Single-cylinder pin hole position parameter correction method and system, and single-cylinder pin type crane

Abstract

A single-cylinder pin hole position parameter correction method, comprising: in the process of inserting an arm pin, acquiring an original position parameter range of a target hole position, controlling a telescopic cylinder to drive a target arm to extend and retract between the maximum original arm extending value and the minimum original arm retracting value in the original position parameter range, recording the original number of expansions and retractions, and carrying out an arm pin insertion action; and when the original number of expansions and retractions is greater than or equal to a preset original expansion and retraction frequency threshold and the current target arm pin is not successfully inserted, inserting the target arm pin into the target hole position by expanding the expansion and retraction range of the telescopic cylinder at least once, and controlling the telescopic cylinder to drive the target arm to respectively retract and extend, so as to determine the corrected position parameter range of the target hole position. According to the correction method, automatic calibration and correction of hole position parameters in the arm pin insertion process are achieved, the automation degree is high, and the cost is low. Also provided are a single-cylinder pin hole position parameter correction system and a single-cylinder pin type crane.

Description

Single-cylinder pin hole position parameter correction method, system and crane

[0001] This application claims priority to Chinese patent application No. 202310801767.3, filed on June 30, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present application relates to the technical field of engineering machinery, and in particular to a method and system for correcting the hole position parameters of a single-cylinder pin, and a crane. Background Art

[0003] With the continuous development of the construction machinery industry, single-cylinder latch cranes are becoming increasingly widespread. Starting with the second boom section, each boom section of a single-cylinder latch crane has several arm pin holes located in different locations. Each hole has pre-calibrated parameters to determine its location. During the automatic extension and retraction of the telescopic cylinder, the length range of the telescopic cylinder to the target hole is determined based on the target hole parameters. This is the telescopic cylinder's retractable length range. The cylinder is then controlled to extend and retract to the target position to insert and remove the arm pin.

[0004] However, during the use of a single-cylinder arm pin, the hole position may be worn and deformed, causing the actual position parameters of the hole position to change. In addition, current single-cylinder arm pin cranes usually use a wire-type length sensor to detect the telescopic length of the telescopic cylinder. During long-term use, the wire of the wire-type length sensor will deform, causing the measured value of the length sensor to drift. On this basis, if the original calibrated hole position parameter value is still used, the single-cylinder arm pin will not be able to smoothly pull out and insert the arm pin during the extension and retraction process, resulting in a poor automatic extension and retraction experience for users, and the hole position parameters need to be manually recalibrated, which is time-consuming and labor-intensive. Technical issues

[0005] The present application provides a single-cylinder pin hole position parameter correction method, system and crane, which are used to solve the problem in the related art that pre-calibrated fixed hole position parameters are used to insert and extract arm pins, which cannot smoothly extract and insert the arm pins, resulting in a poor user experience of automatic telescopic extension. In addition, if the hole position parameters are manually recalibrated, it will take a lot of manpower, material resources and time. Technical Solutions

[0006] The present application provides a single-cylinder bolt hole position parameter correction method, which includes: obtaining an original position parameter range of a target hole position during an arm pinning process; controlling a telescopic oil cylinder to drive a target arm to extend and retract between an original maximum arm extension value and an original minimum arm retraction value within the original position parameter range, and recording the original extension and retraction times while performing an arm pinning action;

[0007] When the original telescopic number of times is greater than or equal to a preset original telescopic number threshold and the current target arm pin is not successfully inserted, the target arm pin is inserted into the target hole position by expanding the telescopic range of the telescopic cylinder at least once; the telescopic cylinder is controlled to drive the target arm to retract and extend the arm respectively to determine the corrected position parameter range of the target hole position.

[0008] In one embodiment, when the original telescopic number of times is greater than or equal to a preset original telescopic number threshold and the current target arm pin is not successfully inserted, the step of inserting the target arm pin into the target hole position by expanding the telescopic range of the telescopic cylinder at least once includes:

[0009] When the original number of telescopic extensions is greater than or equal to the original number of telescopic extensions threshold, and the current target arm pin is not successfully inserted, the telescopic range of the telescopic cylinder is expanded at least once based on the preset number of expansions of the telescopic range. After each expansion of the telescopic range of the telescopic cylinder, the telescopic cylinder is controlled to drive the target arm to extend and retract back and forth within the expanded telescopic range, and the number of extensions and retractions of the telescopic cylinder after each expansion of the telescopic range is recorded respectively, and multiple arm pinning actions are performed simultaneously until the current arm pinning task is completed or the current arm pinning task is determined to have failed. The current arm pinning task is determined to have failed when, during the arm pinning process, the telescopic range of the telescopic cylinder is expanded for the last time, the cumulative number of extensions and retractions of the telescopic cylinder is greater than or equal to the preset final extension threshold, and the current target arm pin is not successfully inserted, or when, during the arm pinning process, the telescopic range of the telescopic cylinder is expanded for the last time, the cumulative number of extensions and retractions of the telescopic cylinder is greater than the final extension threshold, and the current target arm pin is not successfully inserted. The last expansion of the telescopic range of the telescopic cylinder means that the number of times the telescopic range of the current telescopic cylinder is expanded reaches the number of expansions of the telescopic range.

[0010] In one embodiment, when the original telescopic number of times is greater than or equal to the original telescopic number threshold and the current target arm pin is not successfully inserted, the step of expanding the telescopic range of the telescopic cylinder at least once based on a preset number of times of expanding the telescopic range includes:

[0011] When the original telescopic times are greater than or equal to the original telescopic times threshold and the current target arm pin is not successfully inserted, the sum of the original arm extension maximum value and the preset first arm extension value is determined as the first expanded arm extension maximum value; the difference between the original arm retraction minimum value and the preset first arm retraction expansion value is determined as the first expanded arm retraction minimum value; and the range between the first expanded arm extension maximum value and the first expanded arm retraction minimum value is determined as the one-time expanded telescopic range;

[0012] If the number of times the telescopic cylinder is extended and retracted within the once-expanded telescopic range is greater than or equal to the preset once-expanded telescopic threshold and the current target arm pin is not successfully inserted, the telescopic range of the telescopic cylinder after the once-expanded telescopic range is expanded a second time to obtain a second-expanded telescopic range.

[0013] In one embodiment, the step of expanding the telescopic range of the telescopic oil cylinder a second time after the first expansion to obtain the second expanded telescopic range includes:

[0014] The sum of the first arm extension maximum value and the preset second arm extension value is determined as the second arm extension maximum value; the difference between the first arm extension minimum value and the preset second arm extension value is determined as the second arm extension minimum value;

[0015] The range between the second expanded arm extension maximum value and the second expanded arm retraction minimum value is determined as the secondary expanded telescopic range.

[0016] In one embodiment, the steps of controlling the telescopic cylinder to drive the target arm to retract and extend respectively to determine the corrected position parameter range of the target hole position include:

[0017] After the target arm pin is successfully inserted, the telescopic cylinder is controlled to drive the target arm to extend until the length of the telescopic cylinder remains unchanged, and the unchanged time is greater than or equal to the preset first holding time, and the length of the telescopic cylinder at this time is determined as the corrected maximum arm extension value;

[0018] Control the telescopic cylinder to drive the target arm to retract until the length of the telescopic cylinder remains unchanged, and the unchanged time is greater than or equal to the preset second holding time, and the length of the telescopic cylinder at this time is determined as the corrected minimum value of the retracted arm;

[0019] The range between the corrected arm extension maximum value and the corrected arm retraction minimum value is determined as the corrected position parameter range.

[0020] Before the arm pin is installed, it also includes:

[0021] Determining a target arm position combination, the target arm position combination including target telescopic lengths of each of the multiple-section arms and target hole positions of each arm pin corresponding to the target lengths;

[0022] Pull out the cylinder pin and control the telescopic cylinder to move toward the cylinder pin hole of the target arm. When the target arm is detected, control the telescopic cylinder to extend and retract at a preset telescopic distance, and at the same time insert the cylinder pin into the cylinder pin hole.

[0023] The telescopic oil cylinder is controlled to drive the target arm to telescope back and forth within a preset target arm pin pulling-out range to pull out the target arm pin.

[0024] In one embodiment, the step of controlling the telescopic oil cylinder to drive the target arm to telescope back and forth within a preset target arm pin extraction range to extract the target arm pin includes:

[0025] The telescopic oil cylinder is controlled to drive the target arm to extend and retract back and forth within the target arm pin extraction range, and the number of extensions and retractions back and forth within the target arm pin extraction range is recorded, and the arm pin extraction action is performed at the same time; when the number of extensions and retractions is greater than or equal to a preset first extraction and extension threshold value and the current target arm pin is not successfully extracted, the target arm pin is extracted from the current hole position by expanding the extension and retraction range of the telescopic oil cylinder at least once.

[0026] In one embodiment, when the number of telescopic operations is greater than or equal to a preset first extraction threshold and the current target arm pin is not successfully extracted, the step of extracting the target arm pin from the current hole position by expanding the telescopic range of the telescopic cylinder at least once includes:

[0027] When the number of extensions and retractions is greater than or equal to a preset first extension and retraction threshold, and the current target arm pin is not successfully pulled out, the extension range of the telescopic cylinder is expanded at least once based on the preset number of expansions of the activity range. After each expansion of the extension range of the telescopic cylinder, the telescopic cylinder is controlled to drive the target arm to extend and retract back and forth within the expanded extension range, and the number of extensions and retractions of the telescopic cylinder after each expansion of the extension range is recorded respectively, and multiple arm pin pulling actions are performed at the same time until the current arm pin pulling task is completed or the current arm pin pulling task is determined to have failed. The current arm pin insertion task is determined to have failed when, during the arm pin pulling process, after the last expansion of the extension range of the telescopic cylinder, the cumulative number of extensions and retractions of the telescopic cylinder is greater than or equal to the preset final activity threshold, and the current target arm pin is not successfully pulled out, or when, during the arm pin pulling process, after the last expansion of the extension range of the telescopic cylinder, the cumulative number of extensions and retractions of the telescopic cylinder is greater than the final activity threshold, and the current target arm pin is not successfully pulled out.

[0028] The present application also provides a single-cylinder pin hole position parameter correction system, comprising:

[0029] The arm pin module is used to obtain the original position parameter range of the target hole position during the arm pinning process; control the telescopic cylinder to drive the target arm to extend and retract back and forth between the original maximum arm extension value and the original minimum arm retraction value within the original position parameter range, and record the original extension and retraction times while performing the arm pinning action;

[0030] The parameter correction module is used to, when the original telescopic number of times is greater than or equal to a preset original telescopic number threshold and the current target arm pin is not successfully inserted, expand the telescopic range of the telescopic cylinder at least once to insert the target arm pin into the target hole position; control the telescopic cylinder to drive the target arm to retract and extend the arm respectively to determine the corrected position parameter range of the target hole position.

[0031] The present application also provides a single-cylinder latch crane, which includes: a headstock, a body, a telescopic oil cylinder, a multi-section arm and a single-cylinder latch hole position parameter correction system;

[0032] The single-cylinder pin hole position parameter correction system includes: an arm pin module, which is used to obtain the original position parameter range of the target hole position during the arm pinning process; control the telescopic oil cylinder to drive the target arm to extend and retract back and forth between the original arm extension maximum value and the original arm retraction minimum value within the original position parameter range, and record the original extension and retraction times, while performing the arm pinning action; a parameter correction module, which is used to, when the original extension and retraction times are greater than or equal to a preset original extension and retraction times threshold and the current target arm pin is not successfully inserted, expand the extension range of the telescopic oil cylinder at least once to insert the target arm pin into the target hole position; control the telescopic oil cylinder to drive the target arm to retract and extend the arm respectively to determine the corrected position parameter range of the target hole position.

[0033] The present application also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, a single-cylinder pin hole position parameter correction method as described above is implemented.

[0034] The present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for correcting the single-cylinder pin hole position parameters as described in any one of the above is implemented. Beneficial effects

[0035] The beneficial effects of the present application are as follows: The single-cylinder latch hole position parameter correction method, system, and crane provided by the present application obtain the original position parameter range of the target hole position during the arm pinning process; control the telescopic cylinder to drive the target arm to extend and retract back and forth between the original maximum value of arm extension and the original minimum value of arm retraction within the original position parameter range, and record the original number of extensions and retractions while performing the arm pinning action; when the original number of extensions and retractions is greater than or equal to the preset original number of extensions and retractions threshold, and the current target arm pin is not successfully inserted, the target arm pin is inserted into the target hole position by expanding the telescopic range of the telescopic cylinder at least once; and the telescopic cylinder is controlled to drive the target arm to retract and extend the arm respectively to determine the corrected position parameter range of the target hole position. The automatic calibration and correction of the hole position parameters during the arm pinning process are well realized, with a high degree of automation and low cost. The problem that the arm pin and the arm pin cannot be normally pulled out using the original calibrated original position parameter range after the length sensor drifts is well solved, as well as the problem of recalibrating the hole position parameters after the length sensor is replaced. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0037] FIG1 is a flow chart of a method for correcting the position parameters of a single-cylinder latch pin hole provided by the present application;

[0038] FIG2 is a schematic diagram of an exemplary process of inserting an arm pin in the single-cylinder pin hole position parameter correction method provided by the present application;

[0039] FIG3 is a schematic structural diagram of a single-cylinder latch hole position parameter correction system provided by the present application;

[0040] FIG4 is a schematic structural diagram of the electronic device provided in this application. Modes for Carrying Out the Invention

[0041] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0042] The following describes the single-cylinder latch hole parameter correction method, system and crane provided by the present application in the form of embodiments with reference to Figures 1 to 4.

[0043] Referring to FIG1 , the single-cylinder latch hole parameter correction method provided in this embodiment includes:

[0044] S101: During the arm pinning process, the original position parameter range of the target hole position is obtained; the telescopic cylinder is controlled to drive the target arm to extend and retract back and forth between the original arm extension maximum value and the original arm retraction minimum value within the original position parameter range, and the original extension and retraction times are recorded, while the arm pinning action is performed.

[0045] Specifically, the original position parameter range of the original hole position is the range formed by the pre-calibrated hole position parameters. The original position parameter range includes the original maximum value of arm extension and the original minimum value of arm retraction. The original maximum value of arm extension refers to the original calibrated maximum value of telescopic oil cylinder arm extension corresponding to the target hole position, and the original minimum value of arm retraction refers to the original calibrated minimum value of telescopic oil cylinder arm retraction corresponding to the target hole position. By controlling the telescopic oil cylinder to drive the target arm to extend and retract back and forth between the original maximum value of arm extension and the original minimum value of arm retraction in the original position parameter range, and simultaneously performing the arm pin insertion action, the probability of inserting the target arm pin into the target hole position can be increased. By recording the original number of extensions and retractions, it is possible to facilitate subsequent threshold judgment based on the original number of extensions and retractions to start the hole position parameter correction step.

[0046] In addition, controlling the telescopic cylinder to drive the target arm to extend and retract back and forth between the original maximum value of arm extension and the original minimum value of arm retraction within the original position parameter range, and recording the original number of extensions and retractions means: when the telescopic cylinder extends to the original maximum value of arm extension, the arm retraction action is performed, and the original number of extensions and retractions is increased by 1; when the telescopic cylinder retracts to the original minimum value of arm retraction, the arm extension action is performed, and the original number of extensions and retractions is increased by 1.

[0047] It's worth noting that during the telescopic cylinder's reciprocating movement of the target arm, when the distance between the target arm pin and the target hole reaches a preset distance, the retraction speed is reduced. Specifically, during the retraction process, when the target arm pin approaches the target hole, the reciprocating speed is reduced, thereby effectively ensuring insertion of the target arm pin. The preset distance can be set based on actual needs. Furthermore, the speed and frequency of the arm pin can be adjusted based on actual conditions, with a low speed typically used to ensure safety.

[0048] S102: When the original telescopic number of times is greater than or equal to a preset original telescopic number threshold and the current target arm pin is not successfully inserted, the target arm pin is inserted into the target hole position by expanding the telescopic range of the telescopic cylinder at least once; the telescopic cylinder is controlled to drive the target arm to retract and extend the arm respectively to determine the corrected position parameter range of the target hole position.

[0049] Specifically, the initial telescopic count threshold can be set based on actual circumstances and will not be further elaborated here. By expanding the telescopic cylinder's telescopic range at least once in step S102, the probability of inserting the target arm pin into the target hole position can be increased. After the target arm pin is inserted into the target hole position, due to the presence of a certain gap (clearance) between the target hole position (arm pin hole position), the target arm pin can still move within the target hole position. Therefore, by controlling the telescopic cylinder to retract and extend the target arm (at this point, the target arm and target arm pin are locked), the corrected position parameter range of the target hole position can be accurately determined, with greater feasibility.

[0050] It should be noted that the reason this embodiment initiates the hole position parameter correction process when the original number of telescopic extensions is greater than or equal to the preset original number of extensions threshold and the current target arm pin is not successfully inserted, rather than immediately initiating hole position parameter correction if the arm pin is not successfully inserted after the telescopic cylinder has completed a single extension and retraction, is because during the arm pin insertion process, factors such as low current in the arm pin mechanism may cause arm pin insertion failure. Therefore, when the original number of telescopic extensions is less than the preset original number of extensions threshold, there is no need to initiate the hole position parameter correction process. Instead, the telescopic cylinder can be controlled to extend and retract back and forth within the original position parameter range and perform multiple arm pin insertion operations to insert the target arm pin into the target hole position. During multiple arm pin insertion operations, the arm pin current can be increased gradually. This avoids unnecessary hole position parameter calibration processes, which waste time and resources. Specifically, if the original number of telescopic extensions is less than the preset original number of extensions threshold and the current target arm pin is successfully inserted, the arm pin insertion process or step is completed, and control of the extension and retraction of the lower boom section begins, without the need for hole position parameter correction.

[0051] In some embodiments, when the original telescopic number of times is greater than or equal to a preset original telescopic number threshold and the current target arm pin is not successfully inserted, the step of inserting the target arm pin into the target hole position by expanding the telescopic range of the telescopic cylinder at least once includes:

[0052] When the original number of telescopic extensions is greater than or equal to the original number of extensions threshold, and the current target arm pin is not successfully inserted, the telescopic range of the telescopic cylinder is expanded at least once based on the preset number of expansions of the telescopic range. Each time the telescopic range of the telescopic cylinder is expanded, the telescopic cylinder is controlled to drive the target arm to extend and retract back and forth within the expanded telescopic range, and the number of extensions and retractions of the telescopic cylinder after each expansion of the telescopic range is recorded. Multiple arm pinning actions are performed simultaneously until the current arm pinning task is completed or the current arm pinning task is determined to have failed. The current arm pinning task is determined to have failed when, after the last expansion of the telescopic range of the telescopic cylinder during the arm pinning process, the cumulative number of extensions and retractions of the telescopic cylinder is greater than or equal to the preset final extension threshold, and the current target arm pin is not successfully inserted; or when, after the last expansion of the telescopic range of the telescopic cylinder during the arm pinning process, the cumulative number of extensions and retractions of the telescopic cylinder is greater than the final extension threshold, and the current target arm pin is not successfully inserted. The last expansion of the telescopic range of the telescopic cylinder means that the number of times the current telescopic range of the telescopic cylinder is expanded reaches the number of expansions of the telescopic range.

[0053] Specifically, the number of times the telescopic range is expanded can be set according to actual needs, such as two or three times. The next expansion of the telescopic cylinder's range is performed based on the current telescopic cylinder's range. The next expansion of the telescopic cylinder's range is initiated when the number of times the telescopic cylinder is extended and retracted within the current range is greater than or equal to a threshold set for the current stage, and the target arm pin has not been successfully inserted into the target hole. If, during the arm pinning process, the cumulative number of times the telescopic cylinder's range is extended and retracted after the last expansion of the telescopic cylinder's range (i.e., the number of times the current expansion of the telescopic cylinder's range has reached a preset number of expansions, such as two or three times), is greater than or equal to a preset final extension threshold, and the current target arm pin has not been successfully inserted, the current arm pinning task is determined to have failed. Alternatively, during the arm pinning process, if the cumulative number of times the telescopic cylinder is extended and retracted after the last expansion of the telescopic cylinder's range is greater than the final extension threshold, and the current target arm pin has not been successfully inserted, the current arm pinning task is determined to have failed.

[0054] It's worth noting that to avoid the problem of the function determining whether the arm pin task has failed due to the cumulative number of telescopic cylinder extension and retraction failures caused by network interruptions and other reasons, the arm pin task failure determination criteria in this embodiment use the cumulative number of telescopic cylinder extension and retraction failures as the criteria for determining whether the telescopic cylinder has failed to extend or retract. This effectively avoids the above problem because the determination of the number of telescopic cylinder extension and retraction failures is not limited to reaching or equaling a fixed threshold (the final extension and retraction threshold). The above determination can also be made when the cumulative number of telescopic cylinder extension and retraction failures exceeds the final extension and retraction threshold.

[0055] Furthermore, when the original telescopic number of times is greater than or equal to the original telescopic number threshold and the current target arm pin is not successfully inserted, the step of expanding the telescopic range of the telescopic cylinder at least once based on the preset number of times of expanding the telescopic range includes:

[0056] When the original number of extensions and retractions is greater than or equal to the original extension threshold, and the current target arm pin is not successfully inserted, the sum of the original maximum extension value and the preset first extension value is determined as the first maximum extension value; the difference between the original minimum retraction value and the preset first retraction value is determined as the first minimum extension value; and the range between the first maximum extension value and the first minimum extension value is determined as the range of one extension. The first extension value and the first retraction value can be set according to actual conditions.

[0057] If the number of times the telescopic cylinder is extended and retracted within the once-expanded telescopic range is greater than or equal to the preset once-expanded telescopic threshold and the current target arm pin is not successfully inserted, the telescopic range of the telescopic cylinder after the once-expanded telescopic range is expanded a second time to obtain a second-expanded telescopic range.

[0058] Specifically, the steps of performing a secondary expansion on the telescopic range of the telescopic oil cylinder after the primary expansion to obtain a secondary expanded telescopic range include:

[0059] The sum of the first arm extension maximum value and the preset second arm extension value is determined as the second arm extension maximum value; the difference between the first arm extension minimum value and the preset second arm extension value is determined as the second arm extension minimum value. The second arm extension value and the second arm extension value can be set according to actual needs.

[0060] The range between the second expanded arm extension maximum value and the second expanded arm retraction minimum value is determined as the secondary expanded telescopic range.

[0061] It is understood that after the telescopic range of the telescopic cylinder is expanded a second time after the primary expansion, the second expansion is used to control the extension and retraction of the cylinder. If the preset number of expansions is greater than two, then after the secondary expansion, there are further steps such as a third expansion and a fourth expansion. Specifically, if the control cylinder drives the target arm to extend and retract within the secondary expansion range a number of times greater than or equal to the preset extension threshold for that stage, and the insertion of the target arm pin is not completed, the telescopic range of the telescopic cylinder after the secondary expansion is expanded a third time. The third expansion method can be referred to the steps of the secondary expansion, and the subsequent fourth expansion, fifth expansion, and so on can be analogized accordingly.

[0062] In some embodiments, the steps of controlling the telescopic cylinder to drive the target arm to retract and extend the target arm to determine the corrected position parameter range of the target hole position include:

[0063] After the target arm pin is successfully inserted, the telescopic cylinder is controlled to extend the target arm until the length of the telescopic cylinder remains constant, and the unchanged time is greater than or equal to a preset first holding time. The length of the telescopic cylinder at this time is then determined as the corrected maximum arm extension value. It will be understood that by controlling the telescopic cylinder to extend the target arm until the length of the telescopic cylinder remains constant, the target arm pin can be positioned at the maximum arm extension value of the target hole position, and the length of the telescopic cylinder at this time is then determined as the corrected maximum arm extension value.

[0064] The telescopic cylinder is controlled to drive the target arm to retract until the length of the telescopic cylinder remains constant, and the unchanged time is greater than or equal to a preset second holding time, and the length of the telescopic cylinder at this time is determined as the corrected minimum retraction value. It will be understood that by controlling the telescopic cylinder to drive the target arm to retract until the length of the telescopic cylinder remains constant, the target arm pin can be positioned at the minimum retraction value corresponding to the target hole position, and the length of the telescopic cylinder at this time is determined as the corrected minimum retraction value.

[0065] The range between the maximum value of the corrected arm extension and the minimum value of the corrected arm retraction is determined as the corrected position parameter range, thereby completing the hole position parameter correction of the target hole position.

[0066] In some embodiments, before performing the arm pin, the method further includes:

[0067] Determine a target arm position combination, which includes the target telescopic length of each of the multiple arms and the target hole position of each arm pin corresponding to the target length. It can be understood that the single-cylinder latch starts from the second arm, and each arm has several arm pin hole positions distributed in different positions. In order to meet the requirements of different telescopic lengths, different arm pin hole positions of different arms are combined to generate multiple arm position combinations. Before telescoping, first, determine the target arm position combination from the multiple arm position combinations, and then determine the target telescopic length of each of the multiple arms and the target hole position of each arm pin corresponding to the target length.

[0068] The cylinder pin is pulled out, controlling the telescopic cylinder to move toward the cylinder pin hole of the target arm. When the target arm is detected, the telescopic cylinder is controlled to extend and retract back and forth by a preset distance, while simultaneously inserting the cylinder pin into the cylinder pin hole. This means that the cylinder pin is pulled out of its current hole position and the telescopic cylinder is controlled to move toward the cylinder pin hole of the target arm. The target arm is detected via a contact switch pre-installed on the target arm.

[0069] The telescopic cylinder is controlled to move the target arm back and forth within a preset target arm pin extraction range to extract the target arm pin. The target arm pin extraction range is a pre-calibrated value. In some embodiments, the target arm pin extraction range is the same as the original position parameter range or the revised position parameter range of the arm pin hole position where the target arm pin is currently located.

[0070] In some embodiments, the step of controlling the telescopic oil cylinder to drive the target arm to telescope back and forth within a preset target arm pin extraction range to extract the target arm pin includes:

[0071] The telescopic oil cylinder is controlled to drive the target arm to extend and retract back and forth within the target arm pin extraction range, and the number of extensions and retractions within the target arm pin extraction range is recorded, while the arm pin extraction action is performed simultaneously; when the number of extensions and retractions is greater than or equal to a preset first extraction extension and retraction threshold, and the current target arm pin is not successfully extracted, the target arm pin is extracted from the current hole position by expanding the extension and retraction range of the telescopic oil cylinder at least once. The target arm pin extraction range refers to the range of movement or extension of the oil cylinder during the extraction process when the target arm pin is extracted from the target hole position where the target arm pin is currently located. The first extraction extension and retraction threshold can be set according to actual conditions.

[0072] Furthermore, when the number of telescopic times is greater than or equal to a preset first extraction and retraction threshold and the current target arm pin is not successfully extracted, the step of extracting the target arm pin from the current hole position by expanding the telescopic range of the telescopic cylinder at least once includes:

[0073] When the number of extension and retraction attempts is greater than or equal to a preset first extension and retraction threshold, and the current target arm pin is not successfully extracted, the extension range of the telescopic cylinder is expanded at least once based on a preset number of range expansions. After each expansion of the telescopic cylinder's range, the telescopic cylinder is controlled to drive the target arm to extend and retract back and forth within the expanded range, and the number of extensions and retractions of the telescopic cylinder after each expansion is recorded. Multiple arm pin extraction actions are performed simultaneously until the current arm pin extraction task is completed or the current arm pin extraction task is determined to have failed. The current arm pin insertion task is determined to have failed if, after the last expansion of the telescopic cylinder's range during the arm pin extraction process, the cumulative number of extensions and retractions of the telescopic cylinder is greater than or equal to a preset final activity threshold, and the current target arm pin is not successfully extracted, or if, after the last expansion of the telescopic cylinder's range during the arm pin extraction process, the cumulative number of extensions and retractions of the telescopic cylinder is greater than the final activity threshold, and the current target arm pin is not successfully extracted. The number of range expansions refers to the number of times the telescopic cylinder's range is expanded, such as once, twice, or three times.

[0074] It should be mentioned that after each expansion of the telescopic range of the telescopic oil cylinder, the arm pin pulling current is correspondingly increased one by one to pull out the target arm pin.

[0075] The following is an example of the entire process of single-cylinder pin hole position parameter correction:

[0076] a. Determine a target arm position combination, which includes the target telescopic lengths of the multiple arms and the target hole positions of the arm pins corresponding to the target lengths.

[0077] b. Pull out the cylinder pin and control the telescopic cylinder to move toward the cylinder pin hole of the target arm. When the target arm is detected, control the telescopic cylinder to extend and retract back and forth at a preset telescopic distance, and at the same time insert the cylinder pin into the cylinder pin hole.

[0078] c. Control the telescopic oil cylinder to drive the target arm to extend and retract back and forth within the preset target arm pin extraction range to extract the target arm pin.

[0079] d. After pulling out the target arm pin, enter the arm pin insertion stage. Please refer to Figure 2 for details, as shown in Figure 2:

[0080] S201: Obtain the original position parameter range of the target hole position; control the telescopic cylinder to drive the target arm to telescope back and forth between the original arm extension maximum value and the original arm retraction minimum value within the original position parameter range, and record the number of telescopic times, while performing the arm pin action.

[0081] S202: When the telescopic count is less than a preset threshold value M1, the telescopic cylinder is controlled to extend and retract between the original maximum extension value and the original minimum retraction value within the original position parameter range, and the number of telescopic counts is recorded each time the cylinder is extended or retracted. Specifically, the procedure is as follows: when the telescopic cylinder length is less than the original minimum retraction value, the cylinder is extended, and the number of telescopic counts is increased by 1; when the telescopic cylinder length is greater than the original maximum extension value, the cylinder is retracted, and the number of telescopic counts is increased by 1.

[0082] S203: Determine whether the target arm pin is inserted successfully. If successful, control the lower arm. If unsuccessful, return to S202.

[0083] S204: When the number of telescopic extensions is greater than or equal to the original telescopic threshold M1 and less than the preset single-expansion threshold M2, and the current target arm pin is not successfully inserted, the sum of the original maximum extension value and the preset first extension value is determined as the first expanded arm extension maximum value A1, i.e., A1 = original maximum extension value + ∆1. The difference between the original minimum retraction value and the preset first retraction value is determined as the first expanded arm retraction minimum value B1, i.e., B1 = original minimum retraction value - ∆1. The range between the first expanded arm extension maximum value and the first expanded arm retraction minimum value is determined as the single-expansion range. The telescopic cylinder is controlled to move the target arm back and forth within the single-expansion range, and the number of extensions is recorded while the arm pin is inserted. Specifically, the procedure is as follows: when the telescopic cylinder length is less than B1, the cylinder is extended, and the number of extensions is increased by 1; when the telescopic cylinder length is greater than A1, the cylinder is retracted, and the number of extensions is increased by 1.

[0084] S205: Determine whether the target arm pin is inserted successfully. If successful, automatically calibrate and correct the hole position parameters of the target hole position. If unsuccessful, return to S204.

[0085] S206: If the number of telescopic cylinder extensions and retractions within the primary expanded telescopic range is greater than or equal to the preset primary expansion threshold M2 and less than the preset secondary expansion threshold M3, and the current target arm pin is not successfully inserted, the telescopic cylinder's range after the primary expansion is expanded a second time to obtain a secondary expanded telescopic range. Specifically, the sum of the first expanded arm extension maximum value and the preset second arm extension value is determined as the second expanded arm extension maximum value A2 (A2 = original arm extension maximum value + ∆1 + ∆2); the difference between the first expanded arm retraction minimum value and the preset second arm retraction value is determined as the second expanded arm retraction minimum value B2 (B2 = original arm retraction minimum value - ∆1 - ∆2). The telescopic cylinder is controlled to move the target arm back and forth within the secondary expanded telescopic range, and the number of extensions and retractions is recorded while the arm pin is inserted. Specifically, the procedure is as follows: when the telescopic cylinder length is less than B2, the cylinder is extended, and the number of extensions and retractions is increased by 1; when the telescopic cylinder length is greater than A2, the cylinder is retracted, and the number of extensions and retractions is increased by 1.

[0086] S207: Determine whether the target arm pin is inserted successfully. If successful, automatically calibrate and correct the hole position parameters of the target hole position. If unsuccessful, return to S206.

[0087] S208: Automatically calibrate and correct the target hole position parameters. That is, the telescopic cylinder is controlled to extend the target arm until the length of the telescopic cylinder remains unchanged, and the unchanged time is greater than or equal to a preset first holding time. The length of the telescopic cylinder at this time is determined as the corrected maximum value of the extended arm; the telescopic cylinder is controlled to retract the target arm until the length of the telescopic cylinder remains unchanged, and the unchanged time is greater than or equal to a preset second holding time. The length of the telescopic cylinder at this time is determined as the corrected minimum value of the retracted arm; and the range between the corrected maximum value of the extended arm and the corrected minimum value of the retracted arm is determined as the corrected position parameter range.

[0088] S209: Control the lower boom.

[0089] S210: If the number of times the telescopic cylinder is extended and retracted within the first extended telescopic range is greater than or equal to the second extended telescopic threshold M3, and the current target arm pin is not successfully inserted, an error is reported and the process is exited.

[0090] The single-cylinder latch pin hole position parameter correction system provided by the present application is described below. The single-cylinder latch pin hole position parameter correction system described below and the single-cylinder latch pin hole position parameter correction method described above can be referenced to each other.

[0091] Referring to FIG3 , the single-cylinder latch hole parameter correction system provided in this embodiment includes:

[0092] The arm pinning module 301 is used to obtain the original position parameter range of the target hole position during the arm pinning process; control the telescopic cylinder to drive the target arm to extend and retract between the original maximum arm extension value and the original minimum arm retraction value within the original position parameter range, and record the original extension and retraction times while performing the arm pinning action;

[0093] The parameter correction module 302 is used to insert the target arm pin into the target hole position by expanding the telescopic range of the telescopic cylinder at least once when the original telescopic number of times is greater than or equal to the preset original telescopic number threshold and the current target arm pin is not successfully inserted; and to control the telescopic cylinder to drive the target arm to retract and extend the arm respectively to determine the corrected position parameter range of the target hole position. The arm pin insertion module 301 is connected to the parameter correction module 302. This system effectively realizes the automatic calibration and correction of hole position parameters during the arm pin insertion process, with a high degree of automation, low cost, high feasibility, and strong flexibility.

[0094] In some embodiments, the parameter correction module 302 is specifically used to expand the telescopic range of the telescopic cylinder at least once based on a preset number of expansions of the telescopic range when the original number of expansions is greater than or equal to the original number of expansions and the current target arm pin is not successfully inserted. After each expansion of the telescopic range of the telescopic cylinder, the telescopic cylinder is controlled to drive the target arm to extend and retract back and forth within the expanded telescopic range, and the number of expansions and retractions of the telescopic cylinder after each expansion of the telescopic range is recorded respectively, and multiple arm pinning actions are performed simultaneously until the current arm pinning task is completed or the current arm pinning task is determined to have failed. The determination that the current arm pinning task has failed refers to the arm pinning process, after the telescopic range of the telescopic cylinder is expanded for the last time, the cumulative number of expansions and retractions of the telescopic cylinder is greater than or equal to the preset final expansion threshold, and the current target arm pin is not successfully inserted, or refers to the arm pinning process, after the telescopic range of the telescopic cylinder is expanded for the last time, the cumulative number of expansions and retractions of the telescopic cylinder is greater than the final expansion threshold, and the current target arm pin is not successfully inserted.

[0095] In some embodiments, the parameter correction module 302 includes: a primary expansion unit, configured to, when the original number of extensions and retractions is greater than or equal to the original number of extensions and retractions threshold value and the current target arm pin is not successfully inserted, determine the sum of the original arm extension maximum value and the preset first arm extension expansion value as the first expanded arm extension maximum value; determine the difference between the original arm retraction minimum value and the preset first arm retraction expansion value as the first expanded arm retraction minimum value; and determine the range between the first expanded arm extension maximum value and the first expanded arm retraction minimum value as the primary expansion extension range;

[0096] The secondary expansion unit is used to expand the telescopic range of the telescopic cylinder after the primary expansion for a secondary time to obtain a secondary expansion telescopic range if the number of times the telescopic cylinder is extended and retracted within the primary expansion telescopic range is greater than or equal to a preset primary expansion telescopic threshold and the current target arm pin is not successfully inserted.

[0097] In some embodiments, the secondary expansion unit is specifically used to determine the sum of the first expanded arm extension maximum value and the preset second arm extension value as the second expanded arm extension maximum value; determine the difference between the first expanded arm contraction minimum value and the preset second arm contraction expansion value as the second expanded arm contraction minimum value; and determine the range between the second expanded arm extension maximum value and the second expanded arm contraction minimum value as the secondary expansion telescopic range.

[0098] In some embodiments, the parameter correction module 302 is also specifically used to control the telescopic cylinder to extend the target arm after the target arm pin is successfully inserted, until the length value of the telescopic cylinder remains unchanged, and the unchanged time is greater than or equal to the preset first holding time, and the length value of the telescopic cylinder at this time is determined as the corrected maximum value of the arm extension; control the telescopic cylinder to drive the target arm to retract the arm until the length value of the telescopic cylinder remains unchanged, and the unchanged time is greater than or equal to the preset second holding time, and the length value of the telescopic cylinder at this time is determined as the corrected minimum value of the arm retraction; and the range between the corrected maximum value of the arm extension and the corrected minimum value of the arm retraction is determined as the corrected position parameter range.

[0099] In some embodiments, the invention further comprises: an arm position combination module for determining a target arm position combination, wherein the target arm position combination includes a target telescopic length of each of the multiple-section arms and a target hole position of each arm pin corresponding to the target length;

[0100] The cylinder pin insertion and extraction module is used to pull out the cylinder pin and control the telescopic cylinder to move toward the cylinder pin hole of the target arm. When the target arm is detected, the telescopic cylinder is controlled to extend and retract back and forth at a preset telescopic distance, and the cylinder pin is inserted into the cylinder pin hole at the same time.

[0101] The arm pin pulling module is used to control the telescopic cylinder to drive the target arm to stretch back and forth within the preset target arm pin pulling range to pull out the target arm pin.

[0102] In some embodiments, the arm pin pulling module is specifically used to control the telescopic cylinder to drive the target arm to extend and retract back and forth within the target arm pin pulling-out range, and record the number of telescopic movements back and forth within the target arm pin pulling-out range, while performing the arm pin pulling action; when the number of telescopic movements is greater than or equal to a preset first pulling-out telescopic threshold, and the current target arm pin is not successfully pulled out, the target arm pin is pulled out from the current hole position by expanding the telescopic range of the telescopic cylinder at least once.

[0103] Furthermore, the arm pin extraction module is specifically configured to, when the number of extension and retraction cycles is greater than or equal to a preset first extension and retraction threshold and the current target arm pin is not successfully extracted, expand the telescopic range of the telescopic cylinder at least once based on a preset number of range expansions. After each expansion of the telescopic range of the telescopic cylinder, the telescopic cylinder is controlled to drive the target arm to extend and retract back and forth within the expanded telescopic range, and the number of extension and retraction cycles of the telescopic cylinder after each expansion of the telescopic range is recorded. The arm pin extraction module simultaneously performs multiple arm pin extraction actions until the current arm pin extraction task is completed or the current arm pin extraction task is determined to have failed. The current arm pin insertion task is determined to have failed when, after the last expansion of the telescopic range of the telescopic cylinder during the arm pin extraction process, the cumulative number of extension and retraction cycles of the telescopic cylinder is greater than or equal to a preset final activity threshold and the current target arm pin is not successfully extracted, or when, after the last expansion of the telescopic range of the telescopic cylinder during the arm pin extraction process, the cumulative number of extension and retraction cycles of the telescopic cylinder is greater than the final activity threshold and the current target arm pin is not successfully extracted. The last expansion of the telescopic range of the telescopic cylinder refers to the number of times the current expansion of the telescopic range of the telescopic cylinder has reached the number of expansions of the telescopic range.

[0104] This embodiment also provides a single-cylinder latch crane, comprising: a headstock, a body, a telescopic oil cylinder, a multi-section arm, and a single-cylinder latch hole position parameter correction system;

[0105] The single-cylinder pin hole position parameter correction system includes: an arm pin module, which is used to obtain the original position parameter range of the target hole position during the arm pinning process; control the telescopic oil cylinder to drive the target arm to extend and retract back and forth between the original arm extension maximum value and the original arm retraction minimum value within the original position parameter range, and record the original extension and retraction times, while performing the arm pinning action; a parameter correction module, which is used to, when the original extension and retraction times are greater than or equal to a preset original extension and retraction times threshold and the current target arm pin is not successfully inserted, expand the extension range of the telescopic oil cylinder at least once to insert the target arm pin into the target hole position; control the telescopic oil cylinder to drive the target arm to retract and extend the arm respectively to determine the corrected position parameter range of the target hole position.

[0106] FIG4 illustrates a schematic diagram of the physical structure of an electronic device. As shown in FIG4 , the electronic device may include: a processor 410, a communication interface 420, a memory 430, and a communication bus 440, wherein the processor 410, the communication interface 420, and the memory 430 communicate with each other via the communication bus 440. The processor 410 may call logic instructions in the memory 430 to execute a single-cylinder pin hole position parameter correction method, which includes: obtaining an original position parameter range of a target hole position during an arm pinning process; controlling a telescopic oil cylinder to drive a target arm to extend and retract between an original maximum arm extension value and an original minimum arm retraction value within the original position parameter range, recording the original number of extensions and retractions, and simultaneously performing an arm pinning operation; when the original number of extensions and retractions is greater than or equal to a preset original number of extensions and retractions threshold and the current target arm pin is not successfully inserted, inserting the target arm pin into the target hole position by expanding the telescopic range of the telescopic oil cylinder at least once; and controlling the telescopic oil cylinder to drive the target arm to retract and extend the arm respectively to determine a corrected position parameter range of the target hole position.

[0107] In addition, the logical instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application, or the part that contributes to the existing technology, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program code.

[0108] On the other hand, the present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the single-cylinder pin hole position parameter correction method provided by the above-mentioned methods, the method comprising: in the arm pinning process, obtaining the original position parameter range of the target hole position; controlling the telescopic oil cylinder to drive the target arm to telescope back and forth between the original arm extension maximum value and the original arm retraction minimum value in the original position parameter range, and recording the original telescopic number of times, while performing the arm pinning action; when the original telescopic number of times is greater than or equal to the preset original telescopic number threshold value, and the current target arm pin is not successfully inserted, the target arm pin is inserted into the target hole position by expanding the telescopic range of the telescopic oil cylinder at least once; controlling the telescopic oil cylinder to drive the target arm to retract and extend the arm respectively, so as to determine the corrected position parameter range of the target hole position.

[0109] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0110] Through the description of the above embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0111] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for correcting the parameters of a single-cylinder pin hole position, wherein: The single-cylinder pin hole position parameter correction method comprises: During the arm pinning process, the original position parameter range of the target hole position is obtained; the telescopic oil cylinder is controlled to drive the target arm to extend and retract between the original arm extension maximum value and the original arm retraction minimum value in the original position parameter range, and the original extension and retraction times are recorded, and the arm pinning action is performed at the same time; When the original telescopic times is greater than or equal to a preset original telescopic times threshold and the current target arm pin is not successfully inserted, the target arm pin is inserted into the target hole position by expanding the telescopic range of the telescopic cylinder at least once; the telescopic cylinder is controlled to drive the target arm to retract and extend the arm respectively to determine the corrected position parameter range of the target hole position.

2. The single-cylinder bolt hole position parameter correction method according to claim 1, wherein: When the original telescopic times are greater than or equal to a preset original telescopic times threshold and the current target arm pin is not successfully inserted, the step of inserting the target arm pin into the target hole position by expanding the telescopic range of the telescopic cylinder at least once includes: When the original telescopic times are greater than or equal to the original telescopic times threshold, and the current target arm pin is not successfully inserted, the telescopic range of the telescopic cylinder is expanded at least once based on the preset times of expanding the telescopic range, and each time the telescopic range of the telescopic cylinder is expanded, the telescopic cylinder is controlled to drive the target arm to telescope back and forth within the expanded telescopic range, and the telescopic times of the telescopic cylinder after each expansion of the telescopic range are recorded respectively, and multiple arm pin insertion actions are performed at the same time until the current arm pin insertion task is completed or the current arm pin insertion task is determined to have failed; the current arm pin insertion task failure refers to the arm pin insertion process, after the telescopic range of the telescopic cylinder is expanded for the last time, the cumulative telescopic times of the telescopic cylinder are greater than or equal to the preset final telescopic threshold, and the current target arm pin is not successfully inserted, or refers to the arm pin insertion process, after the telescopic range of the telescopic cylinder is expanded for the last time, the cumulative telescopic times of the telescopic cylinder are greater than the final telescopic threshold, and the current target arm pin is not successfully inserted; the last expansion of the telescopic range of the telescopic cylinder refers to the number of times the telescopic range of the current expansion of the telescopic range of the telescopic cylinder reaches the number of times the telescopic range is expanded.

3. The single-cylinder bolt hole position parameter correction method according to claim 2, wherein: When the original telescopic number is greater than or equal to the original telescopic number threshold and the current target arm pin is not successfully inserted, based on the preset number of times of expanding the telescopic range, the step of expanding the telescopic range of the telescopic cylinder at least once includes: When the original telescopic times is greater than or equal to the original telescopic times threshold value, and the current target arm pin is not successfully inserted, the sum of the original arm extension maximum value and the preset first arm extension expansion value is determined as the first expanded arm extension maximum value; the difference between the original arm contraction minimum value and the preset first arm contraction expansion value is determined as the first expanded arm contraction minimum value; the range between the first expanded arm extension maximum value and the first expanded arm contraction minimum value is determined as the one-time expanded telescopic range; If the number of times the telescopic cylinder is extended and retracted within the once expanded telescopic range is greater than or equal to a preset once expanded telescopic threshold and the current target arm pin is not successfully inserted, the telescopic range of the telescopic cylinder after the once expansion is expanded a second time to obtain a secondary expanded telescopic range.

4. The single-cylinder pin hole position parameter correction method according to claim 3, wherein: The steps of performing a second expansion on the telescopic range of the telescopic oil cylinder after the first expansion to obtain a second expanded telescopic range include: The sum of the first arm extension maximum value and the preset second arm extension value is determined as the second arm extension maximum value; the difference between the first arm extension minimum value and the preset second arm extension value is determined as the second arm extension minimum value; The range between the maximum value of the second expanded arm extension and the minimum value of the second expanded arm retraction is determined as the secondary expanded telescopic range.

5. The single-cylinder plug hole position parameter correction method according to any one of claims 1 to 4, wherein: The steps of controlling the telescopic cylinder to drive the target arm to retract and extend the target arm respectively to determine the correction position parameter range of the target hole position include: After the target arm pin is successfully inserted, the telescopic cylinder is controlled to drive the target arm to extend until the length value of the telescopic cylinder remains unchanged, and the unchanged time is greater than or equal to the preset first holding time, and the length value of the telescopic cylinder at this time is determined as the maximum value of the corrected arm extension; Control the telescopic cylinder to drive the target arm to retract until the length value of the telescopic cylinder remains unchanged, and the unchanged time is greater than or equal to the preset second holding time, and the length value of the telescopic cylinder at this time is determined as the minimum value of the corrected retracted arm; The range between the modified arm extension maximum value and the modified arm retraction minimum value is determined as the modified position parameter range.

6. The single-cylinder bolt hole position parameter correction method according to any one of claims 1 to 5, wherein: Before the arm pin is installed, it also includes: Determining a target arm position combination, the target arm position combination including a target telescopic length of each of the multiple-section arms and a target hole position of each arm pin corresponding to the target length; Pull out the cylinder pin and control the telescopic cylinder to move toward the cylinder pin hole of the target arm. When the target arm is detected, control the telescopic cylinder to telescope back and forth at a preset telescopic distance, and at the same time insert the cylinder pin to insert the cylinder pin into the cylinder pin hole; The telescopic oil cylinder is controlled to drive the target arm to telescope back and forth within a preset target arm pin pulling-out activity range to pull out the target arm pin.

7. The single-cylinder bolt hole position parameter correction method according to claim 6, wherein: The steps of controlling the telescopic oil cylinder to drive the target arm to telescope back and forth within a preset target arm pin extraction range to extract the target arm pin include: Control the telescopic oil cylinder to drive the target arm to telescope back and forth within the target arm pin pulling-out activity range, and record the number of telescopic and retracting times within the target arm pin pulling-out activity range, and simultaneously perform the arm pin pulling-out action; when the number of telescopic and retracting times is greater than or equal to a preset first pulling-out telescopic threshold value, and the current target arm pin is not successfully pulled out, the target arm pin is pulled out from the current hole position by expanding the telescopic range of the telescopic oil cylinder at least once.

8. The single-cylinder bolt hole position parameter correction method according to claim 7, wherein: When the number of telescopic times is greater than or equal to a preset first extraction telescopic threshold and the current target arm pin is not successfully extracted, the step of extracting the target arm pin from the current hole position by expanding the telescopic range of the telescopic oil cylinder at least once includes: When the number of extension and retraction times is greater than or equal to the preset first extension and retraction threshold, and the current target arm pin is not successfully pulled out, the extension range of the telescopic cylinder is expanded at least once based on the preset number of expansions of the activity range. After each expansion of the extension range of the telescopic cylinder, the telescopic cylinder is controlled to drive the target arm to extend and retract back and forth within the expanded extension range, and the number of extension and retraction times of the telescopic cylinder after each expansion of the extension range is recorded respectively, and multiple arm pin pulling actions are performed at the same time until the current arm pin pulling task is completed or the current arm pin pulling task is determined to have failed; the current arm pin insertion task is determined to have failed when, during the arm pin pulling process, the cumulative number of extension and retraction times of the telescopic cylinder after the last expansion of the telescopic range is greater than or equal to the preset final activity threshold, and the current target arm pin is not successfully pulled out, or when, during the arm pin pulling process, the cumulative number of extension and retraction times of the telescopic cylinder after the last expansion of the telescopic range is greater than the final activity threshold, and the current target arm pin is not successfully pulled out.

9. A single cylinder pin hole position parameter correction system, wherein: The single-cylinder pin hole position parameter correction system comprises: The arm pin module is used to obtain the original position parameter range of the target hole position during the arm pinning process; control the telescopic cylinder to drive the target arm to extend and retract between the original arm extension maximum value and the original arm retraction minimum value in the original position parameter range, and record the original extension and retraction times, while performing the arm pinning action; The parameter correction module is used to, when the original telescopic number of times is greater than or equal to a preset original telescopic number threshold and the current target arm pin is not successfully inserted, insert the target arm pin into the target hole position by expanding the telescopic range of the telescopic cylinder at least once; control the telescopic cylinder to drive the target arm to retract and extend the arm respectively, so as to determine the corrected position parameter range of the target hole position.

10. A single cylinder latch crane, wherein: The single-cylinder latch crane comprises: a head, a body, a telescopic oil cylinder, a multi-section arm and a single-cylinder latch hole position parameter correction system; The single-cylinder pin hole position parameter correction system includes: an arm pin insertion module, which is used to obtain the original position parameter range of the target hole position during the arm pin insertion process; control the telescopic cylinder to drive the target arm to telescope back and forth between the original arm extension maximum value and the original arm retraction minimum value in the original position parameter range, and record the original telescopic number of times, and perform the arm pin insertion action at the same time; a parameter correction module, which is used to, when the original telescopic number of times is greater than or equal to a preset original telescopic number threshold value and the current target arm pin is not successfully inserted, expand the telescopic range of the telescopic cylinder at least once to insert the target arm pin into the target hole position; control the telescopic cylinder to drive the target arm to retract and extend the arm respectively, so as to determine the corrected position parameter range of the target hole position.

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