A control method, device and equipment for a crane luffing operation system

Abstract

The present invention discloses a control method, device, and equipment for a crane's variable-luffing operation system. The method comprises: obtaining crane system parameters and, based on the system parameters, predicting whether an electronically controlled handle is adjusted within a preset opening range; when the electronically controlled handle is adjusted within the preset opening range, obtaining a target pilot current through angular velocity feedback of the crane's boom's lifting and lowering range; and controlling the crane's main valve according to the target pilot current to execute the corresponding lifting or lowering operation. The technical solution provided by the present invention can reduce shock and vibration when the user controls the handle for small openings, thereby improving the sensitivity and fit of the crane's lifting and lowering ranges.

Description

Technical Field

[0001] The present invention relates to the field of cranes, and in particular to a control method, device and equipment for a crane luffing operation system. Background Art

[0002] Cranes are essential mechanical tools for infrastructure construction. During luffing, a bidirectionally controlled electric handle controls the crane's luffing system's raising and lowering. Because the handle requires an internal spring mechanism to automatically return the handle to its neutral position after operation, it experiences a certain amount of elastic resistance during operation. Existing technologies typically set a fixed initial pilot current value for each luffing position, generating a corresponding current when the user pushes the handle to the corresponding position, thereby controlling the crane's luffing. However, this elastic resistance makes it difficult for users to estimate the handle opening required for the current operation, resulting in large signal fluctuations at small handle openings and small signal fluctuations at large handle openings. Furthermore, various factors can cause signal errors. For example, the electric handle outputs a signal to a proportional pressure reducing valve to control pressure, thereby shifting the main valve spool. Because signal deviations vary from one proportional pressure reducing valve to another, even setting the same initial pilot current value for different cranes can result in inconsistent handle operation. Furthermore, variations in crane structure, friction, off-center loads, boom length, and load can all lead to large signal fluctuations at small handle openings. Based on this, if the driver wants to fine-tune the lifting or lowering width of the crane, he needs to adjust the electric control handle with a small opening. Since it is difficult for the user to estimate the handle opening required for the current operation, if the handle opening is not accurately grasped, there will be certain control errors and time lags in the response process of the variable length action, resulting in shocks and jitters.

[0003] A new control method for the variable amplitude operation system is urgently needed to reduce the impact and vibration when the handle is operated at a small opening. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a control method, device, and apparatus for a crane luffing operation system, thereby reducing shock and vibration when operating a handle with a small opening.

[0005] According to a first aspect, an embodiment of the present invention provides a control method for a crane boom operation system, the method comprising: obtaining system parameters of the crane, and predicting whether an electric control handle is adjusted within a preset opening range based on the system parameters; when the electric control handle is adjusted within the preset opening range, obtaining a target pilot current through angular velocity feedback of the crane boom raising and lowering amplitude; controlling the crane main valve according to the target pilot current to perform corresponding raising or lowering actions.

[0006] Optionally, the system parameters include a signal flag generated when the electric control handle moves, a current opening signal of the electric control handle, and historical opening signal data; obtaining the system parameters of the crane and predicting whether the electric control handle is adjusted within a preset opening range based on the system parameters include: determining a moving direction of the electric control handle based on the signal flag, the moving direction being used to distinguish whether the crane performs a lifting or lowering action; predicting a next opening trend of the electric control handle based on the historical opening signal data of the electric control handle and the current opening signal, the opening trend being used to characterize an increase or decrease in the opening of the electric control handle, the historical opening signal data including the opening signals generated by the user's previous preset operations on the electric control handle; determining whether the electric control handle is adjusted within a preset opening range based on the moving direction, the current opening signal, and the opening trend.

[0007] Optionally, predicting the next opening trend of the electric control handle based on the historical opening signal data of the electric control handle and the current opening signal includes: sorting the historical opening signal data and the current opening signal according to a time series to obtain an opening sequence; when the interval values ​​of the opening sequence satisfy a decreasing relationship, determining that the opening trend is decreasing; when the interval values ​​of the opening sequence satisfy an increasing relationship, determining that the opening trend is increasing.

[0008] Optionally, the determining whether the electric control handle is adjusted within a preset opening range based on the moving direction, the current opening signal and the opening trend includes: determining the preset opening range corresponding to the moving direction; when the current opening signal is less than or equal to the preset opening range, and the opening trend is decreasing, determining that the electric control handle is adjusted within the preset opening range; when the current opening signal is less than the preset opening range, and the opening trend is increasing, judging whether the current opening signal is less than a preset safety opening threshold, and the preset safety opening threshold is less than the preset opening range; if the current opening signal is less than the preset safety opening threshold, determining that the electric control handle is adjusted within the preset opening range.

[0009] Optionally, obtaining the target pilot current through angular velocity feedback of the crane boom's lifting and lowering range includes:

[0010] The target pilot current is calculated according to the following formula

[0011]

[0012] Where, Current represents the target pilot current, current start Denotes the initial pilot current, ω expect and ω realThey represent the expected angular velocity and actual angular velocity of the crane boom movement, handle represents the current opening signal, K represents the preset gain of the crane boom moving at the expected angular velocity, and the preset gain is calculated based on the historical opening signal data. α and K p Indicates the parameters to be calibrated.

[0013] Optionally, before obtaining the target pilot current through the angular velocity feedback of the crane boom's lifting and lowering range, the method further includes: obtaining historical angular velocity data and historical target pilot current data corresponding to the historical opening signal data, the historical angular velocity data being used to record the angular velocity of the crane boom each time the electric control handle is operated within a preset historical time, and the historical target pilot current data being used to record the target pilot current each time the electric control handle is operated within a preset historical time; judging whether there is a historical angular velocity in the historical angular velocity data that is the same as the current angular velocity of the crane boom; if the historical angular velocity exists, determining the corresponding target pilot current from the historical target pilot current data based on the historical angular velocity; and controlling the crane main valve according to the target pilot current to perform corresponding lifting or lowering actions.

[0014] Optionally, the method further includes: performing filtering processing on the current opening signal based on an infinite impulse response algorithm.

[0015] According to the second aspect, an embodiment of the present invention provides a control device for a crane boom operation system, the device comprising: an opening prediction module for acquiring system parameters of the crane, and predicting whether the electric control handle is adjusted within a preset opening range based on the system parameters; a pilot current adjustment module for obtaining a target pilot current through angular velocity feedback of the crane boom raising and lowering amplitude when the electric control handle is adjusted within the preset opening range; and a boom control module for controlling the crane main valve according to the target pilot current to perform corresponding raising or lowering amplitude actions.

[0016] According to a third aspect, an embodiment of the present invention provides a control device for a crane luffing operation system, comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, computer instructions are stored in the memory, and the processor executes the method described in the first aspect or any optional embodiment of the first aspect by executing the computer instructions.

[0017] According to a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method described in the first aspect or any optional embodiment of the first aspect.

[0018] The technical solution provided by this application has the following advantages:

[0019] The technical solution provided by this application first predicts whether the electric control handle is adjusted within a smaller preset opening range when the user operates the electric control handle. If it is identified that the electric control handle is adjusted within the preset opening range, it is considered that there is a risk of inaccurate handle opening, control error and time lag in the lifting arm. The speed at which the user operates the handle can affect the speed of the crane boom's raising / lowering, so that by monitoring the angular velocity of the crane boom, the user's hand movement speed can be reflected. Then, the initial pilot current of the electric control handle is adjusted in combination with the angular velocity of the crane boom, and the target pilot current is output. Then, the crane main valve is controlled according to the target pilot current to perform the corresponding raising or lowering action. Through the above steps, the limitation of the fixed initial pilot current value on the movement position of the electric control handle is broken through. The pilot current generated by the handle displacement is assisted in fine-tuning through the speed information of the user's operation handle. This allows the user to operate the electric control handle according to the operating habits of the hand on different cranes, so that the crane's lever action is more closely aligned with the movement trend of the electric control handle, improving the response speed and response time of the crane's lifting or lowering, and reducing the impact and jitter when the handle is operated at a small opening. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The features and advantages of the present invention will be more clearly understood by referring to the accompanying drawings, which are schematic and should not be construed as limiting the present invention in any way. In the accompanying drawings:

[0021] Figure 1 A schematic diagram showing the steps of a method for controlling a crane luffing operation system in one embodiment of the present invention is shown;

[0022] Figure 2 A schematic structural diagram of a control device for a crane luffing operation system according to one embodiment of the present invention is shown;

[0023] Figure 3 A schematic structural diagram of a control device for a crane luffing operation system in one embodiment of the present invention is shown. DETAILED DESCRIPTION

[0024] To make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0025] See also Figure 1In one embodiment, a method for controlling a crane luffing operation system includes the following steps:

[0026] Step S1: Obtain the system parameters of the crane and predict whether the electric control handle is adjusted within a preset opening range based on the system parameters.

[0027] Specifically, to improve the operational accuracy of the electric control handle when operating a small opening and enhance the response accuracy of the lifting and lowering widths, it is first necessary to accurately predict the user's intention for a small opening operation. This is to predict whether the electric control handle opening will be a small opening at the end of the current operation. Therefore, this embodiment of the present invention predefines a preset opening range to represent the handle's small opening operation range. The predicted electric control handle opening is then adjusted based on historical user handle operation data to determine whether it is within the preset opening range. The preset opening range can be defined based on factors such as crane performance and expert experience. Typically, 0° to 5° or 0° to 10° are considered small openings. The lower limit of this range is defined as 0°, and the upper limit can be any angle value between 0° and 10°. For some aging cranes with poor sensitivity, an upper limit of no more than 12° is acceptable, meaning that the preset opening can be defined at any angle between 0° and 12°. The specific preset opening range depends on the crane's performance and actual application scenario and is not specifically limited in this embodiment. The prediction algorithm can be implemented using a machine learning algorithm, such as a recurrent neural network model, a support vector machine model, a decision tree, or a naive Bayesian model. This embodiment uses these as examples and is not intended to be limiting. System parameters used to predict whether the electric control handle is adjusted within a small opening range include, but are not limited to, current, voltage, and resistance generated when the electric control handle is moved, a signal flag indicating the direction of movement of the electric control handle, and opening signal data.

[0028] Step S2: When the electric control handle is adjusted within the preset opening range, the target pilot current is obtained through the angular velocity feedback of the crane boom's lifting and lowering range.

[0029] Step S3: Control the crane main valve according to the target pilot current to perform corresponding lifting or lowering actions.

[0030] Specifically, if the electronic control handle is detected to be adjusted within the preset opening range, due to the presence of elastic resistance in the handle, it is determined that there is a risk of inaccurate handle opening, control errors, and time lag in the lifting arm. For example, if a user wants to raise the crane arm to the preset range, they need to move the electronic control handle 5 degrees to the left. However, because the elastic resistance of the electronic control handle hinders the user's manual operation, the user's manual movement may exceed or be less than 5 degrees, resulting in the actual lifting range of the crane arm not matching the preset range. Other factors, such as the current crane's proportional pressure reducing valve, friction, off-center load, boom length, and load, can significantly differ from other cranes. Even if the user's hand moves 5 degrees to the left accurately, the current crane's lifting range may not accurately reach the preset range. Based on this, the present invention takes into account that users' operating habits, in addition to their hand movement speed, often affect the opening range of the electronic control handle. Therefore, the present invention also provides an angular velocity parameter to adjust the initial pilot current of the electronic control handle. Since the speed of the handle movement cannot be directly monitored, this embodiment takes into account the crane boom's angular velocity sensor. The speed of the user's handle operation can affect the speed of the crane boom's raising and lowering. Therefore, monitoring the crane boom's angular velocity provides indirect feedback on the user's hand movement speed. When the user adjusts the electronically controlled handle within a preset opening range, the actual angular velocity of the crane boom is read. This angular velocity, used as an angular velocity parameter, is then added, subtracted, multiplied, and divided by the initial pilot current of the electronically controlled handle to adjust the initial pilot current to the appropriate level. The target pilot current is then output, and the crane's main valve is controlled according to the target pilot current to execute the corresponding raising or lowering motion. Through this method, the user only needs to adapt to the expected angular velocity of the crane boom for various amplitude movements, and control the hand movement according to the speed information fed back to the hand according to the expected angular velocity (specifically, a correspondence between the various expected angular velocities of the crane boom and the user's hand movement speed can be established to form guidance information for training the hand movement speed). Combined with the two conditions of the hand movement distance and the hand movement speed, the target pilot current output by the electric control handle is more accurate, the crane's lifting and lowering movements are more in line with the user's hand movements, thereby improving the accuracy of crane control and reducing the impact and shaking when the handle is operated at a small opening.

[0031] Furthermore, because signal fluctuations are minimal when the handle is fully opened, problems such as impact and jitter during lift and fall caused by handle opening deviations can be ignored when the user operates the electronic control handle outside the preset opening range. Therefore, in this embodiment, when the user operates the electronic control handle outside the preset opening range, the crane's lift and fall are controlled using traditional methods. Specifically, a fixed initial pilot current is set for each lift and fall position, allowing the user to control the crane by pushing the electronic control handle to the corresponding position, generating the corresponding current.

[0032] In summary, the control method of the crane variable-length operating system provided in the embodiment of the present invention specifically includes four states, corresponding to the opening of the electric control handle, namely small opening raising, small opening lowering, large opening raising and large opening lowering. Among them, the small opening raising and small opening lowering states execute the control method provided by steps S1 to S3, and the large opening raising and large opening lowering execute the traditional control method.

[0033] Specifically, in one embodiment, the system parameters include a signal flag bit generated when the electric control handle moves, a current opening signal of the electric control handle, and historical opening signal data. The above step S1 specifically includes the following steps:

[0034] Step 1: Determine the moving direction of the electric control handle based on the signal flag generated when the electric control handle moves. The moving direction is used to distinguish whether the crane is performing the lifting or lowering action.

[0035] Specifically, when the user moves the electric control handle, the signal flag generated by the electric control handle varies depending on the direction of the hand's operation. For example, the message current signal generated by the user manipulating the electric control handle to the left is positive, while the message current signal generated by the user manipulating the electric control handle to the right is negative. The positive and negative signs of the current are used to represent the movement of the width or width, respectively. The positive and negative signs of the current can be used as flags for the direction of movement of the electric control handle. This embodiment is only an example and is not limited to this. Other symbols can be used as flags in the same way, such as to determine whether the current is greater than or less than other thresholds, or whether the voltage is greater than or less than a certain threshold. The crane control system determines the direction of movement of the electric control handle based on the signal flag generated by the current movement of the electric control handle, which serves as one of the bases for subsequently predicting whether the electric control handle is adjusted within the preset opening range.

[0036] Step 2: Get the current opening signal of the electric control handle.

[0037] Specifically, this step involves reading the current opening signal of the current operation of the electric control handle from the system parameters. The opening signal is used to represent the opening angle of the electric control handle and serves as one of the bases for predicting whether the electric control handle is adjusted within the preset opening range. Specifically, in an embodiment of the present invention, the acquired opening signal is also filtered to improve the stability and accuracy of the signal. Specifically, an infinite impulse response algorithm is used to filter the current opening signal. The infinite impulse response algorithm has the advantages of simple structure, high efficiency, corresponding relationship with analog filters, and easy analytical control and computer-aided design. It can change the relative proportion of frequency components contained in the signal or filter out certain frequency components.

[0038] Step 3: Predict the next opening trend of the electric control handle based on the historical opening signal data and the current opening signal of the electric control handle. The opening trend is used to characterize whether the opening of the electric control handle increases or decreases. The historical opening signal data includes the opening signals generated by the user's previous preset operations on the electric control handle.

[0039] Specifically, this step first reads historical opening signal data of the electric control handle from system parameters, such as the opening signal data of the electric control handle during a preset number of operations (e.g., the previous 10, 20, or 30 operations). The historical opening signal data is then combined with the current opening signal to analyze the next opening trend of the electric control handle, specifically analyzing whether the next opening of the electric control handle will increase or decrease. The implementation method can train a prediction model using a large amount of historical opening signal data. The prediction model classifies historical user operations of increasing the opening and historical operations of decreasing the opening. The prediction model then identifies the category of the current opening signal, thereby predicting whether the next opening of the electric control handle will increase or decrease. The prediction model algorithm can be implemented using a machine learning algorithm, such as a recurrent neural network model, a support vector machine model, a decision tree, or a naive Bayesian, and this embodiment is merely an example and is not intended to be limiting. Alternatively, the opening interval between the historical opening signal data and the current opening signal can be analyzed to determine the opening trend based on the size of each opening interval.

[0040] Step 4: Determine whether the electric control handle is adjusted within the preset opening range based on the moving direction, the current opening signal and the opening trend.

[0041] Specifically, given the differences between crane operating systems and the crane itself, the sensitivity corresponding to the small opening ranges for both the start and end of the crane may also vary. Therefore, embodiments of the present invention can set different preset opening ranges for both the start and end of the crane. Once the direction of movement of the electric control handle is determined, the corresponding preset opening range can be searched for as a basis for judgment. The current opening signal and opening trend are then used to comprehensively analyze whether the user's next operation will cause the electric control handle to move beyond the preset opening range. If it does not, the next operation of the electric control handle is considered a small opening operation.

[0042] Specifically, in one embodiment, the above step three specifically includes the following steps:

[0043] Step 5: Sort the historical opening signal data and the current opening signal according to the time series to obtain the opening sequence.

[0044] Step 6: When the interval values ​​of the opening sequence satisfy a decreasing relationship, it is determined that the opening trend is decreasing.

[0045] Step 7: When the interval values ​​of the opening sequence satisfy the increasing relationship, it is determined that the opening trend is increasing.

[0046] Specifically, in an embodiment of the present invention, a prediction method is proposed that is simple, easy to implement, has low computational complexity, and can accurately predict the next opening trend of the electric control handle. When the current opening signal of the electric control handle is obtained, the historical opening signal data and the current opening signal are sorted according to the time series of signal acquisition. For example, the current opening signal and the previous 10 opening signals are sorted according to the time sequence of signal acquisition. Then, the interval value between each two opening signals is calculated to obtain a new sequence composed of the interval values. After that, a secondary analysis is performed on the new sequence composed of the interval values ​​to determine whether the relationship of the sequence is an increasing relationship or a decreasing relationship. If it is a decreasing relationship, the opening trend is determined to be decreasing. If it is an increasing relationship, the opening trend is determined to be increasing. Without the help of model prediction algorithms such as neural networks, the next opening trend of the electric control handle is successfully predicted at a low computing power cost.

[0047] Specifically, in one embodiment, the above step 4 specifically includes the following steps:

[0048] Step 8: Determine the preset opening range corresponding to the moving direction.

[0049] Specifically, considering the differences in crane operating systems and the crane itself, the sensitivity of the small opening ranges for lifting and lowering may also vary. For example, in one scenario, the insensitive small opening range for lowering the width of the crane using the electric control handle is 0 to 5 degrees, while the insensitive small opening range for lifting the width of the crane using the electric control handle is 0 to 8 degrees. Therefore, embodiments of the present invention can set different preset opening ranges for lifting and lowering the width of the crane, respectively, to limit the small opening range of the next operation relative to the previous operation when the user operates the electric control handle. The corresponding preset opening range can then be extracted based on the determined movement direction of the electric control handle as the identification basis for subsequent steps.

[0050] Step 9: When the current opening signal is less than or equal to the preset opening range, and the opening trend is decreasing, it is determined that the electric control handle is adjusted within the preset opening range.

[0051] Step 10: When the current opening signal is smaller than the preset opening range and the opening trend is increasing, determine whether the current opening signal is smaller than the preset safety opening threshold, and the preset safety opening threshold is smaller than the preset opening range.

[0052] Step 11: If the current opening signal is less than the preset safety opening threshold, it is determined that the electric control handle is adjusted within the preset opening range.

[0053] Specifically, this embodiment combines the predicted opening trend from the above steps to determine whether the user's operation of the electric control handle is within the small opening range. When the current opening signal is less than or equal to the preset opening range and the opening trend is decreasing, the user's next operation on the electric control handle is deemed to be within the preset opening range and thus determined to be within the small opening range. When the current opening signal is less than the preset opening range but the opening trend is increasing, the user's next operation is deemed to have a certain probability of exceeding the small opening range. Based on this, the embodiment of the present invention additionally provides a preset safety opening threshold. This threshold must be less than the preset opening range, and is optimally set to 1 / 2 of the upper limit of the preset opening range. When the current opening signal is less than the preset safety opening threshold, even if the opening trend is increasing, the user's next operation is deemed to be within the small opening range and thus determined to be within the small opening range. The determination method provided by the embodiment of the present invention can accurately and quickly determine whether the electric control handle is adjusted within the preset opening range, thereby determining whether the control method provided in steps S2 and S3 should be used for the crane's luffing system. In this embodiment, except for the situations defined in steps 9 to 11 above, the user's operation can be considered as a large opening range operation, and thus the traditional control method is adopted.

[0054] Specifically, in one embodiment, the above step S2 specifically includes the following steps:

[0055] Step 12: Calculate the target pilot current according to the following formula

[0056]

[0057] Where, Current represents the target leader current, current start Denotes the initial pilot current, ω expect and ω real They represent the expected angular velocity and actual angular velocity of the crane arm respectively, handle represents the current opening signal, K represents the preset gain for the crane arm to move at the expected angular velocity, and the preset gain is calculated based on the historical opening signal data. α and K p Indicates the parameters to be calibrated.

[0058] Specifically, embodiments of the present invention record historical opening signal data from user manipulation of an electronically controlled handle and the corresponding angular velocity data for the crane boom. By analyzing this large amount of historical opening signal data, all historical angular velocity values ​​for each opening condition are extracted from the angular velocity data. The average angular velocity is then calculated, and a preset gain is determined based on the ratio of the average angular velocity to the corresponding opening signal. The desired angular velocity corresponding to each opening signal is then determined by multiplying the product of the different opening signals by the preset gain. Subsequently, under narrow opening conditions, when the user wishes to manipulate the electronically controlled handle to a certain opening, they simply push or pull the handle at the speed of their hand, as fed back by the desired crane boom angular velocity. This factor, α, is then incorporated into the pilot current, factoring in the user's hand velocity information. This adjusts the initial pilot current to achieve a more accurate target pilot current. Specifically, considering that there are certain subjective factors in the user's control of hand movement, in general application scenarios, there will be a slight deviation between the actual angular velocity of the crane boom and the expected angular velocity of the crane boom when the speed of the user's hand movement is mapped to the actual angular velocity of the crane boom. Therefore, this embodiment further adjusts the initial pilot current by the difference between the expected angular velocity and the actual angular velocity, specifically by the proportional coefficient K p This difference is incorporated into the pilot current. This method requires the user to adapt to the desired angular velocity for various boom movements and control hand movement based on the speed information fed back to the hand. By combining the distance and speed of hand movement, the target pilot current output by the electronic control handle is more accurate, allowing the crane's raising and lowering movements to more closely match the user's hand movements, improving crane control accuracy and reducing shock and vibration when operating the handle at small openings.

[0059] Specifically, in one embodiment, before the above step S2, the method further includes:

[0060] Step 13: Obtain historical angular velocity data and historical target pilot current data corresponding to the historical opening signal data. The historical angular velocity data is used to record the angular velocity of the crane boom each time the electric control handle is operated within a preset historical time. The historical target pilot current data is used to record the target pilot current each time the electric control handle is operated within a preset historical time.

[0061] Step 14: Determine whether there is a historical angular velocity in the historical angular velocity data that is the same as the current angular velocity of the crane boom.

[0062] Step 15: If there is a historical angular velocity, determine the corresponding target leader current from the historical target leader current data based on the historical angular velocity.

[0063] Step 16: Control the crane main valve according to the target pilot current and perform the corresponding lifting or lowering action.

[0064] Specifically, an embodiment of the present invention records the angular velocity of the crane boom each time a user operates the electronic control handle within a preset historical timeframe, generating historical angular velocity data. The target pilot current corresponding to each operation is also recorded to obtain historical target pilot current data. For example, data is recorded for two hours from the current time. For example, if the current time is 12:00 and the previous two hours are 10:00, the historical angular velocity data and historical target pilot current data from 10:00 to 12:00 are recorded. When the user operates the electronic control handle at the current time, the system determines whether any historical angular velocity in the historical angular velocity data matches the current angular velocity of the crane boom. (Note that a historical angular velocity can also be considered equal if the difference between the historical angular velocity and the current angular velocity of the crane boom is within a very small preset speed range.) If so, the system directly queries the historical target pilot current data for the corresponding target pilot current. The crane main valve is then controlled based on the queried target pilot current to execute the corresponding raising or lowering operation. It can significantly reduce redundant calculation steps, improve the response speed of the crane's luffing operation system, and further improve the sensitivity of the lifting or lowering action.

[0065] Through the above steps, the technical solution provided by the present application first predicts whether the electric control handle is adjusted within a smaller preset opening range when the user operates the electric control handle. If it is identified that the electric control handle is adjusted within the preset opening range, it is considered that there is a risk of inaccurate handle opening, control error and time lag in the lifting arm. The speed at which the user operates the handle can affect the speed of the crane boom's raising / lowering, so that the user's hand movement speed can be reflected by monitoring the angular velocity of the crane boom, and then the initial pilot current of the electric control handle is adjusted in combination with the angular velocity of the crane boom, and the target pilot current is output. Then, the crane main valve is controlled according to the target pilot current to perform the corresponding raising or lowering action. Through the above steps, the limitation of the fixed initial pilot current value on the movement position of the electric control handle is broken through. The pilot current generated by the handle displacement is assisted in fine-tuning through the speed information of the user's operation handle. This allows the user to operate the electric control handle according to the operating habits of the hand on different cranes, so that the crane's lever action is more closely aligned with the movement trend of the electric control handle, improving the response speed and response time of the crane's lifting or lowering, and reducing the impact and jitter when the handle is operated at a small opening.

[0066] like Figure 2 As shown, this embodiment also provides a control device for a crane luffing operation system, the device comprising:

[0067] The opening prediction module 1 is used to obtain the system parameters of the crane and predict whether the electric control handle is adjusted within the preset opening range based on the system parameters. For details, please refer to the relevant description of step S1 in the above method embodiment, which will not be repeated here.

[0068] The pilot current adjustment module 2 is used to obtain the target pilot current through the angular velocity feedback of the crane boom when the electric control handle is adjusted within the preset opening range. For details, please refer to the relevant description of step S2 in the above method embodiment and will not be repeated here.

[0069] The luffing control module 3 is used to control the crane main valve according to the target pilot current to perform the corresponding luffing or luffing action. For details, please refer to the relevant description of step S3 in the above method embodiment, which will not be repeated here.

[0070] A control device for a crane luffing operation system provided in an embodiment of the present invention is used to execute a control method for a crane luffing operation system provided in the above embodiment. Its implementation method and principle are the same. For details, please refer to the relevant description of the above method embodiment and will not be repeated here.

[0071] Through the coordinated cooperation of the above-mentioned components, the technical solution provided by this application first predicts whether the electric control handle is adjusted within a smaller preset opening range when the user operates the electric control handle. If it is identified that the electric control handle is adjusted within the preset opening range, it is considered that there is a risk of inaccurate handle opening, control error and time lag in the lifting arm. The speed at which the user operates the handle can affect the speed of the crane boom's raising / lowering, so that the user's hand movement speed can be reflected by monitoring the angular velocity of the crane boom, and then the initial pilot current of the electric control handle is adjusted in combination with the angular velocity of the crane boom, and the target pilot current is output. Then, the crane main valve is controlled according to the target pilot current to perform the corresponding raising or lowering action. Through the above steps, the limitation of the fixed initial pilot current value on the movement position of the electric control handle is broken through. The pilot current generated by the handle displacement is assisted in fine-tuning through the speed information of the user's operation handle. This allows the user to operate the electric control handle according to the operating habits of the hand on different cranes, so that the crane's lever action is more closely aligned with the movement trend of the electric control handle, improving the response speed and response time of the crane's lifting or lowering, and reducing the impact and jitter when the handle is operated at a small opening.

[0072] Figure 3 1 shows a control device for a crane luffing operation system according to an embodiment of the present invention. The device includes a processor 901 and a memory 902, which can be connected via a bus or other means. Figure 3 The bus connection is taken as an example.

[0073] The processor 901 may be a central processing unit (CPU). The processor 901 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination of the above chips.

[0074] Memory 902, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as the program instructions / modules corresponding to the methods in the above-described method embodiments. Processor 901 executes the non-transitory software programs, instructions, and modules stored in memory 902 to perform various processor functions and data processing, thereby implementing the methods in the above-described method embodiments.

[0075] The memory 902 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created by the processor 901, etc. In addition, the memory 902 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 902 may optionally include a memory remotely located relative to the processor 901, and these remote memories may be connected to the processor 901 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0076] One or more modules are stored in the memory 902 and, when executed by the processor 901 , perform the method in the above method embodiment.

[0077] The specific details of the control device of the above-mentioned crane luffing operation system can be understood by referring to the corresponding descriptions and effects in the above-mentioned method embodiment, and will not be repeated here.

[0078] Those skilled in the art will appreciate that all or part of the processes in the above-described embodiments can be implemented by instructing related hardware through a computer program. The implemented program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the above-described embodiments. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD). The storage medium can also include a combination of the above-mentioned types of memory.

[0079] Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention. Such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A control method for a crane luffing operation system, characterized in that: The method comprises: Obtaining system parameters of the crane and predicting whether the electric control handle is adjusted within a preset opening range based on the system parameters; When the electric control handle is adjusted within a preset opening range, the target pilot current is obtained through the angular velocity feedback of the crane boom's lifting and lowering range; According to the target pilot current, the crane main valve is controlled to perform the corresponding lifting or lowering action; The system parameters include a signal flag generated when the electric control handle moves, a current opening signal of the electric control handle, and historical opening signal data; obtaining the system parameters of the crane and predicting whether the electric control handle is adjusted within a preset opening range based on the system parameters include: determining a moving direction of the electric control handle based on the signal flag, the moving direction being used to distinguish whether the crane performs an action of raising or lowering the width; predicting a next opening trend of the electric control handle based on the historical opening signal data of the electric control handle and the current opening signal, the opening trend being used to characterize an increase or decrease in the opening of the electric control handle, the historical opening signal data including the opening signals generated by the user's previous preset operations on the electric control handle; determining whether the electric control handle is adjusted within a preset opening range based on the moving direction, the current opening signal, and the opening trend.

2. The method according to claim 1, characterized in that The predicting of the next opening trend of the electric control handle according to the historical opening signal data of the electric control handle and the current opening signal includes: Sorting the historical opening signal data and the current opening signal according to a time series to obtain an opening sequence; When the interval values ​​of the opening sequence satisfy a decreasing relationship, determining that the opening trend is decreasing; When the interval values ​​of the opening sequence satisfy an increasing relationship, it is determined that the opening trend is increasing.

3. The method according to claim 1, characterized in that The determining whether the electric control handle is adjusted within a preset opening range based on the moving direction, the current opening signal, and the opening trend includes: determining the preset opening range corresponding to the moving direction; When the current opening signal is less than or equal to the preset opening range, and the opening trend is decreasing, determining that the electric control handle is adjusted within the preset opening range; When the current opening signal is smaller than the preset opening range and the opening trend is increasing, determining whether the current opening signal is smaller than a preset safety opening threshold, and the preset safety opening threshold is smaller than the preset opening range; If the current opening signal is less than the preset safety opening threshold, it is determined that the electric control handle is adjusted within the preset opening range.

4. The method according to claim 1, wherein The target pilot current is obtained by feedback of the angular velocity of the crane boom raising and lowering, comprising: The target pilot current is calculated according to the following formula Where, Current represents the target pilot current, current start Denotes the initial pilot current, ω expect and ω real They represent the expected angular velocity and actual angular velocity of the crane boom movement, handle represents the current opening signal, K represents the preset gain of the crane boom moving at the expected angular velocity, and the preset gain is calculated based on the historical opening signal data. α and K p Indicates the parameters to be calibrated.

5. The method according to claim 1, wherein Before obtaining the target pilot current through the angular velocity feedback of the crane boom raising and lowering amplitude, the method further includes: Acquire historical angular velocity data and historical target pilot current data corresponding to the historical opening signal data, the historical angular velocity data being used to record the angular velocity of the crane boom each time the electric control handle is operated within a preset historical time, and the historical target pilot current data being used to record the target pilot current each time the electric control handle is operated within a preset historical time; Determining whether there is a historical angular velocity in the historical angular velocity data that is the same as the current angular velocity of the crane boom; If the historical angular velocity exists, determining a corresponding target leader current from the historical target leader current data based on the historical angular velocity; The crane main valve is controlled according to the target pilot current to perform corresponding lifting or lowering actions.

6. The method according to claim 1, characterized in that The method further comprises: The current opening signal is filtered based on an infinite impulse response algorithm.

7. A control device for a crane luffing operation system, characterized in that: The device comprises: an opening prediction module for acquiring system parameters of the crane and predicting whether the electric control handle is adjusted within a preset opening range based on the system parameters; the system parameters include a signal flag bit generated when the electric control handle moves, a current opening signal of the electric control handle, and historical opening signal data; acquiring the system parameters of the crane and predicting whether the electric control handle is adjusted within the preset opening range based on the system parameters include: determining a moving direction of the electric control handle based on the signal flag bit, the moving direction being used to distinguish whether the crane performs a lifting or lowering action; predicting a next opening trend of the electric control handle based on the historical opening signal data of the electric control handle and the current opening signal, the opening trend being used to characterize an increase or decrease in the opening of the electric control handle, the historical opening signal data including opening signals generated by the user's previous preset operations on the electric control handle; and determining whether the electric control handle is adjusted within the preset opening range based on the moving direction, the current opening signal, and the opening trend; A pilot current adjustment module is used to obtain a target pilot current through angular velocity feedback of the crane boom when the electric control handle is adjusted within a preset opening range; The luffing control module is used to control the crane main valve according to the target pilot current and perform corresponding luffing or luffing actions.

8. A control device for a crane luffing operation system, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method according to any one of claims 1 to 6 by executing the computer instructions.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method according to any one of claims 1 to 6.

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