Hoist control method and device, crane

Abstract

The application relates to the technical field of crane hoist follow-up control, and provides a hoist control method and device and a crane. The hoist control method is applied to the hoist follow-up control process of the crane, and the method comprises the following steps: if the initial position of the arm head of a lifting arm has been calibrated, determining the follow-up distance between a hook and the arm head according to the initial position of the arm head; determining a preset length according to the weight of the hook, the wire rope ratio of the hook, the follow-up distance and the wire rope density of the hook; obtaining the telescopic arm state of the lifting arm and the arm length of the lifting arm, and controlling the working mode and the working parameter of the hoist according to the telescopic arm state, the arm length and the preset length. When the application is applied, the winding and unwinding rope mode and the winding and unwinding rope speed are determined according to specific parameters, so that the control process is more intelligent and regular. The winding and unwinding rope speed executed according to specific working conditions can control the tightness of the wire rope on the hoist, so that the wire rope on the hoist can be prevented from being in disorder.

Description

Technical Field

[0001] This application relates to the field of crane winch follow-up control technology, specifically to winch control methods and devices, and cranes. Background Technology

[0002] During the operation of a crane, the follow-up function of the winch, as one of the highlights of the intelligent direction of cranes, has become a standard feature of current cranes. When the winch follows, it can keep the distance between the hook and the boom head constant, or keep the distance between the hook and the ground constant.

[0003] In the current technical solutions, in the slow-speed follow-up mode where the distance between the hook and the boom remains constant, as the boom extends, the wire rope in the boom gradually lengthens, causing it to become increasingly heavy. The weight of the wire rope between the hook and the boom is insufficient to tame the wire rope in the boom, potentially leading to slack and rope tangling on the winch. In the fast-speed follow-up mode where the distance between the hook and the ground remains constant, the winch needs to rapidly reel in or release the rope to maintain this distance. During this process, the weight of the wire rope between the hook and the boom can easily become insufficient to tame the wire rope in the boom, also easily causing rope tangling during rapid winch rotation.

[0004] In summary, in the existing technology, during the rotation of the winch, the wire rope in the boom is prone to slack, which in turn leads to the slack of the wire rope on the winch and causes rope tangling. Summary of the Invention

[0005] In view of this, this application provides a winch control method and device, and a crane, which enables the tension of the wire rope on the winch to be controllable, thereby preventing the wire rope on the winch from becoming tangled.

[0006] Firstly, this application provides a hoist control method applied to the hoist follow-up control process of a crane, the crane including a hook and a boom; the hoist control method includes: if the initial position of the boom head has been calibrated, determining the follow-up distance between the hook and the boom head based on the initial position of the boom head, the follow-up distance being the distance between the hook and the boom head when a hoist follow-up control operation command is issued; determining a preset length based on the weight of the hook, the wire rope ratio of the hook, the follow-up distance, and the wire rope density of the hook; and acquiring the telescopic boom state and the boom length of the boom, and controlling the hoist's working mode and working parameters based on the telescopic boom state, the boom length, and the preset length, the working mode including a rope release mode and a rope retraction mode, the working parameters including a rope release speed and a rope retraction speed.

[0007] In this embodiment, the rope winding and unwinding mode and speed are determined based on specific parameters, making the control process more intelligent and standardized. The rope winding and unwinding speed, executed according to specific working conditions, allows for controllable tension of the wire rope on the winch, thereby preventing rope tangling.

[0008] In conjunction with the first aspect, in one possible implementation, obtaining the boom extension / retraction state and boom length of the boom, and controlling the winch's operating mode and operating parameters based on the boom extension / retraction state, the boom length, and the preset length includes: receiving the boom extension / retraction state of the boom; if the boom is in the extension state and the boom length is less than the preset length, controlling the winch to release the rope at a first rope release speed; if the boom is in the extension state and the boom length is greater than or equal to the preset length, controlling the winch to release the rope at a second rope release speed, the second rope release speed being greater than the first rope release speed. If the boom is in a retracted state and the boom length is greater than a preset length, the winch is controlled to perform rope winding at a first winding speed; and if the boom is in a retracted state and the boom length is less than or equal to a preset length, the winch is controlled to perform rope winding at a second winding speed, the second winding speed being greater than the first winding speed; wherein, the first unwinding speed and the first winding speed are determined based on the rate of change of the boom length, and the second unwinding speed and the second winding speed are determined based on the change in boom length, the change in hook height, and the wire rope ratio of the hook.

[0009] In conjunction with the first aspect, in one possible implementation, it further includes: receiving the height ratio of the hook, the height ratio being determined based on the follow-up distance and the height of the boom head relative to the ground; wherein, acquiring the boom extension / retraction state and the boom length, and controlling the winch's working mode and working parameters based on the boom extension / retraction state, the boom length, and the preset length includes: receiving the boom extension / retraction state; if the boom is in the extended state and the height ratio is within a first preset ratio range, then controlling the winch to release the rope at a fourth rope release speed until the height ratio reaches a second preset ratio range; if the boom is in the extended state and the height ratio is within a third preset ratio range, then controlling the winch to release the rope at a third rope release speed until the height ratio reaches a fourth preset ratio. The range; wherein the fourth rope release speed is greater than the third rope release speed; if the boom is in a retracted state and the height ratio is within a fifth preset ratio range, the winch is controlled to take in the rope at a third rope take-up speed until the height ratio reaches a sixth preset ratio range; and if the boom is in a retracted state and the height ratio is within a seventh preset ratio range, the winch is controlled to take in the rope at a fourth rope take-up speed until the height ratio reaches an eighth preset ratio range; wherein the fourth rope take-up speed is greater than the third rope take-up speed; wherein the third rope release speed and the third rope take-up speed are determined based on the boom length change rate, and the fourth rope release speed and the fourth rope take-up speed are determined based on the boom length change, the hook height change, and the hook wire rope ratio.

[0010] In conjunction with the first aspect, one possible implementation further includes: if the initial position of the boom head is not marked, controlling the winch to release the rope at a first release speed or to retract the rope at a first retract speed.

[0011] In conjunction with the first aspect, in one possible implementation, calibrating the initial position of the boom head includes: controlling the boom to fully retract; controlling the hook to reach a preset height limit; and receiving the initial number of rotations of the winch corresponding to the hook when the hook reaches the preset height limit.

[0012] In conjunction with the first aspect, in one possible implementation, determining the follow-up distance between the hook and the boom head based on the initial position of the boom head includes: receiving the real-time number of rotations of the winch corresponding to the hook; and obtaining the follow-up distance based on the real-time number of rotations, the initial number of rotations, the current boom length, the basic boom length when the boom is fully retracted, and the wire rope ratio.

[0013] In conjunction with the first aspect, in one possible implementation, after receiving the initial number of rotations of the winch corresponding to the hook when the hook reaches the preset height limit, the method further includes: obtaining the initial length of the wire rope already wound on the winch when the boom head is in the initial position based on the initial number of rotations; after receiving the real-time number of rotations of the winch corresponding to the hook, the method further includes: obtaining the current length of the wire rope already wound on the winch based on the real-time number of rotations; obtaining the follow-up distance based on the real-time number of rotations, the initial number of rotations, the current boom length, the basic boom length when the boom is fully retracted, and the wire rope ratio includes: obtaining the follow-up distance based on the current wire rope length, the initial wire rope length, the current boom length, the basic boom length when the boom is fully retracted, and the wire rope ratio.

[0014] In conjunction with the first aspect, in one possible implementation, if the boom is in a retracted state and the wire rope ratio is within a preset ratio range, then the preset retracting speed of the boom is limited to below a preset speed.

[0015] In conjunction with the first aspect, in one possible implementation, the crane is a single-cylinder pin-type crane, and the boom includes multiple boom sections; the method further includes: receiving the actual cylinder length percentage value of the cylinder in the boom section currently extending; receiving the target cylinder length percentage value of the cylinder in the boom section currently extending; and controlling the extension and retraction speed of the cylinder to accelerate at a preset acceleration slope or decelerate at a preset deceleration slope based on the actual cylinder length percentage value and the target cylinder length percentage value.

[0016] In conjunction with the first aspect, in one possible implementation, the number of hooks is multiple, including main hooks and auxiliary hooks. The main hooks are driven by a main winch, and the auxiliary hooks are driven by an auxiliary winch. During the winch follow-up control of the crane, both the main winch and the auxiliary winch are subject to follow-up control. The winch control method further includes: if the difference between a first distance and a second distance is greater than a preset difference, adjusting the winding and unwinding speed of the auxiliary winch until the difference between the first distance and the second distance is less than or equal to the preset difference; the first distance is the distance between the main hook and the boom head, and the second distance is the distance between the auxiliary hook and the boom head.

[0017] Secondly, this application provides a hoist control device applied to the hoist follow-up control process of a crane, the crane including a hook and a boom; the hoist control device includes: a calibration module configured to: calibrate the initial position of the boom head; a follow-up distance acquisition module, communicatively connected to the calibration module, the follow-up distance acquisition module configured to: determine the follow-up distance between the hook and the boom head based on the initial position of the boom head, the follow-up distance being the distance between the hook and the boom head when a hoist follow-up control operation command is issued; and a preset length acquisition module, communicatively connected to the follow-up distance acquisition module, the preset length acquisition module configured to: determine the follow-up distance between the hook and the boom head based on the initial position of the boom head, the follow-up distance being the distance between the hook and the boom head when a hoist follow-up control operation command is issued; and a preset length acquisition module, communicatively connected to the follow-up distance acquisition module, the preset length acquisition module configured to: determine the follow-up distance between the hook and the boom head based on the weight of the hook, the initial position of the boom head ... The preset length is determined by the wire rope ratio of the hook, the follow-up distance, and the wire rope density of the hook; a telescopic boom status acquisition module is configured to receive the telescopic boom status of the boom; a boom length detection module is configured to detect the boom length of the boom; and a rope retraction control module is communicatively connected to the preset length acquisition module, the telescopic boom status acquisition module, and the boom length detection module, respectively. The rope retraction control module is configured to: acquire the telescopic boom status and the boom length of the boom, and control the working mode and working parameters of the winch according to the telescopic boom status, the boom length, and the preset length. The working mode includes a rope release mode and a rope retraction mode, and the working parameters include a rope release speed and a rope retraction speed.

[0018] The second aspect is the device object corresponding to the first aspect, and the technical effects of the second aspect will not be elaborated here.

[0019] A third aspect provides a crane, comprising: a winch; a boom; a hook; and the aforementioned winch control device.

[0020] The third aspect includes the second aspect, and the technical effects of the third aspect will not be elaborated here. Attached Figure Description

[0021] Figure 1 The diagram shown is a schematic representation of the steps of a hoist control method according to an embodiment of this application.

[0022] Figure 2 The diagram shown is a schematic representation of the steps of a hoist control method according to another embodiment of this application.

[0023] Figure 3 The diagram shown is a schematic representation of the steps of a hoist control method according to another embodiment of this application.

[0024] Figure 4 The diagram shown is a schematic representation of the steps of a hoist control method according to another embodiment of this application.

[0025] Figure 5The diagram shown is a schematic representation of the steps of a hoist control method according to another embodiment of this application.

[0026] Figure 6 The diagram shown is a schematic representation of the steps of a hoist control method according to another embodiment of this application.

[0027] Figure 7 The diagram shown is a schematic representation of the steps of a hoist control method according to another embodiment of this application.

[0028] Figure 8 The diagram shown is a schematic representation of the steps of a hoist control method according to another embodiment of this application.

[0029] Figure 9 The diagram shown is a schematic representation of the steps of a hoist control method according to another embodiment of this application.

[0030] Figure 10 The diagram shown is a schematic diagram of the device structure of a hoist control device provided in an embodiment of this application.

[0031] Figure 11 The diagram shown is a structural schematic of an electronic device provided in an embodiment of this application. Detailed Implementation

[0032] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0033] Exemplary hoist control method

[0034] Figure 1 The diagram illustrates the steps of a hoist control method according to an embodiment of this application. The hoist control method is applied to the hoist follow-up control process of a crane, wherein the crane includes a body, a boom, a hook, and a hoist. The hoist can control the hook to rise or fall when winding and unwinding the wire rope. In one embodiment, as shown... Figure 1 As shown, the hoist control method includes:

[0035] Determine whether the initial position of the boom head has been calibrated. If it has been calibrated, proceed to step 110: determine the follow-up distance between the hook and the boom head based on the initial position of the boom head.

[0036] In this step, the initial position of the boom head is calibrated, which gives us the parameters of each component of the boom and hook in their initial state. This allows us to calculate the real-time follow-up distance between the hook and the boom head; otherwise, it would be impossible to accurately determine the real-time follow-up distance between them. The method for calculating the follow-up distance from the initial position is described below.

[0037] Step 120: Determine the preset length based on the weight of the hook, the wire rope ratio of the hook, the follow-up distance, and the wire rope density of the hook.

[0038] In this step, specifically, the preset length is the critical point where the weight of the wire rope in the boom and the weight of the wire rope between the hook and the boom head are equal. The calculation formula can be the following formula (1):

[0039] Preset length * wire rope density = hook weight / wire rope ratio + follow-up distance * wire rope density (1)

[0040] For example, when the boom is fully retracted to the basic boom and the hook reaches the lowest point, taking the distance between the hook and the boom head at this moment as an example, the following formula (2) is used to calculate the following distance:

[0041] Follow-up distance = [basic boom length * sin(boom pitch angle) + vehicle height](2)

[0042] For example, with a wire rope density of 248 / 100, a hook weight of 500kg, a wire rope ratio of 4, a basic boom length of 12m, a boom pitch angle of 75°, and a crane height of 1.8m, the preset length can be calculated to be 63.7m. Understandably, the follow-up distance can also be other values, determined based on the crane operator's needs.

[0043] Step 130: Obtain the boom extension status and boom length, and control the winch's working mode and parameters based on the boom extension status, boom length, and preset length. The working modes include rope release mode and rope retraction mode, and the working parameters include rope release speed and rope retraction speed.

[0044] In this step, the rope winding and unwinding mode and speed are determined based on various specific parameters, making the control process more intelligent and standardized. Executing the rope winding and unwinding speed according to specific working conditions allows for controllable tension of the wire rope on the winch, thereby preventing rope tangling.

[0045] Figure 2 The diagram shown is a schematic representation of the method steps of a hoist control method according to another embodiment of this application. In one embodiment, as... Figure 2 As shown, step 130 includes:

[0046] Step 1301: Receive the boom extension / retraction status of the boom. The boom extension / retraction status includes the extended state and the retracted state.

[0047] If the boom is in the extended state, determine whether the boom length is less than the preset length. If the boom length is less than the preset length, execute step 1302 and control the winch to release the rope at the first rope release speed.

[0048] If the boom is in the extended position and the boom length is greater than or equal to the preset length, then step 1303 is executed: control the winch to release the rope at the second rope release speed. The second rope release speed is greater than the first rope release speed.

[0049] If the boom is in the retracted state, determine whether the boom length is greater than the preset length. If the boom length is greater than the preset length, execute step 1304 and control the winch to perform rope winding at the first rope winding speed.

[0050] If the boom is in the retracted state and the boom length is less than or equal to the preset length, then step 1305 is executed: control the winch to perform rope winding at the second rope winding speed. The second rope winding speed is greater than the first rope winding speed.

[0051] The first rope release speed and the first rope take-up speed are determined based on the rate of change of the boom length, while the second rope release speed and the second rope take-up speed are determined based on the change in boom length, the change in hook height, and the wire rope ratio of the hook.

[0052] In this embodiment, the height change can be calculated based on the change in the hook wire rope, the change in the boom length, and the boom pitch angle within a preset time period, or the height change of the hook can be directly measured by a rangefinder. Obtaining the height change of the hook is already existing technology and will not be elaborated here.

[0053] With the boom extended, the wire rope in the boom continuously grows, and the wire rope on the winch is gradually released. When the boom length is less than the preset length, the weight of the wire rope in the boom is less than the weight of the wire rope between the hook and the boom head. The wire rope between the hook and the boom head can tighten the wire rope in the boom, thereby tightening the wire rope on the winch. At this time, the winch follow-up is executed with a slower first rope release speed. During the slow rope release process, the wire rope on the winch will not become tangled, and it is also ensured that the hook will not touch the ground due to excessively fast rope release.

[0054] With the boom extended, the wire rope in the boom continuously lengthens. When the boom length is greater than or equal to the preset length, the weight of the wire rope in the boom will soon exceed the weight of the wire rope between the hook and the boom head. At this point, a rapid second rope release speed is executed to quickly increase the length of the wire rope between the hook and the boom head, thereby increasing the weight of the wire rope between the hook and the boom head. This ensures that the wire rope in the boom is taut during the boom extension process, which in turn tauts the wire rope on the winch, preventing it from becoming tangled. During this process, because the boom length has been extended, the hook will not touch the ground during the rapid rope release.

[0055] In the retracted boom position, the wire rope in the boom is continuously shortened and wound onto the winch. When the boom length exceeds the preset length, the weight of the wire rope in the boom is greater than the weight of the wire rope between the hook and the boom head. At this point, the wire rope in the boom is not taut, and rapid winding can easily lead to rope tangling. Therefore, in this position, a slower initial winding speed is used to perform slow winding, effectively preventing the wire rope on the winch from becoming tangled.

[0056] In the retracted boom position, the wire rope in the boom is continuously shortened and wound onto the winch. When the boom length is less than or equal to the preset length, the weight of the wire rope between the hook and the boom head will soon exceed the weight of the wire rope in the boom. This means the wire rope between the hook and the boom head is sufficient to tighten the wire rope in the boom, thereby tightening the wire rope on the winch. At this point, a faster second rope winding speed is used to quickly wind up the rope, shortening the length of the wire rope between the hook and the boom head to prevent the hook from touching the ground.

[0057] In some embodiments, the slow rope release mode of the first rope release speed and the slow rope take-up mode of the first rope take-up speed are boom head modes, where both the first rope take-up speed and the first rope release speed are equal to the boom length change speed, i.e., the winch follow-up process in which the distance between the hook and the boom head remains constant. The fast rope release mode of the second rope release speed and the fast rope take-up mode of the second rope take-up speed are ground-to-ground modes, and the second rope take-up speed and the second rope release speed are calculated as follows:

[0058] Second rope retrieval speed = Second rope release speed = (Change in boom length + Change in hook height * Wire ratio of hook) (3)

[0059] The ground-level mode is the winch follow-up process in which the distance between the hook and the ground remains constant.

[0060] If the preset length is calculated using the above formula (1), and the fast rope winding speed is set to the ground mode, when the boom is in the retracted state and the boom length is less than or equal to the preset length, even if the length of the wire rope between the hook and the boom head is shortened, the weight of the wire rope between the hook and the boom head can always be greater than or equal to the weight of the wire rope in the boom.

[0061] Figure 3 The diagram shown is a schematic representation of the method steps of a hoist control method according to another embodiment of this application. In one embodiment, as... Figure 3 As shown, the hoist control method also includes:

[0062] Step 160: Receive the height ratio of the hook.

[0063] In this step, the height ratio is determined based on the follow-up distance and the height of the boom head above the ground. Specifically, the height ratio = follow-up distance / height of the boom head above the ground.

[0064] Step 130 includes:

[0065] Step 1301: Receive the telescopic boom status of the boom;

[0066] If the boom is in the extended state, determine whether the height ratio is within the first preset ratio range. If so, execute step 1306 and control the winch to release the rope at the fourth rope release speed until the height ratio reaches the second preset ratio range.

[0067] In this step, the first preset ratio range can be set relatively small, for example, less than 0.2. This means that when the hook is too close to the boom head, the boom extension causes the wire rope inside the boom to lengthen, which may lead to further shortening of the wire rope between the hook and the boom head, potentially causing a hook overshoot accident. In this case, a faster fourth rope release speed is needed to quickly release the rope, increasing the distance between the hook and the boom head, thus preventing the hook from overshooting. The second preset ratio range can be set greater than 0.25. Once the height ratio reaches the second preset ratio range, it can be considered that the hook is no longer likely to overshoot, and then the winch follow-up control can safely continue. Furthermore, continuously releasing the rope to the second preset ratio range avoids the winch frequently switching between fast and slow rope release when the height ratio is near the critical value of the first preset ratio range.

[0068] If the boom is in the extended position, determine whether the height ratio is within the third preset ratio range. If so, execute step 1307: control the winch to release the rope at the third rope release speed until the height ratio reaches the fourth preset ratio range. The fourth rope release speed is greater than the third rope release speed.

[0069] In this step, the third preset ratio range can be set to the ratio when the hook is too close to the ground. Taking a boom pitch angle of 75° as an example, the third preset ratio range can be set to a range greater than 0.4. That is, when the hook is too close to the ground, a slower third rope release speed is required to avoid the hook touching the ground. The fourth preset ratio range can be set to a range less than 0.35. After the height ratio reaches the fourth preset ratio range, it can be considered that the hook is unlikely to touch the ground, and then the winch follow-up control can be safely continued. In addition, the winch continuously releasing rope to the fourth preset ratio range can avoid the winch frequently switching between fast and slow rope release when the height ratio is near the critical value of the third preset ratio range.

[0070] If the boom is in the retracted state, determine whether the height ratio is within the fifth preset ratio range. If so, execute step 1308 and control the winch to wind up the rope at the third rope winding speed until the height ratio reaches the sixth preset ratio range.

[0071] In this step, the fifth preset ratio range can be set relatively small, for example, less than 0.2. This means that when the hook is too close to the boom head, the boom retraction causes the wire rope inside the boom to shorten. In this case, a slower third rope winding speed is needed to prevent the distance between the hook and the boom head from shortening rapidly, thus preventing the hook from overshooting the top. The sixth preset ratio range can be set greater than 0.25. Once the height ratio reaches the sixth preset ratio range, it can be considered that the hook is no longer likely to overshoot the top, and then the winch follow-up control can be safely continued. Furthermore, continuously releasing the rope to the sixth preset ratio range avoids the winch frequently switching between fast and slow rope winding when the height ratio is near the critical value of the fifth preset ratio range.

[0072] If the boom is in the retracted state, determine whether the height ratio is within the seventh preset ratio range. If so, execute step 1309: control the winch to wind up the rope at the fourth rope winding speed until the height ratio reaches the eighth preset ratio range. The fourth rope winding speed is greater than the third rope winding speed.

[0073] In this step, the seventh preset ratio range can be set to the ratio when the hook is too close to the ground. Taking a boom pitch angle of 75° as an example, the seventh preset ratio range can be set to a range greater than 0.4. That is, when the hook is too close to the ground, a faster fourth rope reeling speed is required to quickly reel in the rope, thereby avoiding the hook touching the ground. The eighth preset ratio range can be set to a range less than 0.35. After the height ratio reaches the eighth preset ratio range, it can be considered that the hook is no longer likely to touch the ground, and then the winch follow-up control can be safely continued. In addition, the winch continuously releasing the rope to reach the eighth preset ratio range can avoid the winch frequently switching between fast and slow rope reeling when the height ratio is near the critical value of the seventh preset ratio range.

[0074] The third rope release speed and the third rope take-up speed are determined based on the rate of change of the boom length, while the fourth rope release speed and the fourth rope take-up speed are determined based on the change in boom length, the change in hook height, and the wire rope ratio of the hook.

[0075] In some embodiments, the slow rope release mode of the third rope release speed and the slow rope take-up mode of the third rope take-up speed are boom head modes, where both the third rope take-up speed and the third rope release speed are equal to the boom length change speed, i.e., the winch follow-up process in which the distance between the hook and the boom head remains constant. The fast rope release mode of the fourth rope release speed and the fast rope take-up mode of the fourth rope take-up speed are ground-level modes, where the fourth rope take-up speed and the fourth rope release speed are calculated as follows:

[0076] Fourth rope reeling speed = Fourth rope unloading speed = (Arm length change + Hook height change * Hook wire ratio) (4)

[0077] The ground-level mode is the winch follow-up process in which the distance between the hook and the ground remains constant.

[0078] Figure 4 The diagram shown is a schematic representation of the method steps of a hoist control method according to another embodiment of this application. In one embodiment, as... Figure 4 As shown, the hoist control method includes:

[0079] Determine whether the initial position of the boom head has been calibrated. If not, proceed to step 210: control the winch to release the rope at the first release speed or to retract the rope at the first retract speed.

[0080] In this embodiment, when the initial position of the boom head is not calibrated, the distance between the hook and the boom head before the hoist follow-up control operation command is issued cannot be calculated, that is, the follow-up distance before the hoist follow-up control operation command is issued cannot be calculated. In this case, the hoist is controlled not to switch speeds, and the hoist continues to release the rope at the first rope release speed or continues to retract the rope at the first rope retraction speed, so as to avoid the hoist rope from getting tangled as much as possible.

[0081] Figure 5 The diagram shown is a schematic representation of the method steps of a hoist control method according to another embodiment of this application. In one embodiment, as... Figure 5 As shown, the process of calibrating the initial position of the boom head includes:

[0082] Step 220: Control the boom to retract completely.

[0083] In this step, in order to calibrate the initial position of the boom head, all boom sections are retracted, at which point the boom is in the basic boom state.

[0084] Step 230: Control the hook to reach the preset height limit.

[0085] In this step, the winch is controlled to reel in the rope, thereby controlling the hook to rise to the preset height limit. The preset height limit in this step can be set to the maximum height limit of the hook.

[0086] Step 240: When the hook reaches the preset height limit, receive the initial number of rotations of the winch corresponding to the hook.

[0087] In this step, when the boom is shortened to its shortest length and the hook reaches the preset height limit, the initial number of rotations of the winch is recorded, which is considered to mark the initial position of the boom head. The preset height limit can be set as the maximum height limit, which is the highest point the hook can reach. This parameter can be set at the factory or manually by staff based on actual construction conditions. Setting the maximum height limit the hook can reach helps protect the mechanical structure.

[0088] Figure 6 The diagram shown is a schematic representation of the method steps of a hoist control method according to another embodiment of this application. In one embodiment, as... Figure 6 As shown, step 110 includes:

[0089] Step 1101: Receive the real-time rotation number of the winch corresponding to the hook.

[0090] In this step, the real-time rotation count of the winch is recorded during the crane's operation, thus allowing for the recording of the winch's real-time rotation count when the winch follow-up control operation command is issued. When the crane includes multiple hooks, such as a main hook and an auxiliary hook, the real-time rotation count of the main winch corresponding to the main hook or the real-time rotation count of the auxiliary winch corresponding to the auxiliary hook is received.

[0091] Step 1102: Based on the real-time number of rotations, the initial number of rotations, the current boom length, the basic boom length when the boom is fully retracted, and the wire rope ratio, obtain the follow-up distance.

[0092] In this step, by measuring the real-time rotation count and the initial rotation count, the length of the released wire rope relative to the initial calibrated position can be determined. Using the current boom length and the basic boom length, the extended boom length relative to the initial calibrated position can be determined. Based on the released wire rope length and the extended boom length, the length of the wire rope between the hook and the boom head can be determined. Finally, based on the wire rope length between the hook and the boom head and the wire rope ratio, the distance between the hook and the boom head, i.e., the follow-up distance, can be obtained.

[0093] Figure 7 The diagram shown illustrates the method steps of a hoist control method according to another embodiment of this application. In one embodiment, specifically, as... Figure 7As shown, after step 240, the method further includes:

[0094] Step 270: Based on the initial number of rotations, obtain the initial length of the wire rope already wound on the winch when the boom head is in the initial position.

[0095] In this step, the initial length of the wire rope already wound on the winch can be calculated based on the diameter of the winch and the initial number of rotations.

[0096] Following step 1101, the method further includes:

[0097] Step 280: Obtain the current length of the wire rope wound on the winch based on the real-time rotation number.

[0098] In this step, the current length of the wire rope wound on the winch can be calculated based on the diameter of the winch and the real-time number of rotations.

[0099] Step 1102 includes:

[0100] Step 11021: Based on the current wire rope length, the initial wire rope length, the current boom length, the basic boom length when the boom is fully retracted, and the wire rope ratio, obtain the follow-up distance.

[0101] In this step, the following distance is calculated using the length of the wire rope, thus allowing for an accurate calculation of the following distance directly from the wire rope length. Specifically, the following formula (5) can be used to calculate the following distance:

[0102] Follow-up distance = [absolute value of (current wire rope length - initial wire rope length) - (current arm length - basic arm length)] / wire rope ratio (5)

[0103] Figure 8 The diagram shown is a schematic representation of the method steps of a hoist control method according to another embodiment of this application. In one embodiment, as... Figure 8 As shown, if the boom is in the retracted state, determine whether the wire rope ratio meets the preset ratio range. If it does, then execute:

[0104] Step 290: Limit the preset boom retraction speed to below the preset speed.

[0105] Because the change in boom length during retraction is a fluctuating value, this change in boom length leads to a change in hook height, which in turn is also a fluctuating value. In rapid rope retraction mode, the wire rope ratio amplifies this height change. If the rope is retracted at the aforementioned second retraction speed, the winch will move erratically, significantly impacting the user experience and causing instability in hook movement, which is detrimental to safe lifting of goods. The preset boom retraction speed in this step can be set to the maximum boom retraction speed. The maximum boom retraction speed is the maximum speed the boom can reach. This parameter can be set at the factory, determined by the boom's telescopic mechanism, or manually set by operators based on actual construction conditions. Setting the maximum retraction speed protects the mechanical structure and prevents the lifted object from moving too quickly, leading to excessive inertia and potential safety hazards.

[0106] In this embodiment, when the wire rope ratio is too large, the change in height will be amplified. Therefore, the pre-set retraction speed is limited to a specific value during boom retraction to reduce the fluctuation in boom length change, thereby reducing the fluctuation in height change and preventing excessively rapid or slow winch movements. Specifically, the pre-set ratio range can be a ratio range greater than or equal to 3, or a ratio range greater than or equal to 2.

[0107] For example, if the boom length change within 1 second is 140mm to 190mm, and due to the 4x ratio of the wire rope, the fluctuation in height corresponding to a 50mm boom length change will be amplified by 4x, resulting in excessive fluctuations in the rope winding speed. In this embodiment, for example, the maximum boom length change speed can be limited to 145mm retraction per second, resulting in a boom length change fluctuation of only 5mm. This fluctuation is small, and the winch speed fluctuation will not be too large.

[0108] Figure 9 The diagram shown illustrates the method steps of a hoist control method according to another embodiment of this application. In one embodiment, the crane is a single-cylinder pin-type crane, and the boom includes multiple sections. Figure 9 As shown, the method also includes:

[0109] Step 300: Receive the actual cylinder length percentage of the hydraulic cylinder in the currently extending and retracting boom.

[0110] Step 310: Receive the target cylinder length percentage value of the hydraulic cylinder in the currently extending and retracting boom.

[0111] Step 320: Based on the actual cylinder length percentage and the target cylinder length percentage, control the extension and retraction speed of the hydraulic cylinder to accelerate at a preset acceleration slope or decelerate at a preset deceleration slope.

[0112] In this embodiment, just before the hydraulic cylinder completes its extension and retraction, the extension and retraction speed is smoothed using a preset acceleration slope or a preset deceleration slope. This prevents the hydraulic cylinder of the single-bar pin-type crane from suddenly accelerating to full speed or suddenly decelerating to zero at the boom head and tail, thus protecting the hydraulic cylinder and the boom. Specifically, the target cylinder length percentage is the target length of the hydraulic cylinder extension and retraction, i.e., the maximum extension and retraction range of the hydraulic cylinder; the actual cylinder length percentage is the length of the hydraulic cylinder at the current moment. The condition for accelerating with a preset acceleration slope or decelerating with a preset deceleration slope can be set as follows: the absolute value of the difference between the actual cylinder length percentage and the target cylinder length percentage is less than 3. For example, if the target cylinder length percentage is 92%, i.e., the target cylinder length percentage value is 92, then when the actual cylinder length percentage value reaches 89, the extension and retraction speed is decelerated using a preset deceleration slope, which can be set to 1.

[0113] In any of the above embodiments, the crane may include multiple hooks, among which there are main hooks and auxiliary hooks. The main hooks have multiple ratios, such as 3x, 4x, 5x, etc., and the auxiliary hooks have a ratio of 1.

[0114] In one embodiment, there are multiple hooks, including main hooks and auxiliary hooks. The main hooks are driven by a main winch, and the auxiliary hooks are driven by an auxiliary winch. During the winch follow-up control of the crane, both the main winch and the auxiliary winch are subject to follow-up control.

[0115] The hoist control method further includes the step of: if the difference between the first distance and the second distance is greater than a preset difference, adjusting the winding speed of the auxiliary hoist until the difference between the first distance and the second distance is less than or equal to the preset difference. Here, the first distance is the distance between the main hook and the boom head, and the second distance is the distance between the auxiliary hook and the boom head.

[0116] In this embodiment, the height difference between the main hook and the auxiliary hook can be adjusted to achieve synchronous follow-up movement of the two hooks. In some specific implementations, the upper limit of the rotational speed of the auxiliary winch can also be limited to a preset speed to prevent the auxiliary winch from overspeeding and causing rope tangling during the adjustment of the height difference.

[0117] Exemplary hoist control device

[0118] Figure 10 The diagram shown is a schematic representation of a hoisting control device according to an embodiment of this application. This application also provides a hoisting control device applied to the hoisting follow-up control process of a crane, the crane including a hook and a boom. In one embodiment, as... Figure 10As shown, the hoist control device includes: a calibration module 101, a follow-up distance acquisition module 102, a preset length acquisition module 103, a telescopic boom status acquisition module 104, a boom length detection module 105, and a rope retraction and release control module 106.

[0119] The calibration module 101 is configured to calibrate the initial position of the boom head;

[0120] The follow-up distance acquisition module 102 is communicatively connected to the calibration module 101. The follow-up distance acquisition module 102 is configured to determine the follow-up distance between the hook and the boom head based on the initial position of the boom head. The follow-up distance is the distance between the hook and the boom head when the hoist follow-up control operation command is issued.

[0121] The preset length acquisition module 103 is communicatively connected to the follow-up distance acquisition module 102. The preset length acquisition module 103 is configured to determine the preset length based on the weight of the hook, the wire rope ratio of the hook, the follow-up distance, and the wire rope density of the hook.

[0122] The telescopic boom status acquisition module 104 is configured to receive the telescopic boom status of the boom.

[0123] The boom length detection module 105 is configured to detect the boom length of the boom.

[0124] The rope retraction control module 106 is communicatively connected to the preset length acquisition module 103, the telescopic boom status acquisition module 104, and the boom length detection module 105, respectively. The rope retraction control module 106 is configured to acquire the telescopic boom status and boom length of the boom, and control the working mode and working parameters of the winch according to the telescopic boom status, the boom length, and the preset length. The working mode includes a rope release mode and a rope retraction mode, and the working parameters include a rope release speed and a rope retraction speed.

[0125] In this embodiment, the rope winding and unwinding mode and speed are determined based on specific parameters, making the control process more intelligent and standardized. The rope winding and unwinding speed, executed according to specific working conditions, allows for controllable tension of the wire rope on the winch, thereby preventing rope tangling.

[0126] Exemplary crane

[0127] This application also provides a crane, including: a winch, a boom, a hook, and the aforementioned winch control device.

[0128] Exemplary electronic devices and computer-readable storage media

[0129] Below, for reference Figure 11This describes an electronic device according to embodiments of the present application. Figure 11 The diagram shown is a structural schematic of an electronic device provided in an embodiment of this application.

[0130] like Figure 11 As shown, the electronic device 100 includes one or more processors 1001 and memory 1002.

[0131] The processor 1001 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 100 to perform desired functions.

[0132] The memory 1002 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 1001 may execute the program instructions to implement the hoisting control methods of the various embodiments of this application described above or other desired functions. Various contents, such as hoisting control error parameters, may also be stored in the computer-readable storage medium.

[0133] In one example, the electronic device 100 may also include an input device 1003 and an output device 1004, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0134] The input device 1003 may include, for example, a keyboard, mouse, joystick, and touch screen.

[0135] The output device 1004 can output various information to the outside, including determined motion data. The output device 1004 may include, for example, a display, a communication network, and remote output devices connected thereto.

[0136] Of course, for the sake of simplicity, Figure 11 Only some of the components of the electronic device 100 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the electronic device 100 may include any other suitable components depending on the specific application.

[0137] In addition to the methods and devices described above, embodiments of this application may also be computer program products, which include computer program instructions that, when executed by a processor, cause the processor to perform the steps in the hoisting control methods according to various embodiments of this application as described in this specification.

[0138] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0139] Furthermore, embodiments of this application may also be computer-readable storage media storing computer program instructions thereon, which, when executed by a processor, cause the processor to perform the steps of the hoisting control method according to various embodiments of this application.

[0140] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0141] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0142] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0143] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0144] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features of the invention herein.

[0145] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications or equivalent substitutions made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A hoist control method, characterized in that, A hoisting follow-up control process applied to a crane, the crane including a hook and a boom; the hoisting control method includes: If the initial position of the boom head has been marked, the follow-up distance between the hook and the boom head is determined according to the initial position of the boom head. The follow-up distance is the distance between the hook and the boom head when the hoist follow-up control operation command is issued. The preset length is determined based on the weight of the hook, the wire rope ratio of the hook, the follow-up distance, and the wire rope density of the hook; and The telescopic boom status and boom length of the boom are obtained, and the working mode and working parameters of the winch are controlled according to the telescopic boom status, boom length and preset length. The working mode includes rope release mode and rope retraction mode, and the working parameters include rope release speed and rope retraction speed. The step of acquiring the telescopic boom state and boom length of the boom, and controlling the winch's working mode and working parameters based on the telescopic boom state, boom length, and preset length includes: Receive the status of the boom's telescopic boom; If the boom is in the extended state and the boom length is less than the preset length, then control the winch to release the rope at the first rope release speed; If the boom is in the extended state and the boom length is greater than or equal to a preset length, the winch is controlled to release the rope at a second rope release speed, which is greater than the first rope release speed. If the boom is in the retracted state and the boom length is greater than a preset length, then the winch is controlled to perform rope winding at a first winding speed; and If the boom is in the retracted state and the boom length is less than or equal to the preset length, the winch is controlled to perform rope winding at a second rope winding speed, which is greater than the first rope winding speed. The first rope release speed and the first rope take-up speed are determined based on the rate of change of the boom length, while the second rope release speed and the second rope take-up speed are determined based on the change in boom length, the change in hook height, and the wire rope ratio of the hook.

2. The hoisting control method according to claim 1, characterized in that, Also includes: The height ratio of the hook is received, and the height ratio is determined based on the follow-up distance and the height of the boom head above the ground; The step of acquiring the telescopic boom state and boom length of the boom, and controlling the winch's working mode and working parameters based on the telescopic boom state, boom length, and preset length includes: Receive the status of the boom's telescopic boom; If the boom is in the extended state and the height ratio is within the first preset ratio range, then the winch is controlled to release the rope at the fourth rope release speed until the height ratio reaches the second preset ratio range. If the boom is in the extended state and the height ratio is within the third preset ratio range, then the winch is controlled to release the rope at the third rope release speed until the height ratio reaches the fourth preset ratio range; wherein the fourth rope release speed is greater than the third rope release speed. If the boom is in the retracted state and the height ratio is within the fifth preset ratio range, then the winch is controlled to wind up the rope at the third rope winding speed until the height ratio reaches the sixth preset ratio range; and If the boom is in the retracted state and the height ratio is within the seventh preset ratio range, then the winch is controlled to take in the rope at the fourth rope take-up speed until the height ratio reaches the eighth preset ratio range; wherein the fourth rope take-up speed is greater than the third rope take-up speed. The third rope release speed and the third rope take-up speed are determined based on the rate of change of the boom length, while the fourth rope release speed and the fourth rope take-up speed are determined based on the change in boom length, the change in hook height, and the wire rope ratio of the hook.

3. The hoisting control method according to claim 1, characterized in that, Also includes: If the initial position of the boom head is not marked, the winch is controlled to release the rope at a first release speed or to retract the rope at a first retract speed.

4. The hoisting control method according to claim 1, characterized in that, The initial position of the boom head is determined by: Control the boom to retract completely; Control the hook to reach the preset height limit; and When the hook reaches the preset height limit, the initial number of rotations of the winch corresponding to the hook is received.

5. The hoisting control method according to claim 4, characterized in that, Determining the follow-up distance between the hook and the boom head based on the initial position of the boom head includes: Receive the real-time rotation count of the winch corresponding to the hook; and The follow-up distance is obtained based on the real-time number of rotations, the initial number of rotations, the current boom length, the basic boom length when the boom is fully retracted, and the wire rope ratio.

6. The hoisting control method according to claim 5, characterized in that, After receiving the initial number of rotations of the winch corresponding to the hook when the hook reaches the preset height limit, the method further includes: The initial length of the wire rope already wound on the winch when the boom head is in the initial position is obtained based on the initial number of rotations. After receiving the real-time number of rotations of the winch corresponding to the hook, the method further includes: The current length of the wire rope wound on the winch is obtained based on the real-time rotation count. The following parameters are used to determine the following tracking distance based on the real-time number of rotations, the initial number of rotations, the current boom length, the basic boom length when the boom is fully retracted, and the wire rope ratio: The following distance is obtained based on the current wire rope length, the initial wire rope length, the current boom length, the basic boom length when the boom is fully retracted, and the wire rope ratio.

7. The hoisting control method according to any one of claims 1 to 6, characterized in that, If the boom is in the retracted state and the wire rope ratio is within a preset ratio range, then the preset retracted speed of the boom is limited to below the preset speed.

8. The hoisting control method according to any one of claims 1 to 6, characterized in that, The crane is a single-cylinder pin-type crane, and the boom includes multiple boom sections; the method further includes: Receive the actual cylinder length percentage of the hydraulic cylinder in the currently extending and retracting boom; Receive the target cylinder length percentage value of the hydraulic cylinder in the currently extending / retracting boom; and Based on the actual cylinder length percentage and the target cylinder length percentage, the extension and retraction speed of the hydraulic cylinder is controlled to accelerate at a preset acceleration slope or decelerate at a preset deceleration slope.

9. The hoist control method according to any one of claims 1 to 6, characterized in that, The number of hooks is multiple, and the multiple hooks include main hooks and auxiliary hooks. The main hooks are driven by a main winch, and the auxiliary hooks are driven by an auxiliary winch. During the hoist follow-up control process of the crane, both the main hoist and the auxiliary hoist are subject to follow-up control. The hoisting control method further includes: If the difference between the first distance and the second distance is greater than a preset difference, the winding and unwinding speed of the auxiliary winch is adjusted until the difference between the first distance and the second distance is less than or equal to the preset difference. The first distance is the distance between the main hook and the boom head, and the second distance is the distance between the auxiliary hook and the boom head.

10. A hoist control device, characterized in that, The hoisting control device, applied to the hoisting control method as described in any one of claims 1 to 9, comprises: The calibration module is configured to calibrate the initial position of the boom head; The follow-up distance acquisition module is communicatively connected to the calibration module. The follow-up distance acquisition module is configured to determine the follow-up distance between the hook and the boom head based on the initial position of the boom head. The follow-up distance is the distance between the hook and the boom head when the hoist follow-up control operation command is issued. A preset length acquisition module is communicatively connected to the follow-up distance acquisition module. The preset length acquisition module is configured to determine the preset length based on the weight of the hook, the wire rope ratio of the hook, the follow-up distance, and the wire rope density of the hook. The telescopic boom status acquisition module is configured to receive the telescopic boom status of the boom. A boom length detection module, configured to detect the boom length of the boom; and The rope retraction control module is communicatively connected to the preset length acquisition module, the telescopic boom status acquisition module, and the boom length detection module, respectively. The rope retraction control module is configured to acquire the telescopic boom status and the boom length of the boom, and control the working mode and working parameters of the winch according to the telescopic boom status, the boom length, and the preset length. The working mode includes a rope release mode and a rope retraction mode, and the working parameters include a rope release speed and a rope retraction speed.

11. A crane, characterized in that, include: Hoist; Crane boom; Hook; as well as The hoisting control device according to claim 10.

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