Crawler crane attitude control method and device, crawler crane and medium

Abstract

The invention relates to the technical field of crane attitude control, and discloses a crawler crane attitude control method, a crawler crane attitude control device, a crawler crane and a medium, the method comprises the following steps: monitoring the whole machine actual gradient of the crawler crane in the process of running at the current running speed at the current operation attitude, and calculating the whole machine gravity center of the crawler crane; determining the current working state of the crawler crane based on the actual gradient of the whole machine and the gravity center of the whole machine; based on the operation state, the current operation posture and / or the current running speed of the crawler crane are / is adjusted; the crawler crane is controlled to run at the adjusted operation posture and / or the adjusted running speed; the real-time operation state of the crawler crane is judged by monitoring the actual slope of the whole machine in real time and calculating the dynamic gravity center, the operation posture and the running speed are adjusted according to the risk levels represented by different operation states, the operation safety and efficiency under the complex working condition are improved, and the operation efficiency of an operator is improved.

Description

Technical Field

[0001] This invention relates to the field of crane attitude control technology, specifically to a method, device, tracked crane, and medium for controlling the attitude of a crawler crane. Background Technology

[0002] During the installation of wind power equipment, crawler cranes need to travel and relocate with their main boom. Due to the slope of the ground, the crane needs to constantly adjust its walking posture to ensure the stability of the vehicle's center of gravity. However, crawler crane operators rely on the instruction manual to follow the required slope and vehicle posture, which is cumbersome and prone to accidents. Summary of the Invention

[0003] This invention provides a method, device, crawler crane, and medium for controlling the attitude of a crawler crane, in order to solve the problems of cumbersome operation and potential dangers when operators operate crawler cranes according to the instructions.

[0004] In a first aspect, the present invention provides a method for attitude control of a crawler crane, wherein the crawler crane comprises at least a traveling mechanism, a slewing mechanism, a crane body, a counterweight pallet, and a boom, and the method includes:

[0005] Monitor the actual slope of the crawler crane as it travels at the current speed of the traveling mechanism with the current working posture of the boom and counterweight pallet, and calculate the center of gravity of the crawler crane. Based on the actual slope and center of gravity of the machine, determine the current operating status of the crawler crane; Based on the operational status, adjust the current operational posture of the boom and counterweight pallet and / or the current travel speed of the traveling mechanism; Control the crawler crane to travel at the adjusted boom working posture and counterweight pallet working posture and / or the adjusted travel speed of the traveling mechanism.

[0006] This invention monitors the actual slope of the entire machine in real time and calculates the dynamic center of gravity. The system can determine the real-time operating status of the crawler crane and adjust the operating posture and travel speed according to the risk level represented by the different operating states of the boom and counterweight pallet. It can dynamically maintain the stability of the entire machine by adjusting the operating posture of the boom and counterweight pallet and the travel speed of the traveling mechanism under conditions such as slope changes and center of gravity shifts, thereby significantly reducing the risk of accidents and improving the safety and efficiency of operation under complex working conditions.

[0007] In one optional implementation, the current operating state of the crawler crane is determined based on the actual slope and center of gravity of the entire machine, including: Determine the target maximum allowable gradient corresponding to the current travel phase of the crawler crane; Based on the relationship between the actual slope of the machine and the target maximum allowable slope, as well as the relationship between the center of gravity of the machine and the preset maximum center of gravity extension distance, the current operating state of the crawler crane is determined. The preset maximum center of gravity extension distance is used to characterize the boundary point of the center of gravity of the crawler crane for safe operation.

[0008] This invention dynamically determines the target maximum allowable slope corresponding to the current travel stage and simultaneously compares the relationship between the actual slope and the target maximum allowable slope, as well as the relationship between the machine's center of gravity and the preset maximum center of gravity extension distance. This enables precise and layered judgment of the tracked crane's operating status, making safety warnings more forward-looking and reliable. As a result, when the slope and center of gravity factors approach the risk threshold, a graded response can be triggered in advance, providing an accurate basis for subsequent adjustments to the working posture and travel speed, and significantly improving safety protection capabilities and work efficiency under complex working conditions.

[0009] In one optional implementation, the current operating state of the crawler crane is determined based on the relationship between the actual slope of the entire machine and the target maximum allowable slope, and the relationship between the center of gravity of the entire machine and the preset maximum center of gravity extension distance of the entire machine, including: Calculate the first ratio of the actual slope to the target maximum allowable slope, and calculate the second ratio of the first distance between the machine's center of gravity and the machine's origin to the preset maximum extension distance of the machine's center of gravity. The machine's origin is the rotation center of the slewing mechanism or the machine center of the crawler crane. When the first ratio is determined to be within the first allowable range and the second ratio is within the first range, the current operating state of the crawler crane is determined to be a safe operating state. When it is determined that the first ratio is within the second allowable range and the second ratio is within the second range, the current operating state of the crawler crane is determined to be a warning state. When the first ratio is determined to be within the third allowable range and the second ratio is within the third range, the current operating status of the crawler crane is determined to be a high warning state. When it is determined that the first ratio exceeds the third allowable range or the second ratio exceeds the third range, the current operating state of the crawler crane is determined to be a dangerous state. The first ratio of the first allowable range, the second allowable range, and the third allowable range increases sequentially, and the second ratio of the first range, the second range, and the third range increases sequentially.

[0010] This invention introduces slope ratio and center of gravity offset ratio, and sets strictly increasing three-level threshold ranges for them, thereby determining the current operating status as safe, warning, high warning, and dangerous. This achieves refined and standardized judgment of the operating status of crawler cranes, making safety assessments more objective. It can trigger corresponding operating status warnings in the early stages through changes in ratios, providing accurate and rapid decision-making basis for subsequent hierarchical control, and significantly improving the level of safety management.

[0011] In one alternative implementation, determining the target maximum permissible gradient corresponding to the current travel phase of the crawler crane includes: When the crawler crane is currently traveling uphill, the first maximum permissible gradient corresponding to the uphill phase is determined as the target maximum permissible gradient. When the crawler crane is currently traveling in a downhill phase, the second maximum permissible gradient corresponding to the downhill phase is determined as the target maximum permissible gradient, wherein the gradient value of the first maximum permissible gradient is greater than the gradient value of the second maximum permissible gradient.

[0012] This invention distinguishes between uphill and downhill phases and sets differentiated maximum allowable gradients. It comprehensively considers factors such as traction force or forward tilt risk received by the crawler crane at different travel stages, making the safety threshold more condition-specific, significantly improving the safety and reliability at different travel stages, and enhancing control accuracy under complex working conditions.

[0013] In one optional implementation, adjusting the current working posture of the boom and counterweight pallet and / or the current travel speed of the traveling mechanism based on the working state includes: When the working state is determined to be a safe working state, the current working posture of the boom and counterweight pallet is taken as the adjusted working posture of the boom and counterweight pallet, and / or the current travel speed of the traveling mechanism is taken as the adjusted travel speed of the traveling mechanism. When the operation status is determined to be a warning status, the slewing angle of the crane boom is adjusted based on the current center of gravity of the whole machine to obtain the adjusted crane boom operation posture, and the additional counterweight in the counterweight tray is adjusted to obtain the adjusted counterweight tray operation posture, and / or the current travel speed of the traveling mechanism is used as the adjusted travel speed of the traveling mechanism. When the operation status is determined to be a high warning status, the slewing angle of the boom is adjusted based on the current center of gravity of the whole machine to obtain the adjusted boom operation posture, and the additional counterweight in the counterweight tray is adjusted to obtain the adjusted counterweight tray operation posture, and / or the current travel speed of the traveling mechanism is reduced to obtain the adjusted travel speed of the traveling mechanism. When the working condition is determined to be dangerous, the crawler crane is controlled to be in a restricted movement state, which means that the crawler crane is controlled to stop performing the current working posture.

[0014] This invention achieves precise safety control from maintaining operation to actively limiting movement by constructing a hierarchical control strategy linked to four levels of operational status. In a safe state, it maintains the current operation of the boom and pallet to ensure efficiency. In a warning state, it prioritizes adjusting the operating posture of the boom and pallet to actively correct stability deviations. In a high warning state, it simultaneously controls the travel speed of the traveling mechanism to further control dynamic risks. In a dangerous state, it executes a movement-limiting state to break the accident chain, ensuring that safety measures match the risk level. This avoids excessive intervention in low-risk situations and allows for decisive control in high-risk situations, thereby ensuring operational safety while optimizing equipment operating efficiency and intelligent management level.

[0015] In one optional implementation, the maximum outer distance of the machine's center of gravity is determined by the following method: The origin of the entire machine is determined as the standard center of gravity of the crawler crane. When the crawler crane is in a safe operating and traveling state, perform a stress analysis on each component of the crawler crane to determine the gravity of each component. The resultant force of the crawler crane is determined based on the gravity of each component structure; Based on the center of gravity coordinate formula, determine the actual center of gravity of the crawler crane; The maximum distance between the actual center of gravity of the machine and the standard center of gravity of the machine is determined as the preset maximum center of gravity extension distance of the machine.

[0016] This invention uses the standard center of gravity of the crawler crane as the origin reference, performs force analysis on each component structure and calculates the resultant force under actual safe driving conditions, and finally determines the maximum offset distance between the actual center of gravity and the standard center of gravity. This is used as the preset maximum center of gravity extension distance of the whole machine. It can dynamically derive reasonable safety boundary thresholds based on actual operating loads and working conditions, thereby significantly improving the accuracy and reliability of subsequent state judgment and early warning control.

[0017] In one alternative implementation, after controlling the crawler crane to travel in an adjusted working posture and / or an adjusted travel speed, the method further includes: Based on the job status, issue warning prompts corresponding to the job status.

[0018] This invention issues different warning prompts corresponding to the determined working status, ensuring that operators can intuitively and instantly identify the current risk level and its changing trend based on different auditory and visual feedback. It can gradually strengthen the warning intensity as the risk escalates, effectively guiding operators to take targeted countermeasures.

[0019] In a second aspect, the present invention provides a posture control device for a crawler crane, the crawler crane comprising at least a traveling mechanism, a slewing mechanism, a frame, a counterweight pallet, and a boom, the device comprising: The monitoring module is used to monitor the actual slope of the crawler crane as it travels at the current speed of the traveling mechanism with the boom and counterweight pallet in their current working posture, and to calculate the center of gravity of the crawler crane. The determination module is used to determine the current operating status of the crawler crane based on the actual slope and center of gravity of the entire machine. The adjustment module is used to adjust the current working posture of the boom and counterweight pallet and / or the current travel speed of the traveling mechanism based on the working status. The control module is used to control the crawler crane to travel at the adjusted boom working posture and counterweight pallet working posture and / or the adjusted travel speed of the traveling mechanism.

[0020] Thirdly, the present invention provides a crawler crane, which is composed of at least a traveling mechanism, a slewing mechanism, a body, a counterweight pallet, and a lifting boom, and includes: a controller, which includes: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the method of the first aspect or any corresponding embodiment described above.

[0021] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to perform the method described in the first aspect or any corresponding embodiment thereof. Attached Figure Description

[0022] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of an application scenario according to an embodiment of the present invention; Figure 2 This is a schematic flowchart of a first embodiment of the attitude control method for a crawler crane according to an embodiment of the present invention; Figure 3 This is a schematic diagram of a second process for a crawler crane attitude control method according to an embodiment of the present invention; Figure 4 This is a schematic diagram of a tracked crane traveling on a plane according to an embodiment of the present invention; Figure 5 This is a schematic diagram of a tracked crane traveling uphill according to an embodiment of the present invention; Figure 6 This is a schematic diagram of a tracked crane traveling downhill according to an embodiment of the present invention; Figure 7 This is a flowchart of the center of gravity calculation method for the attitude control method of a crawler crane according to an embodiment of the present invention. Figure 8 This is a first control logic diagram of the crawler crane attitude control method according to an embodiment of the present invention; Figure 9 This is a second control reasoning diagram of the crawler crane attitude control method according to an embodiment of the present invention; Figure 10 This is a structural block diagram of a crawler crane attitude control device according to an embodiment of the present invention; Figure 11 This is a schematic diagram of the hardware structure of the tracked crane controller according to an embodiment of the present invention. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] It is understood that before using the technical solutions disclosed in the various embodiments of the present invention, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in the present invention and their authorization should be obtained in accordance with relevant laws and regulations through appropriate means.

[0026] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0027] As an optional application scenario of this invention, such as Figure 1 As shown, a schematic diagram of a crawler crane is provided, including a controller 101. The controller 101 is used to execute a crawler crane attitude control method. The overall process of the controller 101 executing the crawler crane attitude control method is detailed in the relevant description of the method embodiment below, and will not be repeated hereafter.

[0028] During the installation of wind power equipment, crawler cranes need to travel and relocate with their booms. Due to the slope of the ground, the cranes need to constantly adjust their walking posture to ensure the stability of the vehicle's center of gravity. However, crawler crane operators have to rely on the instruction manual to follow the required slope and vehicle posture, which is cumbersome and prone to accidents.

[0029] This embodiment focuses on real-time monitoring of the machine's center of gravity, precise attitude control, and visualization of environmental information. It clarifies the implementation logic and integration requirements of each core module to ensure stable system operation and effectively guarantee the safety of the entire machine's operation.

[0030] According to an embodiment of the present invention, a method for controlling the attitude of a crawler crane is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0031] This embodiment provides a crawler crane attitude control method, which can be used for the aforementioned crawler crane. Figure 2 This is a schematic flowchart of a first embodiment of a crawler crane attitude control method according to an embodiment of the present invention, as shown below. Figure 2 As shown, the process includes the following steps: Step S201: Monitor the actual slope of the crawler crane as it travels at the current speed of the traveling mechanism with the current working posture of the boom and counterweight pallet, and calculate the center of gravity of the crawler crane.

[0032] It should be noted that the actual gradient of a crawler crane refers to the real-time angle between the plane of the crawler crane's traveling mechanism chassis and the horizontal plane during its travel. It is usually based primarily on the gradient along the crane's longitudinal axis, i.e., the gradient in the opposite direction of travel.

[0033] It should be noted that the actual slope of the entire machine can be monitored in real time using tilt sensors installed on the vehicle body, such as a dual-axis tilt meter. The actual slope of the entire machine directly affects the crane's anti-tipping stability and is a key parameter for safe operation.

[0034] In this context, the center of gravity of a crawler crane refers to the point where the combined gravity of its main boom, counterweight, and body is applied. It is typically a spatial location. The center of gravity calculated in this step is the position of the center of gravity that changes in real time due to the movement of its components during the crawler crane's travel, slewing, luffing, and lifting operations.

[0035] It should be noted that monitoring refers to the real-time and continuous measurement and data acquisition of the actual slope of the crane during its movement using a sensor system. This is performed using equipment such as inertial measurement units and tilt sensors.

[0036] One method for calculating the center of gravity of the entire machine is that the center of gravity coordinate is equal to the ratio of the product of the mass of each component and the center of gravity coordinate of that component to the total weight of the entire machine.

[0037] Among them, the working posture mainly refers to the tilt angle of the main boom and the weight of the counterweight.

[0038] Step S202: Determine the current operating status of the crawler crane based on the actual slope and center of gravity of the entire machine.

[0039] It should be noted that the system monitors and calculates the real-time slope and center of gravity of the entire machine. Combined with the crane's design safety parameters and operating instructions, it can infer the specific operating status of the crawler crane and assess its risk level.

[0040] Step S203: Based on the working status, adjust the current working posture of the boom and counterweight pallet and / or the current travel speed of the traveling mechanism.

[0041] It should be noted that the purpose of this step is to adjust the current working posture of the crawler crane's boom and counterweight pallet and / or the current travel speed of the traveling mechanism to ensure that the crawler crane is in a safe operating state, based on the determined operating conditions.

[0042] Adjusting the current working posture and current travel speed can be achieved by the operator adjusting the tilt angle or slewing angle of the crane boom according to the task.

[0043] It should be noted that the system can intervene in the power control system during hazardous operations, and enter a limited-motion state when a hazard is detected.

[0044] Step S204: Control the crawler crane to travel at the adjusted boom working posture and counterweight pallet working posture and / or the adjusted travel speed of the traveling mechanism.

[0045] It should be noted that the adjusted working posture and travel speed enable the crawler crane to complete its work tasks in a safe working state.

[0046] This embodiment provides a crawler crane attitude control method. By monitoring the actual slope of the entire machine in real time and calculating the dynamic center of gravity, the system can determine the real-time operating status of the crawler crane and adjust the operating posture and travel speed according to the risk level represented by different operating states. It can dynamically maintain the stability of the entire machine by adjusting the operating posture and travel speed under conditions such as slope changes and center of gravity shifts, thereby significantly reducing the risk of accidents and improving the safety and efficiency of operation under complex working conditions.

[0047] This embodiment provides a crawler crane attitude control method, which can be used for the aforementioned crawler crane. Figure 3 This is a second flowchart illustrating a crawler crane attitude control method according to an embodiment of the present invention, as shown below. Figure 3 As shown, the process includes the following steps: Step S301: Monitor the actual gradient of the crawler crane as it travels at the current travel speed of the current traveling mechanism while maintaining the current operating posture of the boom and counterweight pallet, and calculate the overall center of gravity of the crawler crane. For details, please refer to [link to relevant documentation]. Figure 1 Step S201 of the illustrated embodiment will not be described again here.

[0048] Step S302: Determine the current operating status of the crawler crane based on the actual slope and center of gravity of the entire machine.

[0049] Specifically, step S302 includes: Step S3021: Determine the target maximum allowable gradient corresponding to the current travel phase of the crawler crane.

[0050] The current travel phase refers to the different sub-processes that the crawler crane experiences during its movement, each with specific risk characteristics.

[0051] It should be noted that the center of gravity height, mass distribution, and stability margin of the crane vary at different stages, and therefore the maximum permissible slope that it can safely handle also varies.

[0052] The target maximum allowable gradient is a gradient angle limit calculated or specified based on the current travel stage of the crawler crane and factors such as the boom length and counterweight, to ensure that it does not overturn or become unstable during travel at that stage. It is usually expressed as a percentage or angle.

[0053] like Figures 4 to 6As shown, the crawler crane provided in this embodiment consists of at least a traveling mechanism 1, a slewing mechanism 2, a body 3, a counterweight pallet 4, and a lifting boom 5. The traveling mechanism is a crawler-driven structure, the slewing mechanism is a turntable mounted on the chassis of the body, allowing the body to rotate 360°, the bottom end of the lifting boom is hinged to the body and rotates with the body, and the top end is equipped with a pulley system for lifting objects; the counterweight pallet is hung on the base of the body through a support frame, and the additional counterweight of the crawler crane is located in the counterweight pallet.

[0054] For example, such as Figure 5 As shown, α is the real-time angle between the plane of the crawler crane's chassis and the horizontal plane during the uphill phase. Figure 6 As shown, β is the real-time angle between the plane of the crawler crane's chassis and the horizontal plane during the downhill phase.

[0055] Specifically, step S3021 includes: Step a1: When the crawler crane is currently traveling in an uphill phase, the first maximum permissible gradient corresponding to the uphill phase is determined as the target maximum permissible gradient.

[0056] Specifically, the uphill phase refers to a road that is in an uphill section, such as when a tracked crane travels uphill along the ground. During the uphill phase, the tracked crane's center of gravity will shift backward.

[0057] The maximum permissible slope for the uphill section is 20°.

[0058] Step a2: When the crawler crane is currently traveling in a downhill phase, the second maximum allowable slope corresponding to the downhill phase is determined as the target maximum allowable slope, wherein the slope value of the first maximum allowable slope is greater than the slope value of the second maximum allowable slope.

[0059] Specifically, the downhill phase refers to a road that is descending in slope, such as a tracked crane traveling downhill along the ground. During the downhill phase, the tracked crane's center of gravity will shift forward.

[0060] The second maximum permissible slope for the downhill section is 17°.

[0061] In this embodiment, by distinguishing between uphill and downhill stages and setting differentiated target maximum allowable gradients, and comprehensively considering factors such as the traction force or forward tilt risk received by the crawler crane in different travel stages, the safety threshold becomes more condition-specific, significantly improving the safety and reliability of different travel stages and enhancing control accuracy under complex working conditions.

[0062] Step S3022: Based on the relationship between the actual slope of the whole machine and the target maximum allowable slope, and the relationship between the center of gravity of the whole machine and the preset maximum center of gravity extension distance of the whole machine, determine the current working state of the crawler crane. The preset maximum center of gravity extension distance of the whole machine is used to characterize the boundary point of the center of gravity of the crawler crane for safe operation.

[0063] It should be noted that the preset maximum center of gravity extension distance of the whole machine is a pre-set safety boundary value, which is used to characterize the limit position of the center of gravity of the crawler crane under a specific configuration to ensure safe operation.

[0064] In this embodiment, by dynamically determining the target maximum allowable slope corresponding to the current travel stage, and simultaneously comparing the relationship between the actual slope and the target maximum allowable slope, as well as the relationship between the machine's center of gravity and the preset maximum center of gravity extension distance, the operating status of the crawler crane can be accurately and hierarchically determined. This makes the safety warning more forward-looking and reliable, thus triggering a graded response in advance when the slope and center of gravity factors approach the risk threshold. This provides an accurate basis for subsequent adjustments to the working posture and travel speed, significantly improving the safety protection capability and work efficiency under complex working conditions.

[0065] Specifically, step S3022 includes: Step b1: Calculate the first ratio of the actual slope to the target maximum allowable slope, and calculate the second ratio of the first distance between the machine's center of gravity and the machine's origin to the preset maximum extension distance of the machine's center of gravity. The machine's origin is the rotation center of the crawler crane's slewing mechanism or the overall center of the crawler crane. For example, the overall center 6 is as follows... Figures 4 to 6 As shown.

[0066] Specifically, the range of the machine's center of gravity within 60% is defined as the preset maximum center of gravity extension distance. The crawler crane is considered to be in a safe state when traveling within this range. In some preferred embodiments, the range of the machine's center of gravity within 30% can be defined as the preset maximum center of gravity extension distance.

[0067] The calculated first ratio is compared with the preset maximum centroid extension distance.

[0068] Specifically, the first distance between the center of gravity of the machine and the origin of the machine is calculated in real time during the movement of the crawler crane, thereby further determining the second ratio between the first distance and the preset maximum center of gravity extension distance of the machine.

[0069] Step b2: When it is determined that the first ratio is within the first allowable range and the second ratio is within the first range, the current operating state of the crawler crane is determined to be a safe operating state.

[0070] For example, the first allowable range is 0% to 60%; when the first ratio is determined to be within 60% and the second ratio is within 60%, preferably, the second ratio is within 30%, the current operating state of the crawler crane is determined to be a safe operating state.

[0071] Step b3: When it is determined that the first ratio is within the second allowable range and the second ratio is within the second range, the current operating state of the crawler crane is determined to be a warning state.

[0072] For example, the second allowable range is 60% to 80%, and the second range is 60% to 90%; when the first ratio is determined to be within the range of 60% to 80%, and the second ratio is within the range of 60% to 90%, the current operating state of the crawler crane is determined to be a safe operating state or a warning state.

[0073] Step b4: When it is determined that the first ratio is within the third allowable range and the second ratio is within the third range, the current operating state of the crawler crane is determined to be a high warning state.

[0074] For example, the third allowable range is 80% to 100%, and the third range is 90% to 100%; when the first ratio is determined to be in the range of 80% to 100%, and the second ratio is in the range of 90% to 100%, the current operating state of the crawler crane is determined to be a safe operating state or a high warning state.

[0075] Step b5: When it is determined that the first ratio exceeds the third allowable range or the second ratio exceeds the third range, the current operating state of the crawler crane is determined to be a dangerous state. The first ratio of the first allowable range, the second allowable range, and the third allowable range increases sequentially, and the second ratio of the first range, the second range, and the third range increases sequentially.

[0076] For example, when it is determined that both the first ratio and the second ratio exceed the range of 100%, the current operating state of the crawler crane is determined to be either a safe operating state or a dangerous state.

[0077] For example, if the first ratio is 102% and the second ratio is greater than 100%, the current working state is determined to be a dangerous state.

[0078] In this embodiment, when the first ratio and the second ratio do not simultaneously meet the above conditions, the slope is first determined. If the slope exceeds the third allowable range set above, the movement is directly restricted. If it is within the allowable range of the slope, such as any one of the first allowable range, the second allowable range, and the third allowable range, the center of gravity is further determined to be within the corresponding range. If they are not simultaneously met, the working posture or driving speed can be adjusted separately by a method different from the above.

[0079] In this embodiment, by introducing the slope ratio and the center of gravity offset ratio, and setting a strictly increasing three-level threshold range for them, the current operating status is determined as a safe state, a warning state, a high warning state, and a dangerous state. This achieves a refined and standardized judgment of the operating status of the crawler crane, making the safety assessment more objective. It can trigger the corresponding operating status warning in the early stage through changes in the ratio, providing an accurate and rapid decision basis for subsequent hierarchical control, and significantly improving the level of safety management.

[0080] Specifically, the maximum center of gravity extension distance of the entire machine in step S3022 above is determined by the following method: Step c1: Determine the origin of the entire machine as the standard center of gravity of the crawler crane.

[0081] It should be noted that the standard center of gravity of the entire machine is the center of gravity of the tracked crane's static self-weight.

[0082] Step c2: When the crawler crane is in a safe operating state, perform a force analysis on each component of the crawler crane to determine the gravity of each component.

[0083] It should be noted that the overall center of gravity (G) of the crawler crane 总 ) is the "weighted average" of the center of gravity of all components, with the weights being the quality of each component.

[0084] Step c3: Determine the resultant force of the crawler crane based on the gravity of each component structure.

[0085] For example, suppose the crane is split into Each unit (such as the upper carriage, lower carriage, main boom, hook, load, etc.) comprises the traveling mechanism, body, slewing mechanism, counterweight pallet, and boom described above, with each unit having a mass of [missing information]. The coordinates of the centroid are ( , , Based on this center of gravity coordinate, the actual center of gravity coordinate of the entire machine is calculated. , , ).

[0086] Step c4: Determine the actual center of gravity of the crawler crane based on the center of gravity coordinate formula.

[0087] For example, the actual coordinates of the overall center of gravity ( , , The calculation formula is:

[0088]

[0089]

[0090] Wherein, the x-axis points in the direction of the main boom, that is, the front of the crawler crane; the y-axis is perpendicular to the x-axis and points to the side of the crawler crane; and the z-axis is perpendicular to the plane of the x-axis and y-axis and points upward, that is, the height direction of the crawler crane. This represents the longitudinal coordinate of the center of gravity. A positive value indicates that the center of gravity is in front of the origin. The larger the size, the higher the risk of the crawler crane tipping forward. Represents the lateral center of gravity coordinates, used to characterize the risk of lateral overturning; Indicates the coordinates of the centroid in the vertical direction. The smaller the value, the better the stability of the crawler crane.

[0091] Step c5: Determine the maximum distance between the actual center of gravity of the machine and the standard center of gravity of the machine as the preset maximum center of gravity extension distance of the machine.

[0092] It should be noted that in actual operation, the equipment has its own control system: the control system of modern crawler cranes will collect data such as elevation angle, slewing angle, and load mass in real time, automatically calculate the center of gravity and display the "stability margin", and alarm when the limit is exceeded.

[0093] In summary, the core of calculating the center of gravity of a crawler crane is "disassembly unit - precise coordinates - superposition and synthesis - stability verification". It is necessary to combine equipment parameters and operating scenarios, prioritize the use of automated tools to ensure accuracy, and at the same time reserve a safety margin to avoid the risk of overturning.

[0094] Among them, stability margin: stability margin refers to the amount of gain or phase change that a system can withstand before reaching an unstable state. It is used to evaluate system stability and ensure that the system remains stable in the face of external disturbances or parameter changes.

[0095] It should be noted that calculating the center of gravity of a crawler crane is a core aspect of ensuring its operational stability (anti-tipping, anti-rollover). This requires combining the static self-weight center of gravity (standard overall machine center of gravity) and the dynamic load center of gravity (actual overall machine center of gravity), and is accomplished through a logic of "step-by-step decomposition - coordinate superposition - resultant force synthesis." Essentially, it involves breaking down the crane's complex structure into several calculable "mass / rigid body elements," then using the "center of gravity coordinate formula" from statics to solve for the overall center of gravity, ultimately outputting three-dimensional coordinates (usually with the rotation center or track center as the origin).

[0096] In this embodiment, by taking the standard center of gravity of the crawler crane as the origin reference, the force analysis of each component structure is performed and the resultant force is calculated under the actual safe driving state. Finally, the maximum offset distance between the actual center of gravity and the standard center of gravity is determined. This is used as the preset maximum center of gravity extension distance of the whole machine. A reasonable safety boundary threshold can be dynamically derived based on the actual working load and working conditions, thereby significantly improving the accuracy and reliability of subsequent state judgment and early warning control.

[0097] Step S303: Based on the working status, adjust the current working posture of the boom and counterweight pallet and / or the current travel speed of the traveling mechanism.

[0098] Specifically, step S303 includes: Step S3031: When the working state is determined to be a safe working state, the current working posture of the boom and counterweight pallet is taken as the adjusted working posture of the boom and counterweight pallet, and / or the current travel speed of the traveling mechanism is taken as the adjusted travel speed of the traveling mechanism.

[0099] It should be noted that when the system is determined to be in a safe operating state, it will operate normally without triggering any warnings or speed limits.

[0100] Step S3032: When the working state is determined to be a warning state, the slewing angle of the crane boom is adjusted based on the current center of gravity of the whole machine to obtain the adjusted working posture of the crane boom, and the additional counterweight in the counterweight tray is adjusted to obtain the adjusted working posture of the counterweight tray, and / or the current travel speed of the traveling mechanism is used as the adjusted travel speed of the traveling mechanism.

[0101] For example, the angle of the main boom of the crawler crane is further determined based on the actual working scenario and factors such as the overall center of gravity of the machine. The weight of the auxiliary counterweight of the crawler crane is further determined based on factors such as the object lifted by the hook of the main boom and the overall center of gravity of the machine. In the warning state, the current travel speed is used as the adjusted travel speed to ensure both work efficiency and work safety.

[0102] Step S3033: When the operation status is determined to be a high warning status, the slewing angle of the crane boom is adjusted based on the current center of gravity of the whole machine to obtain the adjusted crane boom operation posture, and the additional counterweight in the counterweight tray is adjusted to obtain the adjusted counterweight tray operation posture, and / or the current travel speed of the traveling mechanism is reduced to obtain the adjusted travel speed of the traveling mechanism. For example, in a high-alert state, slow driving is required. Taking an uphill slope as an example, a high-alert state means the slope has reached 80% to 100% of the maximum permissible gradient. Continuing to drive at the previously higher speed at this point would result in a dangerous accident. Therefore, the driving speed needs to be reduced during this uphill phase. The same applies to downhill slopes. Furthermore, in a high-alert state, the tilt angle of the main boom also needs to be adjusted so that the machine's center of gravity is within the preset maximum center of gravity extension distance. The weight of the attached counterweight can be adjusted to further ensure that the machine's center of gravity is within the preset maximum center of gravity extension distance.

[0103] Step S3034: When the operation status is determined to be dangerous, the crawler crane is controlled to be in a restricted movement state. The restricted movement state means that the crawler crane is controlled to stop performing the current operation posture.

[0104] It should be noted that when a dangerous situation is determined, the system immediately triggers a high-decibel warning and a stop action, and at the same time starts motion restriction control to avoid safety accidents such as rollover. The motion restriction state also includes controlling the crawler crane to stop running.

[0105] In this embodiment, by constructing a hierarchical control strategy linked to four levels of operational status, precise safety control is achieved from maintaining operation to actively limiting movement. In a safe state, the current operation is maintained to ensure efficiency; in a warning state, the operating posture is adjusted first to actively correct stability deviations; in a high warning state, the travel speed is controlled simultaneously to further control dynamic risks; and in a dangerous state, movement limitation is executed to break the accident chain. This ensures that safety measures match the risk level, avoids excessive intervention in low-risk situations, and allows for decisive control in high-risk situations, thereby ensuring operational safety while optimizing equipment operating efficiency and intelligent management level.

[0106] Step S304: Control the crawler crane to travel at the adjusted working posture of the boom and counterweight pallet and / or the adjusted travel speed of the traveling mechanism. See details below. Figure 2 Step S204 of the illustrated embodiment will not be described again here.

[0107] Step S305: Based on the job status, issue an early warning prompt corresponding to the job status.

[0108] Specifically, when the operation status is determined to be a dangerous operation status, a high-decibel alarm message is triggered; when the operation status is determined to be a high-alert status, a dangerous driving status message is triggered; when the operation status is determined to be an alert status, an alert message is triggered; and when the operation status is determined to be a safe operation status, a normal operation prompt is issued.

[0109] The crawler crane attitude control method provided in this embodiment issues different warning prompts according to the determined working state, ensuring that the operator can intuitively and instantly identify the current risk level and its changing trend based on different auditory and visual feedback. It can gradually strengthen the warning intensity as the risk escalates, effectively guiding the operator to take targeted countermeasures.

[0110] The following is combined Figures 4 to 9 This describes one application embodiment of the present embodiment, wherein, Figure 4 This is a schematic diagram of a crawler crane traveling on a horizontal plane. Figure 5 This is a schematic diagram of a crawler crane traveling uphill. Figure 6 This is a schematic diagram of a crawler crane traveling downhill. The diagram includes the traveling mechanism 1, the slewing mechanism 2, the machine body 3, the counterweight pallet 4, the boom 5, the center of the entire machine 6, the real-time angle α between the plane of the traveling mechanism's chassis and the horizontal plane during the uphill phase, and the real-time angle β between the plane of the traveling mechanism's chassis and the horizontal plane during the downhill phase.

[0111] For example, the flowchart of the center of gravity calculation method for the attitude control method of a crawler crane is as follows: Figure 7 As shown. The process includes: The system's overall calculation software, written in Python, is integrated into the monitor's operating platform to construct a collaborative link between "data acquisition and background calculation." The application layer is responsible for collecting key data during the system's operation (such as loads on various components, attitude sensor data, and position parameters), and sending the collected real-time data to the background Python program via a preset data transmission protocol (such as TCP / IP or serial communication). The background program then calls a preset center of gravity calculation algorithm to perform real-time calculations based on the collected multi-dimensional data, accurately outputting the system's real-time center of gravity data.

[0112] For example, such as Figure 8 The diagram shows the first control logic diagram of the crawler crane attitude control method.

[0113] The precise control of the overall machine attitude is achieved as follows: Based on the current operating conditions, slope, and travel angle parameters of the entire machine, four levels of safety control zones are defined, and the corresponding control logic for each zone is clarified: Safe zone: When the actual slope of the whole machine is within 60% of the maximum allowable slope, it is determined to be a safe operating state, the system operates normally, and no warning prompts or speed limits are triggered; Warning zone: When the actual slope is between 60% and 80% of the maximum allowable slope, it is determined to be a warning state. The system will trigger a warning prompt to remind the operator to adjust their working posture. Warning and slow speed zone: When the actual slope is between 80% and 100% of the maximum allowable slope, it is judged to be in a warning and slow speed state. The system triggers a warning prompt and reduces the driving speed to 30% of the normal driving speed to remind the operator to pay attention to adjusting the working posture and driving speed. At the same time, it prompts that the outside of the machine is in a dangerous driving state and the horn alarm is sounded. Alarm-restricted zone: When the actual slope exceeds 102% of the maximum allowable slope, it is determined to be a dangerous state. The system will immediately trigger a high-decibel alarm and stop action, and at the same time start the restricted movement control to avoid safety accidents such as rollover.

[0114] For example, such as Figure 9 The diagram shown is the second control inference diagram for the attitude control method of a crawler crane.

[0115] The precise control of the overall machine attitude is achieved as follows: Based on a preset safe operating angle, a closed-loop attitude control system is constructed to ensure that the overall machine attitude adjustment accuracy is controlled within ±2 degrees of error. The system collects the current attitude angle data of the entire machine in real time and compares it with the reference angle. If the deviation exceeds the 2-degree error range, an adjustment command is immediately output to drive the actuator to move until the attitude angle returns to the allowable error range, thus achieving precise attitude correction and stable maintenance.

[0116] Another important parameter for overall machine attitude control is the overall machine center of gravity data, which is also an important judgment condition. The control range points for the overall machine center of gravity are three key control points: 60%, 80%, and 100%.

[0117] This embodiment also provides a crawler crane attitude control device, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0118] The control scheme and system integration are as follows: The warning and alarm logic and attitude precision control logic of the aforementioned safety zone division are integrated into a unified control scheme and incorporated into the core unit of the overall machine control system. The control system establishes a data interaction interface to receive the overall machine center of gravity data output by the background Python program in real time. Combined with data collected by environmental perception sensors, it executes warning, alarm, motion restriction, and attitude adjustment actions in a coordinated manner, realizing a closed-loop control of the entire chain from "center of gravity data - environmental perception monitoring - control execution," ensuring the safety and stability of the entire machine operation process.

[0119] The working condition interface design and information visualization are as follows: The monitoring interface is specially designed for the vehicle-mounted screen to achieve real-time visualization and anomaly alerts for core operational information: the core area of ​​the interface displays the current center of gravity coordinates (or relative position diagram) of the whole machine in real time, and simultaneously displays the current environmental parameters; a dedicated early warning and alarm prompt area is set up, and when the system enters the early warning or alarm state, it intuitively reminds the customer of the abnormal information of the whole machine through different colored (such as yellow warning, red alarm) warning areas, pop-ups or scrolling text, etc., thereby improving the efficiency of operation management.

[0120] This embodiment provides a crawler crane attitude control device, such as... Figure 10 As shown, it includes: The monitoring module 1001 is used to monitor the actual slope of the crawler crane as it travels at the current speed in its current working posture, and to calculate the center of gravity of the crawler crane. The determination module 1002 is used to determine the current operating status of the crawler crane based on the actual slope and center of gravity of the whole machine; The adjustment module 1003 is used to adjust the current working posture and / or current travel speed of the crawler crane based on the working status. The control module 1004 is used to control the crawler crane to travel in an adjusted working posture and / or an adjusted travel speed.

[0121] In some alternative implementations, the determining module 1002 includes: The first determining unit is used to determine the target maximum allowable gradient corresponding to the current travel phase of the crawler crane.

[0122] In some optional implementations, the first determining unit includes: The first maximum permissible slope determination subunit is used to determine the first maximum permissible slope corresponding to the uphill stage as the target maximum permissible slope when the current travel stage of the crawler crane is the uphill stage. The second maximum allowable slope determination subunit is used to determine the second maximum allowable slope corresponding to the downhill stage as the target maximum allowable slope when the current travel stage of the crawler crane is a downhill stage, wherein the slope value of the first maximum allowable slope is greater than the slope value of the second maximum allowable slope.

[0123] The second determining unit is used to determine the current operating state of the crawler crane based on the relationship between the actual slope of the whole machine and the target maximum allowable slope, as well as the relationship between the center of gravity of the whole machine and the preset maximum center of gravity extension distance of the whole machine. The preset maximum center of gravity extension distance of the whole machine is used to characterize the boundary point of the center of gravity of the crawler crane for safe operation.

[0124] In some optional implementations, the second determining unit includes: The first calculation subunit is used to calculate the first ratio of the actual slope to the target maximum allowable slope, and to calculate the second ratio of the first distance between the center of gravity of the whole machine and the origin of the whole machine to the preset maximum center of gravity extension distance of the whole machine. The origin of the whole machine is the rotation center of the boom of the crawler crane or the center of the whole machine of the crawler crane.

[0125] The first determining subunit is used to determine that the current operating state of the crawler crane is a safe operating state when the first ratio is determined to be within the first allowable range and the second ratio is within the first range.

[0126] The second determining subunit is used to determine that the current operating state of the crawler crane is a warning state when the first ratio is determined to be within the second allowable range and the second ratio is within the second range.

[0127] The third determining subunit is used to determine that the current operating state of the crawler crane is a high warning state when the first ratio is within the third allowable range and the second ratio is within the third range.

[0128] The fourth determining subunit is used to determine that the current operating state of the crawler crane is a dangerous state when the first ratio exceeds the third allowable range or the second ratio exceeds the third range. The first ratio of the first allowable range, the second allowable range, and the third allowable range increases sequentially, and the second ratio of the first range, the second range, and the third range increases sequentially.

[0129] The standard overall center of gravity determination subunit is used to determine the origin of the crawler crane as its standard overall center of gravity. The stress analysis subunit is used to perform stress analysis on each component of the crawler crane when the crawler crane is in a safe operating and traveling state, and to determine the gravity of each component. The second calculation subunit is used to determine the resultant force of the crawler crane based on the gravity of each component structure; The actual center of gravity determination subunit is used to determine the actual center of gravity of the crawler crane based on the center of gravity coordinate formula. The distance determination subunit is used to determine the maximum distance between the actual center of gravity of the whole machine and the standard center of gravity of the whole machine as the preset maximum center of gravity extension distance of the whole machine.

[0130] In some alternative implementations, the adjustment module 1003 includes: The first adjustment unit is used to adjust the current working posture as the adjusted working posture and / or the current travel speed as the adjusted travel speed when the working state is determined to be a safe working state. The second adjustment unit is used to adjust the angle of the main boom of the crawler crane to obtain the adjusted working posture based on the current center of gravity of the whole machine when the working state is determined to be a warning state, or to adjust the additional counterweight of the crawler crane to obtain the adjusted working posture, and to use the current travel speed as the adjusted travel speed. The third adjustment unit is used to adjust the angle of the main boom to obtain the adjusted working posture based on the current center of gravity of the whole machine when the working status is determined to be a high warning state, or to adjust the additional counterweight of the crawler crane to obtain the adjusted working posture, and to reduce the current travel speed to obtain the adjusted travel speed. The fourth adjustment unit is used to control the crawler crane to be in a restricted movement state when the operation status is determined to be dangerous. The restricted movement state is the state in which the crawler crane is controlled to stop performing the current operation posture.

[0131] In some alternative embodiments, the device further includes: The alarm notification module is used to issue early warning notifications based on the work status.

[0132] The crawler crane attitude control device provided in this embodiment of the invention can execute the crawler crane attitude control method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method. Further functional descriptions of the above modules and units are the same as in the corresponding embodiments described above, and will not be repeated here.

[0133] Figure 11 This is a schematic diagram of the structure of a controller for a crawler crane provided in an embodiment of the present invention.

[0134] The following is a detailed reference. Figure 11The diagram illustrates a structural schematic suitable for implementing a controller in an embodiment of the present invention. The controller may include a processor (e.g., a central processing unit, a graphics processing unit, etc.) 1101, which can perform various appropriate actions and processes based on a program stored in read-only memory (ROM) 1102 or a program loaded from memory 1108 into random access memory (RAM) 1103. RAM 1103 also stores various programs and data required for the operation of the electronic device. The processor 1101, ROM 1102, and RAM 1103 are interconnected via bus 1104. Input / output (I / O) interface 1105 is also connected to bus 1104.

[0135] Typically, the following devices can be connected to I / O interface 1105: input devices 1106 including, for example, a touchscreen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 1107 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; memory 1108 including, for example, magnetic tape, hard disk, etc.; and communication devices 1109. Communication device 1109 allows the controller to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 11 A controller with various devices is shown, but it should be understood that it is not required to implement or have all of the devices shown, and may alternatively implement or have more or fewer devices.

[0136] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 1109, or installed from a memory 1108, or installed from a ROM 1102. When the computer program is executed by the processor 1101, it performs the functions defined in the crawler crane attitude control method of the embodiments of the present invention.

[0137] Figure 11 The controller shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0138] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the crawler crane attitude control method shown in the above embodiments is implemented.

[0139] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0140] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for attitude control of a cable crane, characterized in that The method comprises the following steps: monitoring actual slope of the whole machine during traveling of the crawler crane at current traveling speed of the traveling mechanism with current working posture of the hoisting boom and the counterweight tray, and calculating the center of gravity of the whole machine of the crawler crane; determining the working state of the crawler crane currently based on the actual slope of the whole machine and the center of gravity of the whole machine; adjusting the current working posture of the hoisting boom and the counterweight tray and / or the current traveling speed of the traveling mechanism based on the working state; controlling the crawler crane to travel with the adjusted working posture of the hoisting boom and the counterweight tray and / or the adjusted traveling speed of the traveling mechanism.

2. The method of claim 1, wherein, The method comprises the following steps: determining the target maximum allowable slope corresponding to the current traveling stage of the crawler crane; determining the working state of the crawler crane currently based on the size relationship between the actual slope of the whole machine and the target maximum allowable slope and the size relationship between the center of gravity of the whole machine and the preset maximum extension distance of the center of gravity of the whole machine, the preset maximum extension distance of the center of gravity of the whole machine being used to represent the boundary point of the center of gravity of the whole machine for safe working of the crawler crane.

3. The method of claim 2, wherein, The method comprises the following steps: calculating the first ratio of the actual slope to the target maximum allowable slope, and calculating the second ratio of the first distance between the center of gravity of the whole machine and the origin of the whole machine to the preset maximum extension distance of the center of gravity of the whole machine, the origin of the whole machine being the center of rotation of the slewing mechanism or the center of the whole machine of the crawler crane; determining the working state of the crawler crane currently as a safe working state when it is determined that the first ratio is within a first allowable range and the second ratio is within a first range; determining the working state of the crawler crane currently as a pre-warning state when it is determined that the first ratio is within a second allowable range and the second ratio is within a second range; determining the working state of the crawler crane currently as a high pre-warning state when it is determined that the first ratio is within a third allowable range and the second ratio is within a third range; determining the working state of the crawler crane currently as a dangerous state when it is determined that the first ratio exceeds the third allowable range or the second ratio exceeds the third range, wherein the first ratios of the first allowable range, the second allowable range and the third allowable range are sequentially increased, and the second ratios of the first range, the second range and the third range are sequentially increased.

4. The method of claim 2, wherein, The method comprises the following steps: when the current traveling stage of the crawler crane is an uphill stage, determining the first maximum allowable slope corresponding to the uphill stage as the target maximum allowable slope; When the current traveling stage of the crawler crane is a downhill stage, a second maximum allowable slope corresponding to the downhill stage is determined as the target maximum allowable slope, wherein a slope value of the first maximum allowable slope is greater than a slope value of the second maximum allowable slope.

5. The method of claim 1, wherein, The adjusting the current working posture of the crane boom and the counterweight tray and / or the current traveling speed of the traveling mechanism based on the working state comprises: When the working state is determined as the safe working state, the current working posture of the crane boom and the counterweight tray is taken as the adjusted working posture of the crane boom and the counterweight tray, and / or the current traveling speed of the traveling mechanism is taken as the adjusted traveling speed of the traveling mechanism; When the working state is determined as the pre-warning state, the slewing angle of the crane boom is adjusted based on the current gravity center of the whole machine to obtain an adjusted working posture of the crane boom, the additional counterweight in the counterweight tray is adjusted to obtain an adjusted working posture of the counterweight tray, and / or the current traveling speed of the traveling mechanism is taken as the adjusted traveling speed of the traveling mechanism; When the working state is determined as the high pre-warning state, the slewing angle of the crane boom is adjusted based on the current gravity center of the whole machine to obtain an adjusted working posture of the crane boom, the additional counterweight in the counterweight tray is adjusted to obtain an adjusted working posture of the counterweight tray, and / or the current traveling speed of the traveling mechanism is reduced to obtain an adjusted traveling speed of the traveling mechanism; When the working state is determined as the dangerous state, the crawler crane is controlled to be in a limited state, and the limited state is a state in which the crawler crane is controlled to stop the current working posture.

6. The method of claim 3, wherein, The preset maximum extension distance of the gravity center of the whole machine is determined by the following method: The origin of the whole machine is determined as a standard gravity center of the whole machine of the crawler crane; When the crawler crane is in a safe working and traveling state, force analysis is performed on each component structure of the crawler crane to determine the gravity of each component structure; Based on the gravity of each component structure, the resultant force of the crawler crane is determined; Based on the gravity center coordinate formula, the actual gravity center of the whole machine of the crawler crane is determined; The maximum distance between the actual gravity center of the whole machine and the standard gravity center of the whole machine is determined as the preset maximum extension distance of the gravity center of the whole machine.

7. The method of claim 1, wherein, After the crawler crane is controlled to travel at the adjusted working posture and / or the adjusted traveling speed, the method further comprises: Based on the working state, a pre-warning prompt corresponding to the working state is issued.

8. A posture control device for a crawler crane, characterized by The crawler crane is composed of at least a traveling mechanism, a slewing mechanism, a machine body, a counterweight tray and a crane boom, and the device comprises: A monitoring module is configured to monitor the actual slope of the whole machine during the traveling of the crawler crane at the current working posture of the crane boom and the counterweight tray and at the current traveling speed of the traveling mechanism, and to calculate the gravity center of the whole machine of the crawler crane; A determination module is configured to determine the working state of the crawler crane based on the actual slope of the whole machine and the gravity center of the whole machine; An adjustment module is configured to adjust the current working posture of the crane boom and the counterweight tray and / or the current traveling speed of the traveling mechanism based on the working state. A control module is configured to control the crawler crane to adjust the working posture of the counterweight tray and the working posture of the crane boom and / or the driving speed of the adjusted traveling mechanism.

9. A cable crane, characterized in that The crawler crane is composed of at least a traveling mechanism, a slewing mechanism, a machine body, a counterweight tray and a crane boom, and comprises a controller, which comprises: A memory and a processor are communicatively connected to each other, and the memory stores computer instructions, and the processor executes the computer instructions to perform the method of any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions, and the computer instructions are used to make a computer execute the method of any one of claims 1 to 7.

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