Crane walking deviation correction method, device and crane

Abstract

The present application discloses a crane travel correction method, device, and crane, wherein the crane includes a power supply device, a travel device, and a power supply device, wherein the power supply device is connected to the travel device via a first connecting rod, and the power supply device is connected to the power supply device via a second connecting rod. The crane travel correction method includes obtaining a real-time angle between the first connecting rod and the second connecting rod; obtaining a lateral offset of the travel device based on the difference between the real-time angle and a preset angle; and when the lateral offset is greater than or equal to a preset threshold, adjusting the speed difference between the left and right tires of the travel device based on the lateral offset. The present application can solve the problem of lateral offset of the crane when the automatic correction / automatic travel system fails.

Description

Technical Field

[0001] The present application relates to the technical field of cranes, and in particular to a crane walking deviation correction method, device and crane. Background Art

[0002] The automatic deviation correction / automatic travel function of a crane can greatly reduce the workload of drivers and operators. However, if the automatic deviation correction / automatic travel system fails when the crane is running at high speed, the crane may deviate laterally during emergency parking, causing a safety accident. Summary of the Invention

[0003] In order to solve the above technical problems, the present application is proposed. The embodiments of the present application provide a crane travel deviation correction method, device and crane, which can solve the problem of lateral deviation of the crane when the automatic deviation correction / automatic travel system fails.

[0004] According to one aspect of the present application, a crane walking correction method is provided, wherein the crane includes a power supply device, a walking device and a power supply device, wherein the power supply device is connected to the walking device through a first connecting rod, and the power supply device is connected to the power supply device through a second connecting rod. The crane walking correction method includes: obtaining a real-time angle between the first connecting rod and the second connecting rod; obtaining a lateral offset of the walking device based on a difference between the real-time angle and a preset angle; and when the lateral offset is greater than or equal to a preset threshold, adjusting the speed difference between the left tire and the right tire of the walking device according to the lateral offset.

[0005] In one embodiment, the connection point between the first connecting rod and the walking device is a first connection point, and the connection point between the second connecting rod and the power supply device is a second connection point. Before obtaining the lateral offset of the walking device according to the difference between the real-time angle and the preset angle, the crane walking correction method includes: obtaining the length of a first line segment; wherein the first line segment represents the distance between the first connection point and the second connection point; obtaining the length of a second line segment; wherein the second line segment represents the height difference between the first connection point and the second connection point; and obtaining the length of a third line segment according to the length of the first line segment and the length of the second line segment; wherein the third line segment represents the distance from the first connection point to the third connection point, and the third connection point represents the foot of the perpendicular between the horizontal line of the first connection point and the vertical line passing through the second connection point; wherein obtaining the lateral offset of the walking device according to the difference between the real-time angle and the preset angle includes: obtaining the lateral offset of the walking device according to the length of the third line segment.

[0006] In one embodiment, obtaining the length of the first line segment includes: obtaining the current length of the first line segment from the first connection point to the second connection point based on the real-time angle; wherein, obtaining the length of the third line segment based on the length of the first line segment and the length of the second line segment includes: obtaining the current length of the third line segment based on the current length of the first line segment and the length of the second line segment.

[0007] In one embodiment, obtaining the lateral offset of the walking device based on the difference between the real-time angle and the preset angle includes: obtaining the lateral offset of the walking device based on the difference between the current length of the third line segment and the preset length of the third line segment.

[0008] In one embodiment, the method for obtaining the preset length of the third line segment includes: obtaining the preset length of the first line segment from the first connection point to the second connection point based on the preset angle; obtaining the preset length of the third line segment based on the preset length of the first line segment and the length of the second line segment.

[0009] In one embodiment, obtaining the length of the first line segment includes: obtaining the length of the first line segment based on the preset angle or the real-time angle, the length of the first connecting rod, the length of the second connecting rod and the trigonometric cosine formula; wherein the length of the first line segment is positively correlated with the preset angle or the real-time angle.

[0010] In one embodiment, obtaining the length of the third line segment according to the length of the first line segment and the length of the second line segment includes: obtaining the length of the third line segment according to the length of the first line segment, the length of the second line segment and the Pythagorean theorem.

[0011] In one embodiment, the lateral offset of the walking device is obtained based on the difference between the real-time angle and the preset angle, including: when the real-time angle is less than the preset angle, the offset direction of the walking device is toward the direction close to the power supply device; when the real-time angle is greater than the preset angle, the offset direction of the walking device is toward the direction away from the power supply device.

[0012] According to another aspect of the present application, a crane walking correction device is provided, wherein the crane includes a power-taking device, a walking device and a power supply device, wherein the power-taking device is connected to the walking device through a first connecting rod, and the power-taking device is connected to the power supply device through a second connecting rod. The crane walking correction device includes: an acquisition module, the acquisition module is used to obtain the real-time angle between the first connecting rod and the second connecting rod; a calculation module, the calculation module is used to obtain the lateral offset of the walking device according to the difference between the real-time angle and the preset angle; and a control module, the control module is used to adjust the speed difference between the left tire and the right tire of the walking device according to the lateral offset when the lateral offset is greater than or equal to a preset threshold.

[0013] According to another aspect of the present application, a crane is provided, which includes: a walking device and a power supply device; a power supply device, wherein the power supply device is located between the walking device and the power supply device, the power supply device is connected to the walking device via a first connecting rod, and the power supply device is connected to the power supply device via a second connecting rod; a controller, wherein the controller is connected to the walking device, and the controller is used to execute the crane walking correction method described in any one of the above embodiments.

[0014] The crane travel correction method, device and crane provided in this application utilize the existing structure of the crane to add a correction method to ensure that even after the automatic correction / automatic travel system fails, the crane will not experience large lateral deviation in the event of an emergency stop. The equipment used in this correction method is low-cost but responsive, providing further safety protection for the crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The above and other purposes, features, and advantages of the present application will become more apparent through a more detailed description of the embodiments of the present application in conjunction with the accompanying drawings. The accompanying drawings are intended to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0016] Figure 1 It is a structural schematic diagram of a crane provided by an exemplary embodiment of the present application.

[0017] Figure 2 It is a flow chart of a crane walking deviation correction method provided by an exemplary embodiment of the present application.

[0018] Figure 3 It is a schematic diagram of the principle of a crane walking correction method provided by an exemplary embodiment of the present application.

[0019] Figure 4It is a schematic diagram of the working principle of a crane walking correction method provided by an exemplary embodiment of the present application.

[0020] Figure 5 It is a structural schematic diagram of a crane travel correction device provided by an exemplary embodiment of the present application.

[0021] Figure 6 It is a structural diagram of an electronic device provided by an exemplary embodiment of the present application.

[0022] Explanation of the accompanying symbols: 1. Walking device; 2. First connecting rod; 3. Power supply device; 4. Second connecting rod; 5. Power supply equipment. DETAILED DESCRIPTION

[0023] Below, the exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the exemplary embodiments described herein.

[0024] Exemplary Systems

[0025] Figure 1 This is a schematic diagram of the structure of a crane provided by an exemplary embodiment of the present application. Figure 1 As shown, the crane includes: a walking device 1 and a power supply device 5; a power supply device 3, the power supply device 3 is located between the walking device 1 and the power supply device 5, the power supply device 3 is connected to the walking device 1 through a first connecting rod 2, and the power supply device 3 is connected to the power supply device 5 through a second connecting rod 4; a controller (not shown in the figure), the controller is connected to the walking device 1, and the controller is used to execute the crane walking correction method provided in this application.

[0026] The crane may be a gantry crane, which includes a traveling device 1 (such as a trolley) for traveling, a power supply device 5 (such as a sliding beam) for powering, and a power supply device 3 (such as a power supply trolley) for drawing power. The preset traveling route of the traveling device 1 is parallel to the laid route of the power supply device 5. One end of the first connecting rod 2 is fixedly connected to the traveling device 1, and the other end of the first connecting rod 2 is connected to the power supply device 3. One end of the second connecting rod 4 is hinged to the power supply device 5, and the other end of the second connecting rod 4 is connected to the power supply device 3. Therefore, if the crane does not have a lateral deviation during traveling, the angle α between the first connecting rod 2 and the second connecting rod 4 will not change significantly. If the crane has a lateral deviation during traveling, it can be judged by the angle between the first connecting rod 2 and the second connecting rod 4. The angle α between the first link 2 and the second link 4 can be detected by installing a sensor. By adding a sensor (such as a potentiometer, inductor, Hall effect sensor, etc.) to the existing automatic travel / automatic deviation detection system for the gantry crane, the angle between the first link 2 and the second link 4 can be obtained in real time, thereby determining whether the traveling device 1 has experienced lateral deviation. The angle can also be directly calculated to obtain the lateral deviation of the crane. Based on the lateral deviation, the speed difference between the left and right tires of the crane can be adjusted to keep the gantry crane deviation within a safe range and smoothly decelerate to a stop.

[0027] Based on the existing trolley automatic travel / automatic correction detection system, this crane uses the existing structure of the crane to add a correction method to ensure that even if the automatic correction / automatic travel system fails, the crane will still not have a large lateral deviation in the event of an emergency stop, thereby ensuring equipment safety and providing further safety protection for the crane.

[0028] Exemplary Methods

[0029] Figure 2 This is a flow chart of a crane walking deviation correction method provided by an exemplary embodiment of the present application. Figure 2 As shown, the crane includes a power-taking device, a traveling device, and a power supply device, wherein the power-taking device is connected to the traveling device via a first connecting rod, and the power-taking device is connected to the power supply device via a second connecting rod. The crane walking deviation correction method includes:

[0030] Step 100: Obtain the real-time angle between the first connecting rod and the second connecting rod.

[0031] By adding a sensor (such as a potentiometer, inductor, or Hall effect sensor), the angle between the first and second links can be acquired in real time. The real-time angle between the first and second links can reflect whether the walking device's current travel path has experienced lateral deviation. Therefore, acquiring the real-time angle between the first and second links can quickly and easily determine the walking device's deviation status.

[0032] Step 200: Obtain the lateral offset of the walking device according to the difference between the real-time angle and the preset angle.

[0033] Based on the difference between the real-time angle and the preset angle, combined with the triangular structural relationship formed between the power-taking device, the walking device and the power supply device, the lateral offset of the walking device can be directly calculated. For example, if the angle, the length of the first connecting rod and the length of the second connecting rod are known, the length of the third line segment can be calculated in combination with the trigonometric cosine formula, and then a second triangle is constructed based on the third line segment. The length of the line segment in the second triangle that can directly reflect the lateral offset is calculated, thereby obtaining the lateral offset of the walking device. The preset angle can be the angle when the walking device does not produce any lateral offset at all, and the normal driving state of the walking device is reflected by the preset angle.

[0034] Moreover, when the difference between the real-time angle and the preset angle is greater than or equal to the preset difference, the lateral offset of the walking device can be calculated. When the difference between the real-time angle and the preset angle is less than the preset difference, the lateral offset of the walking device does not have a significant impact on the forward route, and observation can continue without making corrections.

[0035] Step 300: When the lateral offset is greater than or equal to a preset threshold, the speed difference between the left tire and the right tire of the walking device is adjusted according to the lateral offset.

[0036] When the lateral offset is greater than or equal to the preset threshold, that is, the lateral offset of the current walking device has exceeded the safe range of offset, the walking route needs to be corrected in a timely manner, otherwise there will be safety hazards. When the lateral offset is greater than or equal to the preset threshold, since the walking device generates a lateral offset, the speed difference between the left and right tires of the walking device is adjusted in time according to the lateral offset, thereby adjusting the distance between the walking device and the power supply device, so as to keep the walking device offset within a safe range and smoothly decelerate to a stop. Correcting the offset generated by the walking device can ensure the safe operation of various equipment of the crane. For example, when the power supply device is located to the right of the walking device, the lateral offset is greater than or equal to the preset threshold and the real-time angle is less than the preset angle, the offset direction of the walking device is toward the direction close to the power supply device. At this time, the speed of the right tire is adjusted to be greater than the speed of the left tire until the real-time angle is equal to the preset angle, or the lateral offset is less than the preset threshold. When the lateral offset is greater than or equal to the preset threshold and the real-time angle is greater than the preset angle, the offset direction of the walking device is towards the direction away from the power supply equipment. At this time, the speed of the left tire is adjusted to be greater than the speed of the right tire until the real-time angle is equal to the preset angle, or the lateral offset is less than the preset threshold.

[0037] In one embodiment, the connection point between the first connecting rod and the walking device is the first connection point, and the connection point between the second connecting rod and the power supply device is the second connection point. Before the above step 200, the crane walking correction method may include: obtaining the length of a first line segment; wherein the first line segment represents the distance between the first connection point and the second connection point; obtaining the length of a second line segment; wherein the second line segment represents the height difference between the first connection point and the second connection point; and obtaining the length of a third line segment based on the length of the first line segment and the length of the second line segment; wherein the third line segment represents the distance from the first connection point to the third connection point, and the third connection point represents the foot of the perpendicular between the horizontal line of the first connection point and the vertical line passing through the second connection point; wherein the above step 200 may include: obtaining the lateral offset of the walking device based on the length of the third line segment.

[0038] The first connecting rod and the second connecting rod are connected at the same position of the power supply equipment, which can be called the fourth connection point here. The first connecting point, the second connecting point and the fourth connecting point are connected end to end to construct a triangle. The first connecting rod and the second connecting rod are two sides of the triangle. The real-time angle or the preset angle is the internal angle between the first connecting rod and the second connecting rod. The first line segment is the third side of the triangle. Therefore, the diagonal angle of the third side is known (the real-time angle or the preset angle), and the length of the first connecting rod and the second connecting rod is known. The length of the first line segment (current length or preset length) can be calculated by the trigonometric cosine formula.

[0039] After obtaining the length of the first line segment, a second triangle is reconstructed. The construction principle of this second triangle is as follows: the height difference between the first and second connection points is fixed. Because the height of the walking device is fixed, and the height of the power supply device is also fixed, the vertical height difference between the first and second connection points is a fixed value, that is, the length of the second line segment is fixed and does not change with the lateral displacement of the walking device. Based on this, a horizontal line is drawn through the first connection point and a vertical line is drawn through the second connection point. The vertical line is perpendicular to the horizontal line and is perpendicular to the horizontal line. If the foot of the vertical and horizontal lines is the third connection point, then the first, second, and third connection points are connected end to end to form a second triangle. This second triangle is a right triangle, with the first line segment being the hypotenuse of the right triangle and the third line segment being the right leg of the right triangle. Therefore, given the height difference between the first and second connection points and the length of the first line segment calculated above, the length of the third line segment can be calculated using the Pythagorean theorem. The difference between the length of the current third line segment and the preset third line segment directly reflects the lateral displacement of the walking device. Therefore, the lateral offset of the walking device can be directly obtained by subtracting the length value of the preset third line segment in the initial state from the length value of the third line segment currently calculated.

[0040] In one embodiment, obtaining the length of the first line segment includes: obtaining the current length of the first line segment from the first connection point to the second connection point based on the real-time angle; wherein, obtaining the length of the third line segment based on the length of the first line segment and the length of the second line segment includes: obtaining the current length of the third line segment based on the current length of the first line segment and the length of the second line segment.

[0041] The real-time angle or the preset angle is the interior angle between the first link and the second link, and the first line segment is the third side of the triangle. Therefore, if the diagonal angle of the third side (i.e., the real-time angle) is known and the lengths of the first link and the second link are known, the current length of the first line segment can be calculated using the trigonometric cosine formula. After obtaining the current length of the first line segment, based on the constructed second triangle, if the height difference between the first connection point and the second connection point is known and the current length of the first line segment calculated above is known, the current length of the third line segment can be calculated using the Pythagorean theorem.

[0042] In one embodiment, the above step 200 may include: obtaining a lateral offset of the walking device according to a difference between a current length of the third line segment and a preset length of the third line segment.

[0043] The difference between the length of the current third line segment and the preset third line segment directly reflects the lateral offset of the walking device. Therefore, the lateral offset of the walking device can be directly obtained by subtracting the initial preset third line segment length from the currently calculated third line segment length.

[0044] In one embodiment, the method for obtaining the preset length of the third line segment may include: obtaining the preset length of the first line segment from the first connection point to the second connection point based on the preset angle; obtaining the preset length of the third line segment based on the preset length of the first line segment and the length of the second line segment.

[0045] The preset angle is the internal angle between the first connecting rod and the second connecting rod, and the first line segment is the third side of the triangle. Therefore, the diagonal angle of the third side (i.e., the preset angle) is known, and the lengths of the first connecting rod and the second connecting rod are known. The preset length of the first line segment can be calculated by the trigonometric cosine formula. After obtaining the preset length of the first line segment, based on the constructed second triangle, when the height difference between the first connection point and the second connection point is known, and the preset length of the first line segment calculated above is known, the preset length of the third line segment can be calculated by the Pythagorean theorem. In addition, the preset length of the third line segment and the preset length of the first line segment can also be directly obtained by measurement, manual setting, etc.

[0046] Figure 3 This is a schematic diagram of the principle of a crane walking deviation correction method provided by an exemplary embodiment of the present application. Figure 3 As shown, obtaining the length of the first line segment includes: obtaining the length of the first line segment according to a preset angle or a real-time angle, the length of the first connecting rod, the length of the second connecting rod, and a trigonometric cosine formula; wherein the length of the first line segment is positively correlated with the preset angle or the real-time angle.

[0047] For example, by the trigonometric cosine formula cos(α) = 2×AB×OB / (AB 2 +OB 2 -OA 2 ) calculates the length of the first line segment, wherein α represents the preset angle or the real-time angle, AB represents the length of the first link, OB represents the length of the second link, and OA represents the length of the first line segment.

[0048] A represents the first connection point, B represents the fourth connection point (i.e., the power supply trolley), C represents the third connection point, O represents the second connection point, α represents the angle between the first link and the second link, i.e., the preset angle or the real-time angle, AB represents the length of the first link, OB represents the length of the second link, OA represents the length of the first line segment, α is the diagonal angle of OA, and when the values ​​of α, AB, and OB are known, according to cos(α)=2×AB×OB / (AB2 +OB 2 -OA 2 ), the length of OA can be obtained.

[0049] In one embodiment, if Figure 3 As shown, obtaining the length of the third line segment according to the length of the first line segment and the length of the second line segment includes: obtaining the length of the third line segment according to the length of the first line segment, the length of the second line segment and the Pythagorean theorem.

[0050] For example, the formula AC is established by the Pythagorean theorem: 2 =OA 2 -OC 2 ; Wherein, OA represents the length of the first line segment, OC represents the length of the second line segment, and AC represents the length of the third line segment.

[0051] As shown in the figure, A represents the first connection point, B represents the aforementioned fourth connection point (i.e., the power supply trolley), C represents the third connection point, O represents the second connection point, α represents the angle between the first and second connecting rods, i.e., the preset angle or the real-time angle, AB represents the length of the first connecting rod, OB represents the length of the second connecting rod, OA represents the length of the first line segment, OC represents the length of the second line segment, and AC represents the length of the third line segment. When the length of the second line segment is known and fixed, the length of OA obtained from the above-mentioned law of cosines and the Pythagorean theorem is used to calculate the length of AC. Subtracting the initial AC value from the currently calculated AC value will yield the lateral offset of the walking device.

[0052] In one embodiment, the above step 200 may include: when the real-time angle is less than the preset angle, the offset direction of the walking device is offset toward the direction close to the power supply device; when the real-time angle is greater than the preset angle, the offset direction of the walking device is offset toward the direction away from the power supply device.

[0053] Because the first and second connecting rods are connected to the same location on the power supply equipment, the preset travel path of the walking device is parallel to the laid line of the power supply equipment. One end of the first connecting rod is fixedly connected to the walking device, and the other end of the first connecting rod is connected to the power supply equipment. One end of the second connecting rod is hinged to the power supply equipment, and the other end of the second connecting rod is connected to the power supply equipment. The angle between the first and second connecting rods can reflect the distance between the walking device and the power supply equipment. Therefore, when the angle decreases, it can reflect that the walking device has deviated toward the power supply equipment. When the angle is gradually decreasing, it can reflect that the walking device is deviating in a direction closer to the power supply equipment. When the angle increases, it can reflect that the walking device is deviating away from the power supply equipment. When the angle is gradually increasing, it can reflect that the walking device is deviating in a direction away from the power supply equipment. Based on the parallel relationship between the walking device's travel path and the laid line of the power supply equipment, the travel path of the walking device can be monitored in real time based on the changes in the angle. This only requires adding angle detection equipment to the existing structure of the crane, which is low-cost and highly effective. When the real-time angle is equal to the preset angle, the walking device has not deviated.

[0054] Figure 4 This is a schematic diagram of the working principle of a crane walking deviation correction method provided by an exemplary embodiment of the present application. Figure 4 As shown, the crane walking deviation correction method provided by the present application can be applied to the case where the automatic deviation correction / automatic walking system fails when the crane is running at high speed, and the crane is stopped for emergency and automatically corrected. For example, the angle is obtained in real time (step 30), and based on the parallel relationship between the walking route of the walking device and the laying line of the power supply equipment, the walking route of the walking device can be monitored in real time according to the change of the angle to see whether it is offset, and the offset estimation is performed (step 31). If there is an offset, first confirm whether the main inspection is normal (step 32). If the main inspection is normal, the automatic walking / automatic deviation correction system (step 34) can be used normally to correct the offset. However, if the main inspection fails, the walking deviation correction method provided by the present application (step 33) can be used for emergency correction to ensure that after the automatic deviation correction / automatic walking system fails, the crane will not have a large lateral offset when it is stopped in an emergency, thereby ensuring the safety of the equipment and providing further safety protection for the crane.

[0055] Exemplary devices

[0056] Figure 5 This is a structural diagram of a crane travel correction device provided by an exemplary embodiment of the present application. Figure 5As shown, the crane includes a power-taking device, a walking device and a power supply device, wherein the power-taking device is connected to the walking device through a first connecting rod, and the power-taking device is connected to the power supply device through a second connecting rod. The crane walking correction device 8 includes: an acquisition module 81, the acquisition module 81 is used to obtain the real-time angle between the first connecting rod and the second connecting rod; a calculation module 82, the calculation module 82 is used to obtain the lateral offset of the walking device according to the difference between the real-time angle and the preset angle; and a control module 83, the control module 83 is used to adjust the speed difference between the left tire and the right tire of the walking device according to the lateral offset when the lateral offset is greater than or equal to the preset threshold.

[0057] The crane travel correction device provided in this application utilizes the existing structure of the crane to add a new correction method to ensure that even after the automatic correction / automatic travel system fails, the crane will not experience large lateral deviation in the event of an emergency stop. The equipment used in this correction method is low-cost but responsive, providing further safety protection for the crane.

[0058] In one embodiment, the above-mentioned crane walking correction device 8 can be configured to: obtain the length of the first line segment; wherein the first line segment represents the distance between the first connection point and the second connection point; obtain the length of the second line segment; wherein the second line segment represents the height difference between the first connection point and the second connection point; and obtain the length of the third line segment based on the length of the first line segment and the length of the second line segment; wherein the third line segment represents the distance from the first connection point to the third connection point, and the third connection point represents the foot of the horizontal line of the first connection point and the vertical line passing through the second connection point; wherein the above-mentioned calculation module 82 can be correspondingly configured to: obtain the lateral offset of the walking device based on the length of the third line segment.

[0059] In one embodiment, the above-mentioned crane walking correction device 8 can be configured to: obtain the current length of the first line segment from the first connection point to the second connection point based on the real-time angle; wherein, obtaining the length of the third line segment based on the length of the first line segment and the length of the second line segment includes: obtaining the current length of the third line segment based on the current length of the first line segment and the length of the second line segment.

[0060] In one embodiment, the calculation module 82 may be configured to obtain the lateral offset of the walking device according to a difference between the current length of the third line segment and a preset length of the third line segment.

[0061] In one embodiment, the above-mentioned crane travel correction device 8 can be configured as follows: according to a preset angle, a preset length of the first line segment from the first connection point to the second connection point is obtained; according to the preset length of the first line segment and the length of the second line segment, a preset length of the third line segment is obtained.

[0062] In one embodiment, the above-mentioned crane walking correction device 8 can be configured to: obtain the length of the first line segment based on a preset angle or a real-time angle, the length of the first connecting rod, the length of the second connecting rod and the trigonometric cosine formula; wherein the length of the first line segment is positively correlated with the preset angle or the real-time angle.

[0063] In one embodiment, the crane travel deviation correction device 8 may be configured to obtain the length of the third line segment according to the length of the first line segment, the length of the second line segment, and the Pythagorean theorem.

[0064] In one embodiment, the above-mentioned calculation module 82 can be configured as follows: when the real-time angle is less than the preset angle, the offset direction of the walking device is toward the direction close to the power supply device; when the real-time angle is greater than the preset angle, the offset direction of the walking device is toward the direction away from the power supply device.

[0065] Exemplary electronic devices

[0066] An electronic device includes: a processor; a memory for storing instructions executable by the processor; and the processor is used to execute the crane walking correction method described in the embodiment provided in this application.

[0067] Below, reference Figure 6 The electronic device according to the embodiment of the present application is described. The electronic device may be either or both of the first device and the second device, or a standalone device independent of them, and the standalone device may communicate with the first device and the second device to receive collected input signals from them.

[0068] Figure 6 The figure shows a block diagram of an electronic device according to an embodiment of the present application.

[0069] like Figure 6 As shown, the electronic device 10 includes one or more processors 11 and a memory 12 .

[0070] The processor 11 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

[0071] The memory 12 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. For example, the volatile memory may include random access memory (RAM) and / or cache memory. For example, the non-volatile memory may include read-only memory (ROM), a hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may execute the program instructions to implement the crane travel deviation correction method described in various embodiments of the present application and / or other desired functions. Various contents such as input signals, signal components, and noise components may also be stored in the computer-readable storage medium.

[0072] In one example, the electronic device 10 may further include an input device 13 and an output device 14 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0073] When the electronic device is a stand-alone device, the input device 13 may be a communication network connector, configured to receive collected input signals from the first device and the second device.

[0074] In addition, the input device 13 may also include, for example, a keyboard, a mouse, and the like.

[0075] The output device 14 can output various information to the outside, including determined distance information, direction information, etc. The output device 14 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0076] Of course, to simplify, Figure 6 Only some of the components related to the present application in the electronic device 10 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, the electronic device 10 may further include any other appropriate components according to specific application scenarios.

[0077] The computer program product may be written in any combination of one or more programming languages ​​to implement the program code for performing the operations of the embodiments of the present application, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0078] A computer-readable storage medium stores a computer program, and the computer program is used to execute the crane walking correction method described in the embodiment provided in this application.

[0079] The computer-readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can, for example, include but is not limited to a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0080] The above description has been provided for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A crane walking deviation correction method, characterized in that: The crane includes a power-taking device, a traveling device, and a power supply device, wherein the power-taking device is connected to the traveling device via a first connecting rod, and the power-taking device is connected to the power supply device via a second connecting rod. The crane walking deviation correction method includes: Obtaining a real-time angle between the first connecting rod and the second connecting rod; Obtaining a lateral offset of the walking device according to a difference between the real-time angle and a preset angle; and When the lateral offset is greater than or equal to a preset threshold, adjusting the speed difference between the left tire and the right tire of the walking device according to the lateral offset; The connection point between the first connecting rod and the walking device is a first connection point, and the connection point between the second connecting rod and the power supply device is a second connection point. Before obtaining the lateral offset of the walking device according to the difference between the real-time angle and the preset angle, the crane walking deviation correction method includes: Obtaining the length of a first line segment, wherein the first line segment represents the distance between the first connection point and the second connection point; Obtaining a length of a second line segment; wherein the second line segment represents a height difference between the first connection point and the second connection point; and Obtaining the length of a third line segment based on the length of the first line segment and the length of the second line segment; wherein the third line segment represents the distance from the first connection point to a third connection point, and the third connection point represents the foot of a perpendicular line between a horizontal line at the first connection point and a perpendicular line passing through the second connection point; Wherein, obtaining the lateral offset of the walking device according to the difference between the real-time angle and the preset angle includes: A lateral offset of the walking device is obtained according to the length of the third line segment.

2. The crane travel deviation correction method according to claim 1, characterized in that: Obtaining the length of the first line segment includes: Obtaining a current length of a first line segment from the first connection point to the second connection point according to the real-time included angle; Wherein, obtaining the length of the third line segment according to the length of the first line segment and the length of the second line segment includes: The current length of the third line segment is acquired according to the current length of the first line segment and the length of the second line segment.

3. The crane travel deviation correction method according to claim 2, characterized in that: Obtaining the lateral offset of the walking device according to the difference between the real-time angle and the preset angle includes: The lateral offset of the walking device is obtained according to the difference between the current length of the third line segment and the preset length of the third line segment.

4. The crane travel deviation correction method according to claim 3, characterized in that: The method for obtaining the preset length of the third line segment includes: Obtaining a preset length of a first line segment from the first connection point to the second connection point according to the preset angle; The preset length of the third line segment is obtained according to the preset length of the first line segment and the length of the second line segment.

5. The crane travel deviation correction method according to claim 1, characterized in that: Obtaining the length of the first line segment includes: The length of the first line segment is obtained according to the preset angle or the real-time angle, the length of the first connecting rod, the length of the second connecting rod and the trigonometric cosine formula; wherein the length of the first line segment is positively correlated with the preset angle or the real-time angle.

6. The crane travel deviation correction method according to claim 1, characterized in that: Obtaining the length of the third line segment according to the length of the first line segment and the length of the second line segment includes: The length of the third line segment is obtained according to the length of the first line segment, the length of the second line segment, and the Pythagorean theorem.

7. The crane travel deviation correction method according to claim 1, characterized in that: Obtaining the lateral offset of the walking device according to the difference between the real-time angle and the preset angle includes: When the real-time angle is smaller than the preset angle, the walking device deviates in a direction toward the power supply device; When the real-time angle is greater than the preset angle, the offset direction of the walking device is offset in a direction away from the power supply device.

8. A crane walking deviation correction device, the crane includes a power supply device, a walking device and a power supply device, wherein: The power taking device is connected to the walking device through a first connecting rod, and the power taking device is connected to the power supply device through a second connecting rod. The connection between the first connecting rod and the walking device is a first connection point, and the connection between the second connecting rod and the power supply device is a second connection point. It is characterized in that the crane walking correction device includes: an acquisition module, the acquisition module being configured to acquire a real-time angle between the first connecting rod and the second connecting rod; acquire a length of a first line segment, the first line segment representing the distance between the first connection point and the second connection point; and acquire a length of a second line segment, the second line segment representing the height difference between the first connection point and the second connection point; a calculation module, the calculation module being configured to obtain a lateral offset of the walking device based on a difference between the real-time included angle and a preset included angle; the calculation module obtaining a length of a third line segment based on a length of the first line segment and a length of the second line segment, the third line segment representing a distance from the first connection point to a third connection point, the third connection point representing the foot of a horizontal line at the first connection point and a vertical line passing through the second connection point; obtaining the lateral offset of the walking device based on the length of the third line segment; and A control module is configured to adjust the speed difference between the left tire and the right tire of the walking device according to the lateral offset when the lateral offset is greater than or equal to a preset threshold.

9. A crane, characterized in that: The crane comprises: Travel equipment and power supply equipment; A power-taking device, wherein the power-taking device is located between the walking device and the power supply device, the power-taking device is connected to the walking device via a first connecting rod, and the power-taking device is connected to the power supply device via a second connecting rod; a controller, wherein the controller is connected to the walking device, and the controller is used to execute the crane walking correction method described in any one of claims 1 to 7.

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