Crawler crane overturning stability control method, device, equipment, medium and product

Abstract

The application relates to the technical field of engineering machinery control, and discloses a caterpillar crane overturning stability control method, device, equipment, medium and product. The caterpillar crane overturning stability control method provided by the application predicts the predicted inclination data of the next target road section by acquiring current ground model data and current inclination data, and adjusts the center of gravity of the caterpillar crane in advance in combination with the two types of data, thereby solving the problem that the prior art can only passively respond to the current road section terrain and cannot predict the subsequent terrain change, the overturning risk is high, the inclination state of the subsequent road section of the advancing path can be predicted in advance, the center of gravity of the whole machine can be adjusted in advance, the overturning risk of the caterpillar crane during driving is effectively reduced, and the operation safety is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, specifically to methods, devices, equipment, media, and products for controlling the overturning stability of crawler cranes. Background Technology

[0002] In related technologies, when a crawler crane is traveling, due to changes in ground slope, especially sudden changes in slope, the center of gravity of the entire machine may not be able to adjust to a position that meets the overturning safety requirements in time, thus leading to the risk of overturning. Summary of the Invention

[0003] This application provides a method, device, equipment, medium, and product for controlling the overturning stability of a crawler crane, in order to solve the problem that existing technologies can only passively respond to the current road terrain and cannot predict subsequent terrain changes that could lead to a high risk of overturning.

[0004] In a first aspect, this application provides a method for controlling the overturning stability of a crawler crane. The method includes: acquiring ground model data and current tilt data in the operating environment of the crawler crane, wherein the current tilt data is detected when the crawler crane is currently located on a road segment; predicting the predicted tilt data of the crawler crane in a target road segment based on the ground model data, wherein the target road segment is the next road segment after the crawler crane has passed through the current road segment; and adjusting the center of gravity of the crawler crane based on the current tilt data and the predicted tilt data.

[0005] Based on the aforementioned technical means, by combining the current actual tilt data with the predicted tilt data of the road section ahead, the center of gravity position of the crawler crane can be adjusted in advance.

[0006] In some optional implementations, the center of gravity of the crawler crane is adjusted based on the current tilt data and predicted tilt data, including: assessing the overturning risk of the crawler crane based on the current tilt data and predicted tilt data, obtaining the assessment results, wherein the overturning risk is determined based on the tilt angle and tilt orientation; and adjusting the center of gravity of the crawler crane based on the assessment results.

[0007] Based on the aforementioned technical means, by introducing overturning risk assessment and clarifying that the assessment basis is the tilt angle and tilt direction, the center of gravity adjustment process of the crawler crane becomes more scientific and precise.

[0008] In some alternative implementations, the center of gravity of the crawler crane is adjusted based on the evaluation results, including: when the evaluation results indicate that the crawler crane has a risk of overturning, adjusting the fore-and-aft center of gravity of the crawler crane by adjusting the counterweight position and boom angle, and / or adjusting the lateral center of gravity of the crawler crane by adjusting the slewing angle of the upper carriage.

[0009] Based on the aforementioned technical means, specific and flexible center of gravity adjustment strategies can be provided to address the different risks of overturning that tracked cranes may encounter during operation.

[0010] In some alternative implementations, after adjusting the counterweight position, boom angle, and / or upper slewing angle, the method further includes: reassessing the overturning risk of the crawler crane; if there is no overturning risk, controlling the crawler crane to continue traveling; if there is still an overturning risk, readjusting the counterweight position, boom angle, and / or upper slewing angle, and adjusting the counterweight weight and / or lifting weight of the crawler crane, and then returning to the step of reassessing the overturning risk of the crawler crane.

[0011] Based on the above technical means, the center of gravity of the entire machine can be continuously corrected until it is confirmed that the crawler crane is in a completely safe state, ultimately ensuring that the crawler crane remains stable during operation and preventing overturning accidents.

[0012] In some optional implementations, the overturning risk of the tracked crane is assessed based on the current tilt data and predicted tilt data, and the assessment results are obtained. This includes: calculating the overall tilt angle range and tilt orientation of the tracked crane on a complete road segment based on the current tilt data and predicted tilt data, where the complete road segment represents a combination of the current road segment and the target road segment; locating the current center of gravity of the tracked crane; calculating the first angle between the current center of gravity and the forward tilt line of the tracked crane, the second angle between the current center of gravity and the backward tilt line of the tracked crane, the third angle between the current center of gravity and the left tilt line of the tracked crane, and the fourth angle between the current center of gravity and the right tilt line of the tracked crane; and assessing the overturning risk of the tracked crane based on the relationship between the first, second, third, and fourth angles and the overall tilt angle range.

[0013] Based on the aforementioned technical means, the tilt risk of the entire machine can be accurately assessed from four directions (front, back, left, and right) by combining the current and future tilt changes of the driving road, thus solving the problem of vague and inaccurate assessment in the original scheme.

[0014] In some optional implementations, predicting the tilt data of the tracked crane within the target road segment based on ground model data includes: simulating the running trajectory of the tracked crane based on ground model data, wherein the running trajectory includes the current road segment and the next road segment; and simulating the tilt data at various locations within the target road segment based on the running trajectory and the running parameters of the tracked crane.

[0015] Based on the above-mentioned technical means, sufficient and accurate input data can be obtained for subsequent overturning risk assessment and center of gravity adjustment, avoiding errors in overturning risk prediction due to missing or inaccurate forecast data, thereby improving the reliability of early overturning prevention.

[0016] Secondly, this application provides a tracked crane overturning stability control device, the device comprising: an acquisition module for acquiring ground model data and current tilt data in the operating environment of the tracked crane, the current tilt data being detected when the tracked crane is currently located on the road segment; a prediction module for predicting the predicted tilt data of the tracked crane in a target road segment based on the ground model data, the target road segment being the next road segment after the tracked crane has passed through the current road segment; and an adjustment module for adjusting the center of gravity of the tracked crane based on the current tilt data and the predicted tilt data.

[0017] Thirdly, this application provides an electronic device, including: a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to perform the overturning stability control method for a crawler crane described in the first aspect or any corresponding embodiment.

[0018] Fourthly, this application provides a computer-readable storage medium storing computer instructions for causing a computer to execute the tracked crane overturning stability control method of the first aspect or any corresponding embodiment described above.

[0019] Fifthly, this application provides a computer program product, including computer instructions for causing a computer to execute the tracked crane overturning stability control method described in the first aspect or any corresponding embodiment. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the specific embodiments of this application or 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 this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a schematic flowchart of the first type of overturning stability control method for a crawler crane according to an embodiment of this application; Figure 2 This is a second flowchart illustrating the overturning stability control method for a crawler crane according to an embodiment of this application; Figure 3This is a side view of a crawler crane according to an embodiment of this application; Figure 4 This is a rear view of a crawler crane according to an embodiment of this application; Figure 5 This is a top view of a crawler crane according to an embodiment of this application; Figure 6(a) is a traveling side view of a crawler crane according to an embodiment of the present application; Figure 6(b) is a rear view of the crawler crane traveling according to an embodiment of this application; Figure 7 This is a schematic diagram of the third process of the overturning stability control method for a crawler crane according to an embodiment of this application; Figure 8 This is a structural block diagram of a tracked crane overturning stability control device according to an embodiment of this application; Figure 9 This is a schematic diagram of the hardware structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] It is understood that before using the technical solutions disclosed in the various embodiments of this application, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in this application in an appropriate manner in accordance with relevant laws and regulations, and user authorization should be obtained.

[0024] 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. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0025] In related technologies, tracked cranes have insufficient stability control when traveling under load or without load. They cannot predict the risk of overturning due to future changes in ground slope. Furthermore, they fail to adequately consider adjusting the lateral center of gravity by adjusting the upper vehicle's slewing angle to accommodate spatial changes in ground slope, resulting in lateral or other spatial overturning risks when facing lateral slopes or complex terrain, thus failing to achieve comprehensive overturning safety.

[0026] In response, this application proposes a method for controlling the overturning stability of a crawler crane, such as... Figure 1 As shown, the method includes: Step S101: Obtain ground model data and current tilt data in the operating environment of the crawler crane. The current tilt data is detected when the crawler crane is located on the current road segment.

[0027] Tracked cranes are lifting equipment that uses a tracked chassis for movement and operation. They are characterized by strong off-road capability and load-bearing capacity, and are commonly used in large-scale engineering projects such as construction, ports, and power.

[0028] Ground model data refers to digital data describing the geographical information such as ground shape, slope, and elevation of the area where the crawler crane operates. This data can be obtained in various ways, such as through lidar scanning, photogrammetry, and importing data from a Geographic Information System (GIS).

[0029] Current tilt data refers to the tilt status information of the crawler crane detected in real time by onboard sensors while it is operating on the current road section. This data typically includes the tilt angle and tilt direction.

[0030] Specifically, the terrain of the area where the crawler crane will travel can be pre-mapped to generate a digital topographic map containing information such as elevation and slope; alternatively, onboard sensors, such as laser scanners or radar, can be used to scan the terrain ahead in real time while the crawler crane is traveling, and a simplified ground model can be constructed. Current tilt data can be measured in real time using tilt sensors or inertial measurement units (IMUs) mounted on the crawler crane's body to obtain the actual tilt angle and tilt orientation of the crawler crane at its current position.

[0031] Step S102: Based on the ground model data, predict the tilt data of the crawler crane in the target road segment. The target road segment is the next road segment after the crawler crane has passed through the current road segment.

[0032] The target section refers to the next section the crawler crane will enter after completing its current journey. This section is a key area for predicting future tilting.

[0033] Predictive tilt data refers to data that pre-calculates the potential tilting state of a tracked crane within a target road section based on ground model data. This data is used to assess the risk of the tracked crane overturning on future road sections.

[0034] Specifically, tilt prediction data can be obtained in the following ways: for example, the slope information of the target road segment can be directly extracted from the acquired ground model data according to the preset driving path, and used as the tilt prediction data; or, based on the ground model data, combined with the basic dimensions and structural parameters of the crawler crane, the possible tilt angle and tilt direction of the crawler crane at various positions in the target road segment can be estimated through geometric calculation or empirical models.

[0035] Step S103: Adjust the center of gravity of the crawler crane based on the current tilt data and predicted tilt data.

[0036] Center of gravity adjustment refers to the operation of changing the center of gravity of a crawler crane by altering its own structure or load configuration. This operation aims to adjust the center of gravity of the crawler crane to a safe range to maintain its operational stability.

[0037] Specifically, the purpose of center of gravity adjustment is to bring the center of gravity of the crawler crane within a safe range to cope with the current and future tilt of the road. For example, based on current and predicted tilt data, a preset center of gravity adjustment strategy table can be consulted to determine the counterweight position, boom angle, or upper slewing angle that needs adjustment; or, based on the difference between current and predicted tilt data, a control algorithm can be used to calculate the magnitude and direction of the center of gravity adjustment and drive the corresponding actuators to make the adjustment.

[0038] It is understood that the tracked crane overturning stability control method in this embodiment, by combining the current actual tilt data with the predicted tilt data of the road section ahead, achieves advance adjustment of the tracked crane's center of gravity position. This solves the overturning risk caused by the inability of traditional methods to predict future changes in ground slope, and improves the overall safety of tracked cranes operating in complex terrain.

[0039] In some of the solutions mentioned above in this application, the center of gravity of the crawler crane is adjusted based on the current tilt data and predicted tilt data of the crawler crane in order to anticipate the tilt changes of the crawler crane as it travels to the next target section and reduce the risk of overturning. However, in this process, the specific implementation logic of the center of gravity adjustment is not clear, and there is a lack of overturning risk assessment for the overall travel path before the adjustment. It is impossible to carry out the center of gravity adjustment in a targeted manner based on the actual risk situation, and it is difficult to effectively avoid the occurrence of overturning risk.

[0040] In response, this application further proposes adjusting the center of gravity of the crawler crane, such as... Figure 2 As shown, the method includes: Step S201: Obtain ground model data and current tilt data in the operating environment of the crawler crane. The current tilt data is detected when the crawler crane is located on its current road segment. (See details...) Figure 1 Step S101 in the embodiment will not be described again here.

[0041] Step S202: Based on the ground model data, predict the tilt data of the crawler crane within the target road segment. The target road segment is the next road segment after the crawler crane has passed through its current location. (See details...) Figure 1 Step S102 in the embodiment will not be described again here.

[0042] Step S203: Adjust the center of gravity of the crawler crane based on its current tilt data and predicted tilt data. Specifically, this includes: Step S2031: Based on the current tilt data and predicted tilt data of the crawler crane, assess the overturning risk of the crawler crane and obtain the assessment results. The overturning risk is determined based on the tilt angle and tilt direction. Step S2032: Based on the evaluation results, adjust the center of gravity of the crawler crane.

[0043] The assessment of the overturning risk of crawler cranes aims to quantify their stability under specific operating conditions and terrain, determining the likelihood and severity of overturning. The assessment results provide a basis for subsequent center of gravity adjustments, ensuring the adjustments are targeted and effective.

[0044] Specifically, a multibody dynamics model of the crawler crane can be established, combining current tilt data and predicted tilt data, to calculate in real time the crane's center of gravity position, support surface range, and the ratio of overturning moment to stabilizing moment, thereby deriving a quantified overturning risk index or safety margin. Alternatively, a fuzzy logic reasoning system or neural network model can be used, taking current tilt data, predicted tilt data, and parameters such as the crawler crane's load and boom attitude as input, to output the crawler crane's overturning risk level through a pre-trained model, such as: safe, warning, or dangerous.

[0045] Overturning risk is determined based on the tilt angle and tilt azimuth. The tilt angle reflects the degree to which the crawler crane deviates from the horizontal plane and is a core parameter for assessing the severity of overturning risk. The tilt azimuth indicates the direction in which the crawler crane tilts, which is crucial for determining which direction poses a tilt risk and how to make targeted adjustments. Combining the two provides a comprehensive and accurate description of the tilt situation faced by the crawler crane. For example, the tilt angles of the crawler crane in the forward and lateral directions can be acquired in real time using multi-axis tilt sensors or inertial measurement units (IMUs) mounted on the crawler crane body, and the main tilt angle and corresponding tilt azimuth angle can be calculated by combining its attitude information. Alternatively, three-dimensional point cloud data of the ground beneath the crawler crane can be acquired using a laser scanner or vision sensor. The plane equation of the crawler crane's support surface can be fitted using point cloud processing algorithms, and the angle between the normal vector of this plane and the direction of gravity can be calculated as the tilt angle. The projection direction of this angle onto the horizontal plane can then be determined as the tilt azimuth.

[0046] Based on the assessment results, the center of gravity of the crawler crane is adjusted. This adjustment is targeted at the actual or predicted tip-over risk, avoiding unnecessary energy consumption and operational delays while precisely adjusting the center of gravity to a safe area. For example, when the assessment indicates a tip-over risk, the control system can automatically generate a center of gravity adjustment command based on the risk level and direction, driving hydraulic cylinders, motors, and other actuators to adjust the position of the counterweight, the boom pitch angle, or the upper carriage rotation angle to change the overall center of gravity position of the crawler crane. Alternatively, the assessment results can be presented to the operator visually on the display screen in the cab, including the risk level, recommended adjustment direction, and magnitude. The operator can then manually operate the corresponding control levers or buttons to adjust the counterweight, boom, or upper carriage until the risk is eliminated.

[0047] It is understood that, through the technical solution described in this embodiment, this application introduces a tipping risk assessment, specifying the tilt angle and tilt direction as the assessment basis, making the center of gravity adjustment process of the crawler crane more scientific and precise. Based on the current and predicted tilt data of the crawler crane, this solution first comprehensively assesses the tipping risk of the crawler crane along its entire travel path, considering not only the severity of the tilt but also its direction, thereby accurately identifying potential tipping threats. Based on this assessment result, the system or operator can make targeted center of gravity adjustments, avoiding redundant operations in risk-free situations and improving operational efficiency; simultaneously, when risks exist, precise adjustments can be made according to the specific circumstances of the risk, effectively shifting the center of gravity to a safe area, thus improving the tipping stability of the crawler crane in complex terrain and during dynamic travel.

[0048] In some of the embodiments described above in this application, it is proposed to adjust the center of gravity of the crawler crane based on the evaluation results in order to eliminate the risk of overturning during the crawler crane's operation. However, this process does not clearly define how to adjust the center of gravity for overturning risks in different directions when there is an overturning risk.

[0049] In response, this application further proposes to adjust the center of gravity of the crawler crane, including: Step a1: When the assessment results indicate that the crawler crane has a risk of overturning, the fore-and-aft center of gravity of the crawler crane is adjusted by adjusting the counterweight position and boom angle, and / or the lateral center of gravity of the crawler crane is adjusted by adjusting the upper slewing angle.

[0050] Specifically, when the assessment result indicates that the crawler crane has a risk of overturning, this assessment result is obtained by evaluating the overturning risk based on the crawler crane's current tilt data and predicted tilt data. When the assessment result clearly indicates that the crawler crane has a possibility of overturning on the current or upcoming road section, subsequent center of gravity adjustment operations are triggered. The risk may manifest as an excessive tilt angle or tilting in an unstable direction.

[0051] To adjust the forward and backward center of gravity of a crawler crane, the position of the counterweight and the boom angle can be adjusted. Adjusting the counterweight position involves moving the movable counterweight blocks on the crawler crane along the forward and backward direction using a mechanical or hydraulic system. For example, when the crawler crane faces the risk of tilting forward, the counterweight blocks can be moved backward to increase the rear torque, thus shifting the center of gravity backward; conversely, when the risk of tilting forward is small, the counterweight blocks can be moved forward. Another method is to adjust the effective position of the counterweight blocks within a certain range by changing their stacking method or number. Simultaneously, adjusting the boom angle involves changing the elevation angle of the crawler crane boom relative to the slewing center line of the upper structure using a drive mechanism such as a hydraulic cylinder. For example, when the boom angle decreases, the center of gravity of the boom and its lifted load moves closer to and lowers towards the crawler crane body, thus shifting or lowering the overall center of gravity; when the boom angle increases, the center of gravity of the boom and its lifted load moves away from and rises towards the crawler crane body, thus shifting or raising the overall center of gravity. By coordinating the adjustment of the counterweight position and boom angle, the center of gravity position of the crawler crane along its travel direction can be precisely controlled to cope with the risk of overturning in the forward and backward directions.

[0052] In addition, to adjust the lateral center of gravity of a crawler crane, the slewing angle of the upper carriage can be adjusted. The upper carriage of a crawler crane, including the cab, power system, and boom root, can rotate 360 ​​degrees relative to the lower carriage, i.e., the crawler chassis. Adjusting the slewing angle of the upper carriage refers to changing the rotational orientation of the upper carriage relative to the lower carriage through the slewing mechanism. For example, when the crawler crane faces the risk of tipping over on the left, the upper carriage can be slew to the right at a certain angle, shifting the center of gravity of the upper carriage to the right, thereby shifting the lateral center of gravity of the entire machine to the right to counteract the tipping moment on the left; conversely, when facing the risk of tipping over on the right, the upper carriage can be slew to the left. Another method is to pre-adjust the center of gravity of the upper carriage to a position conducive to lateral stability by using a preset slewing angle under specific operating conditions. By adjusting the slewing angle of the upper carriage, the lateral center of gravity position of the crawler crane can be changed, thereby addressing the risk of lateral tipping over. The "and / or" conjunctions mentioned above indicate that when adjusting the center of gravity, selective adjustments can be made in the forward / backward direction, the lateral direction, or both, depending on the actual type and direction of the rollover risk. This allows the crawler crane to address rollover risks in different directions in a targeted manner.

[0053] It is understood that, through the above-described technical solutions in this embodiment, this application can provide specific and flexible center of gravity adjustment strategies to address the different directional overturning risks that crawler cranes may encounter during operation. When the assessment results indicate the existence of an overturning risk, the forward and backward center of gravity and / or lateral center of gravity of the crawler crane can be selectively or in combination adjusted according to the nature of the risk. Specifically, by adjusting the counterweight position and boom angle, forward and backward overturning risks can be effectively addressed, for example, by shifting the center of gravity forward or backward when climbing or descending slopes to maintain stability. Simultaneously, by adjusting the upper carriage slewing angle, this application fills the gaps in lateral stability control in existing technologies, enabling the crawler crane to adjust its lateral center of gravity by changing the relative position of the upper carriage when facing lateral slopes or uneven terrain, thereby effectively resisting lateral overturning risks. This improves the all-around overturning stability of the crawler crane in complex operating environments, avoids overturning accidents caused by insufficient adjustment in a single direction, and ensures the safe operation of the crawler crane under various working conditions.

[0054] In some embodiments described above in this application, the counterweight position, boom angle, and / or upper slewing angle of the crawler crane are adjusted to adjust its center of gravity and eliminate the risk of tipping over. However, in actual operation, it is difficult to accurately determine whether the risk of tipping over has been completely eliminated after only one adjustment. If the initial adjustment fails to effectively eliminate the risk of tipping over, and there is a lack of corresponding follow-up mechanisms, the crawler crane may continue to operate under the presence of the risk of tipping over, thereby creating safety hazards or even causing accidents.

[0055] In this regard, this application further proposes that, after adjusting the counterweight position, boom angle, and / or upper vehicle slewing angle, the method also includes: Step b1: Reassess the overturning risk of the crawler crane.

[0056] Step b2: If there is no risk of the crawler crane overturning, control the crawler crane to continue moving.

[0057] Step b3: If the crawler crane still has a risk of overturning, readjust the counterweight position, boom angle and / or upper slewing angle, and adjust the counterweight weight and / or lifting weight of the crawler crane, and then return to the step of reassessing the overturning risk of the crawler crane.

[0058] The reassessment of the overturning risk of the crawler crane aims to confirm the effectiveness of the previous center of gravity adjustment and determine whether the current state of the crawler crane is safe. Specifically, sensors can acquire real-time attitude data of the crawler crane after adjustment, such as tilt angle and tilt direction. Combined with parameters such as its current center of gravity position and load distribution, a preset stability model or safety margin algorithm is used to calculate the ratio of the current overturning moment to the anti-overturning moment, or directly output the risk level. Alternatively, after adjustment, the system can simulate the maximum tilt angle or external load that the crawler crane may encounter in different directions under the current attitude, and compare these simulation results with preset overturning critical conditions to determine whether there is a risk of overturning.

[0059] If there is no risk of the crawler crane tipping over, the system will control it to continue moving. The purpose is to allow the crawler crane to resume normal operation or movement, provided it is safe to do so, avoiding unnecessary waiting or repeated adjustments, thereby improving work efficiency. For example, the system can issue a safe driving command to the operator or automatically remove driving restrictions, allowing the crawler crane to continue moving along a predetermined path. Another example is that the control system can send a start signal to the crawler crane's drive unit to restore its driving state while continuously monitoring its stability.

[0060] If the crawler crane still poses a risk of tipping over, the counterweight position, boom angle, and / or upper slewing angle will be readjusted. This serves as a means of further center of gravity adjustment when the initial adjustment is insufficient to eliminate the risk, allowing for a more precise or broader change in the crawler crane's center of gravity position. Specifically, the system can intelligently calculate the new adjustment amounts for the counterweight position, boom angle, and / or upper slewing angle based on the reassessed risk results, and drive the corresponding actuators, such as the counterweight movement device, boom luffing cylinder, and upper slewing mechanism, for precise adjustment. Alternatively, the operator can manually or semi-automatically fine-tune the counterweight position, boom angle, and / or upper slewing angle based on the risk information and suggested adjustment direction provided by the system, until the system indicates a reduced risk.

[0061] Building upon this, adjustments are also made to the counterweight and / or lifting weight of the crawler crane. This is intended to address situations where position and angle adjustments alone cannot completely eliminate the risk of tipping over. Weight adjustment alters the overall mass distribution and total weight of the crawler crane, effectively influencing its center of gravity and stability. For example, the system can suggest increasing or decreasing the number or weight of counterweights, or adjusting the weight of the lifted load or its position on the hook to change the overall center of gravity. Typically, additional counterweights can be added to the rear of the crawler crane, or the connection point between the spreader and the load can be adjusted during lifting operations to optimize the center of gravity. Furthermore, adjustable counterweight systems, such as hydraulically driven counterweight boxes, can dynamically increase or decrease the amount of counterweight media, such as sand, water, or metal particles, thereby changing the counterweight weight.

[0062] Subsequently, the process returns to reassessing the tipping risk of the crawler crane, forming a closed-loop iterative optimization process. This ensures that the stability of the crawler crane is verified after each adjustment until safety standards are met. For example, the control system can be equipped with a cyclical decision mechanism that automatically triggers the risk reassessment module after each adjustment, including position / angle and / or weight adjustments, and determines whether to continue the cyclical adjustment or exit the loop based on the assessment results. Alternatively, software flow control can be used to make the risk reassessment step a follow-up step to the adjustment operation, ensuring verification after any adjustment and forming a continuously optimizing safety control loop.

[0063] It is understood that, through the above-described technical solution in this embodiment, this application establishes a closed-loop verification and iterative adjustment process to address the uncertainty of potential overturning risks after initial center of gravity adjustment. After the crawler crane completes the initial adjustment of the counterweight position, boom angle, and / or upper carriage slewing angle, its overturning risk is reassessed. Based on the adjusted overall machine state, it can accurately detect and confirm whether the initial center of gravity adjustment has met safety requirements, avoiding the problem of the crawler crane operating at risk due to inadequate adjustment. If the reassessment result indicates that the crawler crane no longer has an overturning risk, the system controls it to continue traveling, avoiding unnecessary repeated adjustments and balancing operational efficiency. Conversely, if an overturning risk still exists after reassessment, this application further provides a multi-level adjustment strategy: first, readjust the counterweight position, boom angle, and / or upper carriage slewing angle to optimize the overall center of gravity position; based on this, if the risk still exists, adjust the counterweight weight and / or the lifting weight to fundamentally change the overall mass distribution of the machine, solving the problem that the risk cannot be completely eliminated by adjusting the position and angle alone. The system then returns to the rollover risk reassessment step, forming a continuous iterative process. This continuously adjusts the machine's center of gravity until the crawler crane is confirmed to be in a completely safe state, ultimately ensuring the crawler crane remains stable during operation and preventing rollover accidents.

[0064] In some embodiments described above in this application, an assessment of the overturning risk of a tracked crane is proposed based on current tilt data and predicted tilt data, and the assessment results are obtained to predict the overturning risk in advance, thereby enabling early adjustments to ensure driving stability. However, in its implementation, no specific assessment method is clearly defined, and it is impossible to accurately determine the overturning risk of the entire machine from multiple directions (front, back, left, and right) by combining the tilt changes of the complete driving segment composed of the current road segment and the target road segment. This easily leads to misjudgment or omission of risks, and cannot guarantee the accuracy of subsequent center of gravity adjustments, thus the risk of overturning still exists.

[0065] In response, this application further proposes to assess the overturning risk of the crawler crane based on its current tilt data and predicted tilt data, and obtain the assessment results. This assessment process includes the following steps: Step c1: Based on the current tilt data and the predicted tilt data, calculate the overall tilt angle range and tilt orientation of the crawler crane on the complete road segment. The complete road segment represents the combination of the current road segment and the target road segment.

[0066] Step c2: Locate the current center of gravity of the crawler crane.

[0067] Step c3: Calculate the first angle between the current center of gravity and the forward tilting line of the crawler crane, the second angle between the current center of gravity and the backward tilting line of the crawler crane, the third angle between the current center of gravity and the left tilting line of the crawler crane, and the fourth angle between the current center of gravity and the right tilting line of the crawler crane.

[0068] Step c4: Assess the overturning risk of the crawler crane based on the relationship between the first included angle, the second included angle, the third included angle, the fourth included angle and the overall tilt angle range.

[0069] Specifically, a complete road segment refers to the combination of the road segment currently being traveled by the crawler crane and the next road segment immediately following it, aiming to comprehensively cover the ground conditions the crawler crane will experience. The purpose of calculating the overall tilt angle range and tilt orientation is to obtain the maximum and minimum tilt angles and corresponding tilt directions that the crawler crane may encounter within the entire complete road segment. This can be achieved by combining current tilt data detected by real-time sensors with predicted tilt data obtained through ground model simulation, using data fusion algorithms such as weighted averaging, maximum / minimum value extraction, or curve fitting, to determine the range of tilt angle changes and the dominant tilt orientation that the crawler crane may experience within the complete road segment. Alternatively, by stitching together the ground elevation data of the current road segment and the target road segment, and then using the crawler crane's geometric model and travel path, a virtual driving simulation can be performed on the stitched complete road segment to calculate the tilt angle and orientation of the crawler crane at each location in real-time or offline, thereby extracting the tilt angle range and tilt orientation of the entire complete road segment.

[0070] Locating the current center of gravity is fundamental to overturning risk assessment, and its accuracy directly impacts the reliability of subsequent calculations. The current center of gravity position can be determined in several ways. For example, it can be calculated in real-time using a three-dimensional geometric model and a mass distribution model, based on the crawler crane's structural parameters, such as the mass, dimensions, and installation position of each component, as well as real-time sensor data, such as boom angle, counterweight position, load weight, and upper carriage slewing angle. Alternatively, multiple load cells or pressure sensors can be installed on the crawler crane, combined with data from the inertial measurement unit (IMU), to estimate the overall center of gravity position in real-time using a data fusion algorithm.

[0071] The tipping line is the boundary line around which the center of gravity of a crawler crane rotates when it tipps over; it typically corresponds to the line connecting the edge of the track or the support point. Calculating the angle between the center of gravity and these tipping lines aims to quantify the relative positional relationship between the center of gravity and the tipping boundary, directly reflecting the tipping margin of the crawler crane in different directions. In practice, four tipping lines (front, rear, left, and right) can be determined based on the geometric model of the crawler crane. Then, geometric calculations are performed using the current coordinates of the located center of gravity and the equations of these four tipping lines to obtain the vertical distance from the center of gravity to each tipping line. Combined with the tilt angle of the crawler crane, the angle between the center of gravity and the tipping line is calculated. Another approach is to create a three-dimensional digital model of the crawler crane and define the tipping lines within the model.

[0072] The overturning risk of the crawler crane is assessed based on the relationship between the first, second, third, and fourth included angles and the overall tilt angle range. The likelihood of the crawler crane overturning within a complete road section is determined. During the assessment, a predetermined safety threshold can be set, and the calculated four included angles are compared with the overall tilt angle range. For example, if any included angle exceeds the preset safety threshold at any tilt position within the overall tilt angle range, an overturning risk is determined. A safety factor method can be used, where a risk is considered present when the safety factor is less than 1. Alternatively, a risk assessment model based on fuzzy logic or machine learning can be established, using the four included angles and the overall tilt angle range as input features. The trained model outputs a risk level or risk probability to more intelligently assess the overturning risk in complex situations.

[0073] In one example, the side view of the crawler crane is as follows: Figure 3 As shown, the rear view is as follows Figure 4 As shown, the top view is as follows Figure 5 As shown, the forward and backward tilting distance is L, the lateral tilting distance is W, and the center of gravity of the crawler crane is ( ). ); Side view Figure 3 The angle between the boom and the X-axis is Looking down Figure 5 In the middle, the angle between the boom and the X-axis is Tracked cranes may overturn along different tipping lines during their movement, see... Figure 5 In the top view, DE is the forward roll line, GF is the rear roll line, DG is the left roll line, and EF is the right roll line.

[0074] To ensure the overall stability of the machine, the angle between the machine's center of gravity and the line connecting each tilting line and the vertical line of the center of gravity must be ( The angle is always not less than the preset angle. ,in, It can be set to twice the standard requirement, with a minimum included angle of 8°, or it can be set according to the actual situation. These are the angles between the lines connecting the machine's center of gravity to the forward tilt line, backward tilt line, left tilt line, and right tilt line, and the plumb line connecting the center of gravity.

[0075] Assuming a crawler crane needs to travel from point A to point C, ensure the overall stability and safety of the crane during this travel segment. The ground slopes before and after section AB are: Lateral slope is The ground slope of section BC is as follows: Lateral slope is The ground elevation changes abruptly to h at point B. The ground slope is positive when tilted clockwise and negative when tilted counterclockwise.

[0076] The angle between the boom and the X-axis can be adjusted during movement. This refers to the boom tilt angle and the slewing angle of the upper vehicle. By adjusting and The center of gravity of the entire machine can be adjusted. ), ensuring that during the walking process, the following conditions are always met simultaneously. , , , The details are as follows: Step 1: Determine the current forward and backward tilt angle of the entire machine using a level. and lateral slope .

[0077] Step 2: Based on the detection or input, obtain the ground slope data for the next travel segment AC. Lateral slope data and ground elevation difference data .

[0078] Step 3: Determine the forward and backward tilt angles and lateral tilt angles of the entire crawler crane along the AC travel section. As shown in Figures 6(a) and 6(b), the forward and backward tilt angles of the entire machine in section AB are... .

[0079] The angle of the entire machine's forward and backward tilting at point B, the point of sudden change. .

[0080] The overall tilt angle of the machine in section BC is as follows: .

[0081] Determine the range and orientation of the overall machine's forward and backward tilt angles during AC segment travel: ; .

[0082] Determine the range and orientation of the overall lateral tilt angle during AC segment travel: ; .

[0083] Step 4: Adjust the overall machine status parameters to ensure the machine can tip over safely in a 360° direction throughout its movement.

[0084] First, adjust and optimize the boom angle of the crawler crane. Or the front and rear positions of the counterweight, and the angle at which it gets on the vehicle. Calculate the weight and center of gravity of the entire machine. ).

[0085] Secondly, calculate the angle between the line connecting the center of gravity of the crawler crane on flat ground and the overturning line and the vertical line connecting the center of gravity of the entire machine, and the angle between the line connecting the center of gravity of the crawler crane and the forward tilting line and the vertical line connecting the center of gravity: ; The angle between the line connecting the center of gravity and the backflip and the plumb line of the center of gravity: ; The angle between the line connecting the center of gravity and the leftward tilt and the plumb line of the center of gravity: ; The angle between the line connecting the center of gravity and the rightward tilt and the plumb line of the center of gravity: .

[0086] Overall machine tilting stability assessment: The criteria for determining forward lean are: ; .

[0087] The criteria for determining backward lean are: ; .

[0088] The criteria for determining left-leaning are: ; .

[0089] The criteria for determining right-leaning are: ; .

[0090] When the overall stability requirements are met, the machine will proceed with the walking action; when the overall tilting stability requirements are not met, the overall configuration parameters will be adjusted to ensure that the machine is safe from tipping over in both forward and backward and lateral directions throughout its movement.

[0091] It is understood that, through the above-described technical solution in this embodiment, this application provides specific implementation steps for overturning risk assessment. It can accurately assess the overturning risk of the entire machine from four directions (front, back, left, and right) by combining the tilt changes of the current and future travel segments, thus solving the problem of vague and inaccurate assessments in the original scheme. Based on current tilt data and predicted tilt data, the tilt angle range and tilt orientation of the entire machine for the complete road segment are calculated. This combines the tilt information of the current road segment already detected and the tilt information of the next target road segment predicted in advance, covering all road segments that the crawler crane will travel through. This obtains the range of possible tilt changes throughout the entire journey, avoiding the risk of overlooking tilt changes in subsequent road segments while only considering the current road segment, and providing complete and accurate basic data for subsequent risk assessment. The definition of a complete road segment also clarifies the range of combinations of the current and target road segments, ensuring that the calculated tilt range conforms to the actual subsequent travel conditions of the crawler crane. Locating the current center of gravity of the crawler crane is the basis for subsequent calculations of overturning-related parameters in each direction, ensuring the accuracy of subsequent parameter calculations. The angles between the current center of gravity and the tilt lines in the four directions (front, rear, left, and right) are calculated separately, corresponding to the relevant parameters for tilt risk in each of the four directions. This covers all possible tilt directions, overcoming the shortcomings of focusing only on front-rear tilt risk while ignoring lateral risk, and achieving comprehensive risk parameter acquisition. Finally, the tilt risk is assessed based on the relationship between the four angles and the overall tilt angle range of the machine. The overall tilt angle range allows us to obtain the range of angle changes of the center of gravity relative to the tilt lines in each direction during the entire journey. Combined with the pre-calculated angles corresponding to the current center of gravity, we can accurately determine whether the center of gravity will enter the tilt danger zone during the entire journey, obtaining accurate and reliable assessment results. This provides an accurate basis for subsequent center of gravity adjustments, effectively reducing the possibility of tilting.

[0092] In some of the embodiments described above in this application, a method is proposed to predict the tilt data of a tracked crane in a target road segment based on ground model data, so as to know the tilt situation of the next road segment in advance and provide a basis for adjusting the center of gravity in advance to prevent overturning. However, in its implementation process, the original solution does not provide a specific implementation method, and cannot accurately obtain the tilt prediction results at each position in the target road segment. It is difficult to guarantee the accuracy and completeness of the prediction results, and cannot provide reliable data support for subsequent center of gravity adjustment and overturning risk prevention.

[0093] In response, this application further proposes a method for controlling the overturning stability of a crawler crane, such as... Figure 7 As shown, the method includes: Step S301: Obtain ground model data and current tilt data in the operating environment of the crawler crane. The current tilt data is detected when the crawler crane is located on its current road segment. (See details...) Figure 1 Step S101 during implementation will not be described in detail here.

[0094] Step S302: Based on the ground model data, predict the tilt data of the crawler crane within the target road segment. The target road segment is the next road segment after the crawler crane has passed through its current location. Specifically, this includes: Step S3021: Based on ground model data, simulate the running trajectory of the crawler crane, wherein the running trajectory includes the current road segment and the next road segment.

[0095] Specifically, after acquiring ground model data, this application determines the possible paths a tracked crane might traverse on a specific road segment by simulating its operating trajectory, providing a spatial reference for subsequent tilt data simulation. This trajectory simulation can be based on a pre-defined path planning algorithm, such as the A9 algorithm or Dijkstra's algorithm, combined with ground model data to generate the path, while also considering factors such as obstacle avoidance and slope limitations. Another approach is to set key path points and then utilize an interpolation algorithm. The operating trajectory is limited to include the current road segment and the next road segment, ensuring the integrity and continuity of the simulated trajectory and covering the entire path the tracked crane will travel.

[0096] Step S3022: Based on the running trajectory and the operating parameters of the crawler crane, simulate the tilt data at various locations within the target road section.

[0097] Specifically, when simulating the tilt data at various locations within the target road segment, the operating parameters of the tracked crane are incorporated. These operating parameters refer to the structural, kinematic, and dynamic characteristics of the tracked crane during its operation. These parameters may include the crane's dimensions, such as length, width, height, track width, track spacing, center of gravity position, mass distribution, maximum climbing ability, maximum roll angle, travel speed, and turning radius. Furthermore, they may include engine power, transmission efficiency, suspension system stiffness, and the coefficient of friction between the tracks and the ground, all of which collectively determine the tracked crane's actual motion performance under different terrain conditions.

[0098] Based on the simulated operating trajectory and the operating parameters of the crawler crane, this application can simulate the tilt data at various locations within the target road segment. This can be achieved by establishing a three-dimensional kinematic model of the crawler crane, inputting the ground model data corresponding to each point on the simulated operating trajectory, such as slope and aspect, into the model, and calculating the attitude angles of the crawler crane at that point, such as pitch and roll angles. Another approach is to use physics engine-based simulation software to import the CAD model and operating parameters of the crawler crane, perform virtual driving on the ground model, and output its tilt angle and orientation at different locations in real time.

[0099] Step S303: Adjust the center of gravity of the crawler crane based on its current tilt data and predicted tilt data. Specifically, this includes: Step S3031: Based on the current tilt data and predicted tilt data of the crawler crane, assess the overturning risk of the crawler crane and obtain the assessment results. The overturning risk is determined based on the tilt angle and tilt direction. (See details...) Figure 2 Step S2031 in the implementation process will not be described in detail here.

[0100] Step S3032: Based on the evaluation results, adjust the center of gravity of the crawler crane. See details... Figure 2 Step S2032 in the implementation process will not be described in detail here.

[0101] It is understood that the above-described technical solution in this embodiment can ensure that sufficient and accurate input data are obtained for subsequent overturning risk assessment and center of gravity adjustment, avoiding errors in overturning risk prediction due to missing or inaccurate prediction data, thereby improving the reliability of early overturning prevention.

[0102] In some of the solutions mentioned above in this application, the tilt data of the target road segment is predicted based on the acquired ground model data, and then the center of gravity is adjusted in combination with the current tilt data to improve the overturning stability of the crawler crane. However, in this process, the pressure exerted on the ground by the weight and load of the crawler crane itself is not taken into account. Different ground pressures at different locations will cause local ground subsidence. This local subsidence will further change the overall tilt state of the crawler crane. The original solution does not include this factor in the calculation of tilt data and the adjustment of the center of gravity, which will lead to inaccurate tilt prediction, resulting in inadequate adjustment of the center of gravity and the risk of overturning still exists.

[0103] In this regard, this application further proposes, in addition to the above method, the following steps: Step d1: Calculate the local ground pressure distribution in the track-to-ground contact area based on the total weight of the crawler crane, load distribution, track dimensions, and current center of gravity position.

[0104] Step d2: Based on the geotechnical engineering data in the ground model data and the local ground pressure, predict the possible local vertical settlement under the track; wherein, the geotechnical engineering data includes at least one of soil type, bearing capacity, and moisture content.

[0105] Step d3: Calculate the tilt angle component based on the predicted local vertical settlement of each part of the track; adjust the center of gravity of the tracked crane based on the tilt angle component, the current tilt data, and the predicted tilt data.

[0106] Specifically, the calculation of the local ground pressure distribution in the track-to-ground contact area aims to accurately quantify the force exerted by the crawler crane on the ground. The total weight of the crawler crane refers to its own structural weight. Load distribution refers to the spatial position and magnitude of additional weights such as loads and counterweights on the crawler crane, which can be obtained through load sensors, counterweight position sensors, etc., and calculated in conjunction with a structural mechanics model. Track dimensions refer to the geometric dimensions of the track in contact with the ground, including length and width, which are usually known design parameters. The current center of gravity position refers to the overall center of gravity coordinates of the crawler crane in its current state, which can be calculated in real time using an inertial measurement unit (IMU) combined with the structural model and load information. Local ground pressure distribution refers to the pressure per unit area borne by different regions on the track-to-ground contact surface. One implementation method is to establish a finite element analysis (FEA) model of the crawler crane, using the total weight, load distribution, track dimensions, and center of gravity position as inputs to simulate the track-to-ground contact and thus calculate a detailed local ground pressure distribution. Another approach is to divide the track contact surface into several regions and calculate the average ground pressure of each region using a simplified mechanical model (such as beam theory or plate theory) based on the center of gravity location and load distribution, or to measure it in real time by installing a pressure sensor array under the track plates.

[0107] Predicting potential local vertical settlement beneath tracks aims to forecast ground deformation based on ground characteristics and stress conditions. Ground model data includes topographic and geological information, obtainable through methods such as lidar, photogrammetry, and geological exploration. Geotechnical engineering data, part of the ground model data, describes the ground's mechanical properties, such as soil type (sand, clay, silt, etc.), influencing compressibility, shear strength, bearing capacity, and moisture content. Local vertical settlement refers to the vertical deformation of the ground beneath the tracks under stress. One approach is to establish a settlement prediction model based on geotechnical mechanics principles, for example, using an elastic foundation model, taking local ground pressure and geotechnical parameters as input to calculate the vertical settlement at each point. Another approach is to estimate settlement in different areas by consulting a pre-established soil settlement database or empirical formulas, based on soil type, bearing capacity, moisture content, and local ground pressure.

[0108] This step in calculating the tilt angle components aims to quantify the impact of ground settlement on the overall tilt state of the crawler crane. The local vertical settlement of each part of the track is the settlement value at different locations beneath the track obtained in the previous step. The tilt angle components refer to the additional tilt angle of the crawler crane caused by uneven local ground settlement, including forward and backward tilt and lateral tilt. One approach is to treat the crawler crane track as a rigid body or multiple rigid elements, and calculate the changes in the tilt angle of the crawler crane chassis in the forward and backward and lateral directions based on the settlement at different locations beneath the track using geometric relationships. For example, this can be obtained by calculating the arctangent of the ratio of the settlement difference between the front and rear ends or left and right ends of the track to the track length or width. Another approach is to establish a contact model between the crawler crane and the ground, using the predicted local vertical settlement as boundary conditions, and numerically simulate the attitude changes of the crawler crane under the influence of settlement to obtain the tilt angle components.

[0109] Finally, the center of gravity of the crawler crane is adjusted based on the tilt angle component, current tilt data, and predicted tilt data. This incorporates the additional tilt caused by ground settlement into the overall tilt assessment to guide more accurate center of gravity adjustment. The tilt angle component represents the tilt caused by settlement; the current tilt data is the actual tilt state of the crawler crane, detected in real time by sensors; and the predicted tilt data is the predicted tilt data of the crawler crane within the target road section, without considering settlement. Center of gravity adjustment refers to returning the center of gravity of the crawler crane to a safe area to maintain stability by changing the counterweight position, boom angle, and / or upper carriage slewing angle, based on the comprehensive tilt assessment. One implementation method is to superimpose or fuse the tilt angle component with the current tilt data and predicted tilt data to obtain a more comprehensive overall tilt state that considers the impact of ground settlement. Then, based on this comprehensive tilt state, the required adjustment amounts for the counterweight position, boom angle, and / or upper carriage slewing angle are calculated using a preset control strategy or optimization algorithm, and the corresponding actuators are driven to make adjustments. Another approach is to build a decision-making system based on fuzzy logic or neural networks. The system takes the tilt angle component, current tilt data, and predicted tilt data as inputs and outputs instructions for adjusting the center of gravity. Through learning or expert knowledge, the system can comprehensively assess the risk of overturning and provide the optimal adjustment plan.

[0110] It is understood that, through the above technical solutions, the solution of this application can more effectively prevent the risk of overturning caused by ground subsidence when the crawler crane is traveling on complex or soft terrain, and significantly enhance the operational stability and safety of the crawler crane.

[0111] The following example will provide a more detailed explanation of the above technical solution: At a construction site, a crawler crane is performing a lifting task, requiring it to travel from its current position across a complex terrain section. This section is characterized by a downhill section and a subsequent lateral tilt. To ensure the crawler crane's tilting stability during travel, this method is applied to the crane's control system.

[0112] First, the crawler crane's control system acquires ground model data of its operating environment. This data may originate from pre-mapped 3D terrain maps, laser scan data, or high-precision GPS data, detailing information such as ground elevation, slope, and aspect, including the current location and the target location. Simultaneously, the system monitors the crawler crane's current tilt data on its current location in real time, for example, through real-time attitude angles acquired by an inertial measurement unit (IMU).

[0113] Next, the control system predicts the tracked crane's tilt data within the target road segment based on the acquired ground model data. Specifically, the system simulates the tracked crane's trajectory across the entire road segment, including the current segment and the target segment, based on the ground model data. Then, combining the tracked crane's operating parameters, such as travel speed and steering angle, the system simulates the tilt data that the tracked crane might encounter at various locations within the target road segment, including the tilt angle and tilt direction. For example, the system predicts that at a certain point on the target road segment, the tracked crane will face a 5-degree leftward tilt.

[0114] In predicting tilt data, the system further considers the impact of ground settlement. Based on the total weight of the crawler crane, load distribution, track dimensions, and current center of gravity position, the system calculates the local ground pressure distribution in the track-to-ground contact area. Simultaneously, combining geotechnical data from the ground model, such as soil type, bearing capacity, and moisture content, the system predicts the potential local vertical settlement beneath the tracks. Based on the predicted local vertical settlement of each section of the tracks, additional tilt angle components are calculated.

[0115] Subsequently, the control system assesses the overturning risk of the tracked crane based on its current tilt data, predicted tilt data, and the tilt angle component caused by ground subsidence. This assessment process includes: calculating the overall tilt angle range and tilt orientation of the tracked crane across the entire road segment based on the current and predicted tilt data. Simultaneously, the system locates the current center of gravity of the tracked crane. Then, it calculates the four angles between the current center of gravity and the crane's forward, backward, left, and right tilt lines. Finally, based on the relationship between these four angles and the overall tilt angle range, the system assesses whether the tracked crane faces overturning risk. For example, if a significant lateral tilt is predicted at a point on the target road segment, and the angle between the current center of gravity and the lateral tilt line is less than a safety threshold, the assessment result will indicate an overturning risk.

[0116] Based on the assessment results, the control system adjusts the center of gravity of the crawler crane. When the assessment results indicate that the crawler crane is at risk of tipping over, the system will take one or more of the following measures: By adjusting the counterweight position of the crawler crane, for example by moving the movable counterweight forward or backward, and / or adjusting the boom angle, for example by raising or lowering the boom, the forward and backward center of gravity position of the crawler crane can be changed to cope with the risk of overturning caused by changes in longitudinal slope.

[0117] By adjusting the slewing angle of the upper structure of a crawler crane—that is, the slewing angle of the superstructure relative to the lower tracks—the lateral center of gravity position of the crawler crane can be changed to cope with the risk of overturning caused by lateral slopes or complex terrain. For example, when it is predicted that the crawler crane will tilt to the left, the system can instruct the upper structure to slew to the right at a certain angle, shifting the center of gravity to the right and thus increasing lateral stability.

[0118] After adjusting the counterweight position, boom angle, and / or slewing angle of the overhead crane, the system immediately reassesses the tipping risk of the crawler crane. If the reassessment indicates that the crawler crane no longer poses a tipping risk, the control system allows the crawler crane to continue traveling along the predetermined path. However, if the crawler crane still poses a tipping risk, the system will further readjust the counterweight position, boom angle, and / or slewing angle of the overhead crane, and may adjust the counterweight weight and / or lifting weight of the crawler crane. For example, it may add counterweight blocks or adjust the weight distribution of the lifted load, and then return to the tipping risk reassessment step until the crawler crane reaches a safe state.

[0119] Through the above process, this method enables proactive and predictive center of gravity adjustment for tracked cranes during travel in complex terrain, significantly improving their overturning stability, especially their safety when facing future changes in ground slope and lateral tilt.

[0120] This embodiment also provides a tracked crane overturning stability 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 performs 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.

[0121] This embodiment provides a tilting stability control device for a crawler crane, such as... Figure 8 As shown, it includes: The acquisition module 801 is used to acquire ground model data and current tilt data in the operating environment of the crawler crane. The current tilt data is detected when the crawler crane is located in the current road segment. The prediction module 802 is used to predict the tilt data of the crawler crane in the target road segment based on the ground model data. The target road segment is the next road segment after the crawler crane has passed through the current road segment. The adjustment module 803 is used to adjust the center of gravity of the crawler crane based on the current tilt data and predicted tilt data of the crawler crane.

[0122] In some alternative implementations, the adjustment module 803 includes: The first unit is used to assess the overturning risk of the crawler crane based on the current tilt data and predicted tilt data, and obtain the assessment results. The overturning risk is determined based on the tilt angle and tilt direction. The second unit is used to adjust the center of gravity of the crawler crane based on the evaluation results.

[0123] The tracked crane overturning stability control device provided in this application embodiment can execute the tracked crane overturning stability control method provided in any embodiment of this application, 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 those in the corresponding embodiments described above, and will not be repeated here.

[0124] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0125] The following is a detailed reference. Figure 9This diagram illustrates a suitable structural schematic for implementing the electronic device described in the embodiments of this application. The electronic device may include a processor (e.g., a central processing unit, graphics processor, etc.) 901, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 902 or a program loaded from memory 908 into random access memory (RAM) 903. RAM 903 also stores various programs and data required for the operation of the electronic device. The processor 901, ROM 902, and RAM 903 are interconnected via bus 904. Input / output (I / O) interface 905 is also connected to bus 904.

[0126] Typically, the following devices can be connected to I / O interface 905: input devices 906 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 907 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; memory devices 908 including, for example, magnetic tapes, hard disks, etc.; and communication devices 909. Communication device 909 allows electronic devices to exchange data via wireless or wired communication with other devices. Although Figure 9 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown, and more or fewer devices may be implemented or have instead.

[0127] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application 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 909, or installed from a memory 908, or installed from a ROM 902. When the computer program is executed by the processor 901, it performs the functions defined in the crawler crane overturning stability control method of embodiments of this application.

[0128] Figure 9 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0129] This application also provides a computer-readable storage medium. The methods described in this application 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 overturning stability control method for crawler cranes shown in the above embodiments is implemented.

[0130] A portion of this application 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 this application 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.

[0131] Although embodiments of this application 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 this application, and all such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A method for controlling the overturning stability of a crawler crane, characterized in that, The method includes: The ground model data and current tilt data in the operating environment of the crawler crane are acquired, wherein the current tilt data is detected when the crawler crane is located in the current road segment; Based on the ground model data, predict the tilt data of the crawler crane in the target road segment, where the target road segment is the next road segment after the crawler crane has passed through the current road segment; The center of gravity of the crawler crane is adjusted based on the current tilt data and the predicted tilt data.

2. The method according to claim 1, characterized in that, The step of adjusting the center of gravity of the crawler crane based on the current tilt data and the predicted tilt data includes: The overturning risk of the crawler crane is assessed based on the current tilt data and the predicted tilt data, and the assessment result is obtained. The overturning risk is determined based on the tilt angle and tilt direction. Based on the evaluation results, the center of gravity of the crawler crane was adjusted.

3. The method according to claim 2, characterized in that, The adjustment of the center of gravity of the crawler crane based on the evaluation results includes: When the assessment results indicate that the crawler crane has a risk of overturning, the fore-and-aft center of gravity of the crawler crane is adjusted by adjusting the counterweight position and boom angle, and / or the lateral center of gravity of the crawler crane is adjusted by adjusting the upper slewing angle.

4. The method according to claim 3, characterized in that, After adjusting the counterweight position, the boom angle, and / or the upper vehicle slewing angle, the method further includes: The risk of overturning of the tracked crane needs to be reassessed; If the crawler crane is not at risk of overturning, control the crawler crane to continue moving; If the crawler crane still poses a risk of overturning, the counterweight position, the boom angle, and / or the upper slewing angle are readjusted, and the counterweight weight and / or lifting weight of the crawler crane are adjusted. Then, the process of reassessing the overturning risk of the crawler crane is returned.

5. The method according to claim 2, characterized in that, The assessment of the overturning risk of the crawler crane based on its current tilt data and predicted tilt data, and the acquisition of assessment results, includes: Based on the current tilt data and the predicted tilt data, the overall tilt angle range and tilt orientation of the crawler crane on the complete road segment are calculated. The complete road segment represents the combination of the current road segment and the target road segment. Locate the current center of gravity of the crawler crane; Calculate the first angle between the current center of gravity and the forward tilting line of the crawler crane, calculate the second angle between the current center of gravity and the backward tilting line of the crawler crane, calculate the third angle between the current center of gravity and the left tilting line of the crawler crane, and calculate the fourth angle between the current center of gravity and the right tilting line of the crawler crane; The overturning risk of the crawler crane is assessed based on the relationship between the first included angle, the second included angle, the third included angle, the fourth included angle, and the overall tilt angle range.

6. The method according to claim 1, characterized in that, The step of predicting the tilt data of the tracked crane within the target road segment based on the ground model data includes: Based on the ground model data, the running trajectory of the tracked crane is simulated, wherein the running trajectory includes the current road segment and the next road segment. Based on the running trajectory and the operating parameters of the tracked crane, the tilt data at various locations within the target road segment are simulated.

7. A tilting stability control device for a crawler crane, characterized in that, The device includes: The acquisition module is used to acquire ground model data and current tilt data in the operating environment of the crawler crane, wherein the current tilt data is detected when the crawler crane is located in the current road segment; The prediction module is used to predict the tilt data of the crawler crane in the target road segment based on the ground model data. The target road segment is the next road segment after the crawler crane has passed through the current road segment. The adjustment module is used to adjust the center of gravity of the crawler crane based on the current tilt data and the predicted tilt data of the crawler crane.

8. An electronic device, characterized in that, include: The system includes a memory and a processor, which are interconnected. The memory stores computer instructions, and the processor executes the computer instructions to perform the overturning stability control method for a crawler crane as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to execute the overturning stability control method for the crawler crane as described in any one of claims 1 to 6.

10. A computer program product, characterized in that, Includes computer instructions for causing a computer to execute the overturning stability control method for a crawler crane as described in any one of claims 1 to 6.

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