Hoisting guidance method, controller, system, crane and storage medium

Abstract

This disclosure provides a lifting guidance method, controller, system, crane, and storage medium, relating to the field of cranes. The method includes: before lifting the load, controlling the crane hook to move to a target lifting point and determining the crane's target parameters; during the lifting process, comparing the deviation between the crane's actual parameters and the target parameters; based on the deviation, determining the sequential action steps to be performed by the crane and generating corresponding action signals; and outputting action signals to instruct the operator to control the crane according to the action signals. This disclosure enables lifting guidance without increasing hardware costs or positioning operation time costs, reducing operator workload, lowering operational difficulty, and improving lifting efficiency.

Description

Technical Field

[0001] This disclosure relates to the field of cranes, and more particularly to a lifting guidance method, controller, system, crane, and storage medium. Background Technology

[0002] Cranes typically lift large objects, and during the lifting and positioning process, the load will sway due to inertia, wind, and other environmental factors. It is difficult to quickly determine the distance between the load and the target installation position by visual observation. In actual lifting and positioning, less skilled operators need to make repeated adjustments to achieve accurate positioning, demanding a high level of operator skill.

[0003] With technological advancements, accurate target location can be achieved by adding technologies such as GPS (Global Positioning System) and positioning sensors. For example, a mobile GPS unit must be installed at the target location in conjunction with a reference GPS unit on construction machinery to determine the target's position. However, GPS installation is difficult and costly, limiting the practical application of this technology. Alternatively, auxiliary systems in related technologies often employ automated operation, automatically controlling a crane's movement after the target location is determined. However, due to the large operating space and complex working conditions of cranes, current technology cannot guarantee the safety of automated control, resulting in very few actual applications of such auxiliary systems. Summary of the Invention

[0004] One technical problem this disclosure aims to solve is to provide a hoisting guidance method, controller, system, crane, and storage medium that can conveniently determine the target location and realize hoisting guidance.

[0005] According to one aspect of this disclosure, a hoisting guidance method is proposed, comprising: before hoisting the object, controlling the crane hook to run to the target hoisting point and determining the target parameters of the crane; during the hoisting process, comparing the deviation between the actual parameters of the crane and the target parameters; based on the deviation, determining the action steps to be executed by the crane in sequence and generating corresponding action signals; and outputting action signals to instruct the operator to control the crane according to the action signals.

[0006] In some embodiments, the target parameters include the target working radius, the target hook height, and the target slewing angle; and the actual parameters include the actual working radius, the height of the hoisted object off the ground, and the actual slewing angle.

[0007] In some embodiments, outputting an action signal includes: outputting an operation signal to a display so that the display shows the operation signal.

[0008] In some embodiments, outputting an action signal includes: outputting an operating signal to a sound device so that the sound device plays the operating signal.

[0009] In some embodiments, the actions performed sequentially by the crane include: a lifting step, a luffing operation step, a hoisting and winching step, a first slewing step, and a lowering step; or a lifting step, a second slewing step, a luffing operation step, a first slewing step, and a lowering step.

[0010] In some embodiments, the action signal corresponding to the lifting step includes a lifting signal to raise the hoisted object a predetermined distance.

[0011] In some embodiments, the action signal corresponding to the amplitude change operation includes: if the actual working amplitude is less than the difference between the target working amplitude and the first error, the action signal includes a decrease amplitude change action signal; if the actual working amplitude is greater than the sum of the target working amplitude and the first error, the action signal includes an increase amplitude change action signal; and if the actual working amplitude is greater than or equal to the difference between the target working amplitude and the first error, and less than or equal to the sum of the target working amplitude and the first error, the action signal includes a stop amplitude change action signal.

[0012] In some embodiments, the action signal corresponding to the luffing operation further includes: when the crane performs the luffing operation, if the height of the hoisted object from the ground is less than a first height threshold, the action signal includes a hook lifting action signal and a stop luffing action signal.

[0013] In some embodiments, the action signal corresponding to the hoisting step includes: if the height of the hoisted object off the ground is less than the difference between a first threshold and a second error, the action signal includes a hoisting action signal, wherein the first threshold is the sum of the target working radius and the second height threshold; if the height of the hoisted object off the ground is greater than the sum of the first threshold and the second error, the action signal includes a lowering action signal; and if the height of the hoisted object off the ground is greater than or equal to the difference between the first threshold and the second error, and less than or equal to the sum of the first threshold and the second error, the action signal includes a stop hoisting and lowering action signal.

[0014] In some embodiments, the action signal corresponding to the first slewing step includes: if the target hoisting point is determined to be on the right side of the operator's facing direction, the action signal includes a right slewing signal; if the target hoisting point is determined to be on the left side of the operator's facing direction, the action signal includes a left slewing signal; and if the target hoisting point is determined to be directly in front of the operator, the action signal includes a stop slewing signal.

[0015] In some embodiments, the action signal corresponding to the descent step includes a descent signal, so that the hoisted object falls to the target hook height at the height above the ground.

[0016] In some embodiments, the action signal corresponding to the second slewing step includes a slewing signal to cause the crane to slew by a predetermined angle.

[0017] According to another aspect of this disclosure, a hoisting guidance controller is also proposed, comprising: a positioning module configured to control the crane hook to move to a target hoisting point position before hoisting the load and to determine the target parameters of the crane; a comparison module configured to compare the deviation between the actual parameters of the crane and the target parameters during the hoisting process; a signal generation module configured to determine the action steps to be executed sequentially by the crane based on the deviation and to generate corresponding action signals; and a signal output module configured to output action signals to instruct the operator to control the crane according to the action signals.

[0018] According to another aspect of this disclosure, a hoisting guidance controller is also proposed, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute the hoisting guidance method as described above based on instructions stored in the memory.

[0019] According to another aspect of this disclosure, a hoisting guidance system is also proposed, comprising: the hoisting guidance controller described above; and a positioning switch configured to locate the position of a target hoisting point.

[0020] In some embodiments, a torque limiter is configured to detect the target working radius and the actual working radius; a lifting height sensor is configured to detect the target hook height and the height of the hoisted object off the ground; and a slewing angle sensor is configured to detect the target slewing angle and the actual slewing angle.

[0021] In some embodiments, the hoisting guidance system further includes at least one of a display and an audio device, wherein the display is configured to display an action signal; and the audio device is configured to play the action signal.

[0022] In some embodiments, at least one of the sound device and the positioning switch is integrated into the display.

[0023] According to another aspect of this disclosure, a crane is also provided, comprising: the aforementioned hoisting guide controller; or the aforementioned hoisting guide system.

[0024] According to another aspect of this disclosure, a non-transitory computer-readable storage medium is also proposed, on which computer program instructions are stored, which, when executed by a processor, implement the above-described hoisting guidance method.

[0025] In this embodiment of the present disclosure, the target lifting point is determined in advance when the hook is running, the target lifting position is determined, and the target parameters of the crane are recorded. During the lifting process, the actual parameters of the crane are compared with the target parameters to achieve accurate positioning of the lifting position. This guides the operator to move the crane boom toward the target according to the work signal, reducing the operator's workload, reducing the difficulty of operation, and improving the lifting efficiency.

[0026] Other features and advantages of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0027] The accompanying drawings, which form part of this specification, illustrate embodiments of this disclosure and, together with the specification, serve to explain the principles of this disclosure.

[0028] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein:

[0029] Figure 1 This is a schematic flowchart of some embodiments of the hoisting guidance method disclosed herein;

[0030] Figure 2 This is a schematic diagram of some embodiments of the target parameters when the hook of the crane disclosed herein travels to the target lifting point position;

[0031] Figure 3 Schematic diagrams of some embodiments of actual parameters during crane lifting processes disclosed herein;

[0032] Figure 4 This is a schematic diagram of the hoisting guide display icon in some embodiments of this disclosure;

[0033] Figure 5 This is a schematic diagram of the structure of some embodiments of the hoisting guidance controller disclosed herein;

[0034] Figure 6 Schematic diagrams of other embodiments of the hoisting guidance controller disclosed herein; and

[0035] Figure 7 This is a schematic diagram of the structure of some embodiments of the hoisting guidance system disclosed herein. Detailed Implementation

[0036] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0037] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0038] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0039] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0040] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0041] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0042] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0043] Figure 1 This is a flowchart illustrating some embodiments of the hoisting guidance method disclosed herein, which is executed by a controller.

[0044] In step 110, before hoisting the object, the crane hook is controlled to move to the target hoisting point and the target parameters of the crane are determined.

[0045] In some embodiments, before lifting, the crane boom is controlled to move the empty hook to the target position, with the hook center at the center of the lifting position and the hook height equal to the target load's placement height. A positioning switch is used to record the coordinates of the target lifting point.

[0046] In some embodiments, the target parameters of the crane include the target working radius R, the target hook height H, and the target slewing angle θ. For example, after receiving the positioning switch signal, the controller calculates and records the crane's working radius R, slewing angle θ, and hook height H at that time.

[0047] In some embodiments, the working amplitude information is provided by the torque limiter calculation, the slewing angle information is provided by the slewing angle sensor, and the hook height information is provided by the lifting height sensor.

[0048] In some embodiments, information such as working radius R, rotation angle θ, and hook height H can be queried and selected via a display.

[0049] In step 120, during the hoisting process, the deviation between the actual parameters of the crane and the target parameters is compared.

[0050] In some embodiments, the actual parameters include the actual working radius r, the height h of the hoisted object above the ground, and the actual slewing angle α.

[0051] In some embodiments, when the formal hoisting begins, the recorded target hoisting point position is selected, and the controller compares the target working radius R with the actual working radius r, the target hook height H with the height h of the hoisted object above the ground, and the target slewing angle θ with the actual slewing angle α.

[0052] In step 130, based on the deviation, the sequential action steps to be performed by the crane are determined, and corresponding action signals are generated.

[0053] In some embodiments, the crane boom and hoisting winch actions are determined according to a preset strategy within the controller or a user-defined hoisting sequence. By controlling the crane boom and hoisting winch actions, the position of the hoisted object is matched with the target hoisting point.

[0054] In step 140, an action signal is output to instruct the operator to control the crane according to the action signal.

[0055] In some embodiments, the controller outputs an operating signal to the display, which then provides motion guidance to the driver via optical signals based on the motion signal. For example, such as... Figure 4 As shown, a guide graphic is displayed on the monitor. The diagram uses arrow icons to guide the driver. The left arrow in the diagram indicates a left turn, and the up arrow indicates a lift, which facilitates the driver's actions.

[0056] In some embodiments, the controller outputs an operating signal to the sound device, which then plays the operating signal. For example, a player provides action guidance to the driver through an audio signal.

[0057] In the above embodiments, the target lifting point is predetermined during hook operation, the target lifting position is determined, and the target parameters of the crane are recorded. During the lifting process, the actual parameters of the crane are compared with the target parameters to achieve accurate positioning of the lifting position. Since the target positioning and the positioning of the lifted object rely on sensors commonly equipped on cranes, lifting guidance can be achieved without increasing hardware costs or positioning operation time costs. In addition, providing action guidance graphics on the display or sound prompts to guide the operator to perform actions according to the system plan significantly reduces the difficulty of operation, improves labor productivity, and has the advantage of rapid large-scale promotion.

[0058] In some embodiments of the present disclosure, the action steps sequentially executed by the crane determined according to the preset strategy for the hoisting steps include: a rising step, a luffing operation step, a hoisting winch step, a first slewing step, and a lowering step. This embodiment is for the case without fixed obstacles.

[0059] In some embodiments, the action signal corresponding to the rising step includes a rising signal to raise the hoisted object by a predetermined distance. For example, determine the current height of the hoisted object from the ground, and then hoist the winch to a certain height from the ground, and use the moment limiter to obtain the current amplitude information r in real time.

[0060] In some embodiments, the action signals corresponding to the luffing operation include: if the actual working amplitude is less than the difference between the target working amplitude and the first error, the action signal includes a lowering luffing action signal; if the actual working amplitude is greater than the sum of the target working amplitude and the first error, the action signal includes a raising luffing action signal; and if the actual working amplitude is greater than or equal to the difference between the target working amplitude and the first error and less than or equal to the sum of the target working amplitude and the first error, the action signal includes a stop luffing action signal.

[0061] For example, after performing the rising action, perform the luffing operation. If r < R - &1, the controller outputs a lowering luffing signal; if r > R + &1, the controller outputs a raising luffing signal; if R - &1 ≤ r ≤ R + &1, it means that the luffing of the crane is in place, and the controller outputs a stop luffing signal, where &1 is the allowable error range.

[0062] In some embodiments, when the crane performs the lowering luffing action, if the height of the hoisted object from the ground is less than the first height threshold, the action signal includes a hook raising action signal and a stop luffing action signal.

[0063] For example, during the luffing process, to avoid the hoisted object from hitting the ground, when it is detected that the height h of the hoisted object is less than a preset value, such as 0.5 meters, the display system prompts the hook to be raised and displays a prompt icon to stop the lowering luffing.

[0064] In some embodiments, the action signals corresponding to the hoisting winch step include: if the height of the hoisted object from the ground is less than the difference between the first threshold and the second error, the action signal includes a hoisting action signal, where the first threshold is the sum of the target working amplitude and the second height threshold; if the height of the hoisted object from the ground is greater than the sum of the first threshold and the second error, the action signal includes a lowering action signal; and if the height of the hoisted object from the ground is greater than or equal to the difference between the first threshold and the second error and less than or equal to the sum of the first threshold and the second error, the action signal includes a stop hoisting and lowering action signal.

[0065] For example, after the luffing reaches the position, the luffing action indication icon stops indicating, and starts to compare the current height h of the lifted object from the ground with the target height H, and indicates that the hoisting winch operates until h = H + δ. If h < H + δ - &2, an upward hoisting signal is indicated; if h > H + δ + &2, a downward signal is indicated; if H + δ - &2 ≤ h ≤ H + δ + &2, the upward hoisting and downward indications are stopped, where δ is a preset safety value, for example, 0.5 meters, and &2 is the allowable error range.

[0066] In some embodiments, the action signals corresponding to the first slewing step include: according to the actual slewing angle and the target slewing angle, if it is determined that the position of the target lifting point is on the right side of the direction facing the operator, the action signal includes a right slewing signal; if it is determined that the position of the target lifting point is on the left side of the direction facing the operator, the action signal includes a left slewing signal; and if it is determined that the position of the target lifting point is directly in front of the operator, the action signal includes a stop slewing signal.

[0067] For example, after the hoisting winch reaches the position, compare the current slewing angle α with the target slewing angle θ. If it is determined that the target slewing angle is on the right side of the direction facing the driver, the display shows a right slewing icon; if it is determined that the target slewing angle is on the left side of the direction facing the driver, the display shows a left slewing icon, and the slewing icon stops indicating after the slewing reaches the position.

[0068] In some embodiments, the action signal corresponding to the lowering step includes a lowering signal to lower the lifted object to a height from the ground equal to the target hook height.

[0069] For example, when the lifted object is lowered to a height H from the ground, it means that the hoisting is completed.

[0070] In the above embodiments, when lifting a lifted object, the deviation between the actual parameters and the target parameters of the crane is compared, the action steps sequentially executed by the crane are determined, and corresponding action signals are generated to achieve hoisting guidance and reduce the operation difficulty of the driver.

[0071] In some other embodiments of the present disclosure, for the hoisting steps set by the user, the action steps sequentially executed by the determined crane include: a rising step, a second slewing step, a luffing operation step, a first slewing step, and a lowering step. Among them, the action signals corresponding to the rising step, the luffing operation step, the first slewing step, and the lowering step have been introduced in detail in the above embodiments and will not be further elaborated here. The action signal corresponding to the second slewing step includes a slewing signal to slewing the crane by a predetermined angle.

[0072] For example, users can set the sequence of hoisting actions and the coordinates of intermediate points via a display or by importing data to avoid obstacles. This involves first setting the number of hoisting steps, then inputting the action type and target point for each step. For instance, the first step might be to lift to 5 meters, the second step to turn 10 degrees to the right, the third step to adjust the amplitude to the final target amplitude, the fourth step to turn back to the final target angle, and the fifth step to lower to the final target position.

[0073] Figure 5 This is a schematic diagram of the structure of some embodiments of the hoisting guidance controller disclosed herein, which includes a positioning module 510, a comparison module 520, a signal generation module 530, and a signal output module 540.

[0074] The positioning module 510 is configured to control the crane hook to move to the target lifting point position and determine the target parameters of the crane before lifting the object.

[0075] In some embodiments, before lifting, the positioning module 510 controls the crane boom hook to move to the target position, the center of the hook is at the center of the lifting position, and the height of the hook is equal to the height of the target object in place.

[0076] In some embodiments, a positioning switch is used to record the coordinates of the target lifting point. The target parameters of the crane include the target working radius R, the target hook height H, and the target slewing angle θ.

[0077] The comparison module 520 is configured to compare the deviation between the actual parameters of the crane and the target parameters during the lifting process.

[0078] In some embodiments, the actual parameters include the actual working radius r, the height h of the hoisted object above the ground, and the actual slewing angle α.

[0079] In some embodiments, when the formal hoisting begins, the recorded target hoisting point position is selected, and the controller compares the target working radius R with the actual working radius r, the target hook height H with the height h of the hoisted object above the ground, and the target slewing angle θ with the actual slewing angle α.

[0080] The signal generation module 530 is configured to determine the sequential action steps to be performed by the crane based on the deviation, and generate corresponding action signals.

[0081] In some embodiments, the crane boom and hoisting winch actions are determined according to a preset strategy within the controller or a user-defined hoisting sequence. By controlling the crane boom and hoisting winch actions, the position of the hoisted object is matched with the target hoisting point.

[0082] In some embodiments, the actions performed sequentially by the crane include: a lifting step, a luffing operation step, a hoisting and winching step, a first slewing step, and a lowering step.

[0083] The action signals corresponding to the lifting step include a lifting signal to raise the hoisted object a predetermined distance.

[0084] The action signals corresponding to the luffing operation include: if the actual working radius is less than the difference between the target working radius and the first error, the action signal includes a lowering luffing action signal; if the actual working radius is greater than the sum of the target working radius and the first error, the action signal includes an raising luffing action signal; and if the actual working radius is greater than or equal to the difference between the target working radius and the first error, and less than or equal to the sum of the target working radius and the first error, the action signal includes a stopping luffing action signal. When the crane performs a lowering luffing action, if the height of the hoisted object from the ground is less than a first height threshold, the action signals include a hook raising action signal and a stopping luffing action signal.

[0085] The action signals corresponding to the hoisting and winch steps include: if the height of the hoisted object off the ground is less than the difference between a first threshold and a second error, the action signal includes a hoisting action signal, wherein the first threshold is the sum of the target working radius and the second height threshold; if the height of the hoisted object off the ground is greater than the sum of the first threshold and the second error, the action signal includes a lowering action signal; and if the height of the hoisted object off the ground is greater than or equal to the difference between the first threshold and the second error, and less than or equal to the sum of the first threshold and the second error, the action signal includes a stop hoisting and lowering action signal.

[0086] The action signals corresponding to the first slewing step include: based on the actual slewing angle and the target slewing angle, if the target hoisting point is determined to be on the right side of the operator's facing direction, the action signal includes a right slewing signal; if the target hoisting point is determined to be on the left side of the operator's facing direction, the action signal includes a left slewing signal; and if the target hoisting point is determined to be directly in front of the operator, the action signal includes a stop slewing signal.

[0087] The action signals corresponding to the descent step include a descent signal, with the target hook height being the height at which the hoisted object falls off the ground.

[0088] In some other embodiments of this disclosure, the user-defined hoisting steps and the sequentially executed actions of the crane include: an ascending step, a second slewing step, a luffing operation step, a first slewing step, and a lowering step. The action signal corresponding to the second slewing step includes a slewing signal to cause the crane to rotate a predetermined angle. The action signals corresponding to the ascending step, the luffing operation step, the first slewing step, and the lowering step have been described in detail in the above embodiments and will not be further elaborated here.

[0089] The signal output module 540 is configured to output an action signal to instruct the operator to control the crane according to the action signal.

[0090] In some embodiments, the controller outputs a working signal to the display, and the display provides motion guidance to the driver through optical signals based on the motion signal.

[0091] In some embodiments, the controller outputs a working signal to the sound device, and the sound device plays the working signal.

[0092] In the above embodiments, the crane must conduct a trial lift before hoisting. The target position is determined by moving the hook to the target positioning point. The method is simple and the positioning is accurate. When hoisting the object, the deviation between the actual parameters of the crane and the target parameters is compared to determine the action steps that the crane will perform in sequence and generate corresponding action signals to guide the operator to move the crane boom to the target according to the work signals. This reduces the operator's workload and lowers the difficulty of operation.

[0093] Figure 6 The diagram below illustrates the structure of another embodiment of the hoisting guidance controller disclosed herein. The controller 600 includes a memory 610 and a processor 620. The memory 610 can be a disk, flash memory, or any other non-volatile storage medium. The memory stores instructions from the corresponding embodiments described above. The processor 620 is coupled to the memory 610 and can be implemented as one or more integrated circuits, such as a microprocessor or microcontroller. The processor 620 executes the instructions stored in the memory.

[0094] In some embodiments, the processor 620 is coupled to the memory 610 via a BUS bus 630. The controller 600 can also be connected to an external storage system 650 via a storage interface 640 to access external data, and can also be connected to a network or another computer system (not shown) via a network interface 660. Further details are omitted here.

[0095] In this embodiment, data instructions are stored in a memory and then processed by a processor to prompt and guide the operator to move the crane boom toward the target according to the actions planned by the system, thereby reducing the operator's workload and lowering the difficulty of operation.

[0096] Figure 7 This is a schematic diagram of the structure of some embodiments of the hoisting guidance system disclosed herein. The hoisting guidance system includes a positioning switch 710 and a hoisting guidance controller 720 as described in the above embodiments.

[0097] Positioning switch 710 is configured to locate the target lifting point. When positioning switch 710 is pressed, lifting guide controller 720 automatically records the target position information.

[0098] In some embodiments, the hoisting guidance system further includes a torque limiter 730, a slewing angle sensor 740, and a lifting height sensor 750. The torque limiter 730 is configured to detect the target working radius and the actual working radius; the slewing angle sensor 740 is configured to detect the target slewing angle and the actual slewing angle; and the lifting height sensor 750 is configured to detect the target hook height and the height of the hoisted object above the ground.

[0099] In some embodiments, the hoisting guidance system further includes a display 760 configured to display action signals, such as arrow icons, to guide the driver.

[0100] In some embodiments, the hoisting guidance system further includes a sound device 770 configured to play motion signals.

[0101] In some embodiments, the positioning switch 710, lifting guidance controller 720, torque limiter 730, slewing angle sensor 740, lifting height sensor 750, display 760, and sound device 770 are connected or electrically connected via a communication bus. All components of the lifting guidance system are mounted on the crane, with the display installed in the operator's cab. In some embodiments, the positioning switch 710 and sound device 770 may be integrated into the display 760.

[0102] In the above embodiments, the target point positioning problem is solved without increasing costs by using the crane's built-in sensors in conjunction with positioning switches. Then, by providing action guidance graphics or sound on the display, the operator is prompted to move the crane boom towards the target according to the system's planned actions, thereby reducing the operator's workload and lowering the operational difficulty. The driver remains the primary responsible party for safe operation, which complies with current regulations and technological levels, and can be rapidly and massively applied.

[0103] In other embodiments of this disclosure, a crane is also protected, which includes the hoisting guide controller or hoisting guide system described in the above embodiments.

[0104] In other embodiments, a computer-readable storage medium stores computer program instructions that, when executed by a processor, implement the steps of the methods in the corresponding embodiments described above. Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, apparatus, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0105] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0106] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0107] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0108] This concludes the detailed description of the present disclosure. To avoid obscuring the concept of the disclosure, some details known in the art have not been described. Those skilled in the art will fully understand how to implement the technical solutions disclosed herein based on the above description.

[0109] While specific embodiments of this disclosure have been described in detail by way of example, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this disclosure. The scope of this disclosure is defined by the appended claims.

Claims

1. A hoisting guidance method, comprising: Before hoisting the object, the crane hook is controlled to move to the target hoisting point position, and the coordinates of the target hoisting point position are recorded using a positioning switch. After receiving the signal from the positioning switch, the hoisting guidance controller calculates and records the target parameters of the crane, including the target working radius, the target hook height, and the target rotation angle. During the hoisting process, the deviation between the actual parameters of the crane and the target parameters is compared. The actual parameters include the actual working radius, the height of the hoisted object off the ground, and the actual slewing angle. Based on the deviation, the sequential action steps to be performed by the crane are determined, and corresponding action signals are generated. The sequential action steps to be performed by the crane include: a lifting step, a luffing operation step, a hoisting and winching step, a first slewing step, and a lowering step; or a lifting step, a second slewing step, a luffing operation step, a first slewing step, and a lowering step. The action signal corresponding to the luffing operation includes: if the actual working radius is less than the difference between the target working radius and the first error, the action signal includes a lowering luffing action signal; if the actual working radius is greater than the sum of the target working radius and the first error, the action signal includes a lifting luffing action signal; and if the actual working radius is greater than or equal to the difference between the target working radius and the first error, and less than or equal to the sum of the target working radius and the first error, the action signal includes a stopping luffing action signal; and The action signal is output to instruct the operator to control the crane according to the action signal.

2. The hoisting guidance method according to claim 1, wherein, The output of the action signal includes: The action signal is output to the display so that the display shows the action signal.

3. The hoisting guidance method according to claim 1 or 2, wherein, The output of the action signal includes: The action signal is output to the sound device so that the sound device plays the action signal.

4. The hoisting guidance method according to claim 1, wherein, The action signal corresponding to the lifting step includes a lifting signal to raise the hoisted object a predetermined distance.

5. The hoisting guidance method according to claim 1, wherein, The action signal corresponding to the amplitude adjustment operation also includes: When the crane performs a luffing operation, if the height of the hoisted object above the ground is less than a first height threshold, the operation signal includes a hook lifting operation signal and a stop luffing operation signal.

6. The hoisting guidance method according to claim 1, wherein, The action signals corresponding to the hoisting and winching step include: If the height of the hoisted object above the ground is less than the difference between the first threshold and the second error, then the action signal includes a lifting action signal, wherein the first threshold is the sum of the target working amplitude and the second height threshold; If the height of the hoisted object above the ground is greater than the sum of the first threshold and the second error, then the action signal includes a falling action signal; and If the height of the hoisted object above the ground is greater than or equal to the difference between the first threshold and the second error, and less than or equal to the sum of the first threshold and the second error, then the action signal includes a stop hoisting and a stop descent action signal.

7. The hoisting guidance method according to claim 1, wherein, The action signals corresponding to the first rotation step include: Based on the actual rotation angle and the target rotation angle, if it is determined that the target hoisting point is located to the right of the operator's facing direction, then the action signal includes a right rotation signal; If the target hoisting point is determined to be to the left of the operator's facing direction, the action signal includes a leftward rotation signal; and If the target hoisting point is determined to be directly in front of the operator, the action signal includes a stop rotation signal.

8. The hoisting guidance method according to claim 1, wherein, The action signal corresponding to the descent step includes a descent signal, so that the hoisted object falls to the target hook height at a height above the ground.

9. The hoisting guidance method according to claim 1, wherein, The action signal corresponding to the second slewing step includes a slewing signal, so that the crane slewing by a predetermined angle.

10. A hoisting guidance controller, comprising: The positioning module is configured to control the crane hook to move to the target lifting point position before lifting the object, record the coordinates of the target lifting point position using a positioning switch, and calculate and record the target parameters of the crane after receiving the signal from the positioning switch. The target parameters include the target working radius, the target hook height and the target rotation angle. The comparison module is configured to compare the deviation between the actual parameters of the crane and the target parameters during the hoisting process, wherein the actual parameters include the actual working radius, the height of the hoisted object from the ground, and the actual slewing angle. A signal generation module is configured to determine the sequential action steps to be performed by the crane based on the deviation, and generate corresponding action signals. The sequential action steps to be performed by the crane include: a lifting step, a luffing operation step, a hoisting and winching step, a first slewing step, and a lowering step; or a lifting step, a second slewing step, a luffing operation step, a first slewing step, and a lowering step. The action signal corresponding to the luffing operation includes: if the actual working radius is less than the difference between the target working radius and a first error, the action signal includes a lowering luffing action signal; if the actual working radius is greater than the sum of the target working radius and the first error, the action signal includes a lifting luffing action signal; and if the actual working radius is greater than or equal to the difference between the target working radius and the first error, and less than or equal to the sum of the target working radius and the first error, the action signal includes a stopping luffing action signal. The signal output module is configured to output the action signal to instruct the operator to control the crane according to the action signal.

11. A hoisting guidance controller, comprising: Memory; as well as A processor coupled to the memory, the processor being configured to execute the hoisting guidance method as described in any one of claims 1 to 9 based on instructions stored in the memory.

12. A hoisting guidance system, comprising: The hoisting guide controller as described in claim 10 or 11; as well as The positioning switch is configured to locate the position of the target lifting point.

13. The hoisting guidance system according to claim 12, further comprising: The torque limiter is configured to detect the target working radius and the actual working radius; The lifting height sensor is configured to detect the height of the target hook and the height of the hoisted object above the ground; as well as A rotation angle sensor is configured to detect the target rotation angle and the actual rotation angle.

14. The hoisting guidance system according to claim 12 or 13, further comprising at least one of a display and an audio device, wherein, The display is configured to display the action signal; The sound device is configured to play the motion signal.

15. The hoisting guidance system according to claim 14, wherein, At least one of the sound device and the positioning switch is integrated into the display.

16. A crane, comprising: The hoisting guide controller as described in claim 10 or 11; or The hoisting guidance system according to any one of claims 12 to 15.

17. A non-transitory computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the hoisting guidance method according to any one of claims 1 to 9.

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