Suspension arm simulation method for crawler crane construction, computing equipment and readable storage medium

Abstract

The invention discloses a boom simulation method for crawler crane construction, computing equipment and a readable storage medium, and the method comprises the following steps: in response to a parameter setting operation input in a boom simulation interface, obtaining basic data of a target crawler crane and target construction parameters corresponding to a target boom combination form; the basic data comprises equipment basic data; on the basis of the basic data and the target construction parameters, carrying out suspension arm simulation on a target load hoisted by the target crawler crane in the target cantilever crane combination form, and determining and outputting a hoisting scheme under the target construction parameters; the hoisting scheme comprises the lifting height and the operation range. Therefore, the hoisting scheme of the crawler crane can be accurately simulated and output, and the construction efficiency and safety of the crawler crane are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cranes, and in particular to a boom simulation method, a computing device and a computer-readable storage medium for crawler crane construction. Background Art

[0002] As the industrial scale develops rapidly towards large-scale, the tonnage of hoisting equipment is getting larger and larger, the hoisting method is more complicated, and the hoisting safety supervision is more stringent. Especially for crawler cranes, the hoisting conditions and boom algorithms are more numerous and more complicated than those of truck cranes.

[0003] However, the current boom simulation calculations on the market are all calculated and expanded based on the data of truck cranes. The simulation of working conditions and the calculation of parameters are relatively simple, and the underlying host data is relatively small, which makes the simulation calculation results not accurate enough, affecting the efficiency and safety of crawler crane construction. Summary of the invention

[0004] The purpose of this application is to provide a boom simulation method, computing device and computer-readable storage medium for crawler crane construction, which can accurately simulate and output the lifting plan of the crawler crane, thereby improving the efficiency and safety of crawler crane construction.

[0005] To achieve the above objectives:

[0006] In a first aspect, an embodiment of the present application provides a boom simulation method for crawler crane construction, comprising:

[0007] In response to the parameter setting operation inputted in the boom simulation interface, the basic data of the target crawler crane and the target construction parameters corresponding to the target boom combination form are obtained; the basic data includes basic equipment data;

[0008] Based on the basic data and the target construction parameters, a boom simulation is performed on the target crawler crane lifting the target load under the target boom combination form, and a lifting scheme under the target construction parameters is determined and output; the lifting scheme includes a lifting height and an operating range.

[0009] Optionally, in response to the parameter setting operation inputted in the boom simulation interface, obtaining the basic data of the target crawler crane and the target construction parameters corresponding to the target boom combination form includes:

[0010] In response to the parameter setting operation inputted in the boom simulation interface, the target construction parameters corresponding to the equipment model of the target crawler crane and the target boom combination form are determined;

[0011] According to the equipment model of the target crawler crane, basic data of the target crawler crane is acquired from a preset database.

[0012] Optionally, in response to the parameter setting operation inputted in the boom simulation interface, before obtaining the basic data of the target crawler crane and the target construction parameters corresponding to the target boom combination form, the method includes:

[0013] In response to an import request for the target basic data of the target crawler crane, after the target basic data is standardized, the target basic data is stored in a data table in the preset database corresponding to the equipment model of the target crawler crane and the type of the target basic data.

[0014] Optionally, the target construction parameter includes at least one of the following: main boom length, auxiliary boom length, main boom and auxiliary boom angle, main boom elevation angle, and target load information;

[0015] The basic data of the equipment includes at least one of the following: axle distance, axle height, eccentricity, vehicle body height and minimum hoisting distance.

[0016] Optionally, the target construction parameters also include obstacle information; and the lifting plan also includes a distance to cross obstacles.

[0017] Optionally, the basic data also includes a rated lifting weight; the lifting plan also includes a rated lifting weight and a torque percentage, and the torque percentage is determined based on the weight of the target load and the rated lifting weight.

[0018] Optionally, the method further comprises:

[0019] In response to the adjustment operation of the target construction parameter input, determining and outputting a hoisting scheme under the adjusted target construction parameter;

[0020] In response to the adjustment operation on the hoisting plan input, the updated target construction parameters and the updated hoisting plan are determined and output.

[0021] Optionally, the basic data further includes lifting weight data; and in response to the adjustment operation input to the lifting scheme, determining and outputting the updated target construction parameters and the updated lifting scheme includes:

[0022] In response to an adjustment operation input to the operating range, detecting whether the adjusted operating range is included in the lifting weight data; the lifting weight data includes a plurality of preset operating ranges;

[0023] If not, the adjusted lifting height is determined based on the winch shaft height, the main arm length, the main arm elevation angle, the auxiliary arm length and the main and auxiliary arm angles.

[0024] In a second aspect, an embodiment of the present application provides a computing device, comprising: a processor and a memory storing a computer program, wherein when the processor runs the computer program, the boom simulation method for crawler crane construction described above is implemented.

[0025] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the boom simulation method of the crawler crane construction is implemented.

[0026] The boom simulation method, computing device and computer-readable storage medium for crawler crane construction provided in the embodiment of the present application include: in response to the parameter setting operation input in the boom simulation interface, obtaining the basic data of the target crawler crane and the target construction parameters corresponding to the target boom combination form; the basic data include basic equipment data; based on the basic data and the target construction parameters, the boom simulation of the target crawler crane hoisting the target load under the target boom combination form is performed, and the hoisting scheme under the target construction parameters is determined and output; the hoisting scheme includes the lifting height and the operating range. In this way, the boom simulation of the target crawler crane hoisting the target load under the target boom combination form is performed through the basic data of the target crawler crane and the target construction parameters corresponding to the target boom combination form, so that the hoisting scheme of the crawler crane can be accurately simulated and output, thereby improving the efficiency and safety of crawler crane construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A schematic diagram of a flow chart of a boom simulation method for crawler crane construction provided by an embodiment of the present invention;

[0028] Figure 2 A schematic diagram of the process of information importing in an embodiment of the present invention;

[0029] Figure 3 A schematic diagram of a process of simulating a boom of a crawler crane for construction according to an embodiment of the present invention Figure 1 ;

[0030] Figure 4 A schematic diagram of a process of simulating a boom of a crawler crane for construction according to an embodiment of the present invention Figure 2 ;

[0031] Figure 5 A schematic diagram of the structure of a computing device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0032] Here, exemplary embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application.

[0033] It should be noted that, in this article, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element. In addition, components, features, and elements with the same name in different embodiments of the present application may have the same meaning or different meanings, and their specific meanings need to be determined by their explanation in the specific embodiment or further combined with the context of the specific embodiment.

[0034] It should be understood that, although the terms first, second, third, etc. may be used to describe various information in this article, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this article, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein can be interpreted as "at the time of..." or "when..." or "in response to determination". Furthermore, as used in this article, the singular forms "one", "one" and "the" are intended to also include plural forms, unless there is an opposite indication in the context. It should be further understood that the terms "comprising", "including" indicate that there are described features, steps, operations, elements, components, projects, kinds, and / or groups, but do not exclude the existence, occurrence or addition of one or more other features, steps, operations, elements, components, projects, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Thus, “A, B, or C” or “A, B and / or C” means “any of the following: A; B; C; A and B; A and C; B and C; A, B, and C.” An exception to this definition will occur only when a combination of elements, functions, steps, or operations are inherently mutually exclusive in some manner.

[0035] It should be understood that, although the various steps in the flowchart in the embodiment of the present application are displayed in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and it can be performed in other orders. Moreover, at least a portion of the steps in the figure may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0036] It should be noted that, in this article, step codes such as S101, S102, etc. are used for the purpose of expressing the corresponding content more clearly and concisely, and do not constitute a substantial limitation on the sequence. When implementing the step, those skilled in the art may execute S102 first and then S101, etc., but these should all be within the scope of protection of this application.

[0037] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0038] In the subsequent description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present application, and have no specific meanings. Therefore, "module", "component" or "unit" can be used in a mixed manner.

[0039] See also Figure 1 , is a boom simulation method for crawler crane construction provided in an embodiment of the present application. The boom simulation method for crawler crane construction can be executed by a boom simulation device for crawler crane construction provided in an embodiment of the present application. The boom simulation device for crawler crane construction can be implemented in software and / or hardware, such as a computer, server and other computing devices. In this embodiment, the execution subject of the boom simulation method for crawler crane construction is a computing device as an example. The boom simulation method for crawler crane construction provided in this embodiment includes:

[0040] Step S101: in response to the parameter setting operation inputted in the boom simulation interface, basic data of the target crawler crane and target construction parameters corresponding to the target boom combination form are obtained; the basic data includes basic equipment data.

[0041] Wherein, the target crawler crane is a crawler crane to be subjected to boom simulation. The computing device may provide a boom simulation interface, which is used by the user to input and / or select the required basic data of the crawler crane, the boom combination form and the corresponding construction parameters. When the computing device has stored the basic data of crawler cranes of different models, the basic data of the target crawler crane may be determined by the device model of the target crawler crane input or selected by the user in the boom simulation interface, and the target boom combination form may be determined by the boom combination form input or selected by the user in the boom simulation interface, and the target construction parameters corresponding to the target boom combination form may be set according to the determined target boom combination form. When the computing device does not store the basic data of the target crawler crane, the user may input the basic data of the target crawler crane through the boom simulation interface, and input or select the required boom combination form as the target boom combination form, and the target construction parameters corresponding to the target boom combination form may be set according to the determined target boom combination form.

[0042] In one embodiment, the target construction parameters include at least one of the following: main boom length, auxiliary boom length, main and auxiliary boom angle, main boom elevation angle, and target load information; the basic equipment data include at least one of the following: twist shaft distance, twist shaft height, eccentricity, vehicle height, and minimum winch distance. In addition, the target construction parameters may also include vehicle body weight, turntable counterweight, superlift radius, superlift counterweight, superlift mast boom length, superlift zero amplitude, and main and auxiliary hook operation mode.

[0043] The target load information may include the size information and weight information of the target load. The basic data may also include lifting weight data and ground pressure data. The lifting weight data may include a rated lifting weight table, a vehicle body weight and other data. The rated lifting weight table may include the rated lifting weight corresponding to a plurality of preset different operating ranges and main arm lengths. The ground pressure data may include data such as the width and length of the crawler. Based on the ground pressure data and the weight of the target load, the vehicle body weight and other data, the pressure of the target crawler crane on the ground when lifting the target load can be calculated.

[0044] In one embodiment, in response to the parameter setting operation input in the boom simulation interface, the basic data of the target crawler crane and the target construction parameters corresponding to the target boom combination form are obtained, including:

[0045] In response to the parameter setting operation inputted in the boom simulation interface, the target construction parameters corresponding to the equipment model of the target crawler crane and the target boom combination form are determined;

[0046] According to the equipment model of the target crawler crane, basic data of the target crawler crane is obtained from the preset database.

[0047] Among them, input boxes or selection boxes corresponding to the equipment model and boom combination form of the crawler crane can be set in the boom simulation interface. The user can set the equipment model and target boom combination form of the target crawler crane through the input box or selection box, and after determining the target boom combination form, the target construction parameters corresponding to the target boom combination form can be set through the construction parameter setting interface corresponding to the boom combination form. When the equipment model of the target crawler crane is obtained and the basic data corresponding to crawler cranes of different equipment models are pre-stored in the local preset database, the basic data corresponding to the equipment model of the selected target crawler crane can be obtained and displayed from the preset database. If the basic data corresponding to the target crawler crane is not stored in the preset database, the user can input the basic data of the target crawler crane through the boom simulation interface. It should be noted that for different boom combinations, the corresponding construction parameters may be different. In this embodiment, the default construction parameter setting interface includes all construction parameter setting items. For construction parameters not included in the selected target boom combination form, these construction parameters can be defaulted to empty or zero. In this way, it is possible to conveniently and flexibly obtain the basic data of the target crawler crane and the target construction parameters corresponding to the target boom combination form, further improving the efficiency of crawler crane construction.

[0048] In one embodiment, in response to the parameter setting operation inputted in the boom simulation interface, before obtaining the basic data of the target crawler crane and the target construction parameters corresponding to the target boom combination form, the process includes:

[0049] In response to an import request for target basic data of a target crawler crane, after the target basic data is standardized, the target basic data is stored in a data table in a preset database corresponding to the equipment model of the target crawler crane and the type of the target basic data.

[0050] Among them, in order to facilitate the direct call of the required data during the subsequent boom simulation, the basic data of crawler cranes of different models can be stored in the database in advance. The target basic data can be any basic data of the target crawler crane. The user can import the basic data saved in the form of a table or file in the boom simulation interface so that the computing device obtains the import request. Since the same type of data of the target basic data may correspond to different units, such as some data in kilograms and some data in tons, the target basic data can be standardized first for unified calculation, such as unifying the units of the same type of data. Different data tables of different models of crawler cranes and different types of basic data can be stored in the preset database. According to the equipment model of the target crawler crane and the type of the target basic data, the target basic data can be stored in the corresponding data table. In this way, it is convenient to simulate the lifting plan of the crawler crane in the future, further improving the efficiency of the crawler crane construction.

[0051] Step S102: Based on the basic data and the target construction parameters, a crane boom simulation is performed on the target crawler crane lifting the target load under the target boom combination form, and a lifting plan under the target construction parameters is determined and output; the lifting plan includes a lifting height and an operating range.

[0052] Among them, the target load is the object that needs to be lifted, which can be set based on actual needs, such as an object with known length and weight. The lifting plan can be used to indicate the corresponding boom movement range of the target crawler crane when lifting the target load according to the target construction parameters. The lifting height is used to indicate the height that the end of the boom can move up and down in the vertical direction, and the operating range is used to indicate the distance that the end of the boom can move left and right in the horizontal direction. In addition, the lifting plan can also include the basic data of the target crawler crane, the target boom combination form, and the target construction parameters corresponding to the target boom combination form.

[0053] Among them, the boom simulation of the target crawler crane hoisting target load is performed to determine the hoisting plan under the target construction parameters, which may include: obtaining the operating range L according to the operating range calculation formula L=l1*cosβ+l2*cos(β-α)-A, l1 is the length of the main arm, l2 is the length of the auxiliary arm, β is the elevation angle of the main arm, α is the angle between the auxiliary arm and the main arm, that is, the angle between the main arm and the auxiliary arm, and A is the eccentricity; obtaining the lifting height H according to the lifting height calculation formula H=l1*sinβ+l2*sin(β-α)+hB, h is the vehicle body height, and B is the minimum hoisting distance.

[0054] In summary, in the boom simulation method for crawler crane construction provided in the above embodiment, the boom simulation of the target crawler crane lifting the target load under the target boom combination form is performed through the basic data of the target crawler crane and the target construction parameters corresponding to the target boom combination form. The lifting plan of the crawler crane can be accurately simulated and output, thereby improving the efficiency and safety of the crawler crane construction.

[0055] In one embodiment, the target construction parameters also include obstacle information; and the lifting scheme also includes a distance across obstacles. When the target construction parameters also include obstacle information, the corresponding lifting scheme also includes a distance across obstacles. The obstacle information may include obstacle size information, such as obstacle height and obstacle distance, etc. The obstacle distance refers to the distance between the obstacle and the rotation center of the crawler crane. The distance across obstacles represents the horizontal distance from the boom head (i.e., the center of the hoisted object) to the obstacle.

[0056] In one embodiment, the lifting scheme also includes a rated lifting weight and a torque percentage, and the torque percentage is determined based on the weight of the target load and the rated lifting weight. Among them, since the lifting weight data contains the corresponding relationship between different operating ranges and main arm lengths and the rated lifting weight, if the operating range in the lifting scheme is located in the lifting weight data, the rated lifting weight corresponding to the operating range can be taken from the lifting weight data as the rated lifting weight in the lifting scheme, and if the operating range in the lifting scheme is not located in the lifting weight data, the rated lifting weight in the lifting scheme can be calculated based on the corresponding relationship between different operating ranges and main arm lengths and the rated lifting weight in the lifting weight data, combined with the linear interpolation method. The torque percentage is used to indicate whether the target crawler crane can complete the lifting of the target load. Specifically, the quotient of the weight of the target load and the rated lifting weight can be used as the torque percentage. When the torque percentage is close to 1 or greater than 1, it means that the weight of the target load is close to the rated lifting weight. It is more dangerous to lift the target load based on the current lifting plan. When the torque percentage is less than 1 and close to 0, it means that the weight of the target load is less than the rated lifting weight. The target load can be safely lifted based on the current lifting plan. In this way, through the rated lifting weight and torque percentage, users can easily know whether the current lifting plan can safely lift the target load, further improving the efficiency and safety of crawler crane construction.

[0057] In one embodiment, the method further comprises at least one of the following:

[0058] In response to the adjustment operation of the target construction parameter input, determining and outputting a hoisting plan under the adjusted target construction parameter;

[0059] In response to the adjustment operation on the hoisting plan input, updated target construction parameters and an updated hoisting plan are determined and output.

[0060] It can be understood that based on factors such as the actual operation scene requirements, it may also be necessary to adjust the target construction parameters and / or lifting scheme, such as adjusting the target boom combination form from the main boom form to the main boom plus auxiliary boom form, adjusting the main boom length, etc. Of course, the lifting scheme can also be adjusted, such as when the lifting operation scene is limited by width and the operating amplitude is greater than the amplitude limit value, the operating amplitude can be adjusted. It should be noted that in this embodiment, the adjustment operation cannot be input for the lifting height, and the lifting height will be adjusted accordingly with the adjustment of the operating amplitude. After obtaining the adjustment operation of the target construction parameter input, the target crawler crane can be based on the basic data and the adjusted target construction parameters. The target load is lifted under the target boom combination form. The lifting scheme under the adjusted target construction parameters is determined and output. After obtaining the adjustment operation of the lifting scheme input, the target crawler crane can be based on the adjusted lifting scheme. The target load is lifted under the target boom combination form. The lifting scheme after the updated target construction parameters and the updated lifting scheme are determined and output. In this way, users can adjust the boom simulation of crawler crane construction based on their needs, thereby improving operational flexibility.

[0061] In one embodiment, the basic data further includes lifting weight data; in response to an adjustment operation on the lifting scheme input, determining and outputting updated target construction parameters and an updated lifting scheme, including:

[0062] In response to an adjustment operation inputted to the working range, detecting whether the adjusted working range is included in the lifting weight data; the lifting weight data includes a plurality of preset working ranges;

[0063] If not, determine the adjusted lifting height based on the windlass height, main boom length, main boom elevation angle, jib length and main and jib angle.

[0064] The user can input adjustment operations on the working width by single-clicking, long-pressing, etc. on the working width setting item. For example, single-clicking the working width setting item increases or decreases by 0.5m / time, and long-pressing increases or decreases quickly. Among them, in order to improve the speed of boom simulation, the operating range of the target crawler crane under the target boom combination form under different construction parameters and different equipment data can be calculated in advance based on the aforementioned operating range calculation formula and lifting height calculation formula, and stored in the lifting weight data, that is, the lifting weight data can include multiple operating ranges under different construction parameters and different equipment data of the target crawler crane under the target boom combination form. If the adjusted operating range is not included in the lifting weight data, the adjusted lifting height is determined according to the height of the main arm, the length of the main arm, the elevation angle of the main arm, the length of the auxiliary arm and the angle between the main and auxiliary arms. Specifically, the adjusted lifting height H can be calculated according to the formula H=h'+l1*sin(β)+l2*sin(β-α), where h' is the height of the main arm, l1 is the length of the main arm, l2 is the length of the auxiliary arm, β is the elevation angle of the main arm, and α is the angle between the auxiliary arm and the main arm, that is, the angle between the main and auxiliary arms. In this way, the lifting height is obtained in a corresponding manner according to the different operating ranges, which improves the operational flexibility.

[0065] Based on the same inventive concept as the aforementioned embodiment, the method in the aforementioned embodiment is specifically described below through a specific example.

[0066] The boom simulation method for crawler crane construction provided in this embodiment mainly includes the following parts: importing basic data of equipment model (including importing basic information, lifting weight table and ground pressure table), boom simulation and calculation.

[0067] 1) Import basic data of equipment models

[0068] The basic data import of equipment models is the data basis for the entire boom simulation calculation. By importing the table data of different crawler crane models, the calculation, storage and call of basic working condition data are completed in the background. Basic data import supports Excel and ZIP package import, and the background supports one-click import. Each Excel table is accessed in turn, and the relevant data is read and calculated and stored in the corresponding table of the database, so as to complete the import of the lifting planning information of a certain model of crawler crane, such as Figure 2 shown.

[0069] For the basic data tables of crawler cranes of different models, the data integrity will be checked before data import and the original data of the model in the database will be cleared to ensure the coverage of the latest data.

[0070] For the lifting capacity table of crawler cranes of different models, the total number of working states under different models and working conditions is inconsistent, so the position of each working condition is uncertain. When importing, it is necessary to first determine the telescopic row by traversal query. At the same time, the units of rated lifting capacity of different models are inconsistent (some are tons, some are kilograms), and they should be converted consistently when importing or reading. In addition, the units of telescopic methods of different models are also inconsistent. After importing, they can be uniformly converted to tons, that is, they should be standardized before being used for calculation. When the lifting capacity table is imported, the width and arm length need to be calculated. That is, after the main arm length, jib length, main arm elevation angle, main and auxiliary arm angle, eccentricity, vehicle body height and minimum hoisting distance are known, they can be calculated by the Pythagorean theorem and the cosine theorem, that is, according to the formula L = l1*cosβ+l2*cos(β-α)-A, the operating width L is obtained, and according to the formula H = l1*sinβ+l2*sin(β-α)+hB, the lifting height H is obtained, l1 is the main arm length, l2 is the auxiliary arm length, β is the main arm elevation angle, α is the main and auxiliary arm angle, A is the eccentricity, h is the vehicle body height, and B is the minimum hoisting distance. Therefore, the basic information can be imported first, and then the lifting height and width can be calculated. At the same time, the working conditions of the crawler crane can be divided into three categories according to the arm combination form: main arm, main arm + variable-length jib, main arm + fixed jib, etc.

[0071] For the ground pressure tables of crawler cranes of different models, the import process is exactly the same as that of the basic data table. The fields (parameters) in the first row of each table are accessed in turn, and the corresponding data are read and stored in the table of the same name in the database.

[0072] 2) Crane boom simulation and calculation for crawler crane construction

[0073] The boom simulation and calculation of crawler crane construction is the core function of boom simulation calculation. It mainly performs hoisting calculations through crawler crane equipment parameters selected or input by the user, and then substitutes the corresponding parameters into the 2D simulation interface. The hoisting simulation is completed by displaying the simulation parameters to assist users in completing the preliminary planning of crawler crane hoisting. The current boom simulation and calculation of crawler crane construction covers 2 scenarios, including preset brand products and non-preset brand products. The main difference is the product parameter substitution. The preset brand products of crawler cranes support the selection of background import data, while non-preset brand products require users to manually enter relevant equipment parameters.

[0074] 2.1) Simulation and calculation of boom operation scenarios based on preset brand products of crawler cranes

[0075] See also Figure 3First of all, you need to select the equipment model and boom combination, select the main boom length, body weight, turntable counterweight, super-lifting radius, super-lifting counterweight, super-lifting mast boom length, super-lifting zero position amplitude, jib length, main and auxiliary boom angle, main boom elevation angle, main and auxiliary hook operation mode and lifting weight (including hook and lock weight) of the corresponding boom combination, as well as the winch shaft distance and winch shaft height of the corresponding model.

[0076] Through the selected parameters, the operation range can be calculated based on the previously entered parameters. The boom simulation interface displays the corresponding equipment operation status based on the parameters, and supports users to manually adjust the operation parameters and the main boom elevation angle. According to the adjusted data, the crawler crane in the simulation interface follows the changes. Among them, the operation range takes the corresponding default minimum value from the lifting weight table. The operation range is increased or decreased by 0.5m / time by clicking, and it can be increased or decreased quickly by long pressing. The main boom elevation angle is directly adjusted for each change in the operation range. Modifying the value of the main boom elevation angle will also adjust the operation range accordingly. The hoisting object is checked by default, the height and width are 3.0m each, and the distance from the ground is 0.0m. The height of the hoisting object is increased or decreased by 0.5m / time by clicking, the width of the hoisting object is increased or decreased by 1m / time by clicking, and the distance from the top and the ground is increased or decreased by 1m / time by clicking. The obstacle is checked by default, and the obstacle height defaults to 20m; the obstacle distance defaults to 30m (referring to the distance between the obstacle and the crane's rotation center). The height and distance of the obstacle only support direct input of parameters, and do not support addition and subtraction adjustment functions. Other parameters: limit distance, rigging height, hook weight and rigging weight, all of which are 0 by default. The increase or decrease of limit distance and rigging height is related to the increase or decrease of the distance from the ground parameters of the hoisted object.

[0077] After determining the crawler crane boom simulation scenario and selecting parameters, the parameters required for actual lifting can be calculated: lifting height, working range, obstacle crossing distance, rated lifting capacity and torque percentage.

[0078] Among them, lifting height: by default, the minimum working range and corresponding lifting height are displayed under the selected working condition (i.e. boom combination form), outrigger status, counterweight, main boom length, and telescopic mode. Since the working range can be modified by the user, if the modified working range is not in the lifting weight table, it is calculated according to the formula: lifting height = winch height + main boom length * sin (main boom elevation angle) + jib length * sin (main boom elevation angle - main and jib angle).

[0079] Working Range: The minimum working range under selected working conditions and other variables is displayed by default, and can be modified by users.

[0080] Obstacle distance: the distance between the rope and the obstacle. After the obstacle is checked, it is displayed in the "Simulation Results" text. It represents the horizontal distance from the boom head (also the center of the hoist) to the obstacle.

[0081] Rated lifting capacity: Based on whether the operating range input by the user is within the operating range of the lifting capacity table, it is determined whether to directly use the value in the lifting capacity table or calculate it through linear interpolation.

[0082] The torque percentage is equal to the actual lifting weight / rated lifting weight, and the unit is %.

[0083] After the crane scene simulation and calculation are completed, in order to provide a more accurate lifting path, it supports the display of equipment parameters, lifting coordinates and lifting trajectory in the simulation calculation interface, so as to realize the preliminary planning of the lifting plan and the guidance of the lifting path.

[0084] 2) Simulation and calculation of boom operation scenarios based on non-preset brand products of crawler cranes

[0085] See also Figure 4 First, you need to select the boom working condition: main boom, main boom + jib working condition, manually input the main boom length, jib length, main and jib angle, the default pitch axis distance is 1.5m, the default pitch axis height is 3.2m, the operating range is calculated according to the input parameters, where the operating range under the main boom working condition = main boom length * cos (main boom elevation angle) + pitch axis distance, the operating range under the jib working condition = main boom length * cos (main boom elevation angle) + jib length * cos (main boom elevation angle - main and jib angle) + pitch axis distance, the operating range supports increase and decrease operations, each time the operating range changes, directly adjust the main boom elevation angle. The default initial value of the main boom elevation angle is 0°, and the supported adjustment range is 0° to 90°. The hoisting object is checked by default, the height and width are 3.0m each, and the distance from the ground is 0.0m. From this, the default distance from the top parameter can be calculated as: pitch axis height + main boom length * sin (main boom elevation angle) - hoisting object height. The increase or decrease adjustment of the distance between the object and the top or the ground is directly increased or decreased by the length of the wire rope. If the length of the wire rope is 0, the distance between the object and the top cannot be reduced, and the distance from the ground cannot be increased. The obstacle is checked by default, and the obstacle height is 20m by default; the obstacle distance is 30m by default (referring to the distance between the obstacle and the crane's rotation center). The height and distance of the obstacle are directly entered by the user, and the addition and subtraction adjustment function is not supported. Other parameters: limit distance, rigging height, hook weight and rigging weight are all 0 by default.

[0086] After determining the crawler crane boom simulation scenario and selecting parameters, the parameters required for actual lifting can be calculated: lifting height, working range and obstacle crossing distance.

[0087] Lifting height: Displays the height corresponding to the selected working condition, indicating the height from the boom head (also the center of the hoisted object) to the ground; Lifting height = helical shaft height + main boom length * sin (main boom elevation angle) + jib length * sin (main boom elevation angle - main and jib angle). If it is the main boom working condition, the jib length is calculated by default as 0.

[0088] The working range shows the selected working range. The obstacle distance is the distance between the rope and the obstacle. After the obstacle is checked, it means the horizontal distance from the boom head (also the center of the hoisted object) to the obstacle. The obstacle distance is equal to the difference between the working range and the obstacle distance.

[0089] In summary, the method provided in the above embodiment provides professional data support for crawler crane hoisting simulation by completing the data import, cleaning, calculation and storage of a large number of crawler crane models. At the same time, in order to improve the accuracy of simulated hoisting and the output accuracy of the hoisting path, the calculation formula of the crawler crane hoisting parameters is improved and the hoisting results are calibrated. At the same time, more dimensions of hoisting parameters are included. By displaying equipment parameters, hoisting coordinates and hoisting trajectories in the hoisting simulation calculation interface, preliminary planning of hoisting plans and guidance of hoisting paths are achieved.

[0090] Based on the same inventive concept as the above embodiments, an embodiment of the present invention provides a computing device, such as Figure 5 As shown, the computing device includes: a processor 301 and a memory 302 storing a computer program; wherein, Figure 5 The processor 301 shown in the figure is not used to indicate that the number of the processor 301 is one, but is only used to indicate the positional relationship of the processor 301 relative to other devices. In actual applications, the number of the processor 301 may be one or more; similarly, Figure 5 The memory 302 shown in the figure has the same meaning, that is, it is only used to refer to the position relationship of the memory 302 relative to other devices. In practical applications, the number of memories 302 can be one or more. When the processor 301 runs the computer program, the boom simulation method for crawler crane construction described above is implemented.

[0091] The computing device may also include: at least one network interface 303. The various components in the computing device are coupled together via a bus system 304. It is understood that the bus system 304 is used to achieve connection and communication between these components. In addition to the data bus, the bus system 304 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, the bus system 304 is not used in the example. Figure 5 Various buses are labeled as bus system 304 .

[0092] The memory 302 may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. The non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a ferromagnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM); the magnetic surface memory may be a disk memory or a tape memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), and direct RAM bus random access memory (DRRAM, Direct Rambus Random Access Memory).The memory 302 described in the embodiments of the present invention is intended to include, but is not limited to, these and any other suitable types of memories.

[0093] The memory 302 in the embodiment of the present invention is used to store various types of data to support the operation of the computing device. Examples of these data include: any computer program used to operate on the computing device, such as an operating system and an application; contact data; phone book data; messages; pictures; videos, etc. Among them, the operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., which are used to implement various basic services and process hardware-based tasks. The application program may include various applications, such as a media player (Media Player), a browser (Browser), etc., which are used to implement various application services. Here, the program that implements the method of the embodiment of the present invention may be included in the application program.

[0094] Based on the same inventive concept as the above-mentioned embodiment, this embodiment further provides a computer storage medium, in which a computer program is stored. The computer storage medium may be a ferromagnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM) or other memory; it may also be various devices including one or any combination of the above-mentioned memories, such as a mobile phone, a computer, a tablet device, a personal digital assistant, etc. When the computer program stored in the computer storage medium is executed by the processor, the boom simulation method for crawler crane construction described above is implemented. For the specific steps implemented when the computer program is executed by the processor, please refer to Figure 1 The description of the illustrated embodiment will not be repeated here.

[0095] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0096] In this document, the terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of elements other than those listed and may also include additional elements not expressly listed.

[0097] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A boom simulation method for crawler crane construction, characterized in that: The method comprises: In response to the parameter setting operation inputted in the boom simulation interface, the basic data of the target crawler crane and the target construction parameters corresponding to the target boom combination form are obtained; the basic data includes basic equipment data; Based on the basic data and the target construction parameters, a boom simulation is performed on the target crawler crane lifting the target load under the target boom combination form, and a lifting scheme under the target construction parameters is determined and output; the lifting scheme includes a lifting height and an operating range.

2. The method according to claim 1, characterized in that The step of obtaining the target construction parameters corresponding to the target crawler crane basic data and the target boom combination form in response to the parameter setting operation inputted in the boom simulation interface includes: In response to the parameter setting operation inputted in the boom simulation interface, determine the equipment model of the target crawler crane, the target boom combination form and the target construction parameters corresponding to the target boom combination form; According to the equipment model of the target crawler crane, basic data of the target crawler crane is acquired from a preset database.

3. The method according to claim 2, characterized in that Before obtaining the target construction parameters corresponding to the target crawler crane basic data and the target boom combination form in response to the parameter setting operation inputted in the boom simulation interface, the method includes: In response to an import request for the target basic data of the target crawler crane, after the target basic data is standardized, the target basic data is stored in a data table in the preset database corresponding to the equipment model of the target crawler crane and the type of the target basic data.

4. The method according to claim 1, characterized in that: The target construction parameters include at least one of the following: main boom length, auxiliary boom length, main-auxiliary boom angle, main boom elevation angle, and target load information; The basic data of the equipment includes at least one of the following: axle distance, axle height, eccentricity, vehicle body height and minimum hoisting distance.

5. The method according to claim 4, characterized in that The target construction parameters also include obstacle information; the lifting plan also includes the obstacle crossing distance.

6. The method according to any one of claims 1 to 5, characterized in that The basic data also includes a rated lifting weight; the lifting plan also includes the rated lifting weight and a moment percentage, and the moment percentage is determined based on the weight of the target load and the rated lifting weight.

7. The method according to claim 4, characterized in that The method further comprises: In response to the adjustment operation of the target construction parameter input, determining and outputting a hoisting scheme under the adjusted target construction parameter; In response to the adjustment operation on the hoisting plan input, the updated target construction parameters and the updated hoisting plan are determined and output.

8. The method according to claim 7, characterized in that The basic data also includes lifting weight data; the step of determining and outputting the updated target construction parameters and the updated lifting scheme in response to the adjustment operation input to the lifting scheme includes: In response to an adjustment operation input to the operating range, detecting whether the adjusted operating range is included in the lifting weight data; the lifting weight data includes a plurality of preset operating ranges; If not, the adjusted lifting height is determined based on the winch shaft height, the main arm length, the main arm elevation angle, the auxiliary arm length and the main and auxiliary arm angles.

9. A computing device, characterized in that include: A processor and a memory storing a computer program, when the processor runs the computer program, implements the boom simulation method for crawler crane construction according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: A computer program is stored, and when the computer program is executed by a processor, the boom simulation method for crawler crane construction according to any one of claims 1 to 8 is implemented.

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