Crane control system and crane control method

Abstract

The invention relates to a crane control system and a crane control method, the crane control system comprises a handle mechanism, at least one sensor and a control device, the handle mechanism comprises a base, a handle, at least one tilt angle sensor and at least one driver, the handle and the driver are connected to the base at intervals, the handle is used for controlling a crane to act, and the controller is used for controlling the tilt angle sensor. The tilt angle sensor is connected to the handle, a winding drum is connected to an output shaft of the driver, a rope on the winding drum is connected with the handle, and the driver is configured to drive the winding drum to rotate so as to wind the rope, so that the rope pulls the handle; the sensor is mounted on the crane and is used for detecting action data of the crane; the control device is respectively connected with the handle mechanism and the sensor, and the control device is configured to control the driver to pull the handle so as to control the crane and collect data detected by the tilt angle sensor and the sensor. The crane control system disclosed by the invention can avoid errors caused by operation experience reasons of machinists, and ensures that the acquired data is more accurate.

Description

TECHNICAL FIELD

[0001] The present application relates to the crane control field, in particular to a crane control system and a crane control method. BACKGROUND

[0002] At present, the micro-motion performance test of the crane is performed by the operator operating the handle to control the crane to perform corresponding actions, such as controlling the rotation of the hoist, controlling the luffing of the boom, controlling the telescopic movement of the boom, and controlling the rotation of the rotary table.

[0003] When the micro-motion performance test of the hoist of the crane is performed, a 1m wire with a weight is tied to the hook or the load, and the speed of the hoist rope is calculated by recording the time for the hook or the load to move a certain distance. In this process, the operator operates the handle, which easily causes the inclination angle of the handle to be unstable, resulting in the speed of the hoist rope being unstable. Therefore, the calculated speed is only an average value in a certain period of time, and thus the measurement result has a large error, which cannot reflect the minimum speed or the stable speed.

[0004] When the micro-motion performance test of the luffing of the crane is performed, the time required for the luffing to fall by 10° is measured when the basic arm of the luffing is between 40° and 60°. This test process is the same as the micro-motion performance test of the hoist, and the operator needs to operate the handle, which easily causes the inclination angle of the handle to be unstable, resulting in the luffing speed being unstable. Therefore, the calculated luffing speed is only an average value in a certain period of time, and thus the measurement result has a large error.

[0005] When the micro-motion performance test of the rotation of the crane is performed, the time required for the rotary table to rotate by 10 teeth is recorded to calculate the rotation speed. This test process is the same as the above micro-motion performance test, and the operator needs to operate the handle, which easily causes the inclination angle of the handle to be unstable, resulting in the calculated rotation speed being an average value in a certain period of time, and thus the error is the same as above.

[0006] When the micro-motion performance test of the telescopic movement of the boom of the crane is performed, the time required for the boom to extend by 1m is recorded. This test process is the same as the above micro-motion performance test, and the operator needs to operate the handle, which easily causes the inclination angle of the handle to be unstable, resulting in the test data having a large error.

[0007] Therefore, the existing performance test of the crane needs to rely on the experience of the operator, and the unstable inclination angle of the handle easily causes the data to fluctuate greatly. SUMMARY

[0008] Therefore, the present application provides a crane control system, which can avoid the error caused by the experience of the operator and ensure that the collected data is more accurate.

[0009] A crane control system comprises:

[0010] A handle mechanism, comprising a base, a handle, at least one inclination sensor and at least one driver, the handle and the driver being connected to the base at a distance from each other, the handle being used to control the crane action, the inclination sensor being connected to the handle, a drum being connected to the output shaft of the driver, a rope on the drum being connected to the handle, the driver being configured to drive the drum to rotate to wind the rope so that the rope pulls the handle;

[0011] At least one sensor installed on the crane to detect the action data of the crane; and

[0012] A control device connected to the handle mechanism and the sensor respectively, the control device being configured to control the driver to pull the handle to control the crane and collect the data detected by the inclination sensor and the sensor.

[0013] Optionally, the handle mechanism comprises two inclination sensors arranged at 90° on the handle; and / or,

[0014] The handle mechanism comprises four drivers, two of which are located on the front and rear sides of the handle, and the other two are located on the left and right sides of the handle.

[0015] Optionally, the crane control system comprises four sensors, which are displacement sensor, laser displacement sensor, linear velocity sensor and rotary encoder respectively, the displacement sensor is used to obtain the extension and retraction speed data of the crane boom, the laser displacement sensor is used to obtain the luffing speed data of the crane boom, the linear velocity sensor is used to obtain the speed data of the crane hoisting rope, and the rotary encoder is used to obtain the rotation speed data of the crane, and the four drivers drive the handle to control the crane to perform boom extension and retraction, boom luffing, hoisting rotation and rotation action.

[0016] Optionally, the control device is used to record the first inclination of the handle in the initial state and the second inclination of the handle when the crane is controlled by the handle mechanism until the sensor has data, and the control device determines the idle stroke interval of the handle according to the first inclination and the second inclination.

[0017] Optionally, the control device controls the driver to pull the handle to start the second inclination angle, and gradually increase the inclination angle of the handle, the control device controls the driver to pull the handle to increase the inclination angle by a set angle each time, and after a set time, the control device controls the driver to pull the handle to increase the inclination angle again, until the sensor detects that the data is just stable, and the control stops driving, and the inclination sensor obtains the first micro-tilt angle of the handle.

[0018] Optionally, the minimum micro-tilt speed and the maximum micro-tilt speed of the crane are set, the handle mechanism controls the crane to operate at the minimum micro-tilt speed, and the inclination sensor obtains the second micro-tilt angle of the handle; the handle mechanism controls the crane to operate at the maximum micro-tilt speed, and the inclination sensor obtains the third micro-tilt angle of the handle; and the control device records the first micro-tilt angle, the second micro-tilt angle, and the third micro-tilt angle.

[0019] Optionally, when the sensor data collected by the control device changes by more than a set value, the control device controls the driver to pull the handle back to the initial position.

[0020] The application also relates to a crane control method, which uses the crane control system described above, and the method comprises the following steps:

[0021] Connecting the handle mechanism to the electrical system and the hydraulic system of the crane;

[0022] Controlling the driver to pull the handle to control the crane;

[0023] Using the sensor to detect the action data of the crane and using the inclination sensor to detect the inclination angle of the handle.

[0024] Optionally, a method for testing the telescopic micro-tilt performance of the boom of the crane using the crane control system comprises the following steps:

[0025] Controlling the driver to pull the handle to tilt until the boom of the crane telescopically tilts at a stable speed; using the sensor to detect the telescopic speed of the boom and using the inclination sensor to detect the inclination angle of the handle.

[0026] Optionally, a method for testing the luffing micro-tilt performance of the boom of the crane using the crane control system comprises the following steps:

[0027] Controlling the driver to pull the handle to tilt until the boom of the crane luffingly tilts at a stable speed; using the sensor to detect the luffing speed of the boom and using the inclination sensor to detect the inclination angle of the handle.

[0028] Optionally, the method for testing the hoist micro-motion performance of the crane by using the crane control system comprises:

[0029] controlling the driver to pull the handle to tilt until the hoist wire of the crane micro-moves at a stable speed; detecting the speed of the hoist wire by using the sensor and detecting the tilt angle of the handle by using the tilt sensor.

[0030] Optionally, the method for testing the slewing micro-motion performance of the crane by using the crane control system comprises:

[0031] controlling the driver to pull the handle to tilt until the crane rotates at a stable speed; detecting the slewing speed of the crane by using the sensor and detecting the tilt angle of the handle by using the tilt sensor.

[0032] Optionally, the method for detecting the idle stroke interval of the handle comprises:

[0033] recording the first tilt angle when the handle is in the initial state; controlling the handle mechanism to operate the crane until the second tilt angle of the handle when the sensor has data; determining the idle stroke interval of the handle according to the first tilt angle and the second tilt angle.

[0034] Optionally, the method for detecting the minimum micro-motion tilt angle of the handle comprises:

[0035] controlling the driver to drive the rope to pull the handle to the second tilt angle; starting from the second tilt angle, increasing the tilt angle of the handle step by step, controlling the driver to pull the handle to tilt by a set angle each time, and after a set time, controlling the driver to pull the handle to increase the tilt angle again, until the driving is stopped when the data detected by the sensor just starts to be stable, the tilt sensor obtains the first micro-motion tilt angle of the handle, and the first micro-motion tilt angle is the minimum micro-motion tilt angle of the handle.

[0036] Optionally, the method for detecting the micro-motion interval of the handle comprises:

[0037] setting the minimum micro-motion speed and the maximum micro-motion speed of the crane, controlling the handle mechanism to operate the crane to run at the minimum micro-motion speed, and obtaining the second micro-motion tilt angle of the handle by using the tilt sensor; controlling the handle mechanism to operate the crane to run at the maximum micro-motion speed, and obtaining the third micro-motion tilt angle of the handle by using the tilt sensor; determining the micro-motion interval of the handle according to the first micro-motion tilt angle, the second micro-motion tilt angle and the third micro-motion tilt angle.

[0038] Optionally, the method for controlling the stall of the crane comprises:

[0039] The crane control system is used to test the micro-motion performance of the crane, and when the sensor data changes by more than a set value, the driver is controlled to pull the handle back to the initial position.

[0040] The crane control system of the present application drives the rope to pull the handle through the driver to control the crane, without relying on the operator to operate the handle, avoiding errors caused by the operator's operating experience, and solving the problem of large inclination angle fluctuations of the handle operated by the operator, which causes large data error bias, and meeting the performance test requirements of the crane. Therefore, the crane control system of the present application has good stability in controlling the crane through the handle mechanism, and can ensure more accurate data collection. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 is a structural schematic diagram of the crane control system of the present application.

[0042] Figure 2 is a handle inclination angle and rope relationship coordinate graph when the handle mechanism of the present application performs single motor action.

[0043] Figure 3 is a handle inclination angle and rope relationship coordinate graph when the handle mechanism of the present application performs multiple motor composite action. DETAILED DESCRIPTION

[0044] The following describes the embodiments of the present application by specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in the specification.

[0045] In the following description, reference is made to the accompanying drawings, which illustrate several embodiments of the present application. It should be understood that other embodiments can be used and that mechanical components, structures, electrical and operational changes can be made without departing from the spirit and scope of the present application. The following detailed description should not be considered limiting, and the terms used herein are only used to describe specific embodiments, and are not intended to limit the present application.

[0046] Although in some examples the terms first, second, etc. are used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another.

[0047] Furthermore, as used herein, the singular forms "a", "an" and "the" are intended to include plural forms, unless the context clearly indicates otherwise. It should be further understood that the terms "comprise", "comprising", "include", "including", "contain", "containing", "have", "having", "consist", "consisting", "consisting essentially of", and the like, are used inclusively and not exclusively, unless the context clearly indicates otherwise.

[0048] and / or groups, but does not preclude the presence, appearance or addition of one or more other features, steps, operations, elements, components, items, kinds and / or groups. The terms "or" and "and / or" as used herein are to be interpreted as inclusive or meaning any one or any combination. Therefore, "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 in some way inherently mutually exclusive.

[0049] Figure 1 is a structural schematic diagram of the crane control system of the present application, as shown in Figure 1 The crane control system comprises:

[0050] A handle mechanism 11 comprising a base 111, a handle 112, at least one inclination sensor 113 and at least one driver 114, the handle 112 and the driver 114 being connected to the base 111 at intervals, the handle 112 being used to control the crane operation, the inclination sensor 113 being connected to the handle 112, and a winding drum 1141 being connected to an output shaft of the driver 114, a rope 1142 on the winding drum 1141 being connected to the handle 112, the driver 114 being configured to rotate the winding drum 1141 to realize winding of the rope 1142 so that the rope 1142 pulls the handle 112;

[0051] At least one sensor 12 installed on the crane to detect the operation data of the crane; and

[0052] A control device 13 connected with the handle mechanism 11 and the sensor 12 respectively, the control device 13 being configured to control the driver 114 to pull the handle 112 to operate the crane, and collect the data detected by the inclination sensor 113 and the sensor 12. When it is needed to operate the crane by using the crane control system, the handle 112 is connected with the electrical system and the hydraulic system of the crane. The base 111 of the present application is provided with a plurality of docking interfaces connected with the electrical system and the hydraulic system of the crane.

[0053] The crane control system of the present application operates the crane by driving the rope 1142 to pull the handle 112 by the driver 114, without relying on the operator to operate the handle 112, thereby avoiding the error caused by the operator due to the operation experience, and solving the problem that the inclination fluctuation of the handle 112 operated by the operator is large, so that the error of the collected data is large, and the performance test requirement of the crane can be met. Therefore, the crane control system of the present application has good stability in operating the crane by using the handle mechanism 11, and can ensure that the collected data is more accurate.

[0054] Optionally, the driver 114 is a combination of a motor and a speed reducer, the speed reducer is connected between the motor and the winding drum 1141, the motor outputs a rotating power to the speed reducer, the speed reducer drives the winding drum 1141 to rotate and wind the rope 1142, so as to control the inclination of the handle 112, thereby controlling the crane to perform corresponding actions, such as controlling the telescopic movement of the boom, controlling the luffing movement of the boom, controlling the rotating speed of the hoist, and controlling the rotation of the slewing platform. Through closed-loop adjustment of the torque of the motor, the problem of large inclination angle fluctuation caused by the operator operating the handle 112 can be effectively solved.

[0055] Optionally, as shown in Figure 1 The handle mechanism 11 includes two inclination sensors 113, which are arranged at an angle of 90° on the handle 112 and are used to detect the front and rear inclination angles and the left and right inclination angles of the handle 112.

[0056] Optionally, as shown in Figure 1 The handle mechanism 11 includes four drivers 114, and the ropes 1142 of the four drivers 114 are connected to the handle 112, for example, the four ropes 1142 are connected to the top of the handle 112. Two of the drivers 114 are located on the front and rear sides of the handle 112, and the two drivers 114 pull the handle 112 to incline forward or backward through the ropes 1142. The other two drivers 114 are located on the left and right sides of the handle 112, and the two drivers 114 pull the handle 112 to incline left or right through the ropes 1142. In this embodiment, the drivers 114 can control the crane to wind or unwind the hoist rope by pulling the handle 112 to swing forward and backward through the ropes 1142, and the greater the inclination angle of the handle 112, the faster the speed of the hoist rope. The drivers 114 can control the boom luffing, boom telescoping, and slewing of the crane by pulling the handle 112 to swing left and right through the ropes 1142, and the greater the inclination angle of the handle 112, the faster the speed of the boom luffing, the faster the speed of the boom telescoping, and the faster the speed of the slewing platform.

[0057] Optionally, as shown in Figure 1 The crane control system includes four sensors 12, which are a displacement sensor 121, a laser displacement sensor 122, a linear velocity sensor 123, and a slewing encoder 124. The displacement sensor 121 is used to obtain the telescopic speed data of the boom of the crane, the laser displacement sensor 122 is used to obtain the luffing speed data of the boom of the crane, the linear velocity sensor 123 is used to obtain the speed data of the hoist rope of the crane, and the slewing encoder 124 is used to obtain the slewing speed data of the crane. The four drivers 114 drive the handle 112 to control the crane to perform boom telescoping, boom luffing, hoist rotation, and slewing actions.

[0058] Optionally, the displacement sensor 121 is fixed to the boom of the crane, specifically by using a strong magnet for magnetic attraction or cable ties to fix it to the side of the boom. In this embodiment, the displacement sensor 121 is, for example, a cable-operated displacement sensor 121. One end of the cable-operated displacement sensor 121 is connected to the head of the boom, and the other end is connected to an adjacent telescopic boom section (the boom is formed by multiple telescopic boom sections connected sequentially). In this embodiment, the driving speed of the telescopic cylinder that drives the boom to extend and retract is 5 mm / s to 400 mm / s. The cable-operated displacement sensor 121 with a corresponding range is selected according to the different range accuracy requirements.

[0059] The crane control system of this application performs the following steps for testing the extension and retraction micro-motion performance of the crane boom:

[0060] The control device 13 controls the driver 114 to pull the handle 112 to tilt until the crane's boom extends and retracts at a stable speed. At this time, the cable box displacement sensor 121 detects the extension and retraction speed of the boom, and the tilt angle sensor 113 detects the tilt angle of the handle 112. The control device 13 then records the data detected by the cable box displacement sensor 121 and the tilt angle sensor 113. It is worth mentioning that the control driver 114 gradually increases the tilt angle of the handle 112, causing the crane's boom extension and retraction speed to gradually increase. During this process, the cable box displacement sensor 121 and the tilt angle sensor 113 can detect multiple sets of data.

[0061] Optionally, the laser displacement sensor 122 is fixed to the luffing cylinder of the crane. In this embodiment, the laser displacement sensor 122 is fixed to the cylinder barrel of the luffing cylinder, and a baffle that cooperates with the laser is provided on the piston rod of the luffing cylinder.

[0062] The crane control system of this application performs the following steps for testing the luffing and micro-motion performance of the crane boom:

[0063] The control device 13 controls the driver 114 to pull the handle 112 to tilt until the crane's boom undergoes a steady, micro-amplitude change. At this point, the laser displacement sensor 122 detects the boom's luffing speed, and the tilt sensor 113 detects the tilt angle of the handle 112. The control device 13 then records the data detected by the laser displacement sensor 122 and the tilt sensor 113. Notably, the driver 114 gradually increases the tilt angle of the handle 112, causing the boom's luffing speed to increase progressively. During this process, the laser displacement sensor 122 and the tilt sensor 113 can detect multiple sets of data.

[0064] Optionally, the line speed sensor 123 is fixed on the top of the boom of the crane, the line speed sensor 123 comprises an encoder and a pulley connected with the encoder, and the hoisting rope of the crane passes through the groove of the pulley; when the hoisting rope is hoisted by the hoisting output of the crane, the pulley rotates synchronously, and at this time the encoder detects the hoisting and lowering speed of the hoisting rope.

[0065] The crane control system of the present application tests the micro-motion performance of the hoisting of the crane by the following steps:

[0066] The control device 13 controls the driver 114 to pull the handle 112 to tilt until the hoisting rope of the crane is hoisted and lowered at a stable speed, at this time the line speed sensor 123 detects the speed of the hoisting rope, and the tilt angle sensor 113 detects the tilt angle of the handle 112; then the control device 13 records the data detected by the line speed sensor 123 and the tilt angle sensor 113. It is worth mentioning that the control driver 114 gradually increases the tilt angle of the handle 112, so that the hoisting speed of the crane is gradually increased, at this time the line speed sensor 123 and the tilt angle sensor 113 can detect multiple sets of data.

[0067] Optionally, the rotation encoder 124 is fixed on the bottom of the slewing platform of the crane, and the rotation encoder 124 is provided with a gear with the same modulus as the slewing gear of the crane, and the gear is engaged with the slewing gear.

[0068] The crane control system of the present application tests the micro-motion performance of the slewing of the crane by the following steps:

[0069] The control device 13 controls the driver 114 to pull the handle 112 to tilt until the crane slews at a stable speed, at this time the rotation encoder 124 detects the slewing speed of the crane, and the tilt angle sensor 113 detects the tilt angle of the handle 112; then the control device 13 records the data detected by the rotation encoder 124 and the tilt angle sensor 113. It is worth mentioning that the control driver 114 gradually increases the tilt angle of the handle 112, so that the slewing speed of the crane is gradually increased, at this time the rotation encoder 124 and the tilt angle sensor 113 can detect multiple sets of data.

[0070] Optionally, the control device 13 is configured to record a first inclination angle of the handle 112 in an initial state and a second inclination angle of the handle 112 when the handle mechanism 11 controls the crane until the sensor 12 has data, and determine an idle stroke interval of the handle 112 according to the first inclination angle and the second inclination angle. When the handle 112 is inclined and swung in the idle stroke interval, the sensor 12 cannot detect the action data of the crane; when the inclination angle of the handle 112 is greater than or equal to the second inclination angle, the sensor 12 can detect the action data of the crane, such as the boom stretching and retracting, the boom luffing, the winch rotating, the slewing table slewing, etc. The control device 13 of the present application can record the idle stroke interval of the handle 112, and when the crane control system is used to test the micro-motion performance of the crane, the handle 112 can start from the second inclination angle, and at this time, pulling the handle 112 can make the sensor 12 detect the action data of the crane, so that the handle 112 action and data acquisition can be linked, the handle 112 starting time is consistent with the data acquisition time, so that the obtained data is more accurate.

[0071] The present application can establish an angle and speed mapping model by synchronously collecting the inclination angle of the handle 112 and the action data of the crane detected by the sensor 12.

[0072] Optionally, the control device 13 controls the driver 114 to drive the rope 1142 to pull the handle 112 to the second inclination angle, and gradually increase the inclination angle of the handle 112, the control device 13 controls the driver 114 to pull the handle 112 to an inclination angle of a set angle each time, and after a set time, the driver 114 is controlled again to pull the handle 112 to increase the inclination angle, until the data detected by the sensor 12 just starts to be stable, the inclination sensor 113 obtains a first micro-motion inclination angle of the handle 112, and the first micro-motion inclination angle is the minimum stable inclination angle of the handle 112; when the driver 114 drives the rope 1142 to pull the handle 112 to the first micro-motion inclination angle, the boom of the crane stretches and retracts at a stable speed, or the boom luffs at a stable speed, or the winch rotates at a stable speed, or the slewing table slews at a stable speed; the control device 13 records the first micro-motion inclination angle, which is convenient for subsequent performance testing of the crane. In the embodiment, the set angle is 0.1°-2°, for example, 0.2°, 0.3°, 0.4°, 0.5°, 0.6°, 0.7°, 0.8°, 1°, 1.2°, 1.4°; and the set time is 5s-30s, for example, 8s, 10s, 12s, 14s, 16s, 20s, 22s.

[0073] Optionally, the minimum and maximum micro-motion speeds of the crane are set. The handle mechanism 11 controls the crane to operate at the minimum micro-motion speed, and the tilt sensor 113 acquires the second micro-motion tilt angle of the handle 112. The handle mechanism 11 controls the crane to operate at the maximum micro-motion speed, and the tilt sensor 113 acquires the third micro-motion tilt angle of the handle 112. The control device 13 records the first, second, and third micro-motion tilt angles and confirms the micro-motion range of the handle 112 based on these angles. When a micro-motion performance test of the crane is required, the control driver 114 pulls the handle 112 to tilt within the micro-motion range and maintains the tilted state. This enables the crane's boom to perform micro-motion luffing or micro-motion extension at a stable speed, or the crane's winch to perform micro-motion rotation at a stable speed, or the crane's slewing table to perform micro-motion slewing at a stable speed. Of course, the micro-motion range of handle 112 can be different or the same for boom extension, boom luffing, winch speed and slewing table rotation. The corresponding micro-motion range of handle 112 can be obtained through experiments.

[0074] Optionally, when the change in data from sensor 12 collected by control device 13 exceeds a set value, control device 13 controls driver 114 to pull handle 112 back to the initial position. The crane control system of this application can respond quickly to sudden changes in crane speed. For example, when the change in data from sensor 12 exceeds 20% acceleration, an emergency return is triggered, at which time control device 13 controls driver 114 to pull handle 112 back to the initial position.

[0075] Optionally, the control device 13 includes a display screen, which displays at least one human-machine interface. The human-machine interface displays at least one touch control. Triggering the touch control can control each actuator 114 to wind up the rope 1142 and pull the handle 112, thereby controlling the crane to perform corresponding actions. In this embodiment, the data collected by the sensor 12 and the tilt sensor 113 can be displayed on the screen, and an angle-velocity mapping model can be established on the screen.

[0076] Optionally, the human-machine interface displays a first touch control for telescopic micro-motion performance testing, a second touch control for luffing micro-motion performance testing, a third touch control for hoisting micro-motion performance testing, and a fourth touch control for slewing micro-motion performance testing, triggering any one of the controllable handle mechanisms 11 among the first, second, third, and fourth touch controls to operate the crane to perform micro-motion actions.

[0077] Optionally, the human-computer interaction interface displays a fifth touch control for detecting the idle stroke interval of the handle 112. Triggering the fifth touch control can enable the control device 13 to record a first inclination angle of the handle 112 in the initial state and a second inclination angle of the handle 112 when the sensor 12 has just data, and determine the idle stroke interval of the handle 112 according to the first inclination angle and the second inclination angle.

[0078] Optionally, the human-computer interaction interface displays a sixth touch control for detecting the minimum stable inclination angle of the handle 112. Triggering the sixth touch control can enable the handle mechanism 11 to operate the crane at a minimum jog speed and a maximum jog speed respectively, and determine the jog interval according to the inclination angle of the handle 112. For specific steps, please refer to the above description.

[0079] Optionally, the human-computer interaction interface displays a seventh touch control for detecting the maximum angle of the handle 112. Triggering the seventh touch control can enable the driver 114 to pull the handle 112 to the point where it cannot be pulled any further, and record the inclination angle of the handle 112 at this point, which is maintained.

[0080] Optionally, the human-computer interaction interface displays an eighth touch control for fast operation of the handle 112, a ninth touch control for medium-speed operation of the handle 112, and a tenth touch control for slow operation of the handle 112. When the eighth touch control is triggered, the driver 114 retracts the rope 1142 to quickly pull the handle 112 to the maximum inclination angle, for example, the handle 112 takes less than 0.4s from the initial angle to the maximum angle. When the ninth touch control is triggered, the driver 114 retracts the rope 1142 to pull the handle 112 to the maximum inclination angle at a medium speed, for example, the handle 112 takes more than 0.4s and less than 2s from the initial angle to the maximum angle. When the tenth touch control is triggered, the driver 114 retracts the rope 1142 to pull the handle 112 to the maximum inclination angle at a slow speed, for example, the handle 112 takes more than 2s from the initial angle to the maximum angle.

[0081] Optionally, the control device 13 further includes a main control board and a development board. The main control board is used for collection and control of the entire system, and the development board is used for executing control of the driver 114.

[0082] Optionally, Figure 2 is a coordinate graph of the relationship between the inclination angle of the handle and the rope when the handle mechanism of the present application is operated by a single motor. As shown in Figure 2 When only one motor drives the drum 1141 to retract the rope 1142 and then pull the handle 112 to incline, the relationship between the inclination angle of the handle 112 and the rope 1142 is L = h 2 + x 2 - 2hxcosθ, where L is the rope length of the rope 1142, h is the height of the handle 112, x is the linear distance between the motor and the handle 112, and θ is the inclination angle of the handle 112.

[0083] Optionally, Figure 3 is a coordinate graph of the handle inclination angle and the rope when the handle mechanism of the present application performs a multi-motor composite action. As shown in Figure 3 When multiple motors drive the reel 1141 to wind up the rope 1142 and in turn pull the handle 112 to incline, it is known that oe = h, oa = x, ob = y, α, β are the inclination angles detected by the two inclination sensors 113, and Figure 3 The following equation can be obtained:

[0084] Tanα = ef / ed, Tanβ = ef / ec, Oe 2 = ef 2 + ed 2 + ec 2

[0085] Solving can obtain the lengths of ef, ed, ec

[0086]

[0087] Then ed = ef / tanα, ec = ef / tanβ

[0088] Can be obtained

[0089]

[0090] Then ca = oa 2 + oc 2 - 2 oaoccos α

[0091] bd = ob 2 + od 2 - 2obodcosβ

[0092]

[0093] Substituting can obtain

[0094]

[0095] The relationship between the rope 1142 and the motor speed

[0096] L = Lmax - 2πrnt / Lmin + 2πrnt, where L is the length of the rope 1142; Lmax is the initial length of the rope 1142 (the length when the handle 112 is not inclined); Lmin is the length of the rope 1142 when the handle 112 is at the maximum angle; r is the radius of the motor wheel; t is time.

[0097] According to the above formula, any length of the rope 1142 can be calculated, so the control device 13 can accurately control the angle of inclination of the handle 112, which is conducive to improving the accuracy of the detected data.

[0098] The crane control system of the present application can reflect the crane micro-motion performance test in three aspects of the minimum stable speed, the micro-motion stable speed and the micro-motion response time, and can test the crane in multiple aspects.

[0099] Please refer to Figure 1 The present application also relates to a crane control method, which utilizes the crane control system described above, and the method comprises:

[0100] Connecting the handle mechanism 11 with the electrical system and the hydraulic system of the crane;

[0101] Controlling the driver 114 to pull the handle 112 to control the crane;

[0102] Using the sensor 12 to detect the action data of the crane and using the inclination sensor 113 to detect the inclination angle of the handle 112.

[0103] Optionally, the method for testing the telescopic micro-motion performance of the crane boom of the crane by using the crane control system comprises:

[0104] Controlling the driver 114 to pull the handle 112 to tilt until the boom of the crane telescopically moves at a stable speed; using the sensor 12 to detect the telescopic speed of the boom and using the inclination sensor 113 to detect the inclination angle of the handle 112.

[0105] Optionally, the method for testing the luffing micro-motion performance of the crane boom of the crane by using the crane control system comprises:

[0106] Controlling the driver 114 to pull the handle 112 to tilt until the boom of the crane telescopically moves at a stable speed; using the sensor 12 to detect the telescopic speed of the boom and using the inclination sensor 113 to detect the inclination angle of the handle 112.

[0107] Optionally, the method for testing the hoisting micro-motion performance of the crane by using the crane control system comprises:

[0108] Controlling the driver 114 to pull the handle 112 to tilt until the hoisting rope of the crane telescopically moves at a stable speed; using the sensor 12 to detect the telescopic speed of the boom and using the inclination sensor 113 to detect the inclination angle of the handle 112.

[0109] Optionally, the method for testing the slewing micro-motion performance of the crane by using the crane control system comprises:

[0110] The control driver 114 pulls the handle 112 to tilt until the crane rotates at a steady speed; the sensor 12 detects the rotation speed of the crane and the tilt angle sensor 113 detects the tilt angle of the handle 112.

[0111] Optionally, the method for detecting the idle stroke interval of the handle 112 comprises:

[0112] The first tilt angle when the handle 112 is in the initial state is recorded; the crane is controlled by the handle mechanism 11 until the second tilt angle of the handle 112 when the sensor 12 has data; the idle stroke interval of the handle 112 is determined according to the first tilt angle and the second tilt angle.

[0113] Optionally, the method for detecting the minimum tilt angle of the handle 112 comprises:

[0114] The control driver 114 drives the rope 1142 to pull the handle 112 to the second tilt angle; the tilt angle of the handle 112 is increased step by step from the second tilt angle, the control driver 114 pulls the handle 112 to tilt by a set angle each time, and after a set time, the control driver 114 pulls the handle 112 to increase the tilt angle again, until the sensor 12 detects that the data is just stable, the driving is stopped, and the tilt angle sensor 113 obtains the first tilt angle of the handle 112, which is the minimum tilt angle of the handle 112.

[0115] Optionally, the method for detecting the tilt interval of the handle 112 comprises:

[0116] The minimum tilt speed and the maximum tilt speed of the crane are set, the handle mechanism 11 is controlled to operate the crane at the minimum tilt speed, and the tilt angle sensor 113 obtains the second tilt angle of the handle 112; the handle mechanism 11 is controlled to operate the crane at the maximum tilt speed, and the tilt angle sensor 113 obtains the third tilt angle of the handle 112; the tilt interval of the handle 112 is determined according to the first tilt angle, the second tilt angle, and the third tilt angle.

[0117] Optionally, the method for controlling the crane in the stall condition comprises:

[0118] The tilt performance of the crane is tested by the crane control system, and when the change amplitude of the data of the sensor 12 is greater than a set value, the control driver 114 pulls the handle 112 back to the initial position.

[0119] The above embodiments are only illustrative of the principles and effects of the present application, and are not intended to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical thought of the present application should be covered by the claims of the present application.

Claims

1. A crane control system, characterized in that, The crane control system comprises: a handle mechanism comprising a base, a handle, at least one inclination sensor and at least one driver, the handle and the driver being connected to the base at intervals, the handle being used to control the crane action, the inclination sensor being connected to the handle, an output shaft of the driver being connected to a winding drum, a rope on the winding drum being connected to the handle, the driver being configured to drive the winding drum to rotate to wind the rope so that the rope pulls the handle; at least one sensor installed on the crane to detect the action data of the crane; and a control device connected to the handle mechanism and the sensor respectively, the control device being configured to control the driver to pull the handle to control the crane and collect the data detected by the inclination sensor and the sensor.

2. The crane control system of claim 1, wherein, The handle mechanism comprises two inclination sensors arranged at 90° on the handle; and / or The handle mechanism comprises four drivers, two of which are located on the front and back of the handle, and the other two are located on the left and right of the handle.

3. The crane control system of claim 2, wherein, The crane control system comprises four sensors, which are displacement sensor, laser displacement sensor, linear velocity sensor and rotary encoder respectively, the displacement sensor is used to obtain the telescopic speed data of the crane boom, the laser displacement sensor is used to obtain the luffing speed data of the crane boom, the linear velocity sensor is used to obtain the speed data of the crane hoist rope, and the rotary encoder is used to obtain the rotary speed data of the crane, and the four drivers drive the handle to control the crane to perform telescopic, luffing, hoisting rotation and rotary action.

4. A crane control system according to any one of claims 1 to 3, characterised in that, The control device is used to record the first inclination angle of the handle in the initial state and the second inclination angle of the handle when the handle mechanism controls the crane until the sensor has data, and the control device determines the idle stroke interval of the handle according to the first inclination angle and the second inclination angle.

5. The crane control system as claimed in claim 4, characterized in that, The control device controls the driver to drive the rope to pull the handle to the second inclination angle, and gradually increases the inclination angle of the handle, and the control device controls the driver to pull the handle to tilt a set angle each time, and controls the driver to pull the handle again to increase the inclination angle after a set time, until the sensor detects that the data is just stable, and the inclination sensor obtains the first micro-motion inclination angle of the handle.

6. The crane control system as claimed in claim 5, characterized in that, The minimum micro-motion speed and the maximum micro-motion speed of the crane are set, the handle mechanism controls the crane to run at the minimum micro-motion speed, the inclination sensor obtains the second micro-motion inclination angle of the handle, the handle mechanism controls the crane to run at the maximum micro-motion speed, the inclination sensor obtains the third micro-motion inclination angle of the handle, and the control device is used to record the first micro-motion inclination angle, the second micro-motion inclination angle and the third micro-motion inclination angle.

7. A crane control system according to any one of claims 1 to 3, characterised in that, When the control device collects the sensor data with a variation amplitude greater than a set value, the control device controls the driver to pull the handle back to the initial position.

8. Crane control method, characterized in that, The method utilizes the crane control system according to any one of claims 1 to 7, and the method comprises: connecting the handle mechanism with the electrical system and the hydraulic system of the crane; controlling the driver to pull the handle to control the crane; detecting the action data of the crane by the sensor and detecting the tilt angle of the handle by the tilt sensor.

9. Crane control method according to claim 8, characterized in that, comprises at least one of: The method for testing the telescoping micro-motion performance of the boom of the crane by the crane control system comprises: controlling the driver to pull the handle to tilt until the boom of the crane telescopically moves at a stable speed; detecting the telescoping speed of the boom by the sensor and detecting the tilt angle of the handle by the tilt sensor; The method for testing the luffing micro-motion performance of the boom of the crane by the crane control system comprises: controlling the driver to pull the handle to tilt until the boom of the crane telescopically moves at a stable speed; detecting the telescoping speed of the boom by the sensor and detecting the tilt angle of the handle by the tilt sensor; The method for testing the hoisting micro-motion performance of the crane by the crane control system comprises: controlling the driver to pull the handle to tilt until the hoisting rope of the crane telescopically moves at a stable speed; detecting the hoisting speed of the hoisting rope by the sensor and detecting the tilt angle of the handle by the tilt sensor; The method for testing the slewing micro-motion performance of the crane by the crane control system comprises: controlling the driver to pull the handle to tilt until the crane slews at a stable speed; detecting the slewing speed of the crane by the sensor and detecting the tilt angle of the handle by the tilt sensor.

10. The crane control method of claim 8, wherein, comprises at least one of: The method for detecting the idle stroke interval of the handle comprises: recording the first tilt angle when the handle is in the initial state; recording the second tilt angle of the handle when the handle is controlled by the handle mechanism until the sensor has data; determining the idle stroke interval of the handle according to the first tilt angle and the second tilt angle; The method for detecting the minimum micro-motion tilt angle of the handle comprises: controlling the driver to pull the handle to the second tilt angle; starting from the second tilt angle, gradually increasing the tilt angle of the handle, controlling the driver to pull the handle to tilt by a set angle each time, and then controlling the driver to pull the handle to increase the tilt angle after a set time, until the sensor detects that the data just starts to be stable, and the tilt sensor obtains the first micro-motion tilt angle of the handle, which is the minimum micro-motion tilt angle of the handle; The method for detecting the micro-motion interval of the handle comprises: Setting a minimum micro-motion speed and a maximum micro-motion speed of the crane, controlling the handle mechanism to operate the crane at the minimum micro-motion speed, and acquiring a second micro-motion inclination angle of the handle by using the inclination sensor; controlling the handle mechanism to operate the crane at the maximum micro-motion speed, and acquiring a third micro-motion inclination angle of the handle by using the inclination sensor; determining a micro-motion range of the handle according to the first micro-motion inclination angle, the second micro-motion inclination angle and the third micro-motion inclination angle; The crane stall control method comprises: Performing a micro-motion performance test on the crane by using the crane control system, and controlling the driver to pull the handle back to the initial position when the sensor data change amplitude is greater than a set value.

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