Arm pin control method, system, device and crane

Abstract

The application provides an arm pin control method, system, device and crane. The target arm pin and the target arm pin hole are determined, the length of the telescopic oil cylinder is obtained, the speed of the telescopic oil cylinder driving the target arm pin to move is controlled based on the deviation between the length of the target telescopic oil cylinder and the real-time telescopic oil cylinder length, and the target arm pin is released when the target arm pin is aligned with the target arm pin hole, so that the target arm pin is inserted into the target arm pin hole. Since the speed of the target arm pin is positively correlated with the above-mentioned deviation, when the speed of the telescopic oil cylinder driving the target arm pin to move is controlled based on the deviation, the effect of controlling the target arm pin to decelerate as the deviation decreases can be achieved. Thus, the target arm pin is released when the target arm pin is aligned with the target arm pin hole, the target arm pin can be released when the speed of the target arm pin is low, the target arm pin can be inserted at a fixed point, the situation of a large impact when the target arm pin is released can be avoided, noise can be reduced, and mechanical damage can be avoided.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, specifically to a boom pin control method, system, device, and crane. Background Technology

[0002] Crane boom extension systems mainly come in two forms: double-cylinder rope system and single-cylinder pin system. To avoid the boom pin missing its designated hole position during release, preventing it from being inserted into the corresponding hole, single-cylinder pin system cranes typically release the boom pin before it reaches the designated hole position, allowing it to slide close to the adjacent outer boom section wall. When the boom pin aligns with the designated hole, the boom pin spring directly presses it into the hole. At this point, the boom pin is fully released, completing the insertion action, and the extension cylinder stops moving.

[0003] However, if the arm pin is released prematurely, it will slide a certain distance against the boom during its movement before reaching the designated arm pin hole. When the arm pin finally reaches the designated hole, it will spring out under the action of the arm pin spring and insert into the hole, which can easily cause friction and impact. Therefore, the premature release of the arm pin before its insertion into the designated hole can generate significant noise and even mechanical damage. Summary of the Invention

[0004] Based on the defects and deficiencies of the prior art, this application proposes a boom pin control method, system, device and crane, which can control the target boom pin to decelerate as the deviation between the target telescopic cylinder length and the real-time telescopic cylinder decreases, and release the target boom pin when the target boom pin is aligned with the target boom pin hole, so as to achieve the fixed-point insertion of the target boom pin and avoid the situation of premature release of the boom pin causing large noise or even mechanical damage.

[0005] According to a first aspect of the embodiments of this application, a method for controlling an arm pin is provided, comprising:

[0006] Determine the target arm pin and the target arm pin hole, wherein the target arm pin hole is the arm pin hole on the adjacent outer arm of the arm segment where the target arm pin is located;

[0007] Obtain the target telescopic cylinder length, which is the length of the telescopic cylinder when the target arm pin can be inserted into the target arm pin hole;

[0008] Based on the deviation between the target telescopic cylinder length and the real-time telescopic cylinder length, the speed at which the telescopic cylinder drives the target arm pin to move is controlled, and when the target arm pin is aligned with the target arm pin hole, the target arm pin is released so that the target arm pin is inserted into the target arm pin hole, wherein the speed at which the target arm pin moves is positively correlated with the deviation.

[0009] According to a second aspect of the embodiments of this application, an arm pin control device is provided, comprising:

[0010] The determination module is used to determine the target arm pin and the target arm pin hole, wherein the target arm pin hole is the arm pin hole on the adjacent outer arm of the arm segment where the target arm pin is located;

[0011] The acquisition module is used to acquire the length of the target telescopic cylinder, wherein the length of the target telescopic cylinder is the length of the telescopic cylinder when the target arm pin can be inserted into the target arm pin hole;

[0012] The control module is used to control the speed at which the telescopic cylinder drives the target arm pin to move based on the deviation between the target telescopic cylinder length and the real-time telescopic cylinder length, and to release the target arm pin when the target arm pin is aligned with the target arm pin hole, so that the target arm pin is inserted into the target arm pin hole.

[0013] The speed at which the target arm pin moves is positively correlated with the deviation.

[0014] According to a third aspect of the embodiments of this application, a boom pin control system is provided, the system including a plurality of boom segments, a telescopic cylinder, a telescopic proportional solenoid valve, a rod-cavity telescopic proportional solenoid valve, and a controller;

[0015] The controller is used to determine the target arm pin and the target arm pin hole, wherein the target arm pin hole is the arm pin hole on the adjacent outer arm of the arm segment where the target arm pin is located;

[0016] The telescopic cylinder is connected to the segment of the arm where the target arm pin is located, and is used to drive the target arm pin to move;

[0017] The controller is also used to obtain the target telescopic cylinder length, which is the length of the telescopic cylinder when the target arm pin can be inserted into the target arm pin hole;

[0018] The telescopic proportional solenoid valve and the rod-cavity telescopic proportional solenoid valve are used to control the speed at which the telescopic cylinder drives the target arm pin to move; the opening accuracy of the telescopic proportional solenoid valve is lower than that of the rod-cavity telescopic proportional solenoid valve.

[0019] The controller is also used to control the speed at which the telescopic cylinder drives the target arm pin to move based on the deviation between the target telescopic cylinder length and the real-time telescopic cylinder length, through the telescopic proportional solenoid valve and the rod-cavity telescopic proportional solenoid valve, and to release the target arm pin when the target arm pin is aligned with the target arm pin hole, so that the target arm pin is inserted into the target arm pin hole.

[0020] The speed at which the target arm pin moves is positively correlated with the deviation.

[0021] According to a fourth aspect of the embodiments of this application, an electronic device is provided, including a memory and a processor;

[0022] The memory is connected to the processor and is used to store programs;

[0023] The processor is used to implement the arm pin control method as described in the first aspect by running the program in the memory.

[0024] According to a fifth aspect of the embodiments of this application, a storage medium is provided, on which a computer program is stored, and when the computer program is run by a processor, it implements the arm pin control method as described in the first aspect.

[0025] According to a sixth aspect of the embodiments of this application, a crane is provided, wherein the crane is provided with a boom pin control device as described in the second aspect, or a boom pin control system as described in the third aspect, or an electronic device as described in the fourth aspect.

[0026] In the aforementioned boom pin control method, system, device, and crane, the movement speed of the telescopic cylinder driving the target boom pin can be controlled based on the deviation between the target telescopic cylinder length (i.e., the length of the telescopic cylinder when the target boom pin can be inserted into the target boom pin hole) and the real-time telescopic cylinder length. The target boom pin is then released when it aligns with the target boom pin hole, allowing it to be inserted. Since the movement speed of the target boom pin is positively correlated with the deviation in the telescopic cylinder length, controlling the movement speed of the telescopic cylinder based on this deviation allows for deceleration of the target boom pin as the deviation decreases. Releasing the target boom pin when it aligns with the target boom pin hole ensures better precise insertion of the target boom pin, avoids significant impact during release, reduces noise, and prevents mechanical damage. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0028] Figure 1 This is a flowchart illustrating an arm pin control method according to an embodiment of this application;

[0029] Figure 2 This application provides a schematic diagram of the boom structure in a single-cylinder pin-type crane according to an embodiment of the present application.

[0030] Figure 3 This is a schematic diagram of the structure of an arm pin control device provided in an embodiment of this application;

[0031] Figure 4 This is a schematic diagram of the structure of an electronic device proposed in an embodiment of this application. Detailed Implementation

[0032] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0033] Overview

[0034] As described in the background section, to avoid the boom pin missing its designated hole position during release, single-cylinder pin-type cranes typically release the boom pin before it reaches the designated hole position. This allows the boom pin to slide close to the cylinder wall of the adjacent outer boom section. When the boom pin reaches the designated hole, the boom pin spring directly presses it into the hole. However, the boom pin sliding close to the adjacent outer boom section, and then popping out and inserting into the hole under the spring's action after reaching it, easily generates friction and impact, resulting in significant noise and even mechanical damage.

[0035] Building upon this foundation, the inventors further discovered that by determining the target arm pin and target arm pin hole, and obtaining the target telescopic cylinder length, the speed at which the telescopic cylinder moves the target arm pin is controlled based on the deviation between the target telescopic cylinder length and the real-time telescopic cylinder length. The target arm pin is then released when it aligns with the target arm pin hole, allowing it to insert into the hole. The speed at which the target arm pin moves is positively correlated with the deviation between the target telescopic cylinder length and the real-time telescopic cylinder length. Thus, when controlling the speed of the telescopic cylinder to move the target arm pin based on this deviation, the target arm pin can be decelerated as the deviation decreases. Releasing the target arm pin when it aligns with the target arm pin hole allows for precise release at a lower speed, achieving better precise insertion and avoiding excessive friction and impact during release, thereby reducing noise and preventing mechanical damage.

[0036] Based on the above concept, this specification provides an arm pin control method, which will be described exemplarily below with reference to the accompanying drawings.

[0037] Exemplary methods

[0038] Please see Figure 1 In one exemplary embodiment, a boom pin control method is provided, applied in a controller. This controller can acquire the length of a telescopic cylinder and control the speed at which the telescopic cylinder moves the boom pin. This method can be located on any electronic device. Figure 1 As shown, the arm pin control method includes steps S101-S103:

[0039] S101: Determine the target arm pin and the target arm pin hole.

[0040] The target arm pin is the arm pin on any arm segment except the outermost arm segment.

[0041] Specifically, the target arm pin is determined based on actual work requirements.

[0042] In addition, the target arm pin hole is the arm pin hole on the adjacent outer arm of the arm segment where the target arm pin is located.

[0043] Each arm section typically has multiple sets of arm pin holes, with each set containing multiple arm pin holes, and these multiple arm pin holes correspond one-to-one with the arm pins.

[0044] For example, taking a single-cylinder pin-type crane with 5 boom sections as an example, the structure of these 5 boom sections can be as follows: Figure 2 As shown. These five sections are section 1 to section 5. Each section has a set of cylinder pin holes for inserting cylinder pins. Each section has three sets of pin holes. Two pin holes on the same section that are vertically opposite each other form one set. The pin hole set furthest from the cylinder pin on the section is designated as the third set, the pin hole set closest to the cylinder pin is designated as the first set, and the pin hole set between the first and third sets is designated as the second set.

[0045] like Figure 2 As shown, the cylinder pin of the telescopic cylinder is inserted into the cylinder pin hole on section 2, the arm pin of section 1 is inserted into the second set of arm pin holes on section 2, the arm pin of section 2 is inserted into the second set of arm pin holes on section 3, the arm pin hole of section 3 is inserted into the first set of arm pin holes on section 4 (that is, the set of arm pin holes on section 4 closest to its upper cylinder pin hole), and the arm pin hole of section 4 is inserted into the first set of arm pin holes on section 5 (that is, the set of arm pin holes on section 5 closest to its upper cylinder pin hole). At this time, if the arm pin on section 2 is the target arm pin, then the second set of arm pin holes on section 3 is the target arm pin hole.

[0046] S102: Obtain the target telescopic cylinder length.

[0047] The target telescopic cylinder length is the length of the telescopic cylinder when the target arm pin can be inserted into the target arm pin hole.

[0048] For example, such as Figure 2 As shown, taking the arm pin on section arm 2 as the target arm pin and the second set of arm pin holes on section arm 3 as the target arm pin holes as an example, at this time... Figure 2 The length of the telescopic cylinder shown is the length of the telescopic cylinder when the target arm pin can be inserted into the target arm pin hole. This length is determined as the target telescopic cylinder length.

[0049] S103: Based on the deviation between the target telescopic cylinder length and the real-time telescopic cylinder length, control the speed at which the telescopic cylinder drives the target arm pin to move, and release the target arm pin when the target arm pin is aligned with the target arm pin hole, so that the target arm pin is inserted into the target arm pin hole.

[0050] Specifically, the moving speed of the target arm pin is positively correlated with the deviation between the target telescopic cylinder length and the real-time telescopic cylinder length; that is, the moving speed of the target arm pin is positively correlated with this deviation. In other words, the smaller this deviation, the slower the target arm pin moves.

[0051] Understandably, this deviation is obtained by comparing the target telescopic cylinder length with the real-time telescopic cylinder length; in other words, this deviation is a real-time deviation.

[0052] Optionally, when controlling the speed at which the telescopic cylinder drives the target arm pin to move based on the deviation between the target telescopic cylinder length and the real-time telescopic cylinder length, the target moving speed is first determined based on the deviation, and then the telescopic cylinder is controlled to drive the target arm pin to move at the target moving speed.

[0053] Specifically, based on the linear relationship between the deviation and the speed of the arm pin movement, the speed of the target arm pin movement under the deviation is calculated, and this speed is determined as the target movement speed. The telescopic cylinder is then controlled to drive the target arm pin to move at the target movement speed.

[0054] Alternatively, specifically, based on the correspondence between the deviation and the speed of the arm pin movement, the speed of the arm pin movement corresponding to the deviation is determined as the target movement speed, and the telescopic cylinder is controlled to drive the target arm pin to move at the target movement speed.

[0055] Specifically, the movement speed of the target arm pin driven by the telescopic cylinder can be controlled by controlling the extension and retraction speed of the telescopic cylinder.

[0056] More specifically, the extension and retraction speed of the telescopic cylinder can be controlled by controlling the opening degree of the telescopic proportional solenoid valve and the opening degree / current of the rod chamber telescopic proportional solenoid valve, thereby controlling the speed at which the telescopic cylinder drives the target arm pin to move, i.e., controlling the speed at which the target arm pin moves.

[0057] In this embodiment, after determining the target arm pin and the target arm pin hole, and obtaining the length of the target telescopic cylinder, the deviation between the target telescopic cylinder length (which is positively correlated with the movement speed of the target arm pin) and the real-time telescopic cylinder is used to control the speed at which the telescopic cylinder drives the target arm pin to move. When the target arm pin is aligned with the target arm pin hole, the arm pin is released to allow it to insert into the target arm pin hole. At this time, as the deviation decreases, the target arm pin can be decelerated. Thus, releasing the target arm pin when it is aligned with the target arm pin hole allows for precise release at a low movement speed, better achieving precise insertion of the target arm pin and avoiding significant friction and impact during release, reducing noise and preventing mechanical damage.

[0058] For example, such as Figure 2 As shown, the lengths of the telescopic cylinders corresponding to the insertion of the arm pins of different arm segments into different arm pin holes on adjacent outer arm segments are different. Therefore, the length of the telescopic cylinder corresponding to the target arm pin hole can be determined based on the lengths of the telescopic cylinders corresponding to the insertion of the arm pins of different arm segments into different arm pin holes on adjacent outer arm segments, i.e., the correspondence between the arm pin hole and the length of the telescopic cylinder.

[0059] In some embodiments, when obtaining the target telescopic cylinder length, the correspondence between the arm pin hole and the telescopic cylinder length is first obtained, and then the length of the telescopic cylinder corresponding to the target arm pin hole is determined as the target telescopic cylinder length based on the correspondence.

[0060] The correspondence between the arm pin hole and the length of the telescopic cylinder is used to characterize the length of the telescopic cylinder when the arm pin on each arm section can be inserted into each arm pin hole on the corresponding outer arm section.

[0061] The corresponding outer arm is the adjacent outer arm of the arm where the arm pin is located.

[0062] Specifically, the correspondence between the arm pin hole and the length of the telescopic cylinder is directly obtained from local storage.

[0063] For example, as described above Figure 2 For example, in this case, in the correspondence between the arm pin holes on section arm 2 and the lengths of the telescopic cylinders, the length of the telescopic cylinder corresponding to the first set of arm pin holes on section arm 2 is a1, the length of the telescopic cylinder corresponding to the second set of arm pin holes on section arm 2 is a2, and the length of the telescopic cylinder corresponding to the third set of arm pin holes on section arm 2 is a3. <a2<a3。

[0064] Alternatively, specifically, the correspondence between the arm pin hole and the length of the telescopic cylinder can be calibrated and stored locally. Due to process errors, the position of the arm pin hole may deviate. Therefore, for each arm pin hole, the correspondence between the arm pin hole and the length of the telescopic cylinder can be calibrated, that is, the length of the telescopic cylinder corresponding to each arm pin hole can be calibrated to obtain a more accurate correspondence between the arm pin hole and the length of the telescopic cylinder.

[0065] More specifically, when calibrating and storing the correspondence between the arm pin hole and the length of the telescopic cylinder, the correspondence between the arm pin hole and the length of the telescopic cylinder is directly calibrated and stored.

[0066] Alternatively, more specifically, when calibrating and locally storing the correspondence between the arm pin hole and the length of the telescopic cylinder, first obtain the lateral distance (i.e., the telescopic cylinder's extension / retraction direction) between the arm pin hole and the cylinder pin hole on its corresponding arm segment, calibrate the correspondence between the cylinder pin hole and the length of the telescopic cylinder, and then, based on this correspondence and the lateral distance between the arm pin hole and the cylinder pin hole on its corresponding arm segment, calibrate and store the correspondence between the arm pin hole and the length of the telescopic cylinder. Similarly, due to process errors, the location of the cylinder pin hole may deviate. Therefore, for each cylinder pin hole, calibrating the correspondence between the cylinder pin hole and the length of the telescopic cylinder—that is, calibrating the length of the telescopic cylinder corresponding to each cylinder pin hole—can yield a more accurate correspondence between the cylinder pin hole and the length of the telescopic cylinder.

[0067] The correspondence between the cylinder pin hole and the length of the telescopic cylinder is used to characterize the length when the telescopic cylinder pushes the cylinder pin into the cylinder pin hole on different sections of the arm.

[0068] For example, with Figure 2 For example, the length of the telescopic cylinder corresponding to the cylinder pin hole on the calibrated arm 2 is b1. At this time, the distances between the three sets of arm pin holes on the arm 2 and the cylinder pin holes on the arm 2 are b11, b12, and b13, respectively. Therefore, the correspondence between the three sets of arm pin holes on the arm 2 and the length of the telescopic cylinder can be calibrated as follows: the lengths of the telescopic cylinders corresponding to the three sets of arm pin holes on the arm 2 are b1+b11, b1+b12, and b1+b13, respectively.

[0069] In this embodiment, since the lengths of the telescopic cylinders corresponding to the insertion of the arm pins of different arm sections into different arm pin holes on adjacent outer arm sections are different, the length of the telescopic cylinder corresponding to the target arm pin hole can be determined more accurately based on the correspondence between the arm pin hole and the length of the telescopic cylinder. Thus, based on the deviation between the target telescopic cylinder length and the real-time telescopic cylinder length, the speed at which the telescopic cylinder drives the target arm pin to move can be controlled more accurately. This allows the telescopic cylinder to be controlled to decelerate the target arm pin when the deviation is reduced, thus achieving better fixed-point insertion of the target arm pin and avoiding large friction and impact when releasing the target arm pin, effectively reducing noise and avoiding mechanical damage.

[0070] In some embodiments, the speed at which the telescopic cylinder moves the target arm pin is controlled based on the deviation between the target telescopic cylinder length and the real-time telescopic cylinder length. When the target arm pin is aligned with the target arm pin hole, the target arm pin is released so that when the target arm pin is inserted into the target arm pin hole, the speed at which the telescopic cylinder moves the target arm pin is first controlled based on the deviation. At the same time, it is determined whether the target arm pin is aligned with the target arm pin hole. Then, based on whether the target arm pin is aligned with the target arm pin hole, it is controlled whether to release the target arm pin.

[0071] Specifically, when controlling whether to release the target arm pin based on whether the target arm pin is aligned with the target arm pin hole, if the target arm pin is aligned with the target arm pin hole, the target arm pin is released; if the target arm pin is not aligned with the target arm pin hole, the speed at which the telescopic cylinder moves the target arm pin is controlled based on the deviation between the length of the target telescopic cylinder and the length of the real-time telescopic cylinder, i.e., the target arm pin is not released.

[0072] Generally, the diameter of the arm pin hole is slightly larger than the diameter of the arm pin. Therefore, when the deviation between the target telescopic cylinder length and the real-time telescopic cylinder length is within the preset deviation range, the target arm pin can be inserted into the target arm pin hole.

[0073] Specifically, the alignment of the target arm pin with the target arm pin hole can be determined based on the target telescopic cylinder length and the real-time telescopic cylinder length.

[0074] More specifically, based on the relationship between the target telescopic cylinder length and the real-time telescopic cylinder length, it is determined whether the target arm pin is aligned with the target arm pin hole.

[0075] For example, if the target telescopic cylinder length is the same as the real-time telescopic cylinder length, then the target arm pin is determined to be aligned with the target arm pin hole; if the target telescopic cylinder length is greater than or less than the real-time telescopic cylinder length, then the target arm pin is determined to be misaligned with the target arm pin hole.

[0076] Alternatively, more specifically, the alignment of the target arm pin with the target arm pin hole is determined based on whether the absolute value of the deviation between the target telescopic cylinder length and the real-time telescopic cylinder length exceeds a preset deviation threshold.

[0077] If the absolute value of the deviation exceeds a preset deviation threshold, it is determined that the target arm pin is not aligned with the target arm pin hole; if the absolute value of the deviation does not exceed the preset deviation threshold, it is determined that the target arm pin is aligned with the target arm pin hole.

[0078] For example, taking a preset deviation threshold of 2mm as an example, if the target telescopic cylinder length is 1010mm, and the real-time telescopic cylinder length is less than 1008mm or greater than 1012mm, then it is determined that the target arm pin is not aligned with the target arm pin hole; if the real-time telescopic cylinder length is greater than or equal to 1008mm and less than or equal to 1012mm, then it is determined that the target arm pin is aligned with the target arm pin hole.

[0079] The preset deviation threshold can be determined based on the actual working conditions.

[0080] For example, the preset deviation threshold can also be, for example, 0 mm.

[0081] In this embodiment, the speed at which the telescopic cylinder moves the target arm pin is controlled based on the deviation between the target telescopic cylinder length and the real-time telescopic cylinder length. Simultaneously, it is determined whether the target arm pin is aligned with the target arm pin hole. If the target arm pin is not aligned, the speed at which the telescopic cylinder moves the target arm pin is controlled based on the deviation. When the target arm pin is aligned with the target arm pin hole, it is released. This ensures timely release of the target arm pin when it is aligned with the target arm pin hole, avoiding premature or delayed release, guaranteeing that the target arm pin can be inserted into the target arm pin hole, and reducing noise.

[0082] Since the diameter of the arm pin hole is usually slightly larger than the diameter of the arm pin, the length of the telescopic cylinder corresponding to the arm pin being able to be inserted into the same arm pin hole is a range of lengths. That is, the length of the telescopic cylinder corresponding to the arm pin being able to be inserted into the same arm pin hole includes the maximum length and the minimum length.

[0083] In some embodiments, the target telescopic cylinder length includes a maximum length and a minimum length, and based on the maximum length and minimum length, combined with the real-time telescopic cylinder length, it is determined whether the target arm pin is aligned with the target arm pin hole.

[0084] Optionally, the target telescopic cylinder length includes a maximum length and a minimum length. In this case, based on the maximum length and the minimum length, combined with the real-time telescopic cylinder length, it is determined whether the target arm pin is aligned with the target arm pin hole.

[0085] Specifically, based on the relationship between the maximum length, minimum length, and real-time telescopic length, it is determined whether the target arm pin is aligned with the target arm pin hole.

[0086] If the minimum length is greater than the length of the real-time telescopic cylinder, or the maximum length is less than the length of the real-time telescopic cylinder, then the target arm pin is determined to be misaligned with the target arm pin hole; if the minimum length is less than or equal to the length of the real-time telescopic cylinder, and the maximum length is greater than or equal to the length of the real-time telescopic cylinder, then the target arm pin is determined to be aligned with the target arm pin hole.

[0087] It is understandable that if the target pin is not aligned with the target pin hole, the target pin will be released and cannot be inserted into the target pin hole; if the target pin is aligned with the target pin hole, the target pin will be released and can be inserted into the target pin hole.

[0088] In this embodiment, since the diameter of the arm pin hole is generally slightly larger than the diameter of the arm pin, based on the relationship between the maximum and minimum values ​​of the target telescopic cylinder length corresponding to the target arm pin hole and the real-time telescopic cylinder length, it is possible to accurately determine whether the target arm pin is aligned with the target arm pin hole. In this way, the target arm pin can be released in time when it reaches the target arm pin hole, that is, when the target arm pin is aligned with the target arm pin hole, thus avoiding premature or delayed release of the arm pin and ensuring that the target arm pin can be inserted into the target arm pin hole, thereby reducing noise.

[0089] Since the size of the boom pins on each boom section of the same crane is usually fixed, and the size of the boom pin holes on each boom section is also generally fixed, the minimum length can be determined based on the maximum length, the fixed boom pin size, and the fixed boom pin hole size. Similarly, the maximum length can be determined based on the minimum length, the fixed boom pin size, and the fixed boom pin hole size. The size of the boom pin hole can be represented by its diameter, and the size of the boom pin can be represented by its diameter.

[0090] Therefore, in some embodiments, the target telescopic cylinder length includes a maximum length or a minimum length.

[0091] Optionally, when the target telescopic cylinder length includes the maximum length, the absolute value of the difference between the preset arm pin hole diameter and the preset arm pin diameter can be determined first as the target difference value. Then, based on the maximum length and the target difference value, combined with the real-time telescopic cylinder length, it can be determined whether the target arm pin is aligned with the target arm pin hole.

[0092] Specifically, based on the relationship between the maximum length, the target difference, and the real-time extension length, it is determined whether the target arm pin is aligned with the target arm pin hole.

[0093] More specifically, if the absolute value of the difference between the maximum length and the target value is greater than the real-time telescopic cylinder length, or the maximum length is less than the real-time telescopic cylinder length, then it is determined that the target arm pin is not aligned with the target arm pin hole; if the absolute value of the difference between the maximum length and the target value is less than or equal to the real-time telescopic cylinder length, and the maximum length is greater than or equal to the real-time telescopic cylinder length, then it is determined that the target arm pin is aligned with the target arm pin hole.

[0094] The minimum length is the absolute value of the difference between the maximum length and the preset diameter of the pin hole.

[0095] Alternatively, when the target telescopic cylinder length includes the minimum length, the absolute value of the difference between the preset arm pin hole diameter and the preset arm pin diameter can be determined as the target difference. Then, based on the minimum length and the target difference, combined with the real-time telescopic cylinder length, it can be determined whether the target arm pin can be inserted into the target arm pin hole.

[0096] Specifically, based on the relationship between the minimum length, the target difference, and the real-time extension length, it is determined whether the target arm pin is aligned with the target arm pin hole.

[0097] More specifically, if the minimum length is greater than the real-time telescopic cylinder length, or the sum of the differences between the minimum length and the target length is greater than the real-time telescopic cylinder length, then the target arm pin is determined to be misaligned with the target arm pin hole; if the minimum length is less than or equal to the real-time telescopic cylinder length, and the sum of the differences between the minimum length and the target length is greater than or equal to the real-time telescopic cylinder length, then the target arm pin is determined to be aligned with the target arm pin hole.

[0098] In this embodiment, since the diameter of the arm pin hole is generally slightly larger than the diameter of the arm pin, and the diameters of the arm pin and the arm pin hole are generally fixed, based on the maximum or minimum value of the target telescopic cylinder length corresponding to the target arm pin hole, combined with the fixed size of the arm pin hole and the size of the arm pin, it is possible to accurately determine whether the target arm pin is aligned with the target arm pin hole. In this way, the target arm pin can be released in time when it reaches the target arm pin hole, that is, when the target arm pin is aligned with the target arm pin hole, thus avoiding premature or delayed release of the target arm pin and ensuring that the target arm pin can be inserted into the target arm pin hole, thereby reducing noise.

[0099] In some embodiments, when controlling the speed at which the telescopic cylinder drives the target arm pin to move based on the deviation, the speed at which the telescopic cylinder drives the arm pin to move corresponding to the deviation level can be determined as the target moving speed based on the correspondence between each deviation level and the speed at which the telescopic cylinder drives the arm pin to move, and the speed at which the telescopic cylinder drives the target arm pin to move is controlled as the target moving speed.

[0100] The various deviation levels are determined based on the magnitude of the deviation.

[0101] Specifically, when the target arm pin length includes the minimum length, the above deviation is the deviation between the minimum length and the real-time telescopic cylinder length.

[0102] Since this deviation is positively correlated with the speed at which the telescopic cylinder moves the target arm pin, the smaller the deviation, the smaller the speed at which the telescopic cylinder moves the target arm pin corresponding to the deviation level of this deviation.

[0103] For example, based on a first preset deviation and a second preset deviation, the deviation is divided into three deviation levels, including first to third deviation levels. The first preset deviation is greater than the second preset deviation. If the deviation is greater than the first preset deviation, it is at the first deviation level, and the speed at which the telescopic cylinder moves the arm pin corresponding to the first deviation level is v1. If the deviation is less than or equal to the first preset deviation, and greater than or equal to the second preset deviation, it is at the second deviation level, and the speed at which the telescopic cylinder moves the arm pin corresponding to the second deviation level is v2. If the deviation is less than the second preset deviation, it is at the second deviation level, and the speed at which the telescopic cylinder moves the arm pin corresponding to the second deviation level is v3. Wherein, v1 > v2 > v3.

[0104] Among them, the speed at which the telescopic cylinder drives the arm pin to move, corresponding to the deviation level with smaller deviation, can be determined based on the speed at which the telescopic cylinder drives the arm pin to move, corresponding to the adjacent deviation level with larger deviation.

[0105] For example, the deviations of the first to third deviation levels gradually decrease. The telescopic cylinder corresponding to the first deviation level drives the arm pin to move at 100% of the original speed of the arm pin. The telescopic cylinder corresponding to the second deviation level drives the arm pin to move at 50% of the original speed, that is, the telescopic cylinder corresponding to the first deviation level drives the arm pin to move at 50%. The telescopic cylinder corresponding to the third deviation level drives the arm pin to move at 20% of the original speed, that is, the telescopic cylinder corresponding to the second deviation level drives the arm pin to move at 40%.

[0106] For example, based on a first preset deviation and a second preset deviation, the deviation is divided into three deviation levels, including first to third deviation levels. The first preset deviation is greater than the second preset deviation. If the deviation is greater than the first preset deviation, it is at the first deviation level, and the speed at which the telescopic cylinder drives the arm pin to move is zero. In this case, the speed at which the telescopic cylinder drives the target arm pin is not controlled, and the target arm pin's movement speed (i.e., the speed at which the telescopic cylinder drives the target arm pin) remains the original movement speed v. If the deviation is less than or equal to the first preset deviation, and the deviation is greater than or equal to the second preset deviation, it is at the second deviation level, and the speed at which the telescopic cylinder drives the arm pin to move is v2. In this case, the target arm pin's movement speed is controlled to be v2. If the deviation is less than the second preset deviation, it is at the second deviation level, and the speed at which the telescopic cylinder drives the arm pin to move is v3. The target arm pin's movement speed is controlled to be v3. Where v > v2 > v3.

[0107] More specifically, the speed at which the telescopic cylinder drives the arm pin to move corresponds to the opening degree / current of the telescopic proportional solenoid valve and the opening degree / current of the rod-side telescopic proportional solenoid valve. After determining the target moving speed, based on the correspondence between the speed at which the telescopic cylinder drives the arm pin to move and the opening degree / current of the telescopic proportional solenoid valve and the rod-side telescopic proportional solenoid valve, the opening degree / current of the telescopic proportional solenoid valve and the rod-side telescopic proportional solenoid valve corresponding to the target moving speed are determined as the first and second target opening degrees / currents. The opening degree / current of the telescopic proportional solenoid valve and the rod-side telescopic proportional solenoid valve are controlled to be the first and second target opening degrees / currents, thereby controlling the telescopic cylinder to move the target arm pin at the target moving speed.

[0108] In this embodiment, by combining the correspondence between the various deviation levels obtained based on the magnitude of the deviation and the speed at which the telescopic cylinder drives the arm pin to move, the speed at which the telescopic cylinder drives the arm pin to move corresponding to the deviation level is determined as the target moving speed, and the speed at which the telescopic cylinder drives the target arm pin to move is controlled to be this target moving speed. Thus, as the deviation between the target telescopic cylinder length and the real-time telescopic cylinder length decreases, the speed at which the telescopic cylinder drives the target arm pin to move can be controlled to decrease step by step. This achieves the effect of controlling the target arm pin to slowly creep / move to the target arm pin hole when it is about to move to the target arm pin hole, i.e., when the target arm pin is about to align with the target arm pin hole, thereby achieving precise release of the target arm pin, achieving fixed-point release of the target arm pin, and greatly reducing noise.

[0109] When the target arm pin is released, if the real-time telescopic cylinder length is equal to the maximum or minimum length, meaning the target arm pin is released close to the inner wall / edge of the target arm pin hole, there may be significant friction between the target arm pin and the inside of the target arm pin hole, resulting in significant noise or mechanical damage. Furthermore, if there is a very small error in the maximum or minimum length or the real-time telescopic cylinder length, the telescopic cylinder may continue to extend or retract after the target arm pin is released, resulting in the target arm pin not being able to be accurately inserted into the target arm pin hole after release.

[0110] In order to ensure that the target arm pin can be smoothly inserted into the target arm pin hole, in some embodiments, after the target arm pin is released, the telescopic cylinder is controlled to stop its operation based on the maximum length, minimum length and real-time telescopic cylinder length.

[0111] Optionally, based on the maximum and minimum lengths and the real-time telescopic cylinder length, the target arm pin is determined to be fully aligned with the target arm pin hole. When the target arm pin is fully aligned with the target arm pin hole, the telescopic cylinder is controlled to stop moving. At this time, the target arm pin insertion is completed, that is, the target arm pin is successfully inserted into the target arm pin hole.

[0112] Specifically, if the minimum length is less than the length of the real-time telescopic cylinder and the maximum length is greater than the length of the real-time telescopic cylinder, then the target arm pin is determined to be fully aligned with the target arm pin hole, the telescopic cylinder is controlled to stop working, and the target arm pin insertion is completed.

[0113] Accordingly, if the minimum length is greater than or equal to the real-time telescopic cylinder length, or the maximum length is less than or equal to the real-time telescopic cylinder length, it is determined that the target arm pin is not fully aligned with the target arm pin hole, and the telescopic cylinder is controlled to continue operating.

[0114] In this embodiment, after releasing the target arm pin, if the minimum length of the target telescopic cylinder is less than the real-time telescopic cylinder length, and the maximum length of the target telescopic cylinder is greater than the real-time telescopic cylinder length, it can be determined that the target arm pin is completely aligned with the target arm pin hole. At this time, the telescopic cylinder is controlled to stop moving, and the target arm pin can be fully / precisely inserted into the target arm pin hole without being in close contact with the target arm pin hole / edge, avoiding friction and impact, reducing noise and avoiding mechanical damage.

[0115] In some embodiments, the target telescopic cylinder length includes a maximum length. When controlling the speed at which the telescopic cylinder moves the target arm pin based on the deviation between the target telescopic cylinder length and the real-time telescopic cylinder length, if the deviation between the maximum length and the real-time telescopic cylinder length is less than zero, that is, the maximum length is less than the real-time telescopic cylinder length, it indicates that the target arm pin has missed the target arm pin hole. The speed at which the telescopic cylinder moves the target arm pin is controlled to be less than zero, that is, the telescopic cylinder is controlled to move the target arm pin back, or in other words, the telescopic cylinder is controlled to retract.

[0116] In some embodiments, the target telescopic cylinder length includes a minimum length. When controlling the speed at which the telescopic cylinder moves the target arm pin based on the deviation between the target telescopic cylinder length and the real-time telescopic cylinder length, if the sum of the minimum length and the target difference is less than the deviation of the real-time telescopic cylinder length, it indicates that the target arm pin has missed the target arm pin hole. The speed at which the telescopic cylinder moves the target arm pin is controlled to be less than zero, that is, the telescopic cylinder is controlled to move the target arm pin back, or in other words, the telescopic cylinder is controlled to retract.

[0117] Thus, in these two embodiments, when the target arm pin misses the target arm pin hole, the speed at which the telescopic cylinder moves the target arm pin is less than zero, thereby controlling the telescopic cylinder to move the target arm pin back, so that the target arm pin can return to the position aligned with the target arm pin hole, achieving the effect of the target arm pin being accurately inserted into the target arm pin hole.

[0118] For example, when controlling the moving speed of the boom pin / the moving speed of the telescopic cylinder, the boom pin hole is first calibrated. Due to the process error of the boom, the size of the boom pin hole will deviate. Therefore, it is necessary to calibrate the hole position of each boom pin hole, record the maximum telescopic cylinder length Max when the boom pin is inserted into the hole and pushed to the bottom, and the minimum telescopic cylinder length Min when the boom pin is inserted into the hole and pushed to the bottom. Then, set the parameters, and set the current value / opening degree of each solenoid valve (i.e., telescopic proportional solenoid valve and rod-cavity telescopic proportional solenoid valve) during the first and second stage deceleration respectively. Next, the moving speed of the telescopic cylinder is controlled, and the length information of the telescopic cylinder (i.e., the real-time telescopic cylinder length mentioned above) is collected in real time. When the difference between the current / real-time telescopic cylinder length and the Min of the target arm pin hole is within L1mm, a first-level deceleration is performed. When the current / real-time telescopic cylinder length is exactly (or reaches) the Min of the target arm pin hole, a slower second-level deceleration is performed to achieve the creeping effect of the arm pin / arm section where the arm pin is located. At this time, the arm pin is released. When the arm pin is detected to be fully inserted, the telescopic cylinder action is stopped, and the arm pin hole insertion is completed.

[0119] Exemplary System

[0120] This application embodiment also provides a boom pin control system, which includes multiple boom segments, telescopic cylinders, telescopic proportional solenoid valves, rod-cavity telescopic proportional solenoid valves, and controllers;

[0121] The controller is used to determine the target arm pin and the target arm pin hole, wherein the target arm pin hole is the arm pin hole on the adjacent outer arm of the arm segment where the target arm pin is located;

[0122] The telescopic cylinder is connected to the segment of the arm where the target arm pin is located, and is used to drive the target arm pin to move;

[0123] The controller is also used to obtain the target telescopic cylinder length, which is the length of the telescopic cylinder when the target arm pin can be inserted into the target arm pin hole;

[0124] The telescopic proportional solenoid valve and the rod-cavity telescopic proportional solenoid valve are used to control the speed at which the telescopic cylinder drives the target arm pin to move; the opening accuracy of the telescopic proportional solenoid valve is lower than that of the rod-cavity telescopic proportional solenoid valve.

[0125] The controller is also used to control the speed at which the telescopic cylinder drives the target arm pin to move based on the deviation between the target telescopic cylinder length and the real-time telescopic cylinder length, through the telescopic proportional solenoid valve and the rod-cavity telescopic proportional solenoid valve, and to release the target arm pin when the target arm pin is aligned with the target arm pin hole, so that the target arm pin is inserted into the target arm pin hole.

[0126] The speed at which the target arm pin moves is positively correlated with the deviation.

[0127] In some embodiments, the arm pin control system further includes a display. The display is connected to the controller and is used to display the insertion feedback result of the target arm pin, such as whether the target arm pin has been inserted into the target arm pin hole or not.

[0128] The display is also used to acquire user instructions, which can be used to indicate the target arm pin and the target arm pin hole, and based on the user instructions, to control the speed at which the telescopic cylinder drives the target arm pin to move through the controller.

[0129] The display is also used to show the movement status of the telescopic cylinder, the target arm pin, and the target arm pin hole.

[0130] Exemplary device

[0131] like Figure 3 As shown in the figure, this application embodiment also provides an arm pin control device, including a determination module 301, an acquisition module 302, and a control module 303.

[0132] The determining module 301 is used to determine the target arm pin and the target arm pin hole, wherein the target arm pin hole is the arm pin hole on the adjacent outer arm of the arm segment where the target arm pin is located.

[0133] The acquisition module 302 is used to acquire the length of the target telescopic cylinder, wherein the length of the target telescopic cylinder is the length of the telescopic cylinder when the target arm pin can be inserted into the target arm pin hole;

[0134] The control module 303 is used to control the speed at which the telescopic cylinder drives the target arm pin to move based on the deviation between the target telescopic cylinder length and the real-time telescopic cylinder length, and to release the target arm pin when the target arm pin is aligned with the target arm pin hole so that the target arm pin is inserted into the target arm pin hole.

[0135] The speed at which the target arm pin moves is positively correlated with the deviation.

[0136] In some embodiments, the acquisition module 302 is specifically used to acquire the correspondence between the arm pin hole and the length of the telescopic cylinder. The correspondence is used to characterize the length of the telescopic cylinder when the arm pin on each arm section can be inserted into each arm pin hole on the corresponding outer arm section. Based on the correspondence, the length of the telescopic cylinder corresponding to the target arm pin hole is determined as the target telescopic cylinder length.

[0137] In some embodiments, based on the deviation between the target telescopic cylinder length and the real-time telescopic cylinder length, the control module 303 controls the speed at which the telescopic cylinder moves the target arm pin, and releases the target arm pin when the target arm pin is aligned with the target arm pin hole. Specifically, the control module 303 controls the speed at which the telescopic cylinder moves the target arm pin based on the deviation, and simultaneously determines whether the target arm pin is aligned with the target arm pin hole. If the target arm pin is not aligned with the target arm pin hole, the control module continues to control the speed at which the telescopic cylinder moves the target arm pin based on the deviation; if the target arm pin is aligned with the target arm pin hole, the control module releases the target arm pin.

[0138] In some embodiments, the target telescopic cylinder length includes a maximum length and a minimum length; when determining whether the target arm pin is aligned with the target arm pin hole, the control module 303 is specifically configured to: if the minimum length is greater than the real-time telescopic cylinder length, or the maximum length is less than the real-time telescopic cylinder length, then determine that the target arm pin is not aligned with the target arm pin hole; if the minimum length is less than or equal to the real-time telescopic cylinder length, and the maximum length is greater than or equal to the real-time telescopic cylinder length, then determine that the target arm pin is aligned with the target arm pin hole.

[0139] In some embodiments, based on the deviation, the speed at which the telescopic cylinder drives the target arm pin to move is controlled. Specifically, the control module 303 is used to determine the speed at which the telescopic cylinder drives the arm pin to move corresponding to the deviation level as the target moving speed based on the correspondence between each deviation level and the speed at which the telescopic cylinder drives the arm pin to move; and to control the speed at which the telescopic cylinder drives the target arm pin to move as the target moving speed; wherein, each deviation level is obtained by dividing based on the magnitude of the deviation.

[0140] In some embodiments, after the target arm pin is released, the control module 303 is further configured to control the telescopic cylinder to stop operating if the minimum length is less than the real-time telescopic cylinder length and the maximum length is greater than the real-time telescopic cylinder length.

[0141] The arm pin control device provided in this embodiment belongs to the same concept as the arm pin control method provided in the above embodiments of this application. It can execute the method provided in any of the above embodiments of this application and has the corresponding functional modules and beneficial effects of the method. Technical details not described in detail in this embodiment can be found in the specific processing content of the arm pin control method provided in the above embodiments of this application, and will not be repeated here.

[0142] The functions implemented by the determination module 301, acquisition module 302 and control module 303 can be implemented by the same or different processors calling software, and this application embodiment does not limit this.

[0143] Exemplary electronic devices

[0144] Another embodiment of this application also provides an electronic device, such as a crane. See also Figure 4 As shown, the crane includes a memory 400 and a processor 410.

[0145] The memory 400 is connected to the processor 410 and is used to store programs;

[0146] The processor 410 is used to implement the arm pin control method disclosed in any of the above embodiments by running the program stored in the memory 400.

[0147] Specifically, the electronic device may also include: a bus, a communication interface 420, an input device 430, and an output device 440.

[0148] The processor 410, memory 400, communication interface 420, input device 430, and output device 440 are interconnected via a bus. Among them:

[0149] A bus can include a pathway for transmitting information between various components of a computer system.

[0150] The processor 410 can be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits used to control the execution of the program of the present application. It can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0151] Processor 410 may include a main processor, as well as a baseband chip, modem, etc.

[0152] The memory 400 stores a program for executing the technical solution of this application, and may also store an operating system and other critical business functions. Specifically, the program may include program code, which includes computer operation instructions. More specifically, the memory 400 may include read-only memory (ROM), other types of static storage devices capable of storing static information and instructions, random access memory (RAM), other types of dynamic storage devices capable of storing information and instructions, disk storage, flash memory, etc.

[0153] Input device 430 may include a device for receiving user input data and information, such as a keyboard, mouse, camera, scanner, light pen, voice input device, touch screen, pedometer, or gravity sensor.

[0154] Output device 440 may include devices that allow information to be output to a user, such as a display screen, printer, speaker, etc.

[0155] The communication interface 420 may include a device that uses any transceiver to communicate with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.

[0156] The processor 410 executes the program stored in the memory 400 and calls other devices, which can be used to implement any of the steps of the arm pin control method provided in the above embodiments of this application.

[0157] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the electronic device to which the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0158] This application also proposes a chip, which includes a processor and a data interface. The processor reads and runs a program stored in a memory through the data interface to execute the arm pin control method described in any of the above embodiments. For details of the processing and its beneficial effects, please refer to the above embodiments of the arm pin control method.

[0159] This application also provides a crane, which is equipped with the above-mentioned boom pin control system, or the above-mentioned boom pin control device, or the above-mentioned electronic equipment.

[0160] In addition to the methods and devices described above, embodiments of this application provide a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps of the arm pin control method according to various embodiments of this application as described in the "Exemplary Methods" section of this specification.

[0161] The computer program product 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 user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0162] Furthermore, embodiments of this application also propose a storage medium storing a computer program that is executed by a processor in the steps of the arm pin control method according to various embodiments of this application described in the "Exemplary Methods" section above.

[0163] The basic principles of the present invention have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in the present invention are merely examples and not limitations, and should not be considered as essential features of each embodiment of the present invention. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the present invention to the necessity of employing the aforementioned specific details.

[0164] The block diagrams of devices, apparatuses, devices, and systems involved in this invention are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0165] It should also be noted that in the apparatus, device, and method of the present invention, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of the present invention.

[0166] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the invention. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the invention. Therefore, the invention is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features disclosed herein.

[0167] It should be understood that the qualifying terms "first", "second", "third", "fourth", "fifth" and "sixth" used in the description of the embodiments of the present invention are only used to more clearly illustrate the technical solutions and are not intended to limit the scope of protection of the present invention.

[0168] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the invention to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations therein.

Claims

1. A method for controlling an arm pin, characterized in that, The method includes: Determine the target arm pin and the target arm pin hole, wherein the target arm pin hole is the arm pin hole on the adjacent outer arm of the arm segment where the target arm pin is located; Obtain the target telescopic cylinder length, which is the length of the telescopic cylinder when the target arm pin can be inserted into the target arm pin hole; Based on the deviation between the target telescopic cylinder length and the real-time telescopic cylinder length, the speed at which the telescopic cylinder drives the target arm pin to move is controlled, and when the target arm pin is aligned with the target arm pin hole, the target arm pin is released so that the target arm pin is inserted into the target arm pin hole, wherein the speed at which the target arm pin moves is positively correlated with the deviation; The step of controlling the speed at which the telescopic cylinder drives the target arm pin to move based on the deviation between the target telescopic cylinder length and the real-time telescopic cylinder length includes: determining the speed at which the telescopic cylinder drives the arm pin to move corresponding to the deviation level as the target moving speed based on the correspondence between each deviation level and the speed at which the telescopic cylinder drives the arm pin to move; controlling the speed at which the telescopic cylinder drives the target arm pin to move as the target moving speed; wherein, each deviation level is obtained by dividing based on the magnitude of the deviation.

2. The arm pin control method according to claim 1, characterized in that, The process of obtaining the target telescopic cylinder length includes: Obtain the correspondence between the arm pin hole and the length of the telescopic cylinder. The correspondence is used to characterize the length of the telescopic cylinder when the arm pin on each arm section can be inserted into each arm pin hole on the corresponding outer arm section. Based on the aforementioned correspondence, the length of the telescopic cylinder corresponding to the target arm pin hole is determined as the target telescopic cylinder length.

3. The arm pin control method according to claim 1, characterized in that, The step of controlling the speed at which the telescopic cylinder moves the target arm pin based on the deviation between the target telescopic cylinder length and the real-time telescopic cylinder length, and releasing the target arm pin when the target arm pin is aligned with the target arm pin hole, includes: Based on the deviation, the speed at which the telescopic cylinder drives the target arm pin to move is controlled, and at the same time, it is determined whether the target arm pin is aligned with the target arm pin hole. If the target arm pin is not aligned with the target arm pin hole, the speed at which the telescopic cylinder drives the target arm pin to move is controlled based on the deviation. If the target arm pin is aligned with the target arm pin hole, then the target arm pin is released.

4. The arm pin control method according to claim 3, characterized in that, The target telescopic cylinder length includes a maximum length and a minimum length; The step of determining whether the target arm pin is aligned with the target arm pin hole includes: If the minimum length is greater than the real-time telescopic cylinder length, or the maximum length is less than the real-time telescopic cylinder length, then it is determined that the target arm pin is not aligned with the target arm pin hole. If the minimum length is less than or equal to the length of the real-time telescopic cylinder, and the maximum length is greater than or equal to the length of the real-time telescopic cylinder, then the target arm pin is determined to be aligned with the target arm pin hole.

5. The arm pin control method according to claim 4, characterized in that, After releasing the target arm pin, the method further includes: If the minimum length is less than the real-time telescopic cylinder length and the maximum length is greater than the real-time telescopic cylinder length, then control the telescopic cylinder to stop operating.

6. A control system for an arm pin, characterized in that, The system includes multiple booms, telescopic cylinders, telescopic proportional solenoid valves, rod-type telescopic proportional solenoid valves, and controllers. The controller is used to determine the target arm pin and the target arm pin hole, wherein the target arm pin hole is the arm pin hole on the adjacent outer arm of the arm segment where the target arm pin is located; The telescopic cylinder is connected to the segment of the arm where the target arm pin is located, and is used to drive the target arm pin to move; The controller is also used to obtain the target telescopic cylinder length, which is the length of the telescopic cylinder when the target arm pin can be inserted into the target arm pin hole; The telescopic proportional solenoid valve and the rod-cavity telescopic proportional solenoid valve are used to control the speed at which the telescopic cylinder drives the target arm pin to move; the opening accuracy of the telescopic proportional solenoid valve is lower than that of the rod-cavity telescopic proportional solenoid valve. The controller is also used to control the speed at which the telescopic cylinder drives the target arm pin to move based on the deviation between the target telescopic cylinder length and the real-time telescopic cylinder length, through the telescopic proportional solenoid valve and the rod-cavity telescopic proportional solenoid valve, and to release the target arm pin when the target arm pin is aligned with the target arm pin hole, so that the target arm pin is inserted into the target arm pin hole. The speed at which the target arm pin moves is positively correlated with the deviation. The step of controlling the speed at which the telescopic cylinder moves the target arm pin based on the deviation between the target telescopic cylinder length and the real-time telescopic cylinder length, via the telescopic proportional solenoid valve and the rod-cavity telescopic proportional solenoid valve, includes: determining the speed at which the telescopic cylinder moves the arm pin corresponding to the deviation level as the target moving speed based on the correspondence between each deviation level and the speed at which the telescopic cylinder moves the arm pin; controlling the speed at which the telescopic cylinder moves the target arm pin as the target moving speed via the telescopic proportional solenoid valve and the rod-cavity telescopic proportional solenoid valve; wherein, each deviation level is obtained by classifying based on the magnitude of the deviation.

7. A control device for an arm pin, characterized in that, The device includes: The determination module is used to determine the target arm pin and the target arm pin hole, wherein the target arm pin hole is the arm pin hole on the adjacent outer arm of the arm segment where the target arm pin is located; The acquisition module is used to acquire the length of the target telescopic cylinder, wherein the length of the target telescopic cylinder is the length of the telescopic cylinder when the target arm pin can be inserted into the target arm pin hole; The control module is used to control the speed at which the telescopic cylinder drives the target arm pin to move based on the deviation between the target telescopic cylinder length and the real-time telescopic cylinder length, and to release the target arm pin when the target arm pin is aligned with the target arm pin hole, so that the target arm pin is inserted into the target arm pin hole. The speed at which the target arm pin moves is positively correlated with the deviation. The step of controlling the speed at which the telescopic cylinder drives the target arm pin to move based on the deviation between the target telescopic cylinder length and the real-time telescopic cylinder length includes: determining the speed at which the telescopic cylinder drives the arm pin to move corresponding to the deviation level as the target moving speed based on the correspondence between each deviation level and the speed at which the telescopic cylinder drives the arm pin to move; controlling the speed at which the telescopic cylinder drives the target arm pin to move as the target moving speed; wherein, each deviation level is obtained by dividing based on the magnitude of the deviation.

8. A crane, characterized in that, Including memory and processor; The memory is connected to the processor and is used to store programs; The processor is used to implement the arm pin control method as described in any one of claims 1 to 5 by running a program in the memory.

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