Calibration method for crane, processor, control device and crane

Abstract

The invention discloses a calibration method for a crane, a processor, a control device and the crane. The calibration method comprises the following steps: determining that the crane enters a calibration mode; determining that the crane meets an initial calibration condition; carrying out first current parameter array calibration on the main arm of the crane; carrying out second current parameter array calibration on the superlift device of the crane; setting an initial tension value of the main arm; performing tension calibration on the main arm based on the initial tension value; and controlling the crane to exit the calibration mode. The calibration method for the crane is simple and easy to operate, the labor cost can be reduced, and the calibration time of the crane is saved.

Description

Technical Field

[0001] The present application belongs to the technical field of cranes, and specifically relates to a calibration method, a processor, a control device and a crane for a crane. Background Art

[0002] At present, the demand for wind power booms of large-tonnage crane products is getting longer and longer. When the wind power boom is lengthened, the 86 and 87 booms are automatically extended and retracted with large pulling force and equal rope length. In order to ensure the smooth operation of automatic extension and retraction, some key indicators are parameterized, such as: required pulling force and required back pressure at different lengths. Since each vehicle has different characteristics, these parameters are quite different for different vehicles and need to be calibrated before automatic extension and retraction.

[0003] The current calibration is done manually, and the calibrator needs to comprehensively consider the telescopic operation conditions and the boom posture conditions for calibration. However, this calibration method has the problem that ordinary commissioning personnel cannot complete the debugging independently, and each working condition requires technical personnel to be on-site for debugging. The debugging effect is greatly affected by the subjective influence of the commissioning personnel, the debugging quality is not uniform, and one working condition requires at least half a day, so the debugging time is long. Summary of the invention

[0004] The purpose of the present application is to provide a calibration method, a processor, a control device and a crane for a crane. The calibration method for a crane is simple and easy to operate, can reduce labor costs, and save crane calibration time.

[0005] In order to achieve the above-mentioned object, the first aspect of the present application provides a calibration method for a crane, the calibration method comprising:

[0006] Make sure the crane enters calibration mode;

[0007] Make sure the crane meets the initial calibration conditions;

[0008] Calibrate the first current parameter array of the main arm of the crane;

[0009] Calibrate the second current parameter array of the superlifting device of the crane;

[0010] Set the initial tension value of the main arm;

[0011] Calibrate the tension of the main arm based on the initial tension value;

[0012] Control the crane to exit calibration mode.

[0013] In an embodiment of the present application, the initial calibration conditions include that the secondary overflow valve of the super-lifting device is in a pressure-adjusted state, the boom of the crane is in a non-bending state, the encoder of the super-lifting device is in a zero-position calibrated state, the initial minimum value of the extension action current of the main arm is in a set state, the initial minimum value of the retraction action current of the main arm is in a set state, the rope-releasing action current value of the super-lifting device is in a set state, the rope-collecting action current value of the super-lifting device is in a set state, and the crane meets the tension setting state.

[0014] In an embodiment of the present application, calibrating the first current parameter array of the main arm of the crane includes:

[0015] Determining that the crane meets the first current parameter array calibration requirements;

[0016] Control the main arm to perform the extension operation;

[0017] Determining that the extension speed of the main arm is within a first preset speed range and that the extension speed is maintained within the first preset speed range for a first preset time period;

[0018] Acquire a first control current value of the main arm extension control valve when the main arm is converted from a static state to an action state;

[0019] Acquire a second control current value of the main arm extension control valve when the extension speed of the main arm is within a first preset speed range and the extension speed is maintained within the first preset speed range for a first preset time period;

[0020] The first current parameter array of the main arm of the crane is calibrated according to the first control current value and the second control current value.

[0021] In an embodiment of the present application, calibrating the first current parameter array of the main arm of the crane further includes:

[0022] After obtaining the second control current value, controlling the main arm to perform a contraction operation;

[0023] Determining that the retraction speed of the main arm is within a second preset speed range and the extension speed is maintained within the second preset speed range for a second preset time period;

[0024] Acquire a third control current value of the main arm retraction control valve when the main arm is converted from a static state to a retracted state;

[0025] Acquire a fourth control current value of the main arm retraction control valve when the retraction speed of the main arm is within a second preset speed range and the retraction speed is maintained within the second preset speed range for a second preset time period;

[0026] The first current parameter array of the main arm is calibrated according to the first control current value, the second control current value, the third control current value and the fourth control current value.

[0027] In an embodiment of the present application, calibrating the second current parameter array of the superlifting device of the crane includes:

[0028] Determining that the crane meets the second current parameter array calibration requirements;

[0029] Control the superlifting device to perform the rope-releasing operation;

[0030] Determining that a first rope-releasing speed of the first super-lifting mechanism is within a third preset speed range and that the first rope-releasing speed is maintained within the third preset speed range for a third preset time period;

[0031] Determining that a second rope-releasing speed of the second super-lifting mechanism is within a fourth preset speed range and that the second rope-releasing speed is maintained within the fourth preset speed range for a fourth preset time period;

[0032] Acquire a fifth control current value of the first superlift drive control valve when the steel wire rope of the first superlift mechanism is converted from a stationary state to a rope-releasing state, and acquire a sixth control current value of the second superlift drive control valve when the steel wire rope of the second superlift mechanism is converted from a stationary state to a rope-releasing state;

[0033] The second current parameter array of the superlifting device of the crane is calibrated according to the fifth control current value and the sixth control current value.

[0034] In an embodiment of the present application, the super-lifting device includes a first super-lifting mechanism and a second super-lifting mechanism, and calibrating the second current parameter array of the super-lifting device of the crane includes:

[0035] After obtaining the sixth control current value, controlling the superlifting device to perform a rope retracting operation;

[0036] Determining that a first rope-retracting speed of the first super-lifting mechanism is within a fifth preset speed range and that the first rope-retracting speed is maintained within the fifth preset speed range for a fifth preset time period;

[0037] Determining that a second rope-collecting speed of the second super-lifting mechanism is within a sixth preset speed range and that the second rope-collecting speed is maintained within the sixth preset speed range for a sixth preset time period;

[0038] Acquire a seventh control current value of the first superlift drive control valve when the steel wire rope of the first superlift mechanism is converted from a stationary state to a rope-retracted state, and an eighth control current value of the second superlift drive control valve when the steel wire rope of the second superlift mechanism is converted from a stationary state to a rope-retracted state;

[0039] The second current parameter array of the superlifting device of the crane is calibrated according to the fifth control current value, the sixth control current value, the seventh control current value and the eighth control current value.

[0040] In an embodiment of the present application, setting the initial tension value of the main arm includes:

[0041] Make sure the main arm enters the tension value setting state;

[0042] Control the main arm to perform telescopic operation so that the extension length of the main arm enters the preset arm length range;

[0043] Turn off the telescopic function of the main arm;

[0044] Make sure that the main arm does not exceed the limit of posture;

[0045] Get the current tension value of the main arm;

[0046] The current tension value is set as the initial tension value of the main arm in the preset arm length range.

[0047] In an embodiment of the present application, setting the initial pulling force value of the main arm further includes:

[0048] After turning off the telescopic function of the main arm, it is determined that the main arm has exceeded the limit of posture;

[0049] Determine whether the crane boom is bending sideways;

[0050] After the boom is bent sideways, the boom is controlled to perform a mid-position return operation to return the boom to the mid-position;

[0051] Determine whether the main arm has exceeded the deflection limit;

[0052] When the deflection of the main arm exceeds the limit, the main arm is controlled to perform a deflection adjustment operation to restore the deflection of the main arm to a normal state;

[0053] After the deflection of the main arm returns to a normal state, the current tension value of the main arm is obtained and set as the initial tension value of the main arm in the preset arm length range.

[0054] In an embodiment of the present application, calibrating the tension of the main arm based on the initial tension value includes:

[0055] Control the main arm to perform telescopic operation;

[0056] Determine that the angle between the main arm and the auxiliary arm of the crane reaches a preset angle;

[0057] Control the main arm to stop performing the telescopic operation;

[0058] Get the calibrated tension value of the main arm;

[0059] The tension of the main arm is calibrated by replacing the initial tension value with the calibrated tension value.

[0060] In an embodiment of the present application, calibrating the tension of the main arm based on the initial tension value includes:

[0061] Control the main arm to perform telescopic operation so that the extension length of the main arm falls within the preset arm length range;

[0062] Control the main arm to stop performing the telescopic operation;

[0063] Make sure that the main arm does not exceed the limit of posture;

[0064] Get the calibrated tension value of the main arm;

[0065] The tension of the main arm is calibrated by replacing the initial tension value corresponding to the preset arm length range with the calibrated tension value.

[0066] In an embodiment of the present application, the calibration method further includes:

[0067] After the crane exits the calibration mode, the crane is controlled to perform diagnostic actions;

[0068] Acquire diagnostic data during the crane's diagnostic actions;

[0069] Determine based on diagnostic data that the crane is in a state to be optimized;

[0070] Perform optimization operations on the crane to put the crane in an optimized state.

[0071] In an embodiment of the present application, the super-lifting device includes a first super-lifting mechanism and a second super-lifting mechanism, and the optimization operation of the crane includes:

[0072] Control the crane to enter the superlift device optimization mode;

[0073] Controlling the superlifting device to perform a first optimization operation and obtaining a rope length deviation of a steel wire rope of the first superlifting mechanism and a steel wire rope of the second superlifting mechanism;

[0074] Determine a first feedforward value according to the rope length deviation, and adjust the rope length of the superlifting device based on the rope length deviation and the first feedforward value;

[0075] During the rope length adjustment process, the rope length deviation number of turns between the steel wire rope of the first superlifting mechanism and the steel wire rope of the second superlifting mechanism is obtained;

[0076] When the number of rope length deviation turns is within the preset range, the rope length adjustment is stopped and the superlifting device optimization mode is exited.

[0077] In an embodiment of the present application, optimizing the operation of the crane includes:

[0078] Control the crane to enter the main boom optimization mode;

[0079] controlling the main arm to perform a second optimization operation and obtaining an angle deviation between the main arm and the auxiliary arm of the crane;

[0080] Determine a second feedforward value according to the angle deviation, and adjust the angle between the main arm and the auxiliary arm based on the angle deviation and the second feedforward value;

[0081] In the process of adjusting the angle, the angle value between the main arm and the auxiliary arm is obtained;

[0082] When the angle value is within the preset angle range, stop adjusting the angle and exit the main arm optimization mode.

[0083] A second aspect of the present application provides a processor configured to execute the above-mentioned calibration method for a crane.

[0084] A third aspect of the present application provides a control device, which includes the above-mentioned processor.

[0085] A fourth aspect of the present application provides a crane, which includes a main arm, a secondary arm, a super-lifting device and the above-mentioned control device.

[0086] Through the above technical solution, it can be known that the calibration method includes: determining that the crane enters the calibration mode; determining that the crane meets the initial calibration conditions; calibrating the first current parameter array of the main arm of the crane; calibrating the second current parameter array of the superlifting device of the crane; setting the initial tension value of the main arm; calibrating the tension of the main arm based on the initial tension value; and controlling the crane to exit the calibration mode. The calibration method is simple and easy to implement, so that the crane can automatically realize the calibration of the first current parameter array of the main arm, the second current parameter array of the superlifting device, and the tension value array of the main arm, which reduces the labor intensity of the operator, saves the time spent on calibration, and ensures the accuracy and consistency of the calibration results.

[0087] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0088] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings:

[0089] Figure 1 This is a schematic diagram of the main process of the calibration method in the embodiment of the present application;

[0090] Figure 2 This is a schematic diagram of the manual setting page of the main arm pulling force in the embodiment of the present application;

[0091] Figure 3This is a schematic diagram of a preset feedforward + PID feedback control model in an embodiment of the present application (main arm optimization mode);

[0092] Figure 4 Schematic diagram of the composition of the control device in the embodiment of the present application.

[0093] Description of Reference Numerals

[0094] 1-control device; 101-processor; 102-speed sensor; 103-first length detector; 104-second length detector; 105-third length detector; 106-first angle sensor; 107-second angle sensor; 108-third angle sensor; 109-tension sensor; 110-operating device. DETAILED DESCRIPTION

[0095] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0096] The embodiment of the present application provides a calibration method for a crane, such as Figure 1 As shown, the calibration method includes the following steps:

[0097] Step S101: Determine whether the crane enters a calibration mode.

[0098] The crane in this embodiment may be an all-terrain crane, which includes an operating device 110 and a processor 101 in communication with the operating device 110. The operating device 110 may be a remote controller, a touch screen, a driving platform, etc. The operator may operate the operating device 110 to make the crane enter the calibration mode (for example, the operator presses the calibration button on the operating device 110), and then the operating device 110 sends a corresponding signal to the processor 101. After receiving the above signal, the processor 101 may determine that the crane has entered the calibration mode.

[0099] Step S102: Determine whether the crane meets the initial calibration conditions.

[0100] In one embodiment of the present application, the initial calibration conditions include that the secondary relief valve of the super-lifting device is in a pressure-adjusted state, the boom of the crane is in a non-bending state, the encoder of the super-lifting device is in a zero-position calibrated state, the initial minimum value of the extension action current of the main arm is in a set state, the initial minimum value of the retraction action current of the main arm is in a set state, the rope-releasing action current value of the super-lifting device is in a set state, the rope-collecting action current value of the super-lifting device is in a set state, and the crane meets the set tension state.

[0101] Specifically, the crane in this embodiment also includes a superlifting device and a control device 1 (such as Figure 4 As shown, the control device 1 includes an operating device 110 and a processor 101), a secondary relief valve is provided on the hydraulic pipeline of the super-lifting device, and an operator can manually adjust the pressure setting value of the secondary relief valve. The operating device 110 is also provided with a button representing that the pressure setting value adjustment of the secondary relief valve is completed. After the operator presses the above button, the operating device 110 sends a corresponding signal to the processor 101. After receiving the above signal, the processor 101 can determine that the secondary relief valve of the super-lifting device is in a state where the pressure has been adjusted;

[0102] The crane in this embodiment further includes a slewing platform and a boom disposed on the slewing platform. The operator can visually observe whether the boom is in a side bending state. The operating device 110 is also provided with a button for confirming that the boom is not in a side bending state. After the operator presses the button, the operating device 110 sends a corresponding signal to the processor 101. After receiving the signal, the processor 101 can determine that the boom is in a non-side bending state.

[0103] The super-lifting device in this embodiment includes a first super-lifting mechanism and a second super-lifting mechanism respectively located on both sides of the crane in the width direction, the first super-lifting mechanism and the second super-lifting mechanism both have a rotatable hoisting assembly and a wire rope wound on the hoisting assembly, and the hoisting assembly is provided with an encoder connected to the processor 101 for communication, and the processor 101 reads the encoder data of the encoders of the first super-lifting mechanism and the second super-lifting mechanism when the first super-lifting mechanism and the second super-lifting mechanism are in an initial state (i.e., the hook of the crane is at the top of the jib), and the above encoder data is the encoder zero-position calibration data of the super-lifting device (the encoder zero-position calibration data has two, which are the encoder zero-position calibration data of the first super-lifting mechanism and the second super-lifting mechanism respectively), and after the processor 101 reads the above data, it can be determined that the encoder of the super-lifting device is in a zero-position calibrated state;

[0104] The crane in this embodiment further includes a main arm and a main arm driver (such as a hydraulic cylinder) for driving the main arm to extend and retract. A main arm extension control valve (such as a solenoid valve) is provided on the hydraulic pipeline of the main arm driver. The processor 101 can control the action speed of the main arm driver by adjusting the control current value of the main arm extension control valve, thereby realizing the control of the extension speed of the main arm. The processor 101 reads the control current value of the main arm extension control valve when the main arm changes from a static state to an action state (that is, the main arm begins to extend). The control current value is the initial minimum value of the extension action current of the main arm. After the processor 101 reads the initial minimum value of the extension action current, it can be determined that the initial minimum value of the extension action current of the main arm is in a set state;

[0105] Similarly, the processor 101 reads the control current value of the main arm retraction control valve when the main arm changes from the retracted action state to the static state. The control current value is the initial minimum value of the retracted action current of the main arm. After the processor 101 reads the initial minimum value of the retracted action current, it can be determined that the initial minimum value of the retracted action current of the main arm is in a set state.

[0106] In this embodiment, the hoisting components of the first super-lifting mechanism and the second super-time mechanism are driven by a driving motor. The processor 101 reads the control current value of the driving motors corresponding to the first super-lifting mechanism and the second super-time mechanism when the super-lifting device changes from a static state to a rope-releasing speed of a preset rope-releasing speed. The control current value is the rope-releasing action current value of the super-lifting device. After the processor 101 reads the above-mentioned rope-releasing action current value, it can be determined that the rope-releasing action current value of the super-lifting device is in a set state;

[0107] Similarly, the processor 101 reads the control current value of the driving motors corresponding to the first super-lifting mechanism and the second super-lifting mechanism respectively when the super-lifting device changes from the rope-retracting state to the static state. The control current value is the rope-retracting action current value of the super-lifting device. After the processor 101 reads the rope-retracting action current value, it can be determined that the rope-retracting action current value of the super-lifting device is in a set state;

[0108] In this embodiment, the crane further includes a first angle sensor 106, a second angle sensor 107, a third angle sensor 108, a first length sensor and a second length sensor (such as Figure 4As shown, the control device 1 also includes a first angle sensor 106, a second angle sensor 107, a third angle sensor 108, a first length sensor and a second length sensor), the first angle sensor 106 is used to detect a first angle between the root of the main arm and the horizontal plane, the second angle sensor 107 is used to detect a second angle between the head of the main arm and the horizontal plane, the third angle sensor 108 is used to detect a third angle between the auxiliary arm and the horizontal plane, the first length sensor is used to detect a first length of the wire rope of the first super-lifting mechanism, and the second length sensor is used to detect a second length of the wire rope of the second super-lifting mechanism. After the detection is completed, the first angle sensor 106, the second angle sensor 107, and the third angle sensor 108 send the first angle, the second angle, and the third angle to the processor 101, and the processor 101 determines whether the first angle, the second angle, and the third angle are respectively within the first preset angle range, the second preset angle range, and the third preset angle range; after the detection is completed, the first length sensor and the second length sensor send the detection results to the processor 101, and the processor 101 determines whether the first length and the second length are respectively within the first preset length range and the second preset length range. If the first angle, the second angle, and the third angle are respectively within the first preset angle range, the second preset angle range, and the third preset angle range, and the first length and the second length are respectively within the first preset length range and the second preset length range, and it is determined that the boom is in a non-lateral bending state, then it is determined that the crane meets the tension setting state.

[0109] Furthermore, the crane in this embodiment also has a display device, which is provided with various identifiers for respectively indicating that the encoder of the super-lifting device is in a calibrated state at zero position, the initial minimum value of the extension action current of the main arm is in a set state, the initial minimum value of the retraction action current of the main arm is in a set state, the rope-releasing action current value of the super-lifting device is in a set state, the rope-collecting action current value of the super-lifting device is in a set state, and the crane meets the tension setting state. If the processor 101 determines that the above-mentioned calibration and / or setting are completed, the identifier corresponding to the above-mentioned calibration and / or setting is controlled to send a corresponding signal (such as controlling the identifier corresponding to the calibration to light up after determining that the encoder of the super-lifting device is in a calibrated state at zero position).

[0110] Step S103: calibrate the first current parameter array of the main arm of the crane.

[0111] In one embodiment of the present application, step S103 calibrates the first current parameter array of the main arm of the crane and further includes the following steps:

[0112] Step S201: Determine whether the crane meets the first current parameter array calibration requirement.

[0113] Specifically, the first current parameter array in the present embodiment includes a main arm extension minimum speed control calibration value, a main arm extension maximum speed control calibration value, a main arm retraction minimum speed control calibration value and a main arm retraction maximum speed control calibration value, wherein the main arm extension minimum speed control calibration value refers to the control current value of the main arm extension control valve when the main arm is changed from a static state to an extended state, the main arm extension maximum speed control calibration value refers to the control current value of the main arm extension control valve when the extension speed of the main arm reaches a preset extension speed, the main arm retraction minimum speed control calibration value refers to the control current value of the main arm extension control valve when the main arm is changed from a static state to a retracted state, and the main arm retraction maximum speed control calibration value refers to the control current value of the main arm extension control valve when the retraction speed of the main arm reaches the preset extension speed.

[0114] The crane in this embodiment further includes an arm pin provided on the main arm and an arm pin detector for detecting whether the arm pin is extended to a preset position, and the arm pin detector is in communication with the processor 101; the crane further includes a locking mechanism for locking the superlifting device, and the locking mechanism is in communication with the processor 101. If the processor 101 receives a signal from the arm pin detector indicating that the arm pin is extended to a preset position and a signal from the locking mechanism indicating that the superlifting device is released from the locking state, it is determined that the crane meets the first current parameter array calibration requirement.

[0115] Further, if the processor 101 determines that the crane does not meet the calibration requirements of the first current parameter array, an error signal is issued and the crane is controlled to exit the calibration mode or state of the first current parameter array.

[0116] Step S202: Control the main arm to perform an extension operation;

[0117] Step S203: Determine that the extension speed of the main arm is within a first preset speed range and that the extension speed is maintained within the first preset speed range for a first preset time period.

[0118] Specifically, the crane in this embodiment further includes a speed sensor 102 (eg, Figure 4As shown, the control device 1 also includes a speed sensor 102), and the processor 101 controls the extension of the main arm by controlling the main arm telescopic drive member, that is, gradually increasing the control current value of the main arm extension control valve, so that the main arm starts to move from a static state and gradually increases the extension speed, and at the same time controls the speed sensor 102 to detect the movement speed of the main arm in real time. The movement speed at this time is the extension speed of the main arm. The processor 101 compares the extension speed with the first preset speed range. If the extension speed is within the first preset speed range, the control timing module starts to accumulate the first time length of the extension speed within the first preset speed range, and compares the first time length with the first preset time length. If the first time length reaches the first preset time length, it is determined that the extension speed of the main arm has maintained the first preset time length within the first preset speed range.

[0119] Step S204: obtaining a first control current value of the main arm extension control valve when the main arm is converted from a static state to an action state;

[0120] Step S205: obtaining a second control current value of the main arm extension control valve when the extension speed of the main arm is within a first preset speed range and the extension speed is maintained within the first preset speed range for a first preset time period.

[0121] Specifically, the processor 101 reads the control current value of the main arm extension control valve when the main arm is converted from a static state to an action state, and the control current value is the first control current value; similarly, the processor 101 reads the control current value of the main arm extension control valve when the extension speed of the main arm is in a first preset speed range and the extension speed is maintained for a first preset time within the first preset speed range, and the control current value is the second control current value.

[0122] Step S206: controlling the main arm to perform a retraction operation;

[0123] Step S207: Determine that the retraction speed of the main arm is within a second preset speed range and the extension speed is maintained within the second preset speed range for a second preset time period.

[0124] Specifically, the processor 101 controls the contraction of the main arm by controlling the main arm telescopic drive, that is, gradually increasing the control current value of the main arm contraction control valve to make the main arm move from a static state to a contracted state (that is, the main arm begins to contract), and at the same time controls the speed sensor 102 to detect the movement speed of the main arm in real time. The movement speed is the contraction speed. The processor 101 compares the contraction speed with the second preset speed range. If the contraction speed is within the second preset speed range, the timing module is controlled to start accumulating the second time period of the contraction degree within the second preset speed range, and compares the second time period with the second preset time period. If the second time period reaches the second preset time period, it is determined that the contraction speed of the main arm has been maintained within the second preset speed range for the second preset time period.

[0125] Step S208: acquiring a third control current value of the main arm retraction control valve when the main arm is converted from a static state to a retracted state;

[0126] Step S209: obtaining a fourth control current value of the main arm retraction control valve when the retraction speed of the main arm is within a second preset speed range and the retraction speed is maintained within the second preset speed range for a second preset time period.

[0127] Specifically, the processor 101 reads the control current value of the main arm retraction control valve when the main arm is converted from a static state to a retracted state, and the control current value is the third control current value; similarly, the processor 101 reads the control current value of the main arm retraction control valve when the retraction speed of the main arm is in a second preset speed range and the extension speed is maintained for a second preset time within the second preset speed range, and the control current value is the fourth control current value.

[0128] Step S210: calibrating a first current parameter array of the main arm of the crane according to the first control current value, the second control current value, the third control current value and the fourth control current value.

[0129] Specifically, after obtaining the first control current value, the second control current value, the third control current value and the fourth control current value, the processor 101 uses the first control current value as the minimum extension speed control calibration value of the main arm, the second control current value as the maximum extension speed control calibration value of the main arm, the third control current value as the minimum retraction speed control calibration value of the main arm, and the fourth control current value as the maximum retraction speed control calibration value of the main arm.

[0130] Furthermore, in the present embodiment, if the extension speed of the main arm is greater than the upper limit value of the first preset speed range, the control current value of the main arm extension control valve is reduced by a first preset step size; if the extension speed of the main arm is less than the lower limit value of the first preset speed range, the control current value of the main arm extension control valve is increased by a first preset step size, so that the extension speed of the main arm is within the first preset speed range and the extension speed is maintained within the first preset speed range for a first preset time, and then steps S202-S203 are continued to be executed until step S203 is successfully executed and then subsequent steps are executed.

[0131] Step S104: calibrate the second current parameter array of the superlifting device of the crane.

[0132] In one embodiment of the present application, the super-lifting device includes a first super-lifting mechanism and a second super-lifting mechanism, and step S104 calibrates the second current parameter array of the super-lifting device of the crane and further includes the following steps:

[0133] Step S301: Determine whether the crane meets the second current parameter array calibration requirement.

[0134] Specifically, the second current parameter array in the present embodiment includes a calibration value of the minimum rope-releasing speed control of the second super-lifting mechanism, a calibration value of the minimum rope-releasing speed control of the second super-lifting mechanism, a calibration value of the minimum rope-collecting speed control of the first super-lifting mechanism, and a calibration value of the minimum rope-collecting speed control of the second super-lifting mechanism, wherein the calibration value of the minimum rope-releasing speed control of the second super-lifting mechanism refers to a control current value of the first super-lifting drive control valve when the wire rope of the first super-lifting mechanism is converted from a stationary state to a rope-releasing state, the calibration value of the minimum rope-releasing speed control of the second super-lifting mechanism refers to a control current value of the second super-lifting drive control valve when the wire rope of the second super-lifting mechanism is converted from a stationary state to a rope-releasing state, the calibration value of the minimum rope-collecting speed control of the first super-lifting mechanism refers to a control current value of the first super-lifting drive control valve when the wire rope of the first super-lifting mechanism is converted from a stationary state to a rope-collecting state, and the calibration value of the minimum rope-collecting speed control of the second super-lifting mechanism refers to a control current value of the second super-lifting drive control valve when the wire rope of the second super-lifting mechanism is converted from a stationary state to a rope-collecting state.

[0135] The processor 101 controls the arm pin detector to detect whether the arm pin is extended to the preset position and reads the current state of the locking mechanism. If it is determined based on the detection result of the arm pin detector that the arm pin is extended to the preset position after receiving the signal sent by the arm pin detector, and it is determined based on the feedback signal sent by the locking mechanism that the locking state of the super-lifting device has been released, then it is determined that the crane meets the calibration requirements of the second current parameter array.

[0136] Step S302: Control the super lifting device to perform a rope release operation;

[0137] Step S303: determining that the first rope-releasing speed of the first super-lifting mechanism is within a third preset speed range and the first rope-releasing speed is maintained within the third preset speed range for a third preset time period;

[0138] Step S304: the second rope-releasing speed of the second super-lifting mechanism is within a fourth preset speed range and the second rope-releasing speed is maintained within the fourth preset speed range for a fourth preset time period.

[0139] Specifically, in an embodiment of the present application, when the super-lifting device performs a rope-releasing operation, the first super-lifting mechanism and the second super-lifting mechanism act simultaneously and the lengths of the steel wire ropes of both mechanisms increase. The crane in this embodiment further includes a first length detector 103 (such as a displacement sensor) for detecting the length of the steel wire rope of the first super-lifting mechanism and a second length detector 104 (such as a displacement sensor) for detecting the length of the steel wire rope of the second super-lifting mechanism. The first length detector 103 and the second length detector 104 are both connected to the processor 101 for communication. After the first length detector 103 and the second length detector 104 complete the detection, the respective detection results are sent to the processor 101. The processor 101 can determine the rope-releasing speeds of the first super-lifting mechanism and the second super-lifting mechanism based on the detection results of the first length detector 103 and the second length detector 104.

[0140] The processor 101 controls the wire rope release of the first super-lifting mechanism by controlling the first driving member (such as a hydraulic motor) of the first super-lifting mechanism, that is, gradually increasing the control current value of the first super-lifting drive control valve, so that the first super-lifting mechanism starts to execute the rope release action from a static state and gradually increases the first rope release speed, and at the same time controls the first length sensor to detect the length of the wire rope in real time, and determines the first rope release speed of the first super-lifting mechanism based on the length of the wire rope; similarly, the processor 101 controls the wire rope release of the second super-lifting mechanism by controlling the second driving member (such as a hydraulic motor) of the second super-lifting mechanism, that is, gradually increasing the control current value of the second super-lifting drive control valve, so that the second super-lifting mechanism starts to execute the rope release action from a static state and gradually increases the second rope release speed, and at the same time controls the second length sensor to detect the length of the wire rope in real time, and determines the second rope release speed of the second super-lifting mechanism based on the length of the wire rope.

[0141] Afterwards, the processor 101 compares the first rope-releasing speed with the third preset speed range. If the first rope-releasing speed is within the third preset speed range, the control timing module starts to accumulate the third time period of the first rope-releasing speed within the third preset speed range, and compares the third time period with the third preset time period. If the third time period reaches the third preset time period, it is determined that the first rope-releasing speed of the first super-lifting mechanism has been maintained within the third preset speed range for the third preset time period; the processor 101 compares the second rope-releasing speed with the fourth preset speed range. If the second rope-releasing speed is within the fourth preset speed range, the control timing module starts to accumulate the fourth time period of the second rope-releasing speed within the fourth preset speed range, and compares the fourth time period with the fourth preset time period. If the fourth time period reaches the fourth preset time period, it is determined that the second rope-releasing speed of the second super-lifting mechanism has been maintained within the fourth preset speed range for the fourth preset time period.

[0142] Step S305: Obtain the fifth control current value of the first super-lifting drive control valve when the wire rope of the first super-lifting mechanism is converted from a static state to a rope-releasing state, and obtain the sixth control current value of the second super-lifting drive control valve when the wire rope of the second super-lifting mechanism is converted from a static state to a rope-releasing state.

[0143] Specifically, the processor 101 reads the control current value of the first super-lifting drive control valve when the wire rope of the first super-lifting mechanism is converted from a static state to a rope-releasing state, and the control current value is the fifth control current value; similarly, the processor 101 reads the control current value of the second super-lifting drive control valve when the wire rope of the second super-lifting mechanism is converted from a static state to a rope-releasing state, and the control current value is the sixth control current value.

[0144] Step S306: Control the super lifting device to perform the rope collection operation;

[0145] Step S307: determining that the first rope-retracting speed of the first super-lifting mechanism is within a fifth preset speed range and the first rope-retracting speed is maintained within the fifth preset speed range for a fifth preset time period;

[0146] Step S308: Determine that the second rope-retracting speed of the second super-lifting mechanism is within a sixth preset speed range and that the second rope-retracting speed is maintained within the sixth preset speed range for a sixth preset time period.

[0147] The processor 101 controls the wire rope retraction of the first super-lifting mechanism by controlling the first driving member (such as a hydraulic motor) of the first super-lifting mechanism, that is, gradually increasing the control current value of the third super-lifting drive control valve, so that the first super-lifting mechanism starts to perform the rope retraction action from a static state and gradually increases the first rope retraction speed, and at the same time controls the first length sensor to detect the length of the wire rope in real time, and determines the first rope retraction speed of the first super-lifting mechanism based on the length of the wire rope; similarly, the processor 101 controls the wire rope retraction of the second super-lifting mechanism by controlling the second driving member (such as a hydraulic motor) of the second super-lifting mechanism, that is, gradually increasing the control current value of the fourth super-lifting drive control valve, so that the second super-lifting mechanism starts to perform the rope retraction action from a static state and gradually increases the second rope retraction speed, and at the same time controls the second length sensor to detect the length of the wire rope in real time, and determines the second rope retraction speed of the second super-lifting mechanism based on the length of the wire rope.

[0148] Afterwards, the processor 101 compares the first rope-retracting speed with the fifth preset speed range. If the first rope-retracting speed is within the fifth preset speed range, the control timing module starts to accumulate the fifth time period of the first rope-retracting speed within the fifth preset speed range, and compares the fifth time period with the fifth preset time period. If the fifth time period reaches the fifth preset time period, it is determined that the first rope-retracting speed of the first super-lifting mechanism has been maintained within the fifth preset speed range for the fifth preset time period; the processor 101 compares the second rope-retracting speed with the sixth preset speed range. If the second rope-retracting speed is within the sixth preset speed range, the control timing module starts to accumulate the sixth time period of the second rope-retracting speed within the sixth preset speed range, and compares the sixth time period with the sixth preset time period. If the sixth time period reaches the sixth preset time period, it is determined that the second rope-retracting speed of the second super-lifting mechanism has been maintained within the sixth preset speed range for the sixth preset time period.

[0149] Step S309: Obtain the seventh control current value of the first super-lifting drive control valve when the wire rope of the first super-lifting mechanism is converted from a static state to a retracted state, and obtain the eighth control current value of the second super-lifting drive control valve when the wire rope of the second super-lifting mechanism is converted from a static state to a retracted state.

[0150] Specifically, the processor 101 reads the control current value of the first super-lifting drive control valve when the wire rope of the first super-lifting mechanism is converted from a static state to a rope-retracted state, and the control current value is the seventh control current value; similarly, the processor 101 reads the control current value of the second super-lifting drive control valve when the wire rope of the second super-lifting mechanism is converted from a static state to a rope-retracted state, and the control current value is the eighth control current value.

[0151] Step S310: calibrating a second current parameter array of a superlifting device of a crane according to the fifth control current value, the sixth control current value, the seventh control current value and the eighth control current value.

[0152] Specifically, after obtaining the fifth control current value, the sixth control current value, the seventh control current value and the eighth control current value, the processor 101 uses the fifth control current value as the minimum rope-releasing speed control calibration value of the first super-lifting mechanism, uses the sixth control current value as the minimum rope-releasing speed control calibration value of the second super-lifting mechanism, uses the seventh control current value as the minimum rope-collecting speed control calibration value of the first super-lifting mechanism, and uses the eighth control current value as the minimum rope-collecting speed control calibration value of the second super-lifting mechanism.

[0153] Further, in this embodiment, if the extension speed of the main arm is greater than the upper limit of the first preset speed range, the control current value of the main arm extension control valve is reduced by the first preset step length; if the extension speed of the main arm is less than the lower limit of the first preset speed range, the control current value of the main arm extension control valve is increased by the first preset step length, so that the extension speed of the main arm is within the first preset speed range and the extension speed is maintained within the first preset speed range for a first preset time, and then continue to execute steps S202-S203 until step S203 is successfully executed and then execute subsequent steps. Step S105: Set the initial tension array of the main arm in each preset arm length interval.

[0154] In one embodiment of the present application, step S105 of setting the initial tension array of the main arm in each arm length interval further includes the following steps:

[0155] Step S401: Determine whether the main arm enters a tension value setting state.

[0156] Specifically, in this embodiment, after the processor 101 executes step S104, it can be determined that the main arm has entered the tension value setting state.

[0157] Step S402: controlling the main arm to perform a telescopic operation so that the extended length of the main arm enters a preset arm length range;

[0158] Step S403: Turn off the telescopic function of the main arm.

[0159] Specifically, various preset arm length intervals are pre-stored in the processor 101 (the number of preset arm length intervals in this embodiment is greater than 10), and the crane also includes a third length detector 105 for detecting the extended length of the main arm and communicating with the processor 101. After step S401 is executed, if the initial tension value for extending the main arm is to be set, the processor 101 controls the main arm driver to drive the main arm to extend; if the initial tension value for contracting the main arm is to be set, the processor 101 controls the main arm driver to drive the main arm to contract. During the extension or contraction of the main arm, the third length detector 105 detects the extended length of the main arm in real time and sends the detection result to the processor 101. After receiving the above detection result, the processor 101 compares it with each preset arm length interval to determine the preset arm length interval into which the extended length of the main arm falls. After determining that the extended length of the main arm falls into a preset arm length interval, the telescopic function of the main arm is turned off to prevent the main arm from continuing to telescope in subsequent detection processes.

[0160] Step S404: Determine that the main arm does not exceed the limit of posture.

[0161] In one embodiment of the present application, step S404 of determining that the main arm does not have an attitude exceeding limit situation further includes the following steps:

[0162] When the boom does not bend sideways and the deflection of the main arm does not exceed the limit, it is determined that the main arm does not exceed the limit in attitude.

[0163] Specifically, the two sides of the boom in this embodiment are respectively connected to the steel wire rope of the first super-lifting mechanism and the steel wire rope of the second super-lifting mechanism. After the main boom stops the telescopic function, the processor 101 controls the first length sensor and the second length sensor to respectively detect the lengths of the two steel wire ropes. After the detection is completed, the first length sensor and the second length sensor send the current detection results to the processor 101. The processor 101 calculates the difference between the first length and the second length, and compares the difference with a preset difference range. If the difference is within the preset difference range, it is determined that the boom does not have a lateral bending situation.

[0164] After the main arm stops the telescopic function, the processor 101 also controls the first angle sensor 106, the second angle sensor 107, and the third angle sensor 108 to start their respective angle detection functions to obtain the current first angle, the second angle, and the third angle. The processor 101 compares the first angle with the fourth preset angle range pre-stored in the processor 101, and at the same time, calculates the angle difference between the second angle and the third angle, and then compares the angle difference with the first preset angle difference range. If the first angle is within the fourth preset angle range and the angle difference is within the first preset angle difference range, it is determined that the deflection of the main arm is within the limit.

[0165] When determining that the boom has not bent sideways and the deflection of the main arm has not exceeded the limit, the processor 101 further determines that the main arm has not exceeded the limit in posture.

[0166] Step S405: Obtain the current pulling force value of the main arm.

[0167] Specifically, the crane in this embodiment further includes a tension sensor 109 (eg, Figure 4 As shown, the control device 1 also includes a tension sensor 109), which is communicatively connected to the processor 101. After step S403 is executed, the tension sensor 109 is controlled to perform a tension value detection function, and after the detection is completed, the detection result is sent to the processor 101, so that the processor 101 can know the current tension value of the main arm.

[0168] Step S406: setting the current pulling force value as the initial pulling force value of the main arm in the preset arm length range.

[0169] Specifically, after obtaining the current tension value of the main arm, the processor 101 uses it as the initial tension value corresponding to the current preset arm length interval. Furthermore, if the main arm performs an extension action in step S402, the initial tension value is the extension initial tension value; if the main arm performs a contraction action in step S402, the initial tension value is the contraction initial tension value.

[0170] Furthermore, after step S406 is executed, step S402-step S406 is executed again, and the processor 101 controls the main arm to resume the telescopic function so that the extension length of the main arm can enter the next preset arm length interval and obtain the corresponding current tension value of each preset arm length interval, so as to set the initial tension value of each different preset arm length interval.

[0171] In one embodiment of the present application, setting the initial tension value of the main arm further includes:

[0172] Step S501: after the telescopic function of the main arm is turned off, determining that the main arm has an attitude exceeding the limit;

[0173] Step S502: determining whether the boom is bent sideways;

[0174] Step S503: After the boom is bent sideways, the boom is controlled to perform a mid-position return operation to return the boom to the mid-position;

[0175] Step S504: determining whether the main arm has exceeded the deflection limit;

[0176] Step S505: when the deflection of the main arm exceeds the limit, the main arm is controlled to perform a deflection adjustment operation so that the deflection of the main arm returns to a normal state;

[0177] Step S506: After the deflection of the main arm returns to a normal state, the current tension value of the main arm is obtained and set as the initial tension value of the main arm in the preset arm length range.

[0178] Specifically, if after step S403 is completed, based on the detection results of the first length sensor and the second length sensor, the processor 101 determines that the boom has a lateral bend, then the first super-lifting mechanism and / or the second super-lifting mechanism are controlled to cooperate to collect or release the rope until the boom returns to the neutral position (that is, the boom has not a lateral bend) according to the detection results of the first length sensor and the second length sensor.

[0179] If it is determined that the deflection of the main arm exceeds the limit based on the detection results of the first angle sensor 106, the second angle sensor 107, and the third angle sensor 108, the inclination angle of the main arm and / or the auxiliary arm is adjusted until it is determined that the deflection of the main arm does not exceed the limit based on the detection results of the first angle sensor 106, the second angle sensor 107, and the third angle sensor 108. On this basis, the processor 101 continues to execute steps S405-S406.

[0180] The initial tension values ​​of the main arm in each preset arm length interval together constitute a tension value array. Further, each extension initial tension value together constitutes an extension tension value array, and each contraction initial tension value together constitutes a contraction tension value array.

[0181] In another embodiment of the present application, the initial tension value of each preset arm length interval of the main arm can also be set manually, that is, the operator can also enter the tension setting page (such as Figure 2 and set the initial tension value for each preset arm length interval on the tension setting page according to the actual tension value of the main arm when the arm is extended or retracted in each preset arm length interval.

[0182] Step S106: Calibrate the tension of the main arm based on the initial tension value.

[0183] In one embodiment of the present application, step S106 calibrates the tension of the main arm based on the initial tension value and further includes the following steps:

[0184] Step S601: Control the main arm to perform telescopic operation;

[0185] Step S602: Determine whether the angle between the main arm and the auxiliary arm reaches a preset angle;

[0186] Step S603: Control the main arm to stop performing the telescopic operation;

[0187] Step S604: obtaining the calibrated tension value of the main arm;

[0188] Step S605: Replace the initial tension value with the calibrated tension value to calibrate the tension of the main arm.

[0189] Specifically, after step S105 is executed, if the main arm extension tension value calibration is to be performed, the processor 101 controls the main arm to extend, and if the main arm contraction tension value calibration is to be performed, the processor 101 controls the main arm to contract. During the main arm performing the telescopic operation, the second angle sensor 107 and the third angle sensor 108 are controlled to start their respective angle detection functions, and the angle between the main arm and the auxiliary arm is calculated according to the detection results of the second angle sensor 107 and the third angle sensor 108; after obtaining the above angle, the above angle is compared with the second preset angle range pre-stored in the processor 101. If the above angle is not within the second preset angle range, the main arm is controlled to stop performing the telescopic operation, and the tension sensor 109 is controlled to detect the current tension value of the main arm, which is the calibration tension value.

[0190] Furthermore, if the above-mentioned angle is not within the second preset angle range, the processor 101 controls the prompt device of the crane to prompt the operator to manually adjust the posture of the main arm and / or the auxiliary arm until the boom does not bend sideways and the main arm does not exceed the deflection limit, and then controls the tension sensor 109 to detect the current tension value of the main arm, which is the calibrated tension value.

[0191] In another embodiment of the present application, step S106 calibrates the tension of the main arm based on the initial tension value and further includes the following steps:

[0192] Step S701: controlling the main arm to perform a telescopic operation so that the extended length of the main arm falls within a preset arm length range;

[0193] Step S702: Control the main arm to stop performing the telescopic operation;

[0194] Step S703: Determine that the main arm does not exceed the limit of posture;

[0195] Step S704: obtaining the calibrated tension value of the main arm;

[0196] Step S705: The initial tension value corresponding to the preset arm length range is replaced by the calibrated tension value to calibrate the tension of the main arm.

[0197] Specifically, after step S105 is executed, if the main arm extension tension value calibration is to be performed, the processor 101 controls the main arm to extend, and if the main arm contraction tension value calibration is to be performed, the processor 101 controls the main arm to contract. During the main arm performing the telescopic operation, the third length detector 105 is controlled to detect the extended length of the main arm. After the processor 101 determines that the extended length of the main arm falls into a single preset arm length interval based on the above detection result, the main arm is controlled to stop performing the telescopic operation. Thereafter, the first angle sensor 106, the second angle sensor 107, and the third angle sensor 108 are controlled to start their respective angle detection functions to obtain the current first angle, second angle, and third angle. The processor 101 compares the first angle with the fourth preset angle range pre-stored in the processor 101. At the same time, the angle difference between the second angle and the third angle is calculated, and then the angle difference is compared with the first preset angle difference range. If the first angle is within the fourth preset angle range and the angle difference is within the first preset angle difference range, it is determined that the deflection of the main arm is within the limit. When the processor 101 determines that the boom has not bent sideways and the deflection of the main arm has not exceeded the limit, it further determines that the main arm has not exceeded the posture limit.

[0198] On this basis, the processor 101 controls the tension sensor 109 to detect the current tension value of the main arm, and the current tension value is the calibrated tension value within the preset arm length range. If the main arm performs an extension action in step S701, the calibrated tension value is the extension calibrated tension value; if the main arm performs a contraction action in step S701, the calibrated tension value is the contraction calibrated tension value.

[0199] After step S705 is executed, the processor 101 executes steps S701 to S705 again until the calibrated tension values ​​of all preset arm length intervals are obtained and the tension calibration corresponding to all preset arm length intervals is completed.

[0200] If after step S702 is executed, the processor 101 determines that the main arm has an attitude exceeding the limit, then the prompt device of the control crane prompts the operator to manually adjust the attitude of the main arm and / or auxiliary arm until the main arm does not have an attitude exceeding the limit, and then the processor 101 executes steps S704-S705 to determine the calibration tension value array.

[0201] Step S107: Control the crane to exit the calibration mode.

[0202] The calibration method for the crane in this embodiment is simple and easy to implement, so that the crane can automatically realize the first current parameter array calibration of the main arm, the second current parameter array of the superlifting device, and the tension value array calibration of the main arm, which reduces the labor intensity of the operator, saves the time spent on calibration, and ensures the accuracy and consistency of the calibration results.

[0203] In one embodiment of the present application, the calibration method further includes:

[0204] Step S801: After the crane exits the calibration mode, the crane is controlled to perform diagnostic actions.

[0205] Step S802: Acquiring diagnostic data during the process of the crane performing diagnostic actions;

[0206] Step S803: Determine, based on the diagnostic data, whether the crane is in a state to be optimized.

[0207] Specifically, after step S107 is executed, the processor 101 controls the main arm to perform the first extension diagnostic operation and the first contraction diagnostic operation based on the first current parameter array, controls the super lifting device to perform the rope lowering diagnostic operation and the rope collecting diagnostic operation based on the second current parameter array, and controls the main arm to perform the second extension diagnostic operation and the second contraction diagnostic operation based on the tension calibration array under a preset load.

[0208] During the process of the crane performing the above-mentioned diagnostic operations, each detector or sensor is controlled to perform a corresponding function to obtain detection data corresponding to each diagnostic operation. For example, in the first extension diagnostic operation and the first retraction diagnostic operation, the processor 101 can obtain the extension speed or retraction speed of the main arm based on the detection result of the speed sensor 102. The detection data in this embodiment include but are not limited to the extension diagnostic speed of the main arm, the diagnostic retraction speed of the main arm, the total duration of the first extension diagnostic operation, the total duration of the first retraction diagnostic operation, the rope-releasing diagnostic speed of the first super-lifting mechanism, the rope-releasing diagnostic speed of the second super-lifting mechanism, the rope-collecting diagnostic speed of the first super-lifting mechanism, the rope-collecting diagnostic speed of the second super-lifting mechanism, the total duration of the rope-releasing diagnostic operation, the total duration of the rope-collecting diagnostic operation, the diagnostic tension value in each preset arm length interval under a preset load, the first diagnostic angle (detected by the first angle sensor 106), the second diagnostic angle (detected by the second angle sensor 107), and the third diagnostic angle (detected by the third angle sensor 108);

[0209] Based on the above detection data, diagnostic data can be further obtained, and the diagnostic data include the proportion of non-optimal speed of extension and retraction, the proportion of overdue non-optimal speed, the proportion of over-limit time of the angle between the main arm and the auxiliary arm, the proportion of over-limit tension difference, the proportion of over-limit elongation difference, the maximum tension difference, the maximum elongation difference, the maximum angle between the main arm and the auxiliary arm, the minimum angle between the main arm and the auxiliary arm, the average speed of main arm extension, the average speed of main arm retraction, the maximum tension of the first super-lifting mechanism, the maximum tension of the second super-lifting mechanism, the maximum angle of the auxiliary arm, and the minimum angle of the auxiliary arm.

[0210] After step S802 is executed, the processor 101 further determines the duration, duration ratio and number of over-values ​​of each preset speed interval (such as an interval with an extension speed less than 5 mm / s, an interval with an extension speed of 5 mm / s-10 mm / s, an interval with an extension speed greater than 40 mm / s, etc.) based on the diagnostic data. For example, the duration of the interval with an extension speed of 5 mm / s-10 mm / s in the first extension diagnostic operation is obtained, and the duration ratio corresponding to the interval is obtained based on the duration and the total duration of the first extension diagnostic operation. The over-value count in the interval is determined based on the number of times the main arm exceeds the interval with an extension speed of 5 mm / s-10 mm / s and then returns to the interval during the first extension diagnostic operation. Similarly, the corresponding duration and corresponding ratio of the extension speed in other preset speed intervals can be obtained. Then, the processor 101 determines whether each is within the preset ratio range and the preset over-value count range based on the above-mentioned corresponding ratios and each corresponding over-value count. If not, it is determined that the crane is in a state to be optimized.

[0211] Furthermore, based on the diagnostic data, if it is determined that the proportion of non-optimal telescopic speeds is no more than 30, the proportion of overdue non-optimal speeds is no more than 30, the proportion of overlimit time of the angle between the main boom and the jib is no more than 30, the proportion of overlimit tension difference is no more than 30, the proportion of overlimit elongation difference is no more than 30, the maximum tension difference is no more than 1.5T, the maximum rope length difference is no more than 0.3 turns, the maximum angle between the main boom and the jib is no more than 4 degrees, the minimum angle between the main boom and the jib is no less than 0.5 degrees, the average speed of main boom extension is within 25mm / s-40mm / s, the average speed of main boom retraction is within 30mm / s-45mm / s, the maximum tension of the first super-lifting mechanism is no more than 4T, the maximum tension of the second super-lifting mechanism is no more than 4T, the maximum angle of the jib is no more than 87 degrees, and the minimum angle of the jib is no more than 80 degrees, then it is determined that the crane is in an optimized state and no further optimization is needed.

[0212] Step S804: Perform optimization operations on the crane to put the crane in an optimization completion state.

[0213] In one embodiment of the present application, step S804 performs optimization operations on the crane including:

[0214] Step S901: Control the crane to enter the superlifting device optimization mode;

[0215] Specifically, after step S803 is executed, the operating device 110 pops up a pop-up window for automatically optimizing the super-lifting device. After the operator confirms on the pop-up window, the operating device 110 sends a super-lifting device optimization signal to the processor 101. After receiving the above signal, the processor 101 can determine that the crane enters the super-lifting device optimization mode.

[0216] Step S902: Control the superlifting device to perform a first optimization operation and obtain the rope length deviation of the steel wire rope of the first superlifting mechanism and the steel wire rope of the second superlifting mechanism.

[0217] Specifically, the first optimization operation in this embodiment refers to the first super-lifting mechanism performing a rope-releasing operation or a rope-collecting operation and the second super-lifting mechanism following, or the second super-lifting mechanism performing a rope-releasing operation or a rope-collecting operation and the first super-lifting mechanism following. Taking the first super-lifting mechanism performing a rope-releasing operation as an example, the processor 101 controls the first super-lifting mechanism to perform a rope-releasing operation. In this process, the first length sensor and the second length sensor are controlled to perform a length detection function. The processor 101 calculates the rope length deviation of the steel wire rope of the first super-lifting mechanism and the steel wire rope of the second super-lifting mechanism based on the detection results of the first length sensor and the second length sensor in this process.

[0218] Step S903: determining a first feedforward value according to the rope length deviation, and adjusting the rope length of the superlifting device based on the rope length deviation and the first feedforward value.

[0219] Specifically, the processor 101 stores a correspondence between the rope length deviation and the first feedforward value. After obtaining the rope length deviation, the processor 101 can determine the first feedforward value based on the above correspondence. In step S903, the processor 101 performs PI control on the rope length deviation of the wire rope of the first superlifting mechanism and the wire rope of the second superlifting mechanism. The control amount of the PI control (the control amount is the control current value of the first superlifting drive control valve) is the superposition of the rope length deviation and the first feedforward value, which can accelerate the convergence of the first error (the first error is the rope length deviation) and reduce possible overshoot, so as to achieve the target rope length state smoothly and accurately.

[0220] Step S904: during the rope length adjustment process, obtaining the rope length deviation number of turns between the steel wire rope of the first superlifting mechanism and the steel wire rope of the second superlifting mechanism;

[0221] Step S905: When the number of turns of the rope length deviation is within the preset number of turns, the rope length adjustment is stopped and the superlifting device optimization mode is exited.

[0222] Specifically, during the process of adjusting the rope length, the processor 101 can respectively obtain the first actual winding number of the wire rope of the first super-lifting mechanism and the second actual winding number of the wire rope of the second super-lifting mechanism, and calculate the difference between the first actual winding number of turns and the second actual winding number of turns to obtain the rope length deviation number of turns, and then compare the rope length deviation number of turns with the preset number range (such as within 0.1 turns). If the rope length deviation number of turns is within the preset number range, the processor 101 stops executing the first optimization operation and controls the crane to exit the super-lifting device optimization mode.

[0223] Furthermore, if during the rope length adjustment process, the rope length deviation number of turns is within the first preset adjustment number range (such as 0.1 turns-0.2 turns), the control amount of PI control is reduced; if the rope length deviation number of turns is within the second preset adjustment number range (such as greater than 0.2 turns), the control amount of PI control is increased.

[0224] The setting of step S901 to step S905 adopts a closed-loop PID algorithm to control the rope length deviation between the first super-lifting mechanism and the second super-lifting mechanism, thereby realizing automatic calibration of the rope length deviation and reducing the influence of the rope arrangement or zero position calibration error.

[0225] In another embodiment of the present application, step S804 performs optimization operation on the crane further includes:

[0226] Step S1001: Control the crane to enter the main arm optimization mode;

[0227] Specifically, after step S803 or step S905 is executed, the operating device 110 pops up a pop-up window for automatic main arm optimization. After the operator confirms on the pop-up window, the operating device 110 sends a main arm optimization signal to the processor 101. After receiving the above signal, the processor 101 can determine that the crane enters the main arm optimization mode.

[0228] Step S1002: Control the main arm to perform a second optimization operation and obtain the angle deviation between the main arm and the auxiliary arm.

[0229] Specifically, the second optimization operation in this embodiment refers to the main arm performing an extension optimization operation or a retraction optimization operation. Taking the main arm performing the extension optimization operation as an example, the processor 101 controls the main arm to extend. In this process, the second angle sensor 107 and the third angle sensor 108 are controlled to perform an angle detection function. The processor 101 calculates the angle deviation between the main arm and the auxiliary arm based on the detection results of the two angle sensors in this process.

[0230] Step S1003: determining a second feedforward value according to the angle deviation, and adjusting the angle between the main arm and the auxiliary arm based on the angle deviation and the second feedforward value.

[0231] Specifically, the processor 101 stores a correspondence between the angle deviation and the second feedforward value. After obtaining the angle deviation, the processor 101 can determine the second feedforward value based on the above correspondence. In step S1003, the processor 101 determines the second feedforward value based on a preset feedforward + PID feedback control model (such as Figure 3As shown in the figure, PI control is performed on the angle deviation between the main arm and the auxiliary arm. The control quantity of the PI control (the control quantity is the control current value of the main arm extension control valve or the control current value of the main arm contraction control valve) is the superposition of the angle deviation and the second feedforward value, which can accelerate the convergence of the second error (the second error is the angle deviation) and reduce possible overshoot, so as to achieve the target angle state smoothly and accurately.

[0232] Step S1004: in the process of adjusting the angle, obtaining the angle value between the main arm and the auxiliary arm;

[0233] Step S1005: When the angle value is within the preset angle range, stop adjusting the angle and exit the main arm optimization mode.

[0234] Specifically, in the process of adjusting the angle, the processor 101 can respectively obtain the maximum angle value and the minimum angle value between the main arm and the auxiliary arm. If the angle value between the main arm and the auxiliary arm reaches the maximum angle value or the minimum angle value, the processor 101 stops executing the second optimization operation and controls the crane to exit the main arm optimization mode.

[0235] Furthermore, the preset feedforward + PID feedback control model includes a first feedforward controller (G1 feedforward controller) and a second feedforward controller (G2 feedforward controller). During the process of adjusting the angle, the first feedforward controller reduces the control amount of PI control when the angle deviation is 1 degree, and increases the control amount of PI control when the angle deviation is greater than 1 degree. The second feedforward controller considers adjusting the control amount of PI control linearly or in segments according to the angle.

[0236] The setting of steps S1001 to S1005 enables the calibration method to use a closed-loop PID control algorithm to control the telescopic speed for the angle deviation between the main arm and the auxiliary arm, so as to avoid excessive deflection in the deflection direction of the main arm or reverse warping control.

[0237] Another embodiment of the present application provides a processor 101, which is configured to execute the calibration method for a crane in the above embodiment.

[0238] Another embodiment of the present application provides a control device 1, which includes the processor 101 in the above embodiment.

[0239] Another embodiment of the present application provides a crane, which includes a main arm, a secondary arm, a super lifting device and the control device 1 in the above embodiment.

[0240] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0241] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0242] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. 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 this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0243] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A calibration method for a crane, characterized in that: The calibration method comprises: Make sure the crane enters calibration mode; Determining that the crane meets initial calibration conditions; Performing a first current parameter array calibration on the main arm of the crane; Performing a second current parameter array calibration on the superlifting device of the crane; Setting the initial tension value of the main arm; Performing tension calibration on the main arm based on the initial tension value; The crane is controlled to exit the calibration mode.

2. The calibration method for a crane according to claim 1, characterized in that: The initial calibration conditions include that the secondary relief valve of the super-lifting device is in a pressure-adjusted state, the boom of the crane is in a non-bending state, the encoder of the super-lifting device is in a zero-position calibrated state, the initial minimum value of the extension action current of the main arm is in a set state, the initial minimum value of the contraction action current of the main arm is in a set state, the rope-releasing action current value of the super-lifting device is in a set state, the rope-collecting action current value of the super-lifting device is in a set state, and the crane meets the tension setting state.

3. The calibration method for a crane according to claim 1, characterized in that: The calibrating the first current parameter array of the main arm of the crane comprises: Determining that the crane meets the first current parameter array calibration requirement; Controlling the main arm to perform an extension operation; Determining that the extension speed of the main arm is within a first preset speed range and the extension speed is maintained within the first preset speed range for a first preset time period; Acquire a first control current value of a main arm extension control valve when the main arm is converted from a static state to an action state; Acquire a second control current value of the main arm extension control valve when the extension speed of the main arm is within the first preset speed range and the extension speed is maintained within the first preset speed range for the first preset time period; The first current parameter array of the main arm of the crane is calibrated according to the first control current value and the second control current value.

4. The calibration method for a crane according to claim 3, characterized in that: The calibrating the first current parameter array of the main arm of the crane also includes: After obtaining the second control current value, controlling the main arm to perform a contraction operation; Determining that the retraction speed of the main arm is within a second preset speed range and the extension speed is maintained within the second preset speed range for a second preset time period; Acquire a third control current value of the main arm retraction control valve when the main arm is converted from a static state to a retracted state; Acquire a fourth control current value of the main arm retraction control valve when the retraction speed of the main arm is within a second preset speed range and the retraction speed is maintained within the second preset speed range for a second preset time period; The first current parameter array of the main arm is calibrated according to the first control current value, the second control current value, the third control current value, and the fourth control current value.

5. The calibration method for a crane according to claim 1, characterized in that: The super-lifting device includes a first super-lifting mechanism and a second super-lifting mechanism, and the calibrating the second current parameter array of the super-lifting device of the crane includes: Determining that the crane meets the second current parameter array calibration requirement; Controlling the superlifting device to perform a rope-releasing operation; Determining that a first rope-releasing speed of the first super-lifting mechanism is within a third preset speed range and that the first rope-releasing speed is maintained within the third preset speed range for a third preset time period; Determining that the second rope-releasing speed of the second super-lifting mechanism is within a fourth preset speed range and the second rope-releasing speed is maintained within the fourth preset speed range for a fourth preset time period; Acquire a fifth control current value of the first super-lifting drive control valve when the steel wire rope of the first super-lifting mechanism is converted from a stationary state to a rope-releasing state, and acquire a sixth control current value of the second super-lifting drive control valve when the steel wire rope of the second super-lifting mechanism is converted from a stationary state to a rope-releasing state; The second current parameter array of the superlifting device of the crane is calibrated according to the fifth control current value and the sixth control current value.

6. The calibration method for a crane according to claim 5, characterized in that: The calibrating of the second current parameter array of the superlifting device of the crane comprises: After obtaining the sixth control current value, controlling the superlifting device to perform a rope retracting operation; Determining that a first rope-collecting speed of the first super-lifting mechanism is within a fifth preset speed range and that the first rope-collecting speed is maintained within the fifth preset speed range for a fifth preset time period; Determining that a second rope-collecting speed of the second super-lifting mechanism is within a sixth preset speed range and that the second rope-collecting speed is maintained within the sixth preset speed range for a sixth preset time period; Acquire a seventh control current value of the first super-lifting drive control valve when the steel wire rope of the first super-lifting mechanism is converted from a stationary state to a rope-retracting state, and an eighth control current value of the second super-lifting drive control valve when the steel wire rope of the second super-lifting mechanism is converted from a stationary state to a rope-retracting state; The second current parameter array of the superlifting device of the crane is calibrated according to the fifth control current value, the sixth control current value, the seventh control current value and the eighth control current value.

7. The calibration method for a crane according to claim 1, characterized in that: The setting of the initial tension value of the main arm includes: Determining that the main arm enters a tension value setting state; Controlling the main arm to perform a telescopic operation so that the extended length of the main arm enters a preset arm length range; Turning off the telescopic function of the main arm; Determining that the main arm does not exceed the limit of posture; Obtaining the current tension value of the main arm; The current tension value is set as the initial tension value of the main arm in the preset arm length range.

8. The calibration method for a crane according to claim 7, characterized in that: The setting of the initial pulling force value of the main arm further includes: After the telescopic function of the main arm is turned off, determining that the main arm has an attitude exceeding the limit; Determining whether the boom of the crane is bent sideways; After the boom is bent sideways, the boom is controlled to perform a mid-position return operation to return the boom to the mid-position; Determining whether the main arm has an excessive deflection; When the deflection of the main arm exceeds the limit, the main arm is controlled to perform a deflection adjustment operation so that the deflection of the main arm returns to a normal state; After the deflection of the main arm returns to a normal state, the current tension value of the main arm is acquired and set as the initial tension value of the main arm in the preset arm length range.

9. The calibration method for a crane according to claim 1, characterized in that: The performing tension calibration on the main arm based on the initial tension value comprises: Controlling the main arm to perform telescopic operation; Determining that the angle between the main arm and the auxiliary arm of the crane reaches a preset angle; Controlling the main arm to stop performing the telescopic operation; Obtaining a calibrated tension value of the main arm; The tension of the main arm is calibrated by replacing the initial tension value with the calibrated tension value.

10. The calibration method for a crane according to claim 1, characterized in that: The tension calibration of the main arm based on the initial tension value includes: Controlling the main arm to perform a telescopic operation so that the extended length of the main arm falls within a preset arm length range; Controlling the main arm to stop performing the telescopic operation; Determining that the main arm does not have an attitude exceeding limit; Obtaining a calibrated tension value of the main arm; The tension of the main arm is calibrated by replacing the initial tension value corresponding to the preset arm length interval with the calibrated tension value.

11. The calibration method for a crane according to claim 1, characterized in that: The calibration method further comprises: After the crane exits the calibration mode, controlling the crane to perform a diagnostic action; Acquiring diagnostic data during the process of the crane performing the diagnostic action; determining, according to the diagnostic data, that the crane is in a state to be optimized; An optimization operation is performed on the crane to put the crane in an optimization completion state.

12. The calibration method for a crane according to claim 11, characterized in that: The super-lifting device includes a first super-lifting mechanism and a second super-lifting mechanism, and the optimization operation of the crane includes: Controlling the crane to enter a superlift device optimization mode; Controlling the superlifting device to perform a first optimization operation and obtaining a rope length deviation of a steel wire rope of the first superlifting mechanism and a steel wire rope of the second superlifting mechanism; determining a first feedforward value according to the rope length deviation, and adjusting the rope length of the superlifting device based on the rope length deviation and the first feedforward value; During the rope length adjustment process, obtaining the rope length deviation number of turns between the steel wire rope of the first super-lifting mechanism and the steel wire rope of the second super-lifting mechanism; When the number of turns of the rope length deviation is within a preset range, the rope length adjustment is stopped and the superlifting device optimization mode is exited.

13. The calibration method for a crane according to claim 11, characterized in that: The optimization operation of the crane comprises: Controlling the crane to enter a main boom optimization mode; Controlling the main arm to perform a second optimization operation and obtaining an angle deviation between the main arm and the auxiliary arm of the crane; Determine a second feedforward value according to the angle deviation, and adjust the angle between the main arm and the auxiliary arm based on the angle deviation and the second feedforward value; In the process of adjusting the angle, obtaining the angle value between the main arm and the auxiliary arm; When the angle value is within a preset angle range, the adjustment of the angle is stopped and the main arm optimization mode is exited.

14. A processor, characterized in that: The processor (101) is configured to execute the calibration method for a crane according to any one of claims 1-13.

15. A control device, characterized in that: The control device (1) comprises a processor (101) according to claim 14.

16. A crane, characterized in that: The crane comprises a main boom, a secondary boom, a superlifting device and a control device (1) according to claim 15.

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