Boom control method, device, crane and computer-readable storage medium

Abstract

The present application relates to the field of equipment control, and discloses a boom control method, device, crane, and computer-readable storage medium. The boom control method is applied to a crane including a boom and a super-lifting device, and includes: responding to a received boom extension and retraction request, controlling the boom to extend and retract; determining a target rope length value of the super-lifting device based on the real-time length of the boom and the super-lifting arm length of the super-lifting device; adjusting the boom extension and retraction speed based on the target rope length value and the real-time rope length of the super-lifting device, and adjusting the hoisting speed of the super-lifting device when retracting and releasing the rope. The hoisting speed of the super-lifting device when retracting and releasing the rope is actively adjusted based on the target rope length value, so that the boom will not tilt back or deflect too much during the boom extension and retraction process, making the super-lifting device suitable for scenarios with high tension requirements for ultra-long booms.

Description

Technical Field

[0001] The present application relates to the field of equipment control, and in particular, to a boom control method, device, crane, and computer-readable storage medium. Background Art

[0002] The super-lifting device is a device used to enhance the stability of the crane's boom. When the crane's boom is extended or retracted, the super-lifting device uses the wire rope to form a stable triangular relationship with the crane's boom, thereby improving the crane's stability and lifting performance. Specifically, when the crane's boom is being extended, the super-lifting device can be relaxed under a certain tension, allowing the boom to drive the super-lifting device to hoist and release the rope during the extension process, and avoiding the situation where the wire rope of the super-lifting device becomes loose. When the crane's boom is being retracted, the super-lifting device actively retracts the rope, and the retraction speed of the super-lifting device is greater than the retraction speed. At the same time, the tension of the wire rope is maintained at a low level, avoiding the situation where the crane's boom tilts back.

[0003] As the requirements for crane lifting capacity and height increase, the boom length of cranes continues to increase. At the same time, the increasing weight of the crane boom increases the pulling force required by the superlift equipment. This results in the superlift equipment being unable to provide the required high pulling force, which in turn prevents the superlift equipment from quickly responding and adjusting. The superlift equipment is not suitable for scenarios with high pulling force requirements, resulting in poor controllability of the boom during extension and retraction, large swing amplitudes, and uncontrollable posture. This can easily cause the crane boom to tilt backward or deflect excessively, thus affecting the crane's operation. Summary of the Invention

[0004] The object of the present invention is to provide a device for solving the problem that super-lifting equipment cannot be applied to scenarios with high pulling force requirements.

[0005] To achieve the above objectives, in a first aspect, the present application provides a boom control method, which is applied to a crane including a boom and a superlifting device, comprising:

[0006] In response to a received boom extension / retraction request, controlling the boom to extend / retract;

[0007] Determining a target rope length of the super-lifting device according to the real-time length of the boom and the super-lifting arm length of the super-lifting device;

[0008] Based on the target rope length value and the real-time rope length of the super-lifting device, the extension and retraction speed of the boom is adjusted, and the hoisting speed of the super-lifting device when retracting and releasing the rope is adjusted.

[0009] In conjunction with the first aspect, in a first possible implementation, determining a target rope length of the super-lifting device according to the real-time length of the boom and the super-lifting arm length of the super-lifting device includes:

[0010] Determining a range of rope lengths of the superlifting device according to the real-time length of the boom and the superlifting arm length of the superlifting device;

[0011] Based on the rope length value range, a target rope length value of the superlifting device is determined.

[0012] In conjunction with the first possible implementation manner of the first aspect, in a second possible implementation manner, the boom includes a first boom and a second boom, and determining a rope length value range of the super-lifting device based on a real-time length of the boom and a super-lifting arm length of the super-lifting device includes:

[0013] determining a linear rope length of the super-lifting device when the boom is in a straight state based on the real-time length of the first boom, the length of the second boom, and the super-lifting arm length of the super-lifting device;

[0014] The rope length range of the super lifting device is determined based on the straight rope length.

[0015] In conjunction with the first aspect, in a third possible implementation, the crane further includes a detection device, and the controlling the boom to extend or retract in response to the received boom extension or retraction request includes:

[0016] Detecting the real-time posture of the crane using the detection equipment;

[0017] When the real-time posture of the crane is not an abnormal posture, the boom is controlled to be extended or retracted in response to the received boom extension or retraction request.

[0018] In conjunction with the third possible implementation manner of the first aspect, in a fourth possible implementation manner, the detection device includes an angle sensor and a tension sensor, and using the detection device to detect the real-time posture of the crane includes:

[0019] When it is detected that the boom is in an overlong working condition, the boom angle of the crane and the swing angle of the super-lifting device are obtained by using the angle sensor, and the tension of the super-lifting device is obtained by using the tension sensor;

[0020] The real-time posture of the crane is determined based on the boom angle of the crane, the swing angle of the super-lifting device, and the pulling force of the super-lifting device.

[0021] In conjunction with the third possible implementation manner of the first aspect, in a fifth possible implementation manner, after using the detection device to detect the real-time posture of the crane, the method further includes:

[0022] When the real-time posture of the crane is abnormal, the boom is adjusted to a locked state, and prompt information for prompting that the crane posture is abnormal is generated.

[0023] In combination with the first aspect, in a fifth possible implementation, after adjusting the extension and retraction speed of the boom and the hoisting speed of the superlifting device when retracting and releasing the rope based on the target rope length and the real-time rope length of the superlifting device, the method further includes:

[0024] determining the operating status of the super-lifting device according to the real-time rope length of the super-lifting device;

[0025] When the operating state of the super-lifting device is abnormal, the boom is adjusted to a locked state, and a prompt message is generated to prompt that the state of the super-lifting device is abnormal.

[0026] Second aspect: The present application provides a boom control device, applied to a crane including a boom and a superlifting device, comprising:

[0027] A telescopic control module, configured to respond to a received boom telescopic request and control the boom to telescope;

[0028] a rope length value determination module, configured to determine a target rope length value of the super-lifting device according to the real-time length of the boom and the super-lifting arm length of the super-lifting device;

[0029] The speed adjustment module is used to adjust the extension and retraction speed of the boom based on the target rope length value and the real-time rope length of the super-lifting device, and to adjust the hoisting speed of the super-lifting device when retracting and releasing the rope.

[0030] In a third aspect, the present application provides a crane comprising a boom, a lifting device, a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the boom control method as described in the first aspect is implemented.

[0031] In a fourth aspect, the present application provides a computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the boom control method as described in the first aspect is implemented.

[0032] The present application provides a boom control method, applicable to a crane including a boom and a superlifting device, comprising: controlling the boom to extend or retract in response to a received boom extension or retraction request; determining a target rope length for the superlifting device based on the real-time length of the boom and the superlifting device's superlifting boom length; and adjusting the boom extension or retraction speed and the hoisting speed of the superlifting device during rope retraction and release based on the target rope length and the real-time rope length of the superlifting device. By actively adjusting the hoisting speed of the superlifting device during rope retraction and release based on the target rope length, the boom will not tilt or deflect excessively during extension or retraction, making the superlifting device suitable for scenarios requiring high tensile forces with an extremely long boom. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present invention, but do not constitute a limitation of the embodiments of the present invention. In the accompanying drawings:

[0034] Figure 1 A first flow chart of the boom control method provided in an embodiment of the present application is shown;

[0035] Figure 2 A second flow chart of the boom control method provided in an embodiment of the present application is shown;

[0036] Figure 3 A schematic structural diagram of a crane provided in an embodiment of the present application is shown;

[0037] Figure 4 A third flow chart of the boom control method provided in an embodiment of the present application is shown;

[0038] Figure 5 A structural schematic diagram of the boom control device provided in an embodiment of the present application is shown.

[0039] Description of Reference Numerals

[0040] 210-Super lifting equipment 221-Main arm 202-Auxiliary arm

[0041] C1-the root angle of the main boom C2-the head angle of the main boom C3-the head angle of the auxiliary boom DETAILED DESCRIPTION

[0042] The following will describe the specific implementation of the embodiment of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the embodiment of the present invention and is not intended to limit the embodiment of the present invention.

[0043] The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the figures is not intended to limit the scope of the claimed invention, but rather merely represents selected embodiments of the present invention. All other embodiments derived by those skilled in the art based on the embodiments of the present invention without inventive effort are intended to be within the scope of protection of the present invention.

[0044] Hereinafter, the terms "including", "having" and their cognates, which may be used in various embodiments of the present invention, are intended only to indicate specific features, numbers, steps, operations, elements, components or combinations of the foregoing items, and should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing items or the possibility of adding one or more features, numbers, steps, operations, elements, components or combinations of the foregoing items.

[0045] Furthermore, the terms “first,” “second,” “third,” etc., are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.

[0046] Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by those skilled in the art to which the various embodiments of the present invention pertain. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meaning as in the context of the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning unless clearly defined in the various embodiments of the present invention.

[0047] Typically, a superlifting device consists of a backpressure relief valve and a wire rope. The backpressure relief valve controls the relief pressure of the superlifting device, thereby controlling the pulling force of the superlifting device. When the crane's boom is extended, current is supplied to the backpressure relief valve, allowing the superlifting device to release the rope under a certain pulling force. During the extension process, the boom drives the superlifting device to release the rope while ensuring that the wire rope does not slack. However, as the boom length increases, the pulling force required by the superlifting device increases. The control characteristics of the backpressure relief valve are not suitable for scenarios with high pulling force requirements, resulting in a sharp increase in boom deflection. Furthermore, excessive deformation of the overlong boom can cause the characteristics of the backpressure relief valve to change, affecting crane operations.

[0048] When the crane's boom is retracted, the superlifting device actively retracts the wire rope, maintaining a low tension in the wire rope. However, for scenarios requiring high tension in an extra-long boom, the superlifting device's tension must be increased, resulting in uncontrollable retraction speed. If the hoisting speed is too fast during retraction after increasing the superlifting device's tension, the boom will tilt backward. If the hoisting speed is too slow, the wire rope tension will decrease, compromising the boom's reliability.

[0049] Example 1

[0050] See also Figure 1 , Figure 1 A first flow chart of the boom control method provided in an embodiment of the present application is shown. Figure 1 The boom control method in the present invention is applied to a crane including a boom and a superlift device, including:

[0051] S110 , responding to the received boom extension / retraction request, controlling the boom to extend / retract.

[0052] For ease of understanding, the crane in the embodiments of this application includes a superlift device and an extra-long boom, wherein the extra-long boom is generally a boom exceeding 150 meters in length. The boom is controlled to extend or retract using a joystick. The crane responds to boom extension or retraction requests sent by the joystick and controls the boom to extend or retract to the required length for the operation.

[0053] S120, determining a target rope length of the super-lifting device according to the real-time length of the boom and the super-lifting arm length of the super-lifting device.

[0054] As the pulling force of the superlifting device changes from low to high, the boom of the crane in the overlong working condition first changes from a deflected state to a straight state, and then from a straight state to a tilted state. Typically, the pulling force of the superlifting device is affected by the real-time length of the boom, the superlifting device's boom length, and the superlifting device's rope length. During the boom extension and retraction process, the superlifting device's boom length is a fixed value, and the real-time length of the boom is obtained. Based on the real-time length of the boom and the superlifting device's boom length, the target rope length of the superlifting device is determined. When the superlifting device's rope length is the target rope length, the crane's boom is in a straight state or its deflection is less than the preset deflection value.

[0055] As an example, determining the target rope length of the super-lifting device according to the real-time length of the boom and the super-lifting arm length of the super-lifting device includes:

[0056] Determining a range of rope lengths of the superlifting device according to the real-time length of the boom and the superlifting arm length of the superlifting device;

[0057] Based on the rope length value range, a target rope length value of the superlifting device is determined.

[0058] During lifting operations, a straight boom is the ideal state for a crane. However, due to disturbances caused by external forces, the boom cannot typically maintain a straight state. The boom can operate in a deflected state, with deflection no greater than a preset value. As the boom transitions from a deflected state to a straight state, the rope length of the superlift becomes increasingly shorter. Based on the real-time boom length and the superlift boom length, the change in rope length is determined, thereby defining the range of rope lengths for the superlift.

[0059] One of the rope length values ​​within the rope length value range is determined as the target rope length value for the super-lifting device. When the real-time rope length of the super-lifting device is the minimum value within the rope length value range, the crane boom is in a straight state. When the real-time rope length of the super-lifting device is any value within the rope length value range except the minimum value, the crane boom is in a deflected state, and the deflection is no greater than the preset deflection value. For ease of understanding, in the embodiments of the present application, the rope length value range is [S1, S2]. Based on the rope length value range, the target rope length value for the super-lifting device is determined to be (S1+S2)*0.5.

[0060] In an optional example, the boom includes a first boom and a second boom, and determining a range of rope lengths of the super-lifting device based on a real-time length of the boom and a super-lifting arm length of the super-lifting device includes:

[0061] determining a linear rope length of the super-lifting device when the boom is in a straight state based on the real-time length of the first boom, the length of the second boom, and the super-lifting arm length of the super-lifting device;

[0062] The rope length range of the super lifting device is determined based on the straight rope length.

[0063] The boom consists of a first boom and a second boom. The first boom is a main boom with an adjustable length, and the second boom is a secondary boom with a fixed length. During the first boom's extension and retraction process, a length sensor can be used to obtain the first boom's real-time length. The length of the second boom and the boom length of the superlifting device are both fixed. Furthermore, an angle sensor can be used to obtain the swing angle of the superlifting device in real time.

[0064] The first boom is connected to the second boom and the crane chassis, respectively. Specifically, the end of the first boom connected to the crane chassis is the root of the first boom, and the other end of the first boom connected to the second boom is the head of the boom. The end of the second boom close to the first boom is the root of the second boom, that is, the end of the second boom connected to the first boom is the root of the second boom. The other end of the second boom away from the first boom is the head of the second boom. When the root angle of the first boom is equal to the head angle of the first boom and the head angle of the second boom, the boom is in a straight state. Based on the real-time length of the first boom, the length of the second boom, the boom length of the super-lifting device, and the swing angle of the super-lifting device, the trigonometric function relationship is used to determine the straight rope length of the super-lifting device when the boom is in a straight state.

[0065] When the real-time rope length of the super-lifting device is less than the straight rope length, the crane's boom is in an inverted state. When the real-time rope length of the super-lifting device is greater than the straight rope length, the crane's boom is in a deflected state. Since the boom can have a certain degree of deflection, the rope length value range of the super-lifting device is determined based on the straight rope length, where the straight rope length is the minimum value within the rope length value range. It should be understood that during the extension and retraction of the first boom, the required tension of the super-lifting device will also change dynamically. Based on the acquired length of the first boom, the rope length value range of the super-lifting device is updated in real time. In addition, the tension of the super-lifting device, the swing angle of the super-lifting device, and the angle of the boom will also affect the rope length value range. A self-learning algorithm can be used to comprehensively consider the tension of the super-lifting device, the swing angle of the super-lifting device, the length of the boom, and the angle of the boom to determine the rope length value range of the super-lifting device. This will not be elaborated here.

[0066] S130, based on the target rope length value and the real-time rope length of the super-lifting device, adjusting the extension and retraction speed of the boom, and adjusting the hoisting speed of the super-lifting device when retracting and releasing the rope.

[0067] Typically, a superlifting device includes a hoisting device, which is used to reel in or out the wire rope, controlling the length of the wire rope and thus using it to pull the boom. For example, when the boom is retracting and the superlifting device is reeling in the rope, if the hoisting speed of the superlifting device is too fast and / or the boom is extended and retracted too slowly after increasing the tension of the superlifting device, the rope length of the superlifting device will be too short, causing the crane boom to tilt backward. If the hoisting speed of the superlifting device is too slow and / or the boom is extended and retracted too quickly, the rope length of the superlifting device will be too long, resulting in insufficient tension in the wire rope and excessive boom deflection.

[0068] A length encoder is used to obtain the real-time rope length of the superlifting device. Based on the target rope length and the real-time rope length of the superlifting device, the boom's extension and retraction speed is adjusted, as is the hoisting speed of the superlifting device when retracting and releasing the rope, so that the real-time rope length of the superlifting device approaches the target rope length. It should be understood that due to disturbances such as equipment errors and external forces, it is generally impossible to accurately adjust the real-time rope length of the superlifting device to the target rope length. However, a learning algorithm such as a PID algorithm can be used to adjust the boom's extension and retraction speed and the hoisting speed of the superlifting device when retracting and releasing the rope, so that the real-time rope length of the superlifting device approaches the target rope length, thereby allowing the boom to operate in a straight line or with minimal deflection.

[0069] Compared to the prior art, where the superlifting equipment passively releases the rope during boom extension and retracts it at high speed using tension during boom retraction, this application determines the target rope length based on the crane's real-time posture. Based on this target rope length, the hoisting speed of the superlifting equipment during rope release and retraction is actively adjusted, increasing the pulling force of the superlifting equipment and making it suitable for use in scenarios with high tension requirements for extremely long booms. Furthermore, the boom will not tilt or deflect excessively during extension and retraction, improving the crane's anti-disturbance capability and maneuverability.

[0070] For ease of understanding, the crane in the embodiment of the present application includes a boom extension proportional valve, a boom retraction proportional valve, a rope-releasing proportional valve, and a rope-collecting proportional valve. The boom extension proportional valve is used to control the boom extension speed, and the boom retraction proportional valve is used to control the boom retraction speed. The rope-releasing proportional valve is used to control the hoisting speed when the super-lifting equipment releases the rope, and the rope-collecting proportional valve is used to control the hoisting speed when the super-lifting equipment collects the rope. It should be understood that the crane also includes other control devices such as a back pressure relief valve and a motor balancing valve. Other control devices are set according to actual needs and are not limited here.

[0071] See also Figure 2 , Figure 2 A second flow chart of the boom control method provided in an embodiment of the present application is shown.

[0072] As an example, the crane further includes a detection device, and the controlling the boom to extend or retract in response to a received boom extension or retraction request includes:

[0073] S111: Detect the real-time posture of the crane using the detection device.

[0074] During lifting operations, a straight boom is the ideal state for a crane. However, due to changes in the tension of the superlift equipment and disturbances from external forces, the crane boom can fluctuate between different states, including a deflected state, a warped state, and an S-shaped state. To ensure the safe operation of the crane, it is generally expected that the crane boom will operate in a straight state or a state where the deflection is less than a preset deflection value. The preset deflection value is set based on actual needs and is not limited here. Before controlling the boom to extend or retract, the crane's posture is detected using detection equipment to determine the crane's real-time posture.

[0075] S112 , when the real-time posture of the crane is not an abnormal posture, respond to the received boom extension / retraction request and control the boom to extend / retract.

[0076] If the detection equipment determines that the crane's boom is in one of a state where the deflection is greater than or equal to a preset deflection value, a reverse tilted state, and an S-shaped state, the crane's real-time posture is determined to be abnormal. If the detection equipment determines that the crane's boom is in a state where the deflection is less than a preset deflection value or a straight state, the crane's real-time posture is determined not to be abnormal. In response to a received boom extension / retraction request, the boom is controlled to extend or retract to ensure crane operation safety.

[0077] In an optional example, the detection device includes an angle sensor and a tension sensor, and using the detection device to detect the real-time posture of the crane includes:

[0078] When it is detected that the boom is in an overlong working condition, the boom angle of the crane and the swing angle of the super-lifting device are obtained by using the angle sensor, and the tension of the super-lifting device is obtained by using the tension sensor;

[0079] The real-time posture of the crane is determined based on the boom angle of the crane, the swing angle of the super-lifting device, and the pulling force of the super-lifting device.

[0080] An overlong operating condition refers to a condition where the boom length exceeds a preset length. The preset length is set based on actual needs and is not limited here. For ease of understanding, in the embodiments of this application, an overlong operating condition refers to a boom length exceeding 150 meters. When the overlong boom operating condition is detected, an angle sensor is used to obtain the crane's boom angle and the swing angle of the superlifting device, and a tension sensor is used to obtain the tension of the superlifting device.

[0081] See also Figure 3 , Figure 3 A structural schematic diagram of a crane provided in an embodiment of the present application is shown.

[0082] For ease of understanding, in the embodiments of the present application, the boom of the crane includes a main boom 221 and a jib 222. Among them, the main boom 221 is a telescopic boom structure. As shown in the figure, the boom angle of the crane includes the angle of the main boom 221 and the angle of the jib 222. Specifically, the root angle of the main boom 221 is C1, the head angle of the main boom 221 is C2, and the head angle of the jib 222 is C3. When the boom is in a straight state, C1 = C2 = C3; when the boom is in a state with deflection, C3 < C2 < C1; when the boom is in a reverse camber state, C1 < C2 < C3; when the boom is in an S-shaped state, C2 < C1 and C2 < C3.

[0083] The boom of the crane is in a state with a deflection less than a preset deflection value or in a straight state, and the boom angle of the crane is within a preset angle range. Based on the boom angle of the crane, the state of the boom of the crane is determined, and further, whether the real-time posture of the crane is an abnormal posture such as reverse camber of the boom is determined. At the same time, the tension and swing angle of the superlift device 210 will also affect the state of the boom of the crane. To avoid abnormal postures such as reverse camber of the boom of the crane, the tension of the superlift device 210 needs to be within a preset tension range, and the swing angle of the superlift device 210 needs to be within a preset swing angle range. The preset angle range, preset tension range, and preset swing angle range in this embodiment are all set according to actual needs and are not limited herein.

[0084] After obtaining the real-time posture of the crane, when the boom angle of the crane is within the preset angle range, the tension of the superlift device 210 is within the preset tension range, and the swing angle of the superlift device 210 is within the preset swing angle range, it is determined that the real-time posture of the crane is not an abnormal posture. When one of the conditions that the boom angle of the crane is not within the preset angle range, the tension of the superlift device 210 is not within the preset tension range, and the swing angle of the superlift device 210 is not within the preset swing angle range is met, it is determined that the real-time posture of the crane is an abnormal posture.

[0085] It should be understood that the detection device may further include other detection devices such as a rope length encoder, a length sensor, a proximity switch, a pressure sensor, and a temperature sensor. The other detection devices are set according to actual needs, and the real-time posture of the crane can be determined by combining the data obtained by the other detection devices, which will not be elaborated herein. <00之前]]In an optional example, after using the detection device to detect the real-time posture of the crane, it further includes: <000019)]When the real-time posture of the crane is an abnormal posture, the boom is adjusted to a locked state, and a prompt message for prompting the abnormal posture of the crane is generated.

[0088] If the crane's real-time posture is abnormal, the boom is adjusted to a locked state. While the boom is locked, it cannot be extended or retracted. A prompt message is generated to indicate the crane's abnormal posture. This prompt message can include an audible or visual alarm, and can also indicate abnormalities in the crane's boom angle, the swing angle of the superlift device, and the pulling force of the superlift device. This is not detailed here.

[0089] See also Figure 4 , Figure 4 A third flowchart of the boom control method provided in an embodiment of the present application is shown. As an example, after adjusting the boom extension and retraction speed based on the target rope length and the real-time rope length of the super-lifting device, and adjusting the hoisting speed of the super-lifting device when retracting and releasing the rope, the method further includes:

[0090] S140: Determine the operating status of the super-lifting device according to the real-time rope length of the super-lifting device.

[0091] During operation of the super-lifting device, a length encoder is used to obtain the real-time rope length of the super-lifting device. Based on the real-time rope length, the operating status of the super-lifting device is determined. Specifically, a determination is made as to whether the real-time rope length of the super-lifting device is within a preset rope length range. If the real-time rope length is within the preset rope length range, the operating status of the super-lifting device is determined to be normal. It should be understood that the preset rope length range is set based on actual needs and is not limited here.

[0092] S150: When the operating state of the super-lifting device is abnormal, the boom is adjusted to a locked state, and a prompt message is generated to prompt that the state of the super-lifting device is abnormal.

[0093] If the real-time rope length is not within the preset rope length range and is greater than the maximum value of the preset rope length range, the super-lifting device is determined to be in an abnormal state, which will cause the crane boom to tilt backward. If the real-time rope length is not within the preset rope length range and is less than the minimum value of the preset rope length range, the super-lifting device is determined to be in an abnormal state, which will cause the crane boom to deflect excessively. If the super-lifting device is in an abnormal state, the boom is adjusted to a locked state, and a prompt message is generated to indicate that the crane posture is abnormal.

[0094] Furthermore, the operating status of the super-lifting device can be determined based on other data such as the pulling force and swing angle of the super-lifting device. Specifically, if the real-time rope length of the super-lifting device is within a preset rope length range, the pulling force of the super-lifting device is within a preset pulling force range, and the first swing angle of the super-lifting device is equal to the second swing angle, the operating status of the super-lifting device is determined to be normal.

[0095] An abnormal state of the superlift equipment will cause the crane's real-time posture to be abnormal. If the boom is locked, it cannot be extended or retracted. The boom lock will be released only when the crane's real-time posture is no longer abnormal. Furthermore, if the boom is locked, a dynamic password or other unlocking command can be used to forcibly unlock the boom, but this is not detailed here.

[0096] The present application provides a boom control method, applicable to a crane including a boom and a superlifting device, comprising: controlling the boom to extend or retract in response to a received boom extension or retraction request; determining a target rope length for the superlifting device based on the real-time length of the boom and the superlifting device's superlifting boom length; and adjusting the boom extension or retraction speed and the hoisting speed of the superlifting device during rope retraction and release based on the target rope length and the real-time rope length of the superlifting device. By actively adjusting the hoisting speed of the superlifting device during rope retraction and release based on the target rope length, the boom will not tilt or deflect excessively during extension or retraction, making the superlifting device suitable for scenarios requiring high tensile forces with an extremely long boom.

[0097] Example 2

[0098] See also Figure 5 , Figure 5 A structural schematic diagram of the boom control device provided in an embodiment of the present application is shown. Figure 5 The boom control device 300 is applied to a crane including a boom and a super lifting device, and includes:

[0099] The telescopic control module 310 is configured to respond to a received boom telescopic request and control the boom to telescope;

[0100] A rope length determination module 320 is configured to determine a target rope length of the super-lifting device based on the real-time length of the boom and the super-lifting arm length of the super-lifting device;

[0101] The speed adjustment module 330 is used to adjust the extension and retraction speed of the boom and the hoisting speed of the super lifting device when retracting and releasing the rope based on the target rope length value and the real-time rope length of the super lifting device.

[0102] As an example, the rope length value determination module 320 includes:

[0103] a value range determination submodule, configured to determine a value range of the rope length of the super-lifting device according to the real-time length of the boom and the super-lifting arm length of the super-lifting device;

[0104] The target value determination submodule is used to determine the target rope length value of the super lifting device based on the rope length value range.

[0105] In an optional example, the value range determination submodule is further configured to determine, based on the real-time length of the first boom, the length of the second boom, and the boom length of the super-lifting device, a straight rope length of the super-lifting device when the boom is in a straight state;

[0106] The rope length range of the super lifting device is determined based on the straight rope length.

[0107] As an example, the expansion control module 310 includes:

[0108] a posture detection submodule, configured to detect the real-time posture of the crane using the detection device;

[0109] The boom extension and retraction submodule is used to respond to the received boom extension and retraction request and control the boom to extend and retract when the real-time posture of the crane is not an abnormal posture.

[0110] In an optional example, the detection device includes an angle sensor and a tension sensor, and the posture detection submodule is further configured to, when detecting that the boom is in an overlong working condition, obtain the boom angle of the crane and the swing angle of the super-lifting device using the angle sensor, and obtain the tension of the super-lifting device using the tension sensor;

[0111] The real-time posture of the crane is determined based on the boom angle of the crane, the swing angle of the super-lifting device, and the pulling force of the super-lifting device.

[0112] As an example, the boom control device 300 further includes:

[0113] The abnormal posture prompt module is used to adjust the boom to a locked state when the real-time posture of the crane is abnormal, and generate prompt information for prompting that the crane posture is abnormal.

[0114] As an example, the boom control device 300 further includes:

[0115] An operating state determining module, configured to determine the operating state of the super-lifting device according to the real-time rope length of the super-lifting device;

[0116] The boom locking module is used to adjust the boom to a locked state when the operating state of the super-lifting device is abnormal, and generate a prompt message for prompting that the state of the super-lifting device is abnormal.

[0117] The boom control device 300 is used to execute the corresponding steps in the above boom control method. The specific implementation of each function will not be described here one by one. In addition, the optional examples in embodiment 1 are also applicable to the boom control device 300 of embodiment 2.

[0118] An embodiment of the present application also provides a crane, which includes a boom, a lifting device, a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the boom control method as described in Example 1 is implemented.

[0119] The telescopic control module 310, the rope length determination module 320 and the speed adjustment module 330 in this embodiment are all stored in the memory as program units, and the processor executes the above program units stored in the memory to implement corresponding functions.

[0120] The processor contains a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be configured, and kernel parameters can be adjusted to address the issue of the superlift device being unsuitable for high-tension scenarios.

[0121] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0122] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the boom control method as described in Example 1 is implemented.

[0123] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0124] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0125] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0126] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0127] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0128] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0129] Computer-readable storage media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0130] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0131] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A boom control method, applied to a crane comprising a boom and a superlifting device, characterized in that: include: In response to a received boom extension / retraction request, controlling the boom to extend / retract; Determining a target rope length of the super-lifting device according to the real-time length of the boom and the super-lifting arm length of the super-lifting device; Based on the target rope length and the real-time rope length of the super-lifting device, adjusting the extension and retraction speed of the boom and adjusting the hoisting speed of the super-lifting device when retracting and releasing the rope; The step of determining a target rope length of the super-lifting device according to the real-time length of the boom and the super-lifting arm length of the super-lifting device comprises: Determining a range of rope lengths of the superlifting device according to the real-time length of the boom and the superlifting arm length of the superlifting device; Based on the rope length value range, a target rope length value of the super-lifting device is determined, wherein when the real-time rope length of the super-lifting device is the minimum value in the rope length value range, the boom of the crane is in a straight state; when the real-time rope length of the super-lifting device is any value in the rope length value range except the minimum value, the boom of the crane is in a deflected state, and the deflection is not greater than a preset deflection value. The rope length value range is [S1, S2], and the target rope length value is (S1+S2)*0.5; After adjusting the extension and retraction speed of the boom based on the target rope length and the real-time rope length of the super-lifting device, and adjusting the hoisting speed of the super-lifting device when retracting and releasing the rope, the method further includes: determining the operating status of the super-lifting device according to the real-time rope length of the super-lifting device; When the operating state of the super-lifting device is abnormal, the boom is adjusted to a locked state, and a prompt message is generated to indicate that the state of the super-lifting device is abnormal. When the real-time rope length is within the preset rope length range, it is determined that the operating state of the super-lifting device is not abnormal. When the real-time rope length is not within the preset rope length range and the real-time rope length is less than the minimum value of the preset rope length range, it is determined that the operating state of the super-lifting device is abnormal.

2. The boom control method according to claim 1, characterized in that: The boom includes a first boom and a second boom, and determining a range of rope lengths of the super-lifting device according to a real-time length of the boom and a super-lifting arm length of the super-lifting device includes: determining a linear rope length of the super-lifting device when the boom is in a straight state based on the real-time length of the first boom, the length of the second boom, and the super-lifting arm length of the super-lifting device; The rope length range of the super lifting device is determined based on the straight rope length.

3. The boom control method according to claim 1, characterized in that: The crane further includes a detection device, which controls the boom to extend and retract in response to a received boom extension request, including: Detecting the real-time posture of the crane using the detection equipment; When the real-time posture of the crane is not an abnormal posture, the boom is controlled to be extended or retracted in response to the received boom extension or retraction request.

4. The boom control method according to claim 3, characterized in that: The detection device includes an angle sensor and a tension sensor. The method of using the detection device to detect the real-time posture of the crane includes: When it is detected that the boom is in an overlong working condition, the boom angle of the crane and the swing angle of the super-lifting device are obtained by using the angle sensor, and the tension of the super-lifting device is obtained by using the tension sensor; The real-time posture of the crane is determined based on the boom angle of the crane, the swing angle of the super-lifting device, and the pulling force of the super-lifting device.

5. The boom control method according to claim 3, characterized in that: After the detection device is used to detect the real-time posture of the crane, the method further includes: When the real-time posture of the crane is abnormal, the boom is adjusted to a locked state, and prompt information for prompting that the crane posture is abnormal is generated.

6. A boom control device, applied to a crane comprising a boom and a superlifting device, for implementing the boom control method according to claim 1, characterized in that: include: A telescopic control module, configured to respond to a received boom telescopic request and control the boom to telescope; a rope length value determination module, configured to determine a target rope length value of the super-lifting device according to the real-time length of the boom and the super-lifting arm length of the super-lifting device; a speed adjustment module, configured to adjust the extension and retraction speed of the boom and the hoisting speed of the superlifting device when retracting and releasing the rope based on the target rope length value and the real-time rope length of the superlifting device; The rope length value determination module includes: A value range determination submodule, configured to determine a value range of the rope length of the super-lifting device according to the real-time length of the boom and the super-lifting arm length of the super-lifting device; a target value determination submodule, configured to determine a target rope length value of the super-lifting device based on the rope length value range, wherein when the real-time rope length of the super-lifting device is the minimum value in the rope length value range, the boom of the crane is in a straight state; when the real-time rope length of the super-lifting device is any value in the rope length value range except the minimum value, the boom of the crane is in a deflected state, and the deflection is not greater than a preset deflection value, the rope length value range is [S1, S2], and the target rope length value is (S1+S2)*0.5; The boom control device also includes: An operating state determining module, configured to determine the operating state of the super-lifting device according to the real-time rope length of the super-lifting device; The boom locking module is used to adjust the boom to a locked state when the operating state of the super-lifting device is abnormal, and generate a prompt message for prompting that the state of the super-lifting device is abnormal, wherein, when the real-time rope length is within the preset rope length range, it is determined that the operating state of the super-lifting device is not abnormal; when the real-time rope length is not within the preset rope length range and the real-time rope length is less than the minimum value of the preset rope length range, it is determined that the operating state of the super-lifting device is abnormal.

7. A crane, characterized in that: The crane includes a boom, a lifting device, a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the boom control method according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the boom control method according to any one of claims 1 to 5 is implemented.

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