Crane counterweight control power distribution method and system, crane, and electronic equipment

Abstract

The present application relates to the technical field of mechanical power distribution, and specifically to a crane counterweight control power distribution method and system, a crane, and an electronic device. The proportional coefficient can be obtained according to the operating instructions and the current working conditions. When the allocable power is insufficient to support the required power of all working mechanisms, the power is allocated to each working mechanism according to the proportional coefficient to avoid unreasonable allocation resulting in the speed ratio of multiple working mechanisms not being consistent with the actual operating requirements. Moreover, under certain working conditions, a compensation coefficient can be superimposed on the oil pump motor, thereby allocating more power to the oil pump motor to increase the driving priority of the oil pump motor; when the crane shakes, the compensation coefficient can also be superimposed on the oil pump motor and the lifting mechanism, thereby increasing the driving priority of the oil pump motor and the lifting mechanism, so as to stabilize the center of gravity of the entire crane as soon as possible and reduce the risk of safety accidents.

Description

Technical Field

[0001] The present application relates to the technical field of mechanical power distribution, and in particular to a crane counterweight control power distribution method and system, a crane, and electronic equipment. Background Art

[0002] With the rapid development of infrastructure construction in my country, cranes have become an indispensable lifting tool in the industrial and engineering fields, significantly promoting social progress.

[0003] The core of electric cranes is the use of electric drive. Its working mechanism covers multiple aspects such as the lifting system, rotating mechanism, and counterweight moving telescopic cylinder, achieving comprehensive electrification. In the operation of electric cranes, it is particularly important to reasonably allocate the power of each working mechanism. If the power is not allocated properly, the actual action speed may not match the operation requirements. For example, when the operator needs to lift and adjust the counterweight at the same time, if the allocated power is insufficient, only the lifting action may be performed, which is not only unreasonable, but also may bring safety hazards. In addition, unreasonable power distribution may also accelerate energy consumption.

[0004] Therefore, energy management of electric cranes is a crucial link. How to more reasonably allocate power to each working mechanism to meet operational needs and optimize energy use is a technical problem that needs to be overcome in the current field. Summary of the invention

[0005] In view of this, the present application provides a counterweight device for construction machinery and construction machinery, which can more reasonably distribute power to each working mechanism to meet operational requirements and optimize energy use.

[0006] In a first aspect, the present application provides a method for allocating power for crane counterweight control, comprising: receiving an operation instruction and a current working condition of the crane; obtaining the required power corresponding to each of a plurality of working mechanisms on the crane according to the operation instruction; the plurality of working mechanisms include a lifting mechanism, a slewing mechanism, and an oil pump motor of a telescopic cylinder for driving the counterweight to move; obtaining the allocable power and redundant power of the crane according to the current working condition; if the allocable power is less than the total required power corresponding to the plurality of required powers, obtaining a proportional coefficient according to the ratio of the allocable power to the total required power; if the current working condition corresponds to the crane being in a moving state, allocating power to each of the working mechanisms according to the proportional coefficient and the required power of each of the working mechanisms; if the current working condition corresponds to the crane being in a lifting preparation state, superimposing a first preset coefficient on the proportional coefficient to obtain a first compensation coefficient of the oil pump motor, allocating power to the oil pump motor according to the first compensation coefficient and the corresponding required power, and allocating the redundant power to the oil pump motor; the first attenuation coefficient of the lifting mechanism and the slewing mechanism is obtained by subtracting the first preset coefficient from the proportional coefficient, and power is allocated to the lifting mechanism and the slewing mechanism according to the first attenuation coefficient and the corresponding required power; if the current working condition corresponds to the state in which the counterweight is adjusted, the second compensation coefficient is obtained by superimposing the proportional coefficient with the second preset coefficient, and power is allocated to the lifting mechanism and the slewing mechanism according to the second compensation coefficient and the corresponding required power; the second preset coefficient is greater than the first preset coefficient; and if the current working condition corresponds to a swing amplitude of the crane greater than the preset amplitude, the third compensation coefficient is obtained by superimposing the proportional coefficient with the third preset coefficient, and power is allocated to the oil pump motor and the lifting mechanism according to the third compensation coefficient and the corresponding required power; the second attenuation coefficient of the slewing mechanism is obtained by subtracting the third preset coefficient from the proportional coefficient, and power is allocated to the slewing mechanism according to the second attenuation coefficient and the corresponding required power; the third preset coefficient is greater than the first preset coefficient.

[0007] In combination with the first aspect, in a possible implementation, the receiving of the operating instructions and the current working condition of the crane includes: receiving the operating instructions issued by the operator to the lifting mechanism, and / or the slewing mechanism, and / or the oil pump motor.

[0008] In combination with the first aspect, in a possible implementation, it also includes: if the allocatable power is greater than or equal to the total required power corresponding to multiple required powers, power is allocated to the lifting mechanism, the slewing mechanism and the oil pump motor according to the corresponding required power.

[0009] In combination with the first aspect, in a possible implementation, if the current operating condition corresponds to the state in which the counterweight adjustment is completed, the second preset coefficient is obtained according to the ratio of the required power corresponding to the oil pump motor and the total required power.

[0010] In combination with the first aspect, in a possible implementation, if the current working condition corresponds to a sway amplitude of the crane greater than a preset amplitude, the third preset coefficient is obtained according to the ratio of the required power corresponding to the slewing mechanism to the total required power.

[0011] In combination with the first aspect, in a possible implementation, if the current operating condition corresponds to a shaking amplitude of the crane greater than a preset amplitude, the oil pump redundancy coefficient is obtained according to the ratio of the required power corresponding to the oil pump motor and the total required power; and the compensatory redundant power is allocated to the oil pump motor according to the redundant power and the oil pump redundancy coefficient.

[0012] In combination with the first aspect, in a possible implementation method, if the current operating condition corresponds to a swing amplitude of the crane greater than a preset amplitude, a lifting redundancy coefficient is obtained according to the ratio of the required power corresponding to the lifting mechanism and the total required power; and compensatory redundant power is allocated to the lifting mechanism according to the redundant power and the lifting redundancy coefficient.

[0013] In a second aspect, the present application provides a crane counterweight control power distribution system, comprising: a data acquisition module, configured to: receive an operation instruction and a current working condition of the crane; a data analysis module, communicatively connected to the data acquisition module, the data analysis module configured to: obtain the required power corresponding to each of the multiple working mechanisms on the crane according to the operation instruction; the multiple working mechanisms include a lifting mechanism, a slewing mechanism, and an oil pump motor of a telescopic cylinder for driving the counterweight to move; obtain the distributable power and redundant power of the crane according to the current working condition; if the distributable power is less than the total required power corresponding to the multiple required powers, obtain a proportional coefficient according to the ratio of the distributable power to the total required power; a power distribution module, communicatively connected to the data analysis module, the power distribution module configured to: if the current working condition corresponds to the crane being in a moving state, distribute power to each of the working mechanisms according to the proportional coefficient and the required power of each of the working mechanisms; if the current working condition corresponds to the crane being in a lifting preparation state, superimpose the proportional coefficient on the first preset coefficient to obtain a first compensation coefficient of the oil pump motor, and obtain a first compensation coefficient of the oil pump motor according to the first preset coefficient. a compensation coefficient and the corresponding required power to allocate power to the oil pump motor, and allocate the redundant power to the oil pump motor; subtract the first preset coefficient from the proportional coefficient to obtain the first attenuation coefficient of the hoisting mechanism and the slewing mechanism, and allocate power to the hoisting mechanism and the slewing mechanism according to the first attenuation coefficient and the corresponding required power; if the current working condition corresponds to the state where the counterweight is adjusted, superimpose the proportional coefficient with the second preset coefficient to obtain the second compensation coefficient, and allocate power to the hoisting mechanism and the slewing mechanism according to the second compensation coefficient and the corresponding required power; the second preset coefficient is greater than the first preset coefficient; and if the current working condition corresponds to the swing amplitude of the crane being greater than the preset amplitude, superimpose the proportional coefficient with the third preset coefficient to obtain the third compensation coefficient, and allocate power to the oil pump motor and the hoisting mechanism according to the third compensation coefficient and the corresponding required power; subtract the third preset coefficient from the proportional coefficient to obtain the second attenuation coefficient of the slewing mechanism, and allocate power to the slewing mechanism according to the second attenuation coefficient and the corresponding required power; the third preset coefficient is greater than the first preset coefficient.

[0014] In a third aspect, the present application provides a crane, comprising the aforementioned crane counterweight control power distribution system.

[0015] In a fourth aspect, the present application provides an electronic device, comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is used to execute the aforementioned crane counterweight control power distribution method.

[0016] When the present application is applied, the proportional coefficient can be obtained according to the operating instructions and the current working conditions. When the allocable power is insufficient to support the required power of all working mechanisms, the power is allocated to each working mechanism according to the proportional coefficient to avoid unreasonable allocation resulting in the speed ratio of multiple working mechanisms not being consistent with the actual operating requirements. Moreover, under certain working conditions, a compensation coefficient can be superimposed on the oil pump motor, thereby allocating more power to the oil pump motor to increase the driving priority of the oil pump motor; when the crane shakes, a compensation coefficient can also be superimposed on the oil pump motor and the lifting mechanism, thereby increasing the driving priority of the oil pump motor and the lifting mechanism, so as to stabilize the center of gravity of the entire crane as soon as possible and reduce the risk of safety accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The figure is a schematic diagram of the method steps of a crane counterweight control power distribution method provided by an embodiment of the present application.

[0018] Figure 2 Shown is a schematic diagram of some method steps of a crane counterweight control power distribution method provided by another embodiment of the present application.

[0019] Figure 3 Shown is a schematic diagram of some method steps of a crane counterweight control power distribution method provided by another embodiment of the present application.

[0020] Figure 4 Shown is a schematic diagram of some method steps of a crane counterweight control power distribution method provided by another embodiment of the present application.

[0021] Figure 5 Shown is a schematic diagram of some method steps of a crane counterweight control power distribution method provided by another embodiment of the present application.

[0022] Figure 6 Shown is a schematic diagram of some method steps of a crane counterweight control power distribution method provided by another embodiment of the present application.

[0023] Figure 7 Shown is a system structure diagram of a crane counterweight control power distribution system provided in one embodiment of the present application.

[0024] Figure 8 Shown is a schematic structural diagram of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0026] An exemplary crane counterweight control power distribution method is as follows:

[0027] Figure 1 The figure shows a schematic diagram of the method steps of a crane counterweight control power distribution method provided by an embodiment of the present application. The present application provides a crane counterweight control power distribution method. In one embodiment, as Figure 1 As shown, the method includes:

[0028] Step 110: Receive an operation instruction and the current working condition of the crane.

[0029] Step 120: Obtain the power requirements corresponding to each of the multiple working mechanisms on the crane according to the operation instruction.

[0030] In this step, the multiple working mechanisms include a lifting mechanism, a slewing mechanism, and an oil pump motor of a telescopic oil cylinder for driving the counterweight to move. The crane upper vehicle uses the lifting mechanism to perform lifting work, and the slewing mechanism is used to control the crane upper vehicle to rotate relative to the lower vehicle. A flippable or slidable counterweight is provided at the tail of the crane. The counterweight can adjust the overall center of gravity of the crane when flipping or sliding, and the telescopic oil cylinder is used to drive the counterweight to flip or slide. Different operating instructions correspond to different openings, and different openings correspond to different required powers.

[0031] Step 130: Obtain the allocable power and redundant power of the crane according to the current working conditions.

[0032] In this step, the current working condition includes the energy status of the crane. According to the preset energy strategy of the crane, the power allocation strategy of the crane for getting on and off the vehicle can be known, thereby knowing the allocable power that the crane can get on the vehicle, and the redundant power retained by the crane after allocating power to getting on and off the vehicle. The redundant power can be used for emergency purposes.

[0033] Step 150: If the allocable power is less than the total required power corresponding to the multiple required powers, a proportional coefficient is obtained according to the ratio of the allocable power to the total required power.

[0034] In this step, if the allocable power is less than the total required power, it means that the allocable power is insufficient, and the allocable power is divided by the total required power to obtain the proportionality coefficient. For example, if the total required power is 100kw and the allocable power is 80kw, the proportionality coefficient is 0.8.

[0035] Step 160: If the current working condition corresponds to the crane being in a moving state, power is allocated to each working mechanism according to the proportional coefficient and the required power of each working mechanism.

[0036] In this step, the crane is in a moving state, so the crane has no special priority drive requirements for each working mechanism. Multiply the proportional coefficient by the required power to get the allocated power of the working mechanism. For example: the required power of the slewing mechanism is 60kw, the required power of the hoisting mechanism is 30kw, the required power of the oil pump motor is 10kw, and the allocable power is 80kw, then the proportional coefficient is 0.8. Multiply 0.8 by 60kw to get 48kw, then the power that can be allocated to the slewing mechanism is 48kw; multiply 0.8 by 30kw to get 24kw, then the power that can be allocated to the hoisting mechanism is 24kw; multiply 0.8 by 10kw to get 8kw, then the power that can be allocated to the oil pump motor is 8kw.

[0037] Step 170: If the current working condition corresponds to the crane being in a lifting preparation state, the proportional coefficient is superimposed on the first preset coefficient to obtain a first compensation coefficient for the oil pump motor, power is allocated to the oil pump motor according to the first compensation coefficient and the corresponding required power, and redundant power is allocated to the oil pump motor; the proportional coefficient is subtracted from the first preset coefficient to obtain a first attenuation coefficient for the lifting mechanism and the slewing mechanism, and power is allocated to the lifting mechanism and the slewing mechanism according to the first attenuation coefficient and the corresponding required power.

[0038] In this step, when the crane is in the lifting preparation state, it is necessary to adjust the counterweight position as soon as possible to adjust the center of gravity of the entire crane, so as to prepare for lifting and improve the safety of lifting construction. Therefore, the first preset coefficient is added to the oil pump motor to obtain the first compensation coefficient, and power is allocated to the oil pump motor according to the first compensation coefficient and the required power of the oil pump motor. At the same time, the redundant power is allocated to the oil pump motor, so that the counterweight adjustment work can be achieved fastest and with the highest priority. In addition, the coefficients corresponding to the lifting mechanism and the slewing mechanism are reduced to obtain the first attenuation coefficient, and power is allocated to the lifting mechanism and the slewing mechanism according to the first attenuation coefficient.

[0039] For example:

[0040] The first operating condition: the power demand of the slewing mechanism is 10kw, the power demand of the lifting mechanism is 30kw, the power demand of the oil pump motor is 60kw, the distributable power is 50kw, the redundant power is 20kw, the proportional coefficient is 0.5, and the first preset coefficient is set to 0.03. Then the first compensation coefficient is 0.53, the first attenuation coefficient is 0.47, the power allocated to the oil pump motor is 0.53*60kw=31.8kw, the power allocated to the slewing mechanism is 0.47*10kw=4.7kw, and the power allocated to the lifting mechanism is 0.47 *30kw=14.1kw, the total allocated power is 50.6kw. After allocating power to the lifting mechanism, slewing mechanism and oil pump motor according to the first compensation coefficient and the first attenuation coefficient, if the total power allocated to all working mechanisms exceeds the allocable power, the excess power is compensated by the redundant power, and the 20kw of redundant power is allocated to the oil pump motor, including the excess 0.6kw; if the redundant power is not enough to compensate for the excess power, the redundant power is compensated to the oil pump motor without additional compensation. At this time, part of the required power of the oil pump motor is missing and it is in the limit energy feeding state;

[0041] The second operating condition: the power demand of the slewing mechanism is 10kw, the power demand of the lifting mechanism is 0kw, the power demand of the oil pump motor is 90kw, the distributable power is 80kw, the redundant power is 20kw, the proportional coefficient is 0.8, and the first preset coefficient is 0.15. Then the first compensation coefficient is 0.95, the first attenuation coefficient is 0.65, the power distributed to the oil pump motor is 0.95*90kw=85.5kw, the power distributed to the slewing mechanism is 0.65*10kw=6.5kw, and the power distributed to the lifting mechanism is The power is 0.65*0kw=0kw, and the total allocated power is 92kw. After allocating power to the lifting mechanism, slewing mechanism and oil pump motor according to the first compensation coefficient and the first attenuation coefficient, if the allocated power exceeds the allocable power, the excess power is compensated by the redundant power, and the 20kw of redundant power is redistributed to the oil pump motor, which includes the excess 12kw; if the redundant power is not enough to compensate for the excess power, the redundant power is compensated to the oil pump motor and no additional compensation is given. At this time, a part of the required power of the oil pump motor is missing and it is in a state of extreme energy feeding.

[0042] Step 180: If the current working condition corresponds to the state where the counterweight is adjusted, the second preset coefficient is superimposed on the proportional coefficient to obtain a second compensation coefficient, and power is allocated to the lifting mechanism and the slewing mechanism according to the second compensation coefficient and the corresponding required power; the second preset coefficient is greater than the first preset coefficient.

[0043] In this step, after the counterweight is adjusted, the priority of adjusting the counterweight is reduced, which is generally a fine-tuning condition. Therefore, there is no need to allocate too much power to the oil pump motor. The coefficient can be increased to the lifting mechanism and the slewing mechanism to increase the adjustment speed of the lifting mechanism and the slewing mechanism. For example: the required power of the slewing mechanism is 45kw, the required power of the lifting mechanism is 50kw, and the required power of the oil pump motor is 5kw. The distributable power is 80kw, the redundant power is 20kw, the proportional coefficient is 0.8, and the second preset coefficient is pre-set to 0.15. Then the second compensation coefficient is 0.95, and the power allocated to the slewing mechanism is 0.95*45=42.75kw, and the power allocated to the lifting mechanism is 0.95*50=47.5kw. The total allocated power is 42.75+47.5+5=95.25kw. The excess 15.25kw power can be compensated by the redundant power.

[0044] Step 190: If the current working condition corresponds to a crane shaking amplitude greater than a preset amplitude, the third preset coefficient is superimposed on the proportional coefficient to obtain a third compensation coefficient, and power is allocated to the oil pump motor and the lifting mechanism according to the third compensation coefficient and the corresponding required power; the third preset coefficient is subtracted from the proportional coefficient to obtain a second attenuation coefficient of the slewing mechanism, and power is allocated to the slewing mechanism according to the second attenuation coefficient and the corresponding required power; the third preset coefficient is greater than the first preset coefficient.

[0045] In this step, since the crane is shaking and the shaking amplitude is too large, it is more urgent to adjust the counterweight and the lifting mechanism. Adjusting the counterweight can stabilize the crane, and adjusting the lifting mechanism to control the descent of the hoisted object can lower the overall center of gravity to further avoid safety accidents. For example: the required power of the oil pump motor is 30kw, the required power of the lifting mechanism is 30kw, and the required power of the slewing mechanism is 40kw. The distributable power is 80kw, the redundant power is 20kw, the proportional coefficient is 0.8, and the third preset coefficient is pre-set to 0.12. Then the third compensation coefficient is 0.92, and the second attenuation coefficient is 0.68. The power allocated to the oil pump motor is 0.92*30kw=27.6kw, the power allocated to the lifting mechanism is 0.92*30kw=27.6kw, and the power allocated to the slewing mechanism is The power is 0.68*40kw=27.2kw, and the total allocated power is 82.4kw. After allocating power to the lifting mechanism, slewing mechanism and oil pump motor according to the third compensation coefficient and the second attenuation coefficient, if the total power allocated to all working mechanisms exceeds the allocable power, the excess 2.4kw power will be compensated by the redundant power; if the redundant power is not enough to compensate for the excess power, the redundant power will be compensated to the oil pump motor and the lifting mechanism without further compensation. At this time, part of the required power of the oil pump motor and the lifting mechanism is missing, and they are in a state of extreme energy feeding.

[0046] When this embodiment is applied, it is possible to obtain a proportional coefficient according to the operating instructions and the current working conditions. When the allocable power is insufficient to support the required power of all working mechanisms, the power is allocated to each working mechanism according to the proportional coefficient to avoid unreasonable allocation resulting in the speed ratio of multiple working mechanisms not being consistent with the actual operating requirements. In addition, under certain working conditions, a compensation coefficient can be added to the oil pump motor, thereby allocating more power to the oil pump motor to increase the driving priority of the oil pump motor; when the crane shakes, a compensation coefficient can also be added to the oil pump motor and the lifting mechanism, thereby increasing the driving priority of the oil pump motor and the lifting mechanism, so as to stabilize the center of gravity of the entire crane as soon as possible and reduce the risk of safety accidents.

[0047] Figure 2 FIG. 1 is a schematic diagram of some method steps of a crane counterweight control power distribution method provided by another embodiment of the present application. In one embodiment, Figure 2 As shown, step 110 includes:

[0048] Step 111: receiving an operation instruction issued by an operator to the lifting mechanism, and / or the slewing mechanism, and / or the oil pump motor.

[0049] In one embodiment, if Figure 1 As shown, the crane counterweight control power distribution method also includes:

[0050] Step 140: If the allocable power is greater than or equal to the total required power corresponding to the multiple required powers, the power is allocated to the lifting mechanism, the slewing mechanism and the oil pump motor according to the corresponding required power.

[0051] In this step, if the allocable power is greater than or equal to the total required power of all working mechanisms, it means that the power is sufficient at this time, and sufficient required power can be allocated to each working mechanism.

[0052] Figure 3 FIG. 1 is a schematic diagram of some method steps of a crane counterweight control power distribution method provided by another embodiment of the present application. In one embodiment, Figure 3 As shown, if the current working condition corresponds to the state where the counterweight adjustment is completed, the method further includes:

[0053] Step 200: Obtain a second preset coefficient according to the ratio of the required power corresponding to the oil pump motor and the total required power.

[0054] In this embodiment, the priority of adjusting the counterweight is reduced, which is generally a fine-tuning condition. Therefore, there is no need to allocate too much power to the oil pump motor. The coefficient can be added to the lifting mechanism and the slewing mechanism to increase the adjustment speed of the lifting mechanism and the slewing mechanism. For example: For example: the required power of the slewing mechanism is 45kw, the required power of the lifting mechanism is 50kw, the required power of the oil pump motor is 5kw, the distributable power is 80kw, the redundant power is 20kw, and the proportional coefficient is 0.8. The second preset coefficient is 5 / 100=0.05, and the second compensation coefficient is 0.85. The power allocated to the slewing mechanism is 0.85*45=38.25kw, and the power allocated to the lifting mechanism is 0.85*50=42.5kw. The total allocated power is 38.25+42.5+5=85.75kw. The excess 5.75kw power can be compensated by the redundant power. In this example, the setting of the first preset coefficient needs to be less than 0.05. This embodiment determines the second preset coefficient according to the proportion of the oil pump motor in the total required power, which can make the second compensation coefficient more quantitative and have a strong correlation with the required power of the oil pump motor. It is equivalent to using the required power of the oil pump motor as a reference and compensating the proportion of the oil pump motor to the lifting mechanism and the slewing mechanism.

[0055] Figure 4 FIG. 1 is a schematic diagram of some method steps of a crane counterweight control power distribution method provided by another embodiment of the present application. In one embodiment, Figure 4 As shown, if the current working condition corresponds to a sway amplitude of the crane greater than a preset amplitude, the method further includes:

[0056] Step 210: Obtain a third preset coefficient according to the ratio of the required power corresponding to the slewing mechanism to the total required power.

[0057] In this embodiment, the priority of adjusting the slewing mechanism is reduced, and the power allocation to the lifting mechanism and the oil pump motor needs to be increased. In this embodiment, the third preset coefficient is determined according to the proportion of the slewing mechanism in the total required power, which can make the third compensation coefficient more data-quantified and have a strong correlation with the required power of the slewing mechanism. This is equivalent to using the required power of the slewing mechanism as a reference and compensating the proportion of the slewing mechanism to the lifting mechanism and the oil pump motor.

[0058] Figure 5 FIG. 1 is a schematic diagram of some method steps of a crane counterweight control power distribution method provided by another embodiment of the present application. In one embodiment, Figure 5 As shown, if the current working condition corresponds to a sway amplitude of the crane greater than a preset amplitude, the method further includes:

[0059] Step 220: Obtain the oil pump redundancy coefficient according to the ratio of the required power corresponding to the oil pump motor and the total required power.

[0060] Step 230: Allocate the compensated redundant power to the oil pump motor according to the redundant power and the oil pump redundant coefficient.

[0061] In this embodiment, the redundant power is called, and a part of the redundant power is called to compensate the oil pump motor based on the power ratio occupied by the oil pump motor. For example: the required power of the oil pump motor is 30kw, the required power of the lifting mechanism is 30kw, the required power of the slewing mechanism is 40kw, the distributable power is 80kw, the redundant power is 20kw, the proportional coefficient is 0.8, and the third preset coefficient calculated according to step 210 is 0.4, then the third compensation coefficient is 1.2, the second attenuation coefficient is 0.4, the power allocated to the oil pump motor is 1.2*30kw=36kw, the power allocated to the lifting mechanism is 1.2*30kw=36kw, the power allocated to the slewing mechanism is 0.4*40kw=16kw, and the total allocated power is 88kw. After the power is allocated to the lifting mechanism, the slewing mechanism and the oil pump motor according to the third compensation coefficient and the second attenuation coefficient, if the total power allocated to all working mechanisms exceeds the distributable power, the excess 8kw power is compensated by the redundant power.

[0062] At the same time, the oil pump redundancy coefficient corresponding to the oil pump motor is 0.3, so the compensation redundant power is 0.3*20=6kw, that is, 6kw is called from the redundant power to compensate the oil pump motor.

[0063] Figure 6 FIG. 1 is a schematic diagram of some method steps of a crane counterweight control power distribution method provided by another embodiment of the present application. In one embodiment, Figure 6 As shown, if the current working condition corresponds to a sway amplitude of the crane greater than a preset amplitude, the method further includes:

[0064] Step 240: Obtain a lifting redundancy coefficient according to the ratio of the required power corresponding to the lifting mechanism to the total required power.

[0065] Step 250: Allocate the compensatory redundant power to the lifting mechanism according to the redundant power and the lifting redundant coefficient.

[0066] In this embodiment, the redundant power is called, and a part of the redundant power is called to compensate the lifting mechanism based on the power ratio occupied by the lifting mechanism. For example: the required power of the oil pump motor is 30kw, the required power of the lifting mechanism is 30kw, the required power of the slewing mechanism is 40kw, the distributable power is 80kw, the redundant power is 20kw, the proportional coefficient is 0.8, and the third preset coefficient calculated according to step 210 is 0.4, then the third compensation coefficient is 1.2, the second attenuation coefficient is 0.4, the power allocated to the oil pump motor is 1.2*30kw=36kw, the power allocated to the lifting mechanism is 1.2*30kw=36kw, and the power allocated to the slewing mechanism is 0.4*40kw=16kw, and the total allocated power is 88kw. After the power is allocated to the lifting mechanism, the slewing mechanism and the oil pump motor according to the third compensation coefficient and the second attenuation coefficient, if the total power allocated to all working mechanisms exceeds the distributable power, the excess 8kw power is compensated by the redundant power.

[0067] At the same time, the lifting redundancy coefficient corresponding to the lifting mechanism is 0.3, so the lifting redundant power is 0.3*20=6kw, that is, 6kw is called from the redundant power to compensate the lifting mechanism.

[0068] An exemplary crane counterweight regulation power distribution system is as follows:

[0069] Figure 7 FIG. 1 is a schematic diagram of the system structure of a crane counterweight control power distribution system provided by an embodiment of the present application. Figure 7 As shown, the crane counterweight control power distribution system includes: a data acquisition module 701, a data analysis module 702, and a power distribution module 703.

[0070] The data acquisition module 701 is configured to receive operation instructions and the current working condition of the crane.

[0071] The data analysis module 702 is communicatively connected with the data acquisition module 701, and the data analysis module 702 is configured as follows: obtaining the required power corresponding to each of the multiple working mechanisms on the crane according to the operation instructions; the multiple working mechanisms include a lifting mechanism, a slewing mechanism, and an oil pump motor of a telescopic cylinder for driving the movement of the counterweight; obtaining the distributable power and redundant power of the crane according to the current working conditions; if the distributable power is less than the total required power corresponding to the multiple required powers, obtaining the proportional coefficient according to the ratio of the distributable power to the total required power.

[0072] The power distribution module 703 is in communication connection with the data analysis module 702, and the power distribution module 703 is configured as follows: if the current working condition corresponds to the crane being in a moving state, power is distributed to each working mechanism according to the proportional coefficient and the required power of each working mechanism; if the current working condition corresponds to the crane being in a lifting preparation state, the proportional coefficient is superimposed on the first preset coefficient to obtain a first compensation coefficient of the oil pump motor, power is distributed to the oil pump motor according to the first compensation coefficient and the corresponding required power, and redundant power is distributed to the oil pump motor; the proportional coefficient is subtracted from the first preset coefficient to obtain a first attenuation coefficient of the lifting mechanism and the slewing mechanism, and the first attenuation coefficient and the corresponding required power are distributed to the lifting mechanism and the slewing mechanism. Power; if the current working condition corresponds to the state where the counterweight is adjusted, the second compensation coefficient is obtained by adding the proportional coefficient to the second preset coefficient, and power is allocated to the lifting mechanism and the slewing mechanism according to the second compensation coefficient and the corresponding required power; the second preset coefficient is greater than the first preset coefficient; and if the current working condition corresponds to a swing amplitude of the crane greater than the preset amplitude, the third compensation coefficient is obtained by adding the proportional coefficient to the third preset coefficient, and power is allocated to the oil pump motor and the lifting mechanism according to the third compensation coefficient and the corresponding required power; the second attenuation coefficient of the slewing mechanism is obtained by subtracting the third preset coefficient from the proportional coefficient, and power is allocated to the slewing mechanism according to the second attenuation coefficient and the corresponding required power; the third preset coefficient is greater than the first preset coefficient.

[0073] Exemplary cranes are as follows:

[0074] The present application also provides a crane, which includes the aforementioned crane counterweight control power distribution system.

[0075] Exemplary electronic devices are as follows:

[0076] Below, reference Figure 8 To describe an electronic device according to an embodiment of the present application. Figure 8 Shown is a schematic structural diagram of an electronic device provided in one embodiment of the present application.

[0077] like Figure 8 As shown, the electronic device 80 includes one or more processors 801 and a memory 802 .

[0078] The processor 801 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 80 to perform desired functions.

[0079] The memory 802 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 801 may execute the program instructions to implement the crane counterweight control power distribution method or other desired functions of the various embodiments of the present application described above. Various contents such as crane counterweight control power distribution error parameters may also be stored in the computer-readable storage medium.

[0080] In one example, the electronic device 80 may further include: an input device 803 and an output device 804 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0081] The input device 803 may include, for example, a keyboard, a mouse, a joystick, a touch screen, and the like.

[0082] The output device 804 can output various information to the outside, including the determined motion data, etc. The output device 804 can include, for example, a display, a communication network and a remote output device connected thereto, and the like.

[0083] Of course, to simplify, Figure 8 Only some of the components related to the present application in the electronic device 80 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device 80 may also include any other appropriate components.

[0084] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the crane counterweight control power distribution method according to various embodiments of the present application described in this specification.

[0085] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0086] In addition, an embodiment of the present application may also be a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor executes the steps in the crane counterweight control power distribution method according to various embodiments of the present application in this specification.

[0087] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0088] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0089] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0090] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0091] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features of the present invention.

[0092] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A crane counterweight control power distribution method, characterized in that: include: Receive operating instructions and the current working condition of the crane; According to the operation instruction, the required power corresponding to each of the multiple working mechanisms on the crane is obtained; the multiple working mechanisms include a lifting mechanism, a slewing mechanism, and an oil pump motor of a telescopic oil cylinder for driving the counterweight to move; Obtaining the allocable power and redundant power of the crane vehicle according to the current working condition; If the allocable power is less than the total required power corresponding to the plurality of required powers, a proportionality coefficient is obtained according to a ratio of the allocable power to the total required power; If the current working condition corresponds to the crane being in a moving state, power is allocated to each of the working mechanisms according to a proportional coefficient and the required power of each of the working mechanisms; If the current working condition corresponds to the crane being in a lifting preparation state, the first compensation coefficient of the oil pump motor is obtained by superimposing the first preset coefficient on the proportional coefficient, and power is allocated to the oil pump motor according to the first compensation coefficient and the corresponding required power, and the redundant power is allocated to the oil pump motor; the first attenuation coefficient of the hoisting mechanism and the slewing mechanism is obtained by subtracting the first preset coefficient from the proportional coefficient, and power is allocated to the hoisting mechanism and the slewing mechanism according to the first attenuation coefficient and the corresponding required power; If the current working condition corresponds to a state where the counterweight is adjusted, the second preset coefficient is superimposed on the proportional coefficient to obtain a second compensation coefficient, and power is allocated to the hoisting mechanism and the slewing mechanism according to the second compensation coefficient and the corresponding required power; the second preset coefficient is greater than the first preset coefficient; as well as If the current operating condition corresponds to a swing amplitude of the crane greater than a preset amplitude, the proportional coefficient is superimposed on the third preset coefficient to obtain a third compensation coefficient, and power is allocated to the oil pump motor and the lifting mechanism according to the third compensation coefficient and the corresponding required power; the proportional coefficient is subtracted from the third preset coefficient to obtain the second attenuation coefficient of the slewing mechanism, and power is allocated to the slewing mechanism according to the second attenuation coefficient and the corresponding required power; the third preset coefficient is greater than the first preset coefficient.

2. The crane counterweight control power distribution method according to claim 1 is characterized in that: The receiving of the operation instruction and the current working condition of the crane includes: Receive operation instructions issued by an operator to the lifting mechanism, and / or the slewing mechanism, and / or the oil pump motor.

3. The crane counterweight control power distribution method according to claim 1, characterized in that: Also includes: If the allocable power is greater than or equal to the total required power corresponding to the plurality of required powers, power is allocated to the lifting mechanism, the slewing mechanism and the oil pump motor according to the corresponding required power.

4. The crane counterweight control power distribution method according to claim 1, characterized in that: If the current working condition corresponds to the state where the counterweight adjustment is completed, the second preset coefficient is obtained according to the ratio of the required power corresponding to the oil pump motor to the total required power.

5. The crane counterweight control power distribution method according to claim 1, characterized in that: If the current working condition corresponds to a swing amplitude of the crane that is greater than a preset amplitude, the third preset coefficient is obtained according to the ratio of the required power corresponding to the slewing mechanism to the total required power.

6. The crane counterweight control power distribution method according to claim 1, characterized in that: If the current working condition corresponds to a shaking amplitude of the crane greater than a preset amplitude, the oil pump redundancy coefficient is obtained according to the ratio of the required power corresponding to the oil pump motor to the total required power; as well as Compensating redundant power is distributed to the oil pump motor according to the redundant power and the oil pump redundant coefficient.

7. The crane counterweight control power distribution method according to claim 1, characterized in that: If the current working condition corresponds to a sway amplitude of the crane greater than a preset amplitude, a lifting redundancy coefficient is obtained according to a ratio of the required power corresponding to the lifting mechanism to the total required power; as well as The compensating redundant power is distributed to the hoisting mechanism according to the redundant power and the hoisting redundant coefficient.

8. A crane counterweight control power distribution system, characterized in that: include: The data acquisition module is configured to: receive an operation instruction and a current working condition of the crane; A data analysis module is communicatively connected with the data acquisition module, and the data analysis module is configured to: obtain the required power corresponding to each of the multiple working mechanisms on the crane according to the operation instruction; the multiple working mechanisms include a lifting mechanism, a slewing mechanism, and an oil pump motor of a telescopic cylinder for driving the counterweight to move; obtain the distributable power and redundant power of the crane according to the current working condition; if the distributable power is less than the total required power corresponding to the multiple required powers, obtain the proportionality coefficient according to the ratio of the distributable power to the total required power; A power distribution module is communicatively connected with the data analysis module, and the power distribution module is configured as follows: if the current working condition corresponds to the crane being in a moving state, power is distributed to each of the working mechanisms according to a proportional coefficient and the required power of each of the working mechanisms; if the current working condition corresponds to the crane being in a lifting preparation state, the proportional coefficient is superimposed with a first preset coefficient to obtain a first compensation coefficient of the oil pump motor, power is distributed to the oil pump motor according to the first compensation coefficient and the corresponding required power, and the redundant power is distributed to the oil pump motor; the proportional coefficient is subtracted from the first preset coefficient to obtain a first attenuation coefficient of the lifting mechanism and the slewing mechanism, and power is distributed to the lifting mechanism and the slewing mechanism according to the first attenuation coefficient and the corresponding required power; If the current operating condition corresponds to a state in which the counterweight is adjusted, the second compensation coefficient is obtained by superimposing the proportional coefficient on the second preset coefficient, and power is allocated to the lifting mechanism and the slewing mechanism according to the second compensation coefficient and the corresponding required power; the second preset coefficient is greater than the first preset coefficient; and if the current operating condition corresponds to a swing amplitude of the crane greater than the preset amplitude, the third compensation coefficient is obtained by superimposing the proportional coefficient on the third preset coefficient, and power is allocated to the oil pump motor and the lifting mechanism according to the third compensation coefficient and the corresponding required power; the second attenuation coefficient of the slewing mechanism is obtained by subtracting the third preset coefficient from the proportional coefficient, and power is allocated to the slewing mechanism according to the second attenuation coefficient and the corresponding required power; the third preset coefficient is greater than the first preset coefficient.

9. A crane, characterized in that: include: The crane counterweight control power distribution system as claimed in claim 8.

10. An electronic device, characterized in that: The electronic device comprises: Processor; and a memory for storing instructions executable by the processor; Wherein, the processor is used to execute the crane counterweight control power distribution method described in any one of claims 1 to 7 above.

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