Control method, controller, control device for a crane jib and crane

Abstract

The present application relates to the technical field of engineering machinery, and discloses a control method, a controller, a control device and a crane for a crane jib. The control method comprises the following steps: receiving a luffing instruction; in the case of luffing from a horizontal posture to a working posture, acquiring the tension of a drag plate; controlling the main arm to perform a luffing-up action and controlling the tower auxiliary arm to perform a luffing-down action, and making the arm head of the tower auxiliary arm be in a ground-touching state and the tension of the drag plate be within a preset change range; acquiring the angle of the main arm; in the case of luffing-up of the main arm to above a preset safety angle, stopping the luffing-up action of the main arm and stopping the luffing-down action of the tower auxiliary arm; and controlling the tower auxiliary arm to perform a luffing-up action until luffing-up to the working posture. The automatic control of the whole luffing-up process is realized under the premise of safety; the labor intensity of the operator is reduced; the safety accidents caused by subjective errors of the operator are avoided; and the convenience and safety of operation are improved.

Description

Technical Field

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

[0002] To achieve higher lifting heights and greater reach, tower booms (i.e., tower jibs) are increasingly being used on ultra-large tonnage cranes. The tower boom is mounted on the head of the main boom and can be independently raised and lowered by luffing. During tower boom operation, the main boom angle is required to remain fixed at a set angle, with the operating range changed solely by raising and lowering the tower boom. Because the tower boom is mounted on the head of the main boom and inherently carries a significant weight, coordinated control of the main boom and tower boom is crucial when raising the tower boom from the ground to the operating position. Strictly following the operating procedures is essential to prevent tipping accidents.

[0003] In existing crane control systems, boom raising and lowering operations rely primarily on manual coordination by the operator. Operators must strictly adhere to operating procedures and requirements, while constantly monitoring the safety of the crane's load-bearing structure. This manual approach relies solely on operator experience and is prone to accidents caused by misoperation, resulting in low safety standards. Summary of the Invention

[0004] In order to overcome the deficiencies in the prior art, embodiments of the present invention provide a control method, a controller, a control device, and a crane for a crane boom.

[0005] To achieve the above-mentioned object, the present invention provides a control method for a crane boom in a first aspect. The crane comprises: a chassis; a main boom, wherein a first end of the main boom is disposed on the chassis, a second end of the main boom is movably connected to a first end of a tower jib, a tower jib, wherein a second end of the tower jib is connected to a first end of a pull plate; a tower boom mast, which is disposed at the connection between the main boom and the tower jib; and a pull plate, wherein a second end of the pull plate is connected to the tower boom mast. The control method comprises:

[0006] Receive luffing instructions;

[0007] When the luffing instruction is to change the luffing position from the horizontal posture to the working posture, the pulling force of the pulling plate is obtained;

[0008] Control the main boom to perform luffing and the tower jib to perform luffing, and make the tower jib's arm head touch the ground and the tension of the pull plate within the preset range;

[0009] Get the angle of the main arm;

[0010] When the main boom is luffed to a preset safety angle, the main boom luffing action is stopped and the tower jib luffing action is stopped;

[0011] Control the tower jib to perform the luffing action until the luffing reaches the working posture.

[0012] In an embodiment of the present invention, the control method further includes:

[0013] When the luffing instruction is to luff from the working posture to the horizontal posture, the tower jib is controlled to perform the luffing and lowering action until the luffing is lowered to the state where the arm head touches the ground;

[0014] Get the tension of the pull plate;

[0015] Control the main boom to perform luffing and lowering, and control the tower jib to perform luffing and raising, and make the boom head touch the ground and the tension of the pull plate within the preset range;

[0016] When the main boom is luffed down to a horizontal posture and the tower jib is luffed up to a horizontal posture, the movements of the main boom and the tower jib are stopped.

[0017] In an embodiment of the present invention, controlling the main boom to perform a luffing start action and controlling the tower jib to perform a luffing drop action, and ensuring that the boom head of the tower jib is in a ground contact state and the tension of the pull plate is within a preset variation range includes:

[0018] Determine the actual length of the tower jib;

[0019] Obtain the mapping relationship between the tower arm length, tower arm angle and the preset tension range of the pull plate;

[0020] Determine the real-time angle of the tower jib during the luffing and lowering operation of the tower jib;

[0021] Determine the real-time target pulling force range of the pull plate according to the actual length, real-time angle and mapping relationship;

[0022] The tension of the pull plate is controlled within the real-time target tension range under the actual length and real-time angle.

[0023] In an embodiment of the present invention, the crane further comprises: a rope and a tower winch, wherein a first end of the rope is arranged at the tower winch, and a second end of the rope is arranged at the tower arm mast, and the rope is used to control the luffing start and luffing of the tower jib by retracting and releasing the rope;

[0024] The mapping relationship is established in the following way:

[0025] Determine the test tension value of the pull plate when the tower jib is just off the ground at different lengths and angles;

[0026] Determine the preset tension range of the pull plate when the tower jib is in different lengths and angles and the jib head is touching the ground and the rope is tightened based on the test tension value;

[0027] Establish a mapping relationship between the tower arm length, tower arm angle and the preset tension range of the pull plate.

[0028] In an embodiment of the present invention, controlling the tension of the pull plate within a real-time target tension range under the actual length and real-time angle includes:

[0029] When the pulling force of the pull plate is greater than the maximum value in the real-time target pulling force range, the luffing speed of the tower jib is increased until the pulling force of the pull plate is within the real-time target pulling force range;

[0030] When the pulling force of the pull plate is less than the minimum value in the real-time target pulling force range, the luffing speed of the tower jib is reduced until the pulling force of the pull plate is in the real-time target pulling force range.

[0031] In the embodiment of the present invention, the luffing instruction includes the main boom luffing speed and the tower jib luffing speed;

[0032] When the luffing instruction is to luff from the horizontal posture to the working posture, the main boom performs the luffing start action according to the main boom luffing speed, and the tower jib performs the luffing start action according to the tower jib luffing speed;

[0033] When the luffing instruction is to luff from the working posture to the horizontal posture, the tower jib performs the luffing and lowering action according to the tower jib luffing speed, and the main arm performs the luffing and lowering action according to the main arm luffing speed.

[0034] In an embodiment of the present invention, the control method further includes:

[0035] When the luffing instruction is to luff from the working posture to the horizontal posture, and when the tower jib is performing the luffing action, the angle of the main boom is obtained;

[0036] When the angle of the main arm is lower than the preset safety angle, an alarm indication is issued.

[0037] In an embodiment of the present invention, when the luffing instruction is to luff from the working posture to the horizontal posture, controlling the tower jib to perform the luffing and lowering action until the luffing is lowered to the boom head touching the ground includes:

[0038] When the pulling force of the pull plate is less than the preset pulling force for touching the ground, it is determined that the tower auxiliary arm is in the state of touching the ground when the arm head is dropped into the state of touching the ground.

[0039] A second aspect of the present invention provides a controller configured to execute the above-mentioned control method for a crane jib.

[0040] A third aspect of the present invention provides a control device for a crane boom, comprising:

[0041] Main arm angle sensor, used to detect the angle of the main arm;

[0042] Tower arm angle sensor, used to detect the angle of the tower jib;

[0043] A tension sensor for detecting the tension of the pull plate; and

[0044] The controller mentioned above.

[0045] A fourth aspect of the present invention provides a crane comprising the above-mentioned control device.

[0046] Under the tower boom operating condition of the crane, when a luffing instruction is received, and the luffing instruction is to luff from a horizontal position to an operating position, the pulling force of the pull plate is obtained; the main boom is controlled to perform the luffing start action, and the tower jib is controlled to perform the luffing down action, so that the boom head of the tower jib is in a ground-touching state and the pulling force of the pull plate is within a preset variation range; the angle of the main boom is obtained; when the main boom is luffed to above the preset safety angle, the luffing start action of the main boom and the luffing down action of the tower jib are stopped; then the tower jib is controlled to perform the luffing start action until the luffing reaches the operating position. This control process can safely luff the main boom and tower jib from a horizontal position to an operating position, automatically complete the tower boom luffing action under the premise of safety, and automatically complete the process of luffing from a horizontal position to an operating position under the crane tower boom operating condition, realizing automatic control of the entire boom raising process. Compared with the prior art which completely relies on the operator's observation based on experience and manual control, in the embodiments of the present invention, the labor intensity of the operator is reduced, the technical and experience requirements for the operator are lowered, and the difficulty of operation is reduced; there is no need to rely on the subjective judgment of the operator, and safety accidents caused by subjective errors of the operator are avoided; the convenience and safety of operation are greatly improved, and the degree of intelligence and automation is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present invention, but do not constitute a limitation of the embodiments of the present invention. In the accompanying drawings:

[0048] Figure 1 A schematic structural diagram of a crane according to an embodiment of the present invention is shown;

[0049] Figure 2 A flow chart of a method for controlling a crane boom according to an embodiment of the present invention is schematically shown;

[0050] Figure 3Schematically shows one of the posture diagrams of a crane according to an embodiment of the present invention;

[0051] Figure 4 The second schematic diagram of the posture of the crane according to the embodiment of the present invention is schematically shown;

[0052] Figure 5 A schematic diagram of a control hardware block diagram of a crane boom according to an embodiment of the present invention is shown;

[0053] Figure 6 A schematic diagram of an arm raising control flow chart according to an embodiment of the present invention is shown;

[0054] Figure 7 The figure schematically shows a flow chart of arm drop control according to an embodiment of the present invention.

[0055] Description of Reference Numerals

[0056] 10-chassis; 11-tower winch;

[0057] 12-main boom; 13-tower jib;

[0058] 14-pull plate; 15-tower arm mast;

[0059] 16-Rope; 17-Main arm angle sensor;

[0060] 18-tower arm angle sensor; 19-tension sensor;

[0061] 20- torque limiter and human-machine interface; 21- main boom luffing solenoid valve;

[0062] 22- Main boom luffing lowering solenoid valve; 23- Tower boom luffing raising solenoid valve;

[0063] 24-Tower arm luffing and lowering solenoid valve; 25-Controller. DETAILED DESCRIPTION

[0064] The following describes the specific implementation of the embodiment of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the embodiment of the present invention and is not used to limit the embodiment of the present invention.

[0065] It should be noted that if the implementation methods of this application involve directional indications (such as up, down, left, right, front, back, etc.), such directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0066] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of this application, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features specified as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0067] Figure 1 The schematic diagram of the structure of the crane according to the embodiment of the present invention is shown schematically. Figure 1 , cranes include:

[0068] Chassis 10;

[0069] The main arm 12 has a first end provided on the chassis 10, and a second end of the main arm 12 is movably connected to a first end of a tower-type auxiliary arm 13.

[0070] a tower jib 13, wherein a second end of the tower jib 13 is connected to a first end of a pull plate 14;

[0071] The tower arm mast 15 is provided at the connection between the main arm 12 and the tower jib 13;

[0072] The pull plate 14 has a second end connected to the tower arm mast 15 .

[0073] Figure 2 The flowchart of the control method for a crane boom according to an embodiment of the present invention is schematically shown. Figure 2 As shown, in one embodiment of the present invention, a control method for a crane boom is provided, comprising the following steps:

[0074] Step 201, receiving a variable amplitude instruction;

[0075] Step 202 , when the luffing instruction is to change the luffing position from the horizontal position to the working position, obtain the pulling force of the pulling plate 14 ;

[0076] Step 203: Control the main boom 12 to perform a luffing start action, and control the tower jib 13 to perform a luffing drop action, and ensure that the boom head of the tower jib 13 is in a ground contact state and the tension of the pull plate 14 is within a preset range;

[0077] Step 204, obtaining the angle of the main arm 12;

[0078] Step 205 , when the main boom 12 is luffed to a position above a preset safety angle, the luffing action of the main boom 12 is stopped and the luffing action of the tower jib 13 is stopped;

[0079] Step 206 : Control the tower jib 13 to perform a luffing operation until the jib reaches an operating posture.

[0080] The following introduces the three postures of the crane during the process of changing from horizontal posture to working posture. Figure 3 Schematically shows one of the posture diagrams of a crane according to an embodiment of the present invention, Figure 4 The second posture diagram of the crane according to the embodiment of the present invention is schematically shown. Figure 3 The diagram shows the horizontal posture of the crane, with the main arm 12 and the tower jib 13 both being nearly horizontal. Figure 1 The diagram shows the working posture of the crane, in which the main arm 12 and the tower jib 13 are both luffed to a certain angle. Figure 2 It can be understood as the transition posture from horizontal posture to working posture. Figure 2 When the tower arm 13 is in the posture, the arm head of the tower auxiliary arm 13 does not leave the ground, and the pulling force of the pull plate 14 is within the preset variation range so that the tower arm luffing winch rope 16 is tightened and does not become tangled.

[0081] Because the tower arm (i.e., the tower jib 13) is installed at the head of the main arm 12, the tower jib 13 itself is very heavy. Therefore, whether it is raising the tower jib 13 from the ground to the working posture or lowering the tower jib 13 from the working posture to the horizontal posture, the coordinated control of the main arm 12 and the tower jib 13 is very important and must be strictly followed in accordance with the operating procedures. Otherwise, it is easy to cause a rollover accident, resulting in unpredictable losses.

[0082] The crane changes from horizontal posture to working posture, which can be understood as Figures 3 to 4 Then to Figure 1 When receiving the luffing instruction from the horizontal attitude to the working attitude, the initial attitude of the crane is Figure 3 In order to ensure the horizontal posture shown, the main boom 12 is first luffed and raised, and the tower jib 13 is luffed and lowered at the same time, that is, the main boom 12 is raised and the tower jib 13 is luffed at the same time. During this process, it is ensured that the arm head of the tower jib 13 does not leave the ground (that is, it is in the ground contact state), and the tension of the pull plate 14 is within the preset variation range so that the tower arm hoist rope 16 does not loosen or become tangled. The posture of the crane in this process is shown in FIG. Figure 4When the angle of the main boom 12 reaches above the preset safety angle, the luffing start of the main boom 12 and the luffing lowering of the tower jib 13 are stopped. After that, the main boom 12 remains stationary, the arm head of the tower jib 13 is lifted off the ground, and the luffing start operation of the tower jib 13 is continued until the angle of the tower jib 13 reaches the set safety range, as shown in FIG. Figure 1 As shown, at this time, the boom is changed to the working posture.

[0083] The above control process can safely luff the main boom 12 and tower jib 13 from a horizontal position to an operating position, automatically completing the tower boom luffing action under the premise of safety, and automatically completing the luffing process from a horizontal position to an operating position under the crane tower boom working condition, thus realizing automatic control of the entire boom raising process. Compared with the existing technology that relies entirely on the operator's experience and manual control, the embodiments of the present invention reduce the operator's labor intensity, avoid safety accidents caused by subjective operator errors, and greatly improve the convenience and safety of operation.

[0084] In one embodiment, the control method further includes:

[0085] When the luffing instruction is to luff from the working posture to the horizontal posture, the tower jib 13 is controlled to perform the luffing and lowering action until the luffing is lowered to the state where the arm head touches the ground;

[0086] Obtaining the tension of the pull plate 14;

[0087] Control the main boom 12 to perform the luffing action, and control the tower jib 13 to perform the luffing action, and make the boom head touch the ground and the pulling force of the pull plate 14 within the preset range;

[0088] When the main boom 12 is luffed down to a horizontal posture and the tower jib is luffed up to a horizontal posture, the movements of the main boom 12 and the tower jib 13 are stopped.

[0089] The crane changes from the working posture to the horizontal posture, which can be understood as Figures 1 to 4 Then to Figure 3 When receiving the luffing instruction from the working attitude to the horizontal attitude, the initial attitude of the crane is Figure 1 In order to ensure safety, the main arm 12 is kept stationary during the luffing operation, and the tower jib 13 is lowered until the arm head of the tower jib 13 is placed on the ground. Figure 4After that, the luffing operation of the main boom 12 is carried out, and the luffing operation of the tower jib 13 is carried out at the same time, that is, the luffing of the main boom 12 is carried out while the luffing of the tower jib 13 is carried out. At the same time, this process makes the arm head of the tower jib 13 touch the ground (not leaving the ground), and the tension of the pull plate 14 is within the preset range of variation so that the tower arm hoisting rope 16 is tightened and not tangled, until the luffing of the main boom 12 is lowered to a horizontal posture and the luffing of the tower jib 13 is raised to a horizontal posture, the movement of the main boom 12 and the tower jib 13 is stopped, as shown in FIG. Figure 3 As shown, the crane is Figure 3 The posture shown.

[0090] The above control process can safely change the length of the main arm 12 and the tower auxiliary arm 13 from the operating posture to the horizontal posture, automatically complete the tower arm length change action under the premise of safety, and automatically complete the process of changing the length of the crane tower arm from the operating posture to the horizontal posture under the working condition, thereby realizing automatic control of the entire arm drop process.

[0091] In summary, in the embodiment of the present invention, automatic raising and lowering control of the tower jib 13 is achieved, and intelligent control of the entire raising and lowering process is achieved efficiently and safely. The tower jib 13 is automatically raised and lowered under the premise of safety. A complete automatic control process is provided for the entire process from horizontal position to working position, and from working position to horizontal position. Compared with the existing technology that relies entirely on the operator's experience and manual control, the embodiment of the present invention reduces the operator's labor intensity, reduces the operator's technical and experience requirements, and reduces the difficulty of operation. It does not rely on the operator's subjective judgment, avoiding safety accidents caused by the operator's subjective errors. It greatly improves the convenience and safety of operation and enhances the degree of intelligence and automation.

[0092] In one embodiment, controlling the main boom 12 to perform a luffing start action and controlling the tower jib 13 to perform a luffing drop action, and ensuring that the boom head of the tower jib 13 is in a ground contact state and the tension of the pull plate 14 is within a preset variation range includes:

[0093] Determine the actual length of the tower jib 13;

[0094] Obtain the mapping relationship between the tower arm length, tower arm angle and the preset tension range of the pull plate;

[0095] Determining the real-time angle of the tower jib 13 during the process of the tower jib 13 performing the luffing and lowering action;

[0096] Determine the real-time target pulling force range of the pull plate 14 according to the actual length, real-time angle and mapping relationship;

[0097] The pulling force of the pulling plate 14 is controlled within the real-time target pulling force range under the actual length and real-time angle.

[0098] Table 1

[0099]

[0100] Table 1 schematically shows the preset tension of the pull plate corresponding to the state where the tower jib 13 is in different lengths and angles and the jib head touches the ground and the rope 16 is taut and not tangled. Figure 4 Taking F11 as an example, when the length of the tower jib 13 is L1, and the angle of the tower jib 13 is θ1, and the pulling force of the pull plate 14 is F11, it can ensure that the arm head of the tower jib 13 does not leave the ground during the arm raising and lowering process, and at the same time ensure that the tower arm luffing winch rope 16 is taut and not tangled.

[0101] The mapping relationship between the tower arm length, tower arm angle and the preset tension range of the pull plate can be established in advance. When the actual length of the tower auxiliary arm 13 and the current real-time angle of the tower auxiliary arm 13 are determined, the real-time target tension range of the pull plate can be determined according to the mapping relationship, and then the tension of the pull plate 14 can be controlled within the real-time target tension range under the actual length and real-time angle. Figure 4 In the posture, when the main arm 12 performs the luffing starting action and the tower auxiliary arm 13 performs the luffing lowering action, the arm head of the tower auxiliary arm 13 never leaves the ground, and the tower arm luffing winch rope 16 is in a taut and tidy rope state.

[0102] When performing automatic control of the lifting and lowering arm, the preset tension value of the pull plate in this posture is used as the control object, and the PID (Proportion Integral Differential) control algorithm is adopted to adjust the lifting and lowering of the tower auxiliary arm 13 in real time, so that the actual tension of the pull plate 14 is always controlled within the real-time target tension range, thereby realizing automatic lifting and lowering control of the tower auxiliary arm 13.

[0103] In one embodiment, the crane further includes: a rope 16 and a tower winch 11, wherein a first end of the rope 16 is disposed at the tower winch 11, and a second end of the rope 16 is disposed at the tower arm mast 15, and the rope 16 controls the luffing start and luffing stop of the tower jib 13 by retracting and releasing the rope;

[0104] The mapping relationship is established in the following way:

[0105] Determine the test tension value of the pull plate 14 when the tower jib 13 is just off the ground at different lengths and angles;

[0106] Determine the preset tension range of the pull plate when the tower jib 13 is in different lengths and angles and the jib head is touching the ground and the rope 16 is tightened according to the test tension value;

[0107] Establish a mapping relationship between the tower arm length, tower arm angle and the preset tension range of the pull plate.

[0108] The tower jib 13, which can be simply referred to as the tower arm, uses a tension value as the basis for determining whether the boom head of the tower arm 13 is off the ground. First, the test tension values ​​for the tower arm 13 just off the ground are calculated for various boom length combinations and different boom angles. Then, a predetermined tension for the pull plate is determined, taking into account a certain safety margin and combining experimental verification methods. This predetermined tension ensures that the boom head does not leave the ground during the boom raising and lowering process, while also ensuring that the tower arm's luffing winch rope 16 is taut and does not become tangled. A corresponding table of tower arm angles and preset pull plate tension for various boom length combinations is obtained, as shown in Table 1. Linear interpolation is performed on the preset pull plate tension values ​​corresponding to each discrete boom angle point θ1, θ2, θ3, ..., θn to determine the preset pull plate tension value corresponding to any boom angle point for each boom length combination. All preset pull plate tension values ​​are stored in the onboard computer system for automatic, real-time query and recall by the system. In practical applications, a preset pull force range of the pull plate can be determined based on the preset pull force value of the pull plate, thereby establishing a mapping relationship between the tower arm length, the tower arm angle and the preset pull force range of the pull plate.

[0109] In one embodiment, controlling the tension of the pull plate within a real-time target tension range under the actual length and real-time angle includes:

[0110] When the pulling force of the pull plate 14 is greater than the maximum value in the real-time target pulling force range, the luffing speed of the tower jib 13 is increased until the pulling force of the pull plate 14 is within the real-time target pulling force range;

[0111] When the pulling force of the pull plate 14 is less than the minimum value in the real-time target pulling force range, the luffing speed of the tower jib 13 is reduced until the pulling force of the pull plate 14 is in the real-time target pulling force range.

[0112] Figure 5 The control hardware block diagram of the crane boom according to the embodiment of the present invention is schematically shown. Figure 5 The controller 25 monitors all input signals in real time, performs logical operations, and controls the output of the solenoid valve. The main arm angle sensor 17 is installed on the side of the main arm 12 to detect the angle between the main arm 12 and the horizontal plane. The tower arm angle sensor 18 is installed on the side of the tower arm 13 to detect the angle between the tower arm 13 and the horizontal plane. The tension sensor 19 is installed between the pull plate 14 connecting the arm head of the tower arm 13 and the tower arm mast 15 to detect the tension applied to the entire tower arm 13. In addition, there is also a device for controlling the speed of the mechanism, which mainly involves signals from the operating handle and other variable potentiometer signals, etc. The speed of each action is controlled by the input of different control signals.

[0113] The torque limiter and human-machine interface 20 communicates with the controller 25 via the CAN bus. It serves as the interface for the operator to input various control commands, such as operating condition settings, speed settings, and settings for one-button control mode and follow-up control mode. It also displays various status signals sent by the controller 25. The main boom luffing solenoid valve 21 and the main boom luffing solenoid valve 22 control the raising and lowering of the main boom 12, respectively. A higher control current corresponds to a faster speed. The tower boom luffing solenoid valve 23 and the tower boom luffing solenoid valve 24 control the raising and lowering of the tower boom 13, respectively. A higher control current corresponds to a faster speed.

[0114] In one embodiment, the luffing instruction includes a main boom luffing speed and a tower jib luffing speed;

[0115] When the luffing instruction is to luff from the horizontal posture to the working posture, the main boom 12 performs the luffing start action according to the main boom luffing speed, and the tower jib 13 performs the luffing start action according to the tower jib luffing speed;

[0116] When the luffing instruction is to luff from the working posture to the horizontal posture, the tower jib 13 performs the luffing and lowering action according to the tower jib luffing speed, and the main boom 12 performs the luffing and lowering action according to the main boom luffing speed.

[0117] In one embodiment, the control method further includes: when the boom length change instruction is to change the boom length from the working posture to the horizontal posture, and when the tower auxiliary arm 13 performs the boom length change and falling action, obtaining the angle of the main arm 12; when the angle of the main arm 12 is lower than the preset safety angle, issuing an alarm indication.

[0118] In the process of changing the length from the horizontal posture to the working posture, the main arm 12's starting action of changing the length and the tower jib 13's changing length lowering action are stopped only when the main arm 12 changes the length to above the preset safety angle, and then the tower jib 13 is controlled to perform the changing length starting action until the length is changed to the working posture; if the tower jib 13 is controlled to perform the changing length starting action when the angle of the main arm 12 is lower than the preset safety angle, the angle of the main arm 12 is too small at this time, which may easily cause unbalanced force, damage the force-bearing structure, and cause safety accidents such as tipping. Similarly, when the length change instruction is to change the length from the working posture to the horizontal posture, and when the tower jib 13 performs the changing length lowering action, the angle of the main arm 12 is obtained; if the angle of the main arm 12 is lower than the preset safety angle, it may easily cause unbalanced force, damage the force-bearing structure, and cause safety accidents such as tipping, and an alarm indication needs to be issued in a timely manner.

[0119] In one embodiment, when the luffing instruction is to luff from the working posture to the horizontal posture, controlling the tower jib 13 to perform the luffing and lowering action until the luffing is lowered to the state where the boom head touches the ground includes:

[0120] In the case that the pulling force of the pulling plate 14 is less than the preset ground contact pulling force, it is determined that the tower auxiliary arm 13 is in the ground contact state after the arm head is dropped after the luffing.

[0121] The following introduces the one-button arm raising and lowering mode and the follow-up arm raising and lowering mode.

[0122] When one-key arm raising or one-key arm lowering mode is selected, the system automatically completes the Figures 3 to 4 Then to Figure 1 The arm control of the posture, or automatically complete the Figures 1 to 4 Then to Figure 3 The arm drop control of the posture does not require human participation throughout the process, and a pause button is provided to pause the operation at any time.

[0123] When the follow-up arm mode is selected, Figure 3 Posture Figure 4 During the posture process, the system controls the speed of the main arm 12 luffing up according to the size of the manual control signal, and automatically adjusts the luffing speed of the tower arm 13, so that the actual tension of the tower arm 13 is always controlled within the real-time target tension range. When it is detected that the angle of the main arm 12 reaches above the preset safety angle, that is, Figure 4 After that, the system controls the luffing speed of the tower arm 13 according to the size of the manual control signal until it reaches Figure 1 The posture stops. Figure 6 The arm raising control flow chart according to an embodiment of the present invention is schematically shown. Figure 6 .

[0124] When the follow-up arm drop mode is selected, Figure 1 Posture Figure 4 During the posture process, the system controls the speed of the tower arm 13 according to the size of the manual control signal until it reaches Figure 4 At this time, the system automatically stops the luffing action of the tower arm 13 and switches to the linkage control of the luffing of the main arm 12 and the luffing of the tower arm 13. The speed of the luffing of the main arm 12 is controlled by the manual control signal, and the system automatically adjusts the speed of the luffing of the tower arm 13, so that the actual tension of the tower arm 13 is always controlled within the real-time target tension range until it reaches Figure 3 The posture stops. Figure 7 The arm drop control flow chart according to an embodiment of the present invention is schematically shown. Figure 7 .

[0125] This embodiment of the present invention involves four control modes: one-touch arm-raising mode and one-touch arm-lowering mode, which enable fully automatic arm raising and lowering control. A pause control is also designed to allow the boom to stop at any position. Automatic arm raising and lowering control resumes after the pause button is reset. In the follow-up arm-raising and follow-up arm-lowering modes, enabling and speed control are determined by manual control signals, while all other control processes are automatically completed by the system.

[0126] In this embodiment of the present invention, an angle-exceeding alarm function is designed into the boom raising and lowering control process. During boom lowering control, if the angle of the main boom 12 falls below a preset safety angle, the tower boom 13 is automatically shut off from dangerous lowering and an alarm is issued. Furthermore, an alarm for over-tension of the tower boom 13 is designed. If the tension of the tower boom 13 falls below a first set tension or exceeds a second set tension, the system automatically shuts off the tower boom 13 raising and lowering operations and issues an alarm.

[0127] In this embodiment of the present invention, calculations and experiments are conducted to determine the preset tension value required to ensure that the boom head 13 remains grounded under various boom length combinations and different boom angles under various boom operating conditions. This preset tension value is then used as the control target, and the raising and lowering speed of the boom 13 is automatically adjusted to ensure that the actual tension of the boom 13 is always within the real-time target tension range. This enables automatic raising and lowering control of the boom 13's luffing, further realizing automatic control of the entire boom raising and lowering process. This reduces the operator's workload, avoids safety accidents caused by subjective operator errors, enriches the human-computer interaction and alarm functions, and greatly improves the convenience and safety of system operation.

[0128] An embodiment of the present invention provides a controller, which is configured to execute any one of the control methods for a crane boom in the above embodiments.

[0129] The crane includes: a chassis; a main arm, a first end of the main arm is arranged on the chassis, and the second end of the main arm is movably connected to the first end of the tower jib; a tower jib, a second end of the tower jib is connected to the first end of the pull plate; a tower arm mast, arranged at the connection between the main arm and the tower jib; and a pull plate, a second end of the pull plate is connected to the tower arm mast.

[0130] Specifically, the controller can be configured to:

[0131] Receive luffing instructions;

[0132] When the luffing instruction is to change the luffing position from the horizontal posture to the working posture, the pulling force of the pulling plate is obtained;

[0133] Control the main boom to perform luffing and the tower jib to perform luffing, and make the tower jib's arm head touch the ground and the tension of the pull plate within the preset range;

[0134] Get the angle of the main arm;

[0135] When the main boom is luffed to a preset safety angle, the main boom luffing action is stopped and the tower jib luffing action is stopped;

[0136] Control the tower jib to perform the luffing action until the luffing reaches the working posture.

[0137] In an embodiment of the present invention, the controller is further configured to:

[0138] When the luffing instruction is to luff from the working posture to the horizontal posture, the tower jib is controlled to perform the luffing and lowering action until the luffing is lowered to the state where the arm head touches the ground;

[0139] Get the tension of the pull plate;

[0140] Control the main boom to perform luffing and lowering, and control the tower jib to perform luffing and raising, and make the boom head touch the ground and the tension of the pull plate within the preset range;

[0141] When the main boom is luffed down to a horizontal posture and the tower jib is luffed up to a horizontal posture, the movements of the main boom and the tower jib are stopped.

[0142] In an embodiment of the present invention, the controller is configured to:

[0143] Controlling the main boom to perform luffing start and the tower jib to perform luffing drop, and ensuring that the tower jib head is in a ground contact state and the tension of the pull plate is within a preset range includes:

[0144] Determine the actual length of the tower jib;

[0145] Obtain the mapping relationship between the tower arm length, tower arm angle and the preset tension range of the pull plate;

[0146] Determine the real-time angle of the tower jib during the luffing and lowering operation of the tower jib;

[0147] Determine the real-time target pulling force range of the pull plate according to the actual length, real-time angle and mapping relationship;

[0148] The tension of the pull plate is controlled within the real-time target tension range under the actual length and real-time angle.

[0149] In an embodiment of the present invention, the crane further comprises: a rope and a tower winch, wherein the first end of the rope is arranged at the tower winch, and the second end of the rope is arranged at the tower arm mast, and the rope is used to control the luffing start and luffing of the tower jib by retracting and releasing the rope. The controller is configured to:

[0150] The mapping relationship is established in the following way:

[0151] Determine the test tension value of the pull plate when the tower jib is just off the ground at different lengths and angles;

[0152] Determine the preset tension range of the pull plate when the tower jib is in different lengths and angles and the jib head is touching the ground and the rope is tightened based on the test tension value;

[0153] Establish a mapping relationship between the tower arm length, tower arm angle and the preset tension range of the pull plate.

[0154] In an embodiment of the present invention, the controller is configured to:

[0155] Controlling the tension of the pull plate within the real-time target tension range at the actual length and real-time angle includes:

[0156] When the pulling force of the pull plate is greater than the maximum value in the real-time target pulling force range, the luffing speed of the tower jib is increased until the pulling force of the pull plate is within the real-time target pulling force range;

[0157] When the pulling force of the pull plate is less than the minimum value in the real-time target pulling force range, the luffing speed of the tower jib is reduced until the pulling force of the pull plate is in the real-time target pulling force range.

[0158] In an embodiment of the present invention, the controller is configured to:

[0159] The luffing instructions include the main boom luffing speed and the tower jib luffing speed;

[0160] When the luffing instruction is to luff from the horizontal posture to the working posture, the main boom performs the luffing start action according to the main boom luffing speed, and the tower jib performs the luffing start action according to the tower jib luffing speed;

[0161] When the luffing instruction is to luff from the working posture to the horizontal posture, the tower jib performs the luffing and lowering action according to the tower jib luffing speed, and the main arm performs the luffing and lowering action according to the main arm luffing speed.

[0162] In an embodiment of the present invention, the controller is further configured to:

[0163] When the luffing instruction is to luff from the working posture to the horizontal posture, and when the tower jib is performing the luffing action, the angle of the main boom is obtained;

[0164] When the angle of the main arm is lower than the preset safety angle, an alarm indication is issued.

[0165] In an embodiment of the present invention, the controller is configured to:

[0166] When the luffing instruction is to luff from the working posture to the horizontal posture, controlling the tower jib to execute the luffing and lowering action until the luffing is lowered to the state where the boom head touches the ground includes:

[0167] When the pulling force of the pull plate is less than the preset pulling force for touching the ground, it is determined that the tower auxiliary arm is in the state of touching the ground when the arm head is dropped into the state of touching the ground.

[0168] An embodiment of the present invention provides a control device for a crane boom, comprising:

[0169] Main arm angle sensor, used to detect the angle of the main arm;

[0170] Tower arm angle sensor, used to detect the angle of the tower jib;

[0171] A tension sensor for detecting the tension of the pull plate; and

[0172] The controller mentioned above.

[0173] An embodiment of the present invention provides a crane, comprising the above-mentioned control device.

[0174] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0175] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0176] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0177] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0178] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0179] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0180] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0181] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0182] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A control method for a crane boom, characterized in that: The crane includes: a chassis; a main boom, wherein a first end of the main boom is disposed on the chassis, and a second end of the main boom is movably connected to a first end of a tower jib; a tower jib, wherein a second end of the tower jib is connected to a first end of a pull plate; a tower boom mast, which is disposed at a connection between the main boom and the tower jib; and a pull plate, wherein a second end of the pull plate is connected to the tower boom mast; and the control method includes: Receive luffing instructions; When the luffing instruction is to change the luffing position from the horizontal posture to the working posture, obtaining the pulling force of the pulling plate; Controlling the main boom to perform a luffing start action, and controlling the tower jib to perform a luffing drop action, and ensuring that the arm head of the tower jib is in a ground contact state and the tension of the pull plate is within a preset range of variation; Obtaining the angle of the main arm; When the main boom is luffed to a position above a preset safety angle, the luffing start action of the main boom and the luffing lowering action of the tower jib are stopped; Controlling the tower jib to perform a luffing action until the luffing reaches the working posture; The controlling of the main boom to perform a luffing start action and the controlling of the tower jib to perform a luffing drop action, and making the arm head of the tower jib touch the ground and the pulling force of the pull plate within a preset variation range includes: Determining the actual length of the tower jib; Obtain the mapping relationship between the tower arm length, tower arm angle and the preset tension range of the pull plate; Determining a real-time angle of the tower jib during the process of the tower jib performing a luffing and lowering action; Determining a real-time target pulling force range of the pull plate according to the actual length, the real-time angle, and the mapping relationship; Controlling the tension of the pull plate within the real-time target tension range under the actual length and the real-time angle; Wherein, controlling the tension of the pull plate within the real-time target tension range under the actual length and the real-time angle includes: When the pulling force of the pull plate is greater than the maximum value in the real-time target pulling force range, increasing the luffing speed of the tower jib until the pulling force of the pull plate is within the real-time target pulling force range; When the pulling force of the pull plate is less than a minimum value in the real-time target pulling force range, the luffing speed of the tower jib is reduced until the pulling force of the pull plate is within the real-time target pulling force range.

2. The control method according to claim 1, characterized in that: Also includes: When the luffing instruction is to luff from the working posture to the horizontal posture, the tower auxiliary arm is controlled to perform the luffing and lowering action until the luffing is lowered to the state where the arm head touches the ground; Obtaining the tension of the pull plate; Controlling the main boom to perform a luffing and lowering action, and controlling the tower auxiliary boom to perform a luffing and raising action, and ensuring that the boom head is in a ground contact state and the tension of the pull plate is within a preset variation range; When the main boom is luffed down to the horizontal posture and the tower jib is luffed up to the horizontal posture, the movements of the main boom and the tower jib are stopped.

3. The control method according to claim 1, wherein: The crane further comprises: a rope and a tower winch, wherein a first end of the rope is arranged at the tower winch, and a second end of the rope is arranged at the tower arm mast, and the rope is used to control the luffing start and luffing of the tower jib by retracting and releasing the rope; The mapping relationship is established in the following way: Determine the test tension value of the pull plate when the tower auxiliary arm is at different lengths and different angles and the arm head is just off the ground; Determine, based on the test tension values, a preset tension range of the pull plate when the tower jib is at different lengths and angles and the jib head is touching the ground and the rope is tightened; Establish a mapping relationship between the tower arm length, tower arm angle and the preset tension range of the pull plate.

4. The control method according to claim 2, characterized in that: The luffing instruction includes the main arm luffing speed and the tower jib luffing speed; When the luffing instruction is to luff from the horizontal posture to the working posture, the main boom performs the luffing start action according to the main boom luffing speed, and the tower jib performs the luffing start action according to the tower jib luffing speed; When the luffing instruction is to luff from the working posture to the horizontal posture, the tower jib performs the luffing and lowering action according to the tower jib luffing speed, and the main arm performs the luffing and lowering action according to the main arm luffing speed.

5. The control method according to claim 2, characterized in that: Also includes: When the luffing instruction is to luff from the working posture to the horizontal posture, and during the luffing operation of the tower auxiliary arm, obtaining the angle of the main arm; When the angle of the main arm is lower than the preset safety angle, an alarm indication is issued.

6. The control method according to claim 2, characterized in that: When the luffing instruction is to luff from the working posture to the horizontal posture, controlling the tower auxiliary arm to perform the luffing and lowering action until the luffing is lowered to the state where the arm head touches the ground includes: When the pulling force of the pulling plate is less than the preset ground contact pulling force, it is determined that the tower auxiliary arm is in a ground contact state when the arm head is dropped into the ground.

7. A controller, characterized in that: The method is configured to execute the control method for a crane jib according to any one of claims 1 to 6.

8. A control device for a crane boom, characterized in that: include: Main arm angle sensor, used to detect the angle of the main arm; Tower arm angle sensor, used to detect the angle of the tower jib; Tension sensor, used to detect the tension of the pull plate; as well as The controller according to claim 7.

9. A crane, characterized in that: Comprising a control device according to claim 8.

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