Job control method, crane, and computer-readable storage medium

Abstract

The application discloses a kind of job control method, crane and computer readable storage medium, it is related to crane technical field, response to action opening instruction, the minimum current value of solenoid valve is limited according to current variation value and preset starting current threshold value, to this based on the slow rise of solenoid valve current and the reduction of solenoid valve current value drop height is realized by solenoid valve, the degree of dependence of the operation precision of operator is reduced, and then the safety and intelligentization in action operation process are improved.

Description

Technical Field

[0001] This invention relates to the field of crane technology, and more particularly to an operation control method, a crane, and a computer-readable storage medium. Background Technology

[0002] During the loading and unloading operations of a crane, the sudden tightening and loosening of the operating handle can cause the operation to start and stop abruptly. This causes the power supply pump that powers the operation to output and stop transmitting current in an instant. The sudden output and stop of current can impact the crane, leading to a dangerous situation where the entire crane shakes.

[0003] Therefore, the control of the crane's operating handles heavily relies on the operator's precision in operating the handles, which directly leads to uncertainty and high risk in the operation process. Summary of the Invention

[0004] The main objective of this invention is to provide an operation control method, a crane, and a computer-readable storage medium, which aims to solve the technical problem that the operation of a conventional crane depends on the manual operation of the operator, resulting in uncertainty and high risk in the operation process.

[0005] To achieve the above objectives, the present invention provides a job control method, the job control method comprising the following steps:

[0006] In response to the action shutdown command, the solenoid valve current value is controlled above the difference between the preset start current threshold and the current change value.

[0007] The present invention also provides a job control method, the job control method comprising the following steps:

[0008] In response to the action start command, the current value of the solenoid valve is controlled above the difference between the preset start current threshold and the current change value.

[0009] Optionally, the current change value includes a preset linear change value and a preset fixed change value, and the step of controlling the solenoid valve current value above the difference between the preset starting current threshold and the current change value includes:

[0010] When the opening degree of the activated solenoid valve is detected to be less than the reference opening degree, the current change value is the preset linear change value;

[0011] When the opening degree of the solenoid valve is detected to be greater than or equal to the reference opening degree, the current change value is the preset fixed change value, wherein the preset fixed change value is set according to the current motor speed.

[0012] Optionally, the job control method further includes:

[0013] Obtain the preset start-up current threshold.

[0014] Optionally, when the action is a single action, the job control method includes the following steps:

[0015] In response to a single-action opening command, the current value of the solenoid valve is controlled above the difference between the preset starting current threshold and the current change value.

[0016] In response to a single-action shutdown command, the current value of the solenoid valve is controlled above the difference between the preset start-up current threshold and the current change value.

[0017] Optionally, in the case of multiple actions, the multiple actions include a first action and a second action, and the job control method includes the following steps:

[0018] In response to the first action start command, the solenoid valve current value of the first action is controlled above the difference between the preset start current threshold of the first action and the current change value.

[0019] In response to the second action opening command, the current is controlled to be diverted according to the opening ratio between the first action solenoid valve opening degree in the first action opening command and the second action solenoid valve opening degree in the second action opening command. Based on the diverted current, the solenoid valve current value of the second action is controlled above the difference between the preset starting current threshold of the second action and the current change value.

[0020] Optionally, the step of shunting the control current includes:

[0021] The current is divided into a first current and a second current according to the opening ratio, and then output to the first action regulating valve and the second action regulating valve respectively.

[0022] Optionally, after the step of controlling the solenoid valve current value of the second action to be above the difference between the preset starting current threshold of the second action and the current change value, the operation control method further includes:

[0023] In response to the first action closing command, the solenoid valve current value of the first action is controlled above the difference between the preset starting current threshold of the first action and the current change value, and the first current output to the first action regulating valve is turned off.

[0024] If a new second action opening command is detected that increases the opening degree of the second action solenoid valve, then the amount of the second current output to the second action regulating valve is increased according to the opening degree of the second action solenoid valve in the new second action opening command.

[0025] In response to the second action shutdown command, the solenoid valve current value of the second action is controlled above the difference between the preset start current threshold of the second action and the current change value, thereby stopping the output of the current.

[0026] Furthermore, to achieve the above objectives, the present invention provides a crane, the crane including a memory, a processor, and a work control program stored in the memory and executable on the processor, wherein the work control program, when executed by the processor, implements the steps of the work control method as described above.

[0027] In addition, to achieve the above objectives, the present invention also provides a computer-readable storage medium storing a job control program, which, when executed by a processor, implements the steps of the job control method as described above.

[0028] This invention proposes an operation control method, a crane, and a computer-readable storage medium. In response to an action opening command, the solenoid valve current value is controlled above the difference between a preset starting current threshold and the current change value. In response to an action closing command, the solenoid valve current value is also controlled above the difference between the preset starting current threshold and the current change value. By limiting the minimum current value of the solenoid valve, when responding to the action opening command, the solenoid valve current value is limited to the minimum starting current threshold of the preset starting current threshold, and then adjusted according to the current change value. This allows the regulating valve opening to proceed slowly at a certain opening speed, thereby controlling the gradual increase of the solenoid valve current value output from the regulating valve to the solenoid valve. This avoids the phenomenon where the current value corresponding to the current output of the power supply pump is all output to the solenoid valve at once, causing a shock during operation. In response to the action closing command, the solenoid valve current value is controlled to... The current is adjusted according to the change in current value until it is controlled above the difference between the minimum starting current threshold and the current change value of the preset starting current threshold. During the control action, the current output to the solenoid valve is not stopped abruptly. Instead, the current value of the solenoid valve is slowly reduced to the difference between the preset starting current threshold and the current change value corresponding to the action. Then, the current output of the power pump is stopped, reducing the drop height of the solenoid valve current value and mitigating the impact. This allows the minimum current value of the solenoid valve to be limited according to the current change value and the preset starting current threshold when the operating handle is suddenly gripped or released. Based on the minimum current value of the solenoid valve, the current rise of the solenoid valve is slowed down and the drop height of the solenoid valve current value is reduced. This reduces the dependence on the operator's operating precision and thus improves the safety and intelligence of the operation process. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the terminal structure of the hardware operating environment involved in the embodiments of the present invention;

[0030] Figure 2 This is a flowchart illustrating the first embodiment of the job control method of the present invention;

[0031] Figure 3 This is a flowchart illustrating the second embodiment of the job control method of the present invention;

[0032] Figure 4 This is a flowchart illustrating the third embodiment of the job control method of the present invention.

[0033] The realization of the objective of this invention, its functional characteristics and advantages will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0034] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0035] like Figure 1 As shown, Figure 1 This is a schematic diagram of the terminal structure of the hardware operating environment involved in the embodiments of the present invention.

[0036] The terminal for implementing this invention is a crane, such as... Figure 1 As shown, the crane may include: a processor 1001, such as a CPU; a network interface 1004; a user interface 1003; a memory 1005; and a communication bus 1002. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or non-volatile memory, such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0037] Optionally, the crane may also include RF (Radio Frequency) circuitry, sensors, WiFi modules, etc. Sensors such as light sensors, motion sensors, and others will not be elaborated upon here.

[0038] Those skilled in the art will understand that Figure 1 The crane structure shown does not constitute a limitation on the crane and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0039] like Figure 1 As shown, the memory 1005, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and an operation control program.

[0040] exist Figure 1 In the crane shown, network interface 1004 is mainly used to connect to the backend server and communicate data with it; user interface 1003 is mainly used to connect to the client (user terminal) and communicate data with it; while processor 1001 can be used to call the operation control program stored in memory 1005 and perform the following operations:

[0041] In response to the action shutdown command, the solenoid valve current value is controlled above the difference between the preset start current threshold and the current change value.

[0042] Furthermore, the processor 1001 can call the job control program stored in the memory 1005 and also perform the following operations:

[0043] In response to the action start command, the current value of the solenoid valve is controlled above the difference between the preset start current threshold and the current change value.

[0044] Furthermore, the processor 1001 can call the job control program stored in the memory 1005 and also perform the following operations:

[0045] The current change value includes a preset linear change value and a preset fixed change value. The step of controlling the solenoid valve current value to be above the difference between the preset starting current threshold and the current change value includes:

[0046] When the opening degree of the activated solenoid valve is detected to be less than the reference opening degree, the current change value is the preset linear change value;

[0047] When the opening degree of the solenoid valve is detected to be greater than or equal to the reference opening degree, the current change value is the preset fixed change value, wherein the preset fixed change value is set according to the current motor speed.

[0048] Furthermore, the processor 1001 can call the job control program stored in the memory 1005 and also perform the following operations:

[0049] The operation control method further includes: obtaining the preset starting current threshold.

[0050] Furthermore, the processor 1001 can call the job control program stored in the memory 1005 and also perform the following operations:

[0051] In the case of a single action, the operation control method includes the following steps: in response to a single action start command, controlling the current value of the solenoid valve above the difference between the preset start current threshold and the current change value;

[0052] In response to a single-action shutdown command, the current value of the solenoid valve is controlled above the difference between the preset start-up current threshold and the current change value.

[0053] Furthermore, the processor 1001 can call the job control program stored in the memory 1005 and also perform the following operations:

[0054] In the case of multiple actions, the multiple actions include a first action and a second action, and the job control method includes the following steps:

[0055] In response to the first action start command, the solenoid valve current value of the first action is controlled above the difference between the preset start current threshold of the first action and the current change value.

[0056] In response to the second action opening command, the current is controlled to be diverted according to the opening ratio between the first action solenoid valve opening degree in the first action opening command and the second action solenoid valve opening degree in the second action opening command. Based on the diverted current, the solenoid valve current value of the second action is controlled above the difference between the preset starting current threshold of the second action and the current change value.

[0057] Furthermore, the processor 1001 can call the job control program stored in the memory 1005 and also perform the following operations:

[0058] The step of controlling the current to be divided includes: dividing the current into a first current and a second current according to the opening ratio, and then outputting them to the first action regulating valve and the second action regulating valve respectively.

[0059] Furthermore, the processor 1001 can call the job control program stored in the memory 1005 and also perform the following operations:

[0060] After the step of controlling the solenoid valve current value of the second action above the difference between the preset start current threshold of the second action and the current change value, in response to the first action closing command, the solenoid valve current value of the first action is controlled above the difference between the preset start current threshold of the first action and the current change value, and the first current output to the first action regulating valve is turned off.

[0061] If a new second action opening command is detected that increases the opening degree of the second action solenoid valve, then the amount of the second current output to the second action regulating valve is increased according to the opening degree of the second action solenoid valve in the new second action opening command.

[0062] In response to the second action shutdown command, the solenoid valve current value of the second action is controlled above the difference between the preset start current threshold of the second action and the current change value, thereby stopping the output of the current.

[0063] Reference Figure 2 In a first embodiment of the present invention, the job control method includes:

[0064] Step S10: In response to the action start command, the current value of the solenoid valve is controlled above the difference between the preset start current threshold and the current change value.

[0065] It should be noted that the action opening command is a command generated when the operating handle is gripped, increasing the opening degree of the operating handle, which in turn increases the opening degree of the solenoid valve corresponding to the action, thus controlling the power supply pump and the regulating valve corresponding to the action. The current change value is a change value based on the minimum starting current threshold of the preset starting current threshold. The current change value can control the opening degree of the regulating valve, so that the solenoid valve current value output by the regulating valve to the solenoid valve can slowly increase to the opening current threshold corresponding to the action. The opening current threshold is set according to the size of the operating handle opening. The preset starting current threshold is the current value output to the solenoid valve to control the action. The difference between the preset starting current threshold and the current change value refers to the minimum current value of the solenoid valve. In this embodiment, the minimum current value of the solenoid valve is set to set the minimum current for the opening action and the minimum current for the closing action.

[0066] In this embodiment, when the crane's operating handle is gripped, the power supply pump inside the crane begins to output current to the regulating valve. The regulating valve adjusts its opening degree according to the current change, and the solenoid valve current value output from the regulating valve to the solenoid valve is increased in an orderly manner until the solenoid valve current value output to the solenoid valve reaches the opening current threshold corresponding to the operating handle opening degree when the operating handle is gripped. Based on the solenoid valve current value at this time, the operation control is achieved. Based on the current change value, the opening speed of the regulating valve is controlled, and the solenoid valve current value output from the regulating valve to the solenoid valve is increased in an orderly manner. This avoids the phenomenon of all the current value corresponding to the current output of the power supply pump being output to the solenoid valve at once, which would cause a shock when the operation starts, and achieves slow power-on of the operation.

[0067] Optionally, the step of increasing the solenoid valve current value to a preset starting current threshold based on the current quantity in step S10 includes:

[0068] In step S101, when it is detected that the opening degree of the actuated solenoid valve is less than the reference opening degree, the current change value is the preset linear change value.

[0069] It should be noted that there are two types of current change values ​​in this embodiment. One type is based on the opening size of the operating handle. Each opening size corresponds to a different current change value. This current change value has a linear relationship and is called the preset linear change value. For example, when the opening size is from 0-1-2-M, the preset linear change value is 0-1-2-ΔL. That is, the preset linear change value will change dynamically according to the opening size.

[0070] The current change value is a preset linear change value when the opening of the actuating solenoid valve is less than the reference opening. The opening of the actuating solenoid valve is equal to the opening of the operating handle. The opening of the actuating solenoid valve reflects the threshold of the opening current required to start the control action. The reference opening is equivalent to a safety opening threshold. Within this safety opening threshold, the threshold of the opening current required to start the action is within the safe range of action impact. The current change value is steadily increased within this safety opening threshold. This can avoid the impact of starting action caused by the solenoid valve current value increasing too quickly, and can also ensure timely start of action and avoid start-up lag. This situation generally exists in the initial start-up process of the action.

[0071] Therefore, in this embodiment, when it is detected that the opening degree of the actuated solenoid valve is less than the reference opening degree, the regulating valve dynamically adjusts the opening degree of the regulating valve according to the current output by the power supply pump and the preset linear change value corresponding to the change in the opening degree of the actuated solenoid valve. In this way, the solenoid valve current value output by the regulating valve to the solenoid valve is increased according to the preset linear change value. If the opening degree of the operating handle in the actuation opening command is always less than the reference opening degree, the solenoid valve current value is increased to the opening current threshold corresponding to the opening degree of the operating handle according to the preset linear change value.

[0072] Step S102: When the opening degree of the actuated solenoid valve is detected to be greater than or equal to the reference opening degree, the current change value is the preset fixed change value, wherein the preset fixed change value is set according to the current motor speed.

[0073] Another type is where the current change value is the same for each opening degree, regardless of the size of the operating handle. The current increase is a horizontal linear relationship, which is called the preset fixed change value. For example, when the opening degree changes from M to M1 to M2, the preset fixed change value is ΔL. That is, the preset fixed change value will not change with the opening degree.

[0074] The current change value is preset to a fixed value when the opening of the solenoid valve is detected to increase. In this case, the opening of the solenoid valve is equal to or greater than the reference opening. The opening current threshold required to start the action is within the dangerous range of action impact. Therefore, the current increase value no longer changes dynamically according to the opening of the operating handle, but is fixed at a fixed current increase value to achieve a steady increase in the current value of the solenoid valve and a smooth output of the current value to the solenoid valve, thus achieving a soft start.

[0075] Therefore, in this embodiment, when the change in the opening size of the solenoid valve is detected to be equal to or greater than the reference opening size, the preset linear change value is replaced with a preset fixed change value. The opening size of the regulating valve is steadily adjusted according to the preset fixed change value, thereby increasing the solenoid valve current value output from the regulating valve to the solenoid valve according to the preset fixed change value, until the solenoid valve current value is increased to the opening current threshold corresponding to the opening size of the operating handle.

[0076] In step S20, in response to the action closing command, the current value of the solenoid valve is controlled above the difference between the preset start-up current threshold and the current change value.

[0077] It should be noted that the action-closing command is generated when the operating handle is released. The decrease in the operating handle opening causes a decrease in the opening of the solenoid valve corresponding to the action, which in turn controls the power supply pump and the regulating valve corresponding to the action. At this time, the difference between the preset starting current threshold and the current change value is a safety drop value. When the solenoid valve current value stops outputting current to the power supply pump at this difference, the current fluctuation of the system is small, and theoretically there is no current surge.

[0078] In this embodiment, when the crane's operating handle is released, the current value of the solenoid valve output from the regulating valve to the solenoid valve will gradually decrease to the differential value, and then the current of the power supply pump will be controlled to stop outputting. This avoids the current fluctuation caused by the sudden drop in the current value of the solenoid valve due to the sudden stop of the current output of the power supply pump, which would cause an impact when the action stops, and achieves safe power-off of the action.

[0079] It should be noted that the difference between the preset starting current threshold and the current change value in this embodiment is dynamically adjusted according to the actual operating conditions to match the current drop under different actual operating conditions and achieve precise and safe power-off.

[0080] Specifically, upon receiving an action-closing command, it indicates that the action needs to be closed. At this time, the minimum starting current threshold of the preset starting current threshold in response to the action-opening command is obtained, which is the current value of the solenoid valve when the solenoid valve opening is at its minimum value. The minimum starting current threshold is used to subtract the preset fixed change value to obtain the current safety drop value, i.e., the closing current threshold.

[0081] In step S101, since the opening current threshold is within the safe range of the action impact, when the opening degree of the action solenoid valve is always less than the reference opening degree, the action closing command is detected, and at this time the current of the power supply pump can be directly controlled to stop the output.

[0082] Optionally, after the step of responding to the action shutdown command in step S20, the job control method further includes:

[0083] Step S201: Obtain the preset start-up current threshold.

[0084] The current value output to the solenoid valve at the current moment is determined, which is the preset starting current threshold. The preset starting current threshold is changed according to the current change value. In other words, the current value of the solenoid valve at the current moment is the preset starting current threshold for changing the current value of the solenoid valve at the next moment.

[0085] In this embodiment, in response to an action-opening command, the solenoid valve current value is controlled above the difference between a preset starting current threshold and the current change value. Similarly, in response to an action-closing command, the solenoid valve current value is controlled above the difference between the preset starting current threshold and the current change value. By limiting the minimum current value of the solenoid valve, when responding to an action-opening command, the solenoid valve current value is limited to the minimum starting current threshold of the preset starting current threshold, and then adjusted according to the current change value. This allows the regulating valve to open slowly at a certain opening speed, thereby controlling the gradual increase of the solenoid valve current value output from the regulating valve to the solenoid valve. This avoids the phenomenon where the current value corresponding to the current output from the power supply pump is all output to the solenoid valve at once, causing a shock during the action start-up. When responding to an action-closing command, the solenoid valve current value is controlled to change according to the current change value. Furthermore, the current is controlled until it reaches the difference between the minimum starting current threshold and the current change value of the preset starting current threshold. During the control action, the current output to the solenoid valve is not stopped abruptly. Instead, the current value of the solenoid valve is slowly reduced to the difference between the preset starting current threshold and the current change value corresponding to the action. Then, the current output of the power pump is stopped, reducing the drop height of the solenoid valve current value and mitigating the impact. This allows the minimum current value of the solenoid valve to be limited based on the current change value and the preset starting current threshold when the operating handle is suddenly gripped or released. Based on the minimum current value of the solenoid valve, the current of the solenoid valve is slowly increased and the drop height of the solenoid valve current value is reduced. This reduces the dependence on the operator's operating precision and thus improves the safety and intelligence of the operation process.

[0086] Furthermore, based on the first embodiment of the operation control method of the present invention described above, a second embodiment of the operation control method of the present invention is proposed.

[0087] Reference Figure 3 In a second embodiment of the job control method of the present invention, the job control method includes the following steps:

[0088] Step A10: In response to a single-action opening command, the current value of the solenoid valve is controlled above the difference between the preset starting current threshold and the current change value.

[0089] When the crane performs only one action, in response to the single-action start command, the power supply pump starts to output current to the regulating valve corresponding to the single action. If it is detected that the opening of the single-action solenoid valve is less than the reference opening, the regulating valve corresponding to the single action dynamically adjusts the opening of the regulating valve according to the current output by the power supply pump and the preset linear change value corresponding to the change of the opening of the single-action solenoid valve. In this way, the solenoid valve current value output by the regulating valve to the single-action solenoid valve is increased according to the preset linear change value. If the opening of the operating handle, which is equal to the opening of the solenoid valve in the action start command, is always less than the reference opening, the solenoid valve current value is increased to the preset starting current threshold corresponding to the opening of the operating handle according to the preset linear change value, thereby controlling the start of the single action.

[0090] If the change in the opening of the single-action solenoid valve is detected to be equal to or greater than the reference opening, the preset linear change value is replaced with a preset fixed change value. The opening of the regulating valve is steadily adjusted according to the preset fixed change value. In this way, the solenoid valve current value output from the regulating valve to the solenoid valve is increased according to the preset fixed change value until the solenoid valve current value is increased to the opening current threshold corresponding to the opening size of the operating handle.

[0091] Step A20: In response to a single-action shutdown command, the current value of the solenoid valve is controlled above the difference between the preset start-up current threshold and the current change value.

[0092] In response to the single-action closing command, the solenoid valve current value output from the single-action regulating valve to the single-action solenoid valve will gradually decrease to the difference between the minimum starting current threshold and the preset fixed change value, and then the current output of the power supply pump will be stopped, thus stopping the single action.

[0093] In this embodiment, in response to a single-action start command, the solenoid valve current value is controlled above the difference between a preset start current threshold and the current change value; in response to a single-action stop command, the solenoid valve current value is controlled above the difference between a preset start current threshold and the current change value, thereby achieving safe power-on and power-off during the single-action execution of the crane and mitigating the impact during the start and stop of single-action operations.

[0094] Furthermore, based on the second embodiment of the operation control method of the present invention described above, a third embodiment of the operation control method of the present invention is proposed.

[0095] Reference Figure 4 In a third embodiment of the job control method of the present invention, the job control method includes the following steps:

[0096] Step B10: In response to the first action start command, the solenoid valve current value of the first action is controlled above the difference between the preset start current threshold of the first action and the current change value.

[0097] Step B20: In response to the second action opening command, the current is controlled to be diverted according to the opening ratio between the first action solenoid valve opening degree in the first action opening command and the second action solenoid valve opening degree in the second action opening command. Based on the diverted current, the solenoid valve current value of the second action is controlled above the difference between the preset starting current threshold of the second action and the current change value.

[0098] In a crane operation involving multiple actions, assuming the crane performs the first and second actions, in response to the start command of the first action, the internal power supply pump of the crane begins to output current to the regulating valve of the first action. The regulating valve of the first action changes its opening degree according to the current change value, and the solenoid valve current value output from the regulating valve of the first action to the solenoid valve of the first action is increased in an orderly manner until the solenoid valve current value output to the solenoid valve of the first action reaches the opening current threshold corresponding to the opening degree of the operating handle when the operating handle of the first action is gripped. Based on the solenoid valve current value at this time, the start control of the first action is achieved. It should be noted that at this time, all the current output by the power supply pump is distributed to the regulating valve of the first action.

[0099] If a second action needs to be added during the operation of the first action, upon receiving the command to start the second action, the current output by the power pump inside the crane will be proportionally distributed according to the opening ratio between the solenoid valves of the first and second actions. The regulating valve of the second action will adjust its opening based on the allocated current and the current change value, thus increasing the solenoid valve current value output from the regulating valve of the second action to the solenoid valve of the second action in an orderly manner until the solenoid valve current value output to the solenoid valve of the second action reaches the opening current threshold corresponding to the opening size of the operating handle when the operating handle of the second action is gripped. Based on the current value of the solenoid valve at this time, the start control of the second action is realized. By adjusting the control logic and timing relationship between the first and second actions, the dangerous situation of action shock caused by the current surge caused by the increased output current of the power pump when adding a new action is avoided.

[0100] Optionally, the step of controlling the current to shunt the current in step B20 to control the initiation of the second action includes:

[0101] Step B201: The current is divided into a first current and a second current according to the opening ratio, and then output to the first action regulating valve and the second action regulating valve respectively.

[0102] In this embodiment, when the addition of the second action is detected during the execution of the first action, the current output of the power supply pump is not increased. Instead, the current output of the power supply pump is distributed according to the opening ratio between the opening of the first action solenoid valve and the opening of the second action solenoid valve. After obtaining the first current and the second current, the sub-power supply pumps inside the power supply pump output the first current to the first action regulating valve and the second current to the second action regulating valve, respectively.

[0103] It should be noted that there are multiple sub-powered pumps in the power supply pump, and each sub-powered pump corresponds to a regulating valve with different actions.

[0104] Optionally, after step B20, which controls the solenoid valve current value of the second action to be above the difference between the preset starting current threshold of the second action and the current change value, the operation control method further includes:

[0105] Step B30: In response to the first action closing command, the solenoid valve current value of the first action is controlled above the difference between the preset starting current threshold of the first action and the current change value, and the first current output to the first action regulating valve is turned off.

[0106] During the simultaneous execution of the first and second actions, if a command to close the first action is received, then in response to the command, the current value of the solenoid valve output from the first action regulating valve to the first action solenoid valve is gradually reduced to above the difference between the preset starting current threshold of the first action and the current change value. Then, the first current output by the sub-power supply pump corresponding to the first action regulating valve in the power supply pump is stopped, thereby achieving safe power-off of the first action.

[0107] It should be noted that during the process of the first current output by the sub-powered pump corresponding to the first action regulating valve decreasing as the opening of the first action solenoid valve decreases until it completely stops outputting, the second current output by the sub-powered pump corresponding to the second action regulating valve remains unchanged. This avoids the current fluctuation caused by the change in the current output from the power pump to the second action regulating valve when canceling an action, thus preventing the dangerous situation of the second action being impacted.

[0108] Step B40: In response to the second action shutdown command, the solenoid valve current value of the second action is controlled above the difference between the preset start current threshold of the second action and the current change value, and the output of the current is stopped.

[0109] After the first action is stopped by power, if a second action closing command is received, in response to the second action closing command, the current value of the solenoid valve output from the second action regulating valve to the second action solenoid valve is gradually reduced to above the difference between the preset starting current threshold of the second action and the current change value. Since the crane does not need to perform any other actions at this time, the current output of the power supply pump is directly stopped, thus completing the power-off of the second action.

[0110] Step B50: If a new second action opening command is detected that increases the opening degree of the second action solenoid valve, then the amount of the second current output to the second action regulating valve is increased according to the second action solenoid valve opening degree in the new second action opening command.

[0111] If the first action is safely powered off and the operation stops, and there is a change in the opening degree of the operating handle for the second action, a new second action opening command will be generated, which will change the opening degree of the second action solenoid valve according to the change in the opening degree of the second action operating handle. Based on the opening degree of the second action solenoid valve in the new second action opening command, the second current output by the sub-powered pump corresponding to the second action regulating valve will be adjusted accordingly.

[0112] In this embodiment, by defining power-on and power-off logic for multiple actions, the impact of current fluctuations during action addition and cancellation is avoided.

[0113] Furthermore, the present invention also proposes a crane, the crane including a memory, a processor, and a job control program stored in the memory and executable on the processor, wherein the job control program, when executed by the processor, implements the steps of the job control method as described above.

[0114] Furthermore, the present invention also proposes a computer-readable storage medium storing a job control program, which, when executed by a processor, implements the steps of the job control method described above.

[0115] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0116] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0117] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0118] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A job control method, characterized in that, The operation control method includes the following steps: In response to the action shutdown command, the solenoid valve current value is controlled above the difference between the preset start current threshold and the current change value. The current change value includes a preset linear change value and a preset fixed change value. The step of controlling the solenoid valve current value to be above the difference between the preset starting current threshold and the current change value includes: When the opening degree of the activated solenoid valve is detected to be less than the reference opening degree, the current change value is the preset linear change value; When the opening degree of the solenoid valve is detected to be greater than or equal to the reference opening degree, the current change value is the preset fixed change value, wherein the preset fixed change value is set according to the current motor speed.

2. A job control method, characterized in that, The operation control method includes the following steps: In response to the action start command, the current value of the solenoid valve is controlled above the difference between the preset start current threshold and the current change value. The current change value includes a preset linear change value and a preset fixed change value. The step of controlling the solenoid valve current value to be above the difference between the preset starting current threshold and the current change value includes: When the opening degree of the activated solenoid valve is detected to be less than the reference opening degree, the current change value is the preset linear change value; When the opening degree of the solenoid valve is detected to be greater than or equal to the reference opening degree, the current change value is the preset fixed change value, wherein the preset fixed change value is set according to the current motor speed.

3. The operation control method as described in claim 2, characterized in that, The job control method also includes: Obtain the preset start-up current threshold.

4. The operation control method as described in claim 3, characterized in that, When the action is a single action, the job control method includes the following steps: In response to a single-action opening command, the current value of the solenoid valve is controlled above the difference between the preset starting current threshold and the current change value. In response to a single-action shutdown command, the current value of the solenoid valve is controlled above the difference between the preset start-up current threshold and the current change value.

5. The operation control method as described in claim 3, characterized in that, In the case of multiple actions, the multiple actions include a first action and a second action, and the job control method includes the following steps: In response to the first action start command, the solenoid valve current value of the first action is controlled above the difference between the preset start current threshold of the first action and the current change value. In response to the second action opening command, the current is controlled to be diverted according to the opening ratio between the first action solenoid valve opening degree in the first action opening command and the second action solenoid valve opening degree in the second action opening command. Based on the diverted current, the solenoid valve current value of the second action is controlled above the difference between the preset starting current threshold of the second action and the current change value.

6. The operation control method as described in claim 5, characterized in that, The step of controlling the current to shunt includes: The current is divided into a first current and a second current according to the opening ratio, and then output to the first action regulating valve and the second action regulating valve respectively.

7. The operation control method as described in claim 6, characterized in that, After the step of controlling the solenoid valve current value of the second action to be above the difference between the preset starting current threshold of the second action and the current change value, the operation control method further includes: In response to the first action closing command, the solenoid valve current value of the first action is controlled above the difference between the preset starting current threshold of the first action and the current change value, and the first current output to the first action regulating valve is turned off. If a new second action opening command is detected that increases the opening degree of the second action solenoid valve, then the amount of the second current output to the second action regulating valve is increased according to the opening degree of the second action solenoid valve in the new second action opening command. In response to the second action shutdown command, the solenoid valve current value of the second action is controlled above the difference between the preset start current threshold of the second action and the current change value, thereby stopping the output of the current.

8. A crane, characterized in that, The crane includes a memory, a processor, and a job control program stored in the memory and executable on the processor. When executed by the processor, the job control program implements the steps of the job control method as described in any one of claims 1-7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a job control program, which, when executed by a processor, implements the steps of the job control method according to any one of claims 1-7.

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