Method for controlling a crawler crane, controller and crawler crane

Abstract

The application discloses a method, a controller and a crawler crane for controlling the crawler crane. The method comprises: determining whether a hoisting winch or a luffing winch is switched to a working state; determining an initial overturning coefficient and an initial weight of an additional counterweight mechanism when it is determined that the hoisting winch or the luffing winch is switched to the working state; determining a current overturning coefficient of the crawler crane; determining a target additional counterweight weight based on the initial overturning coefficient and the current overturning coefficient; and controlling the additional counterweight mechanism to move so that the weight of the additional counterweight mechanism reaches the target additional counterweight weight from the initial weight. The application determines the target additional counterweight weight based on the initial overturning coefficient and the current overturning coefficient, and then controls the additional counterweight mechanism to move so that the weight of the additional counterweight mechanism reaches the target additional counterweight weight from the initial weight, thereby accurately controlling the weight of the additional counterweight mechanism and achieving adjustment of the center of gravity of the crawler crane.

Description

Technical Field

[0001] This application relates to the field of crawler crane control technology, and more specifically to a method, controller and crawler crane for controlling a crawler crane. Background Technology

[0002] Counterweight technology is widely used in crawler cranes. By installing counterweight trusses, frames, and blocks at the rear of the crane's turntable, its lifting performance can be improved. Counterweights are typically equipped with hydraulic cylinders; by controlling these cylinders, the landing weight of the counterweight can be adjusted, thereby adjusting the crawler crane's center of gravity to prevent tipping. Existing counterweight cylinders are generally controlled by solenoid valves, and their movement is controlled by manual push-button switches without speed adjustment. Therefore, current control methods for crawler cranes suffer from large counterweight weight errors and low control precision. Summary of the Invention

[0003] The purpose of this application is to provide a method, controller, and crawler crane for controlling a crawler crane, in order to solve the problems of large additional counterweight weight error and low control accuracy in the control methods of crawler cranes in the prior art.

[0004] To achieve the above objectives, a first aspect of this application provides a method for controlling a crawler crane, applied to a controller. The crawler crane further includes an additional counterweight mechanism, a hoisting winch mechanism, and a luffing winch mechanism. The method includes:

[0005] Determine whether the hoisting winch mechanism or luffing winch mechanism has switched to the working state;

[0006] When it is determined that the hoisting winch mechanism or the luffing winch mechanism has switched to the working state, the initial overturning coefficient and the initial weight of the additional counterweight mechanism are determined.

[0007] Determine the current overturning coefficient of the crawler crane;

[0008] The target additional counterweight weight is determined based on the initial overturning coefficient and the current overturning coefficient.

[0009] Control the movement of the additional counterweight mechanism so that the weight of the additional counterweight mechanism reaches the target additional counterweight weight from the initial weight.

[0010] In this embodiment of the application, determining the target additional counterweight weight based on the initial overturning coefficient and the current overturning coefficient includes:

[0011] Compare the initial overturning coefficient with the preset value;

[0012] If the initial overturning coefficient is greater than the preset value, compare the initial overturning coefficient with the current overturning coefficient;

[0013] If the initial overturning coefficient is less than or equal to the current overturning coefficient, the target additional counterweight weight is determined based on the initial overturning coefficient.

[0014] If the initial overturning coefficient is greater than the current overturning coefficient, determine whether the current overturning coefficient is less than the preset value;

[0015] If the current overturning coefficient is less than the preset value, the target additional counterweight weight is determined according to the preset value.

[0016] In this embodiment of the application, the method further includes:

[0017] If the current overturning coefficient is greater than or equal to the preset value, control the additional counterweight mechanism to stop moving.

[0018] In this embodiment of the application, determining the target additional counterweight weight based on the initial overturning coefficient and the current overturning coefficient includes:

[0019] Compare the initial overturning coefficient with the preset value;

[0020] If the initial overturning coefficient is less than the preset value, compare the initial overturning coefficient with the current overturning coefficient;

[0021] If the initial overturning coefficient is greater than or equal to the current overturning coefficient, the target additional counterweight weight is determined based on the initial overturning coefficient.

[0022] If the initial overturning coefficient is less than the current overturning coefficient, determine whether the current overturning coefficient is greater than the preset value;

[0023] If the current overturning coefficient is greater than the preset value, the target additional counterweight weight is determined according to the preset value.

[0024] In this embodiment of the application, the method further includes:

[0025] If the current overturning coefficient is less than or equal to the preset value, control the additional counterweight mechanism to stop moving.

[0026] In this embodiment of the application, the tracked crane further includes a through-beam photoelectric switch, a first photoelectric switch receiver, and a second photoelectric switch receiver. The method further includes:

[0027] Determine whether the beam emitted by the through-beam photoelectric switch directly hits the first photoelectric switch receiver, or whether the beam emitted by the through-beam photoelectric switch directly hits the second photoelectric switch receiver;

[0028] If it is determined that the beam emitted by the through-beam photoelectric switch is directly hitting the first photoelectric switch receiver, it is determined that the additional counterweight mechanism is in the ground state.

[0029] If it is determined that the beam emitted by the through-beam photoelectric switch is directly hitting the second photoelectric switch receiver, the additional counterweight mechanism is determined to be in a suspended state.

[0030] In this embodiment of the application, the method further includes:

[0031] When the additional counterweight mechanism is on the ground or suspended in the air, control the additional counterweight mechanism to stop moving.

[0032] A second aspect of this application provides a controller, comprising:

[0033] The memory is configured to store instructions; and

[0034] The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the aforementioned method for controlling a tracked crane.

[0035] A third aspect of this application provides a crawler crane, comprising:

[0036] Controller;

[0037] The hoisting mechanism communicates with the controller.

[0038] The luffing winch mechanism communicates with the controller.

[0039] An additional counterweight mechanism, communicating with the controller, is configured to adjust the center of gravity of the crawler crane by moving the additional counterweight.

[0040] In this embodiment of the application, the crawler crane further includes:

[0041] A through-beam photoelectric switch is configured to emit a beam of light;

[0042] The first photoelectric switch receiver is configured to receive the light beam;

[0043] The second photoelectric switch receiver is configured to receive the light beam.

[0044] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the aforementioned method for controlling a crawler crane.

[0045] The above technical solution determines whether the hoisting winch mechanism or luffing winch mechanism has switched to the working state. If it is determined that the hoisting winch mechanism or luffing winch mechanism has switched to the working state, the initial overturning coefficient and the initial weight of the additional counterweight mechanism are determined. Then, the current overturning coefficient of the crawler crane is determined. Furthermore, the target additional counterweight weight is determined based on the initial and current overturning coefficients. Finally, the movement of the additional counterweight mechanism is controlled so that its weight reaches the target additional counterweight weight from its initial weight. This application, by determining the target additional counterweight weight based on the initial and current overturning coefficients and then controlling the movement of the additional counterweight mechanism to reach the target additional counterweight weight, can precisely control the actual weight of the additional counterweight mechanism acting on the turntable of the crawler crane, thereby achieving adjustment of the crawler crane's center of gravity.

[0046] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0047] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0048] Figure 1 A flowchart illustrating a method for controlling a crawler crane according to an embodiment of this application is shown schematically.

[0049] Figure 2 A schematic diagram of an additional counterweight cylinder according to an embodiment of this application is shown.

[0050] Figure 3 A flowchart illustrating a method for controlling a crawler crane according to a specific embodiment of this application is shown schematically.

[0051] Figure 4 The illustration shows a schematic diagram of the state detection of an additional counterweight mechanism according to an embodiment of this application;

[0052] Figure 5 A schematic block diagram of a controller according to an embodiment of this application is shown.

[0053] Explanation of reference numerals in the attached figures

[0054] 210 Rodless cavity 220 Rod cavity

[0055] 410 Through-beam photoelectric switch; 420 First photoelectric switch receiver

[0056] 430 Second photoelectric switch receiver Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0058] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0059] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0060] Figure 1 A flowchart illustrating a method for controlling a crawler crane according to an embodiment of this application is shown schematically. Figure 1 As shown in the embodiments of this application, a method for controlling a crawler crane is provided, applied to a controller. The crawler crane further includes an additional counterweight mechanism, a hoisting winch mechanism, and a luffing winch mechanism. The method may include the following steps:

[0061] Step 101: Determine whether the hoisting winch mechanism or luffing winch mechanism has switched to the working state;

[0062] Step 102: If it is determined that the hoisting winch mechanism or the luffing winch mechanism has switched to the working state, determine the initial overturning coefficient and the initial weight of the additional counterweight mechanism.

[0063] Step 103: Determine the current overturning coefficient of the crawler crane;

[0064] Step 104: Determine the target additional counterweight weight based on the initial overturning coefficient and the current overturning coefficient;

[0065] Step 105: Control the movement of the additional counterweight mechanism so that the weight of the additional counterweight mechanism reaches the target additional counterweight weight from the initial weight.

[0066] Existing technologies typically use solenoid valves to control the speed of the additional counterweight cylinder, thereby adjusting the center of gravity of the crawler crane by controlling the weight of the additional counterweight mechanism, thus reducing the possibility of the crawler crane tipping over. However, the control method in the existing technology requires manual push-button switches to control the additional counterweight cylinder and lacks speed adjustment functionality. When adjusting the center of gravity of the crawler crane, it suffers from problems such as large weight errors and low control accuracy.

[0067] To address the problems existing in the prior art, in this embodiment, the controller can determine whether the hoisting winch or luffing winch has switched to the working state. Specifically, the controller can determine whether the operating switch of the hoisting winch or luffing winch is triggered, whether the brake cylinder of the hoisting winch or luffing winch has triggered its enable logic, and whether the position of the hoisting winch or luffing winch has changed. Specifically, the controller can determine whether the operating switch of the hoisting winch or luffing winch is triggered by judging whether the handle operating opening is greater than 0, and detect whether the position of the hoisting winch or luffing winch has changed by sensors such as a winch encoder or a motor speed sensor. If it is determined that the operating switch of the hoisting winch is triggered, the brake cylinder of the hoisting winch has triggered its enable logic, and the position of the hoisting winch has changed, the controller can determine that the hoisting winch has switched to the working state. Alternatively, if it is determined that the operating switch of the luffing winch is triggered, the brake cylinder of the luffing winch has triggered its enable logic, and the position of the luffing winch has changed, the controller can determine that the luffing winch has switched to the working state.

[0068] If the hoisting winch or luffing winch is switched to the working state, the controller can determine that the overturning coefficient of the hoisting winch or luffing winch when switched to the working state is the initial overturning coefficient, and the weight of the additional counterweight mechanism when switched to the working state is the initial weight. It should be noted that the weight of the additional counterweight mechanism mentioned in this application embodiment refers to the weight of the additional counterweight mechanism actually acting on the turntable of the crawler crane, which can be determined by setting a hydraulic cylinder pressure sensor. The weight of the additional counterweight mechanism satisfies formula (1):

[0069] M add =M add1 +M add2 (1)

[0070] Among them, M add To account for the weight of the additional counterweight mechanism, M add1M is the weight of the additional counterweight mechanism on the left. add2 The weight of the additional counterweight mechanism on the right.

[0071] Figure 2 A schematic diagram of an additional counterweight cylinder according to an embodiment of this application is shown. Figure 2 As shown, the additional counterweight cylinder includes a rodless chamber 210 and a rod chamber 220. The weight of the left additional counterweight mechanism satisfies formula (2):

[0072]

[0073] The weight of the right additional counterweight mechanism satisfies formula (3):

[0074]

[0075] Among them, M add1 M is the weight of the additional counterweight mechanism on the left. add2 P1 represents the weight of the right auxiliary counterweight mechanism, P2 represents the pressure in the rod chamber 220 of the left auxiliary counterweight cylinder, P3 represents the pressure in the rod chamber 220 of the right auxiliary counterweight cylinder, P4 represents the pressure in the rodless chamber 210 of the right auxiliary counterweight cylinder, D represents the diameter of the rod chamber 220, and d represents the diameter of the rodless chamber 210. Alternatively, the weight of the auxiliary counterweight mechanism can be directly read by setting a tension sensor.

[0076] The overturning coefficient satisfies formula (4):

[0077]

[0078] Where K is the overturning coefficient, M all W is the sum of the torques acting on all components at the center of rotation. all The mass of all devices acting on the center of rotation is L, and the distance from the overturning edge to the center of rotation is L.

[0079] Furthermore, the controller can determine the current overturning coefficient of the crawler crane in real time and determine the target additional counterweight weight based on the initial and current overturning coefficients. After determining the target additional counterweight weight, the controller can control the cylinder speed of the additional counterweight cylinder by controlling the opening of the proportional solenoid valve, thereby controlling the movement of the additional counterweight mechanism. This allows the weight of the additional counterweight mechanism to reach the target additional counterweight weight from the initial weight, achieving the purpose of adjusting the center of gravity of the crawler crane. In addition, when the hoisting winch mechanism or luffing winch mechanism is not in operation, the controller can control the additional counterweight cylinder to stop moving.

[0080] The above technical solution determines whether the hoisting winch mechanism or luffing winch mechanism has switched to the working state. If it is determined that the hoisting winch mechanism or luffing winch mechanism has switched to the working state, the initial overturning coefficient and the initial weight of the additional counterweight mechanism are determined. Then, the current overturning coefficient of the crawler crane is determined. Furthermore, the target additional counterweight weight is determined based on the initial and current overturning coefficients. Finally, the movement of the additional counterweight mechanism is controlled so that its weight reaches the target additional counterweight weight from its initial weight. This application, by determining the target additional counterweight weight based on the initial and current overturning coefficients and then controlling the movement of the additional counterweight mechanism to reach the target additional counterweight weight, can precisely control the actual weight of the additional counterweight mechanism acting on the turntable of the crawler crane, thereby achieving adjustment of the crawler crane's center of gravity.

[0081] In this embodiment of the application, step 104, determining the target additional counterweight weight based on the initial overturning coefficient and the current overturning coefficient, may include:

[0082] Compare the initial overturning coefficient with the preset value;

[0083] If the initial overturning coefficient is greater than the preset value, compare the initial overturning coefficient with the current overturning coefficient;

[0084] If the initial overturning coefficient is less than or equal to the current overturning coefficient, the target additional counterweight weight is determined based on the initial overturning coefficient.

[0085] If the initial overturning coefficient is greater than the current overturning coefficient, determine whether the current overturning coefficient is less than the preset value;

[0086] If the current overturning coefficient is less than the preset value, the target additional counterweight weight is determined according to the preset value.

[0087] In this embodiment, the controller can determine the target additional counterweight weight based on the initial overturning coefficient and the current overturning coefficient. The controller can compare the initial overturning coefficient with a preset value to determine whether the crawler crane has a forward or backward overturning risk when the hoisting winch or luffing winch moves. In this embodiment, the preset value is 0. When the initial overturning coefficient is greater than the preset value, it can be determined that the crawler crane has a forward overturning risk, and at this time, the initial overturning coefficient and the current overturning coefficient can be compared. When the initial overturning coefficient is less than or equal to the current overturning coefficient, the controller can determine the target additional counterweight weight corresponding to when the current overturning coefficient is equal to the initial overturning coefficient, and further determine the difference between the target additional counterweight weight and the initial weight. If the difference between the target additional counterweight weight and the initial weight is less than or equal to a preset threshold, it is not necessary to control the movement of the additional counterweight mechanism. If the difference between the target additional counterweight weight and the initial weight is greater than the preset threshold, the controller can control the movement of the additional counterweight mechanism so that the weight of the additional counterweight mechanism reaches the target additional counterweight weight from the initial weight. The preset threshold is a small value determined based on the actual situation, used to reduce unnecessary center of gravity adjustment movements. In one example, the preset threshold can be 2.

[0088] When the initial overturning coefficient is greater than the current overturning coefficient, the movement of the hoisting winch or luffing winch causes the overturning point to move backward. At this time, the controller can determine whether the current overturning coefficient is less than the preset value. When the current overturning coefficient is less than the preset value, the target additional counterweight weight corresponding to the current overturning coefficient being the preset value is determined, and the cylinder speed of the additional counterweight cylinder is controlled to control the movement of the additional counterweight mechanism, so that the weight of the additional counterweight mechanism reaches the target additional counterweight weight from the initial weight. The cylinder speed of the additional counterweight cylinder satisfies formula (5):

[0089]

[0090] Where V is the cylinder speed, ΔM is the difference between the target additional counterweight weight and the initial weight, and M max V is the maximum weight of the additional counterweight mechanism. max V0 is the maximum speed of the additional counterweight cylinder, and Vmax is the minimum speed of the additional counterweight cylinder, which is usually the maximum speed Vmax. max 30%.

[0091] In this embodiment of the application, the method may further include:

[0092] If the current overturning coefficient is greater than or equal to the preset value, control the additional counterweight mechanism to stop moving.

[0093] In this embodiment, the controller can compare the initial overturning coefficient with a preset value. In this embodiment, the preset value is 0. When the initial overturning coefficient is greater than the preset value, the controller can compare the initial overturning coefficient with the current overturning coefficient. If the initial overturning coefficient is greater than the current overturning coefficient, the controller can determine whether the current overturning coefficient is less than the preset value. If the current overturning coefficient is greater than or equal to the preset value, the controller stops the additional counterweight mechanism from moving. This allows for control of the additional counterweight mechanism.

[0094] In this embodiment of the application, step 104, determining the target additional counterweight weight based on the initial overturning coefficient and the current overturning coefficient, may include:

[0095] Compare the initial overturning coefficient with the preset value;

[0096] If the initial overturning coefficient is less than the preset value, compare the initial overturning coefficient with the current overturning coefficient;

[0097] If the initial overturning coefficient is greater than or equal to the current overturning coefficient, the target additional counterweight weight is determined based on the initial overturning coefficient.

[0098] If the initial overturning coefficient is less than the current overturning coefficient, determine whether the current overturning coefficient is greater than the preset value;

[0099] If the current overturning coefficient is greater than the preset value, the target additional counterweight weight is determined according to the preset value.

[0100] In this embodiment, the controller can determine the target additional counterweight weight based on the initial overturning coefficient and the current overturning coefficient. The controller can compare the initial overturning coefficient with a preset value to determine whether the crawler crane has a forward or backward overturning risk when the hoisting winch or luffing winch moves. In this embodiment, the preset value is 0. When the initial overturning coefficient is less than the preset value, it can be determined that the crawler crane has a backward overturning risk, and at this time, the initial overturning coefficient and the current overturning coefficient can be compared. When the initial overturning coefficient is greater than or equal to the current overturning coefficient, the controller can determine the target additional counterweight weight corresponding to when the current overturning coefficient is equal to the initial overturning coefficient, and further determine the difference between the target additional counterweight weight and the initial weight. If the difference between the target additional counterweight weight and the initial weight is less than or equal to a preset threshold, it is not necessary to control the movement of the additional counterweight mechanism. If the difference between the target additional counterweight weight and the initial weight is greater than the preset threshold, the controller can control the cylinder speed of the additional counterweight cylinder to control the movement of the additional counterweight mechanism, so that the weight of the additional counterweight mechanism reaches the target additional counterweight weight from the initial weight.

[0101] If the initial overturning coefficient is less than the current overturning coefficient, the movement of the hoisting winch or luffing winch causes the overturning point to move forward. At this point, the controller can determine whether the current overturning coefficient is greater than a preset value. If the current overturning coefficient is greater than the preset value, the controller determines the target additional counterweight weight corresponding to the current overturning coefficient being the preset value and controls the cylinder speed of the additional counterweight cylinder to control the movement of the additional counterweight mechanism, so that the weight of the additional counterweight mechanism reaches the target additional counterweight weight from the initial weight.

[0102] In this embodiment of the application, the method may further include:

[0103] If the current overturning coefficient is less than or equal to the preset value, control the additional counterweight mechanism to stop moving.

[0104] In this embodiment, the controller can compare the initial overturning coefficient with a preset value. In this embodiment, the preset value is 0. When the initial overturning coefficient is less than the preset value, the controller can compare the initial overturning coefficient with the current overturning coefficient. If the initial overturning coefficient is less than the current overturning coefficient, the controller can determine whether the current overturning coefficient is greater than the preset value. If the current overturning coefficient is less than or equal to the preset value, the controller stops the movement of the additional counterweight mechanism. This allows for control of the additional counterweight mechanism.

[0105] In this embodiment of the application, the tracked crane further includes a through-beam photoelectric switch, a first photoelectric switch receiver, and a second photoelectric switch receiver. The method may also include:

[0106] Determine whether the beam emitted by the through-beam photoelectric switch directly hits the first photoelectric switch receiver, or whether the beam emitted by the through-beam photoelectric switch directly hits the second photoelectric switch receiver;

[0107] If it is determined that the beam emitted by the through-beam photoelectric switch is directly hitting the first photoelectric switch receiver, it is determined that the additional counterweight mechanism is in the ground state.

[0108] If it is determined that the beam emitted by the through-beam photoelectric switch is directly hitting the second photoelectric switch receiver, the additional counterweight mechanism is determined to be in a suspended state.

[0109] In this embodiment, the controller can detect the state of the additional counterweight mechanism via a through-beam photoelectric switch, a first photoelectric switch receiver, and a second photoelectric switch receiver. The state of the additional counterweight mechanism includes a grounded state and a suspended state. The controller can determine whether the beam emitted by the through-beam photoelectric switch directly hits the first photoelectric switch receiver, or whether the beam emitted by the through-beam photoelectric switch directly hits the second photoelectric switch receiver. If it is determined that the beam emitted by the through-beam photoelectric switch directly hits the first photoelectric switch receiver, the controller can determine that the additional counterweight mechanism is in a grounded state. If it is determined that the beam emitted by the through-beam photoelectric switch directly hits the second photoelectric switch receiver, the controller can determine that the additional counterweight mechanism is in a suspended state. Alternatively, other mechanical switches can be used to determine whether the additional counterweight mechanism is in a suspended or grounded state, such as a counterweight combined with an overwind switch. In this way, the state of the additional counterweight mechanism can be determined so as to control the additional counterweight cylinder.

[0110] In this embodiment of the application, the method may further include:

[0111] When the additional counterweight mechanism is on the ground or suspended in the air, control the additional counterweight mechanism to stop moving.

[0112] In this embodiment, the controller can detect the state of the additional counterweight mechanism via a through-beam photoelectric switch, a first photoelectric switch receiver, and a second photoelectric switch receiver. The state of the additional counterweight mechanism includes a grounded state and a suspended state. When the additional counterweight mechanism is in a grounded or suspended state, the controller can control the additional counterweight cylinder to stop moving, thereby controlling the additional counterweight mechanism to stop moving.

[0113] Figure 3 A flowchart illustrating a method for controlling a crawler crane according to a specific embodiment of this application is shown schematically. Figure 3 As shown in a specific embodiment of this application, the method for controlling a crawler crane may include:

[0114] S1. Determine whether the hoisting winch mechanism or the luffing winch mechanism is moving. If yes, proceed to S3; otherwise, proceed to S2.

[0115] S2, The additional counterweight cylinder does not operate;

[0116] S3, Record the initial weight M add0 and the initial overturning coefficient K0;

[0117] S4. Determine if the initial overturning coefficient K0 is less than 0. If yes, proceed to S5; otherwise, proceed to S6.

[0118] S5. Determine if the current overturning coefficient K is greater than the initial overturning coefficient K0. If yes, proceed to S7; otherwise, proceed to S8.

[0119] S6. Determine if the current overturning coefficient K is less than the initial overturning coefficient K0. If yes, proceed to S9; otherwise, proceed to S10.

[0120] S7. Determine if the current overturning coefficient K is greater than 0. If yes, proceed to S11; otherwise, proceed to S2.

[0121] S8. Determine the target additional counterweight weight corresponding to the current overturning coefficient K when it is the initial overturning coefficient K0;

[0122] S9. Determine if the current overturning coefficient K is less than 0. If yes, proceed to S12; otherwise, proceed to S2.

[0123] S10. Determine the target additional counterweight weight corresponding to the current overturning coefficient K when it is the initial overturning coefficient K0;

[0124] S11. Determine the target additional counterweight weight when the current overturning coefficient K is 0;

[0125] S12. Determine the target additional counterweight weight when the current overturning coefficient K is 0;

[0126] S13. Control the speed of the additional counterweight cylinder so that the weight of the additional counterweight mechanism reaches the target additional counterweight weight.

[0127] S14. When the difference between the target additional counterweight weight and the initial weight is less than or equal to 2, the additional counterweight cylinder does not move. When the difference between the target additional counterweight weight and the initial weight is greater than 2, the cylinder speed of the additional counterweight cylinder is controlled so that the weight of the additional counterweight mechanism reaches the target additional counterweight weight.

[0128] S15. Control the cylinder speed of the additional counterweight cylinder so that the weight of the additional counterweight mechanism reaches the target additional counterweight weight.

[0129] S16. When the difference between the target additional counterweight weight and the initial weight is less than or equal to 2, the additional counterweight cylinder does not move. When the difference between the target additional counterweight weight and the initial weight is greater than 2, the cylinder speed of the additional counterweight cylinder is controlled so that the weight of the additional counterweight mechanism reaches the target additional counterweight weight.

[0130] In one specific embodiment of this application, the controller can determine whether the hoisting winch mechanism or the luffing winch mechanism is moving. If the hoisting winch mechanism or the luffing winch mechanism is moving, the controller can record the initial weight M. add0And the initial overturning coefficient K0. If the hoisting winch mechanism or luffing winch mechanism is not moving, the additional counterweight cylinder will not move. When the hoisting winch mechanism or luffing winch mechanism is moving, the controller can determine whether the initial overturning coefficient K0 is less than 0. If the initial overturning coefficient K0 is less than 0, it determines whether the current overturning coefficient K is greater than the initial overturning coefficient K0. If the current overturning coefficient K is greater than the initial overturning coefficient K0, it determines whether the current overturning coefficient K is greater than 0. When the current overturning coefficient K is greater than 0, it determines the target additional counterweight weight corresponding to when the current overturning coefficient K is 0, and controls the cylinder speed of the additional counterweight cylinder so that the weight of the additional counterweight mechanism reaches the target additional counterweight weight. If the current overturning coefficient K is not greater than the initial overturning coefficient K0, it determines the target additional counterweight weight corresponding to when the current overturning coefficient K is the initial overturning coefficient K0, and determines the difference between the target additional counterweight weight and the initial weight. When the difference between the target additional counterweight weight and the initial weight is less than or equal to 2, the additional counterweight cylinder does not move. When the difference between the target additional counterweight weight and the initial weight is greater than 2, the cylinder speed of the additional counterweight cylinder is controlled so that the weight of the additional counterweight mechanism reaches the target additional counterweight weight.

[0131] If the initial overturning coefficient K0 is greater than 0, determine if the current overturning coefficient K is less than the initial overturning coefficient K0. If the current overturning coefficient K is less than the initial overturning coefficient K0, determine if the current overturning coefficient K is less than 0. If the current overturning coefficient K is less than 0, determine the target additional counterweight weight corresponding to the current overturning coefficient K being 0, and control the cylinder speed of the additional counterweight cylinder so that the weight of the additional counterweight mechanism reaches the target additional counterweight weight. If the current overturning coefficient K is not less than 0, the additional counterweight cylinder does not move. If the current overturning coefficient K is not less than the initial overturning coefficient K0, determine the target additional counterweight weight corresponding to the current overturning coefficient K being the initial overturning coefficient K0, and determine the difference between the target additional counterweight weight and the initial weight. If the difference between the target additional counterweight weight and the initial weight is less than or equal to 2, the additional counterweight cylinder does not move; if the difference between the target additional counterweight weight and the initial weight is greater than 2, control the cylinder speed of the additional counterweight cylinder so that the weight of the additional counterweight mechanism reaches the target additional counterweight weight.

[0132] This application embodiment also provides a crawler crane, which may include:

[0133] Controller;

[0134] The hoisting mechanism communicates with the controller.

[0135] The luffing winch mechanism communicates with the controller.

[0136] An additional counterweight mechanism, communicating with the controller, is configured to adjust the center of gravity of the crawler crane by moving the additional counterweight.

[0137] In this embodiment, the crawler crane includes a controller, a hoisting winch mechanism, a luffing winch mechanism, and an additional counterweight mechanism. The controller communicates with the hoisting winch mechanism, the luffing winch mechanism, and the additional counterweight mechanism. The additional counterweight mechanism includes an additional counterweight cylinder, a counterweight truss, a counterweight frame, and an additional counterweight. The controller can control the cylinder speed of the additional counterweight cylinder by controlling the opening of a proportional solenoid valve, thereby controlling the movement of the additional counterweight to adjust the center of gravity of the crawler crane and reduce the possibility of the crawler crane tipping over.

[0138] Figure 4 This diagram schematically illustrates a state detection method for an additional counterweight mechanism according to an embodiment of this application. Figure 4 As shown in the embodiments of this application, the crawler crane may further include:

[0139] A through-beam photoelectric switch 410 is configured to emit a beam of light;

[0140] The first photoelectric switch receiver 420 is configured to receive a light beam;

[0141] The second photoelectric switch receiver 430 is configured to receive the light beam.

[0142] In this embodiment, the tracked crane may further include a through-beam photoelectric switch 410, a first photoelectric switch receiver 420, and a second photoelectric switch receiver 430. The through-beam photoelectric switch 410 can emit a light beam, and the first photoelectric switch receiver 420 and the second photoelectric switch receiver 430 can receive the light beam. The controller can determine whether the additional counterweight mechanism is in a suspended or grounded state through the through-beam photoelectric switch 410, the first photoelectric switch receiver 420, and the second photoelectric switch receiver 430.

[0143] Figure 5 A schematic block diagram of a controller according to an embodiment of this application is shown. Figure 5 As shown in the figure, this application provides a controller that may include:

[0144] Memory 510 is configured to store instructions; and

[0145] The processor 520 is configured to retrieve instructions from the memory 510 and, when executing the instructions, to implement the aforementioned method for controlling the tracked crane.

[0146] Specifically, in this embodiment of the application, the processor 520 can be configured to:

[0147] Determine whether the hoisting winch mechanism or luffing winch mechanism has switched to the working state;

[0148] When it is determined that the hoisting winch mechanism or the luffing winch mechanism has switched to the working state, the initial overturning coefficient and the initial weight of the additional counterweight mechanism are determined.

[0149] Determine the current overturning coefficient of the crawler crane;

[0150] The target additional counterweight weight is determined based on the initial overturning coefficient and the current overturning coefficient.

[0151] Control the movement of the additional counterweight mechanism so that the weight of the additional counterweight mechanism reaches the target additional counterweight weight from the initial weight.

[0152] Furthermore, the processor 520 can also be configured as follows:

[0153] Compare the initial overturning coefficient with the preset value;

[0154] If the initial overturning coefficient is greater than the preset value, compare the initial overturning coefficient with the current overturning coefficient;

[0155] If the initial overturning coefficient is less than or equal to the current overturning coefficient, the target additional counterweight weight is determined based on the initial overturning coefficient.

[0156] If the initial overturning coefficient is greater than the current overturning coefficient, determine whether the current overturning coefficient is less than the preset value;

[0157] If the current overturning coefficient is less than the preset value, the target additional counterweight weight is determined according to the preset value.

[0158] Furthermore, the processor 520 can also be configured as follows:

[0159] If the current overturning coefficient is greater than or equal to the preset value, control the additional counterweight mechanism to stop moving.

[0160] Furthermore, the processor 520 can also be configured as follows:

[0161] Compare the initial overturning coefficient with the preset value;

[0162] If the initial overturning coefficient is less than the preset value, compare the initial overturning coefficient with the current overturning coefficient;

[0163] If the initial overturning coefficient is greater than or equal to the current overturning coefficient, the target additional counterweight weight is determined based on the initial overturning coefficient.

[0164] If the initial overturning coefficient is less than the current overturning coefficient, determine whether the current overturning coefficient is greater than the preset value;

[0165] If the current overturning coefficient is greater than the preset value, the target additional counterweight weight is determined according to the preset value.

[0166] Furthermore, the processor 520 can also be configured as follows:

[0167] If the current overturning coefficient is less than or equal to the preset value, control the additional counterweight mechanism to stop moving.

[0168] Furthermore, the processor 520 can also be configured as follows:

[0169] Determine whether the beam emitted by the through-beam photoelectric switch directly hits the first photoelectric switch receiver, or whether the beam emitted by the through-beam photoelectric switch directly hits the second photoelectric switch receiver;

[0170] If it is determined that the beam emitted by the through-beam photoelectric switch is directly hitting the first photoelectric switch receiver, it is determined that the additional counterweight mechanism is in the ground state.

[0171] If it is determined that the beam emitted by the through-beam photoelectric switch is directly hitting the second photoelectric switch receiver, the additional counterweight mechanism is determined to be in a suspended state.

[0172] Furthermore, the processor 520 can also be configured as follows:

[0173] When the additional counterweight mechanism is on the ground or suspended in the air, control the additional counterweight mechanism to stop moving.

[0174] The above technical solution determines whether the hoisting winch mechanism or luffing winch mechanism has switched to the working state. If it is determined that the hoisting winch mechanism or luffing winch mechanism has switched to the working state, the initial overturning coefficient and the initial weight of the additional counterweight mechanism are determined. Then, the current overturning coefficient of the crawler crane is determined. Furthermore, the target additional counterweight weight is determined based on the initial and current overturning coefficients. Finally, the movement of the additional counterweight mechanism is controlled so that its weight reaches the target additional counterweight weight from its initial weight. This application, by determining the target additional counterweight weight based on the initial and current overturning coefficients and then controlling the movement of the additional counterweight mechanism to reach the target additional counterweight weight, can precisely control the actual weight of the additional counterweight mechanism acting on the turntable of the crawler crane, thereby achieving adjustment of the crawler crane's center of gravity.

[0175] This application also provides a machine-readable storage medium storing instructions for causing a machine to perform the above-described method for controlling a crawler crane.

[0176] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0177] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0178] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0179] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0180] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0181] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0182] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0183] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. 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 apparatus that includes that element.

[0184] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for controlling a crawler crane, characterized in that, Applied to the controller, the crawler crane further includes an additional counterweight mechanism, a hoisting winch mechanism, and a luffing winch mechanism, and the method includes: Determine whether the hoisting winch mechanism or the luffing winch mechanism has switched to the working state; When it is determined that the hoisting winch mechanism or the luffing winch mechanism has switched to the working state, the initial overturning coefficient and the initial weight of the additional counterweight mechanism are determined. Determine the current overturning coefficient of the tracked crane; The target additional counterweight weight is determined based on the initial overturning coefficient and the current overturning coefficient; Control the movement of the additional counterweight mechanism so that the weight of the additional counterweight mechanism increases from the initial weight to the target additional counterweight weight; Determining the target additional counterweight weight based on the initial overturning coefficient and the current overturning coefficient includes: Compare the initial overturning coefficient with the preset value; If the initial overturning coefficient is greater than the preset value, compare the initial overturning coefficient with the current overturning coefficient; if the initial overturning coefficient is less than or equal to the current overturning coefficient, determine the target additional counterweight weight based on the initial overturning coefficient; if the initial overturning coefficient is greater than the current overturning coefficient, determine whether the current overturning coefficient is less than the preset value; if the current overturning coefficient is less than the preset value, determine the target additional counterweight weight based on the preset value; if the current overturning coefficient is greater than or equal to the preset value, control the additional counterweight mechanism to stop moving. If the initial overturning coefficient is less than the preset value, compare the initial overturning coefficient with the current overturning coefficient; if the initial overturning coefficient is greater than or equal to the current overturning coefficient, determine the target additional counterweight weight based on the initial overturning coefficient; if the initial overturning coefficient is less than the current overturning coefficient, determine whether the current overturning coefficient is greater than the preset value; if the current overturning coefficient is greater than the preset value, determine the target additional counterweight weight based on the preset value; if the current overturning coefficient is less than or equal to the preset value, control the additional counterweight mechanism to stop moving.

2. The method according to claim 1, characterized in that, The tracked crane further includes a through-beam photoelectric switch, a first photoelectric switch receiver, and a second photoelectric switch receiver; the method further includes: Determine whether the light beam emitted by the through-beam photoelectric switch directly hits the first photoelectric switch receiver, or whether the light beam emitted by the through-beam photoelectric switch directly hits the second photoelectric switch receiver; If it is determined that the beam emitted by the through-beam photoelectric switch is directly hitting the first photoelectric switch receiver, it is determined that the additional counterweight mechanism is in a grounded state; If it is determined that the beam emitted by the through-beam photoelectric switch is directly hitting the second photoelectric switch receiver, the additional counterweight mechanism is determined to be in a suspended state.

3. The method according to claim 2, characterized in that, The method further includes: When the additional counterweight mechanism is in the grounded state or the suspended state, control the additional counterweight mechanism to stop moving.

4. A controller, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the method for controlling a tracked crane according to any one of claims 1 to 3.

5. A crawler crane, characterized in that, include: The controller according to claim 4; The hoisting mechanism communicates with the controller. The luffing winch mechanism communicates with the controller. An additional counterweight mechanism, communicating with the controller, is configured to adjust the center of gravity of the crawler crane by moving the additional counterweight.

6. The crawler crane according to claim 5, characterized in that, The crawler crane also includes: A through-beam photoelectric switch is configured to emit a beam of light; A first photoelectric switch receiver is configured to receive the light beam; A second photoelectric switch receiver is configured to receive the light beam.

7. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the method for controlling a crawler crane according to any one of claims 1 to 3.

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