Construction machine, and control method, device, and controller for a load handler thereof

Abstract

The application relates to an engineering machine and a sling control method, device and controller thereof. The method comprises the following steps: during control of sling movement, a first distance between a preset sling deceleration zone contour and an obstacle and a second distance between a preset sling core zone contour and the obstacle are determined; the sling deceleration zone contour is obtained by expanding the contour of the sling by a first set size, and the sling core zone contour is obtained by contracting the contour of the sling by a second set size; if the first distance is greater than or equal to a preset distance threshold, the movement speed of the sling is adjusted based on the size of the first distance; and if the first distance is less than the preset distance threshold, the movement speed of the sling is adjusted based on the size of the second distance. Through the above scheme, the sling is accurately controlled, the safety during hoisting is ensured, and the work efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery, and in particular to an engineering machinery and a sling control method, device and controller thereof. BACKGROUND

[0002] Engineering machinery refers to machine equipment used in the fields of construction, engineering, mining, agriculture and forestry, etc. In the engineering machinery of cranes, the control of a sling is very crucial, which affects the work efficiency and work safety. At present, the position and contour of goods and obstacles can be detected so as to control the hoisting process. However, in practice, there are scenes such as a large amount of goods close to each other and complex obstacles. In these scenes, accurate control of the sling is more important. SUMMARY

[0003] Therefore, it is necessary to provide an engineering machinery and a sling control method, device and controller thereof capable of accurately controlling a sling in view of the above technical problems.

[0004] In a first aspect, an embodiment of the present application provides a sling control method of an engineering machinery, comprising:

[0005] In the process of controlling the movement of the sling, a first distance between a preset sling deceleration zone contour and an obstacle and a second distance between a preset sling core zone contour and the obstacle are determined; wherein the sling deceleration zone contour is obtained by expanding the contour of the sling by a first preset size, and the sling core zone contour is obtained by contracting the contour of the sling by a second preset size;

[0006] If the first distance is greater than or equal to a preset distance threshold, the movement speed of the sling is adjusted based on the size of the first distance.

[0007] If the first distance is less than the preset distance threshold, the movement speed of the sling is adjusted based on the size of the second distance.

[0008] In an embodiment, optionally, the determination of the first distance between the preset sling deceleration zone contour and the obstacle and the second distance between the preset sling core zone contour and the obstacle comprises:

[0009] determining the minimum distance from the preset sling deceleration zone contour to a first obstacle in the current movement direction of the sling to obtain the first distance; wherein the first obstacle is an obstacle that overlaps the sling deceleration zone contour along the current movement path of the sling; and

[0010] The minimum distance from the preset core area outline of the spreader to the second obstacle is determined in the current direction of movement of the spreader, and the second distance is obtained; wherein the second obstacle is an obstacle that overlaps with the core area outline of the spreader along the current path of movement of the spreader.

[0011] In one embodiment, optionally, determining the first distance between the preset deceleration zone contour of the spreader and the obstacle, and the second distance between the preset core zone contour of the spreader and the obstacle, includes:

[0012] Acquire the position information generated by the laser scanning system after scanning the lifting device and obstacles;

[0013] Based on the location information, a first distance between the preset deceleration zone outline of the spreader and the obstacle, and a second distance between the preset core area outline of the spreader and the obstacle are determined.

[0014] In one embodiment, optionally, adjusting the movement speed of the lifting device based on the magnitude of the first distance includes:

[0015] The speed of the lifting device is adjusted based on the distance range in which the first distance is located;

[0016] The adjustment of the lifting speed based on the magnitude of the second distance includes:

[0017] The speed of the lifting device is adjusted based on the distance range in which the second distance is located.

[0018] In one embodiment, optionally, the first set size is greater than or equal to the detection accuracy of the detection device, and / or, the second set size is greater than or equal to the detection accuracy of the detection device.

[0019] In one embodiment, the preset distance threshold may optionally be less than or equal to zero.

[0020] In one embodiment, optionally, the first set size is greater than or equal to the detection accuracy of the detection device, the preset distance threshold is less than zero, and the absolute value of the preset distance threshold is greater than or equal to the sum of the first set size and the detection accuracy.

[0021] Secondly, embodiments of the present invention also provide a lifting device for engineering machinery, comprising:

[0022] The determining module is used to determine a first distance between a preset deceleration zone outline and an obstacle and a second distance between a preset core area outline and an obstacle during the control of the spreader's movement; wherein, the deceleration zone outline is obtained based on a first preset dimension of outward expansion of the spreader's outline, and the core area outline is obtained based on a second preset dimension of inward contraction of the spreader's outline;

[0023] The first control module is used to adjust the movement speed of the lifting device based on the magnitude of the first distance if the first distance is greater than or equal to a preset distance threshold.

[0024] The second control module is used to adjust the movement speed of the lifting device based on the magnitude of the second distance if the first distance is less than the preset distance threshold.

[0025] Thirdly, embodiments of the present invention also provide a controller, which includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the lifting control method for the engineering machinery described in any one of the first aspects.

[0026] Fourthly, embodiments of the present invention also provide engineering machinery, which includes:

[0027] The construction machinery body includes a lifting device; and

[0028] The lifting device as described in the second aspect or the controller as described in the third aspect.

[0029] In the aforementioned engineering machinery and its lifting device control method, device, and controller, during the control of the lifting device's movement, a preset first distance between the lifting device's deceleration zone contour and an obstacle, and a preset second distance between the lifting device's core area contour and an obstacle are determined. When the first distance is greater than or equal to a preset distance threshold, the lifting device's movement speed is adjusted based on the magnitude of the first distance; when the first distance is less than the preset distance threshold, the lifting device's movement speed is adjusted based on the magnitude of the second distance. The lifting device's deceleration zone contour is obtained by expanding the lifting device's contour by a first preset dimension, and the lifting device's core area contour is obtained by contracting the lifting device's contour by a second preset dimension. This configuration allows for precise control of the lifting device by adjusting its movement speed according to the first and second distances when the lifting device is in different operating states, ensuring safety during the lifting process and improving operational efficiency. Attached Figure Description

[0030] Figure 1 This is a flowchart illustrating a lifting device control method for construction machinery according to one embodiment of this application;

[0031] Figure 2 This is a schematic diagram illustrating the principle of the spreader control process in one embodiment of this application;

[0032] Figure 3 This is a schematic diagram of the structure of a lifting device for construction machinery in one embodiment of this application. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0034] Summary of the application

[0035] During hoisting operations using construction machinery, it is essential to precisely control the direction and speed of the lifting equipment to prevent collisions with cargo or obstacles. This precise control is particularly crucial in scenarios involving large quantities of cargo piled up close together or complex obstacles.

[0036] Taking quay cranes as an example, current solutions typically utilize a ship-shaped scanning system to scan the outline of the hull and the containers on board for positioning and measurement. This guides the trolley and spreader to operate safely, avoiding collisions. Specifically, during the control of the trolley and spreader's movement, the distance between the spreader and obstacles is continuously calculated. When the distance between the spreader and obstacles decreases to a specific value, the speed of the trolley and spreader is limited. This means the spreader is controlled to operate at a lower speed, allowing more time to detect whether continued movement might lead to a collision, and to adjust the spreader's movement more promptly if a collision is detected.

[0037] However, the inventors of this invention have found in practical applications that in scenarios such as adjacent container stacking operations and bottom hold operations, due to the dense stacking of containers and the close proximity of surrounding obstacles such as ship hulls, there are unreasonable speed limits, which affect the efficiency of operations.

[0038] To address the aforementioned problems, this application provides a solution that enables more precise control of the spreading equipment, preventing collisions with obstacles and avoiding operational inefficiencies caused by unreasonable speed limits. The following exemplary embodiments provide a non-limiting description of the specific implementation scheme.

[0039] Exemplary method

[0040] Please see Figure 1 , Figure 1This is a flowchart illustrating a lifting device control method for construction machinery according to one embodiment of this application. The method controls the movement of the lifting device during lifting operations to prevent collisions and ensure high operational efficiency. This method can be executed by a controller, which can be installed on the construction machinery. The controller can be the same device as the main controller of the construction machinery, or it can be a separate controller from the main controller. More specifically, it can be a Programmable Logic Controller (PLC).

[0041] like Figure 1 As shown, the method specifically includes the following steps:

[0042] Step S101: During the control of the spreader's movement, determine the preset first distance between the spreader's deceleration zone contour and the obstacle, and the preset second distance between the spreader's core area contour and the obstacle. The spreader's deceleration zone contour is obtained based on a first preset dimension of outward expansion of the spreader's contour, and the spreader's core area contour is obtained based on a second preset dimension of inward contraction of the spreader's contour.

[0043] First, it should be noted that in this embodiment, obstacles refer to all objects that may collide with the lifting equipment during the lifting operation. Taking the lifting operation of a quay crane as an example, obstacles include, but are not limited to, stacked containers and ship hulls.

[0044] Furthermore, since the detection equipment used to measure the position and distance of the lifting device and obstacles inevitably has detection errors, in order to improve safety and better avoid collisions between the lifting device and obstacles, refer to... Figure 2 As shown, in this embodiment, based on the outline C0 of the spreader, a deceleration zone outline C1 with a first predetermined size is pre-set. This allows the spreader's deceleration zone outline C1 to replace the spreader's main outline C0 when calculating the distance between the spreader and the barrier, effectively reserving a certain safety space to better avoid collisions. The specific value of the first predetermined size can be set according to actual needs. To further improve safety, it is recommended that the specific value of the first predetermined size be greater than or equal to the detection accuracy of the detection equipment, for example, 1.2 to 1.5 times the detection accuracy. For example, if the precision measurement error of the detection equipment is ±10cm, then the detection accuracy is 20cm, and correspondingly, the first predetermined size can be approximately 30cm. The detection equipment refers to a device that detects the position or distance information of the spreader and the barrier, such as a ship-type scanning system.

[0045] Meanwhile, considering that misjudgments may occur when using the deceleration zone contour C1 of the spreader to replace the contour C0 of the spreader body to determine whether a collision will occur, and consequently, unreasonable speed limits may result when speed control is applied based on this, thus affecting work efficiency. Therefore, in this embodiment, referring to... Figure 2 As shown, in this embodiment, based on the outline C0 of the spreader, a core area outline C2 of the spreader with a second predetermined size is pre-set. This allows the spreader's deceleration zone outline C2 to replace the spreader's body outline C0 when calculating the distance between the spreader and obstacles, thereby avoiding a decrease in work efficiency caused by unreasonable speed limits. The specific value of the second predetermined size can also be set according to actual needs. Generally, to reduce the impact of detection errors, the specific value of the first predetermined size is recommended to be greater than or equal to the detection accuracy of the detection equipment, for example, it can be 1.2 to 1.5 times the detection accuracy. For example, if the detection accuracy of the detection equipment is 20cm, the corresponding second predetermined size can be approximately 30cm.

[0046] In some embodiments, step S101, which determines the first distance between the preset deceleration zone outline and the obstacle, and the second distance between the preset core area outline and the obstacle, specifically includes: determining the minimum distance from the preset deceleration zone outline to the first obstacle in the current direction of movement of the spreader, thus obtaining the first distance; wherein the first obstacle is an obstacle that overlaps with the deceleration zone outline along the current path of movement of the spreader; and determining the minimum distance from the preset core area outline to the second obstacle in the current direction of movement of the spreader, thus obtaining the second distance; wherein the second obstacle is an obstacle that overlaps with the core area outline along the current path of movement of the spreader.

[0047] Specifically, since one of the objectives of this invention is to avoid collisions between the spreader and obstacles, the calculation of the first distance from the spreader's deceleration zone contour to the obstacle is based on a first obstacle that overlaps with the spreader's deceleration zone contour along the spreader's current movement path. Here, the first obstacle refers to an obstacle that, as the spreader continues to move in the current direction of movement, will eventually overlap with the spreader's deceleration zone contour, or in other words, an obstacle that will "collide" with the spreader's deceleration zone contour. Figure 2 Taking the scenario shown as an example, assuming the spreader continuously descends, the outline of the spreader's deceleration zone will eventually "collide" with both the right-side obstacle (Barrier 1) and the lower obstacle (Barrier 2). Therefore, in this scenario, both the right-side obstacle (Barrier 1) and the lower obstacle (Barrier 2) are part of the first obstacle. Based on this, the minimum distance from the spreader's deceleration zone outline to the first obstacle in the spreader's current direction of movement can be calculated, thus obtaining the first distance. Figure 2In the scenario shown, since the distance between the right-side obstacle Barrier1 and the outline of the spreader deceleration zone is relatively smaller than that between the lower obstacle Barrier2, the first distance corresponds to the distance between the outline of the spreader deceleration zone and the right-side obstacle Barrier1.

[0048] It should be noted that, for ease of practical application, in some embodiments, when calculating the first distance, it is preferable to calculate the distance between the two surfaces of the first obstacle and the deceleration zone contour of the spreader when the spreader moves in the current direction of motion, for example, using... Figure 2 Taking the scenario shown as an example, during the descent of the spreader, the lower surface of the spreader's deceleration zone contour may come into contact with the upper surface of the right-side obstacle, Barrier 1. Therefore, the first distance could be the distance between the lower surface of the spreader's deceleration zone contour and the upper surface of the right-side obstacle, Barrier 1. Figure 2 The distance L1 when the lifting device is in the first position.

[0049] In addition, it should be noted that, Figure 2 For ease of illustration, the side views of both the lifting device and the obstacle are shown as rectangles. However, in reality, the lifting device and the obstacle may not be regular shapes. Therefore, in practice, the distances between the overlapping parts of the lifting device and the first obstacle can be calculated, and the minimum value can be determined as the first distance. Additionally, it can be understood that... Figure 2 To facilitate the illustration of the deceleration zone and core area outlines of the spreader, the dimensions and proportions of these parts relative to the spreader's overall outline have been adjusted. In practice, however, the dimensions and proportions of these parts may not necessarily match the actual dimensions and proportions of the spreader. Figure 2 Completely consistent.

[0050] Furthermore, similar to the aforementioned embodiments, the second obstacle refers to an obstacle that, as the spreader continues to move along its current direction of motion, will eventually overlap with the outline of the spreader's core area, or in other words, an obstacle that will "collide" with the outline of the spreader's core area. Figure 2 Taking the scenario shown as an example, the lower obstacle Barrier2 is the second obstacle, while the right obstacle Barrier1 is not. Based on this, the minimum distance from the core area contour of the spreader to the second obstacle can be calculated in the current direction of movement of the spreader, thus obtaining the second distance. Figure 2 In the scenario shown, the second distance corresponds to, for example, the distance L2 between the core area outline of the spreader and the barrier Barrier2 below when the spreader is in the first position.

[0051] In addition, in some embodiments, the specific steps of determining the first distance and the second distance in step S101 may include: obtaining the position information generated after the laser scanning system scans the lifting device and the obstacle; and determining the first distance between the preset lifting device deceleration zone outline and the obstacle and the second distance between the preset lifting device core area outline and the obstacle based on the position information.

[0052] Specifically, in practice, taking a quay crane as an example, laser scanning equipment such as a ship-shaped scanning system can be used to scan the outline of the spreader and obstacles to obtain a large amount of point cloud data, thereby generating the position information of the spreader and obstacles, that is, determining the actual position of the spreader and obstacles. Based on this, the first distance between the outline of the spreader deceleration zone and the obstacle and the second distance between the outline of the spreader core area and the obstacle can be calculated.

[0053] Furthermore, taking a quay crane as an example, the movement direction of the spreader includes both horizontal and vertical directions. Specifically, the horizontal movement of the spreader is controlled by controlling the forward and backward movement of the trolley, and the vertical movement is controlled by controlling the raising and lowering of the spreader. Based on this, in some embodiments, specific movement directions can be preset as positive directions. For example, the forward movement of the trolley from the driver's perspective can be set as the positive direction for the horizontal direction, and the lowering of the spreader as the positive direction for the vertical direction. This facilitates data storage and actual calculations.

[0054] Step S102: If the first distance is greater than or equal to a preset distance threshold, the movement speed of the spreader is adjusted based on the magnitude of the first distance; if the first distance is less than the preset distance threshold, the movement speed of the spreader is adjusted based on the magnitude of the second distance; wherein, the movement speed of the spreader is positively correlated with the first distance and positively correlated with the second distance.

[0055] Specifically, according to Figure 2 As can be seen, since the size of the core area outline of the spreader is smaller than the size of the deceleration zone outline, if a collision is possible, the deceleration zone outline will inevitably collide with the obstacle before the core area outline. Therefore, when the first distance is greater than or equal to a preset distance threshold, the spreader's speed is adjusted based on the magnitude of the first distance. As the first distance between the deceleration zone outline and the obstacle decreases, the spreader's speed also decreases, better ensuring that the spreader will not collide with obstacles close to the deceleration zone outline. When the first distance is less than the preset distance threshold, i.e., when the first distance is small, it indicates that it can be determined that the spreader will not collide with obstacles close to the deceleration zone outline. Therefore, the spreader's speed can be adjusted based on the magnitude of the second distance. Since the value of the second distance is relatively large, the speed limit on the spreader can be reduced to a certain extent, increasing the spreader's speed and improving operational efficiency.

[0056] In some embodiments, the preset distance threshold is less than or equal to zero. Specifically, when the first distance decreases to zero, it indicates that the outline of the spreader's deceleration zone overlaps with the obstacle. In this case, if the spreader does not actually contact the obstacle, it will still not contact the obstacle as it continues to descend. Therefore, the speed of the spreader can be limited based on the magnitude of the second distance.

[0057] To further ensure safety, preferably, the absolute value of the preset distance threshold is greater than or equal to the sum of the first set size and the detection accuracy of the detection device. For example, assuming the detection accuracy of the detection device is 20cm and the first set size is 30cm, the preset distance threshold can be 50cm or higher. This better avoids the impact of detection errors and better ensures safety.

[0058] Furthermore, in some embodiments, when adjusting the speed of the spreader based on the magnitude of the first distance, the speed of the spreader can be controlled to be positively correlated with the magnitude of the first distance; that is, the smaller the first distance, the smaller the speed of the spreader, which is more conducive to timely control of the spreader. Similarly, when adjusting the speed of the spreader based on the magnitude of the second distance, the speed of the spreader can also be controlled to be positively correlated with the magnitude of the second distance; that is, the smaller the second distance, the smaller the speed of the spreader.

[0059] In some embodiments, adjusting the speed of the lifting device based on the magnitude of the first distance in step S102 may specifically include: adjusting the speed of the lifting device based on the distance range in which the first distance is located; at the same time, adjusting the speed of the lifting device based on the magnitude of the second distance in step S102 may include: adjusting the speed of the lifting device based on the distance range in which the second distance is located.

[0060] Specifically, in actual operation, the control equipment typically determines the first and second distances within millimeters. During this time, the actual movement distance of the spreader is very small, far less than its maximum operating range. Therefore, if the spreader speed is adjusted every time the first and second distances are determined, the number of adjustments throughout the process will be very large, making the adjustment process extremely cumbersome. Based on this, in this embodiment, multiple distance intervals can be pre-divided and speed limits can be set for each interval. When the first distance (or second distance) falls within the corresponding distance interval, the spreader's speed is limited to the speed limit corresponding to that interval. This effectively reduces the number of adjustments without affecting the safe control of the spreader.

[0061] For example, in some embodiments, the distance ranges are set to (-∞, 3), [3, 4), [4, 5)...[8, 9), [9, 10), [10, 11), and [11, +∞), in meters (m). When the actual distance is in [11, +∞), no speed limit is applied; when the actual distance is in [10, 11), the speed limit is 90% of the maximum speed; when the actual distance is in [9, 10), the speed limit is 80% of the maximum speed, and so on. In this way, the speed of the spreader can be limited based on the actual distance between the spreader and the obstacle, reducing the frequency of speed adjustments and avoiding excessively frequent adjustments.

[0062] To better understand the solution of the present invention, in conjunction with Figure 2 A detailed explanation of the complete process of controlling the descent of the spreader is provided.

[0063] Reference Figure 2 When the spreader is in the first position, the first distance from the spreader's deceleration zone outline to the nearest obstacle is L1, and the second distance from the spreader's core area outline to the nearest obstacle is L2, both of which are positive values. As the spreader descends, the first and second distances gradually decrease from L1 and L2, respectively. To better avoid collisions, during this process, it is periodically determined whether the first distance is less than or equal to a certain threshold. When the first distance is less than or equal to this threshold, the descent speed of the spreader is periodically reduced (speed limit) based on the real-time value of the first distance.

[0064] Until the spreader descends to the second position, the first distance decreases from L1 to L1′, and because the lower surface of the spreader's deceleration zone contour is below the upper surface of the right-side obstacle Barrier 1, L1′ is a negative value; while the second distance changes from L2 to L2′, and L2′ remains a positive value. Furthermore, according to... Exemplary apparatus As can be seen, although the outline of the spreader's deceleration zone overlaps with the right-side obstacle Barrier 1, the spreader does not actually collide with Barrier 1. In other words, Barrier 1 does not actually affect the spreader's descent. Therefore, it can be assumed that the first distance is less than the preset distance threshold (in this example, the preset distance threshold is negative). Thus, the descent speed of the spreader can be adjusted based on the second distance instead of the first distance. Furthermore, when starting descent from the second position, since the second distance L2′ is large (meaning the spreader is still far from the lower obstacle Barrier 2), the descent speed of the spreader can be controlled to descend rapidly at a higher speed, thereby shortening the time it takes for the spreader to reach the target position and improving efficiency.

[0065] When the spreader descends to the third position, the first distance changes from L1′ to L1″, and L1″ is negative. The second distance changes to L2″, and L2″ remains positive. Since L2″ is still relatively large, the spreader continues to descend at a relatively high speed (without speed limit). As the spreader continues to descend, L2″ gradually decreases. To better avoid collisions, during this process, it is periodically checked whether the second distance is less than or equal to the corresponding threshold. When the second distance is less than or equal to the corresponding threshold, the descent speed of the spreader is gradually reduced based on the real-time value of the second distance (speed limit) until the spreader reaches the target position, at which point the spreader stops descending.

[0066] As can be seen, the above-described solution of the present invention can precisely control the movement of the lifting equipment, thereby ensuring safety during the lifting process and guaranteeing high operational efficiency.

[0067] Understandably, although attached Figure 3 The above embodiments all use the descent of the lifting device as an example for illustration, but this should not be regarded as a limitation of the present invention. In fact, the solution of the present invention can also be applied to scenarios where the lifting device is controlled to move in other directions (such as moving forward and backward). The principle is the same as the solution in the foregoing embodiments, so various situations will not be described one by one here.

[0068] Figure 3

[0069] In one embodiment, such as Exemplary controller As shown, a lifting device for construction machinery is provided. The device includes: a determining module 31, a first control module 32, and a second control module 33; wherein:

[0070] The determining module 31 is used to determine a first distance between the preset deceleration zone outline of the spreader and the obstacle and a second distance between the preset core area outline of the spreader and the obstacle during the control of the spreader's movement; wherein, the deceleration zone outline of the spreader is obtained based on the first preset dimension of the spreader's outline being expanded outward, and the core area outline of the spreader is obtained based on the second preset dimension of the spreader's outline being contracted inward.

[0071] The first control module 32 is used to adjust the movement speed of the spreader based on the magnitude of the first distance if the first distance is greater than or equal to a preset distance threshold.

[0072] The second control module 33 is used to adjust the movement speed of the lifting device based on the size of the second distance if the first distance is less than a preset distance threshold.

[0073] In one embodiment, such as Exemplary engineering machineAs shown, the determining module 31 is specifically used to: determine the minimum distance from the preset deceleration zone outline of the spreader to the first obstacle in the current direction of movement of the spreader, and obtain a first distance; wherein the first obstacle is an obstacle that overlaps with the deceleration zone outline of the spreader along the current direction of movement of the spreader; and determine the minimum distance from the preset core area outline of the spreader to the second obstacle in the current direction of movement of the spreader, and obtain a second distance; wherein the second obstacle is an obstacle that overlaps with the core area outline of the spreader along the current direction of movement of the spreader.

[0074] In one embodiment, the determining module 31 is specifically used to: acquire position information generated after the laser scanning system scans the lifting device and the obstacle; and determine a first distance between the preset lifting device deceleration zone outline and the obstacle and a second distance between the preset lifting device core area outline and the obstacle based on the position information.

[0075] In one embodiment, the first control module 32 is specifically used to: adjust the speed of the spreader based on the distance range in which the first distance is located; the second control module 33 is specifically used to: adjust the speed of the spreader based on the distance range in which the second distance is located.

[0076] In one embodiment, the first set size is greater than or equal to the detection accuracy of the detection device, and / or, the second set size is greater than or equal to the detection accuracy of the detection device.

[0077] In one embodiment, the preset distance threshold is less than or equal to zero.

[0078] In one embodiment, the first set size is greater than or equal to the detection accuracy of the detection device, the preset distance threshold is less than zero, and the absolute value of the preset distance threshold is greater than or equal to the sum of the first set size and the detection accuracy.

[0079] Specific limitations regarding the lifting device control system for construction machinery can be found in the above description of the lifting control methods for construction machinery, and will not be repeated here. Each module in the aforementioned lifting device control system for construction machinery can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0080] Exemplary computer program product and computer readable storage medium

[0081] In one embodiment, a controller is provided, which includes a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the steps of the lifting control method for construction machinery as described in any of the above exemplary methods.

[0082] ​

[0083] In one embodiment, a construction machinery is provided, comprising: a construction machinery body and a lifting device or controller as described in the foregoing embodiments. The construction machinery body includes a lifting device.

[0084] ​

[0085] In one embodiment, a computer program product is provided, which includes computer program instructions that, when executed by a processor, cause the processor to perform the steps in the lifting control method for construction machinery according to various embodiments of this application as described in the exemplary method section above.

[0086] Computer program products can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the device or as a standalone software package.

[0087] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the various steps of the lifting control method for construction machinery shown in the exemplary method sections above.

[0088] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0089] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0090] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for controlling the lifting device of engineering machinery, characterized in that, include: During the control of the spreader's movement, a preset first distance between the spreader's deceleration zone outline and an obstacle, and a preset second distance between the spreader's core area outline and an obstacle are determined; wherein, the spreader's deceleration zone outline is obtained based on an outward expansion of the spreader's outline by a first preset dimension, and the spreader's core area outline is obtained based on an inward contraction of the spreader's outline by a second preset dimension; the first distance is the minimum distance from the preset spreader's deceleration zone outline to the first obstacle in the current direction of the spreader's movement, and the second distance is the minimum distance from the preset spreader's core area outline to the second obstacle in the current direction of the spreader's movement; wherein, the first obstacle is an obstacle that overlaps with the spreader's deceleration zone outline along the current path of the spreader, and the second obstacle is an obstacle that overlaps with the spreader's core area outline along the current path of the spreader; If the first distance is greater than or equal to a preset distance threshold, the movement speed of the lifting device is adjusted based on the magnitude of the first distance; if the preset distance threshold is less than or equal to zero, and the lifting device does not actually contact the obstacle when the first distance decreases to zero, the lifting device is controlled to continue descending. If the first distance is less than the preset distance threshold, the movement speed of the lifting device is adjusted based on the magnitude of the second distance to reduce the speed limit on the lifting device and increase the movement speed of the lifting device.

2. The lifting device control method according to claim 1, characterized in that, Determining the preset first distance between the outline of the spreader deceleration zone and the obstacle, and the preset second distance between the outline of the spreader core zone and the obstacle, includes: Acquire the position information generated by the laser scanning system after scanning the lifting device and obstacles; Based on the location information, a first distance between the preset deceleration zone outline of the spreader and the obstacle, and a second distance between the preset core area outline of the spreader and the obstacle are determined.

3. The lifting device control method according to claim 1, characterized in that, The adjustment of the lifting speed based on the magnitude of the first distance includes: The speed of the lifting device is adjusted based on the distance range in which the first distance is located; The adjustment of the lifting speed based on the magnitude of the second distance includes: The speed of the lifting device is adjusted based on the distance range in which the second distance is located.

4. The lifting device control method according to claim 1, characterized in that, The first set size is greater than or equal to the detection accuracy of the detection device, and / or the second set size is greater than or equal to the detection accuracy of the detection device.

5. The lifting device control method according to claim 1, characterized in that, The first set size is greater than or equal to the detection accuracy of the detection device, the preset distance threshold is less than zero, and the absolute value of the preset distance threshold is greater than or equal to the sum of the first set size and the detection accuracy.

6. A lifting device for engineering machinery, characterized in that, include: A determining module is used to determine, during the control of the spreader's movement, a preset first distance between the spreader's deceleration zone outline and an obstacle, and a preset second distance between the spreader's core area outline and an obstacle; wherein, the spreader's deceleration zone outline is obtained based on an outward expansion of the spreader's outline by a first preset dimension, and the spreader's core area outline is obtained based on an inward contraction of the spreader's outline by a second preset dimension; the first distance is the minimum distance from the preset spreader's deceleration zone outline to the first obstacle in the current direction of the spreader's movement, and the second distance is the minimum distance from the preset spreader's core area outline to the second obstacle in the current direction of the spreader's movement; wherein, the first obstacle is an obstacle that overlaps with the spreader's deceleration zone outline along the current path of the spreader, and the second obstacle is an obstacle that overlaps with the spreader's core area outline along the current path of the spreader; The first control module is used to adjust the movement speed of the lifting device based on the magnitude of the first distance if the first distance is greater than or equal to a preset distance threshold; if the preset distance threshold is less than or equal to zero, and the lifting device does not actually contact the obstacle when the first distance decreases to zero, the module controls the lifting device to continue descending. The second control module is used to adjust the movement speed of the lifting device based on the magnitude of the second distance if the first distance is less than the preset distance threshold, thereby reducing the speed limit on the lifting device and increasing the movement speed of the lifting device.

7. A controller comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the lifting control method for the engineering machinery according to any one of claims 1 to 5.

8. An engineering machinery, characterized in that, include: The construction machinery body includes a lifting device; and The lifting device as described in claim 6 or the controller as described in claim 7.

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