to determine the rotation angle corresponding to the demand lever arm length information, and define the rotation angle as the demand rotation angle information.

[0142] The required rotation angle information refers to the angle at which the connecting pipe in front of the counterweight is rotated; that is, after rotating by this angle, the center of gravity of the counterweight will be at the required lever arm length. For example... Figure 3 As shown, the end of the connecting tube near the counterweight has a rotating shaft. This shaft can be rotated using a motor or similar device, thus rotating the end of the connecting tube near the counterweight. The database stores a mapping relationship between the required lever arm length and the required rotation angle. This information was calculated and measured by those skilled in the art based on the actual conditions of the socket, the distance between the connecting tube and the origin after insertion, and the change in the horizontal length of the connecting tube after rotation.

[0143] Step 108: Move the counterweight trolley to the angle corresponding to the required symmetrical angle information, insert the connecting tube on the counterweight block into the required socket number information, and then rotate it according to the required rotation angle information.

[0144] Move the counterweight trolley to the angle corresponding to the required symmetry angle information, align the connecting tube with the corresponding socket number information, and insert it. Then, clamp it with the clamping device, fixing the end of the connecting tube away from the counterweight. Next, rotate the connecting tube at its rotation point. Since the end of the connecting tube away from the counterweight is fixed, the end closer to the counterweight rotates, lifting the counterweight off the counterweight trolley. This generates a torque equal to the product of the required lever arm length and the counterweight weight, pulling the overall center of gravity back to its original position. Alternatively, the weight of the counterweight can be appropriately reduced to bring the center of gravity within the critical stability range.

[0145] Reference Figure 4 Methods for determining whether the current center of gravity position is within the range corresponding to the critical stability line range include:

[0146] Step 200: Calculate the distance between any point on the range line corresponding to the critical stability line range information and the origin position information.

[0147] like Figure 2 As shown, the distance information refers to the distance between any point on the range line corresponding to the critical stability line range information and the origin position information. It is calculated as the square root of the difference between the x and y coordinates of the points.

[0148] Step 201: Filter out the point with the largest distance information, define the distance information as the maximum distance information, and define the point as the maximum lever arm point information.

[0149] The maximum distance information refers to the distance with the largest numerical value. The maximum lever arm point information refers to the coordinates of the point whose position from the origin is the point with the maximum distance. Figure 2 The four corners of the rectangle shown are indicated by dashed lines. The purpose of filtering is to determine the largest critical value.

[0150] Step 202: Calculate the load lever arm information and load angle information based on the current weight information, maximum lever arm point information, current load information, base weight information, and base center of gravity position information.

[0151] The load arm information refers to the horizontal length of the load arm required when summing the current weight information according to the arm and angle corresponding to the maximum arm point information. The load angle information is the angle formed by the crane arm and the horizontal plane. After summing the current weight information according to the maximum arm point information, all torques are broken down to obtain the load torque and direction. Then, the arm size is calculated according to the direction and the weight of the load. Finally, the load angle information is calculated based on the length of the crane arm in the load.

[0152] Step 203: Perform a matching analysis based on the lever arm range information and current status information stored in the preset range database to determine the lever arm range corresponding to the current status information, and define the lever arm range as the implementation lever arm range information.

[0153] The implementation lever arm range information refers to the range of horizontal lever arm movement allowed for the crane arm to normally lift and move the load in the current state. The database stores the mapping relationship between lever arm range information and current state information, derived by experts in the field based on long-term operational experience and data analysis simulations. When the system receives the corresponding current state information, it automatically analyzes the parameters affecting the crane arm, then retrieves the corresponding lever arm range from the database and outputs the implementation lever arm range information.

[0154] Step 204: Determine whether the load arm information is within the arm corresponding to the implementation arm range information.

[0155] The purpose of the judgment is to determine whether the machine can still function normally when the lever arm is adjusted to the load lever arm.

[0156] Step 2041: If it is in the critical stability range, adjust the angle information of the crawler crane and the angle of the slewing mechanism according to the load angle information. After adjusting the angle of the boom according to the load arm information, the output is within the range corresponding to the critical stability line range information.

[0157] If so, it means that it can work normally at this time. Then, the crawler crane is adjusted according to the load angle information, and then the slewing frame is adjusted in the opposite direction according to the load angle information. This ensures that the load on the boom remains in its original position, while the relative angle between the boom and the crawler crane changes. The current weight information relative to the position of the crawler crane is within the range corresponding to the critical stability line information, so there is no need to add counterweight and the output is directly within the range corresponding to the critical stability line information.

[0158] Step 2042: If not, the output is not within the range corresponding to the critical stability line range information.

[0159] If it is not within the range specified, it means that the center of gravity of the current weight information cannot be moved to the range corresponding to the critical stability line information by adjusting the angle itself, and the output is not within the range corresponding to the critical stability line information.

[0160] Reference Figure 5 Methods for calculating the required lever arm length based on lever arm length information, current weight information, and counterweight weight information include:

[0161] Step 300: Calculate the total weight information based on the current load information, base weight information, and counterweight weight information.

[0162] The total weight information refers to the overall weight when the counterweight is placed on the crawler crane and the load is lifted. It is calculated by adding all the weights together.

[0163] Step 301: Determine whether the total weight information is greater than the preset weight threshold information.

[0164] The weight threshold information refers to the critical value for bearing weight. It is obtained by those skilled in the art through analysis of actual conditions and measurements and experiments under different operating conditions.

[0165] Step 3011: If the weight exceeds the weight threshold, calculate the safety counterweight information based on the current load information, the base weight information, and the preset safety weight information.

[0166] The safe weight information refers to the weight of the tracked crane when its total weight, including load and counterweight, exerts pressure on the ground within a safe range. It is calculated by subtracting the current load information and the base weight information from the safe weight information.

[0167] Step 3012: If the weight is less than the weight threshold, calculate the required lever arm length based on the lever arm length information, the current weight information, and the counterweight weight information.

[0168] The required lever arm length information refers to the lever arm of the counterweight needed to offset the torque caused by the lever arm length information and the current weight information. It is calculated by multiplying the lever arm length information and the current weight information by the counterweight weight information.

[0169] Step 302: Calculate the actual required lever arm length based on the maximum distance information, current weight information, and safety counterweight information.

[0170] The actual required lever arm length information refers to the lever arm information of the counterweight block corresponding to the safety counterweight information needed to offset the torque required to counteract the maximum distance information and the current weight information. The calculation method is to multiply the maximum distance information and the current weight information by the safety counterweight information.

[0171] Step 303: Perform a matching analysis based on the spacing information and required socket number information stored in the preset spacing database to determine the spacing between the bottom of the required socket and the origin position information, and define this spacing as the socket spacing information.

[0172] The socket spacing information refers to the distance between the bottom of the socket (as indicated by its number) and the origin. The database stores a mapping between the spacing information and the required socket number information, which is measured by professionals in the field according to the actual socket numbers. When the system receives the required socket number information, it automatically retrieves the corresponding spacing from the database and outputs the socket spacing information.

[0173] Step 304: Calculate the maximum counterweight arm information based on the socket spacing information and the preset total length of the connecting pipe.

[0174] The total length information of the connecting pipe refers to the total length of the connecting pipe. The maximum counterweight lever arm information refers to the lever arm of the counterweight block at the point of origin when the connecting pipe is inserted into the required socket number. The calculation method is to add the two together.

[0175] Step 305: Determine whether the actual required lever arm length is greater than the maximum counterweight lever arm information.

[0176] The purpose of the assessment is to determine whether the lever arm length can be set according to the actual requirements, thereby determining whether the weight of the counterweight can be reduced to a safe weight.

[0177] Step 3051: If the value is greater than the maximum counterweight arm information, then output an alarm message.

[0178] The alarm message warns the user of excessive load and impending tipping over. The output can be in any format, such as a red light. If the load exceeds the required lever arm length, it indicates that the weight is too great, and an alarm message should be output.

[0179] Step 3052: If the value is less than the maximum counterweight arm information, the counterweight on the counterweight block is reduced to the safe counterweight information, and the actual required arm length information is output as the required arm length information.

[0180] If it is less than, it means that the lever arm length information can be set according to the actual needs. Then the counterweight on the counterweight block will be reduced to the safe counterweight information, so as to achieve the purpose of preventing overturning while also ensuring safe load.

[0181] Reference Figure 6 When the required lever arm length is greater than the maximum counterweight lever arm length, the methods for further calculating the required lever arm length based on the lever arm length, current weight, and counterweight weight include:

[0182] Step 400: Calculate the required counterweight information based on the maximum counterweight lever arm information, current weight information, and lever arm length information.

[0183] The required counterweight information is the weight information that cancels out the torque corresponding to the current weight information and the lever arm length information according to the maximum counterweight lever arm information. The calculation method is to multiply the current weight information and the lever arm length information and divide by the maximum counterweight lever arm information.

[0184] Step 401: Calculate the theoretical total weight based on the required counterweight information, current load information, and basic weight information.

[0185] The theoretical total weight information is the overall weight after adjusting for required counterweights. It is calculated by adding all the weights together.

[0186] Step 402: Determine whether the theoretical total weight information is greater than the weight threshold information.

[0187] The purpose of the judgment is still to determine whether the weight exceeds the critical value when the counterweight is adjusted according to the required counterweight information.

[0188] Step 4021: If the value is greater than the specified value, output an "operation not possible" message.

[0189] The "Unable to Operate" message indicates that the weight cannot be adjusted according to the required weight information. The output can be any warning format, such as a yellow light. If the value is greater than [a certain value], it means the weight cannot be adjusted according to the required weight information, and an "Unable to Operate" message will be output to warn the user.

[0190] Step 4022: If it is not greater than, calculate the difference between the required counterweight information and the counterweight weight information, and define the difference as the weight difference information.

[0191] The weight difference information is the difference between the required counterweight information and the counterweight weight information. It is calculated by subtracting the two.

[0192] Step 403: Obtain the height information and horizontal placement height information of the trolley.

[0193] The trolley height information refers to the height of the trolley's upper surface. The horizontal placement height information refers to the height of the counterweight from the ground when the connecting tube is inserted and the trolley is placed flat. This information is obtained by placing a height sensor, such as a rangefinder or altitude sensor, on the upper surface of the trolley and the lower surface of the counterweight. The purpose of this information is to determine the distance between the trolley and the counterweight in the vertical direction.

[0194] Step 404: Calculate the difference between the horizontal placement height information and the trolley height information, and define this difference as the height distance information.

[0195] The height distance information is the difference between the horizontal placement height and the trolley height. It is calculated by subtracting the trolley height from the horizontal placement height.

[0196] Step 405: Based on the magnetic attraction strength information, current magnitude information, weight difference information, and height distance information stored in the preset magnetic database, perform matching analysis to determine the magnetic attraction strength and current magnitude corresponding to the weight difference information and height distance information. Define the magnetic attraction strength as the required magnetic attraction strength information and the current magnitude as the required current magnitude information.

[0197] The required magnetic attraction strength information refers to the magnetic attraction strength that creates the weight difference information on the counterweight at the specified height distance. The required current magnitude information refers to the magnitude of the current of the electromagnet that generates the required magnetic attraction strength. The database stores the mapping relationship between magnetic attraction strength information, current magnitude information, weight difference information, and height distance information. Operators in the field apply different magnitudes of current at different horizontal distances and then measure the magnetic attraction strength and force on the test object. When the system receives the weight difference information and height distance information, it automatically retrieves the corresponding magnetic attraction strength and current magnitude from the database and outputs them as the required magnetic attraction strength information and required current magnitude information, respectively.

[0198] Step 406: Power on the electromagnet on the trolley according to the required current information to apply a magnetic attraction force to the counterweight according to the required magnetic attraction strength information.

[0199] The electromagnet on the cart is energized according to the required current, generating a magnetic attraction force to attract the counterweight. This allows the counterweight to generate a force equal to the required counterweight value, even though it only contains the weight information.

[0200] It should be noted that, in order to prevent the electromagnet from attracting the connecting pipe and other parts, anti-magnetic devices can be installed on the outside of the other parts. In order to enhance the mutual attraction between the electromagnet and the counterweight, the counterweight can be set as a partial magnet, that is, a magnetic block is attached to the side near the bottom.

[0201] Reference Figure 7 It also includes a method for changing the current of an electromagnet during lifting or unloading, the method comprising:

[0202] Step 500: Calculate the difference between the current load information and the preset crane boom weight information, and define the difference as the load weight information.

[0203] The boom weight information refers to the weight of the boom itself. The load weight information refers to the weight of the load being lifted. When the current load information is known, it can be separated into boom and load weights. The calculation method is to subtract the boom weight information from the weight corresponding to the current load information.

[0204] Step 501: Match and analyze the weight change curve information and the weight information of the suspended object stored in the preset change database to determine the weight change curve corresponding to the weight information of the suspended object, and define the weight change curve as the loading and unloading weight change curve information.

[0205] The loading / unloading weight change curve information is the curve information showing the change in force acting on the lifting device at the moment of lifting, where the weight of the object is the load information. Since the tension of the load on the lifting rope is not always equal to the weight of the load during lifting, it will show a curve changing over time. It should be noted that the lifting device operates with a constant applied torque, which will not be analyzed here. The database stores the mapping relationship between the weight change curve information and the load weight information. This information is obtained by those skilled in the art by installing tension detectors on the lifting ropes when lifting different objects with a constant applied torque. When the system receives the load weight information, it automatically retrieves the corresponding weight change curve from the database and outputs the loading / unloading weight change curve information.

[0206] Step 502: Merge the crane boom weight information and the loading / unloading weight change curve information to obtain the load change curve information.

[0207] The load variation curve information shows the overall load variation curve after adding the weight of the crane boom to the load. The calculation method is to keep the horizontal axis of the curve constant and add the value corresponding to the crane boom weight to the vertical axis value.

[0208] Step 503: After updating the load change curve information to the current load information, the change curve of the current weight information is obtained. Then, the change curve of the counterweight block is calculated according to the required lever arm length information.

[0209] The counterweight weight change curve information represents the adaptive changes made to the counterweight information after a change in the corresponding load, in order to ensure that all weights remain within a safe range and that the center of gravity is within the critical stability line. The calculation method is the same as the previous steps, except that the values ​​corresponding to the current load information and the weight of the counterweight are replaced with the changed values.

[0210] Step 504: Calculate the difference based on the counterweight change curve information and the counterweight information, and define the difference as the weight difference change curve information.

[0211] The weight difference change curve information represents the difference between the counterweight change curve information and the counterweight information. It is calculated by subtracting the counterweight information value from the value on the ordinate of the counterweight change curve information.

[0212] Step 505: Calculate the forward distance information based on the maximum counterweight lever arm information and the required lever arm length information.

[0213] The forward distance information refers to the distance traveled from the position corresponding to the maximum counterweight arm to the position corresponding to the required arm length. It is calculated by subtracting the two. Alternatively, it can be calculated based on the rotation angle.

[0214] Step 506: Calculate the counterweight height information based on the forward distance information, height distance information, and required rotation angle information.

[0215] The counterweight height information refers to the height of the counterweight after it has rotated according to the required rotation angle. The calculation method is as follows: the forward distance is represented by one leg of a right triangle, and the required rotation angle is represented by the length of the other leg of the right triangle formed by the angles on the same side. This length is the height the counterweight rises to. Adding this height distance information gives the final height of the counterweight above the ground.

[0216] Step 507: Calculate the difference between the counterweight height information and the trolley height information, and define this difference as the actual distance information.

[0217] The actual distance information is the difference between the counterweight height and the trolley height. It is calculated by subtracting the trolley height from the counterweight height.

[0218] Step 508: Based on the magnetic attraction strength information, current magnitude information, weight difference change curve information, and actual distance information stored in the magnetic database, perform matching analysis to determine the magnetic attraction strength and current magnitude corresponding to the weight difference change curve information and actual distance information. Define the magnetic attraction strength as the variable magnetic attraction strength information and the current magnitude as the variable current magnitude information.

[0219] The variable magnetic attraction strength information refers to the change in the required magnetic attraction force when the required attraction force changes. The variable current magnitude information refers to the magnitude of the current that generates the variable magnetic attraction strength information. The database establishment has already been mentioned in step 405, so it will not be repeated here. When the system receives the weight difference change curve information and the actual distance information, it automatically looks up the corresponding magnetic attraction strength and current magnitude from the database and outputs them as variable magnetic attraction strength information and variable current magnitude information, respectively.

[0220] It should be noted that the counterweight is a magnetic object. If the weight difference change is negative, the current will be reversed, thereby generating an opposite magnetic field that repels the magnetic counterweight, thus reducing its weight.

[0221] Step 509: Move the counterweight trolley along the length of the connecting pipe on the horizontal plane according to the forward distance information and position it below the counterweight block. Then, when the lifting or unloading begins, energize the electromagnet on the trolley according to the changing current information to apply a magnetic attraction force to the counterweight block by changing the magnetic attraction strength information.

[0222] Once the required magnetic force is obtained, the counterweight trolley is moved forward along the length of the connecting pipe on the horizontal plane according to the forward distance information. At this time, the counterweight trolley is located below the counterweight block. Then, when lifting or unloading begins, the electromagnet on the counterweight trolley is energized according to the changing current information to achieve changing magnetic attraction strength information, which counteracts the change in gravity caused by lifting or unloading.

[0223] Reference Figure 8 The method for positioning the counterweight trolley below the counterweight block after advancing the connecting pipe along its length on the horizontal plane according to the distance information includes:

[0224] Step 600: Obtain the distance measurement information in the direction forward of the counterweight trolley towards the origin position information.

[0225] The distance measurement information is the distance between the tracked crane or obstacle in front of the counterweight trolley and the trolley, as measured by a distance measuring device in front of the trolley. This information is obtained through the distance measuring device.

[0226] Step 601: Determine whether the distance measurement information is greater than the forward distance information.

[0227] The purpose of the judgment is to determine whether the counterweight trolley can be moved under the counterweight block.

[0228] Step 6011: If it is greater than the distance, proceed according to the distance information.

[0229] If it is greater than that, it means that there are no obstacles on the path of the counterweight trolley to the position below the counterweight block, and it can proceed at that distance.

[0230] Step 6012: If it is less than, calculate the deviation distance information based on the ranging information and the forward distance information.

[0231] The deviation distance information is the difference between the measured distance information and the forward distance information. If it is less than the measured distance information, it means that the counterweight trolley cannot move forward in the direction of the forward distance information until it reaches the bottom of the corresponding counterweight block. The counterweight trolley can only move forward the distance corresponding to the measured distance information.

[0232] Step 602: Calculate the tilt distance information and tilt angle information based on the deviation distance information and the actual distance information.

[0233] The tilt distance information is the distance between the counterweight trolley and the counterweight block after the trolley has traveled a measured distance in the direction corresponding to the origin position information. The tilt angle information is the angle between the line connecting the counterweight trolley and the counterweight block after the trolley has traveled a measured distance in the direction corresponding to the origin position information and the vertical direction. The calculation method is as follows: the hypotenuse of the right triangle formed by the deviation distance information as the horizontal leg and the actual distance information as the vertical leg is the tilt distance information, and the arctangent value of the deviation distance information and the actual distance information is the tilt angle information.

[0234] Step 603: Calculate the tilt weight difference change curve information based on the tilt angle information and the weight difference change curve information.

[0235] The tilt weight difference variation curve information refers to the weight difference variation curve when the tilt angle information is the vector direction and the force generated in the vertical direction is the weight difference variation curve information. It is calculated by dividing the ordinate of the tilt weight difference variation curve information by the cosine value of the tilt angle information.

[0236] Step 604: Based on the magnetic attraction strength information, current magnitude information, tilt weight difference change curve information, and tilt distance information stored in the magnetic database, perform matching analysis to determine the magnetic attraction strength and current magnitude corresponding to the tilt weight difference change curve information and tilt distance information. Define the magnetic attraction strength as tilt change magnetic attraction strength information and the current magnitude as tilt change current magnitude information.

[0237] The information on tilt-change magnetic attraction intensity refers to the magnitude of the magnetic attraction force generated by the tilt weight difference change curve after the distance between the two objects changes to the tilt distance information. The information on tilt-change current magnitude refers to the magnitude of the current that generates the tilt-change magnetic attraction intensity information. The database is established by the method in step 405, which will not be elaborated here. When the system receives the corresponding tilt weight difference change curve information and tilt distance information, it automatically retrieves the corresponding magnetic attraction intensity and current magnitude from the database and outputs them as tilt-change magnetic attraction intensity information and tilt-change current magnitude information, respectively.

[0238] Step 605: After the trolley moves forward according to the distance measurement information, the electromagnet on the trolley is energized according to the tilt change current information when lifting or unloading, so as to apply a suction force to the counterweight by tilt change magnetic attraction strength information.

[0239] When the counterweight trolley cannot move under the counterweight block, it will move forward according to the distance measurement information. At this time, the distance between the trolley and the counterweight block is the tilt distance information. In order to generate the magnetic attraction force of the weight difference change curve information, the current intensity will be automatically turned on according to the tilt change current magnitude information to achieve the tilt change magnetic attraction intensity information to apply attraction force to the counterweight block.

[0240] Reference Figure 9 The methods for testing the counterweight after use include:

[0241] Step 700: Obtain vehicle weight information and vehicle body weight information after the counterweight is repositioned on the counterweight trolley.

[0242] The vehicle weight information refers to the total weight of the counterweight trolley, counterweight blocks, and connecting pipes. The vehicle body weight information refers to the weight of the counterweight trolley itself. Both are obtained directly from gravity sensors; the vehicle body weight information is acquired before the counterweight blocks are placed, and the vehicle weight information is acquired after the counterweight blocks are placed.

[0243] Step 701: Calculate the deviation weight information based on the vehicle weight information, counterweight weight information, vehicle body weight information, and connecting pipe weight information.

[0244] The deviation weight information is the difference between the measured weight of the counterweight and the theoretical weight of the counterweight. Since both the electromagnets of the counterweight and the counterweight cart generate magnetism, they may attract nearby objects, increasing the weight on the counterweight or the counterweight cart. Conversely, when the counterweight is placed on the counterweight cart, it may collide with each other and break, resulting in a weight loss. Therefore, it is necessary to detect the weight loss each time.

[0245] Step 702: Determine whether the deviation weight information is greater than 0.

[0246] The purpose of the assessment is to determine whether there are any missing or attached items.

[0247] Step 7021: If it is greater than the target weight, clean along the circumference of the counterweight block and then re-acquire the vehicle weight information. Define the vehicle weight information as the vehicle weight verification information.

[0248] The vehicle weight verification involves checking the weight of all counterweight components after cleaning the exposed surfaces of the counterweight blocks. If the weight is greater than the original weight, it indicates an increase in the counterweight's weight. The counterweight blocks will then be cleaned to determine if the increased weight is indeed on them. It's important to note that since the components adhering to the counterweight blocks are often magnetic, they possess a certain adhesive force. Therefore, cleaning can be done by scraping along the outer surface of the counterweight blocks with a scraper; a robotic arm on the counterweight cart will scrape the outer surface with the scraper.

[0249] Step 7022: If the value is less than 0, add a counterweight block with deviation weight information to the counterweight block.

[0250] If it is less than, it means that the weight of the counterweight has been reduced. So now the deviation weight information is added to the counterweight to make the overall vehicle weight reach the theoretical weight.

[0251] Step 703: Verify whether the vehicle weight information matches the vehicle weight information.

[0252] The purpose of the judgment is to determine whether the cleaning is complete.

[0253] Step 7031: If they match, update the vehicle weight information to "verify vehicle weight information".

[0254] If they match, it means that the adsorbed material on the counterweight has been cleaned. Since the weight change on the trolley does not affect the function of the counterweight during operation, it is only necessary to determine the vehicle weight information. There is no need to check the change in the vehicle weight information. Therefore, the vehicle weight information after cleaning is the theoretical vehicle weight information.

[0255] Step 7032: If they are inconsistent, update the vehicle weight information to the vehicle weight information and then recalculate the deviation weight information until the deviation weight information is 0 or the vehicle weight information and the vehicle weight information are consistent.

[0256] If there is a discrepancy, it means that the cleaning is not yet complete or cannot be completed. Continue cleaning until the deviation weight information is 0, at which point it means that cleaning can no longer continue; or continue cleaning until the vehicle weight information is verified to be consistent with the vehicle weight information, at which point it means that the cleaning is complete.

[0257] Based on the same inventive concept, embodiments of the present invention provide a crawler crane center of gravity control system, comprising:

[0258] Reference Figure 10 A crawler crane center of gravity control system, comprising:

[0259] The information acquisition module 803 is used to acquire current status information and current load information;

[0260] The processing module 801 is connected to the information acquisition module 803 and the judgment module 802, and is used for information storage and processing.

[0261] The calculation module 804 is connected to the processing module 801 and is used to calculate the current weight information and the current center of gravity position information based on the current status information, the current load information, the preset basic weight information and the basic center of gravity position information.

[0262] The determination module 805, connected to the processing module 801, is used to determine whether the current center of gravity position information is within the range corresponding to the critical stability line range information;

[0263] The power supply module 806 is connected to the processing module 801 and is used to control the change of the electromagnet current during lifting or unloading.

[0264] The drive module 807, connected to the processing module 801, is used to move the counterweight trolley along the length of the connecting pipe on the horizontal plane according to the forward distance information and position it below the counterweight block.

[0265] The detection module 808, connected to the processing module 801, is used to detect the counterweight after it has been used.

[0266] The judgment module 802 is used to determine whether the current center of gravity position information is within the range corresponding to the preset critical stability line range information;

[0267] If the judgment module 802 determines that it is true, then the processing module 801 controls the normal operation.

[0268] If the judgment module 802 determines no, the calculation module 804 calculates the lever arm length information and relative angle information based on the current center of gravity position information and the preset origin position information.

[0269] The processing module 801 performs matching analysis based on the symmetry angle information and relative angle information stored in the preset offset database to determine the symmetry angle corresponding to the relative angle information, and defines the symmetry angle as the required symmetry angle information.

[0270] The processing module 801 performs a matching analysis based on the socket number information and the required symmetry angle information stored in the preset socket database to determine the socket number corresponding to the required symmetry angle information, and defines the socket number as the required socket number information.

[0271] The information acquisition module 803 acquires the counterweight weight information of the counterweight block;

[0272] The calculation module 804 calculates the required lever arm length information based on the lever arm length information, the current weight information, and the counterweight weight information;

[0273] The processing module 801 performs a matching analysis based on the rotation angle information and demand lever arm length information stored in the preset adjustment database to determine the rotation angle corresponding to the demand lever arm length information, and defines the rotation angle as the demand rotation angle information.

[0274] The processing module 801 moves the counterweight trolley to the angle corresponding to the required symmetrical angle information, inserts the connecting tube on the counterweight block into the required socket number information, and then rotates it according to the required rotation angle information.

[0275] This invention provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as a method for controlling the center of gravity of a crawler crane.

[0276] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0277] Based on the same inventive concept, embodiments of the present invention provide an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded and executed by the processor to control the center of gravity of a crawler crane.

[0278] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0279] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A method for controlling the center of gravity of a crawler crane, characterized in that, include: Obtain current status information and current load information; The current weight information and current center of gravity position information are calculated based on the current status information, current load information, preset basic weight information and basic center of gravity position information; Determine whether the current center of gravity position is within the range corresponding to the preset critical stability line range; If so, then it works normally; If not, the lever arm length and relative angle information are calculated based on the current center of gravity position information and the preset origin position information. Matching analysis is performed based on the symmetry angle information and relative angle information stored in the preset offset database to determine the symmetry angle corresponding to the relative angle information, and this symmetry angle is defined as the required symmetry angle information. The socket number information and the required symmetry angle information stored in the preset socket database are matched and analyzed to determine the socket number corresponding to the required symmetry angle information. The socket number is defined as the required socket number information. The required socket number information is the number of the socket into which the connecting tube on the counterweight is inserted. One end of the connecting tube is connected to the counterweight, and the other end of the connecting tube is inserted into the socket. Obtain the counterweight weight information; The required lever arm length is calculated based on the lever arm length information, current weight information, and counterweight weight information. The rotation angle information and demand lever arm length information stored in the preset adjustment database are matched and analyzed to determine the rotation angle corresponding to the demand lever arm length information, and the rotation angle is defined as the demand rotation angle information. Move the counterweight trolley to the angle corresponding to the required symmetrical angle information, insert the connecting tube on the counterweight block into the required socket number information, and then rotate it according to the required rotation angle information.

2. The method for controlling the center of gravity of a crawler crane according to claim 1, characterized in that, Methods for determining whether the current center of gravity position information is within the range corresponding to the critical stability line range information include: Calculate the distance between any point on the range line corresponding to the critical stability line range information and the origin position information; Filter out the point with the largest distance information, define the distance information as the maximum distance information, and define the point as the maximum lever arm point information; The load lever arm information and load angle information are calculated based on the current weight information, maximum lever arm point information, current load information, foundation weight information, and foundation center of gravity position information. The lever arm range information and the current state information stored in the preset range database are matched and analyzed to determine the lever arm range corresponding to the current state information, and the lever arm range is defined as the implementation lever arm range information. Determine whether the load lever arm information is within the lever arm corresponding to the implementation lever arm range information; If it is in the critical stability line range, then adjust the angle information of the crawler crane and the angle of the slewing mechanism according to the load angle information, and adjust the angle of the boom according to the load arm information. If not, the output will not be within the range corresponding to the critical stability line range information.

3. The method for controlling the center of gravity of a crawler crane according to claim 2, characterized in that, Methods for calculating the required lever arm length based on lever arm length information, current weight information, and counterweight weight information include: The total weight is calculated based on the current load information, base weight information, and counterweight weight information. Determine whether the total weight information is greater than the preset weight threshold information; If the weight exceeds the weight threshold, the safety counterweight information is calculated based on the current load information, the base weight information, and the preset safety weight information. The actual required lever arm length is calculated based on the maximum distance information, current weight information, and safety counterweight information. The spacing information and the required socket number information stored in the preset spacing database are matched and analyzed to determine the spacing between the bottom of the required socket number and the origin position information, and this spacing is defined as the socket spacing information. The maximum counterweight arm information is calculated based on the socket spacing information and the preset total length of the connecting pipe. Determine whether the actual required lever arm length is greater than the maximum counterweight lever arm information; If the value exceeds the maximum counterweight arm value, an alarm message will be output. If the value is less than the maximum counterweight lever arm information, the counterweight on the counterweight block will be reduced to the safe counterweight information, and the actual required lever arm length information will be output as the required lever arm length information. If the weight is less than the weight threshold, the required lever arm length is calculated based on the lever arm length, current weight, and counterweight weight.

4. The method for controlling the center of gravity of a crawler crane according to claim 3, characterized in that, When the required lever arm length is greater than the maximum counterweight lever arm length, methods for further calculating the required lever arm length based on the lever arm length, current weight, and counterweight weight include: The required counterweight information is calculated based on the maximum counterweight lever arm information, current weight information, and lever arm length information. The theoretical total weight is calculated based on the required counterweight information, current load information, and basic weight information. Determine whether the theoretical total weight information is greater than the weight threshold information; If the weight exceeds the weight threshold, an "operation not possible" message will be output. If it is not greater than, then calculate the difference between the required counterweight information and the counterweight weight information, and define this difference as the weight difference information; Obtain the trolley height information and horizontal placement height information. The horizontal placement height information is the height of the counterweight from the ground when the connecting pipe is inserted and the trolley is placed flat. Calculate the difference between the horizontal placement height information and the trolley height information, and define this difference as the height distance information; Matching analysis is performed based on the magnetic attraction strength information, current magnitude information, weight difference information, and height distance information stored in the preset magnetic database to determine the magnetic attraction strength and current magnitude corresponding to the weight difference information and height distance information. The magnetic attraction strength is defined as the required magnetic attraction strength information, and the current magnitude is defined as the required current magnitude information. The electromagnet on the trolley is energized according to the required current information to apply a magnetic attraction force to the counterweight according to the required magnetic attraction strength information.

5. The method for controlling the center of gravity of a crawler crane according to claim 4, characterized in that, It also includes a method for changing the current of an electromagnet during lifting or unloading, the method comprising: Calculate the difference between the current load information and the preset crane boom weight information, and define the difference as the load weight information; The weight change curve information and the weight information of the suspended object stored in the preset change database are matched and analyzed to determine the weight change curve corresponding to the weight information of the suspended object, and the weight change curve is defined as the loading and unloading weight change curve information. The crane boom weight information and the loading / unloading weight change curve information are combined to obtain the load change curve information; After updating the load change curve information to the current load information, the change curve of the current weight information is obtained. Then, the change curve of the counterweight weight is obtained by calculating according to the required lever arm length information. The difference is calculated based on the counterweight weight change curve information and the counterweight weight information, and this difference is defined as the weight difference change curve information. The forward distance is calculated based on the maximum counterweight lever arm information and the required lever arm length information. The height of the counterweight is calculated based on the forward distance information, the height distance information, and the required rotation angle information. Calculate the difference between the counterweight height information and the trolley height information, and define this difference as the actual distance information; Matching analysis is performed based on the magnetic attraction strength information, current magnitude information, weight difference change curve information, and actual distance information stored in the magnetic database to determine the magnetic attraction strength and current magnitude corresponding to the weight difference change curve information and actual distance information. The magnetic attraction strength is defined as the variable magnetic attraction strength information, and the current magnitude is defined as the variable current magnitude information. After the counterweight trolley moves along the length of the connecting pipe on the horizontal plane according to the forward distance information, it is positioned below the counterweight block. Then, when the lifting or unloading begins, the electromagnet on the trolley is energized according to the changing current information to apply a magnetic attraction force to the counterweight block by changing the magnetic attraction strength information.

6. The method for controlling the center of gravity of a crawler crane according to claim 5, characterized in that, Methods for positioning the counterweight trolley below the counterweight block after advancing the connecting pipe along its horizontal length according to the travel distance information include: The distance measurement information in the direction forward of the counterweight trolley toward the origin position is obtained; Determine whether the distance measurement information is greater than the forward distance information; If it is greater than the distance, then proceed according to the distance traveled; If it is less than, the deviation distance information is calculated based on the ranging information and the forward distance information; The tilt distance and tilt angle are calculated based on the deviation distance information and the actual distance information. The tilt weight difference change curve information is calculated based on the tilt angle information and the weight difference change curve information; Matching analysis is performed based on the magnetic attraction strength information, current magnitude information, tilt weight difference change curve information, and tilt distance information stored in the magnetic database to determine the magnetic attraction strength and current magnitude corresponding to the tilt weight difference change curve information and tilt distance information. The magnetic attraction strength is defined as the tilt change magnetic attraction strength information, and the current magnitude is defined as the tilt change current magnitude information. After the trolley moves forward according to the distance measurement information, the electromagnet on the trolley is energized according to the tilt change current information when lifting or unloading begins, so as to apply a magnetic attraction force to the counterweight by tilt change magnetic attraction strength information.

7. The method for controlling the center of gravity of a crawler crane according to claim 6, characterized in that, The methods for testing counterweights after use include: Obtain vehicle weight information and vehicle body weight information after the counterweight is repositioned onto the counterweight trolley; The deviation weight information is calculated based on the vehicle weight information, counterweight weight information, body weight information, and connecting pipe weight information; Determine if the deviation weight information is greater than 0; If the weight is greater than the target weight, clean along the circumference of the counterweight block and then re-acquire the vehicle weight information. Define this vehicle weight information as the verification vehicle weight information. Verify that the vehicle weight information matches the vehicle weight information. If they match, update the vehicle weight information to "Check Vehicle Weight Information"; If they are inconsistent, the vehicle weight information will be updated to the point where the deviation weight information is recalculated after verifying the vehicle weight information until the deviation weight information is 0 or the vehicle weight information is consistent with the vehicle weight information. If the value is less than 0, a counterweight block with deviation weight information will be added to the counterweight block.

8. A crawler crane center of gravity control system, characterized in that, include: The information acquisition module is used to acquire current status information and current load information; The processing module, connected to the information acquisition module and the judgment module, is used for information storage and processing; The calculation module, connected to the processing module, is used to calculate the current weight information and the current center of gravity position information based on the current status information, the current load information, the preset basic weight information, and the basic center of gravity position information. The judgment module is used to determine whether the current center of gravity position information is within the range corresponding to the preset critical stability line range information; If the judgment module determines that it is true, the processing module will control the normal operation. If the judgment module determines no, the calculation module calculates the lever arm length and relative angle information based on the current center of gravity position information and the preset origin position information. The processing module performs matching analysis based on the symmetry angle information and relative angle information stored in the preset offset database to determine the symmetry angle corresponding to the relative angle information, and defines the symmetry angle as the required symmetry angle information; The processing module performs matching analysis based on the socket number information and the required symmetry angle information stored in the preset socket database to determine the socket number corresponding to the required symmetry angle information, and defines the socket number as the required socket number information. The information acquisition module acquires the counterweight weight information of the counterweight block; The calculation module calculates the required lever arm length based on the lever arm length information, current weight information, and counterweight weight information. The processing module performs matching analysis based on the rotation angle information and demand lever arm length information stored in the preset adjustment database to determine the rotation angle corresponding to the demand lever arm length information, and defines the rotation angle as the demand rotation angle information; The processing module moves the counterweight trolley to the angle corresponding to the required symmetrical angle information, inserts the connecting tube on the counterweight block into the required socket number information, and then rotates it according to the required rotation angle information.

9. A smart terminal, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in any one of claims 1 to 7 for controlling the center of gravity of a crawler crane.

10. A computer-readable storage medium, characterized in that, The system stores a computer program capable of being loaded by a processor and executing the tracked crane center of gravity control method as described in any one of claims 1 to 7.

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