Crane control method, crane, storage medium and processor

Abstract

The embodiment of the present application provides a control method for a crane, a crane, a storage medium and a processor. The method comprises: obtaining the structural parameters of the crane, wherein the structural parameters include the first distance between the rotation center of the crane and the lower hinge point of the boom close to the rotation center and the boom length of the boom; receiving the target position of the hoisted object; determining the target execution parameters of the crane based on the structural parameters, the current position of the hoisted object and the target position, wherein the target execution parameters include the target rotation angle of the crane, the target amplitude change angle of the boom and the target movement distance of the hoisting mechanism; controlling the crane to execute the target execution parameters to move the hoisted object from the current position to the target position. The above technical solution can directly control the movement of the crane, accurately hoist the hoisted object, improve the control accuracy of the crane, ensure the hoisting accuracy and improve work efficiency.

Description

Technical Field

[0001] The present application relates to the field of crane control, and in particular to a crane control method, a crane, a storage medium, and a processor. Background Art

[0002] The hoisting control of a crane is the core of the crane control system. When performing hoisting operations, real-time coordinated control of the winch, boom length, and slewing is required. The target positioning of the hoisted object is achieved by continuously adjusting the slewing angle, boom length, and hoisting height. In the prior art, when directing the hoisting of a crane, the commander needs to be familiar with the movements and characteristics of each mechanism of the crane, and needs to judge in real time how each mechanism of the crane moves, so that the commander can manipulate the crane to perform corresponding operations. The prior art relies entirely on the operator, which can lead to problems such as incorrect operation wording, insufficient or excessive movement distance, and slow or excessive movement speed during hoisting, resulting in low hoisting accuracy and low efficiency. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a crane control method, a crane, a storage medium, and a processor.

[0004] To achieve the above-mentioned object, the present application provides a first aspect of a control method for a crane, wherein the crane includes a boom, and the boom suspends a load through a hoisting mechanism. The control method includes:

[0005] Acquiring structural parameters of the crane, wherein the structural parameters include a first distance between a rotation center point of the crane and a lower hinge point of the boom close to the rotation center point, and a boom length of the boom;

[0006] Target location for receiving the load;

[0007] Determine the target execution parameters of the crane based on the structural parameters, the current position of the load, and the target position. The target execution parameters include the target slewing angle of the crane, the target luffing angle of the boom, and the target movement distance of the hoisting mechanism.

[0008] Control the crane to execute target execution parameters to move the load from the current position to the target position.

[0009] In an embodiment of the present application, determining the target execution parameters of the crane based on the structural parameters, the current position of the hoisted object, and the target position includes: determining the spatial distance between the current position and the target position, wherein the spatial distance is determined based on the three-dimensional coordinates between the current position and the target position; obtaining the current boom angle; determining the target rotation angle based on the structural parameters, the current boom angle, and the spatial distance; determining the target boom angle based on the target rotation angle, the structural parameters, and the spatial distance; and determining the target movement distance based on the structural parameters, the current boom angle, the target boom angle, and the spatial distance.

[0010] In an embodiment of the present application, the spatial distance includes the horizontal axis spacing and the vertical axis spacing. Determining the target rotation angle based on the structural parameters, the current amplitude variation angle and the spatial distance includes: determining the projection length of the boom in the horizontal plane direction based on the boom length and the current amplitude variation angle; determining the target rotation angle based on the first distance, the projection length, the vertical axis spacing and the horizontal axis spacing.

[0011] In an embodiment of the present application, determining the target amplitude variation angle based on the target rotation angle, structural parameters and spatial distance includes: determining the second distance between the projection point of the target position on the horizontal plane and the rotation center point; determining the third distance between the projection point and the lower hinge point based on the second distance and the first distance; and determining the target amplitude variation angle based on the third distance and the boom length.

[0012] In an embodiment of the present application, the spatial distance also includes the vertical axis spacing, and the structural parameters also include the hoisting length of the hoisting mechanism. Determining the target movement distance based on the structural parameters, the current amplitude variation angle, the target amplitude variation angle and the spatial distance includes: determining the first vertical height between the current position and the horizontal plane based on the boom length, the current amplitude variation angle and the hoisting length; determining the second vertical height between the target position and the horizontal plane based on the boom length, the target amplitude variation angle and the hoisting length; determining the difference between the first vertical height and the second vertical height as the third vertical height; and determining the difference between the third vertical height and the vertical axis spacing as the target movement distance.

[0013] In an embodiment of the present application, the crane further includes an input device, and receiving the target position of the hoisted object includes: receiving the target position input by a user through the input device.

[0014] In an embodiment of the present application, the crane also includes a display device, and the control method also includes: after determining the target execution parameters of the crane based on the structural parameters, the current position of the hoisted object, and the target position, displaying the target execution parameters and the motion path of the crane executing the target execution parameters through the display device.

[0015] A second aspect of the present application provides a processor configured to execute the above-mentioned crane control method.

[0016] A third aspect of the present application provides a crane, comprising:

[0017] A boom, which is connected to a winch mechanism;

[0018] A winch mechanism, one end of which is connected to the boom and the other end of which is used to suspend the load;

[0019] An input device, through which a user inputs a target position of a hanging object;

[0020] A display device for displaying the target execution parameters and the motion path of the crane in executing the target execution parameters; and

[0021] The above processors.

[0022] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon. When the instructions are executed by a processor, the processor is configured to execute the above-mentioned crane control method.

[0023] The above technical solution obtains the structural parameters of the crane, wherein the structural parameters include the first distance between the crane's rotation center and the lower hinge point of the boom near the rotation center, and the boom length of the boom; receives the target position of the hoisted object; determines the target execution parameters of the crane based on the structural parameters, the current position of the hoisted object, and the target position, wherein the target execution parameters include the crane's target rotation angle, the boom's target amplitude change angle, and the target movement distance of the hoisting mechanism; and controls the crane to execute the target execution parameters to move the hoisted object from the current position to the target position. The above technical solution can directly control the crane's movements and accurately lift the hoisted object, thereby improving the control accuracy of the crane, ensuring lifting accuracy, and improving work efficiency.

[0024] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present application but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0026] Figure 1 The following schematically shows a flow chart of a crane control method according to an embodiment of the present application;

[0027] Figure 2 A first schematic diagram of a crane control method according to an embodiment of the present application is schematically shown;

[0028] Figure 3A second schematic diagram of a crane control method according to an embodiment of the present application is schematically shown;

[0029] Figure 4 A third schematic diagram schematically illustrates a method for controlling a crane according to an embodiment of the present application;

[0030] Figure 5 A fourth schematic diagram schematically illustrates a method for controlling a crane according to an embodiment of the present application;

[0031] Figure 6 A fifth schematic diagram schematically illustrates a method for controlling a crane according to an embodiment of the present application;

[0032] Figure 7 A sixth schematic diagram schematically illustrates a method for controlling a crane according to an embodiment of the present application;

[0033] Figure 8 A seventh schematic diagram schematically illustrates a method for controlling a crane according to an embodiment of the present application;

[0034] Figure 9 The internal structure diagram of a computer device according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0035] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0036] Figure 1 The flowchart of the control method of the crane according to the embodiment of the present application is schematically shown. Figure 1 As shown, in one embodiment of the present application, a control method for a crane is provided, wherein the crane includes a boom, and the boom suspends a load through a hoisting mechanism, comprising the following steps:

[0037] Step 101: Acquire structural parameters of the crane, wherein the structural parameters include a first distance between a rotation center point of the crane and a lower hinge point of the boom close to the rotation center point, and a boom length of the boom.

[0038] Step 102: Receive the target position of the hanging object.

[0039] Step 103 : determining target execution parameters of the crane based on the structural parameters, the current position of the hoisted object, and the target position. The target execution parameters include a target slewing angle of the crane, a target luffing angle of the boom, and a target movement distance of the hoisting mechanism.

[0040] Step 104 : Control the crane to execute the target execution parameters to move the load from the current position to the target position.

[0041] A crane refers to a multi-action lifting machine that can vertically lift and horizontally transport heavy objects within a certain range. The crane may include a boom, wherein the boom can suspend the load through a hoisting mechanism. The processor may obtain structural parameters of the crane, wherein the structural parameters include a first distance between the rotation center of the crane and the lower hinge point of the boom close to the rotation center, and the boom length of the boom. For example, Figure 2 As shown, the rotation center of the crane is OA, and the lower hinge point of the boom is OB1, that is, OA-OB1 is the first distance between the rotation center OA and the lower hinge point OB1 of the boom. The length of the boom is OB1-OC1. After obtaining the structural parameters of the crane, the processor can receive the target position of the load. Figure 2 In the figure, the target position of the load is OD2. After receiving the target position of the load, the processor can determine the target execution parameters of the crane based on the structural parameters, the current position of the load, and the target position. The crane is then controlled to execute the target parameters to move the load from the current position to the target position. The target execution parameters may include the target slewing angle of the crane, the target luffing angle of the boom, and the target movement distance of the hoisting mechanism. The target slewing angle refers to the rotation angle of the crane around the centerline O1-OA, that is, the angle the crane needs to rotate to control the load from the current position to the target position; the target luffing angle refers to the angle between the boom and the horizontal plane after the load is rotated to the target position. In other words, after receiving the target position OD2 of the load, the processor can determine the target execution parameters of the crane based on the structural parameters (the first distance OA-OB1, the boom length OB1-OC1), the current position OD1 of the load, and the target position OD2. The crane is thereby controlled to rotate around the centerline O1-OA so that the boom reaches the new position OB1'-OC1' and the load reaches the new position OD1'. Then the boom is controlled to rotate around OB1' to reach the target position OB1'-OC2, and the load reaches the target position OD2. Where OE1 is the projection point of the current position of the load on the horizontal plane, and OE1' is the projection point of the target position of the load on the horizontal plane.

[0042] In one embodiment, the crane further includes an input device, and receiving the target position of the hanging object includes: receiving the target position input by a user through the input device.

[0043] The processor can obtain the structural parameters of the crane, wherein the structural parameters include the first distance between the center of rotation of the crane and the lower hinge point of the boom close to the center of rotation and the boom length of the boom. After obtaining the structural parameters of the crane, the processor can receive the target position of the hanging object input by the user through the input device. After receiving the target position of the hanging object, the processor can determine the target execution parameters of the crane based on the structural parameters, the current position of the hanging object and the target position. And control the crane to execute the target parameters to move the hanging object from the current position to the target position. The target execution parameters may include the target rotation angle of the crane, the target amplitude change angle of the boom and the target movement distance of the hoisting mechanism. In one embodiment, the crane also includes a display device, and the control method further includes: after determining the target execution parameters of the crane based on the structural parameters, the current position of the hanging object and the target position, the processor can display the target execution parameters and the movement path of the crane to execute the target execution parameters through the display device.

[0044] In one embodiment, determining the target execution parameters of the crane based on the structural parameters, the current position of the hoisted object, and the target position includes: determining the spatial distance between the current position and the target position, wherein the spatial distance is determined based on the three-dimensional coordinates between the current position and the target position; obtaining the current boom angle; determining the target rotation angle based on the structural parameters, the current boom angle, and the spatial distance; determining the target boom angle based on the target rotation angle, the structural parameters, and the spatial distance; and determining the target movement distance based on the structural parameters, the current boom angle, the target boom angle, and the spatial distance. The spatial distance refers to the horizontal axis spacing, the vertical axis spacing, and the vertical axis spacing between the current position and the target position in the three-dimensional coordinates. The boom angle refers to the angle between the boom and the horizontal plane.

[0045] The processor can determine the spatial distance between the current position and the target position and obtain the current amplitude angle of the boom. After obtaining the spatial distance and the current amplitude angle, the processor can determine the target rotation angle based on the structural parameters, the current amplitude angle and the spatial distance. The processor can also determine the target rotation angle based on the target amplitude angle, the structural parameters and the spatial distance. The processor can also determine the target movement distance based on the structural parameters, the current amplitude angle, the target amplitude angle and the spatial distance. For example, Figure 3As shown, the processor can establish a three-dimensional coordinate system at any point of the suspended object. The three-dimensional coordinate system includes the horizontal axis X+, the vertical axis Y+, and the vertical axis Z+. The spatial distance includes the front-to-back distance L1, the left-to-right distance L2, and the top-to-bottom distance L3, which correspond to the horizontal axis spacing, vertical axis spacing, and vertical axis spacing between the current position and the target position, respectively. OA is the rotation center point, OB1 is the current position of the lower hinge point of the boom, OC1 is the current position of the upper hinge point of the boom, OD1 is the current position of the suspended object, and AB1 is the current boom amplitude angle. The structural parameters include a first distance OA-OB1 and a boom length OB1-OC1. The processor can determine the target rotation angle A1 based on the structural parameters, the current amplitude angle AB1, and the spatial distance. The target amplitude angle can be determined based on the target rotation angle A1, the structural parameters, and the spatial distance. The processor can also determine the target movement distance based on the structural parameters, the current amplitude angle AB1, the target amplitude angle AB2, and the spatial distance. Specifically, the processor can calculate OB1-OC1' based on the boom length OB1-OC1 and the current boom angle AB1, and then calculate the target rotation angle A1 using OA-OB1, OB1-OC1', L1, and L2. Wherein, A1 = ARCtan[L2 ÷ (|OA-OB1| + |OB1-OC1' | + L1)]. R1 is an arc with OA as the center and OA-OB1 as the radius, and the lengths of OA-OB1 and OA-OB2 are equal. The processor can calculate the length of OA-OC2' based on the target rotation angle A1 and the left-right distance L2, and then calculate the target boom angle AB2 using OA-OC2', OA-OB2, and the boom length OB2-OC2. Wherein, AB2 = ARCcos[(|OA-OC2'| - |OA-OB2|) ÷ |OB2-OC2]. The processor can calculate OC1-OC1' based on the boom length OB1-OC1 and the current boom angle AB1. Then, OC2-OC2' is calculated based on OB2-OC2' and the target amplitude variation angle AB2. The processor can calculate the target movement distance based on OC1-OC1', OC2-OC2' and the front-back distance L3.

[0046] In one embodiment, the spatial distance includes the transverse axis spacing and the longitudinal axis spacing. Determining the target rotation angle based on the structural parameters, the current amplitude variation angle, and the spatial distance includes: determining the projection length of the boom in the horizontal plane direction based on the boom length and the current amplitude variation angle; determining the target rotation angle based on the first distance, the projection length, the longitudinal axis spacing, and the transverse axis spacing.

[0047] The spatial distance may include the horizontal axis spacing and the vertical axis spacing. The horizontal axis spacing refers to the distance between the three-dimensional coordinates of the current position of the hanging object and the three-dimensional coordinates of the target position in the three-dimensional coordinate system on the horizontal axis. The vertical axis spacing refers to the distance between the three-dimensional coordinates of the current position of the hanging object and the three-dimensional coordinates of the target position in the three-dimensional coordinate system on the vertical axis. The processor can determine the target rotation angle based on the structural parameters, the current amplitude change angle and the spatial distance. Specifically, the processor can determine the target rotation angle based on the boom length and the current amplitude change angle. The projected length of the boom on the horizontal plane. Then determine the target rotation angle based on the first distance, the projected length, the longitudinal axis spacing, and the transverse axis spacing. Figure 4 As shown, O1-OA is the centerline and OB1 is the lower hinge point of the boom. The processor can determine the horizontal projection length OB1-OC1' of the boom based on the boom length and the current amplitude adjustment angle. After determining the projection length OB1-OC1', the processor can determine the target rotation angle A1 based on the first distance OA-OB1, the projection length OB1-OC1', the longitudinal axis spacing L2, and the transverse axis spacing L1. Specifically, the processor can determine the sum of the first distance OA-OB1, the projection length OB1-OC1', and the transverse axis spacing L1 as OA-OC2'_2, and then calculate the target rotation angle A1 using OA-OC2'_2 and the longitudinal axis spacing L2. Among them, R1 is an arc with OA as the center and OA-OB1 as the radius. R3 is an arc with OA as the center and OA-OC2' as the radius. OC2'_1 is the intersection of arc R3 and the straight line where OA-OB1 is located, and L1' is the distance between OC1' and OC2'_1.

[0048] For example, Figure 4 As shown, in the triangle OA-OC2'-OC2'_2, OA-OB1 is the first distance. The processor can calculate the length of OA-OC2'_2 using |OA-OC2'_2|=|OA-OB1|+|OB1-OC1'|+L1. The target rotation angle A1 is then calculated using ∠A1=arcTAN(L2÷|OA-OC2'_2|).

[0049] In one embodiment, determining the target amplitude variation angle based on the target rotation angle, structural parameters and spatial distance includes: determining the second distance between the projection point of the target position on the horizontal plane and the rotation center point; determining the third distance between the projection point and the lower hinge point based on the second distance and the first distance; and determining the target amplitude variation angle based on the third distance and the boom length.

[0050] The processor can determine the target luffing angle based on the target rotation angle, structural parameters, and spatial distance. Specifically, the processor can determine the second distance between the projection point of the target position on the horizontal plane and the rotation center point. After determining the second distance, the processor can determine the third distance between the projection point and the lower hinge point based on the second distance and the first distance. After determining the third distance, the processor can determine the target luffing angle based on the third distance and the boom length. Figure 5 As shown, O1-OA is the center line, and OB1 is the lower hinge point of the boom. OC2'_1 is the projection point of the target position on the horizontal plane. The processor can determine the second distance OA-OC2'_1 based on the target slewing angle AB2, the boom length OB1-OC2, and the first distance OA-OB1. The third distance OB1-OC2'_1 between the projection point and the lower hinge point is determined based on the second distance OA-OC2'_1 and the first distance OA-OB1. Finally, the processor can determine the target amplitude change angle AB2 based on the third distance OB1-OC2'_1 and the boom length OB1-OC2. Among them, L1' is the distance between OC1' and OC2'_1, and L3 is the vertical axis interval between the three-dimensional coordinates of the current position of the hoisted object and the three-dimensional coordinates of the target position in the three-dimensional coordinate system. H1 is the vertical distance between the hinge point on the boom and the horizontal plane when the hoisted object is at the current position. H2 is the vertical distance between the hinge point on the boom and the horizontal plane when the crane moves the hoisted object to the target position.

[0051] For example, Figure 5 As shown, in the triangle OB1-OC1-OC1', OB1-OC1 is the boom length, and AB1 is the current luffing angle. The processor can calculate the length of OB1-OC1' through |OB1-OC1'|=|OB1-OC1|*cos(∠AB1). In the triangle OB1-OC2-OC2'_1, ∠OC2-OC2'_1-OB1 is a right angle, and the target luffing angle ∠AB2 = arccos(∣OB1-OC2'_1|÷|OB1-OC2|), where OB1-OC2 is the boom length and OB1-OC2'_1 is the third distance.

[0052] In one embodiment, the spatial distance also includes the vertical axis spacing, and the structural parameters also include the hoisting length of the hoisting mechanism. Determining the target movement distance based on the structural parameters, the current luffing angle, the target rotation angle, and the spatial distance includes: determining a first vertical height between the current position and the horizontal plane based on the boom length, the current luffing angle, and the hoisting length; determining a second vertical height between the target position and the horizontal plane based on the boom length, the target luffing angle, and the hoisting length; determining the difference between the first vertical height and the second vertical height as a third vertical height; and determining the difference between the third vertical height and the vertical axis spacing as the target movement distance. The vertical axis spacing refers to the distance on the vertical axis between the three-dimensional coordinates of the current position of the hoisted object and the three-dimensional coordinates of the target position in a three-dimensional coordinate system.

[0053] The spatial distance may also include the vertical axis spacing. The structural parameters also include the hoisting length of the hoisting mechanism. The processor may determine the target rotation angle based on the structural parameters, the current amplitude change angle, and the spatial distance. Specifically, the processor may determine the first vertical height between the current position and the horizontal plane based on the boom length, the current amplitude change angle, and the hoisting length. The second vertical height between the target position and the horizontal plane may be determined based on the boom length, the target amplitude change angle, and the hoisting length. After determining the first vertical height and the second vertical height, the processor may determine the difference between the first vertical height and the second vertical height as the third vertical height. And the difference between the third vertical height and the vertical axis spacing is determined as the target movement distance. For example, as Figure 6 As shown, the processor can establish a three-dimensional coordinate system based on any point of the suspended object. The three-dimensional coordinate system includes a horizontal axis X+, a vertical axis Y+, and a vertical axis Z+. Spatial distances include a front-to-back distance L1, a left-to-right distance L2, and a top-to-bottom distance L3, corresponding to the horizontal, vertical, and vertical distances between the current and target positions, respectively. O1-OA represents the centerline, and OB1 represents the lower hinge point of the boom. OB1-OC2 and OB2-OC2 represent the boom lengths. OC1-OD1 and OC2-OD2 represent the hoisting lengths of the hoisting mechanism. The processor can determine a first vertical height between the current position and the horizontal plane based on the boom lengths OB1-OC1, the current luffing angle, and the hoisting lengths OC1-OD1. The processor can determine a second vertical height between the target position and the horizontal plane based on the boom lengths OB2-OC2, the target luffing angle, and the hoisting lengths OC2-OD2. After determining the first and second vertical heights, the processor can determine the difference between the first and second vertical heights as a third vertical height. The difference between the third vertical height and the vertical axis distance L3 is determined as the target movement distance. R1 is an arc with OA as the center and OA-OB1 as the radius. A1 is the target rotation angle.

[0054] In one embodiment, Figure 7As shown, a crane may include a boom that suspends a load via a hoisting mechanism. A processor may obtain structural parameters of the crane, including a first distance OA-OB1 between the crane's rotation center OA and a bottom hinge point OB1 of the boom near the rotation center OA, and a boom length OB1-OC1 of the boom. OC1 is the top hinge point of the boom away from the rotation center OA. The processor may receive a target position OD2 for an object A. The processor may determine target execution parameters for the crane based on the structural parameters, an initial position (i.e., current position) OD1 of object A, and the target position OD2. The target execution parameters include a target slewing angle of the crane, a target luffing angle of the boom, and a target movement distance of the hoisting mechanism. After determining the target execution parameters for the crane, the processor may control the crane to execute the target execution parameters to move object A from the initial position OD1 to the target position OD2. Specifically, after determining the target execution parameters for the crane, the processor may control the crane to rotate about the rotation center line O1-OA by a target slewing angle, thereby rotating from the OA-OB1 position to the OA-OB2 position. The crane is controlled to move the boom from its initial position to its target position, achieving a target luffing angle. The crane controls the hoist mechanism to move the target distance, ultimately moving Object A from its initial position OD1 to its target position OD2. The horizontal distance between the boom's bottom hinge point OB1 and Object A's initial position OD1 is the horizontal projection of the boom's initial position. After the processor controls the crane to execute the target execution parameters, the horizontal distance between OB2 and Object A's target position OD2 is the horizontal projection of the boom's target position.

[0055] In one embodiment, Figure 8As shown, the processor can establish a three-dimensional coordinate system with the front and rear directions of the boom as references. Among them, the Z+ axis represents the top, Z- represents the bottom, X+ represents the front, X- represents the back, Y+ represents the left, and Y- represents the right. L1 represents the distance between the current position of the hanging object and the target position on the X axis in the three-dimensional coordinate system, L2 represents the distance between the current position of the hanging object and the target position on the Y axis in the three-dimensional coordinate system, and L3 (i.e., O2-O2') represents the distance between the current position of the hanging object and the target position on the Z axis in the three-dimensional coordinate system. The crane may include an input device and a display device. The processor can obtain the structural parameters of the crane and the current boom angle. The processor can also receive the target position of the hanging object input by the user through the input device. After receiving the target position, the processor can determine L1, L2, and L3 based on the user's target position and current position. The processor can determine the target rotation angle based on the structural parameters, the current boom angle, and L2. The processor can determine the target rotation angle based on the structural parameters and L1. The processor can also determine a target travel distance based on the structural parameters, the current luffing angle, the target luffing angle, and L3. After determining the target slew angle, target luffing angle, and target travel distance, the processor can control a display device to visually display the target slew angle, target luffing angle, and target travel distance. The processor can control the crane to move the hoisted object from the original position O1 to the target position O2, and control the display device to display the crane's travel path for moving the hoisted object from the original position O1 to the target position O2.

[0056] The above technical solution obtains the structural parameters of the crane, wherein the structural parameters include the first distance between the crane's rotation center and the lower hinge point of the boom near the rotation center, and the boom length of the boom; receives the target position of the hoisted object; determines the target execution parameters of the crane based on the structural parameters, the current position of the hoisted object, and the target position, wherein the target execution parameters include the crane's target rotation angle, the boom's target amplitude change angle, and the target movement distance of the hoisting mechanism; and controls the crane to execute the target execution parameters to move the hoisted object from the current position to the target position. The above technical solution can directly control the crane's movements and accurately lift the hoisted object, thereby improving the control accuracy of the crane, ensuring lifting accuracy, and improving work efficiency.

[0057] Figure 1 FIG. 1 is a flow chart of a crane control method according to an embodiment of the present invention. Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 1At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0058] An embodiment of the present application provides a processor, which is used to run a program, wherein the above-mentioned crane control method is executed when the program is run.

[0059] An embodiment of the present application provides a crane, comprising:

[0060] A boom, which is connected to a winch mechanism;

[0061] A winch mechanism, one end of which is connected to the boom and the other end of which is used to suspend the load;

[0062] An input device, through which a user inputs a target position of a hanging object;

[0063] A display device for displaying the target execution parameters and the motion path of the crane in executing the target execution parameters; and

[0064] The above processors.

[0065] An embodiment of the present application provides a storage medium having a program stored thereon, which implements the above-mentioned crane control method when executed by a processor.

[0066] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 9 As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure) connected via a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02 and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store data on structural parameters, target execution adoption numbers, target positions and initial positions. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the processor A01, a crane control method is implemented.

[0067] Those skilled in the art will understand that Figure 9The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0068] An embodiment of the present application provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the following steps are implemented: obtaining structural parameters of a crane, wherein the structural parameters include a first distance between a slewing center point of the crane and a lower hinge point of a boom close to the slewing center point, and a boom length of the boom; receiving a target position of a hoisted object; determining target execution parameters of the crane based on the structural parameters, a current position of the hoisted object, and a target position, wherein the target execution parameters include a target slewing angle of the crane, a target boom angle of the boom, and a target movement distance of the hoisting mechanism; and controlling the crane to execute the target execution parameters to move the hoisted object from the current position to the target position.

[0069] In one embodiment, determining target execution parameters of a crane based on structural parameters, a current position of a hoisted object, and a target position includes: determining a spatial distance between the current position and the target position, wherein the spatial distance is determined based on three-dimensional coordinates between the current position and the target position; obtaining a current boom angle; determining a target rotation angle based on the structural parameters, the current boom angle, and the spatial distance; determining a target boom angle based on the target rotation angle, the structural parameters, and the spatial distance; and determining a target movement distance based on the structural parameters, the current boom angle, the target boom angle, and the spatial distance.

[0070] In one embodiment, the spatial distance includes the transverse axis spacing and the longitudinal axis spacing. Determining the target rotation angle based on the structural parameters, the current amplitude variation angle and the spatial distance includes: determining the projection length of the boom in the horizontal plane direction based on the boom length and the current amplitude variation angle; determining the target rotation angle based on the first distance, the projection length, the longitudinal axis spacing and the transverse axis spacing.

[0071] In one embodiment, determining the target amplitude variation angle based on the target rotation angle, structural parameters and spatial distance includes: determining the second distance between the projection point of the target position on the horizontal plane and the rotation center point; determining the third distance between the projection point and the lower hinge point based on the second distance and the first distance; and determining the target amplitude variation angle based on the third distance and the boom length.

[0072] In one embodiment, the spatial distance also includes the vertical axis spacing, and the structural parameters also include the hoisting length of the hoisting mechanism. Determining the target movement distance based on the structural parameters, the current amplitude variation angle, the target amplitude variation angle and the spatial distance includes: determining the first vertical height between the current position and the horizontal plane based on the boom length, the current amplitude variation angle and the hoisting length; determining the second vertical height between the target position and the horizontal plane based on the boom length, the target amplitude variation angle and the hoisting length; determining the difference between the first vertical height and the second vertical height as the third vertical height; and determining the difference between the third vertical height and the vertical axis spacing as the target movement distance.

[0073] In one embodiment, the crane further includes an input device, and receiving the target position of the hanging object includes: receiving the target position input by a user through the input device.

[0074] In one embodiment, the crane further includes a display device, and the control method further includes: after determining the target execution parameters of the crane based on the structural parameters, the current position of the hoisted object, and the target position, displaying the target execution parameters and the motion path of the crane executing the target execution parameters through the display device.

[0075] The present application also provides a computer program product which, when executed on a data processing device, is adapted to execute a program for initializing the steps of the control method for a crane.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0081] 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.

[0082] Computer-readable media includes 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.

[0083] 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.

[0084] 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 crane control method, characterized in that: The crane includes a boom, and the boom suspends a load via a hoisting mechanism. The control method includes: Acquiring structural parameters of the crane, wherein the structural parameters include a first distance between a rotation center point of the crane and a lower hinge point of the boom close to the rotation center point, and a boom length of the boom; receiving a target position of the hanging object; determining target execution parameters of the crane according to the structural parameters, the current position of the hoisted object, and the target position, wherein the target execution parameters include a target slewing angle of the crane, a target luffing angle of the boom, and a target movement distance of the hoisting mechanism; controlling the crane to execute the target execution parameter to move the hanging object from the current position to the target position; Wherein, determining the target execution parameters of the crane according to the structural parameters, the current position of the hoisted object, and the target position includes: Determining a spatial distance between the current position and the target position, wherein the spatial distance is determined based on three-dimensional coordinates between the current position and the target position; Obtaining the current luffing angle of the boom; Determining the target rotation angle according to the structural parameters, the current amplitude variation angle, and the spatial distance; Determining the target amplitude variation angle according to the target rotation angle, the structural parameters and the spatial distance; Determining the target movement distance according to the structural parameters, the current amplitude variation angle, the target amplitude variation angle, and the spatial distance; The spatial distance includes a horizontal axis spacing and a vertical axis spacing, and determining the target rotation angle according to the structural parameters, the current amplitude variation angle, and the spatial distance includes: Determining a projected length of the boom in a horizontal plane according to the boom length and the current luffing angle; Determine the target rotation angle according to the first distance, the projected length, the longitudinal axis spacing, and the transverse axis spacing; Wherein, determining the target amplitude variation angle according to the target rotation angle, the structural parameters and the spatial distance includes: Determining a second distance between a projection point of the target position on a horizontal plane and the rotation center point; determining a third distance between the projection point and the lower hinge point based on the second distance and the first distance; determining the target luffing angle according to the third distance and the boom length; The spatial distance further includes the vertical axis spacing, the structural parameters further include the hoisting length of the hoisting mechanism, and determining the target movement distance according to the structural parameters, the current luffing angle, the target luffing angle, and the spatial distance includes: determining a first vertical height between the current position and a horizontal plane based on the boom length, the current luffing angle, and the winch length; determining a second vertical height between the target position and the horizontal plane based on the boom length, the target luffing angle, and the winch length; determining a difference between the first vertical height and the second vertical height as a third vertical height; The third vertical height is determined as the target movement distance.

2. The crane control method according to claim 1, characterized in that: The crane further includes an input device, and the receiving device includes: The target location is received from a user through the input device.

3. The crane control method according to claim 1, characterized in that: The crane further includes a display device, and the control method further includes: After the target execution parameters of the crane are determined according to the structural parameters, the current position of the hoisted object, and the target position, the target execution parameters and the motion path of the crane executing the target execution parameters are displayed via the display device.

4. A processor, characterized in that: The method is configured to execute the crane control method according to any one of claims 1 to 3.

5. A crane, characterized in that: include: A boom connected to the hoisting mechanism; The hoisting mechanism has one end connected to the boom and the other end hanging objects; an input device, through which a user inputs a target position of the hanging object; a display device for displaying target execution parameters and a motion path of the crane in executing the target execution parameters; as well as The processor according to claim 4.

6. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instructions are executed by a processor, the processor is configured to execute the crane control method according to any one of claims 1 to 3.

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