Control Method, Device, Equipment, Storage Medium and Working Machine for Lowering the Boom

Abstract

The present invention provides a control method, device, equipment, storage medium and working machine for the lowering of a boom. The method includes determining whether an anti-tipping device is in a slotting state when controlling the main boom of the boom to descend and controlling the auxiliary boom of the boom to ascend; if the anti-tipping device is in a slotting state, controlling the main boom to stop descending and controlling the auxiliary boom to descend; when controlling the main boom to stop descending and controlling the auxiliary boom to descend, determining whether the anti-tipping device is in an out-of-slot state; by detecting the slotting state and out-of-slot state of the anti-tipping device, it is ensured that only when it is determined that the anti-tipping device is in an out-of-slot state, the further descent of the main boom and the auxiliary boom is controlled, effectively preventing the anti-tipping device from damaging the auxiliary boom. Compared with the manual observation method, it can better ensure the accuracy of detection and better achieve the safety control of the boom.

Description

Technical Field

[0001] The present invention relates to the technical field of boom control, and in particular, to a control method, device, equipment, storage medium and working machine for lowering the boom. Background Art

[0002] When a working machine is performing a hoisting operation, the main function of the anti-back-tipping device is to prevent the auxiliary boom from tipping backward by engaging with the groove. However, during the process of controlling the lowering of the main boom and the auxiliary boom, if the operation is improper, the anti-back-tipping device may engage with the groove again, causing damage to the auxiliary boom. To prevent the anti-back-tipping device from engaging with the groove again, currently, it is mostly observed on-site by an observer, who commands the operator to control the lowering process of the main boom and the auxiliary boom.

[0003] However, since both the main boom and the auxiliary boom are at high altitude, it is difficult to ensure the accuracy of observation by manual observation, which affects the safe control of the boom. Summary of the Invention

[0004] The present invention provides a control method, device, equipment, storage medium and working machine for lowering the boom, so as to solve the defect of potential safety hazards in boom control in the prior art.

[0005] The present invention provides a control method for lowering the boom, including:

[0006] When controlling the main boom of the boom to lower and controlling the auxiliary boom of the boom to lift, determining whether the anti-back-tipping device is in the groove state;

[0007] If the anti-back-tipping device is in the groove state, controlling the main boom to stop lowering and controlling the auxiliary boom to lower;

[0008] When controlling the main boom to stop lowering and controlling the auxiliary boom to lower, determining whether the anti-back-tipping device is in the out-of-groove state.

[0009] According to the control method for lowering the boom provided by the present invention, the determining whether the anti-back-tipping device is in the groove state includes:

[0010] Detecting a first included angle between the main boom and the auxiliary boom of the boom;

[0011] If the first included angle is equal to a first preset angle, determining that the anti-back-tipping device is in the groove state.

[0012] According to the control method for lowering the boom provided by the present invention, the determining whether the anti-back-tipping device is in the out-of-groove state includes:

[0013] When controlling the main boom to stop lowering and controlling the auxiliary boom to lower, detecting a change value of the angle between the front mast of the boom and the horizontal plane;

[0014] When the angle change value is equal to a second preset angle, it is determined that the anti-tipping device is in the out-of-slot state.

[0015] According to a method for controlling the lowering of a boom of the present invention, the detecting the angle change value between the front mast of the boom and the horizontal plane includes:

[0016] Detecting a second included angle between the front mast of the boom and the horizontal plane by an angle sensor before the auxiliary boom descends;

[0017] When the auxiliary boom is descending, detecting a third included angle between the front mast of the boom and the horizontal plane in real time by the angle sensor;

[0018] Comparing the second included angle and the third included angle to obtain an angle change value.

[0019] According to a method for controlling the lowering of a boom of the present invention, the angle sensor is arranged on the front mast.

[0020] According to a method for controlling the lowering of a boom of the present invention, the determining whether the anti-tipping device is in the in-slot state includes:

[0021] Collecting a working image of the anti-tipping device;

[0022] Determining whether the anti-tipping device is in the in-slot state through the working image.

[0023] The present invention also provides a control device for lowering a boom, including:

[0024] A first determination module, configured to determine whether the anti-tipping device is in the in-slot state when controlling the main boom of the boom to descend and controlling the auxiliary boom of the boom to ascend;

[0025] A control module, configured to control the main boom to stop descending and control the auxiliary boom to descend if the anti-tipping device is in the in-slot state;

[0026] A second determination module, configured to determine whether the anti-tipping device is in the out-of-slot state when controlling the main boom to stop descending and controlling the auxiliary boom to descend.

[0027] The present invention also provides a construction machine, which is used to execute the method for controlling the lowering of a boom as described in any one of the above, or includes the control device for lowering a boom as described above.

[0028] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where when the processor executes the program, the method for controlling the lowering of a boom as described in any one of the above is implemented.

[0029] The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the control method for the boom to lower as described in any one of the above.

[0030] The present invention also provides a computer program product, including a computer program. When the computer program is executed by a processor, it implements the control method for the boom to lower as described in any one of the above.

[0031] A control method, device, equipment, storage medium and working machine for the boom to lower provided by the present invention. The method includes determining whether the anti-tipping device is in the slot entry state when controlling the main boom of the boom to lower and controlling the auxiliary boom of the boom to lift; if the anti-tipping device is in the slot entry state, then controlling the main boom to stop lowering and controlling the auxiliary boom to lower; when controlling the main boom to stop lowering and controlling the auxiliary boom to lower, determining whether the anti-tipping device is in the slot exit state. By detecting the slot entry state and the slot exit state of the anti-tipping device, it is ensured that only when it is determined that the anti-tipping device is in the slot exit state, the main boom and the auxiliary boom are further controlled to lower, effectively preventing the anti-tipping device from damaging the auxiliary boom. Compared with the manual observation method, it can better ensure the accuracy of detection and better realize the safety control of the boom. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0033] Figure 1 is a schematic flowchart of the control method for the boom to lower provided by the present invention;

[0034] Figure 2 is a schematic structural diagram of the working machine provided by the present invention;

[0035] Figure 3 is Figure 2 a partially enlarged structural diagram of the anti-tipping device in

[0036] Figure 4 is a schematic structural diagram of the control device for the boom to lower provided by the present invention;

[0037] Figure 5 is a schematic structural diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0038] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts shall fall within the protection scope of the present invention.

[0039] The following will be combined with Figures 1-5 to describe a control method, device, equipment, storage medium, and working machine for the boom lowering of the present invention.

[0040] Figure 1 is a schematic flowchart of the control method for the boom lowering provided by the present invention. Figure 2 is a schematic structural diagram of the working machine provided by the present invention, taking a crane as an example for illustration. Figure 3 is Figure 2 a partially enlarged structural diagram of the anti-tipping device in

[0041] As Figure 1 shown, a control method for the boom lowering provided by an embodiment of the present invention, the execution subject may be a vehicle-mounted controller, and the method mainly includes the following steps:

[0042] 101. When controlling the main boom of the boom to descend and the auxiliary boom of the boom to ascend, determine whether the anti-tipping device is in the slot-in state.

[0043] In a specific implementation process, when controlling the boom of the boom to land, that is, when controlling the main boom 1 of the boom to descend and the auxiliary boom 2 of the boom to ascend, first determine the current working state of the anti-tipping device 4. If the anti-tipping device 4 is in the non-slot-in state, it indicates that the main boom 1 can continue to descend and the auxiliary boom 2 can continue to ascend at this time. As Figure 2 shown, in the process of the main boom 1 descending and the auxiliary boom 2 ascending, the included angle between the main boom 1 and the auxiliary boom 2 of the boom can be made smaller and smaller, and the main boom 1 and the auxiliary boom 2 gradually approach a straight line. Among them, the included angle refers to the included angle between the main boom 1 and the auxiliary boom 2 on the ground side.

[0044] At the connection between the main boom 1 and the auxiliary boom 2, an anti-backward-tipping device 4 is provided. The function of the anti-backward-tipping device 4 is to prevent the auxiliary boom 2 from tipping backward to the rear side of the main boom 1 when the auxiliary boom 2 is lifted, that is, the inner angle is greater than 180 degrees. The anti-backward-tipping device 4 can effectively ensure the inner angle between the auxiliary boom 2 and the main boom 1. When the main boom 1 is lowered and the auxiliary boom 2 is lifted, the anti-backward-tipping device 4 will also have a certain impact. When the main boom 1 is lowered to a certain position and the auxiliary boom 2 is lifted to a certain position, if the anti-backward-tipping device 4 takes effect, it will also prevent the inner angle between the main boom 1 and the auxiliary boom 2 from approaching 180 degrees. Therefore, during the process of controlling the lowering of the main boom 1 and the lifting of the auxiliary boom 2, it is necessary to detect the working state of the anti-backward-tipping device 4 in real time, that is, to determine whether the anti-backward-tipping device 4 is in the slotting state. As Figure 3 shown, the left part of the anti-backward-tipping device 4 is stuck in the groove 5. At this time, the anti-backward-tipping device 4 takes effect. If the auxiliary boom 2 is continuously controlled to be lifted or the main boom 1 is controlled to be lowered, the auxiliary boom 2 will be damaged.

[0045] Among them, the method of determining whether the anti-backward-tipping device 4 is in the slotting state can be to determine whether the anti-backward-tipping device 4 is in the slotting state by detecting the anti-backward-tipping slotting detection switch signal. That is, if the switch signal of the anti-backward-tipping slotting is detected, it indicates that the anti-backward-tipping device 4 is in the slotting state at this time. If the switch signal of the anti-backward-tipping slotting is not detected, it indicates that the anti-backward-tipping device 4 is in the out-of-slot state. The method of detecting the anti-backward-tipping switch signal can be obtained by means of a sensor.

[0046] 102. If the anti-backward-tipping device is in the slotting state, control the main boom to stop descending and control the auxiliary boom to descend.

[0047] If it is determined through detection that the anti-backward-tipping device 4 is in the slotting state, it indicates that the anti-backward-tipping device 4 takes effect at this time, that is, the anti-backward-tipping device 4 locks the relative position between the main boom 1 and the auxiliary boom 2. At this time, if the main boom 1 is continuously controlled to be lowered or the auxiliary boom 2 is continuously controlled to be lifted, due to the effect of the anti-backward-tipping device 4, the auxiliary boom 2 will be damaged.

[0048] In order to prevent damage to the jib 2 and avoid safety accidents in time, when it is determined that the anti-tilt device 4 is in the slot state, it is necessary to immediately control the main arm 1 to stop descending and the jib 2 to stop lifting, so as to ensure the working safety of the main arm 1 and the jib 2. The method of stopping the main arm 1 from descending and stopping the jib 2 from lifting can only ensure that the jib 2 will not be damaged. In order to be able to continue to descend the main arm 1 and lift the jib 2, it is necessary to continue to ensure that the main arm 1 stops after stopping the main arm 1 from descending and the jib 2 from lifting, but it is necessary to control the jib 2 to descend. The main function of controlling the jib 2 to descend is to adjust the working state of the anti-tilt device 4. Controlling the jib 2 to descend will adjust the state of the anti-tilt device 4, and gradually adjust the anti-tilt device 4 from the slot-in state to the slot-out state, that is, it will no longer be stuck in the groove 5.

[0049] 103. When controlling the main arm to stop descending and controlling the auxiliary arm to descend, determine whether the anti-tilt device is in the out-of-slot state.

[0050] The process of controlling the main arm 1 to stop descending and the auxiliary arm 2 to descend is the process of adjusting the anti-tilt device 4 from the in-slot state to the out-slot state. Therefore, in the process of controlling the main arm 1 to stop descending and the auxiliary arm 2 to descend, it is also necessary to detect the working state of the anti-tilt device 4 in real time. It can also be possible to detect whether the anti-tilt device 4 is in the out-slot state by means of a sensor.

[0051] Among them, when the main arm 1 is controlled to stop descending and the auxiliary arm 2 is controlled to descend, the internal angle between the main arm 1 and the auxiliary arm 2 will gradually decrease. In the process of reducing the internal angle, the anti-tilt device 4 will be brought out of the groove 5. In the process of the anti-tilt device 4 changing from an in-groove state to an out-groove state, real-time detection is required. If the anti-tilt entering groove switch signal is not detected, it indicates that the anti-tilt device 4 has successfully exited the groove at this time, otherwise it indicates that the anti-tilt device 4 is in the in-groove state or is not completely out of the groove.

[0052] If the anti-tilt device is in the out-of-slot state, the auxiliary arm is controlled to be lifted and the main arm is controlled to be lowered until the main arm and the auxiliary arm are lowered to the target position.

[0053] After the switch signal is detected and it is determined that the anti-tilt device 4 is in the out-of-slot state, it means that the anti-tilt device 4 will no longer block the relative position between the main arm 1 and the auxiliary arm 2. At this time, the auxiliary arm 2 can be controlled to rise and the main arm 1 can be controlled to fall, and the inner angle between the main arm 1 and the auxiliary arm 2 can be further increased until the main arm 1 and the auxiliary arm 2 are lowered to the target position to complete the final boom lowering control. The out-of-slot control of the anti-tilt device 4 is successfully achieved, ensuring the safety of the auxiliary arm 2.

[0054] A control method for the boom to lower the boom includes determining whether the anti-tipping device 4 is in the slot-in state when controlling the main boom 1 of the boom to descend and controlling the auxiliary boom 2 of the boom to lift; if the anti-tipping device 4 is in the slot-in state, then control the main boom 1 to stop descending and control the auxiliary boom 2 to descend; when controlling the main boom 1 to stop descending and controlling the auxiliary boom 2 to descend, determine whether the anti-tipping device 4 is in the slot-out state. By detecting the slot-in state and the slot-out state of the anti-tipping device 4, it is ensured that only when it is determined that the anti-tipping device 4 is in the slot-out state, the further descent of the main boom 1 and the auxiliary boom 2 is controlled, effectively preventing the anti-tipping device 4 from damaging the auxiliary boom 2. Compared with the manual observation method, it can better ensure the accuracy of detection and better realize the safety control of the boom.

[0055] Further, on the basis of the above embodiment, determining whether the anti-tipping device is in the slot-in state in this embodiment includes: detecting the first included angle α between the main boom 1 and the auxiliary boom 2 of the boom; if the first included angle α is equal to the first preset angle, then determine that the anti-tipping device 4 is in the slot-in state.

[0056] Specifically, the main function of the anti-tipping device 4 is to prevent the auxiliary boom 2 from flipping to the other side of the main boom 1 during the lifting process. Therefore, during the process of controlling the main boom 1 to descend and the auxiliary boom 2 to lift, it is also necessary to detect the first included angle α between the main boom 1 and the auxiliary boom 2. The first included angle α is the included angle mentioned in the above embodiment. When the angle of the included angle increases to the first preset angle, it indicates that the anti-tipping device 4 is in the slot-in state at this time. After multiple experimental demonstrations, the first preset angle in this embodiment is selected as 155 degrees. It should be noted that for the booms of different types of working machinery, the size of the first preset angle will be different, but the principle is to determine whether the anti-tipping device 4 is in the slot-in state by detecting the angle.

[0057] Among them, the method of detecting the first included angle α between the main boom 1 and the auxiliary boom 2 can be through a sensor or calculated through geometric relationships. The specific method of obtaining the first included angle α is not clearly defined in this embodiment, as long as the first included angle α between the main boom 1 and the auxiliary boom 2 can be accurately detected.

[0058] Further, on the basis of the above embodiments, determining whether the anti-tipping device is in the out-of-slot state in this embodiment includes: when controlling the main boom to stop descending and controlling the auxiliary boom to descend, detecting the angle change value between the front mast of the boom and the horizontal plane; when the angle change value is equal to the second preset angle, determining that the anti-tipping device is in the out-of-slot state. Among them, detecting the angle change value between the front mast of the boom and the horizontal plane includes: detecting the second included angle between the front mast of the boom and the horizontal plane before the auxiliary boom descends through an angle sensor; when the auxiliary boom descends, detecting the third included angle between the front mast of the boom and the horizontal plane in real time through the angle sensor; comparing the second included angle and the third included angle to obtain the angle change value.

[0059] Specifically, the method of controlling the anti-tipping device 4 to be out of the slot is to control the main boom 1 to stop descending and at the same time control the auxiliary boom 2 to descend. During the process of controlling the auxiliary boom 2 to descend, the front mast 3 changes along with the auxiliary boom 2. That is, during the process of the auxiliary boom 2 descending, the included angle between the front mast 3 and the horizontal plane gradually becomes smaller. Therefore, the descending amplitude of the auxiliary boom 2 can be determined by detecting the angle change value of the front mast 3. When the angle change value is equal to the second preset angle, it indicates that the anti-tipping device 4 is already in the out-of-slot state. For example, the second preset angle is 6 degrees.

[0060] Among them, to determine the specific angle change value of the front mast 3, an angle sensor needs to be set on the front mast 3 first, for example, near the angular position between the front mast 3 and the auxiliary boom 2. When controlling the auxiliary boom 2 to stop lifting and not controlling the auxiliary boom 2 to descend, first collect the second included angle between the front mast 3 and the horizontal plane in the stationary state through the angle sensor, and then use the angle sensor to detect the third included angle between the front mast 3 and the horizontal plane in real time during the process of the auxiliary boom 2 descending. By taking the difference between the second included angle and the third included angle, the angle change value between the front mast 3 and the horizontal plane can be calculated.

[0061] Further, on the basis of the above embodiments, determining whether the anti-tipping device is in the in-slot state in this embodiment may further include: collecting the working picture of the anti-tipping in-slot device; determining whether the anti-tipping device is in the in-slot state through the working picture.

[0062] Specifically, the method of determining whether the anti-tipping device 4 is in the in-slot state or the out-of-slot state can also be through video monitoring, that is, using an image acquisition device to collect the working picture of the anti-tipping device 4. For example, collecting a video picture through a camera, and determining whether the anti-tipping device 4 is in the in-slot state or the out-of-slot state by analyzing and processing the image.

[0063] Among them, the process of image analysis and processing can also be determined by means of a neural network model, that is, through the working screen, it is determined whether the anti-tipping device 4 is in the slot-in state, including inputting the working screen into the working state determination model and outputting the working state of the anti-tipping device 4. The working state determination model is obtained after training based on the slot-in state samples and the slot-out state samples. The working state of the anti-tipping device 4 includes the slot-in state and the slot-out state. The slot-in state includes the fully slot-in state and the partially slot-in state.

[0064] Based on the same general inventive concept, the present invention also protects a control device for the boom lowering of a crane. The control device for the boom lowering of the crane provided by the present invention will be described below. The control device for the boom lowering of the crane described below can be correspondingly referred to the control method for the boom lowering of the crane described above.

[0065] Figure 4 It is a schematic structural diagram of the control device for the boom lowering of the crane provided by the present invention.

[0066] As Figure 4 shown, a control device for the boom lowering of the crane provided by an embodiment of the present invention includes:

[0067] A first determination module 401, configured to determine whether the anti-tipping device 4 is in the slot-in state when controlling the main boom 1 of the crane to descend and controlling the auxiliary boom 2 of the crane to ascend;

[0068] A control module 402, configured to control the main boom 1 to stop descending and control the auxiliary boom 2 to descend if the anti-tipping device 4 is in the slot-in state;

[0069] A second determination module 403, configured to determine whether the anti-tipping device 4 is in the slot-out state when controlling the main boom 1 to stop descending and controlling the auxiliary boom 2 to descend.

[0070] The control device for the boom lowering of the crane provided by this embodiment includes determining whether the anti-tipping device 4 is in the slot-in state when controlling the main boom 1 of the crane to descend and controlling the auxiliary boom 2 of the crane to ascend; if the anti-tipping device 4 is in the slot-in state, controlling the main boom 1 to stop descending and controlling the auxiliary boom 2 to descend; determining whether the anti-tipping device 4 is in the slot-out state when controlling the main boom 1 to stop descending and controlling the auxiliary boom 2 to descend. By detecting the slot-in state and the slot-out state of the anti-tipping device 4, it is ensured that only when it is determined that the anti-tipping device 4 is in the slot-out state, the further descent of the main boom 1 and the auxiliary boom 2 is controlled, effectively preventing the anti-tipping device 4 from damaging the auxiliary boom 2. Compared with the manual observation method, it can better ensure the accuracy of detection and better achieve the safety control of the boom.

[0071] Further, the first determination module 401 in this embodiment is specifically configured to:

[0072] Detect the first included angle α between the main boom 1 and the auxiliary boom 2 of the boom.

[0073] If the first included angle α is equal to the first preset angle, it is determined that the anti-backward tilting device 4 is in the slot-in state.

[0074] Furthermore, the second determination module 403 in this embodiment is specifically configured to:

[0075] When controlling the main boom 1 to stop descending and controlling the auxiliary boom 2 to descend, detect the angle change value between the front mast 3 of the boom and the horizontal plane.

[0076] When the angle change value is equal to the second preset angle, it is determined that the anti-backward tilting device 4 is in the slot-out state.

[0077] Furthermore, the second determination module 403 in this embodiment is specifically further configured to:

[0078] Detect the second included angle between the front mast 3 of the boom and the horizontal plane before the auxiliary boom 2 descends through an angle sensor.

[0079] When the auxiliary boom 2 is descending, continuously detect the third included angle between the front mast 3 of the boom and the horizontal plane through the angle sensor.

[0080] Compare the second included angle and the third included angle to obtain the angle change value.

[0081] Furthermore, the angle sensor in this embodiment is arranged on the front mast 3.

[0082] Furthermore, the first determination module 401 in this embodiment is further configured to:

[0083] Collect the working image of the anti-backward tilting device 4.

[0084] Determine whether the anti-backward tilting device 4 is in the slot-in state through the working image.

[0085] Figure 5 It is a schematic structural diagram of the electronic device provided by the present invention.

[0086] Based on the same general inventive concept, the present invention further provides a working machine, which is used to execute the control method for the boom to lower the boom in any of the above embodiments, or includes the control device for the boom to lower the boom in any of the above embodiments. The working machine includes a crawler working machine and the like.

[0087] Such as Figure 5As shown in the figure, the electronic device may include: a processor 510, a communications interface 520, a memory 530, and a communication bus 540. Among them, the processor 510, the communications interface 520, and the memory 530 communicate with each other through the communication bus 540. The processor 510 can call the logical instructions in the memory 530 to execute the control method for the boom to lower. The method includes: when controlling the main boom of the boom to descend and controlling the auxiliary boom of the boom to lift, determining whether the anti-tipping device is in the slotting state; if the anti-tipping device is in the slotting state, controlling the main boom to stop descending and controlling the auxiliary boom to descend; when controlling the main boom to stop descending and controlling the auxiliary boom to descend, determining whether the anti-tipping device is in the out-of-slot state.

[0088] In addition, when the logical instructions in the above-mentioned memory 530 are implemented in the form of software functional units and sold or used as an independent product, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0089] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the control method for the boom to lower provided by the above-mentioned various methods. The method includes: when controlling the main boom of the boom to descend and controlling the auxiliary boom of the boom to lift, determining whether the anti-tipping device is in the slotting state; if the anti-tipping device is in the slotting state, controlling the main boom to stop descending and controlling the auxiliary boom to descend; when controlling the main boom to stop descending and controlling the auxiliary boom to descend, determining whether the anti-tipping device is in the out-of-slot state.

[0090] In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements a control method for the boom to lower, and the method includes: when controlling the main boom of the boom to descend and controlling the auxiliary boom of the boom to ascend, determining whether the anti-tipping device is in the slot-in state; if the anti-tipping device is in the slot-in state, controlling the main boom to stop descending and controlling the auxiliary boom to descend; when controlling the main boom to stop descending and controlling the auxiliary boom to descend, determining whether the anti-tipping device is in the slot-out state.

[0091] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.

[0092] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course also by hardware. Based on such an understanding, the above technical solutions, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for the boom lowering Characterized in that, Comprising: When controlling the main boom of the boom to lower and controlling the auxiliary boom of the boom to lift, determining whether the anti-tipping device is in the slotting state; If the anti-tipping device is in the slotting state, controlling the main boom to stop lowering and controlling the auxiliary boom to lower; When controlling the main boom to stop lowering and controlling the auxiliary boom to lower, determining whether the anti-tipping device is in the out-of-slot state; If the anti-tipping device is in the out-of-slot state, controlling the auxiliary boom to lift and controlling the main boom to lower until the main boom and the auxiliary boom are lowered to the target position; The determining whether the anti-tipping device is in the out-of-slot state includes: When controlling the main boom to stop lowering and controlling the auxiliary boom to lower, detecting the angle change value between the front mast of the boom and the horizontal plane; When the angle change value is equal to the second preset angle, determining that the anti-tipping device is in the out-of-slot state; The detecting the angle change value between the front mast of the boom and the horizontal plane includes: Detecting the second included angle between the front mast of the boom and the horizontal plane before the auxiliary boom descends through an angle sensor; When the auxiliary boom descends, detecting the third included angle between the front mast of the boom and the horizontal plane in real time through the angle sensor; Comparing the second included angle and the third included angle to obtain the angle change value.

2. The control method for the boom lowering according to claim 1, Characterized in that, The determining whether the anti-tipping device is in the slotting state includes: Detecting the first included angle between the main boom and the auxiliary boom of the boom; If the first included angle is equal to the first preset angle, determining that the anti-tipping device is in the slotting state.

3. The control method for the boom lowering according to claim 1, Characterized in that, The angle sensor is arranged on the front mast.

4. The control method for the boom lowering according to any one of claims 1-3, Characterized in that, The determining whether the anti-tipping device is in the slotting state includes: Collecting the working picture of the anti-tipping device; Determining whether the anti-tipping device is in the slotting state through the working picture.

5. A control device for the boom lowering Characterized in that, Comprising: A first determining module, configured to determine whether the anti-tipping device is in the slotting state when controlling the main boom of the boom to lower and controlling the auxiliary boom of the boom to lift; A control module, configured to control the main boom to stop lowering and control the auxiliary boom to lower if the anti-tipping device is in the slotting state; A second determining module, configured to determine whether the anti-tipping device is in the out-of-slot state when controlling the main boom to stop lowering and controlling the auxiliary boom to lower; If the anti-tipping device is in the out-of-slot state, controlling the auxiliary boom to lift and controlling the main boom to lower until the main boom and the auxiliary boom are lowered to the target position; The determining whether the anti-tipping device is in the out-of-slot state includes: When controlling the main boom to stop lowering and controlling the auxiliary boom to lower, detecting the angle change value between the front mast of the boom and the horizontal plane; When the angle change value is equal to the second preset angle, determining that the anti-tipping device is in the out-of-slot state; The detecting the angle change value between the front mast of the boom and the horizontal plane includes: The second included angle between the front mast of the front boom of the auxiliary boom during lowering and the horizontal plane is detected by an angle sensor; When the auxiliary boom is lowering, the third included angle between the front mast of the boom and the horizontal plane is detected in real time by the angle sensor; The second included angle and the third included angle are compared to obtain an angle change value.

6. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein, when the processor executes the program, it implements the control method for the boom lowering as described in any one of claims 1 to 4.

7. A non-transitory computer-readable storage medium, on which a computer program is stored, wherein, when the computer program is executed by a processor, it implements the control method for the boom lowering as described in any one of claims 1 to 4.

8. A working machine, wherein, the working machine is configured to execute the control method for the boom lowering as described in any one of claims 1 - 4, or includes a control device for the boom lowering as described in claim 5.

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