Crane control method and crane control system

Abstract

The present application provides a kind of crane control method and crane control system, comprising: obtaining the material height above water surface in water-containing accumulation pool;If there is water above the material height greater than the first preset height, determine the grabbing point in water-containing accumulation pool based on the material height above water, control crane to move to coke stacking and draining area according to grabbing point grabbing material;Determine that the material height above water is less than the first preset height;Based on the grab bucket parameter of crane, determine the grabbing operation grid in water-containing accumulation pool, control crane to move to coke stacking in the material in grabbing operation grid;After the material in coke stacking and draining area is dried, obtain the material height of coke stacking and draining area;Determine the grabbing position in coke stacking and draining area based on the material height of coke stacking and draining area, control crane to move to belt conveyor according to grabbing position grabbing material.The present application has the advantages of being able to realize all-weather automatic grabbing, high operation efficiency, and improving the service life of the device.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of crane control, in particular to a crane control method, a crane control system and a machine readable storage medium. BACKGROUND

[0002] The delay coking device bridge type grab crane is generally manually operated by an operator at a cab under a crane girder.

[0003] Since the cab is located in the air, the operator needs to climb onto a high trolley and enter the cab to operate, which poses a certain threat to the personal safety of the operator; and when operating, the position of the trolley, the position of the trolley, the lifting height of the grab and the working position are all judged and controlled by the operator's eyes after visual observation combined with his own experience, which is prone to misjudgment due to poor site environment, is not standardized enough, has great randomness, has low positioning accuracy of the crane, has large motion amplitude of start-stop, acceleration and deceleration, is not conducive to stable operation of the crane, is prone to cause many equipment failures and hardware damage, and poses certain safety risks; and there is no historical record of signals, resulting in no record of the operating state data of the equipment and lack of effective supervision of the operation process. SUMMARY

[0004] The purpose of the embodiment of the present application is to provide a crane control method and a crane control system, which are used to solve the problems of poor working environment, great randomness, low positioning accuracy of the crane, large motion amplitude of start-stop, acceleration and deceleration, and unstable operation of the crane, which are prone to cause many equipment failures and hardware damage.

[0005] In order to achieve the above-mentioned purpose, the embodiment of the present application provides a crane control method for controlling a bridge type grab crane to move the material in a water-containing accumulation pool to a coking dewatering area, and to control the crane to move the material from the coking dewatering area to a belt conveyor after the material is dried, the bridge type grab crane comprising a bridge, a trolley, a small crane and a grab, and the method comprising:

[0006] acquiring the height of the material above the water surface in the water-containing accumulation pool;

[0007] if the height of the material above the water surface is greater than a first preset height, determining a grabbing point in the water-containing accumulation pool based on the height of the material above the water surface, and controlling the crane to move the material to the coking dewatering area according to the grabbing point;

[0008] determining that the height of the material above the water surface is less than the first preset height;

[0009] determine a grabbing operation grid in the water-containing accumulation pool based on the parameters of the grab bucket of the crane, control the crane to move the material in the grabbing operation grid to the coke piling and draining area;

[0010] after the material in the coke piling and draining area is dried, obtain the material height of the coke piling and draining area;

[0011] determine a grabbing position in the coke piling and draining area based on the material height of the coke piling and draining area, and control the crane to move the material grabbed at the grabbing position to the belt conveyor.

[0012] Optionally, the method further comprises:

[0013] establish a three-dimensional image of the water-containing accumulation pool based on the current water surface of the water-containing accumulation pool as a reference surface;

[0014] obtain the material height above the water surface in the water-containing accumulation pool based on the three-dimensional image of the water-containing accumulation pool.

[0015] Optionally, the method further comprises:

[0016] sort all the material heights above the water surface in descending order of height value;

[0017] determine the position corresponding to the material height above the water surface in the first place in the order as the grabbing position of the current grabbing action, control the crane to move the material grabbed at the grabbing position to the coke piling and draining area, and continue until the material height above the water surface corresponding to the grabbing position is less than a first preset height;

[0018] execute the material grabbing in turn according to the order of the material heights above the water surface, until all the material heights above the water surface are less than the first preset height.

[0019] Optionally, the method further comprises:

[0020] in the process of executing the material grabbing, obtain the total weight of the grab bucket in real time, the total weight of the grab bucket including the self-weight of the grab bucket and the weight of the material in the grab bucket;

[0021] in the case where the total weight of the grab bucket is greater than a first weight, control the grab bucket to open to a first opening degree until the total weight of the grab bucket is less than the first weight, and control the grab bucket to close to an initial grabbing opening degree;

[0022] in the case where the total weight of the grab bucket is less than a second weight, control the grab bucket to execute the material grabbing for a next grabbing position;

[0023] the second weight is less than the first weight.

[0024] Optionally, the crane-based grab parameters determine the grab operation grid in the water-containing accumulation pool, comprising:

[0025] Determining the maximum grab area when the grab is at the maximum opening;

[0026] Based on the maximum grab area, the water-containing accumulation pool is divided into multiple grab operation grids with the same area, and the area of each grab operation grid is smaller than the maximum grab area;

[0027] Establishing a coordinate system with the starting position of the crane movement as the coordinate origin, and determining the coordinate position of the center point of each grab operation grid as the grab execution position of the crane.

[0028] Optionally, the method further comprises:

[0029] Sorting all grab operation grids to obtain a grab sequence;

[0030] Performing first grab on each grab operation grid according to the grab sequence and a first grab depth;

[0031] After completing the first grab of all grab operation grids, performing second grab on each grab operation grid according to the grab sequence and a second grab depth until the second grab of all grab operation grids is completed;

[0032] Wherein, the first grab depth is smaller than the second grab depth.

[0033] Optionally, the method further comprises:

[0034] In the process of performing material grab of each grab operation grid, the total weight of the grab is acquired in real time, wherein the total weight of the grab includes the self-weight of the grab and the weight of the material in the grab;

[0035] In the case that the total weight of the grab is greater than a third weight, the grab is controlled to open to a second opening until the total weight of the grab is less than the third weight, and the grab is controlled to close to the initial grab opening;

[0036] In the case that the total weight of the grab is less than a fourth weight, the grab is controlled to perform material grab for the next grab operation grid according to the grab sequence;

[0037] The fourth weight is less than the third weight.

[0038] Optionally, after the material in the coke stacking and draining area is dried, the material height of the coke stacking and draining area is acquired, comprising:

[0039] Establishing a three-dimensional image of the coke stacking and draining area;

[0040] acquire the material height of the coke deposit draining area based on the three-dimensional image of the coke deposit draining area.

[0041] Optionally, the method further comprises:

[0042] sorting all the material heights of the coke deposit draining area in descending order of height value;

[0043] determining the position corresponding to the material height at the top of the sorting as the grabbing position of the current grabbing action, and controlling the crane to grab the material at the grabbing position and move the material to the belt conveyor until the material height corresponding to the grabbing position is less than the second preset height;

[0044] sorting the material heights of the coke deposit draining area, and sequentially performing material grabbing until all the material heights of the coke deposit draining area are less than the second preset height.

[0045] The second aspect of the application also provides a crane control system, wherein the crane is a bridge-type grab crane, and the crane control system controls the crane to perform a material grabbing action by using any of the above methods. The crane control system comprises:

[0046] a data acquisition unit arranged on the crane and configured to acquire work information, wherein the work information comprises work environment information, position information of the main crane, position information of the trolley, height information of the grab, opening and closing information of the grab, and load information of the grab;

[0047] a crane control unit arranged on the crane and configured to send the work information to the central control unit and control the main crane and the trolley to move, the crane to stop, and the grab to ascend, descend, open and close in response to a control instruction issued by the central control unit;

[0048] the central control unit is configured to generate a corresponding control instruction based on the work information and send the control instruction to the crane control unit.

[0049] Optionally, the system further comprises:

[0050] a remote control unit connected to the crane control unit and configured to send a control instruction to the crane control unit to control the main crane and the trolley to move, the crane to stop, and the grab to ascend, descend, open and close;

[0051] a video monitoring unit arranged on the crane and connected to the central control unit, and configured to acquire video data during the operation of the crane.

[0052] Optionally, the data acquisition unit comprises:

[0053] an environment scanning module configured to obtain job environment information;

[0054] a first position detection module configured to obtain position information of the heavy crane;

[0055] a second position detection module configured to obtain position information of the heavy crane;

[0056] a grab height and opening and closing detection module configured to obtain height information of the grab and opening and closing information of the grab;

[0057] a grab weight detection module configured to obtain load information of the grab.

[0058] Optionally, the environment scanning module is a three-dimensional laser scanner and is arranged on the heavy crane; the first position detection module and the second position detection module are both scale scales, detection pointers and encoders.

[0059] In another aspect, the present application provides a machine readable storage medium having instructions stored thereon for causing a machine to perform the crane control method.

[0060] The technical solution sets different grabbing methods for the petroleum coke above the water surface, below the water surface and in the coke draining area in the water-containing accumulation pool, realizes automatic grabbing of the crane all day long, and can guarantee the work efficiency and maximize the grabbing of the petroleum coke in the water-containing accumulation pool to the coke draining area and the dry petroleum coke in the draining area to the belt conveyor.

[0061] In addition, the automatic grabbing method replaces manual control grabbing, reduces the safety risk, and makes the whole machine operation more standardized, avoids equipment failure caused by non-standard operation, and increases the equipment life.

[0062] Other features and advantages of the embodiments of the present application will be described in detail in the following specific implementation part. BRIEF DESCRIPTION OF DRAWINGS

[0063] The accompanying drawings are included to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used together with the following specific implementation part to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the drawings:

[0064] Figure 1 is a flow chart of the crane control method provided by the present application;

[0065] Figure 2 is a schematic diagram of the grabbing job grid of the crane control method provided by the present application;

[0066] Figure 3 is a structural schematic diagram of a crane control system provided by the present application;

[0067] Figure 4 is an installation position schematic diagram of a partial crane control system provided by the present application.

[0068] Legend of reference signs

[0069] 2 - data acquisition unit; 3 - crane control unit; 4 - central control unit;

[0070] 5 - remote control unit; 6 - video monitoring unit; 11 - bridge;

[0071] 12 - heavy trolley; 13 - light trolley; 14 - grab bucket;

[0072] 21 - environment scanning module, 22 - first position detection module; 23 - second position detection module; 24 - grab bucket height and opening and closing detection module; 25 - grab bucket weight detection module. DETAILED DESCRIPTION

[0073] The specific embodiments of the present application are described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to illustrate and explain the present application, and are not intended to limit the present application.

[0074] In the embodiments of the present application, the orientation words such as "up", "down", "left", "right" used without the opposite description generally refer to the orientation or position relationship shown in the drawings, or the orientation or position relationship commonly placed when the product of the present application is used.

[0075] The terms "first", "second", "third" and the like are only used for differentiation and description, and cannot be understood as indicating or implying relative importance.

[0076] The terms "parallel", "vertical" and the like do not mean that the components must be absolutely parallel or vertical, but can be slightly inclined. For example, "parallel" only means that its direction is relatively more parallel than "vertical", and does not mean that the structure must be completely parallel, but can be slightly inclined.

[0077] The terms "horizontal", "vertical", "overhanging" and the like do not mean that the components must be absolutely horizontal, vertical or overhanging, but can be slightly inclined. For example, "horizontal" only means that its direction is relatively more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0078] In addition, the terms "substantially", "approximately", and the like are intended to convey an approximation and not an absolute requirement, and thus some deviation is acceptable. For example, "substantially equal" does not mean absolute equality, as absolute equality is difficult to achieve in actual production and operation processes, and thus some deviation is generally acceptable. Thus, in addition to absolute equality, "substantially equal" also includes the above-mentioned cases where some deviation exists. By way of example, in other cases, unless otherwise specified, the terms "substantially", "approximately", and the like have similar meanings as described above.

[0079] In the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "arrange", "mount", "connect", and "connect" should be understood broadly, for example, they can be fixedly connected, or detachably connected, or integrally connected, they can be directly connected, or indirectly connected through an intermediate medium, or the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0080] In the production process of petroleum coke, after the coke is discharged from the coke tower, it is discharged to the water-containing accumulation pool under the action of hydraulic cutting, cooled in the water-containing accumulation pool, and for part of the petroleum coke which has not been completely cooled, the spraying cooling measure must be taken, after cooling and cooling, it is moved to the coke drying area by crane grabbing, dried, and after drying is completed, it is moved to the crusher hopper by crane grabbing for crushing.

[0081] In the prior art, manual control of the crane is usually used. Since the cab is located in the high air, the operator needs to climb to a high trolley and enter the driver's room for operation, which poses a certain threat to the personal safety of the operator. Moreover, during operation, the position of the trolley, the position of the trolley, the lifting height of the grab bucket and the working position are judged and controlled by the operator's eyes after combining with his own experience. Due to the poor site environment, misjudgment is easy to occur, the operation is not standardized, the randomness is large, the positioning accuracy of the crane is low, the motion amplitude of start, stop, acceleration and deceleration is large, which is not conducive to the stable operation of the crane, and many equipment failures, hardware damage and other problems are easy to occur, which has certain safety risks. Moreover, there is no historical record of the signal, so the operation state data of the equipment is not recorded, and the effective supervision of the operation process is lacking. Therefore, an automatic control method is proposed to enable the crane to automatically grab petroleum coke.

[0082] Figure 1 The flow chart of the crane control method provided by the present application is as follows: Figure 1As shown, the present application provides a crane control method for controlling a bridge grab crane to move the material in the water-containing accumulation pool to the coke piling and draining area, and after the material is dried, controlling the crane to move the material from the coke piling and draining area to the belt conveyor, wherein the bridge grab crane comprises a bridge, a crane trolley, a trolley and a grab bucket, and the method comprises:

[0083] Step 101, obtaining the material height above the water surface in the water-containing accumulation pool;

[0084] Step 102, if the material height above the water surface is greater than the first preset height, determining the grabbing point in the water-containing accumulation pool based on the material height above the water surface, and controlling the crane to move the material to the coke piling and draining area according to the grabbing point;

[0085] Step 103, determining that the material height above the water surface is less than the first preset height;

[0086] Step 104, determining the grabbing operation grid in the water-containing accumulation pool based on the grab bucket parameters of the crane, and controlling the crane to move the material in the grabbing operation grid to the coke piling and draining area;

[0087] Step 105, after the material in the coke piling and draining area is dried, obtaining the material height of the coke piling and draining area;

[0088] Step 106, determining the grabbing position in the coke piling and draining area based on the material height of the coke piling and draining area, and controlling the crane to move the material to the belt conveyor according to the grabbing position.

[0089] Specifically, the petroleum coke accumulated in the water-containing accumulation pool may have some petroleum coke above the water surface of the water-containing accumulation pool. When this situation exists, the first preset height can be set according to the actual operating environment, and then the height of the petroleum coke above the water surface of the water-containing accumulation pool is obtained and compared with the first preset height. The points with a material height above the water surface greater than the first preset height are determined as the grabbing points, and then the crane is controlled to move the petroleum coke to the coke piling and draining area according to the grabbing points, so that the material height in the water-containing accumulation pool is less than the first preset height. In the case that all the material heights above the water surface of the water-containing accumulation pool are less than the first preset height, the grabbing operation grid in the water-containing accumulation pool is determined based on the grab bucket parameters of the crane, and the crane is controlled to move the material in the grabbing operation grid to the coke piling and draining area. After the material in the coke piling and draining area is dried, the material height of the coke piling and draining is obtained. The grabbing position in the coke piling and draining area is determined based on the material height of the coke piling and draining area, and the crane is controlled to move the material to the belt conveyor according to the grabbing position. After being crushed, the material is transported. Specifically, the material in the coke piling and draining area can be dried by a physical drying method such as wind, and after a preset drying time, the material is moved to the belt conveyor.

[0090] Further, the material height above the water surface in the water-containing accumulation pool is obtained, comprising:

[0091] Taking the current water surface of the water-containing accumulation pool as a reference surface, a three-dimensional image of the water-containing accumulation pool is established based on the reference surface;

[0092] The material height above the water surface in the water-containing accumulation pool is obtained based on the three-dimensional image of the water-containing accumulation pool.

[0093] Specifically, if the material height above the water surface is greater than the first preset height, taking the current water surface of the water-containing accumulation pool as a reference surface, and the first preset height also takes the current water surface as a reference surface, the three-dimensional image of the water-containing accumulation pool is obtained based on the reference surface, so as to obtain the material height above the current water surface, and then the grabbing point is determined according to the material height above the current water surface and the first preset height, and the grabbing is performed.

[0094] Since the volume of the petroleum coke in the water-containing accumulation pool gradually decreases with the decrease of the amount of the petroleum coke, the real-time water surface in the water-containing accumulation pool will decrease, but the height of the reference surface determined before the grabbing starts remains unchanged in the subsequent grabbing process.

[0095] Further, the material height above the water surface in the water-containing accumulation pool is obtained, comprising:

[0096] All the material heights above the water surface are sorted in descending order of height value;

[0097] The position corresponding to the material height above the water surface in the first place of the sorting is determined as the grabbing point of the current grabbing action, and the crane is controlled to grab the material to the coke stacking and draining area according to the grabbing point until the material height above the water surface corresponding to the grabbing point is less than the first preset height;

[0098] The material grabbing is sequentially performed according to the sorting of the material height above the water surface until all the material heights above the water surface are less than the first preset height.

[0099] Specifically, according to the determined reference surface, all the material heights above the water surface are obtained, all the material heights above the water surface are sorted in descending order of height value, the position corresponding to the material height above the water surface in the first place of the sorting is determined as the grabbing point of the current grabbing action, and the crane is controlled to grab the material to the coke stacking and draining area according to the grabbing point until the material height above the water surface corresponding to the grabbing point is less than the first preset height, and the material height above the water surface less than the first preset height is not grabbed.

[0100] The process of grabbing the material height above the water surface is: determining the current highest grabbing point, the material height of the highest grabbing point being greater than the first preset height; reading the height value of the point, calculating the grabbing height of the grab bucket based on the read height value; controlling the main crane and the trolley to move to the corresponding position of the grabbing point, lowering the grab bucket according to the calculated grabbing height, and opening the grab bucket at the same time, when the grab bucket moves to the grabbing height, controlling the grab bucket to close, and completing the current grabbing. In the embodiment, the grab bucket is opened to the maximum opening degree, and the positions of the main crane and the trolley are controlled so that the center point of the grabbing area formed in the grab bucket is aligned with the highest point of the grabbing point, and the grab bucket is controlled to descend so that the highest point of the grabbing point and the lowest point of the grab bucket are located at the same level or the highest point of the grabbing point is directly located in the grab bucket, and then the grab bucket is controlled to close to complete the grabbing, until the material height above the water surface corresponding to the grabbing point is less than the first preset height; more specifically, the volume of the material located on the grabbing point can also be calculated, and the grabbing is controlled according to the volume of the grabbing point.

[0101] In another embodiment, all the material heights above the water surface can also be sorted in descending order of height value, and the position corresponding to the first material height above the water surface is determined as the grabbing point of the current grabbing action, and the crane is controlled to move the grabbed material to the coke draining area according to the grabbing point. After this single grabbing, the material heights above the reference surface are sorted again in descending order, the point with the highest material height is determined as the grabbing point of the next grabbing action, and the crane is controlled to move the grabbed material to the coke draining area according to the grabbing point, until the material heights above the water surface corresponding to all the grabbing points are less than the first preset height.

[0102] Further, the method further comprises:

[0103] In the process of performing material grabbing, the total weight of the grab bucket is acquired in real time, the total weight of the grab bucket including the self weight of the grab bucket and the weight of the material in the grab bucket;

[0104] In the case that the total weight of the grab bucket is greater than the first weight, the grab bucket is controlled to open to the first opening degree until the total weight of the grab bucket is less than the first weight, and the grab bucket is controlled to close to the initial grabbing opening degree;

[0105] In the case that the total weight of the grab bucket is less than the second weight, the grab bucket is controlled to perform material grabbing for the next grabbing point;

[0106] The second weight is less than the first weight.

[0107] Specifically, in the process of performing the material grabbing above the water surface, due to the different volumes of the materials at different points and the different shapes of the piles, the amount of the material grabbed each time may be different. In order to avoid the situation that the amount of the material in the grab bucket is too much after the completion of the current grabbing, resulting in overweight, or the amount of the material in the grab bucket is too little, resulting in the failure of the grabbing, a first weight and a second weight are set after the grabbing, so as to ensure that the amount of the material grabbed can meet the requirements, wherein the first weight can be set to 95% of the rated maximum load of the crane, and the second weight can be set to 50% of the rated maximum load of the crane. Therefore, in the process of lifting the grab bucket after the completion of the grabbing, the total weight of the grab bucket can be obtained. If the total weight of the grab bucket is greater than the first weight at this time, it indicates that the amount of the material in the grab bucket is overweight. If this amount of material is used for transportation, it will pose a threat to the mechanical mechanism of the crane, possibly resulting in equipment damage and certain safety hazards. Therefore, after the total weight of the grab bucket is obtained, if it is greater than the first weight, the grab bucket is controlled to open to a first opening degree, so that part of the material in the grab bucket falls out of the grab bucket, thereby reducing the total weight of the grab bucket, until the total weight of the grab bucket is less than the first weight, and the grab bucket is controlled to close to the initial grabbing opening degree. The opening amount of the first opening degree can be set to a fixed value, or can be set according to the actual total weight of the grab bucket.

[0108] In the case where the total weight of the grab bucket is less than the second weight, it indicates that the material grabbing in the grab bucket is insufficient. The possible reason is that the height of the material at this grabbing point is higher than the first preset height, but the total volume is smaller. At this time, a new grabbing point needs to be determined according to the height of the material above the water surface, and the grab bucket is controlled to perform material grabbing for the next grabbing point.

[0109] Further, the determination of the grabbing operation grid in the water-containing accumulation pool based on the parameters of the grab bucket of the crane comprises:

[0110] determining the maximum grabbing area at the maximum opening degree of the grab bucket;

[0111] dividing the water-containing accumulation pool into a plurality of grabbing operation grids with the same area based on the maximum grabbing area, and the area of each grabbing operation grid is less than the maximum grabbing area;

[0112] establishing a coordinate system with the starting position of the movement of the crane as the coordinate origin, and determining the coordinate position of the center point of each grabbing operation grid as the grabbing execution position of the crane.

[0113] Specifically, when the material heights above the water surface are all less than the first preset height, since part of the material in the water-containing accumulation pool has been moved to the coking draining area by the grab, the water surface in the water-containing accumulation pool will drop, and part of the material can be higher than the real-time water surface height. At this time, the material height is relatively uniform, and it can be understood that it is in the same height region below the first preset height or completely below the reference surface. At this time, the maximum grabbing area when the grab is at the maximum opening can be determined first, the water-containing accumulation pool is divided into a plurality of grabbing operation grids with the same area according to the maximum grabbing area, and in order to ensure that the material in the water-containing accumulation pool can be grabbed to the coking draining area as much as possible during grabbing, the area of each grabbing operation grid is set to be less than the maximum grabbing area, so that the edge of the grab can cover part of the area of the last grabbing grid during each grabbing. The X-Y coordinate system is established with the starting position of the crane as the coordinate origin. At this time, the coordinate origin is the intersection of the heavy crane and the hoist trolley, and is located at the edge of the bridge. The bridge is the X axis, that is, the movement direction of the heavy crane. The movement direction of the hoist trolley is the Y axis. The real-time position coordinates of the heavy crane can be obtained through the coordinates on the X axis, and the real-time position coordinates of the hoist trolley can be obtained through the coordinates on the Y axis. After the X-Y coordinate system is established, each grabbing grid is located in the X-Y coordinate system. The coordinate position of the center point of each grabbing operation grid is determined as the grabbing execution position of the crane based on the X-Y coordinate system. When the grab is controlled to be at the maximum opening during grabbing, the position of the center point of the grab coincides with the coordinate position of the center point of each grabbing operation grid, so that accurate grabbing is realized.

[0114] Further, the method further comprises:

[0115] sorting all the grabbing operation grids to obtain a grabbing sequence;

[0116] grabbing each grabbing operation grid according to the grabbing sequence and a first grabbing depth for a first time;

[0117] controlling the crane to grab each grabbing operation grid according to the grabbing sequence and a second grabbing depth for a second time after the first time until the second time is completed;

[0118] wherein the first grabbing depth is less than the second grabbing depth.

[0119] Specifically, all the grabbing operation grids are sorted to obtain a grabbing sequence, Figure 2 is a schematic diagram of the grabbing operation grid of the crane control method provided by the application, as Figure 2As shown, each grabbing job grid is sequentially sorted as 1, 2, 3, 4, …, 15 in the order of sorting the adjacent grids first. Since the material height above the water surface is less than the first preset height at this time, the material height is relatively uniform, and it can be understood that the material height is located in the same height region below the first preset height or is completely below the reference surface. Therefore, the grab bucket can be controlled to perform N (N is a positive integer) times of grabbing on each grabbing job grid according to the grabbing order and the preset grabbing depth. After each grabbing job grid is grabbed once, the grabbing job grid can be grabbed for the second time. The depth of each grabbing is different, and the grabbing depth increases with the number of times of grabbing. The increase of the depth of each grabbing is the same. In this way, the material in the ungrabbed job grid can be prevented from collapsing into the grabbing job grid that has been grabbed for multiple times due to the large material height of the ungrabbed job grid and the grabbing depth of the grabbing job grid that has been grabbed for multiple times, so that the next grabbing position cannot be determined, the number of invalid work is increased, and too much material is left in the water-containing accumulation pool. Furthermore, the first, second, and Nth times of grabbing can be performed on all grabbing job grids until the material in the water-containing accumulation pool is grabbed completely. In addition, the grabbing depth of the last grabbing is the maximum descending depth of the grab bucket, and the grab bucket cannot collide with the bottom of the water-containing accumulation pool when it is located at the maximum descending depth. Specifically, the first grabbing depth can be set according to the reference surface, so that the grab bucket is in the maximum opening state when the grab bucket is located at the first grabbing depth, and the lowest point of the grab bucket is located on the reference surface. The second grabbing depth of the second grabbing can be determined according to the movement radius of the grab bucket when it is opened and closed, so that the second grabbing depth is the sum of the first grabbing depth and the movement radius of the grab bucket when it is opened and closed.

[0120] Further, the method further comprises:

[0121] In the process of grabbing the material of each grabbing job grid, the total weight of the grab bucket is acquired in real time, and the total weight of the grab bucket includes the self-weight of the grab bucket and the weight of the material in the grab bucket.

[0122] In the case that the total weight of the grab bucket is greater than a third weight, the grab bucket is controlled to be opened to a second opening degree until the total weight of the grab bucket is less than the third weight, and the grab bucket is controlled to be closed to the initial grabbing opening degree.

[0123] In the case that the total weight of the grab bucket is less than a fourth weight, the grab bucket is controlled to perform material grabbing on the next grabbing job grid according to the grabbing order.

[0124] The fourth weight is less than the third weight.

[0125] Specifically, in the material grabbing process of each grabbing job grid, since there may be a case of grabbing the material of the grabbing job grid below the water surface, but at this time the height of the material below the water surface cannot be accurately judged, therefore, using the above grabbing method, first, the height of the material at this time is less than the first preset height, the height of the material is relatively uniform, which can be understood as being in the same height region below the first preset height or being completely below the reference surface. For this grabbing, the grid ranked first in the grabbing grid is grabbed, after moving to the position according to the coordinates of the grabbing job grid, the grab bucket is controlled to open and be in the maximum opening state, the grab bucket is controlled to descend to the first grabbing depth, at this time the lowest point of the grab bucket is located on the reference surface, the grab bucket is controlled to close and slowly lift the grab bucket, the total weight of the grab bucket is obtained in real time, if the total weight of the grab bucket is greater than the third weight, the grab bucket is controlled to open to the second opening until the total weight of the grab bucket is less than the third weight, the grab bucket is controlled to close to the initial grabbing opening, and then the grab bucket is controlled to rise to the safety height and then moves to the coke draining area for unloading to complete this grabbing. The grab bucket is controlled to reach the grid ranked second for grabbing, at this time it is still the first grabbing depth, after the grab bucket moves to the position, the grab bucket is controlled to open and be in the maximum opening state, the grab bucket is controlled to descend to the first grabbing depth, at this time the lowest point of the grab bucket is located on the reference surface, the grab bucket is controlled to close and slowly lift the grab bucket, the total weight of the grab bucket is obtained in real time, if the total weight of the grab bucket is less than the fourth weight at this time, it indicates that the amount of material grabbed in the grab bucket at this position is insufficient at the first grabbing depth, which indicates that the height of the material in the grabbing job grid is low and does not meet the first grabbing depth of this grabbing. According to the grabbing order, the grab bucket is controlled to grab the grid ranked third according to the first grabbing depth, and the above same steps of grabbing and judging are performed until each grabbing job grid is grabbed.

[0126] Since part of the action is completed in the water during the grabbing process, the weight of water in the grab bucket, the resistance of water outside the grab bucket and the buoyancy need to be considered when grabbing, therefore, in the embodiment, the third weight and the fourth weight are set, wherein the third weight can be set as the rated maximum load of the crane, and the second weight can be set as 55% of the rated maximum load of the crane.

[0127] Further, after the material in the coke draining area is dried, the height of the material in the coke draining area is obtained, including:

[0128] A three-dimensional image in the coke draining area is established;

[0129] The height of the material in the coke draining area is obtained based on the three-dimensional image in the coke draining area.

[0130] Specifically, after the petroleum coke grabbing is moved to the coke piling and draining area, a three-dimensional image of the coke piling and draining area is obtained based on the bottom surface of the coke piling and draining area as a reference surface, and the material height value of the coke piling and draining area can be obtained through the three-dimensional image.

[0131] Further, the grabbing position in the coke piling and draining area is determined based on the material height of the coke piling and draining area, and the crane is controlled to move the material to the belt conveyor according to the grabbing position, comprising:

[0132] The material heights of all the coke piling and draining areas are sorted in descending order of height value;

[0133] The position corresponding to the material height at the top of the sorting is determined as the grabbing position of the current grabbing action, and the crane is controlled to move the material to the belt conveyor according to the grabbing position until the material height corresponding to the grabbing position is less than the second preset height.

[0134] The material grabbing is sequentially performed according to the sorting of the material heights of the coke piling and draining areas until all the material heights of the coke piling and draining areas are less than the second preset height.

[0135] Specifically, the material heights of all the coke piling and draining areas are obtained according to the determined three-dimensional image of the coke piling and draining area, and are sorted in descending order of height value, the position corresponding to the material height above the water surface at the top of the sorting is determined as the grabbing position of the current grabbing action, and the crane is controlled to move the material to the belt conveyor according to the grabbing position until the material height corresponding to the grabbing position is less than the second preset height, and the material with a height less than the second preset height is not grabbed.

[0136] The process of grabbing the material in the coke piling and draining area is as follows: determining the grabbing position with the highest height, the material height of the grabbing position with the highest height is greater than the second preset height; reading the height value of the position, calculating the grabbing height of the grab bucket based on the read height value; controlling the movement of the crane and the trolley to the corresponding position of the grabbing position, lowering the grab bucket according to the calculated grabbing height, and opening the grab bucket at the same time, when the grab bucket moves to the grabbing height, controlling the grab bucket to close, and completing the current grabbing. In this embodiment, the grab bucket is opened to the maximum opening degree, and the positions of the crane and the trolley are controlled so that the center point of the grabbing area formed in the grab bucket is aligned with the highest point of the grabbing position, and the grab bucket is lowered so that the highest point of the grabbing position and the lowest point of the grab bucket are at the same level or the highest point of the grabbing position is directly located in the grab bucket, and then the grab bucket is closed to complete the grabbing, until the material height above the water surface corresponding to the grabbing position is less than the second preset height; more specifically, the volume of the material located on the grabbing position can also be calculated, and the grabbing is controlled according to the volume of the grabbing position.

[0137] In another embodiment, the material heights of all the coke pile leaching zones can also be sorted in descending order of height value, and the position corresponding to the material height at the top of the sorting is determined as the grabbing position of the current grabbing action, the crane is controlled to grab the material at the grabbing position and move it to the belt conveyor, after this single grabbing, the material heights above the reference surface are sorted in descending order again, the point with the highest material height is determined as the grabbing position of the next grabbing action, and the crane is controlled to grab the material at the grabbing position and move it to the belt conveyor, until the material heights corresponding to all the grabbing positions are less than the second preset height.

[0138] In the process of material grabbing of the coke pile leaching zone, the volume of the material at different grabbing positions can be different, and the shape of the pile can also be different, so the amount of material grabbed each time can be different. In order to avoid the situation that the material in the grab bucket is too much after the grab bucket completes the current grabbing, causing overweight, or the material in the grab bucket is too little, causing grabbing failure, a first weight and a second weight are set after grabbing, to ensure that the amount of material grabbed meets the requirements. The first weight can be set to 95% of the rated maximum load of the crane, and the second weight can be set to 50% of the rated maximum load of the crane. Therefore, during the process of lifting the grab bucket after completing grabbing, the total weight of the grab bucket can be obtained. If the total weight of the grab bucket is greater than the first weight at this time, it means that the amount of material in the grab bucket is overweight. If this amount of material is transported, it can pose a threat to the mechanical mechanism of the crane, possibly causing equipment damage and certain safety hazards. Therefore, after obtaining the total weight of the grab bucket, if it is greater than the first weight, the grab bucket is controlled to open to a first opening degree, so that part of the material in the grab bucket falls out of the grab bucket, thereby reducing the total weight of the grab bucket, until the total weight of the grab bucket is less than the first weight, and the grab bucket is controlled to close to the initial grabbing opening degree. The opening amount of the first opening degree can be set as a fixed value, or can be set according to the actual total weight of the grab bucket.

[0139] In the case where the total weight of the grab bucket is less than the second weight, it means that the material in the grab bucket is not enough. The possible reason is that the material height at this grabbing position is too high, exceeding the second preset height, but the total volume is small. At this time, a new grabbing position is determined according to the material height of the coke pile leaching zone, and the grab bucket is controlled to perform material grabbing at the next grabbing position.

[0140] Figure 3 is a structural schematic diagram of the crane control system provided by the present application, Figure 4 is a schematic diagram of the installation position of part of the crane control system provided by the present application; as Figure 3 and Figure 4As shown, the present application also provides a crane control system, the crane being a bridge grab crane, comprising a bridge 11, a main crane 12, a trolley 13 and a grab 14, the crane control system controls the crane to perform material grabbing action by using the above method, the crane control system comprises:

[0141] A data acquisition unit 2 is arranged on the crane and is used to acquire work information, the work information comprising: work environment information, position information of the main crane 12, position information of the trolley 13, height information of the grab 14, opening and closing information of the grab 14 and load information of the grab 14;

[0142] A crane control unit 3 is arranged on the crane and is used to send the work information to the central control unit 4 and control the main crane 12 and the trolley 13 to move, the crane to stop, and the grab 14 to ascend and descend and open and close in response to the control instruction issued by the central control unit 4;

[0143] The central control unit 4 is used to generate corresponding control instructions according to the work information and send them to the crane control unit 3.

[0144] Specifically, the main crane 12 is arranged on the bridge 11 and can move on the bridge 11, the trolley 13 is arranged on the main crane 12 and can move with the main crane 12, and the trolley 13 can also move autonomously on the main crane 12, the trolley 13 is also provided with the grab 14, the grab can move up and down to change the height and realize the opening and closing of the grab 14, the main crane 12, the trolley 13 and the grab 14 are all controlled in speed by frequency converters and motors, a preset speed control strategy is adopted to reasonably accelerate and decelerate, so that the crane runs smoothly and uniformly, and the main crane and the trolley can be accurately stopped at the predetermined positions; and the encoder for the grab 14 ascending and descending and opening and closing is configured with a set of gears installed on the non-driving end shaft of the lifting opening and closing drum, the encoder is driven to run by the drum shaft, and accurate control is realized; in addition, a driver's room and an electrical room are arranged on the main crane 12, the driver's room is a field operation control device and plays a function of whole vehicle control; the electrical room is responsible for the distribution of whole vehicle power, the processing and transmission of control instructions; the power of the main crane and the trolley adopts the form of trolley line or tow cable; and in order to ensure operation safety, railings are arranged on personnel passages to ensure the safety of operators when they get on and off the crane; illumination lamps are arranged under the bridge 11, insulating rubber and driver's room door switches are arranged in the driver's room, protective covers are arranged on each transmission component of the crane, safety limit switches are arranged on each railing door, stops and limit switches are arranged at the terminal of the stroke to limit the displacement of the crane; an anemometer is arranged on the roof of the crane, and an alarm is generated when the wind speed is greater than the preset wind speed; the two ends of the main crane 12 are provided with encoders for judging whether the main crane is inclined according to the readings of the two encoders to avoid safety accidents.

[0145] In addition, the crane control unit 3 and the central control unit 4 can be set as PLC controllers, the central control unit 4 is used for core safety and basic function control, and the crane control unit 3 is used for conventional data processing and management data collection, orderly operation between different safety level modules of the control system is ensured through system hierarchical management; the central control unit 4 is provided with a full-automatic control module to realize full-automatic control of the crane and a semi-automatic control module; the central control unit 4 can also be connected with an upper computer.

[0146] Further, the system further comprises:

[0147] The remote control unit 5 is connected with the crane control unit 3 and is used for sending control instructions to the crane control unit 3 to control movement of the main crane 12 and the trolley crane 13, crane parking, and lifting and opening and closing of the grab 14.

[0148] The video monitoring unit 6 is arranged on the crane and is connected with the central control unit 4 and is used for collecting video data in the crane operation process.

[0149] Specifically, the remote control unit is used for realizing on-site control of the operator; the video monitoring unit is used for collecting video data in the crane operation process, can be set as multiple units, is respectively arranged on the bridge 11, the main crane 12 and the trolley crane 13, and transmits the data to the central control unit for storage. In addition, the control priority of the crane is in turn driver room control, on-site remote control, remote full-automatic control and remote manual control.

[0150] In another embodiment, the crane control system is further provided with a wireless communication unit (not shown) for transmission of data and control instructions of the crane units, specifically, 5GHz wireless network can be used to realize and has the characteristics of redundant configuration and non-disturbance switching, the transmission form has the characteristics of low cost and simple networking, and the signal stability can be further improved after using directional antenna and redundant configuration; the video monitoring unit 6 and the collected video data also use the wireless communication unit for transmission.

[0151] Further, the data acquisition unit 2 comprises:

[0152] The environment scanning module 21 is used for acquiring operation environment information;

[0153] The first position detection module 22 is used for acquiring position information of the main crane 12;

[0154] The second position detection module 23 is used for acquiring position information of the trolley crane 13;

[0155] The grab height and opening and closing detection module 24 is used to obtain the height information of the grab 14 and the opening and closing information of the grab 14.

[0156] The grab weight detection module 25 is used to obtain the load information of the grab 14.

[0157] Specifically, the grab height and opening and closing detection module 24 is set as an encoder, and the rotation position of the encoder can accurately obtain the height and opening and closing of the grab 14. In addition, the grab weight detection module 25 can be set as a weighing sensor, which is installed in the lifting opening and closing cylinder bearing seat, and obtains the actual load of the grab through a set of signal conversion modules.

[0158] In another embodiment, if two lifting trucks 12 are arranged on the same bridge 11, a radar anti-collision system can be arranged, which transmits the collected distance information of the two parallel lifting trucks 12 to the on-site PLC to avoid collision in the simultaneous operation state of the two lifting trucks 12.

[0159] Further, the environment scanning module 21 is a three-dimensional laser scanner arranged on the lifting truck 12; the first position detection module 22 and the second position detection module 23 are both scale rulers, detection pointers and encoders.

[0160] Specifically, the environment scanning module 21 is a three-dimensional laser scanner for collecting the working environment information, and is arranged on the main crane 12, and is mainly used for collecting the 3D position information of the material in the water-containing accumulation pool, so as to determine the height of the material; the first position detection module 22 and the second position detection module 23 are both scale ruler, detection pointer and encoder, the real-time positions of the main crane 12 and the trolley crane 13 are obtained through the scale ruler and the detection pointer, and are compared with the positions obtained by the encoder, so as to obtain the scale ruler arranged on the bridge 11, and the detection pointer arranged on the end steel beam of the main crane 12 above the scale ruler; the scale ruler arranged on the rail beam fence support of the main crane 12, and the detection pointer arranged on the end steel beam of the trolley crane 13 above the scale ruler, specifically, the position detection is performed by using the scale ruler precise positioning system, which detects the displacement of the moving equipment by using the electromagnetic induction principle; when the alternating current is passed through the pointer coil of the traveling ruler, the alternating magnetic field is generated near the traveling ruler, the scale ruler is approximately in an alternating and uniformly distributed magnetic field, each pair of scale ruler core wires generates an induced electromotive force; the scale generator signal is transmitted to the inductive ring wire of the scale ruler by electromagnetic coupling; the scale analyzer compares the received signals in phase; the signal phase of the cross line is the same as that of the parallel line, the address is "0", the signal phase of the cross line is opposite to that of the parallel line, the address is "1", so that the address information of the sensing is arranged in the Gray code, and the position of the traveling ruler in the length direction of the scale ruler is determined, the non-contact position detection without abrasion is adopted, the service life is long, the pollution resistance is strong, the installation is simple, the replacement is convenient, the scene environment does not need to be changed, the stability is high, the reliability is high, a variety of signal output modes can be selected, the reverse polarity protection function, lightning protection, anti-radio frequency interference and anti-static are provided.

[0161] In another aspect, the present application also provides a machine readable storage medium, which stores instructions for causing a machine to perform the crane control method.

[0162] The optional embodiments of the embodiments of the present application are described in detail above in combination with the drawings, but the embodiments of the present application are not limited to the specific details in the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present application within the technical concept of the embodiments of the present application, and these simple modifications all belong to the protection scope of the embodiments of the present application.

[0163] In addition, it should be noted that each specific technical feature described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, various possible combinations are not described again in the embodiments of the present application.

[0164] Those skilled in the art can understand that all or part of the steps of the methods in the above embodiments can be completed by instructing the relevant hardware through a program stored in a storage medium, including a plurality of instructions for enabling a single-chip microcomputer, a chip or a processor to execute all or part of the steps of the methods described in various embodiments of the present application. The foregoing storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media capable of storing program codes.

[0165] In addition, various different embodiments of the embodiments of the present application can also be combined arbitrarily, as long as they do not deviate from the idea of the embodiments of the present application, and should be considered as disclosed by the embodiments of the present application.

Claims

1. A crane control method for controlling a bridge grab crane to grab and move material from a water-containing stockpile to a coke drying area, and after the material is dried, controlling the crane to grab the material from the coke drying area to a conveyor belt, wherein the bridge grab crane includes a bridge frame, a lifting trolley, a lifting carriage, and a grab bucket, characterized in that, The method includes: Obtain the height of the material above the water surface in the aqueous sedimentation tank; If the height of the material above the water surface is greater than the first preset height, the grabbing point in the water-containing accumulation pool is determined based on the height of the material above the water surface, and the crane is controlled to grab the material according to the grabbing point and move it to the coke pile drying area. It is determined that the height of all materials above the water surface is less than the first preset height; Based on the crane's grab bucket parameters, a grabbing grid is determined within the water-containing stockpiling pool. The crane is then controlled to grab and move the material within the grabbing grid to the coke drying area, including: Determine the maximum grabbing area when the grab bucket is at its maximum opening; Based on the maximum grabbing area, the water-bearing sedimentation tank is divided into multiple grabbing operation grids with the same area, and the area of ​​each grabbing operation grid is smaller than the maximum grabbing area. A coordinate system is established with the starting position of the crane movement as the origin, and the coordinate position of the center point of each grabbing operation grid is determined as the grabbing execution position of the crane. Sort all the grabbing job grids to obtain the grabbing order; Perform the first grabbing of each grabbing task grid according to the grabbing order and the first grabbing depth; After completing the first gripping of all gripping work grids, control the crane to perform a second gripping of each gripping work grid according to the gripping sequence and the second gripping depth, until the second gripping of all gripping work grids is completed. The first grasping depth is less than the second grasping depth; After the material in the coke pile drying zone is dried, the material height in the coke pile drying zone is obtained; Based on the material height in the coke pile draining zone, the grabbing position in the coke pile draining zone is determined, and the crane is controlled to grab the material according to the grabbing position and move it to the belt conveyor. The method further includes: During the process of grabbing materials above the water surface, the total weight of the grab bucket is obtained in real time, which includes the weight of the grab bucket itself and the weight of the material inside the grab bucket. If the total weight of the grab bucket is greater than the first weight, control the grab bucket to open to the first opening degree until the total weight of the grab bucket is less than the first weight, and control the grab bucket to retract to the initial grab opening degree. If the total weight of the grab bucket is less than the second weight, control the grab bucket to perform material grabbing for the next grab point; The second weight is less than the first weight.

2. The crane control method according to claim 1, characterized in that, The process of obtaining the material height above the water surface in the water-bearing sedimentation tank includes: Using the current water level of the aquifer as a reference plane, a three-dimensional image of the aquifer is created based on the reference plane. The height of the material above the water surface in the aqueous sedimentation tank is obtained based on the three-dimensional image of the aqueous sedimentation tank.

3. The crane control method according to claim 2, characterized in that, The determination of the grabbing point within the water-bearing accumulation pool based on the material height above the water surface includes: The heights of all materials above the water surface are sorted from largest to smallest according to their height values; The position corresponding to the height of the material above the water surface at the top of the sorted list is determined as the gripping point of the current gripping action. The crane is controlled to grip the material at this gripping point and move it to the coke pile drying area until the height of the material above the water surface corresponding to this gripping point is less than the first preset height. The materials are sorted by height above the water surface and then grabbed sequentially until the height of all the materials above the water surface is less than the first preset height.

4. The crane control method according to claim 1, characterized in that, The method further includes: During the material grabbing process of each grabbing operation grid, the total weight of the grab bucket is obtained in real time, which includes the weight of the grab bucket itself and the weight of the material inside the grab bucket; If the total weight of the grab bucket is greater than the third weight, control the grab bucket to open to the second opening degree until the total weight of the grab bucket is less than the third weight, and control the grab bucket to retract to the initial grab opening degree. If the total weight of the grab bucket is less than the fourth weight, the grab bucket is controlled to grab material for the next grab operation grid according to the grab sequence; The fourth weight is less than the third weight.

5. The crane control method according to claim 1, characterized in that, After the material in the coke drying zone is dried, the material height in the coke drying zone is obtained, including: Establish a three-dimensional image of the coke pile drying zone; The material height in the coke pile drying zone is obtained based on the three-dimensional image of the coke pile drying zone.

6. The crane control method according to claim 5, characterized in that, The step of determining the grabbing position within the coke pile draining zone based on the material height in the coke pile draining zone, and controlling the crane to grab the material according to the grabbing position and move it to the belt conveyor, includes: The material heights of all the aforementioned coke pile draining zones are sorted from largest to smallest according to their height values; The position corresponding to the height of the first material in the sort is determined as the gripping position of the current gripping action. The crane is controlled to grip the material at this gripping position and move it to the belt conveyor until the height of the material corresponding to this gripping position is less than the second preset height. The materials are sorted by height in the coke pile draining zone, and the material grabbing is performed sequentially until the material height in all the coke pile draining zones is less than the second preset height.

7. A crane control system, wherein the crane is a bridge-type grab crane, comprising a bridge frame, a crane trolley, a crane hoist, and a grab bucket, characterized in that, The crane control system uses the method described in any one of claims 1-6 to control the crane to perform material grabbing actions. The crane control system includes: The data acquisition unit, installed on the crane, is used to acquire operational information, which includes: operational environment information, position information of the crane trolley, position information of the crane carriage, height information of the grab bucket, opening and closing information of the grab bucket, and load information of the grab bucket. The crane control unit, installed on the crane, is used to send the operation information to the central control unit and, in response to the control commands issued by the central control unit, control the movement of the crane trolley and crane carriage, the stopping of the crane, and the raising, lowering, opening and closing of the grab bucket. The central control unit is used to generate corresponding control commands based on the operation information and send them to the crane control unit.

8. The crane control system according to claim 7, characterized in that, The system also includes: The remote control unit is connected to the crane control unit and is used to send control commands to the crane control unit to control the movement of the crane trolley and crane carriage, the stopping of the crane, and the lifting and opening / closing of the grab bucket. A video monitoring unit, installed on the crane and connected to the central control unit, is used to collect video data during crane operation.

9. The crane control system according to claim 8, characterized in that, The data acquisition unit includes: The environment scanning module is used to acquire information about the working environment. The first position detection module is used to obtain the position information of the crane truck; The second position detection module is used to obtain the position information of the crane trolley; The grab bucket height and opening / closing detection module is used to obtain the grab bucket height information and the grab bucket opening / closing information; The grab weight detection module is used to obtain the load information of the grab.

10. The crane control system according to claim 9, characterized in that, The environmental scanning module is a 3D laser scanner, which is installed on the crane truck; the first position detection module and the second position detection module are both scales, detection pointers and encoders.

11. A machine-readable storage medium storing instructions for causing a machine to perform the crane control method according to any one of claims 1-6 of this application.

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