Control method, device, engineering machinery and storage medium for superlift automatic tensioning

Abstract

The present application relates to the technical field of engineering machinery, and in particular to a control method, device, engineering machinery, and storage medium for super-lifting automatic tensioning. The method comprises: controlling a super-lifting device to perform super-lifting automatic tensioning; determining whether a first deflection occurs in a boom according to the head inclination angle, the root inclination angle, and the middle inclination angle; determining the overall lateral bending amount of the boom if the first deflection does not occur; performing lateral bending adjustment if the overall lateral bending amount is greater than a preset maximum lateral bending amount; determining the overall maximum deflection of the boom according to the head inclination angle and the root inclination angle if the overall lateral bending amount is less than or equal to the preset maximum lateral bending amount; performing deflection adjustment if the overall maximum deflection is greater than the preset maximum deflection; determining that super-lifting automatic tensioning is completed if the overall maximum deflection is less than or equal to the preset maximum deflection, thereby improving the efficiency of adjusting the lateral bending and deflection of the boom, improving the tensioning effect, making the tensioning more comprehensive, and enhancing the safety of the boom.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to a control method and device for super-lifting automatic tensioning, engineering machinery, and storage medium. Background Art

[0002] As a key component of construction machinery such as cranes, the superlift device plays an important role in improving their performance. The main function of the superlift device is to apply force through the combined action of the wire rope and the rear balancing device, thereby changing the state of the boom and ultimately improving its lifting performance. The main evaluation indicators of the boom state are the lateral bending amount of the boom in the left and right directions and the deflection in the vertical direction. Existing superlift tensioning control generally controls the boom deflection by obtaining the target pre-tensioning tension through a large number of tests, or controls the boom deformation by obtaining the target pre-tensioning rope length through tests. However, the method based on the target pre-tensioning tension requires a large number of tests, is inefficient, and has poor control effect. The method based on the target pre-tensioning rope length cannot be applied to all scenarios and has poor universality. Alternatively, it is based on the posture control of the boom head. However, the posture matching of the boom head does not mean the posture matching of the entire boom. Taking the boom head as the control target, the overall control of the boom is not achieved, the tensioning effect is not ideal, and it is easy to cause safety accidents. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a control method, device, engineering machinery and storage medium for super-lifting automatic tensioning, so as to solve the problems of poor tensioning effect, incomplete control and low efficiency in the prior art.

[0004] In order to achieve the above-mentioned object, the first aspect of the present application provides a control method for super-lifting automatic tensioning, which is applied to a super-lifting device, wherein the super-lifting device is arranged on a boom, and the control method includes:

[0005] Control the superlift device to automatically tension the superlift and obtain the head inclination angle, root inclination angle and middle inclination angle of the boom;

[0006] Determine whether the boom has the first deflection based on the head inclination angle, the root inclination angle and the middle inclination angle;

[0007] Under the condition that the first deflection of the boom does not occur, determine the overall lateral bending of the boom;

[0008] When the overall bending amount is greater than the preset maximum bending amount, the bending amount is adjusted according to the head inclination angle, the root inclination angle and the overall bending amount until the adjusted overall bending amount is less than or equal to the preset maximum bending amount;

[0009] When the overall lateral bending amount is less than or equal to the preset maximum lateral bending amount, the overall maximum deflection of the boom is determined according to the head inclination angle and the root inclination angle;

[0010] When the overall maximum deflection is greater than the preset maximum deflection, the deflection is adjusted according to the head inclination angle and the root inclination angle until the adjusted overall maximum deflection is less than or equal to the preset maximum deflection;

[0011] When the overall maximum deflection is less than or equal to the preset maximum deflection, it is determined that the super-lifting automatic tensioning is completed.

[0012] A second aspect of the present application provides a control device for super-lifting automatic tensioning, comprising:

[0013] a memory configured to store instructions;

[0014] The processor is configured to call instructions from the memory and implement the above-mentioned super-lifting automatic tensioning control method when executing the instructions.

[0015] A third aspect of the present application provides an engineering machine, comprising:

[0016] boom;

[0017] A super lifting device is arranged on the boom;

[0018] Inclination sensors are respectively arranged at the head, root and middle of the boom, and are used to collect the head inclination angle, root inclination angle and middle inclination angle of the boom;

[0019] The control device is configured to: control the super-lifting device to perform automatic super-lifting tensioning, and obtain the head inclination angle, root inclination angle and middle inclination angle of the boom; determine whether the boom has a first deflection based on the head inclination angle, root inclination angle and middle inclination angle; if the boom has not had the first deflection, determine the overall lateral bending amount of the boom; if the overall lateral bending amount is greater than a preset maximum lateral bending amount, adjust the lateral bending according to the head inclination angle, root inclination angle and overall lateral bending amount until the adjusted overall lateral bending amount is less than or equal to the preset maximum lateral bending amount; if the overall lateral bending amount is less than or equal to the preset maximum lateral bending amount, determine the overall maximum deflection of the boom according to the head inclination angle and the root inclination angle; if the overall maximum deflection is greater than the preset maximum deflection, adjust the deflection according to the head inclination angle and the root inclination angle until the adjusted overall maximum deflection is less than or equal to the preset maximum deflection; if the overall maximum deflection is less than or equal to the preset maximum deflection, determine that the automatic super-lifting tensioning is completed.

[0020] A fourth aspect of the present application provides a machine-readable storage medium having stored thereon instructions for enabling a machine to execute the above-mentioned method for controlling super-lifting automatic tensioning.

[0021] Through the above technical solution, the super lifting device is controlled to perform super lifting automatic tensioning, and the head inclination angle, root inclination angle and middle inclination angle of the boom are obtained; whether the boom has a first deflection is determined according to the head inclination angle, root inclination angle and middle inclination angle; if the boom has not a first deflection, the overall lateral bending amount of the boom is determined; if the overall lateral bending amount is greater than the preset maximum lateral bending amount, the lateral bending amount is adjusted according to the head inclination angle, root inclination angle and overall lateral bending amount until the adjusted overall lateral bending amount is less than or equal to the preset maximum lateral bending amount; when the overall lateral bending amount is less than or equal to the preset maximum lateral bending amount, the overall .... When the amount of lateral deflection is less than or equal to the preset maximum deflection, the overall maximum deflection of the boom is determined based on the head inclination angle and the root inclination angle; when the overall maximum deflection is greater than the preset maximum deflection, the deflection is adjusted based on the head inclination angle and the root inclination angle until the adjusted overall maximum deflection is less than or equal to the preset maximum deflection; when the overall maximum deflection is less than or equal to the preset maximum deflection, it is determined that the automatic tensioning of the super-lift is completed, thereby improving the efficiency of adjusting the lateral deflection and deflection of the boom, improving the tensioning effect, making the tensioning more comprehensive, and enhancing the safety of the boom.

[0022] 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

[0023] 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 detailed description, they are used to explain the embodiments of the present application but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0024] Figure 1 The following schematically shows a flow chart of a method for controlling super-lifting automatic tensioning according to an embodiment of the present application;

[0025] Figure 2 A schematic diagram of an S-shaped deflection according to an embodiment of the present application is schematically shown;

[0026] Figure 3 A schematic diagram of an upward deflection according to an embodiment of the present application is schematically shown;

[0027] Figure 4 A schematic diagram of a downward deflection according to an embodiment of the present application is schematically shown;

[0028] Figure 5 A schematic diagram of an S-shaped side bend according to an embodiment of the present application is schematically shown;

[0029] Figure 6 A schematic diagram of a right lateral bend according to an embodiment of the present application is schematically shown;

[0030] Figure 7 A schematic diagram of a left lateral bend according to an embodiment of the present application is schematically shown;

[0031] Figure 8 Schematically shows a front view of an engineering machine according to an embodiment of the present application;

[0032] Figure 9 Schematically shows a b-direction view of an engineering machine according to an embodiment of the present application;

[0033] Figure 10 Schematically shows a C-direction view of an engineering machine according to an embodiment of the present application;

[0034] Figure 11 A control principle diagram of an engineering machine according to an embodiment of the present application is schematically shown;

[0035] Figure 12 The internal structure diagram of a computer device according to an embodiment of the present application is schematically shown.

[0036] Description of Reference Numerals

[0037] 1. Left super-lift winch, 2. Right super-lift winch, 3. Left movable pulley of boom head, 4. Right movable pulley of boom head, 5. Left super-lift mast, 6. Right super-lift mast, 7. Boom, 8. Left super-lift wire rope, 9. Right super-lift wire rope, 10. Super-lift winch encoder, 11. Super-lift angular displacement sensor, 12. Super-lift amplitude change detection switch, 13. Super-lift tension sensor, 14. Luffing action of super-lift device, 15. Swing action of super-lift device, 16. Super-lift swing cylinder, 17. Super-lift mast and Boom angle, 18. Left super-swing angle, 19. Right super-swing angle, 20. Boom head inclination sensor, 21. Boom root inclination sensor, 22. Human-machine interface, 23. Control unit, 24. Super-lift winch rope retraction proportional solenoid valve, 25. Super-lift winch rope release proportional solenoid valve, 26. Boom middle inclination sensor, 27. Boom head transmitter, 28. Boom middle transmitter, 29. Boom root left receiver, 30. Boom root right receiver, 31. Super-lift winch unlocking related solenoid valve. DETAILED DESCRIPTION

[0038] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0039] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0040] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0041] Figure 1 The following schematically shows a flow chart of a method for controlling super-lifting automatic tensioning according to an embodiment of the present application. Figure 1 As shown, an embodiment of the present application provides a control method for super-lifting automatic tensioning, which is applied to a super-lifting device, and the super-lifting device is set on an arm. The control method may include the following steps.

[0042] Step 101: Control the superlifting device to perform superlifting automatic tensioning, and obtain the head inclination angle, root inclination angle, and middle inclination angle of the boom.

[0043] The processor can control the super-lifting device to perform automatic super-lifting tensioning. During the super-lifting automatic tensioning process, the processor can obtain the head inclination angle, root inclination angle and middle inclination angle of the boom in real time. In a specific embodiment, the head inclination angle can be collected by the inclination sensor installed at the head of the boom and sent to the processor; the root inclination angle can be collected by the inclination sensor installed at the root of the boom and sent to the processor; the middle inclination angle can be collected by the inclination sensor installed in the middle of the boom and sent to the processor, and the inclination sensor can be set based on the boom length or boom stiffness. For example, the longer the boom length, the more inclination sensors can be set at equal distances in the middle of the boom, respectively used to detect the middle inclination angle at each distance segment. For example, if inclination sensors are installed at 1 / 3 and 2 / 3 of the boom length, respectively, the processor can receive the middle inclination angle at 1 / 3 and the middle inclination angle at 2 / 3.

[0044] In an embodiment of the present application, the super-lifting device includes a left super-lifting mast and a right super-lifting mast, and controlling the super-lifting device to perform automatic super-lifting tensioning includes: when the amplitude change in place signal of the left super-lifting mast and the amplitude change in place signal of the right super-lifting mast are obtained, and the left super-lifting swing angle of the left super-lifting mast is equal to the right super-lifting swing angle of the right super-lifting mast, controlling the super-lifting device to perform automatic super-lifting tensioning.

[0045] The super-lifting device includes a left super-lifting mast and a right super-lifting mast. The processor can control the super-lifting device to perform automatic super-lifting tensioning. Specifically, the processor can receive the left super-lifting swing angle detected by the left super-lifting angular displacement sensor and the right super-lifting swing angle detected by the right super-lifting angular displacement sensor. The processor can also obtain the amplitude change in place signal of the left super-lifting mast detected by the left super-lifting amplitude change in place detection switch, and the amplitude change in place signal of the right super-lifting mast detected by the right super-lifting amplitude change in place detection switch. When the amplitude change in place signal of the left super-lifting mast and the amplitude change in place signal of the right super-lifting mast are obtained, and the left super-lifting swing angle of the left super-lifting mast is equal to the right super-lifting swing angle of the right super-lifting mast, the processor can control the super-lifting device to perform automatic super-lifting tensioning. In one embodiment, when the left super-lift mast and the right super-lift mast have both been raised to their respective positions, and the left super-lift swing angle is equal to the right super-lift swing angle, the left super-lift winch and the right super-lift winch, the left super-lift mast and the right super-lift mast are symmetrical with the boom as the center, and the movable pulley on the left side of the boom head and the movable pulley on the right side of the boom head are also symmetrical with the boom as the center, the processor can control the super-lift device to automatically tighten the super-lift.

[0046] Step 102: Determine whether the boom has a first deflection according to the head inclination angle, the root inclination angle, and the middle inclination angle.

[0047] After obtaining the head inclination angle, root inclination angle and middle inclination angle of the boom, the processor can determine whether the boom has a first deflection according to the head inclination angle, root inclination angle and middle inclination angle. Figure 2 As shown, the first deflection (ie, S-shaped deflection) means that the boom is partially deformed upward and partially deformed downward within the amplitude variation plane.

[0048] In an embodiment of the present application, determining whether the boom has a first deflection based on the head inclination angle, the root inclination angle and the middle inclination angle includes: determining a first angle difference between the head inclination angle and the root inclination angle; determining a second angle difference between the middle inclination angle and the root inclination angle; determining the head deflection of the boom based on the first angle difference, and determining the middle deflection of the boom based on the second angle difference; when the head deflection and the middle deflection are consistent and the absolute value of the first angle difference is greater than or equal to the absolute value of the second angle difference, determining that the boom has not had the first deflection; when the head deflection and the middle deflection are inconsistent and / or the absolute value of the first angle difference is less than the absolute value of the second angle difference, determining that the boom has had the first deflection.

[0049] The processor can determine whether the boom has experienced a first deflection based on the head angle, root angle, and mid-angle. Specifically, the processor can determine a first angular difference R4 between the head angle R1 and the root angle R2. The processor can determine a second angular difference R5 between the mid-angle R3 and the root angle R2. After obtaining the first angular difference R4, the processor can determine the boom's head deflection based on the first angular difference R4. After obtaining the second angular difference R5, the processor can determine the boom's mid-angle deflection based on the second angular difference R5. After determining the head and mid-angle deflections, the processor can determine whether the head and mid-angle deflections are consistent. If the head and mid-angle deflections are consistent and the absolute value of the first angular difference is greater than or equal to the absolute value of the second angular difference, the processor can determine that the boom has not experienced a first deflection. If the head and mid-angle deflections are inconsistent and / or the absolute value of the first angular difference is less than the absolute value of the second angular difference, the processor can determine that the boom has experienced a first deflection, thereby improving the accuracy of boom posture recognition based on the overall boom.

[0050] In an embodiment of the present application, determining the head deflection of the arm according to the first angle difference, and determining the middle deflection of the arm according to the second angle difference includes: when the first angle difference is greater than a preset value, determining the head deflection as the second deflection; when the first angle difference is less than the preset value, determining the head deflection as the third deflection; when the second angle difference is greater than the preset value, determining the middle deflection as the second deflection; when the second angle difference is less than the preset value, determining the middle deflection as the third deflection.

[0051] The processor can determine the head deflection of the arm according to the first angle difference, and determine the middle deflection of the arm according to the second angle difference. Specifically, the processor can determine whether the first angle difference is greater than a preset value. The preset value can be determined based on the actual situation. For example, the preset value can be 0. In the case that the first angle difference is greater than the preset value, the processor can determine that the head deflection is the second deflection. In the case that the first angle difference is less than the preset value, the processor can determine that the head deflection is the third deflection. The processor can determine whether the second angle difference is greater than the preset value. In the case that the second angle difference is greater than the preset value, the processor can determine that the middle deflection is the second deflection. In the case that the second angle difference is less than the preset value, the processor can determine that the middle deflection is the third deflection. As Figure 3 As shown in FIG, the second deflection (i.e., upward deflection) means that the boom is deformed upward as a whole in the amplitude variation plane. Figure 4 As shown, the third deflection (ie, downward deflection) refers to the overall downward deformation of the boom within the amplitude variation plane.

[0052] In an embodiment of the present application, the super-lifting device includes a left super-lifting winch and a right super-lifting winch, and the control method also includes: when it is determined that the boom has a first deflection, controlling the left super-lifting winch and the right super-lifting winch to release the ropes until the first deflection disappears.

[0053] The super-lifting device includes a left super-lifting winch and a right super-lifting winch. Upon determining that the boom has experienced a first deflection, the processor may control the left and right super-lifting winches to release the ropes until the first deflection disappears. In a specific embodiment, upon determining that the boom has experienced a first deflection, the processor may control the super-lifting device to pause other actions, control the left and right super-lifting winches to unlock, and control both the left and right super-lifting winches to slowly release the ropes until the first deflection disappears.

[0054] Step 103: When the boom does not have the first deflection, determine the overall lateral bending amount of the boom.

[0055] In the case that the boom does not exhibit the first deflection, the processor may determine the overall lateral bending amount of the boom.

[0056] In an embodiment of the present application, when the boom does not have a first deflection, determining the overall lateral bending amount of the boom includes: obtaining the left side distance of the head, the right side distance of the head, the left side distance of the middle part, and the right side distance of the middle part of the boom; determining a first distance difference between the left side distance of the head and the right side distance of the head; determining a second distance difference between the left side distance of the middle part and the right side distance of the middle part; determining the head lateral bending of the boom based on the first distance difference, and determining the middle lateral bending of the boom based on the second distance difference; when the head lateral bending and the middle lateral bending are consistent and the absolute value of the first distance difference is greater than or equal to the absolute value of the second distance difference, determining the first distance difference as the overall lateral bending amount.

[0057] In the case that the boom does not have the first deflection, the processor can determine the overall lateral bending amount of the boom. Specifically, the processor can obtain the left distance of the head, the right distance of the head, the left distance of the middle, and the right distance of the middle of the boom. In one embodiment, the engineering machinery may include a boom head transmitter installed at the center point of the boom head width direction, a boom middle transmitter installed at the center point of the boom middle width direction, a boom left receiver installed on the left side of the boom tail, and a boom right receiver installed on the right side of the boom tail, and the horizontal distance and vertical distance of the boom left receiver and the boom right receiver from the center point of the boom tail width direction are completely consistent, and the horizontal direction is symmetrical with the center point of the boom tail width direction as the center. The boom head transmitter transmits a ranging signal to the boom root in real time. The boom middle transmitter transmits a ranging signal to the boom root in real time, and the number of boom middle transmitters is at least one and is evenly distributed based on the length of the boom. The left-side receiver receives the ranging signal from the boom head transmitter and calculates the distance to the left side of the head (L5). It also receives the ranging signal from the middle boom transmitter and calculates the distance to the left side of the middle (L7). The right-side receiver receives the ranging signal from the boom head transmitter and calculates the distance to the right side of the head (L6). It also receives the ranging signal from the middle boom transmitter and calculates the distance to the right side of the middle (L8).

[0058] The processor can determine a first distance difference between the left side distance L5 and the right side distance L6 of the head. The processor can determine a second distance difference between the left side distance L7 and the right side distance L8 of the middle portion. After obtaining the first distance difference, the processor can determine the head lateral bend of the boom based on the first distance difference. For example, if the first distance difference is greater than 0, the processor can determine that the head portion of the boom bends to the right; if the first distance difference is less than 0, the processor can determine that the head portion of the boom bends to the left. After obtaining the second distance difference, the processor can determine the middle portion lateral bend of the boom based on the second distance difference. For example, if the second distance difference is greater than 0, the processor can determine that the middle portion of the boom bends to the right; if the second distance difference is less than 0, the processor can determine that the middle portion of the boom bends to the left. After determining the head lateral bend and the middle lateral bend, the processor can determine whether the head lateral bend and the middle lateral bend are consistent. If the head lateral bend and the middle lateral bend are consistent and the absolute value of the first distance difference is greater than or equal to the absolute value of the second distance difference, the processor can determine the first distance difference as the overall lateral bend. Specifically, when the head lateral bend and the middle lateral bend are consistent and the absolute value of the first distance difference is greater than or equal to the absolute value of the second distance difference, the processor can determine that the arm does not have the first lateral bend (i.e., S-shaped lateral bend), such as Figure 5 As shown, S-shaped lateral bending refers to the deformation of the boom to the left and to the right in the rotation plane. When it is determined that the boom does not have the first lateral bending, the processor can determine the first distance difference as the overall lateral bending amount L9. After obtaining the overall lateral bending amount R9, the processor can determine whether the overall lateral bending amount L9 is greater than 0. When L9 is greater than 0, the processor can determine that the boom has bent to the right as a whole, as shown in FIG. Figure 6 As shown in FIG, right lateral bending means that the entire boom is deformed to the right in the rotation plane. When L9 is less than 0, the processor can determine that the entire boom is bent to the left, such as Figure 7 As shown, left lateral bending refers to the entire arm frame deforming to the left in the rotation plane.

[0059] In an embodiment of the present application, the super-lifting device includes a left super-lifting winch and a right super-lifting winch, and the control method also includes: when the head lateral bend and the middle lateral bend are inconsistent and / or the absolute value of the first distance difference is less than the absolute value of the second distance difference, determining that the boom has a first lateral bend, controlling the left super-lifting winch and the right super-lifting winch to release the rope until the first lateral bend disappears.

[0060] The superlift device includes a left superlift winch and a right superlift winch. If the head lateral bend and the middle lateral bend are inconsistent and / or the absolute value of the first distance difference is less than the absolute value of the second distance difference, the processor can determine that the boom has experienced a first lateral bend and control the left and right superlift winches to release the ropes until the first lateral bend disappears. Specifically, the processor can control the left and right superlift winches to unlock and slowly release the ropes until the first lateral bend disappears.

[0061] In an embodiment of the present application, the super-lifting device includes a left super-lifting mast, a right super-lifting mast, a left super-lifting wire rope and a right super-lifting wire rope. When the boom does not have a first deflection, determining the overall lateral bending amount of the boom includes: determining a first length difference between the rope length of the left super-lifting wire rope and a left super-lifting rope length reference point, wherein the left super-lifting rope length reference point is the rope length of the left super-lifting wire rope when the left super-lifting mast and the right super-lifting mast are completely symmetrical with respect to the boom and a no-lateral bending signal of the boom is obtained; determining a second length difference between the rope length of the right super-lifting wire rope and the right super-lifting rope length reference point, wherein the right super-lifting rope length reference point is the rope length of the right super-lifting wire rope when the left super-lifting mast and the right super-lifting mast are completely symmetrical with respect to the boom and a no-lateral bending signal of the boom is obtained; and determining the difference between the first length difference and the second length difference as the overall lateral bending amount.

[0062] The super-lifting device includes a left super-lifting mast, a right super-lifting mast, a left super-lifting wire rope and a right super-lifting wire rope. When the boom does not have a first deflection, the processor can determine the overall lateral bending amount of the boom. The processor can determine the first length difference L11 between the rope length L1 of the left super-lifting wire rope and the left super-lifting rope length reference point L3, wherein the left super-lifting rope length reference point is the rope length of the left super-lifting wire rope when the left super-lifting mast and the right super-lifting mast are completely symmetrical relative to the boom and a signal of no lateral bending of the boom is obtained. The rope length L1 of the left super-lifting wire rope can be calculated by collecting the hoisting angular displacement signal through a left super-lifting winch encoder installed on the left super-lifting winch and rotating concentrically with the winch and sending it to the processor.

[0063] The processor can determine a second length difference L12 between the right super-lift rope length L2 and the right super-lift rope length reference point L4, where the right super-lift rope length reference point is the length of the right super-lift rope when the left and right super-lift masts are completely symmetrical relative to the boom and a boom-free lateral deflection signal is obtained. The right super-lift rope length L2 can be calculated by collecting the hoist angular displacement signal from a right super-lift winch encoder installed on the right super-lift winch and rotating concentrically with the winch and sending it to the processor. After obtaining the first length difference L11 and the second length difference L12, the processor can determine the difference between the first length difference L11 and the second length difference L12 as the overall lateral deflection amount L9.

[0064] Step 104: When the overall lateral bending amount is greater than the preset maximum lateral bending amount, the lateral bending amount is adjusted according to the head inclination angle, the root inclination angle and the overall lateral bending amount until the adjusted overall lateral bending amount is less than or equal to the preset maximum lateral bending amount.

[0065] After determining the overall lateral bend of the boom, the processor can determine whether the overall lateral bend exceeds a preset maximum lateral bend. The preset maximum lateral bend can be determined based on the boom's operating conditions and length. If the overall lateral bend exceeds the preset maximum lateral bend, the processor can adjust the lateral bend based on the head angle, the root angle, and the overall lateral bend until the adjusted overall lateral bend is less than or equal to the preset maximum lateral bend.

[0066] In the embodiment of the present application, the super-lifting device includes a left super-lifting winch and a right super-lifting winch. When the overall lateral bending amount is greater than a preset maximum lateral bending amount, the lateral bending is adjusted according to the head inclination angle, the root inclination angle and the overall lateral bending amount until the adjusted overall lateral bending amount is less than or equal to the preset maximum lateral bending amount, which includes: determining a first angle difference between the head inclination angle and the root inclination angle; when the first angle difference is greater than a preset value and the overall lateral bending amount is greater than a preset value, controlling the right super-lifting winch to release the rope, and adjusting the rope-releasing speed of the right super-lifting winch based on the overall lateral bending amount until the adjusted overall lateral bending amount is less than or equal to the preset maximum lateral bending amount; when the first angle difference is greater than a preset value and the overall lateral bending amount is less than or equal to the preset value , control the left super-lift winch to release the rope, and adjust the rope-releasing speed of the left super-lift winch based on the overall lateral bending amount, until the adjusted overall lateral bending amount is less than or equal to the preset maximum lateral bending amount; when the first angle difference is less than or equal to the preset value and the overall lateral bending amount is greater than the preset value, control the left super-lift winch to retract the rope, and adjust the rope-retracting speed of the left super-lift winch based on the overall lateral bending amount, until the adjusted overall lateral bending amount is less than or equal to the preset maximum lateral bending amount; when the first angle difference is less than or equal to the preset value and the overall lateral bending amount is less than or equal to the preset value, control the right super-lift winch to retract the rope, and adjust the rope-retracting speed of the right super-lift winch based on the overall lateral bending amount, until the adjusted overall lateral bending amount is less than or equal to the preset maximum lateral bending amount.

[0067] The super-lifting device includes a left super-lifting winch and a right super-lifting winch. If the overall lateral bending amount is greater than a preset maximum lateral bending amount, the processor can adjust the lateral bending according to the head inclination angle, the root inclination angle, and the overall lateral bending amount until the adjusted overall lateral bending amount is less than or equal to the preset maximum lateral bending amount. Specifically, the processor can determine a first angular difference between the head inclination angle and the root inclination angle. After obtaining the first angular difference, the processor can determine whether the first angular difference is greater than a preset value and whether the overall lateral bending amount is greater than the preset value. If the first angular difference is greater than the preset value and the overall lateral bending amount is greater than the preset value, the processor can control the right super-lifting winch to release the rope and adjust the rope release speed of the right super-lifting winch based on the overall lateral bending amount until the adjusted overall lateral bending amount is less than or equal to the preset maximum lateral bending amount. Specifically, the preset value can be 0. If the first angular difference R4 is greater than 0 and the overall lateral bending amount L9 is greater than 0, the processor can determine that the entire boom has upward deflection and is bending to the right, and that the lateral bending side super-lifting winch is required to release the rope. Specifically, the processor can control the proportional solenoid valve for releasing the rope of the super-start winch to cause the right super-start winch to release the rope, and adjust the rope release speed of the right super-start winch based on the overall lateral bend amount L9 until the adjusted overall lateral bend amount is less than or equal to a preset maximum lateral bend amount. In an optional embodiment, the processor can adjust the rope release speed of the right super-start winch based on the changing trend of the overall lateral bend amount L9 until the adjusted overall lateral bend amount is less than or equal to the preset maximum lateral bend amount, thereby ensuring that the rate of change of the lateral bend amount is controllable and reducing the probability of S-shaped lateral bend.

[0068] When the first angle difference R4 is greater than a preset value and the overall lateral bending amount is less than or equal to a preset value, the processor can control the left super-lift winch to release the rope, and adjust the rope release speed of the left super-lift winch based on the overall lateral bending amount until the adjusted overall lateral bending amount is less than or equal to the preset maximum lateral bending amount. Specifically, when the first angle difference R4 is greater than 0 and the overall lateral bending amount is less than or equal to 0, the processor can determine that the entire boom has an upward deflection and the entire boom is bent to the left, and it is necessary to use the lateral bending side super-lift winch to release the rope for adjustment. Specifically, the processor can control the super-lift winch to release the rope proportional solenoid valve to enable the left super-lift winch to release the rope, and adjust the rope release speed of the left super-lift winch based on the overall lateral bending amount L9 until the adjusted overall lateral bending amount is less than or equal to the preset maximum lateral bending amount.

[0069] When the first angle difference is less than or equal to a preset value and the overall lateral bending amount is greater than a preset value, the processor can control the left super-lift winch to retract the rope, and adjust the retracting speed of the left super-lift winch based on the overall lateral bending amount until the adjusted overall lateral bending amount is less than or equal to the preset maximum lateral bending amount. Specifically, when the first angle difference R4 is less than or equal to 0 and the overall lateral bending amount is greater than 0, the processor can determine that the entire boom has downward deflection and the entire boom is bending to the right, and it is necessary to adopt the non-lateral side super-lift winch retracting method for adjustment. Specifically, the processor can control the super-lift winch retracting proportional solenoid valve to obtain, so that the left super-lift winch retracts the rope, and adjust the retracting speed of the left super-lift winch based on the overall lateral bending amount L9 until the adjusted overall lateral bending amount is less than or equal to the preset maximum lateral bending amount.

[0070] When the first angle difference is less than or equal to the preset value and the overall lateral bending amount is less than or equal to the preset value, the right super-lifting winch is controlled to retract the rope, and the retracting speed of the right super-lifting winch is adjusted based on the overall lateral bending amount until the adjusted overall lateral bending amount is less than or equal to the preset maximum lateral bending amount. Specifically, when the first angle difference R4 is less than or equal to 0 and the overall lateral bending amount is less than or equal to 0, the processor can determine that the entire boom has a downward deflection and the entire boom is bent to the left, and it is necessary to adopt the non-lateral bending side super-lifting winch retracting form for adjustment. Specifically, the processor can control the super-lifting winch retracting proportional solenoid valve to obtain the right super-lifting winch retracting rope, and adjust the retracting speed of the super-lifting winch based on the overall lateral bending amount L9 until the adjusted overall lateral bending amount is less than or equal to the preset maximum lateral bending amount, so as to adjust the speed difference between the left and right super-lifting winches in retracting and releasing the ropes, realize synchronous retracting and releasing of the ropes, and improve the control effect.

[0071] Step 105: When the overall lateral bending amount is less than or equal to the preset maximum lateral bending amount, the overall maximum deflection of the boom is determined according to the head inclination angle and the root inclination angle.

[0072] Step 106: When the overall maximum deflection is greater than the preset maximum deflection, the deflection is adjusted according to the head inclination angle and the root inclination angle until the adjusted overall maximum deflection is less than or equal to the preset maximum deflection.

[0073] When the overall lateral deflection is less than or equal to the preset maximum lateral deflection, the processor can determine the overall maximum deflection of the boom based on the head inclination angle and the root inclination angle. In a specific embodiment, the overall maximum deflection R4 of the boom is equal to the difference between the head inclination angle R1 and the root inclination angle R2. When the overall maximum deflection is obtained, the processor can determine whether the overall maximum deflection is greater than the preset maximum deflection. The preset maximum deflection can be determined based on the working condition and length of the boom. When the overall maximum deflection is greater than the preset maximum deflection, the processor can adjust the deflection based on the head inclination angle and the root inclination angle until the adjusted overall maximum deflection is less than or equal to the preset maximum deflection.

[0074] In an embodiment of the present application, the super-lifting device includes a left super-lifting winch and a right super-lifting winch. When the overall maximum deflection is greater than a preset maximum deflection, the deflection is adjusted according to the head inclination angle and the root inclination angle until the adjusted overall maximum deflection is less than or equal to the preset maximum deflection. The method includes: determining a first angle difference between the head inclination angle and the root inclination angle; when the first angle difference is greater than a preset value, controlling the left super-lifting winch and the right super-lifting winch to release the rope, and adjusting the rope-releasing speed of the left super-lifting winch and the right super-lifting winch according to the first angle difference and the overall lateral bending amount, until the adjusted overall maximum deflection is less than or equal to the preset maximum deflection; when the first angle difference is less than or equal to the preset value, controlling the left super-lifting winch and the right super-lifting winch to retract the rope, and adjusting the rope-retracting speed of the left super-lifting winch and the right super-lifting winch according to the first angle difference and the overall lateral bending amount, until the adjusted overall maximum deflection is less than or equal to the preset maximum deflection.

[0075] The super-lifting device includes a left super-lifting winch and a right super-lifting winch. When the overall maximum deflection is greater than the preset maximum deflection, the processor can adjust the deflection according to the head inclination angle and the root inclination angle until the adjusted overall maximum deflection is less than or equal to the preset maximum deflection. Specifically, the processor can determine the first angle difference between the head inclination angle and the root inclination angle. After obtaining the first angle difference, the processor can determine whether the first angle difference is greater than the preset value. When the first angle difference is greater than the preset value, the processor can control the left super-lifting winch and the right super-lifting winch to release the rope, and adjust the rope-releasing speed of the left super-lifting winch and the right super-lifting winch according to the first angle difference and the overall lateral bending amount, until the adjusted overall maximum deflection is less than or equal to the preset maximum deflection. In a specific embodiment, the preset value can be 0. When the first angle difference R4 is greater than 0, the processor can determine that there is an upward deflection of the entire boom, and the processor can control the left super-lifting winch and the right super-lifting winch to unlock, control the left super-lifting winch and the right super-lifting winch to release the ropes, and adjust the rope-releasing current of the left super-lifting winch and the right super-lifting winch in a closed loop according to the changing trend of the first angle difference R4, and adjust the rope-releasing current difference of the left super-lifting winch and the right super-lifting winch according to the overall lateral bending amount L9 to control the rope-releasing speed of the left super-lifting winch and the right super-lifting winch, and realize synchronous rope-releasing until the overall maximum deflection after adjustment is less than or equal to the preset maximum deflection.

[0076] When the first angle difference is less than or equal to a preset value, the processor can control both the left and right super hoisting winches to reel in the ropes, and adjust the reeling speeds of the left and right super hoisting winches based on the first angle difference and the overall lateral deflection until the adjusted overall maximum deflection is less than or equal to a preset maximum deflection. In a specific embodiment, the preset value can be 0. When the first angle difference R4 is less than or equal to 0, the processor can determine that there is a downward deflection of the entire boom. The processor can control the left super-lifting winch and the right super-lifting winch to unlock, control the left super-lifting winch and the right super-lifting winch to reel in the ropes, and adjust the reeling current of the left super-lifting winch and the right super-lifting winch in a closed loop according to the changing trend of the first angle difference R4 to ensure that the rate of change of the deflection is controllable and reduce the probability of S-shaped deflection. The reeling current difference of the left super-lifting winch and the right super-lifting winch is adjusted according to the overall lateral bending amount L9 to control the reeling speed of the left super-lifting winch and the right super-lifting winch to achieve synchronous reeling until the overall maximum deflection after adjustment is less than or equal to the preset maximum deflection.

[0077] Step 107: When the overall maximum deflection is less than or equal to the preset maximum deflection, it is determined that the super-lifting automatic tensioning is completed.

[0078] When the overall maximum deflection is less than or equal to the preset maximum deflection, the processor may determine that the super-lifting automatic tensioning is complete. Specifically, the processor may control the solenoid valve associated with the super-lifting winch unlocking in the super-lifting device to de-energize, thereby locking the super-lifting device and terminating the super-lifting automatic tensioning.

[0079] In one embodiment, the superlift device may further include a left superlift force sensor mounted on the left superlift wire rope and a right superlift force sensor mounted on the right superlift wire rope, respectively for detecting the left and right superlift forces. For example, if the left and / or right superlift forces exceed the maximum safe tension allowed by the current operating conditions, the processor may control the superlift to automatically stop tensioning and issue an alarm, thereby improving safety and convenience.

[0080] Figure 1 FIG. 1 is a flow chart of a control method for super-lifting automatic tensioning in one embodiment. It should be understood that although Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 1At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0081] The present application also provides a control device for super-lifting and automatic tensioning, comprising:

[0082] a memory configured to store instructions;

[0083] The processor is configured to call instructions from the memory and implement the above-mentioned super-lifting automatic tensioning control method when executing the instructions.

[0084] The present application also provides an engineering machine, including:

[0085] boom;

[0086] A super lifting device is arranged on the boom;

[0087] Inclination sensors are respectively arranged at the head, root and middle of the boom, and are used to collect the head inclination angle, root inclination angle and middle inclination angle of the boom;

[0088] The control device is configured to: control the super-lifting device to perform automatic super-lifting tensioning, and obtain the head inclination angle, root inclination angle and middle inclination angle of the boom; determine whether the boom has a first deflection based on the head inclination angle, root inclination angle and middle inclination angle; if the boom has not had the first deflection, determine the overall lateral bending amount of the boom; if the overall lateral bending amount is greater than a preset maximum lateral bending amount, adjust the lateral bending according to the head inclination angle, root inclination angle and overall lateral bending amount until the adjusted overall lateral bending amount is less than or equal to the preset maximum lateral bending amount; if the overall lateral bending amount is less than or equal to the preset maximum lateral bending amount, determine the overall maximum deflection of the boom according to the head inclination angle and the root inclination angle; if the overall maximum deflection is greater than the preset maximum deflection, adjust the deflection according to the head inclination angle and the root inclination angle until the adjusted overall maximum deflection is less than or equal to the preset maximum deflection; if the overall maximum deflection is less than or equal to the preset maximum deflection, determine that the automatic super-lifting tensioning is completed.

[0089] In the embodiment of the present application, the engineering machinery further includes: a transmitter, which is respectively arranged at the head and the middle of the boom, and is respectively used to send a ranging signal to the root of the boom in real time; a left-side receiver of the boom, which is arranged on the left side of the tail of the boom, and is used to receive the ranging signal sent by the transmitter arranged at the head and calculate the distance to the left side of the head, and is used to receive the ranging signal sent by the transmitter arranged at the middle and calculate the distance to the left side of the middle; a right-side receiver of the boom, which is arranged on the right side of the tail of the boom, and is used to receive the ranging signal sent by the transmitter arranged at the head and calculate the distance to the right side of the head, and is used to receive the ranging signal sent by the transmitter arranged at the middle The control device is further configured to: obtain the head left distance, head right distance, middle left distance and middle right distance of the arm; determine a first distance difference between the head left distance and the head right distance; determine a second distance difference between the middle left distance and the middle right distance; determine the head lateral bend of the arm according to the first distance difference, and determine the middle lateral bend of the arm according to the second distance difference; when the head lateral bend and the middle lateral bend are consistent and the absolute value of the first distance difference is greater than or equal to the absolute value of the second distance difference, determine the first distance difference as the overall lateral bend amount.

[0090] In an embodiment of the present application, the super-lifting device includes a left super-lifting winch, a right super-lifting winch, a left super-lifting mast, a right super-lifting mast, a left super-lifting wire rope and a right super-lifting wire rope. The first end of the left super-lifting wire rope is connected to the left super-lifting winch, the second end of the left super-lifting wire rope is connected to the first end of the left super-lifting mast, and the second end of the left super-lifting mast is arranged on the boom. The first end of the right super-lifting wire rope is connected to the right super-lifting winch, the second end of the right super-lifting wire rope is connected to the first end of the right super-lifting mast, and the second end of the right super-lifting mast is arranged on the boom. The left super-lifting winch, the left super-lifting mast and the left super-lifting wire rope are respectively connected to the right super-lifting winch, the right super-lifting mast and the right super-lifting wire rope relative to the boom. The frame is symmetrically arranged; the control device is further configured to: determine a first length difference between the length of the left super-lifting wire rope and a left super-lifting rope length reference point, wherein the left super-lifting rope length reference point is the length of the left super-lifting wire rope when the left super-lifting mast and the right super-lifting mast are completely symmetrical with respect to the boom and a signal without lateral bending of the boom is obtained; determine a second length difference between the length of the right super-lifting wire rope and the right super-lifting rope length reference point, wherein the right super-lifting rope length reference point is the length of the right super-lifting wire rope when the left super-lifting mast and the right super-lifting mast are completely symmetrical with respect to the boom and a signal without lateral bending of the boom is obtained; and determine the difference between the first length difference and the second length difference as the overall lateral bending amount.

[0091] Figure 8 A schematic diagram shows a front view of an engineering machine according to an embodiment of the present application, as shown in FIG. Figure 8As shown, the engineering machinery includes a left super-lifting winch 1, a right super-lifting winch 2, a movable pulley 3 on the left side of the boom head, a movable pulley 4 on the right side of the boom head, a left super-lifting mast 5, a right super-lifting mast 6, a boom 7, a left super-lifting wire rope 8, a right super-lifting wire rope 9, a super-lifting tension sensor 13, a boom head transmitter 27, a boom middle transmitter 28, a boom root left receiver 29, and a boom root right receiver 30.

[0092] Figure 9 The diagram schematically shows a b-direction view of an engineering machine according to an embodiment of the present application, as shown in FIG. Figure 9 As shown, the engineering machinery includes a boom 7, a super-lifting boom-changing position detection switch 12, a boom-changing action (raising and lowering) 14 of the super-lifting device, an angle between the super-lifting mast and the boom 17, a boom head inclination sensor 20, a boom root inclination sensor 21, and a boom middle inclination sensor 26.

[0093] Figure 10 The diagram schematically shows a C-direction view of an engineering machine according to an embodiment of the present application, as shown in FIG. Figure 10 As shown, the engineering machinery includes a left super-lifting mast 5, a right super-lifting mast 6, a boom 7, a super-lifting angular displacement sensor 11, a swinging action 15 of the super-lifting device, a super-lifting swing cylinder 16, a left super-lifting swing angle 18, and a right super-lifting swing angle 19.

[0094] Figure 11 The control principle diagram of an engineering machinery according to an embodiment of the present application is schematically shown, wherein the super-lifting winch encoder 10, the super-lifting angular displacement sensor 11, the super-lifting amplitude change in place detection switch 12, the super-lifting tension sensor 13, the boom head inclination sensor 20, the boom root inclination sensor 21, the middle boom inclination sensor 26, the boom root left receiver 29, the boom root right receiver 30, the human-machine interface 22, the boom head transmitter 27, and the boom middle transmitter 28 all transmit their respective signals to the control unit 23, and the control unit 23 controls the super-lifting winch rope-receiving proportional solenoid valve 24, the super-lifting winch rope-releasing proportional solenoid valve 25, and the super-lifting winch unlocking related solenoid valve 31 according to the received signals.

[0095] The super-lifting device can include a left super-lifting device mounted on the left side of the boom and a right super-lifting device mounted on the right side of the boom. A left super-lifting winch 1 is mounted on the left super-lifting device. One end of a left super-lifting wire rope 8 is mounted on and wound around the left super-lifting winch 1. The other end is pulled out by the super-lifting winch, then looped back through the movable pulley 3 on the left side of the boom head, and then fixed to the left super-lifting mast 5. A right super-lifting winch 2 is mounted on the right super-lifting device. One end of a right super-lifting wire rope 9 is mounted on and wound around the right super-lifting winch 2. The other end is pulled out by the super-lifting winch, then looped back through the movable pulley 4 on the right side of the boom head, and then fixed to the right super-lifting mast 6. The super-lift winch encoder 10 includes a left super-lift winch encoder and a right super-lift winch encoder, respectively mounted on the left and right super-lift winches 1 and 2 via a coupling. They rotate concentrically with the winches and transmit the collected hoist angular displacement signals to the control unit 23 via the CAN bus for calculation of the rope lengths L1 and L2 of the left and right super-lift ropes 8 and 9, respectively. The super-lift tension sensor 13 includes left and right super-lift tension sensors, mounted on the left and right super-lift ropes 8 and 9, respectively, for detecting the corresponding rope tensions. The super-lift angular displacement sensor 11 includes left and right super-lift angular displacement sensors, respectively mounted at the connection points between the super-lift and the boom. They detect the left and right super-lift swing angles 18 and 19, and transmit the signals to the control unit 23. The super-lift swing angle refers to the swing angle between the super-lift device and the boom. This swing angle changes as the super-lift swing cylinder 16 performs the super-lift swing motion 15. The superlift mast can perform a boom-changing action 14. The superlift boom-changing position detection switch 12 includes a left superlift boom-changing position detection switch and a right superlift boom-changing position detection switch, which are respectively installed on the left superlift mast 5 and the right superlift mast 6. They are used to detect whether the corresponding superlift mast has been boom-changed to its position, that is, whether the angle 17 between the corresponding superlift mast and the boom has reached the designed maximum value, and transmit the signal to the control unit 23, wherein the designed maximum value can be determined based on the actual situation. The boom head inclination sensor 20 is installed at the boom head to detect the boom head inclination angle R1. The boom root inclination sensor 21 is installed at the boom root to detect the boom root inclination angle R2. The boom middle inclination sensor 26 is installed at the middle of the boom to detect the inclination angle R3 of the sensor installation point. The human-machine interface 22 can display and transmit the working condition information input by the user and the alarm information triggered by the emergency. The super-lift winch rope-collecting proportional solenoid valve 24 includes a left super-lift winch rope-collecting proportional solenoid valve and a right super-lift winch rope-collecting proportional solenoid valve, respectively used to control the left super-lift winch rope-collecting and right super-lift winch rope-releasing proportional solenoid valves. The super-lift winch rope-releasing proportional solenoid valve 25 includes a left super-lift winch rope-releasing proportional solenoid valve and a right super-lift winch rope-releasing proportional solenoid valve, respectively used to control the left super-lift winch rope-releasing and right super-lift winch rope-releasing. The boom head transmitter 27 is installed at the width center of the boom head and transmits real-time ranging signals to the boom base. The mid-boom transmitter 28 is installed near the width center of the mid-boom and transmits real-time ranging signals to the boom base.The left receiver 29 at the base of the boom and the right receiver 30 at the base of the boom are installed on the left and right sides of the boom tail, respectively. The left receiver 29 at the base of the boom is used to receive the ranging signal from the boom head transmitter 27 and calculate the distance L5 to the left of the head, and the ranging signal from the middle boom transmitter 28 and calculate the distance L7 to the left of the middle. The right receiver 30 at the base of the boom is used to receive the ranging signal from the boom head transmitter 27 and calculate the distance L6 to the right of the head, and the ranging signal from the middle boom transmitter 28 and calculate the distance L8 to the right of the middle. The solenoid valve 31 related to the release of the super-lift winch includes a left super-lift winch release-related solenoid valve and a right super-lift winch release-related solenoid valve, which are used to control the release of the left super-lift winch and the right super-lift winch, respectively. The winch automatically locks when the relevant solenoid valve loses power.

[0096] The engineering machinery of this embodiment includes traditional engineering machinery vehicles, as well as new energy vehicles used in the field of engineering machinery, such as new energy mixer trucks, new energy pump trucks, new energy excavators, etc.; in addition, the engineering machinery vehicles of this embodiment also belong to intelligent connected vehicles. The engineering machinery vehicles include sensing systems, communication systems, etc., and collect vehicle operation data and vehicle surrounding environment information through the sensing system in the vehicle, and realize network connection with other vehicles and the cloud through the communication system, and share the collected vehicle operation data, vehicle surrounding environment information, etc. to the cloud and other authorized vehicles to realize data sharing, remote analysis, intelligent driving and other operations.

[0097] An embodiment of the present application further provides a machine-readable storage medium having stored thereon instructions for causing a machine to execute the above-mentioned control method for super-lifting automatic tensioning.

[0098] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 12 As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure) connected via a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02 and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store data such as the head inclination angle, the root inclination angle, the middle inclination angle, the first deflection, the overall lateral bending amount, the overall maximum deflection, etc. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the processor A01, a control method for automatic tensioning of super lifting is realized.

[0099] Those skilled in the art will understand that Figure 12 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0100] An embodiment of the present application provides a device, which includes a processor, a memory, and a program stored in the memory and runnable on the processor. When the processor executes the program, the control method steps of super-lifting automatic tensioning are implemented.

[0101] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing the program steps of the control method for initiating automatic tensioning with superlift.

[0102] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0103] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0104] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0105] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0106] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0107] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0108] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0109] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0110] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A control method for super lifting automatic tensioning, characterized in that: Applied to a superlifting device, the superlifting device is arranged on a boom, and the control method includes: Controlling the super-lifting device to perform super-lifting automatic tensioning, and obtaining the head inclination angle, root inclination angle and middle inclination angle of the boom; determining whether the boom has a first deflection according to the head inclination angle, the root inclination angle, and the middle inclination angle; determining an overall lateral bending amount of the boom when the boom does not exhibit the first deflection; When the overall bending amount is greater than a preset maximum bending amount, adjusting the bending amount according to the head inclination angle, the root inclination angle, and the overall bending amount until the adjusted overall bending amount is less than or equal to the preset maximum bending amount; When the overall lateral bending amount is less than or equal to the preset maximum lateral bending amount, determining the overall maximum deflection of the boom according to the head inclination angle and the root inclination angle; When the overall maximum deflection is greater than the preset maximum deflection, the deflection is adjusted according to the head inclination angle and the root inclination angle until the adjusted overall maximum deflection is less than or equal to the preset maximum deflection; When the overall maximum deflection is less than or equal to the preset maximum deflection, it is determined that the super-lifting automatic tensioning is completed.

2. The control method for super-lifting automatic tensioning according to claim 1, characterized in that: The determining whether the boom has a first deflection according to the head inclination angle, the root inclination angle, and the middle inclination angle comprises: determining a first angular difference between the head inclination angle and the root inclination angle; determining a second angular difference between the mid-section inclination angle and the root inclination angle; determining a head deflection of the boom according to the first angle difference, and determining a middle deflection of the boom according to the second angle difference; When the head deflection is consistent with the middle deflection and the absolute value of the first angle difference is greater than or equal to the absolute value of the second angle difference, determining that the arm does not have the first deflection; When the head deflection and the middle deflection are inconsistent and / or the absolute value of the first angle difference is smaller than the absolute value of the second angle difference, it is determined that the arm has the first deflection.

3. The control method for super-lifting automatic tensioning according to claim 2, characterized in that: Determining the head deflection of the boom according to the first angle difference, and determining the middle deflection of the boom according to the second angle difference includes: When the first angle difference is greater than a preset value, determining the head deflection to be a second deflection; When the first angle difference is smaller than the preset value, determining the head deflection as a third deflection; When the second angle difference is greater than the preset value, determining the middle deflection as the second deflection; When the second angle difference is smaller than the preset value, the middle deflection is determined to be the third deflection.

4. The control method for super-lifting automatic tensioning according to claim 2, characterized in that: The super-lifting device includes a left super-lifting winch and a right super-lifting winch, and the control method further includes: When it is determined that the boom has the first deflection, the left super-lift hoist and the right super-lift hoist are controlled to release the ropes until the first deflection disappears.

5. The control method for super-lifting automatic tensioning according to claim 1, characterized in that: The super-lifting device includes a left super-lifting winch and a right super-lifting winch. When the overall side bending amount is greater than a preset maximum side bending amount, the side bending is adjusted according to the head inclination angle, the root inclination angle, and the overall side bending amount until the adjusted overall side bending amount is less than or equal to the preset maximum side bending amount. The method includes: determining a first angular difference between the head inclination angle and the root inclination angle; When the first angle difference is greater than a preset value and the overall lateral bending amount is greater than the preset value, controlling the right super-lift winch to release the rope, and adjusting the rope-releasing speed of the right super-lift winch based on the overall lateral bending amount until the adjusted overall lateral bending amount is less than or equal to the preset maximum lateral bending amount; When the first angle difference is greater than a preset value and the overall lateral bending amount is less than or equal to the preset value, controlling the left super hoist to release the rope, and adjusting the rope release speed of the left super hoist based on the overall lateral bending amount until the adjusted overall lateral bending amount is less than or equal to the preset maximum lateral bending amount; When the first angle difference is less than or equal to a preset value and the overall lateral bending amount is greater than the preset value, controlling the left super-start winch to retract the rope, and adjusting the retracting speed of the left super-start winch based on the overall lateral bending amount until the adjusted overall lateral bending amount is less than or equal to the preset maximum lateral bending amount; When the first angle difference is less than or equal to a preset value and the overall lateral bending amount is less than or equal to the preset value, the right super-lift winch is controlled to retract the rope, and the retracting speed of the right super-lift winch is adjusted based on the overall lateral bending amount until the adjusted overall lateral bending amount is less than or equal to the preset maximum lateral bending amount.

6. The control method for super-lifting automatic tensioning according to claim 1, characterized in that: The super-lifting device includes a left super-lifting winch and a right super-lifting winch. When the overall maximum deflection is greater than a preset maximum deflection, the deflection is adjusted according to the head inclination angle and the root inclination angle until the adjusted overall maximum deflection is less than or equal to the preset maximum deflection. The method includes: determining a first angular difference between the head inclination angle and the root inclination angle; When the first angle difference is greater than a preset value, controlling the left super hoist and the right super hoist to release the ropes, and adjusting the rope-releasing speeds of the left super hoist and the right super hoist according to the first angle difference and the overall lateral bending amount until the overall maximum deflection after adjustment is less than or equal to the preset maximum deflection; When the first angle difference is less than or equal to a preset value, the left super-lifting winch and the right super-lifting winch are controlled to reel in the ropes, and the reeling speeds of the left super-lifting winch and the right super-lifting winch are adjusted according to the first angle difference and the overall lateral bending amount until the adjusted overall maximum deflection is less than or equal to the preset maximum deflection.

7. The control method for super-lifting automatic tensioning according to claim 1, characterized in that: When the boom does not have the first deflection, determining the overall lateral bending amount of the boom includes: Obtaining the head left distance, head right distance, middle left distance, and middle right distance of the arm; determining a first distance difference between the head left side distance and the head right side distance; determining a second distance difference between the center left distance and the center right distance; determining a head lateral bend of the arm according to the first distance difference, and determining a middle lateral bend of the arm according to the second distance difference; When the head curvature and the middle curvature are consistent and the absolute value of the first distance difference is greater than or equal to the absolute value of the second distance difference, the first distance difference is determined as the overall curvature amount.

8. The method for controlling super-lifting automatic tensioning according to claim 7, characterized in that: The super-lifting device includes a left super-lifting winch and a right super-lifting winch, and the control method further includes: When the head lateral bend and the middle lateral bend are inconsistent and / or the absolute value of the first distance difference is smaller than the absolute value of the second distance difference, it is determined that the boom has a first lateral bend, and the left super-lifting winch and the right super-lifting winch are controlled to release the rope until the first lateral bend disappears.

9. The method for controlling super-lifting automatic tensioning according to claim 1, characterized in that: The superlift device includes a left superlift mast, a right superlift mast, a left superlift wire rope, and a right superlift wire rope. When the boom does not have the first deflection, determining the overall lateral deflection of the boom includes: Determining a first length difference between the length of the left super-lifting wire rope and a left super-lifting wire rope length reference point, wherein the left super-lifting wire rope length reference point is the length of the left super-lifting wire rope when the left super-lifting mast and the right super-lifting mast are completely symmetrical with respect to the boom and a no-side bending signal of the boom is obtained; Determining a second length difference between the length of the right superlift wire rope and a right superlift rope length reference point, wherein the right superlift rope length reference point is the length of the right superlift wire rope when the left superlift mast and the right superlift mast are completely symmetrical with respect to the boom and a no-side bending signal of the boom is obtained; A difference between the first length difference and the second length difference is determined as the overall side bending amount.

10. The method for controlling super-lifting automatic tensioning according to claim 1, characterized in that: The superlifting device includes a left superlifting mast and a right superlifting mast, and controlling the superlifting device to perform superlifting automatic tensioning includes: When the luffing arrival signal of the left super-lifting mast and the luffing arrival signal of the right super-lifting mast are obtained, and the left super-lifting swing angle of the left super-lifting mast is equal to the right super-lifting swing angle of the right super-lifting mast, the super-lifting device is controlled to perform automatic super-lifting tensioning.

11. A control device for automatic tensioning of superlift, characterized in that: include: a memory configured to store instructions; A processor is configured to call the instructions from the memory and implement the control method for super-lifting automatic tensioning according to any one of claims 1 to 10 when executing the instructions.

12. An engineering machine, characterized in that: include: boom; A super lifting device is provided on the boom; Inclination sensors are respectively arranged at the head, root and middle of the boom, for collecting the head inclination angle, root inclination angle and middle inclination angle of the boom; A control device configured to: Controlling the super-lifting device to perform super-lifting automatic tensioning, and obtaining the head inclination angle, root inclination angle and middle inclination angle of the boom; determining whether the boom has a first deflection according to the head inclination angle, the root inclination angle, and the middle inclination angle; determining an overall lateral bending amount of the boom when the boom does not exhibit the first deflection; When the overall bending amount is greater than a preset maximum bending amount, adjusting the bending amount according to the head inclination angle, the root inclination angle, and the overall bending amount until the adjusted overall bending amount is less than or equal to the preset maximum bending amount; When the overall lateral bending amount is less than or equal to the preset maximum lateral bending amount, determining the overall maximum deflection of the boom according to the head inclination angle and the root inclination angle; When the overall maximum deflection is greater than the preset maximum deflection, the deflection is adjusted according to the head inclination angle and the root inclination angle until the adjusted overall maximum deflection is less than or equal to the preset maximum deflection; When the overall maximum deflection is less than or equal to the preset maximum deflection, it is determined that the super-lifting automatic tensioning is completed.

13. The engineering machine according to claim 12, characterized in that: The engineering machinery further comprises: Transmitters are respectively arranged at the head and middle of the boom, and are respectively used to send ranging signals to the root of the boom in real time; The left side receiver of the boom is arranged on the left side of the tail of the boom, and is used to receive the ranging signal sent by the transmitter arranged on the head and calculate the distance to the left side of the head, and is used to receive the ranging signal sent by the transmitter arranged on the middle part and calculate the distance to the left side of the middle part; The right side receiver of the boom is arranged on the right side of the tail of the boom, and is used to receive the ranging signal sent by the transmitter arranged on the head and calculate the distance to the right side of the head, and is used to receive the ranging signal sent by the transmitter arranged on the middle part and calculate the distance to the right side of the middle part; The control device is further configured to: Obtaining the head left distance, head right distance, middle left distance, and middle right distance of the arm; determining a first distance difference between the head left side distance and the head right side distance; determining a second distance difference between the center left distance and the center right distance; determining a head lateral bend of the arm according to the first distance difference, and determining a middle lateral bend of the arm according to the second distance difference; When the head curvature and the middle curvature are consistent and the absolute value of the first distance difference is greater than or equal to the absolute value of the second distance difference, the first distance difference is determined as the overall curvature amount.

14. The engineering machine according to claim 12, characterized in that: The super-lifting device includes a left super-lifting winch, a right super-lifting winch, a left super-lifting mast, a right super-lifting mast, a left super-lifting wire rope and a right super-lifting wire rope, the first end of the left super-lifting wire rope is connected to the left super-lifting winch, the second end of the left super-lifting wire rope is connected to the first end of the left super-lifting mast, the second end of the left super-lifting mast is arranged on the boom, the first end of the right super-lifting wire rope is connected to the right super-lifting winch, the second end of the right super-lifting wire rope is connected to the first end of the right super-lifting mast, and the second end of the right super-lifting mast is arranged on the boom, the left super-lifting winch, the left super-lifting mast and the left super-lifting wire rope are respectively symmetrically arranged with respect to the right super-lifting winch, the right super-lifting mast and the right super-lifting wire rope; The control device is further configured to: Determining a first length difference between the length of the left super-lifting wire rope and a left super-lifting wire rope length reference point, wherein the left super-lifting wire rope length reference point is the length of the left super-lifting wire rope when the left super-lifting mast and the right super-lifting mast are completely symmetrical with respect to the boom and a no-side bending signal of the boom is obtained; Determining a second length difference between the length of the right superlift wire rope and a right superlift rope length reference point, wherein the right superlift rope length reference point is the length of the right superlift wire rope when the left superlift mast and the right superlift mast are completely symmetrical with respect to the boom and a no-side bending signal of the boom is obtained; A difference between the first length difference and the second length difference is determined as the overall side bending amount.

15. A machine-readable storage medium, characterized in that The machine-readable storage medium stores instructions for enabling a machine to execute the control method for super-lifting automatic tensioning according to any one of claims 1 to 10.

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