Method and device for configuration planning of a crane and crane

Abstract

The present disclosure provides a crane configuration planning method and device and a crane, and relates to the technical field of cranes. The crane configuration planning method comprises: obtaining configuration information of the crane and a slope angle of a to-be-traveled road; determining whether the center of gravity of the crane is out of a safe range according to the configuration information of the crane and the slope angle of the to-be-traveled road; in the case that the center of gravity of the crane is out of the safe range, determining a to-be-detached component from detachable components of the crane; and planning a detachment scheme of the to-be-detached component to obtain a detachment scheme in which the center of gravity of the crane after detachment is within the safe range and the number of to-be-detached components is the smallest. Through the above steps, the configuration detachment, transportation and assembly costs in the process of crane transfer can be saved under the premise of ensuring the walking safety of the crane, and the efficiency of the crane transfer operation is improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of cranes, and in particular to a configuration planning method and device for a crane and the crane. BACKGROUND

[0002] When a crane is moved from one site to another, there are generally slopes on the ground. Due to different configurations of the crane, such as different boom lengths and counterweights, the climbing abilities of different cranes when moved from one site to another are likely to be different.

[0003] In the related art, a crane is generally directly moved from one site to another according to its existing configuration. For example, a crawler crane is directly moved from one site to another by relying on its own crawler travel while maintaining its existing configuration. In addition, in the related art, a user selects to completely disassemble the boom and counterweight of the crane before moving it from one site to another. SUMMARY

[0004] The present disclosure provides a configuration planning method and device for a crane and the crane.

[0005] According to a first aspect of the present disclosure, a configuration planning method for a crane is provided, including: obtaining configuration information of the crane and a slope angle of a to-be-traveled road, the configuration information of the crane including configuration information of a detachable component of the crane and configuration information of a non-detachable component; determining whether a center of gravity position of the crane is out of a safe range according to the configuration information of the crane and the slope angle of the to-be-traveled road; in a case where the center of gravity position of the crane is out of the safe range, determining a to-be-detached component from the detachable component of the crane; and planning a disassembly scheme of the to-be-detached component to obtain a disassembly scheme in which the center of gravity position of the crane after disassembly is located within the safe range and in which the number of to-be-detached components is minimized.

[0006] In some embodiments, determining the to-be-detached component from the detachable component of the crane includes: determining the to-be-detached component according to a relationship between a heading of a vehicle head of the crane and an extension direction of the slope angle of the to-be-traveled road, the extension direction of the slope angle being a direction from a slope bottom to a slope top.

[0007] In some embodiments, determining the to-be-detached component according to the relationship between the heading of the vehicle head of the crane and the extension direction of the slope angle of the to-be-traveled road includes: in a case where the vehicle head of the crane faces the extension direction of the slope angle of the to-be-traveled road, taking a counterweight as the to-be-detached component; and in a case where the vehicle head of the crane is away from the extension direction of the slope angle of the to-be-traveled road, taking a boom as the to-be-detached component.

[0008] In some embodiments, the determining whether the center of gravity of the crane is out of the safety range according to the configuration information of the crane and the slope angle of the road to be traveled includes: determining the center of gravity of the crane according to the configuration information of the crane and the slope angle of the road to be traveled; determining that the center of gravity of the crane is not out of the safety range when the center of gravity of the crane is located within the stable boundary line; and determining that the center of gravity of the crane is out of the safety range when the center of gravity of the crane is located outside the stable boundary line.

[0009] In some embodiments, the determining whether the center of gravity of the crane is out of the safety range according to the configuration information of the crane and the slope angle of the road to be traveled includes: determining a maximum allowable slope angle for stable travel of the crane according to the configuration information of the crane; determining that the center of gravity of the crane is not out of the safety range when the maximum allowable slope angle for stable travel of the crane is greater than or equal to the slope angle of the road to be traveled; and determining that the center of gravity of the crane is out of the safety range when the maximum allowable slope angle for stable travel of the crane is less than the slope angle of the road to be traveled.

[0010] In some embodiments, the slope angle of the road to be traveled includes at least one of a maximum uphill angle and a maximum downhill angle of the road to be traveled.

[0011] In some embodiments, the planning of the disassembly scheme of the to-be-disassembled component to obtain a disassembly scheme in which the center of gravity of the disassembled crane is located within the safety range and the number of to-be-disassembled components is minimized includes: increasing the number of to-be-disassembled components according to a set accumulated step value; updating the configuration information of the crane according to the increased number of to-be-disassembled components to obtain updated configuration information of the crane; determining whether the center of gravity of the crane is out of the safety range according to the updated configuration information of the crane and the slope angle of the road to be traveled; iteratively performing the steps of increasing the number of to-be-disassembled components, updating the configuration information, and determining until the center of gravity of the crane is located within the safety range, and generating the disassembly scheme of the to-be-disassembled component according to the current number of to-be-disassembled components.

[0012] In some embodiments, the configuration planning method of the crane further includes: adjusting an elevation angle of a boom of the crane according to a relationship between a heading of a vehicle of the crane and an extension direction of the slope angle of the road to be traveled before the determining whether the center of gravity of the crane is out of the safety range.

[0013] In some embodiments, adjusting the boom angle of the crane according to the relationship between the heading of the crane and the extension direction of the slope angle of the road to be traveled includes: adjusting the boom angle of the crane to a minimum angle in a case where the heading of the crane is toward the extension direction of the slope angle of the road to be traveled; and adjusting the boom angle of the crane to a maximum angle in a case where the heading of the crane is away from the extension direction of the slope angle of the road to be traveled.

[0014] According to a second aspect of the present disclosure, a configuration planning device of a crane is provided, including: an acquisition module configured to acquire configuration information of the crane and a slope angle of a road to be traveled, the configuration information of the crane including configuration information of detachable components and configuration information of non-detachable components of the crane; a judgment module configured to judge whether a center of gravity position of the crane is out of a safety range according to the configuration information of the crane and the slope angle of the road to be traveled; a determination module configured to determine a component to be detached from the detachable components of the crane in a case where the center of gravity position of the crane is out of the safety range; and a planning module configured to plan a detachment scheme of the component to be detached to obtain a detachment scheme in which the center of gravity position of the crane after detachment is within the safety range and the number of components to be detached is minimum.

[0015] According to a third aspect of the present disclosure, a configuration planning device of a crane is provided, including: a memory; and a processor coupled to the memory, the processor being configured to perform the configuration planning method of the crane as described above based on instructions stored in the memory.

[0016] According to a fourth aspect of the present disclosure, a crane is provided, including the configuration planning device of the crane as described above.

[0017] According to a fifth aspect of the present disclosure, a computer readable storage medium is provided, having computer program instructions stored thereon, the instructions being executed by a processor to implement the configuration planning method of the crane as described above.

[0018] Other features and advantages of the present disclosure will be apparent from the following detailed description of exemplary embodiments thereof, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings, which constitute a part of this specification, illustrate embodiments of the present disclosure and serve to explain the principles of the present disclosure.

[0020] The present disclosure can be understood moreappreciably with the following detailed description taken in conjunction with the accompanying drawings.

[0021] Figure 1Flowchart of a configuration planning method of a crane according to some embodiments of the present disclosure.

[0022] Figure 2 Flowchart of a method for determining whether the center of gravity of a crane is out of a safe range according to some embodiments of the present disclosure.

[0023] Figure 3 Flowchart of a method for determining whether the center of gravity of a crane is out of a safe range according to some embodiments of the present disclosure.

[0024] Figure 4 Flowchart of a method for planning a disassembly scheme of a disassembly component according to some embodiments of the present disclosure.

[0025] Figure 5 Flowchart of a configuration planning method of a crane according to some embodiments of the present disclosure.

[0026] Figure 6 Structure diagram of a configuration planning device of a crane according to some embodiments of the present disclosure.

[0027] Figure 7 Structure diagram of a crane according to some embodiments of the present disclosure.

[0028] Figure 8 Disassembly component of a crane according to some embodiments of the present disclosure.

[0029] Figure 9 Structure diagram of an electronic device according to some embodiments of the present disclosure.

[0030] Figure 10 Structure diagram of a computer system according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0031] Various exemplary embodiments of the present disclosure will now be described in detail herein below with reference to the accompanying drawings. Note that the relative arrangement, numerical expressions, and numerical values of components and steps set forth in these embodiments are not limiting to the scope of the present disclosure unless otherwise specifically stated.

[0032] Meanwhile, it should be understood that the sizes of the various portions shown in the drawings are not drawn to scale for the sake of convenience in description.

[0033] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way limiting to the scope of the disclosure and its applications or uses.

[0034] Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail herein, but should be considered as part of the description of the present disclosure where appropriate.

[0035] In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary, and not as a limitation. Thus, other examples of exemplary embodiments can have different values.

[0036] It should be noted that like reference numerals and letters refer to like items throughout the attached drawings, and as a result, further discussion of such items is not necessary in subsequent drawings.

[0037] For the purpose of making the objectives, technical solutions and advantages of the present disclosure clearer, the present disclosure is further described in detail below with reference to specific embodiments and with reference to the drawings.

[0038] In the related art, the crane is configured according to the existing crane configuration for the transfer, and there may be a situation that the crane overturns due to the slope being greater than the allowable slope, thereby causing a safety risk in the transfer process. By removing all the jibs and counterweights on the crane, the safety risk in the transfer process can be alleviated, but a large amount of configuration disassembly, transportation and assembly costs are increased, resulting in increased transfer operation cost and reduced crane transfer operation efficiency.

[0039] In view of this, the present disclosure proposes a crane configuration planning method and device and a crane, which can determine the optimal configuration of the crane when walking on a slope, thereby saving the configuration disassembly, transportation and assembly costs in the transfer process under the premise of ensuring the safety of the crane walking, and improving the crane transfer operation efficiency.

[0040] Figure 1 A flowchart of a crane configuration planning method according to some embodiments of the present disclosure is shown. As shown in FIG. 1, the crane configuration planning method includes steps S110 to S140. Figure 1

[0041] In step S110, the configuration information of the crane and the slope angle of the road to be driven are obtained.

[0042] In some embodiments, the crane configuration planning method is executed by a crane configuration planning device. Exemplarily, the crane configuration planning device is a device provided in a vehicle-mounted display, a vehicle-mounted controller, a crane, a mobile phone, a tablet, a personal computer or the like.

[0043] In some embodiments, the configuration information of the crane is obtained in the following manner: the configuration information of the crane is read from a vehicle-mounted moment limiter system of the crane; or the configuration information of the crane is obtained according to user input; or the pre-stored configuration information of the crane is read from a storage module in the crane configuration planning device.

[0044] ​In some embodiments, the slope angle of the road to be traveled is obtained in the following manner: a communication connection is established with a slope angle measuring device to obtain the slope angle of the road to be traveled from the slope angle measuring device; or the slope angle of the road to be traveled is obtained according to the input of a user; or the slope angle of the road to be traveled is read from a storage module in the configuration planning device of the crane.

[0045] The configuration information of the crane includes configuration information of detachable components of the crane and configuration information of non-detachable components of the crane.

[0046] In some embodiments, the configuration information of the non-detachable components of the crane includes total weight and center of gravity position of the lower body fixed part of the crane, total weight and center of gravity position of the upper body fixed part of the crane, and the like; the configuration information of the detachable components of the crane includes length, total weight and center of gravity position of the whole boom, total weight and center of gravity position of the whole counterweight, weight and center of gravity position of each detachable counterweight, weight and center of gravity position of each detachable boom section, and the like.

[0047] In some embodiments, the slope angle of the road to be traveled includes at least one of a maximum uphill angle and a maximum downhill angle.

[0048] In step S120, whether the center of gravity position of the crane is out of the safe range is determined according to the configuration information of the crane and the slope angle of the road to be traveled.

[0049] In some embodiments, the slope angle of the road to be traveled includes a maximum uphill angle. In these embodiments, whether the center of gravity position of the crane is out of the safe range when the crane is on an uphill is determined according to the configuration information of the crane and the maximum uphill angle of the road to be traveled.

[0050] In some embodiments, the slope angle of the road to be traveled includes a maximum downhill angle. In these embodiments, whether the center of gravity position of the crane is out of the safe range when the crane is on a downhill is determined according to the configuration information of the crane and the maximum downhill angle of the road to be traveled.

[0051] In some embodiments, the slope angle of the road to be traveled includes a maximum uphill angle and a maximum downhill angle. In these embodiments, whether the center of gravity position of the crane is out of the safe range when the crane is on an uphill is determined according to the configuration information of the crane and the maximum uphill angle of the road to be traveled, and whether the center of gravity position of the crane is out of the safe range when the crane is on a downhill is determined according to the configuration information of the crane and the maximum downhill angle of the road to be traveled.

[0052] In some embodiments, the configuration planning method of the crane further includes: before determining whether the center of gravity position of the crane is out of the safe range, adjusting the boom elevation angle of the crane according to the relationship between the heading of the crane and the extension direction of the slope angle of the road to be traveled.

[0053] In some embodiments, adjusting the boom angle of the crane according to the relationship between the heading of the crane and the extension direction of the slope angle of the road to be traveled includes: adjusting the boom angle of the crane to a minimum angle in the case that the heading of the crane is toward the extension direction of the slope angle of the road to be traveled; adjusting the boom angle of the crane to a maximum angle in the case that the heading of the crane is away from the extension direction of the road to be traveled.

[0054] For example, the boom angle of the crane is adjusted to a minimum angle when the heading of the crane is uphill in the forward direction, and the boom angle of the crane is adjusted to a maximum angle when the heading of the crane is downhill in the forward direction.

[0055] In the embodiments of the present disclosure, by adjusting the boom angle of the crane according to the relationship between the heading of the crane and the extension direction of the slope angle of the road to be traveled before step S120, the deviation of the center of gravity of the crane from the safe range can be minimized or even eliminated by adjusting the pose of the boom, thereby helping to reduce the minimum number of components to be disassembled required to ensure the stable climbing of the crane, or even ensuring the stable climbing of the crane without disassembling the components, so as to further save the configuration, disassembly, transportation and assembly costs in the scene transfer process under the premise of ensuring the safety of the crane walking, and improve the efficiency of the scene transfer operation of the crane.

[0056] In step S130, in the case that the center of gravity of the crane is out of the safe range, the component to be disassembled is determined from the dismountable components of the crane.

[0057] In some embodiments, the component to be disassembled is determined according to the relationship between the heading of the crane and the extension direction of the slope angle of the road to be traveled. The extension direction of the slope angle refers to the direction from the slope bottom to the slope top.

[0058] For example, in the case that the heading of the crane is toward the extension direction of the slope angle of the road to be traveled, the counterweight is taken as the component to be disassembled; in the case that the heading of the crane is away from the extension direction of the slope angle of the road to be traveled, the boom is taken as the component to be disassembled.

[0059] In some embodiments, the slope angle of the road to be traveled includes a maximum uphill angle, and it is judged in step S120 that the center of gravity of the crane is out of the safe range when the crane is uphill, which indicates that there is a risk of overturning of the crane when it is uphill. In these embodiments, if the heading of the crane is uphill in the forward direction, the counterweight is taken as the component to be disassembled; if the heading of the crane is uphill in the backward direction, the boom is taken as the component to be disassembled. The heading of the crane in the forward direction means that the heading of the crane is in front of the vehicle in the direction of travel.

[0060] In some embodiments, the slope angle of the road to be traveled includes a maximum downhill angle, and the crane's center of gravity position exceeds the safety range when the crane is on a downhill slope is determined in step S120, which indicates that the crane is at risk of overturning when on a downhill slope. In these embodiments, if the crane's vehicle head is downhill with the front facing forward, the boom is the component to be disassembled; if the crane's vehicle head is downhill with the front facing backward, the counterweight is the component to be disassembled.

[0061] In some embodiments, the slope angle of the road to be traveled includes a maximum uphill angle and a maximum downhill angle, and the crane's center of gravity position exceeds the safety range when the crane is on an uphill slope and when the crane is on a downhill slope is determined in step S120, which indicates that the crane is at risk of overturning when on an uphill slope and when on a downhill slope. In these embodiments, if the crane's vehicle head is uphill with the front facing forward and downhill with the front facing forward, the counterweight and the boom are the components to be disassembled; if the crane's vehicle head is uphill with the front facing forward and downhill with the front facing backward, the counterweight is the component to be disassembled; if the crane's vehicle head is uphill with the front facing backward and downhill with the front facing forward, the boom is the component to be disassembled.

[0062] In the embodiments of the present disclosure, according to the relationship between the orientation of the crane's vehicle head and the extension direction of the slope angle of the road to be traveled, the component to be disassembled can be quickly and accurately determined from a plurality of disassemblable components, which helps to improve the efficiency of the crane configuration planning.

[0063] In step S140, a disassembly scheme of the component to be disassembled is planned to obtain a disassembly scheme in which the center of gravity position of the disassembled crane is within the safety range and the number of disassembled components to be disassembled is minimized.

[0064] In some embodiments, the component to be disassembled is the boom. In these embodiments, a disassembly scheme in which the center of gravity position of the disassembled crane is within the safety range and the number of disassembled booms is minimized is determined by planning.

[0065] In some embodiments, the component to be disassembled is the counterweight. In these embodiments, a disassembly scheme in which the center of gravity position of the disassembled crane is within the safety range and the number of disassembled counterweights is minimized is determined by planning.

[0066] In some embodiments, the component to be disassembled is the boom and the counterweight. In these embodiments, a disassembly scheme in which the center of gravity position of the disassembled crane is within the safety range and the number of disassembled booms and counterweights is minimized is determined by planning.

[0067] In the embodiments of the present disclosure, the optimal configuration of the crane when walking on a slope can be determined through the above steps, thereby saving the configuration disassembly, transportation and assembly costs in the process of translocation under the premise of ensuring the safety of the crane walking, and improving the efficiency of the crane translocation operation.

[0068] Figure 2A flowchart for judging whether the center of gravity of a crane is out of a safe range according to some embodiments of the present disclosure. As shown in FIG. 10, the flow for judging whether the center of gravity of the crane is out of the safe range includes step S210 and step S220. Figure 2

[0069] In step S210, the center of gravity of the crane is determined according to the configuration information of the crane and the slope angle of the road to be traveled.

[0070] In some embodiments, the slope angle of the road to be traveled includes a maximum uphill angle and a maximum downhill angle. In these embodiments, step S210 includes: determining the center of gravity of the crane when going uphill according to the configuration information of the crane and the maximum uphill angle of the road to be traveled; and determining the center of gravity of the crane when going downhill according to the configuration information of the crane and the maximum downhill angle of the road to be traveled.

[0071] wherein the center of gravity of the crane generally refers to the center of gravity of the crane in the center of gravity coordinate system. In some embodiments, the initial center of gravity of the crane in the vehicle body coordinate system is calculated according to the configuration information of the crane; and the center of gravity of the crane is calculated according to the initial center of gravity of the crane in the vehicle body coordinate system and the slope angle of the road to be traveled.

[0072] In some embodiments, the vehicle body coordinate system and the center of gravity coordinate system are constructed in the following manner: taking the intersection of the center line of the slewing mechanism of the crane and the bottom plane of the track as the origin, taking the positive front direction of the travel direction of the crane as the positive direction of the X axis, taking the left direction of the crane as the positive direction of the Y axis, and taking the upward direction of the crane as the positive direction of the Z axis, to construct the vehicle body coordinate system; and taking the intersection of the center line of the slewing mechanism of the crane and the bottom plane of the track as the origin, taking the horizontal right direction as the positive direction of the X' axis, taking the vertical upward direction as the positive direction of the Z' axis, and taking the direction perpendicular to the positive direction of the X' axis and the positive direction of the Z' axis as the Y' axis direction, to construct the center of gravity coordinate system. In the above manner of constructing the coordinate systems, by making the origins of the vehicle body coordinate system and the center of gravity coordinate system coincide, the amount of calculation can be reduced. In specific implementation, in addition to the above manner, other manners can also be used to construct the vehicle body coordinate system and the center of gravity coordinate system.

[0073] In some embodiments, after the vehicle body coordinate system and the center of gravity coordinate system are constructed, the initial center of gravity of the crane in the vehicle body coordinate system is first calculated according to the sum of the moments of the weights of the components of the crane relative to the origin of the vehicle body coordinate system and the total weight of the crane. Then, the initial center of gravity and the slope angle of the road to be traveled are substituted into the coordinate transformation relationship between the vehicle body coordinate system and the center of gravity coordinate system, to obtain the center of gravity of the crane in the center of gravity coordinate system. For example, the x' coordinate of the center of gravity of the crane in the center of gravity coordinate system is calculated according to the following formula:

[0074] x' = x cos θ + z sin θ ​

[0075] wherein x, z are the gravity center coordinate components of the crane in the vehicle body coordinate system, and θ is the slope angle of the road to be traveled.

[0076] In step S220, it is determined whether the gravity center position is within the stable boundary line.

[0077] In some embodiments, the slope angle of the road to be traveled includes a maximum uphill angle and a maximum downhill angle. In these embodiments, step S220 includes: determining whether the gravity center position of the crane when traveling uphill is within the stable boundary line corresponding to uphill, and determining whether the gravity center position of the crane when traveling downhill is within the stable boundary line corresponding to downhill; in the case that the gravity center position of the crane when traveling uphill is within the stable boundary line corresponding to uphill, and the gravity center position of the crane when traveling downhill is within the stable boundary line corresponding to downhill, it is indicated that the gravity center position is within the safe range, which means that the crane does not have the risk of overturning; otherwise, it is indicated that the gravity center position of the crane is out of the safe range, which means that the crane has the risk of overturning.

[0078] wherein the stable boundary line of the crane generally refers to the stable boundary line in the gravity center coordinate system. In some embodiments, the initial stable boundary line in the vehicle body coordinate system is projected into the gravity center coordinate system to obtain the final stable boundary line.

[0079] In some embodiments, the initial stable boundary line in the vehicle body coordinate system is determined by the stability principle. For example, in the X-axis direction, the value range between the line connecting the first idler of the two tracks of the crane and the ground contact point and the line connecting the last idler of the two tracks of the crane and the ground contact point is taken as the initial stable boundary line of the crane in the vehicle body coordinate system along the X-axis direction; in the Y-axis direction, the center lines of the two track plates of the crane are drawn along the Y-axis direction respectively, and the value range between the two center lines obtained is taken as the initial stable boundary line of the crane in the vehicle body coordinate system along the Y-axis direction. Next, the initial stable boundary line of the crane in the vehicle body coordinate system along the X-axis direction and the initial stable boundary line along the Y-axis direction are projected into the gravity center coordinate system to obtain the stable boundary line of the crane in the gravity center coordinate system along the X′-axis direction and the stable boundary line along the Y′-axis direction. Then, it is determined whether the coordinate component of the gravity center of the crane in the X′-axis direction is within the stable boundary line along the X′-axis direction, and whether the coordinate component of the gravity center of the crane in the Y′-axis direction is within the stable boundary line along the Y′-axis direction.

[0080] In some embodiments, in the working condition where the vehicle head is uphill and downhill, there is no cross slope, and the swing angle of the boom is 0, since the slope angle only affects the coordinate component of the gravity center of the crane in the direction of the X' axis, only the coordinate component of the gravity center of the crane in the direction of the X' axis needs to be determined whether it is located within the stable boundary line along the direction of the X' axis. For example, the coordinate component of the initial gravity center position in the direction of the X axis and the slope angle of the road to be driven are substituted into the coordinate transformation relationship between the vehicle body coordinate system and the gravity center coordinate system to calculate the coordinate component of the gravity center position of the crane in the direction of the X' axis in the gravity center coordinate system; the initial stable boundary line of the crane along the X axis is projected to the gravity center coordinate system to obtain the stable boundary line along the direction of the X' axis; then, it is determined whether the coordinate component of the gravity center of the crane in the direction of the X' axis is located within the stable boundary line along the direction of the X' axis. For example, the coordinate component x' of the gravity center position of the crane in the direction of the X' axis in the gravity center coordinate system is calculated according to the following formula:

[0081] x' = x cos θ + z sin θ

[0082] wherein x and z are the coordinate components of the gravity center of the crane in the vehicle body coordinate system, and θ is the slope angle of the road to be driven.

[0083] In the case where the determination result of step S220 is yes, it indicates that the gravity center position of the crane does not exceed the safe range, which indicates that the crane has no risk of overturning; in the case where the determination result of step S220 is no, it indicates that the gravity center position of the crane exceeds the safe range, which indicates that the crane has a risk of overturning.

[0084] In the embodiments of the present disclosure, the above steps can quickly and accurately determine whether the crane has a risk of overturning, thereby helping to improve the processing efficiency of the entire crane configuration planning process.

[0085] Figure 3 A flowchart for determining whether the gravity center position of the crane exceeds the safe range according to some other embodiments of the present disclosure is shown. As shown in FIG. 3, determining whether the gravity center position of the crane exceeds the safe range includes step S310 and step S320. Figure 3

[0086] In step S310, the maximum allowable slope angle for stable driving of the crane is determined according to the configuration information of the crane.

[0087] ​In some embodiments, step S310 comprises: determining, according to the configuration information of the crane, an initial gravity center position of the crane in the vehicle body coordinate system; increasing the slope angle from 0 by a set accumulation step value; determining the gravity center position of the crane in the gravity center coordinate system according to the increased slope angle and the initial gravity center position of the crane in the vehicle body coordinate system; judging whether the gravity center position of the crane in the gravity center coordinate system exceeds the stable boundary line; iteratively performing the slope angle increasing step, the gravity center determining step and the judging step until the gravity center position of the crane in the gravity center coordinate system exceeds the stable boundary line, so as to find the maximum slope angle of the crane in the gravity center coordinate system which does not exceed the stable boundary line, and take it as the maximum allowable slope angle. Exemplarily, the set accumulation step value of the slope angle is 0.1°, 0.05° or other numerical value.

[0088] In some embodiments, the maximum allowable slope angle of the stable driving of the crane comprises at least one of the maximum allowable uphill angle and the maximum allowable downhill angle.

[0089] In step S320, it is judged whether the maximum allowable slope angle is greater than or equal to the slope angle of the to-be-driven road.

[0090] In some embodiments, the slope angle of the to-be-driven road comprises the maximum uphill angle and the maximum downhill angle. In these embodiments, it is judged whether the maximum allowable uphill angle of the stable driving of the crane is greater than or equal to the maximum uphill angle of the to-be-driven road, and it is judged whether the maximum allowable downhill angle of the stable driving of the crane is greater than or equal to the maximum downhill angle of the to-be-driven road. When the maximum allowable uphill angle of the stable driving of the crane is greater than or equal to the maximum uphill angle of the to-be-driven road and the maximum allowable downhill angle of the stable driving of the crane is greater than or equal to the maximum downhill angle of the to-be-driven road, it indicates that the gravity center position of the crane does not exceed the safety range, which means that the crane does not have the risk of overturning; otherwise, it indicates that the gravity center position of the crane exceeds the safety range, which means that the crane has the risk of overturning.

[0091] When the judgment result of step S320 is yes, it indicates that the gravity center position of the crane does not exceed the safety range; when the judgment result of step S330 is no, it indicates that the gravity center position of the crane exceeds the safety range.

[0092] In the embodiments of the present disclosure, the above steps can quickly and accurately judge whether the crane has the risk of overturning, thereby helping to improve the processing efficiency of the entire crane configuration planning process.

[0093] Figure 4 A flowchart for planning a disassembly scheme of a to-be-disassembled component according to some embodiments of the present disclosure is shown. As shown in Figure 4 The flowchart for planning a disassembly scheme of a to-be-disassembled component comprises steps S410 to S450.

[0094] In step S410, the number of the components to be detached is increased according to the set accumulated step value.

[0095] For example, the components to be detached are counterweights, and the number of the counterweights is increased from 0 according to the set accumulated step value. Exemplarily, the accumulated step value of the counterweights is one counterweight.

[0096] For example, the components to be detached are boom arms, and the number of the boom arms is increased from 0 according to the set accumulated step value. Exemplarily, the accumulated step value of the boom arms is one boom arm.

[0097] For example, the components to be detached are counterweights and boom arms, the counterweights are adjusted according to the flow shown in Figure 4 , and the boom arms are adjusted according to the flow shown in Figure 4 .

[0098] For example, the components to be detached are counterweights and boom arms, the boom arms are adjusted according to the flow shown in Figure 4 , and the counterweights are adjusted according to the flow shown in Figure 4 .

[0099] In step S420, the configuration information of the crane is updated according to the increased number of the components to be detached, to obtain updated configuration information of the crane.

[0100] For example, assuming that the increased number of the components to be detached is one counterweight, the total weight of the counterweight as a whole, the center of gravity position of the counterweight as a whole, and the like in the configuration information of the crane are updated, to obtain updated configuration information of the crane.

[0101] For example, assuming that the increased number of the components to be detached is one boom arm, the total weight of the boom arm as a whole, the center of gravity position of the boom arm as a whole, and the like in the configuration information of the crane are updated, to obtain updated configuration information of the crane.

[0102] In step S430, whether the center of gravity position of the crane exceeds a safe range is determined according to the updated configuration information of the crane and the slope angle of the road to be traveled.

[0103] In some embodiments, the components to be detached are one kind, such as boom arms or counterweights, and the slope angle of the road to be traveled is the maximum uphill angle. In these embodiments, step S430 includes: determining the maximum allowable uphill angle of the crane according to the updated configuration information of the crane; comparing the maximum allowable uphill angle of the crane and the maximum uphill angle of the road to be traveled, to determine whether the center of gravity position of the crane when going uphill exceeds a safe range according to the comparison result. In the case where the center of gravity position of the crane when going uphill exceeds the safe range, step S410 is executed again; otherwise, step S440 is executed.

[0104] In some embodiments, the component to be detached is one, such as the boom or the counterweight, and the slope angle of the road to be traveled is the maximum downhill angle. In these embodiments, step S430 comprises: determining the maximum allowable downhill angle of the crane according to the updated configuration information of the crane; comparing the maximum allowable downhill angle of the crane with the maximum downhill angle of the road to be traveled to determine whether the center of gravity of the crane when going downhill is out of the safety range according to the comparison result. In the case that the center of gravity of the crane when going downhill is out of the safety range, step S410 is executed again; otherwise, step S440 is executed.

[0105] In some embodiments, the component to be detached is one, such as the boom or the counterweight, and the slope angle of the road to be traveled is the maximum downhill angle. In these embodiments, step S430 comprises: determining the maximum allowable downhill angle of the crane according to the updated configuration information of the crane; comparing the maximum allowable downhill angle of the crane with the maximum downhill angle of the road to be traveled to determine whether the center of gravity of the crane when going downhill is out of the safety range according to the comparison result. In the case that the center of gravity of the crane when going downhill is out of the safety range, step S410 is executed again; otherwise, step S440 is executed.

[0106] In some embodiments, the component to be detached is one, such as the boom or the counterweight, and the slope angle of the road to be traveled is the maximum downhill angle. In these embodiments, step S430 comprises: determining the maximum allowable downhill angle of the crane according to the updated configuration information of the crane; comparing the maximum allowable downhill angle of the crane with the maximum downhill angle of the road to be traveled to determine whether the center of gravity of the crane when going downhill is out of the safety range according to the comparison result. In the case that the center of gravity of the crane when going downhill is out of the safety range, step S410 is executed again; otherwise, step S440 is executed.

[0107] In some embodiments, the component to be detached is one, such as the boom or the counterweight, and the slope angle of the road to be traveled is the maximum downhill angle. In these embodiments, step S430 comprises: determining the maximum allowable downhill angle of the crane according to the updated configuration information of the crane; comparing the maximum allowable downhill angle of the crane with the maximum downhill angle of the road to be traveled to determine whether the center of gravity of the crane when going downhill is out of the safety range according to the comparison result. In the case that the center of gravity of the crane when going downhill is out of the safety range, step S410 is executed again; otherwise, step S440 is executed.

[0108] In some embodiments, the component to be detached is one, such as the boom or the counterweight, and the slope angle of the road to be traveled is the maximum downhill angle. In these embodiments, step S430 comprises: determining the maximum allowable downhill angle of the crane according to the updated configuration information of the crane; comparing the maximum allowable downhill angle of the crane with the maximum downhill angle of the road to be traveled to determine whether the center of gravity of the crane when going downhill is out of the safety range according to the comparison result. In the case that the center of gravity of the crane when going downhill is out of the safety range, step S410 is executed again; otherwise, step S440 is executed. Figure 4 adjusting one of the components to be detached, such as the counterweight, to make the center of gravity of the crane when going uphill not out of the safety range, and then adjusting the other component to be detached, such as the boom, to make the center of gravity of the crane when going downhill not out of the safety range. Figure 4adjusting another component to be disassembled (such as the boom) so that the center of gravity of the crane does not exceed the safe range when the crane is going downhill. In some other embodiments of these embodiments, the adjusting of the one component to be disassembled (such as the counterweight) so that the center of gravity of the crane does not exceed the safe range when the crane is going uphill is performed first. Figure 4 adjusting another component to be disassembled (such as the boom) so that the center of gravity of the crane does not exceed the safe range when the crane is going downhill. In some other embodiments of these embodiments, the adjusting of the one component to be disassembled (such as the counterweight) so that the center of gravity of the crane does not exceed the safe range when the crane is going uphill is performed first. Figure 5 adjusting the one component to be disassembled (such as the counterweight) so that the center of gravity of the crane does not exceed the safe range when the crane is going uphill.

[0109] In a case where the result of the determination in step S430 is YES, step S410 is performed again; in a case where the result of the determination in step S430 is NO, step S440 is performed.

[0110] In step S440, a disassembly scheme of the components to be disassembled is generated according to the number of the components to be disassembled.

[0111] In the embodiments of the present disclosure, steps S410 to S430 are iteratively performed until the center of gravity of the crane does not exceed the safe range, to obtain the number of the components to be disassembled. Then, step S440 is performed.

[0112] In some embodiments, the disassembly scheme of the components to be disassembled includes the number information of the components to be disassembled, and / or the identification information of the components to be disassembled.

[0113] In the embodiments of the present disclosure, the above process can quickly and accurately plan a disassembly scheme with the minimum number of disassembled components, and ensure that the crane can stably climb after disassembly, so as to save the cost of disassembly, transportation and assembly of accessories in the process of crane transfer under the premise of ensuring the safety of crane transfer, and improve the efficiency of crane transfer operation.

[0114] Figure 5 A flowchart of a configuration planning method of a crane according to some other embodiments of the present disclosure is shown. In the embodiments of the present disclosure, the crane is taken as an example to be described, in which the crane is going uphill with the front of the crane facing forward and the crane is going downhill with the front of the crane facing forward. As shown in Figure 5 The configuration planning method of the crane includes steps S510 to S570.

[0115] In step S510, configuration information of the crane, and the maximum uphill angle and the maximum downhill angle of the road to be traveled are obtained.

[0116] In some embodiments, the configuration planning method of the crane is performed by a configuration planning device of the crane. Exemplarily, the configuration planning device of the crane is a device arranged in a device such as a vehicle-mounted display, a vehicle-mounted controller, a crane, a mobile phone, a tablet computer, a personal computer, etc.

[0117] In some embodiments, the configuration information of the crane is obtained in the following manner: reading the configuration information of the crane from a vehicle-mounted moment limiter system of the crane; or, obtaining the configuration information of the crane according to user input; or, reading pre-stored configuration information of the crane from a storage module in the configuration planning device of the crane.

[0118] In some embodiments, the maximum slope angle and the minimum slope angle of the road to be traveled are obtained in the following manner: establishing a communication connection with a slope angle measuring device to obtain the maximum slope angle and the minimum slope angle of the road to be traveled from the slope angle measuring device; or, obtaining the maximum slope angle and the minimum slope angle of the road to be traveled according to user input; or, reading pre-stored maximum slope angle and minimum slope angle of the road to be traveled from a storage module in the configuration planning device of the crane.

[0119] The configuration information of the crane includes configuration information of detachable components of the crane and configuration information of non-detachable components.

[0120] In some embodiments, the configuration information of the crane includes: total weight and center of gravity position of a lower body fixed part of the crane, total weight and center of gravity position of an upper body fixed part of the crane, total length, total weight and center of gravity position of the whole boom, weight and center of gravity position of the whole counterweight, weight and center of gravity position of each detachable counterweight, and weight and center of gravity position of each detachable boom section.

[0121] In step S520, the maximum allowed uphill angle and the maximum allowed downhill angle of the crane are calculated according to the configuration information of the crane.

[0122] In some embodiments, step S520 includes: determining the initial center of gravity position of the crane in the vehicle coordinate system according to the configuration information of the crane; increasing the uphill angle from 0 by a set accumulation step value; determining the center of gravity position of the crane in the center of gravity coordinate system according to the increased uphill angle and the initial center of gravity position of the crane in the vehicle coordinate system; judging whether the center of gravity position of the crane in the center of gravity coordinate system exceeds the stable boundary line; iteratively performing the uphill angle increasing step, the center of gravity determining step and the judging step until the center of gravity position of the crane in the center of gravity coordinate system exceeds the stable boundary line, to find the maximum uphill angle of the crane in the center of gravity coordinate system without exceeding the stable boundary line, and taking it as the maximum allowed uphill angle. Similarly, the maximum allowed downhill angle of the crane can be determined.

[0123] In some embodiments, before calculating the maximum allowed uphill angle of the crane, it further includes: adjusting the boom elevation angle to the minimum angle.

[0124] In some embodiments, before calculating the maximum allowed downhill angle of the crane, it further includes: adjusting the boom elevation angle to the maximum angle.

[0125] In the embodiment of the present disclosure, by adjusting the pose of the boom before calculating the maximum allowable uphill angle and the maximum allowable downhill angle, the deviation of the gravity center of the crane from the safety range can be minimized or even eliminated, thereby helping to reduce the minimum number of components to be disassembled required to ensure the stable climbing of the crane, or even ensuring the stable climbing of the crane without disassembling the components, so as to further save the configuration, disassembly, transportation and assembly costs in the transposition process under the premise of ensuring the safety of the crane walking, and improve the transposition operation efficiency of the crane.

[0126] In step S530, it is judged whether the maximum allowable uphill angle is greater than or equal to the maximum uphill angle.

[0127] If the result of step S530 is no, step S540 is executed; if the result of step S530 is yes, step S550 is executed.

[0128] In step S540, one weight is reduced, and the maximum allowable uphill angle and the maximum allowable downhill angle of the crane are recalculated.

[0129] After step S540, step S530 is executed again.

[0130] In step S550, it is judged whether the maximum allowable downhill angle is greater than or equal to the maximum downhill angle.

[0131] If the result of step S550 is no, step S560 is executed; if the result of step S550 is yes, step S570 is executed.

[0132] In step S560, one boom is reduced, and the maximum allowable uphill angle and the maximum allowable downhill angle of the crane are recalculated.

[0133] After step S560, step S550 is executed again.

[0134] In the embodiment of the present disclosure, for the case of uphill and downhill with the vehicle head forward, the uphill process is calculated first, and then the downhill process is calculated. In specific implementation, for the case of uphill and downhill with the vehicle head forward, the downhill process can be calculated first, and then the uphill process is calculated.

[0135] In the embodiment of the present disclosure, the crane uphill and downhill with the vehicle head forward is taken as an example for description. In specific implementation, for the case of uphill and downhill with the vehicle head backward, or the case of uphill and downhill with the vehicle head forward, or the case of uphill and downhill with the vehicle head backward, the uphill process can be calculated first, and then the downhill process is calculated. Figure 6The flow shown is flexibly adjusted to obtain a disassembly scheme of the to-be-disassembled assembly.

[0136] In step S570, the number of counterweights and the number of jib frames to be disassembled are recorded and displayed to the user.

[0137] For example, the number of counterweights to be disassembled and the number of jib frames to be disassembled are displayed to the user through a display or an audio player or the like. Alternatively, the number of counterweights to be disassembled and the number of jib frames to be disassembled are transmitted to other systems for use.

[0138] In the embodiments of the present disclosure, by the above method, the minimum counterweight disassembly amount and the minimum jib frame disassembly amount that can safely transit can be planned according to the maximum uphill angle and the maximum downhill angle on the to-be-traveled road measured in advance before the crane transits, so that the time and other costs of disassembling, transporting and assembling the accessories in the transit process are saved under the premise of ensuring the safety of the crane traveling, and the efficiency of the crane transit operation is improved.

[0139] Figure 6 A structural schematic diagram of a configuration planning device for a crane according to some embodiments of the present disclosure is shown. As shown in the figure, Figure 7 The configuration planning device 600 for the crane includes an acquisition module 610, a judgment module 620, a determination module 630 and a planning module 640.

[0140] The acquisition module 610 is configured to acquire configuration information of the crane and slope angles of the to-be-traveled road.

[0141] The configuration information of the crane includes configuration information of a disassemblable assembly of the crane and configuration information of a non-disassemblable assembly.

[0142] The judgment module 620 is configured to judge whether the center of gravity position of the crane is out of a safe range according to the configuration information of the crane and the slope angles of the to-be-traveled road.

[0143] In some embodiments, the judgment module 620 judging whether the center of gravity position of the crane is out of the safe range according to the configuration information of the crane and the slope angles of the to-be-traveled road includes: determining the center of gravity position of the crane according to the configuration information of the crane and the slope angles of the to-be-traveled road; in the case that the center of gravity position of the crane is within the stable boundary line, determining that the center of gravity position of the crane is not out of the safe range; and in the case that the center of gravity position of the crane is outside the stable boundary line, determining that the center of gravity position of the crane is out of the safe range.

[0144] In some embodiments, the determining module 630 determines the component to be detached according to the relationship between the heading of the vehicle head of the crane and the extension direction of the slope angle of the road to be traveled. The extension direction of the slope angle refers to the direction from the slope bottom to the slope top.

[0145] The determining module 630 is configured to determine the component to be detached from the detachable components of the crane in the case that the center of gravity of the crane is out of the safety range.

[0146] In some embodiments, the determining module 630 determines the component to be detached according to the relationship between the heading of the vehicle head of the crane and the extension direction of the slope angle of the road to be traveled. The extension direction of the slope angle refers to the direction from the slope bottom to the slope top.

[0147] For example, in the case that the vehicle head of the crane is heading toward the extension direction of the slope angle of the road to be traveled, the determining module 630 determines the counterweight as the component to be detached; in the case that the vehicle head of the crane is heading away from the extension direction of the slope angle of the road to be traveled, the determining module 630 determines the boom as the component to be detached.

[0148] The planning module 640 is configured to plan a detachment scheme for the component to be detached, so as to obtain a detachment scheme in which the center of gravity of the crane after detachment is within the safety range and the number of detachments of the component to be detached is the smallest.

[0149] In the embodiments of the present disclosure, the optimal configuration of the crane when traveling on the slope can be determined by the above device, so as to save the cost of detachment, transportation and assembly during the transfer process under the premise of ensuring the safety of the crane, and improve the efficiency of the crane transfer operation.

[0150] Figure 7 A structural schematic diagram of a crane according to some embodiments of the present disclosure is shown in FIG. 7. As shown in FIG. 7, the crane 700 includes a configuration planning device 710 of the crane. Figure 8

[0151] ​In some embodiments, the configuration planning device 710 of the crane is configured to acquire configuration information of the crane and a slope angle of a road to be traveled; determine whether a center of gravity position of the crane is out of a safety range according to the configuration information of the crane and the slope angle of the road to be traveled; in a case where the center of gravity position of the crane is out of the safety range, determine a component to be disassembled from disassemblable components of the crane; and plan a disassembly scheme of the component to be disassembled to obtain a disassembly scheme in which the center of gravity position of the crane after disassembly is within the safety range and a number of components to be disassembled is minimum.

[0152] In the embodiments of the present disclosure, the crane can save the configuration disassembly, transportation and assembly cost in the scene change process and improve the scene change operation efficiency of the crane under the premise of ensuring the walking safety of the crane.

[0153] Figure 8 FIG. 1 is a schematic diagram of a disassemblable component of a crane according to some embodiments of the present disclosure. As shown in FIG. 1, the disassemblable component of the crane includes a counterweight 810 and a boom 820. Figure 9

[0154] In some embodiments, the configuration planning method of the crane provided in the present disclosure is used to plan a disassembly scheme of the counterweight 810 and / or the boom 820 of the crane to obtain a disassembly scheme in which the center of gravity position of the crane after disassembly is within a safety range and a number of components to be disassembled is minimum.

[0155] Figure 9 FIG. 9 is a structural schematic diagram of an electronic device according to some embodiments of the present disclosure.

[0156] As shown in FIG. 9, the electronic device 900 includes a memory 910 and a processor 920 coupled to the memory 910. The memory 910 is configured to store instructions for implementing corresponding embodiments of the configuration planning method of the crane. The processor 920 is configured to execute the configuration planning method of the crane in any of some embodiments of the present disclosure based on the instructions stored in the memory 910. Figure 10

[0157] FIG. 10 is a structural schematic diagram of a computer system according to some embodiments of the present disclosure. Figure 10 As shown in FIG. 10, the computer system 1000 can be in the form of a general-purpose computing device. The computer system 1000 includes a memory 1010, a processor 1020 and a bus 1030 connecting different system components.

[0158] ​

[0159] ​​​The memory 1010 can include, for example, system memory, non-volatile memory, and the like. The system memory, for example, stores an operating system, application programs, a Boot Loader, and other programs. The system memory can include volatile memory, such as random access memory (RAM) and / or cache memory. The non-volatile memory, for example, stores instructions of at least one crane configuration planning method being executed. The non-volatile memory includes, but is not limited to, magnetic storage, optical storage, flash memory, and the like.

[0160] The processor 1020 can be implemented with a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gates or transistor logic, and the like discrete hardware components. Accordingly, each of the modules such as the acquisition module, the determination module, the planning module, and the like can be implemented by a central processing unit (CPU) running instructions of the corresponding steps in the memory, or by a dedicated circuit performing the corresponding steps.

[0161] The bus 1030 can use any of a variety of bus structures. For example, the bus structure includes, but is not limited to, an industry standard architecture (ISA) bus, a microchannel architecture (MCA) bus, a peripheral component interconnect (PCI) bus.

[0162] The computer system 1000 can be connected between the interfaces 1040, 1050, 1060, and the memory 1010 and the processor 1020 through the bus 1030. The input / output interface 1040 can provide a connection interface for display, mouse, keyboard, and the like input / output devices. The network interface 1050 provides a connection interface for various networking devices. The storage interface 1060 provides a connection interface for floppy disks, U disks, SD cards, and the like external storage devices.

[0163] Here, various aspects of the present disclosure are described with reference to flowcharts and / or block diagrams of methods, apparatuses and computer program products according to embodiments of the present disclosure. It should be understood that each block of the flowchart and / or block diagram can be implemented by computer readable program instructions.

[0164] The computer readable program instructions can be provided to a processor of a general purpose computer, a special purpose computer, or other programmable device to produce a machine, so that the instructions executed by the processor produce the device that implements the functions specified in one or more blocks of the flowchart and / or block diagram.

[0165] These computer readable program instructions can also be stored in a computer readable storage medium that can direct a computer, other programmable data processing apparatus, or other devices to function in a particular manner, such that the instructions

[0166] The present disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment containing both software and hardware aspects.

[0167] By the crane configuration planning method, device and crane in the above embodiment, the optimal configuration of the crane when walking on the slope can be determined, so as to save the configuration disassembly, transportation and assembly cost in the scene changing process under the premise of ensuring the walking safety of the crane, and improve the scene changing operation efficiency of the crane.

[0168] Thus far, the crane configuration planning method, device and crane according to the present disclosure have been described in detail. In order to avoid obscuring the concept of the present disclosure, some details known in the art are not described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein according to the above description.

Claims

1. A method for planning a configuration of a crane, comprising: obtaining configuration information of the crane and a slope angle of a road to be traveled, the configuration information of the crane including configuration information of detachable components of the crane and configuration information of non-detachable components of the crane; determining whether a center of gravity of the crane is out of a safe range according to the configuration information of the crane and the slope angle of the road to be traveled; in a case where the center of gravity of the crane is out of the safe range, determining a component to be detached from the detachable components of the crane according to a relationship between a heading of the crane and an extension direction of the slope angle of the road to be traveled, including: in a case where the heading of the crane is toward the extension direction of the slope angle of the road to be traveled, determining a counterweight as the component to be detached; and in a case where the heading of the crane is away from the extension direction of the slope angle of the road to be traveled, determining a boom as the component to be detached; planning a detachment scheme of the component to be detached, so as to obtain a detachment scheme in which the center of gravity of the crane after detachment is within the safe range and a number of the components to be detached is minimum.

2. The configuration planning method of a crane according to claim 1, wherein, The determining whether the center of gravity of the crane is out of the safe range according to the configuration information of the crane and the slope angle of the road to be traveled includes: determining the center of gravity of the crane according to the configuration information of the crane and the slope angle of the road to be traveled; in a case where the center of gravity of the crane is within a stable boundary line, determining that the center of gravity of the crane is not out of the safe range; in a case where the center of gravity of the crane is outside the stable boundary line, determining that the center of gravity of the crane is out of the safe range.

3. The configuration planning method of a crane according to claim 1, wherein, The determining whether the center of gravity of the crane is out of the safe range according to the configuration information of the crane and the slope angle of the road to be traveled includes: determining a maximum allowable slope angle at which the crane can stably travel according to the configuration information of the crane; in a case where the maximum allowable slope angle at which the crane can stably travel is greater than or equal to the slope angle of the road to be traveled, determining that the center of gravity of the crane is not out of the safe range; in a case where the maximum allowable slope angle at which the crane can stably travel is less than the slope angle of the road to be traveled, determining that the center of gravity of the crane is out of the safe range.

4. The arrangement planning method of a crane according to any one of claims 1 to 3, wherein, The slope angle of the road to be traveled includes at least one of a maximum uphill angle and a maximum downhill angle of the road to be traveled.

5. The arrangement planning method of a crane according to any one of claims 1 to 3, wherein, The planning the detachment scheme of the component to be detached, so as to obtain the detachment scheme in which the center of gravity of the crane after detachment is within the safe range and the number of the components to be detached is minimum includes: increasing the number of the components to be detached according to a set accumulated step value; updating the configuration information of the crane according to the increased number of the components to be detached, so as to obtain updated configuration information of the crane; determining whether the center of gravity of the crane is out of the safe range according to the updated configuration information of the crane and the slope angle of the road to be traveled; The iteration is performed until the center of gravity of the crane is within the safe range, and the disassembly scheme of the disassembly component is generated according to the current disassembly number of the disassembly component.

6. The configuration planning method of the crane according to any one of claims 1 to 3, further comprising: Before determining whether the center of gravity of the crane is out of the safe range, adjusting the boom angle of the crane according to the relationship between the heading of the crane and the extension direction of the slope angle of the road to be traveled.

7. The configuration planning method of a crane according to claim 6, wherein, Adjusting the boom angle of the crane according to the relationship between the heading of the crane and the extension direction of the slope angle of the road to be traveled comprises: In the case that the heading of the crane is toward the extension direction of the slope angle of the road to be traveled, adjusting the boom angle of the crane to the minimum angle; In the case that the heading of the crane is away from the extension direction of the slope angle of the road to be traveled, adjusting the boom angle of the crane to the maximum angle.

8. A configuration planning device of a crane, comprising: an acquisition module configured to acquire configuration information of the crane and a slope angle of a road to be traveled, the configuration information of the crane comprising configuration information of disassembly components of the crane and configuration information of non-disassembly components; a determination module configured to determine whether the center of gravity of the crane is out of a safe range according to the configuration information of the crane and the slope angle of the road to be traveled; a determination module configured to determine whether the center of gravity of the crane is out of a safe range according to the configuration information of the crane and the slope angle of the road to be traveled; a planning module configured to plan a disassembly scheme of the disassembly component so as to obtain a disassembly scheme in which the center of gravity of the crane after disassembly is within the safe range and the disassembly number of the disassembly component is the minimum.

9. A configuration planning device of a crane, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute the configuration planning method of the crane according to any one of claims 1 to 7 based on instructions stored in the memory.

10. A crane, comprising: the configuration planning device of the crane according to claim 8 or 9.

11. A computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the configuration planning method of the crane according to any one of claims 1 to 7.

Images