Boom extension control method, device, hoisting equipment and computer program product

Abstract

The application provides an arm frame telescoping control method, device, hoisting equipment and computer program product, and relates to the technical field of hoisting. The arm frame telescoping control method comprises the following steps: obtaining a control instruction for controlling arm frame telescoping; and controlling the rotation of a winch according to the control instruction, wherein the winch retracts a steel wire rope when the arm frame is shortened or lengthened, and the winch releases the steel wire rope when the arm frame is lengthened. The arm frame telescoping control method provided by the application can effectively avoid the situation that the hook hits the top or falls to the ground during the telescoping process of the arm frame by obtaining the control instruction for controlling arm frame telescoping and controlling the rotation of the winch according to the control instruction, wherein the winch retracts the steel wire rope when the arm frame is shortened or lengthened, and the winch releases the steel wire rope when the arm frame is lengthened. Since the telescoping of the arm frame and the lifting of the hook are automatically completed without manual intervention and operation, the labor intensity of the operator is effectively reduced, and the hoisting efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of hoisting technology, and in particular to a jib telescoping control method and device, a hoisting device, and a computer program product. BACKGROUND

[0002] A truck crane generally comprises a jib mounted on a slewing ring, and a hook suspended from the jib by a wire rope. When the truck crane is performing a telescoping operation, the hook is generally lowered or raised manually at the same time as the telescoping jib is operated, so as to prevent the hook from hitting the top or falling to the ground. This operation is complicated and inefficient. SUMMARY

[0003] The present application provides a jib telescoping control method to solve the problem of complicated operation and low efficiency in the prior art.

[0004] The present application provides a jib telescoping control method, comprising:

[0005] obtaining a control instruction for controlling the telescoping of the jib;

[0006] controlling the rotation of a winch according to the control instruction, wherein the winch retracts the wire rope when the jib is shortened, and the winch releases the wire rope when the jib is lengthened.

[0007] According to the jib telescoping control method provided by the present application, before the step of obtaining the control instruction for controlling the telescoping of the jib, the control method further comprises:

[0008] determining a hoisting performance table according to the obtained hoisting parameters;

[0009] controlling the lengthening or shortening of the jib according to the determined hoisting performance table.

[0010] According to the jib telescoping control method provided by the present application, the hoisting parameters comprise at least one of a hoisting amplitude, a height, and a load weight.

[0011] According to the jib telescoping control method provided by the present application, the winch is provided with a wire rope loop number detection sensor, and the control method further comprises:

[0012] obtaining the number of wire rope loops wound by the winch;

[0013] determining the distance between the hook and the jib head according to the number of wire rope loops;

[0014] controlling the winch to perform a compensation operation when the distance between the hook and the jib head is greater than or less than a preset range.

[0015] According to the boom telescoping control method, the step of controlling the hoist to perform a compensation action comprises:

[0016] When the distance between the hook and the boom head is greater than the preset range, the hoist is controlled to rotate at a high speed so that the distance between the hook and the boom head is within the preset range;

[0017] When the distance between the hook and the boom head is less than the preset range, the hoist is controlled to rotate at a low speed so that the distance between the hook and the boom head is within the preset range.

[0018] According to the boom telescoping control method, the control method further comprises:

[0019] When a target condition is met, the boom is controlled to stop telescoping or shortening, and the hoist is controlled to stop rotating, wherein the target condition comprises at least one of the following: a forced button or an overload release button is opened, an operating handle is manually touched, a stroke protection is triggered, a protection condition is triggered, and the steel wire rope loop number detection sensor is abnormal.

[0020] According to the boom telescoping control method, the hoisting equipment is provided with a prompt unit, and when the hoist is controlled to perform a compensation action, the control method further comprises:

[0021] The prompt unit is controlled to output prompt information.

[0022] The application further provides a boom telescoping control device of a hoisting equipment, comprising:

[0023] A control unit is configured to acquire a control instruction for controlling boom telescoping, and control hoist rotation according to the control instruction, wherein the hoist retracts the steel wire rope when the boom is shortened or lengthened, and the hoist releases the steel wire rope when the boom is lengthened.

[0024] The application further provides a computer program product comprising a computer program, which, when executed by a processor, implements the boom telescoping control method according to any one of the above.

[0025] The boom telescoping control method provided by the application acquires a control instruction for controlling boom telescoping, and controls hoist rotation according to the control instruction, wherein the hoist retracts the steel wire rope when the boom is shortened or lengthened, and the hoist releases the steel wire rope when the boom is lengthened, thereby effectively avoiding the situation that the hook hits the top or falls to the ground during boom telescoping; since boom telescoping and hook lifting are automatically completed without human intervention and operation, the labor intensity of the operator is effectively reduced, and the hoisting efficiency is improved. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in this invention 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 some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0027] Figure 1 This is a flowchart illustrating the boom extension control method provided by the present invention.

[0028] Figure 2 This is a schematic diagram of the structure of the electronic device provided by the present invention.

[0029] Figure label:

[0030] 810, Processor; 820, Communication interface; 830, Memory; 840, Communication bus. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0032] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0033] In the description of the embodiments of the present application, it should be noted that unless specifically defined and limited, the terms "connected", "connected to", "connection" should be interpreted broadly, for example, can be fixed connection, can also be detachable connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0034] In the embodiments of the present application, unless specifically defined and limited, the first feature is "on" or "under" the second feature, which can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature can be above, above and above the second feature, or only indicates that the first feature is higher than the second feature in horizontal height. The first feature can be below, below and below the second feature, or only indicates that the first feature is lower than the second feature in horizontal height.

[0035] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0036] Figure 1 The flowchart of the arm support telescopic control method provided by the present application is illustrated as follows, Figure 1 As shown in the figure, the arm support telescopic control method comprises:

[0037] Step S100, obtaining a control instruction for controlling the telescoping of the arm support;

[0038] Step S200, controlling the winch to rotate according to the control instruction, wherein the winch retracts the steel wire rope when the arm support is shortened and lengthened, and the winch releases the steel wire rope when the arm support is lengthened.

[0039] The arm frame telescopic control method provided by the application, by obtaining a control instruction for controlling the telescoping of the arm frame, controls the rotation of the winch according to the control instruction, so that the hook of the hoisting equipment is raised relative to the arm head when the arm frame is shortened, or is lowered relative to the arm head when the arm frame is lengthened, effectively avoiding the hook from hitting the top or falling to the ground during the telescoping of the arm frame.

[0040] In an embodiment of the application, the control unit controls the winch to rotate forward when the arm frame is lengthened, so that the hook is lowered relative to the arm head.

[0041] It should be noted that the forward rotation and the reverse rotation are only used to indicate that the directions of rotation are opposite, and are not absolute directions of rotation. For example, the forward rotation can be counterclockwise rotation, and the reverse rotation is clockwise rotation; or the forward rotation can be clockwise rotation, and the reverse rotation is counterclockwise rotation.

[0042] In an embodiment of the application, before the step of obtaining the control instruction for controlling the telescoping of the arm frame, the control method further comprises:

[0043] In step S80, the hoisting performance table is determined according to the obtained hoisting parameters.

[0044] The hoisting parameters include at least one of the hoisting amplitude, the height, and the load weight, and the hoisting parameters are input by a user through an interactive device of the hoisting equipment. The interactive device can be a display screen or a keyboard. Of course, a wireless communication module can also be provided on the hoisting equipment, and the wireless communication module communicates with a user terminal, and the user inputs the hoisting parameters through the user terminal.

[0045] After obtaining the hoisting parameters, the control unit automatically generates a plurality of hoisting performance tables. In this embodiment, the control unit automatically generates five hoisting performance tables after obtaining the hoisting parameters. Of course, the number of hoisting performance tables is not limited to this, and can also be three, four, six, or more. Each hoisting performance table contains different hoisting parameter information, and the specific type of the hoisting parameter information is determined according to actual needs.

[0046] It should be noted that, in order to maximize the effect of automatic telescoping, the determination of the hoisting parameters needs to be combined with working condition recommendation and winch follow-up technology. The height in the hoisting parameters can be the height of the arm head, the height of the hook, or the height of the load.

[0047] In step S90, the arm frame is lengthened or shortened according to the determined hoisting performance table.

[0048] The determination of the lifting performance table can be that the operator compares the lifting parameter information, determines the lifting performance table according to the comparison result, and then selects the lifting performance table on the interactive device. Of course, the determination of the lifting performance table can also be automatic determination by the control unit. After the lifting performance table is determined, the control unit controls the boom to extend or shorten, so that the crane boom is extended or retracted to the target length and amplitude.

[0049] In an embodiment of the present application, the winch is provided with a steel wire rope coil number detection sensor, and the control method further comprises:

[0050] In step S110, the number of coils of the steel wire rope wound by the winch is obtained;

[0051] In step S120, the distance between the hook and the boom head is determined according to the number of coils of the steel wire rope;

[0052] The steel wire rope coil number detection sensor is used to detect the number of rotations of the winch drum. In the present embodiment, the steel wire rope coil number detection sensor is an electronic three-coil sensor. Of course, the specific type of the steel wire rope coil number detection sensor is not limited to this, and it can also be a mechanical rotation sensor or an optical rotation sensor. When the steel wire rope coil number detection sensor detects the number of rotations of the winch drum, the steel wire rope coil number detection sensor sends an electrical signal to the control unit. The control unit calculates the number of coils of the steel wire rope wound on the winch drum according to the received electrical signal. Since the outer diameter of the winch drum and the total length of the steel wire rope are known, the control unit can calculate the length of the steel wire rope wound on the winch drum according to the outer diameter of the winch drum and the number of coils of the steel wire rope wound on the winch drum. Then, according to the total length of the steel wire rope, the length of the steel wire rope wound on the winch drum, and the length of the boom, the distance between the hook and the boom head is calculated.

[0053] In step S130, when the distance between the hook and the boom head is greater than or less than the preset range, the winch is controlled to perform a compensation action.

[0054] When the distance between the hook and the boom head is not within the preset range, it indicates that the position of the hook is too high or too low, and the position of the hook is not within the safe range. If the boom continues to extend or retract, a safety accident is likely to occur. Therefore, the winch needs to be controlled to perform a compensation action to keep the distance between the hook and the boom head within the preset range. The control unit controls the winch to adjust the distance between the hook and the boom head in real time and keep the distance stable dynamically, which not only simplifies the operation steps of the lifting equipment, but also improves the safety of the lifting equipment.

[0055] It should be noted that the size of the preset range is determined according to the length of the hook and the length of the boom, and the preset range is not a fixed range. When the length of the boom changes, the preset range will also change. The longer the length of the boom, the larger the preset range. The shorter the length of the boom, the smaller the preset range. The value of the preset range is determined according to the length of the boom and the size of the hook.

[0056] In an embodiment of the present application, the step of controlling the hoist to perform the compensation action comprises:

[0057] In step S131, when the distance between the hook and the boom head is greater than the preset range, the hoist is controlled to accelerate rotation to make the distance between the hook and the boom head within the preset range.

[0058] When the distance between the hook and the boom head is greater than the preset range, it means that the distance between the hook and the boom head is too far. If the current speed of the boom extension and the speed of the hoist rotation are maintained, the hook will contact the ground, i.e. the hook will fall to the ground. Therefore, the speed of the hoist needs to be controlled. The hoist is controlled by the control unit to accelerate rotation, the length of the steel wire wound on the drum increases per unit time, the distance between the hook and the boom head decreases continuously, and finally the distance between the hook and the boom head is within the preset range.

[0059] In step S132, when the distance between the hook and the boom head is less than the preset range, the hoist is controlled to decelerate to make the distance between the hook and the boom head within the preset range.

[0060] When the distance between the hook and the boom head is less than the preset range, it means that the distance between the hook and the boom head is too close. If the current speed of the boom extension and the speed of the hoist rotation are maintained, the hook will contact the boom head, i.e. the hook will hit the top. Therefore, the speed of the hoist needs to be controlled. The hoist is controlled by the control unit to decelerate, the length of the steel wire wound on the drum decreases per unit time, the distance between the hook and the boom head increases continuously, and finally the distance between the hook and the boom head is within the preset range. The hoist is controlled by the control unit to perform the compensation action, so that the distance between the hook and the boom head is within the preset range, and the safety of the hoisting equipment is improved.

[0061] In an embodiment of the present application, the control method further comprises:

[0062] Step S123, control the boom to stop elongation or shortening and control the winch to stop rotating in the case of meeting the target condition; wherein the target condition includes at least one of the following: the forced button or the overload release button is opened, the operating handle is touched, the travel protection is triggered, the protection condition is triggered and the steel wire rope coil number detection sensor is abnormal. By setting the target condition, the safety accident can be effectively avoided, and the safety of the hoisting equipment is further improved.

[0063] It should be noted that when the forced button or the overload release button is opened, if the boom continues to stretch and retract and the winch continues to rotate, the hoisting equipment will be damaged, resulting in a safety accident, so the boom needs to be controlled to stop elongation or shortening and the winch needs to be controlled to stop rotating when the forced button or the overload release button is opened. Of course, in order to improve the safety of the hoisting equipment, the program of controlling the boom to elongate or shorten and the winch to rotate can also be prohibited after the forced button or the overload release button is opened.

[0064] When the operating handle is touched by human, it means that the operator starts to intervene, so the boom needs to be controlled to stop elongation or shortening and the winch needs to be controlled to stop rotating when the operating handle is touched by human.

[0065] When the travel protection is triggered, it means that the distance between the hook and the boom head is not within the preset range, the steel wire is over-released or over-wound, and the hook will hit the top or fall to the ground, so the boom needs to be controlled to stop elongation or shortening and the winch needs to be controlled to stop rotating when the travel protection is triggered.

[0066] When the protection condition is triggered, it means that the working environment of the hoisting equipment is not suitable for operation. For example, when the sensor of the hoisting equipment detects high-voltage lines near the boom, if the boom continues to stretch and retract, a safety accident is likely to occur, so the boom needs to be controlled to stop elongation or shortening and the winch needs to be controlled to stop rotating when the protection condition is triggered. Of course, the specific protection condition is not limited to detecting high-voltage lines near the boom, but can also be detecting that the ground plate angle of the car is inclined or other conditions.

[0067] When the steel wire rope coil number detection sensor is abnormal, it means that the number of rotations of the drum detected by the steel wire rope coil number detection sensor is not accurate, and the distance between the hook and the boom head calculated by the corresponding control unit is also not accurate. If the boom continues to stretch and retract, the hook will hit the top or fall to the ground, so the boom needs to be controlled to stop elongation or shortening and the winch needs to be controlled to stop rotating when the steel wire rope coil number detection sensor is abnormal.

[0068] In one embodiment of the present application, the hoisting equipment is provided with a prompting unit, and the control method further comprises the following steps of:

[0069] In step S122, the prompting unit outputs the prompting information.

[0070] The prompting unit is used to remind the operator that the distance between the hook and the arm head is not within the preset range. The prompting unit can be a display screen, an indicator light, a buzzer or other prompting units. Correspondingly, when the prompting unit is a display screen, the prompting information can be text information or image information. When the prompting unit is an indicator light, the prompting information is light, which can be continuously lit or intermittently flashed. When the prompting unit is a buzzer, the prompting information is a prompt sound.

[0071] The arm-retracting control method provided by the present application can effectively avoid the situation that the hook hits the top or falls to the ground during the retracting or extending of the arm. Since the retracting or extending of the arm and the lifting or lowering of the hook are automatically completed without the need for manual intervention and operation, the labor intensity of the operator is effectively reduced, and the hoisting efficiency is improved.

[0072] The present application further provides an arm-retracting control device of a hoisting equipment, which comprises:

[0073] The control unit is used to acquire a control instruction for controlling the retracting or extending of the arm, and control the winch to rotate according to the control instruction. When the arm is retracted or extended, the winch winds or releases the steel wire rope.

[0074] The present application further provides a hoisting equipment, which comprises the arm-retracting control device of a hoisting equipment as described above.

[0075] It should be noted that the hoisting equipment of the present application is a truck crane, and the specific type of the hoisting equipment is not limited to this, but can also be a caterpillar crane or other types of cranes.

[0076] Figure 2 The structure of the electronic device provided by the present application is illustrated in the schematic structural diagram of the electronic device as shown in Figure 2As shown, the present application also provides an electronic device, which can include: a processor 810, a communications interface 820, a memory 830 and a communications bus 840, wherein the processor 810, the communications interface 820 and the memory 830 complete the communication with each other through the communications bus 840. The processor 810 can invoke the logical instructions in the memory 830 to execute the telescopic control method of the arm support, which includes:

[0077] Step S100, obtaining a control instruction for controlling the telescoping of the arm support;

[0078] Step S200, controlling the rotation of the winch according to the control instruction, wherein the winch stores the steel wire rope in the case of the shortening or lengthening of the arm support, and releases the steel wire rope in the case of the lengthening of the arm support.

[0079] In addition, the logical instructions in the memory 830 described above can be realized in the form of a software functional unit and sold or used as an independent product, which can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in the various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk and various program code storage media.

[0080] On the other hand, the present application also provides a computer program product, which includes a computer program, the computer program can be stored on a non-transitory computer readable storage medium, and the computer program is executed by the processor, the computer can execute the telescopic control method of the arm support provided by the above-mentioned method, which includes:

[0081] Step S100, obtaining a control instruction for controlling the telescoping of the arm support;

[0082] Step S200, controlling the rotation of the winch according to the control instruction, wherein the winch stores the steel wire rope in the case of the shortening or lengthening of the arm support, and releases the steel wire rope in the case of the lengthening of the arm support.

[0083] In yet another aspect, the present application also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method for controlling the telescoping of a boom provided by any of the above methods, the method comprising:

[0084] At step S100, a control instruction for controlling the telescoping of the boom is obtained.

[0085] At step S200, the winch is controlled to rotate according to the control instruction, wherein the winch retracts the wire rope when the boom is shortened and the winch releases the wire rope when the boom is lengthened. The above-described device embodiments are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, i.e., may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the present embodiment. Those skilled in the art can understand and implement without creative labor.

[0086] From the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be implemented by means of software and the necessary universal hardware platform, and of course, can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in terms of contribution to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0087] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some technical features; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method of boom reach control, characterized by, The control method comprises the following steps: obtaining a control instruction for controlling the telescoping of the boom; controlling the rotation of the winch according to the control instruction, wherein the winch stores the steel wire rope when the boom is shortened or lengthened, and the winch releases the steel wire rope when the boom is lengthened or shortened; the winch is provided with a steel wire rope loop number detection sensor, and the control method further comprises the following steps: obtaining the number of loops of the steel wire rope wound by the winch; determining the distance between the hook and the head of the boom according to the number of loops of the steel wire rope; when the distance between the hook and the head of the boom is greater than or less than a preset range, controlling the winch to perform a compensation action; the step of controlling the winch to perform the compensation action comprises the following steps: when the distance between the hook and the head of the boom is greater than the preset range, controlling the winch to rotate at a higher speed so that the distance between the hook and the head of the boom is within the preset range; when the distance between the hook and the head of the boom is less than the preset range, controlling the winch to rotate at a lower speed so that the distance between the hook and the head of the boom is within the preset range.

2. The method of boom extension control according to claim 1, wherein, Before the step of obtaining the control instruction for controlling the telescoping of the boom, the control method further comprises the following steps: determining a lifting performance table according to the obtained lifting parameters; controlling the boom to lengthen or shorten according to the determined lifting performance table.

3. The method of boom extension control according to claim 2, wherein, The lifting parameters include at least one of the lifting amplitude, the height, and the load weight.

4. The method of boom extension control according to claim 2 or 3, wherein, The control method further comprises the following steps: controlling the boom to stop lengthening or shortening and controlling the winch to stop rotating when a target condition is met, wherein the target condition includes at least one of the following: a forced button or an overload release button is opened, an operating handle is touched, a travel protection is triggered, a protection condition is triggered, and the steel wire rope loop number detection sensor is abnormal.

5. The method of boom extension control according to claim 2 or 3, wherein, The hoisting equipment is provided with a prompt unit, and the control method further comprises the following steps when the winch performs the compensation action: controlling the prompt unit to output prompt information.

6. A telescoping control apparatus for a boom of a lifting device, characterized by The control method comprises the following steps: a control unit is configured to obtain a control instruction for controlling the telescoping of the boom; the control unit is configured to control the rotation of the winch according to the control instruction, wherein the winch stores the steel wire rope when the boom is shortened or lengthened, and the winch releases the steel wire rope when the boom is lengthened or shortened; the winch is provided with a steel wire rope loop number detection sensor, and the control method further comprises the following steps: the control unit is configured to obtain the number of loops of the steel wire rope wound by the winch; the control unit is configured to determine the distance between the hook and the head of the boom according to the number of loops of the steel wire rope; the control unit is configured to control the winch to perform a compensation action when the distance between the hook and the head of the boom is greater than or less than a preset range; the step of controlling the winch to perform the compensation action comprises the following steps: the control unit is configured to control the winch to rotate at a higher speed when the distance between the hook and the head of the boom is greater than the preset range, so that the distance between the hook and the head of the boom is within the preset range; the control unit is configured to control the winch to rotate at a lower speed when the distance between the hook and the head of the boom is less than the preset range, so that the distance between the hook and the head of the boom is within the preset range.

7. A hoisting apparatus characterized by, The telescoping control device of the boom of the hoisting equipment according to claim 6 is provided.

8. A computer program product comprising a computer program, characterized in that, The computer program is executed by a processor to implement the boom telescoping control method according to any one of claims 1 to 5.

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