CN115818445A

CN115818445A - Hoisting guide method, controller, system, crane and storage medium

Info

Publication number: CN115818445A
Application number: CN202211445367.5A
Authority: CN
Inventors: 齐志欣; 张可飞; 刘丹丹; 许瑞虎
Original assignee: Construction Machinery Branch of XCMG
Current assignee: Construction Machinery Branch of XCMG
Priority date: 2022-11-18
Filing date: 2022-11-18
Publication date: 2023-03-21

Abstract

The disclosure provides a hoisting guide method, a controller, a system, a crane and a storage medium, and relates to the field of cranes. The method comprises the following steps: before hoisting a hoisting object, controlling a lifting hook of a crane to move to a target hoisting point position, and determining target parameters of the crane; comparing the deviation between the real parameter and the target parameter of the crane in the process of hoisting the hoisted object; determining action steps sequentially executed by the crane according to the deviation, and generating corresponding action signals; and outputting the action signal to instruct an operator to control the crane according to the action signal. The hoisting guide device can realize hoisting guide under the condition of not increasing hardware cost and positioning operation time cost, reduces the working intensity of operators, reduces the operation difficulty and improves the hoisting efficiency.

Description

Hoisting guide method, controller, system, crane and storage medium

Technical Field

The present disclosure relates to the field of cranes, and in particular, to a method, a controller, a system, a crane, and a storage medium for guiding a hoist.

Background

The crane hoists heavy objects generally large, and the hoisted objects can shake to a certain extent due to the influence of environmental factors such as inertia, wind and the like in the hoisting in-place process, so that the distance between the hoisted objects and the target installation position cannot be judged quickly easily by visual observation. In the actual hoisting in-place process, a driver with less skill needs to repeatedly adjust to accurately position, and the requirement on the skill of the driver is high.

With the development of the technology, the accurate Positioning of the target position can be realized by adding technical means such as a GPS (Global Positioning System) and a Positioning sensing sensor. For example, the target position can be determined only by installing a mobile GPS at the target position in cooperation with a reference GPS on the construction machine, but the GPS is difficult to install and high in cost, and the practical use of such a technology is limited. Or, the auxiliary systems in the related art mostly adopt an automatic operation mode, that is, after the target position is determined, a certain action of the crane is automatically controlled, but because the crane has a large operation space and a complex operation condition, the safety of automatic control is difficult to guarantee under the current technical conditions, so that the situations of actually using the auxiliary systems are very few.

Disclosure of Invention

The technical problem to be solved by the present disclosure is to provide a hoisting guide method, a controller, a system, a crane, and a storage medium, which can conveniently determine a target position and implement hoisting guide.

According to one aspect of the disclosure, a hoisting guiding method is provided, which includes: before hoisting a hoisting object, controlling a lifting hook of a crane to move to a target hoisting point position, and determining target parameters of the crane; comparing the deviation between the real parameter and the target parameter of the crane in the process of hoisting the hoisted object; determining action steps sequentially executed by the crane according to the deviation, and generating corresponding action signals; and outputting the action signal to instruct an operator to control the crane according to the action signal.

In some embodiments, the target parameters include a target working amplitude, a target hook height, and a target swivel angle; and the real parameters comprise real working amplitude, the ground height of a hoisted object and a real rotation angle.

In some embodiments, outputting the motion signal comprises: and outputting the working signal to the display so that the display displays the working signal.

In some embodiments, outputting the motion signal comprises: and outputting the working signal to the sound device so that the sound device plays the working signal.

In some embodiments, the crane sequentially performs the action steps comprising: a lifting step, a variable amplitude operation step, a lifting and hoisting step, a first rotation step and a falling step; or a lifting step, a second rotating step, a variable amplitude operation step, a first rotating step and a falling step.

In some embodiments, the action signal corresponding to the raising step comprises a raising signal to raise the hoisted object by a predetermined distance.

In some embodiments, the amplitude variation operation corresponds to an action signal comprising: if the real working amplitude is smaller than the difference between the target working amplitude and the first error, the action signal comprises a falling amplitude action signal; if the real working amplitude is larger than the sum of the target working amplitude and the first error, the action signal comprises an amplitude variation action signal; and if the real working amplitude is greater than or equal to the difference between the target working amplitude and the first error and is less than or equal to the sum of the target working amplitude and the first error, the action signal comprises a stop amplitude-changing action signal.

In some embodiments, the amplitude variation operation corresponding action signal further comprises: when the crane executes the amplitude-variable action, if the height of the hoisted object above the ground is smaller than a first height threshold value, the action signals comprise a lifting hook lifting action signal and an amplitude-variable stopping action signal.

In some embodiments, the action signal corresponding to the hoisting step includes: if the ground clearance of the hoisted object is smaller than the difference between a first threshold value and a second error, the action signal comprises a lifting action signal, wherein the first threshold value is the sum of the target working amplitude and a second height threshold value; if the height of the hoisted object from the ground is greater than the sum of the first threshold and the second error, the action signal comprises a falling action signal; and if the height of the hoisted object from the ground is greater than or equal to the difference between the first threshold and the second error and is less than or equal to the sum of the first threshold and the second error, the action signal comprises a lifting stopping action signal and a falling action signal.

In some embodiments, the action signal corresponding to the first rotation step includes: according to the real rotation angle and the target rotation angle, if the position of the target hoisting point is determined to be on the right side of the facing direction of the operator, the action signal comprises a rightward rotation signal; if the target hoisting point is determined to be positioned on the left side of the facing direction of the operator, the action signal comprises a leftward rotation signal; and if the target hoisting point is determined to be positioned right in front of the operator, the action signal comprises a rotation stopping signal.

In some embodiments, the action signal corresponding to the falling step comprises a falling signal, so that the height of the hoisted object falling to the ground is the target height of the hook.

In some embodiments, the motion signal corresponding to the second swing step comprises a swing signal to swing the crane by a predetermined angle.

According to another aspect of the present disclosure, there is also provided a hoist guide controller, including: the positioning module is configured to control a lifting hook of the crane to move to a target lifting point position before lifting the lifting object, and determine target parameters of the crane; the comparison module is configured to compare the deviation between the real parameter and the target parameter of the crane in the process of hoisting the hoisted object; the signal generation module is configured to determine action steps sequentially executed by the crane according to the deviation and generate corresponding action signals; and a signal output module configured to output a motion signal to instruct an operator to control the crane according to the motion signal.

According to another aspect of the present disclosure, there is also provided a hoist guide controller, including: a memory; and a processor coupled to the memory, the processor configured to perform the hoist-guided method as described above based on instructions stored in the memory.

According to another aspect of the present disclosure, there is also provided a hoist guide system, including: the hoisting guide controller; and a positioning switch configured to position the target hoist point location.

In some embodiments, a torque limiter configured to detect a target operating amplitude and a real operating amplitude; a hoisting height sensor configured to detect a target hook height and a hoisted object ground clearance height; and a gyration angle sensor configured to detect a target gyration angle and a real gyration angle.

In some embodiments, the hoist guide system further comprises at least one of a display and a sound device, wherein the display is configured to display the action signal; the sound device is configured to play the action signal.

In some embodiments, at least one of the sound device and the positioning switch is integrated in the display.

According to another aspect of the present disclosure, there is also provided a crane, including: the hoisting guide controller; or the hoist guide system described above.

According to another aspect of the present disclosure, a non-transitory computer-readable storage medium is also presented, on which computer program instructions are stored, which instructions, when executed by a processor, implement the hoist guide method described above.

According to the embodiment of the disclosure, a hoisting target position is determined by a target hoisting point when the lifting hook operates in advance, target parameters of the crane are recorded, real parameters of the crane are compared with the target parameters in the hoisting process, the hoisting position is accurately positioned, an operator is guided to move the crane boom to the target according to a working signal, the working strength of the operator is reduced, the operation difficulty is reduced, and the hoisting efficiency is improved.

Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.

The present disclosure may be more clearly understood from the following detailed description, taken with reference to the accompanying drawings, in which:

fig. 1 is a schematic flow diagram of some embodiments of a hoist guide method of the present disclosure;

FIG. 2 is a schematic view of some embodiments of target parameters of a crane of the present disclosure as a hook is operated to a target hoist point location;

FIG. 3 is a schematic view of some embodiments of real parameters in a crane hoisting process of the present disclosure;

FIG. 4 is a pictorial illustration of a hoist guide display in some embodiments of the present disclosure;

figure 5 is a schematic structural view of some embodiments of the hoist guide controller of the present disclosure;

FIG. 6 is a schematic structural view of further embodiments of hoist guidance controllers of the present disclosure; and

figure 7 is a schematic structural view of some embodiments of the hoist guide system of the present disclosure.

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

To make the objects, technical solutions and advantages of the present disclosure more apparent, the present disclosure will be described in further detail below with reference to specific embodiments and the accompanying drawings.

Fig. 1 is a flow diagram of some embodiments of a hoist guide method of the present disclosure, the method being performed by a controller.

In step 110, before hoisting the hoisted object, the hook of the crane is controlled to move to the position of the target hoisting point, and the target parameters of the crane are determined.

In some embodiments, before hoisting, the empty hook of the crane boom is controlled to run to a target position, the center of the hook is positioned at the center of the hoisting position, and the height of the hook is equal to the in-position height of a target weight. And recording the position coordinates of the target hoisting point by using a positioning switch.

In some embodiments, the target parameters of the crane include a target working amplitude R, a target hook height H, and a target swivel angle θ. For example, after receiving the positioning switch signal, the controller calculates and records the working amplitude R, the rotation angle θ and the height H of the hook of the crane at that time.

In some embodiments, the operating amplitude information is provided by a torque limiter operation, the slewing angle information is provided by a slewing angle sensor, and the hook height information is provided by a hoist height sensor.

In some embodiments, information such as the working amplitude R, the swivel angle θ, and the hook height H can be queried and selected via the display.

In step 120, the deviation between the real parameter and the target parameter of the crane is compared during hoisting of the hoisted object.

In some embodiments, the real parameters include the real working amplitude r, the hoisted object ground clearance h and the real turning angle α.

In some embodiments, when the formal hoisting is started, the recorded position of the target hoisting point is selected, and the controller respectively compares the target working amplitude R with the real working amplitude R, the target lifting hook height H with the ground clearance H of the hoisted object, and the target rotation angle θ with the real rotation angle α.

In step 130, according to the deviation, the action steps sequentially executed by the crane are determined and corresponding action signals are generated.

In some embodiments, the crane boom and the lifting and hoisting action steps are determined according to a preset strategy in the controller or a hoisting step set by a user. The position of a hoisted object is matched with the position of a target hoisting point by controlling the boom of the crane and the hoisting action.

In step 140, a motion signal is output to instruct an operator to control the crane according to the motion signal.

In some embodiments, the controller outputs the operating signal to a display, which provides the driver with motion guidance via an optical signal according to the motion signal. For example, as shown in fig. 4, a guide graphic is displayed on the display, in the drawing, the driver is guided by an arrow icon, in the drawing, the left arrow indicates left turning, and the up arrow indicates rising, which facilitates the driver's movement.

In some embodiments, the controller outputs an operating signal to the sound device, which plays the operating signal. For example, the player gives the driver action guidance through sound signals.

In the above embodiment, the target hoisting point is determined when the lifting hook operates in advance, the target parameter of the crane is recorded, the real parameter of the crane is compared with the target parameter in the hoisting process, and the accurate positioning of the hoisting position is realized. In addition, an action guide graph is provided through a display, or voice prompt is provided to guide an operator to operate according to the action planned by the system, so that the operation difficulty is obviously reduced, the labor productivity is improved, and the method has the advantage of rapid large-scale popularization.

In some embodiments of the present disclosure, the determined actions performed by the crane in sequence according to the hoisting step of the preset strategy include: the method comprises a lifting step, a variable amplitude operation step, a lifting and hoisting step, a first rotation step and a falling step. This embodiment addresses the case where there is no fixed obstacle.

In some embodiments, the action signal corresponding to the raising step comprises a raising signal to raise the hoisted object by a predetermined distance. For example, the height of the current hoisted object from the ground is determined, then the hoisting object is hoisted to a certain height from the ground, and the current amplitude information r is obtained in real time by using the moment limiter.

In some embodiments, the variable amplitude operation corresponds to a motion signal comprising: if the real working amplitude is smaller than the difference between the target working amplitude and the first error, the action signal comprises a falling amplitude action signal; if the real working amplitude is larger than the sum of the target working amplitude and the first error, the action signal comprises an amplitude variation action signal; and if the real working amplitude is greater than or equal to the difference between the target working amplitude and the first error and is less than or equal to the sum of the target working amplitude and the first error, the action signal comprises a stop amplitude-changing action signal.

For example, after the ascending action is executed, the amplitude-changing operation is executed, and if R is less than R < - > &1, the controller outputs an amplitude-changing signal; if R is greater than R + and 1, the controller outputs a variable amplitude signal; if R is not less than R < - > 1 and not more than R < + > 1, the amplitude of the lifter is in place, and the controller outputs an amplitude-variable stopping signal, wherein the value of R < -1 > is an allowable error range.

In some embodiments, when the crane performs the amplitude-varying falling action, if the height of the hoisted object from the ground is less than the first height threshold, the action signals include a hook lifting action signal and an amplitude-varying stopping action signal.

For example, in the amplitude variation process, the lifting object is prevented from falling to the ground, and when the height h of the lifting object is detected to be smaller than a preset value, such as 0.5 m, the display system prompts the lifting hook to lift and stops the amplitude variation icon falling.

In some embodiments, the action signal corresponding to the hoisting step includes: if the ground clearance of the hoisted object is smaller than the difference between the first threshold and the second error, the action signal comprises a hoisting action signal, wherein the first threshold is the sum of the target working amplitude and the second height threshold; if the height of the hoisted object from the ground is greater than the sum of the first threshold and the second error, the action signal comprises a falling action signal; and if the height of the hoisted object from the ground is greater than or equal to the difference between the first threshold and the second error and is less than or equal to the sum of the first threshold and the second error, the action signal comprises a lifting stopping action signal and a falling action signal.

For example, after the amplitude is changed to the right position, the amplitude change action indication icon stops indicating, the current height H of the hoisted object from the ground is compared with the target height H, and the hoisting action of the hoisting is indicated to reach H = H + δ. If H < H + delta- &2, indicating a lifting signal, and if H > H + delta + &2, indicating a falling signal; and stopping lifting and falling indication if H + delta-H is not less than H + delta + 2, wherein delta is a preset safety value, for example 0.5 meter, and the error range is allowed by the delta 2.

For example, after hoisting is completed, the current turning angle α is compared with the target turning angle θ. If the target rotation angle is judged to be on the right side of the facing direction of the driver, the display displays a rightward rotation icon, if the target rotation angle is judged to be on the left side of the facing direction of the driver, the display displays a leftward rotation icon, and the rotation icon stops indicating after the rotation is in place.

For example, if the height of the hoisted object falling to the ground is H, the hoisting is finished.

In the embodiment, when the hoisted object is hoisted, the deviation between the real parameter and the target parameter of the crane is compared, the action steps sequentially executed by the crane are determined, and the corresponding action signals are generated, so that hoisting guidance is realized, and the operation difficulty of a driver is reduced.

In other embodiments of the present disclosure, the hoisting step set by the user, and the determined actions performed by the crane in sequence include: the method comprises a lifting step, a second rotating step, a variable amplitude operation step, a first rotating step and a falling step. The operation signals corresponding to the ascending step, the amplitude-varying operation step, the first rotation step and the falling step are described in detail in the above embodiments, and are not further described here. The action signal corresponding to the second rotation step comprises a rotation signal so as to enable the crane to rotate by a preset angle.

For example, the user sets the sequence of the hoisting actions and the coordinates of the intermediate point through the display or by data import so as to bypass the obstacle, wherein the number of steps of hoisting is set first, and then the action form and the target point of each step are input. For example, the first step is lifted to 5m, the second step is rotated rightwards by 10 degrees, the third step is changed in amplitude to the final target amplitude, the fourth step is rotated to the final target angle, and the fifth step is lowered to the final target position.

Fig. 5 is a schematic structural diagram of some embodiments of a hoist guide controller of the present disclosure, which includes a positioning module 510, a comparison module 520, a signal generation module 530, and a signal output module 540.

The positioning module 510 is configured to control the hook of the crane to move to a target hoisting point position and determine a target parameter of the crane before hoisting the hoisted object.

In some embodiments, before hoisting, the positioning module 510 controls the crane boom empty hook to move to a target position, the hook center is at the center of the hoisting position, and the hook height is equal to the target weight in-position height.

In some embodiments, the target sling point location coordinates are recorded using a positioning switch. The target parameters of the crane comprise a target working amplitude R, a target hook height H and a target rotation angle theta.

The comparison module 520 is configured to compare the deviation between the real parameter and the target parameter of the crane during hoisting of the hoisted object.

In some embodiments the real parameters include the real working amplitude r, the height of the hoisted object from the ground h and the real swivel angle a.

The signal generation module 530 is configured to determine, from the deviations, the action steps that the crane performs in sequence and to generate corresponding action signals.

In some embodiments, the crane sequentially performs the action steps comprising: the method comprises a lifting step, a variable amplitude operation step, a lifting and hoisting step, a first rotation step and a falling step.

The action signal corresponding to the rising step comprises a rising signal so as to enable the hoisted object to rise for a preset distance.

The action signal corresponding to the amplitude variation operation comprises the following steps: if the real working amplitude is smaller than the difference between the target working amplitude and the first error, the action signal comprises a falling amplitude action signal; if the real working amplitude is larger than the sum of the target working amplitude and the first error, the action signal comprises an amplitude variation action signal; and if the real working amplitude is greater than or equal to the difference between the target working amplitude and the first error and is less than or equal to the sum of the target working amplitude and the first error, the action signal comprises a stop amplitude-changing action signal. When the crane executes the amplitude-variable action, if the height of the hoisted object above the ground is smaller than a first height threshold value, the action signals comprise a lifting hook lifting action signal and an amplitude-variable stopping action signal.

The action signal corresponding to the lifting and hoisting step comprises the following steps: if the ground clearance of the hoisted object is smaller than the difference between a first threshold value and a second error, the action signal comprises a lifting action signal, wherein the first threshold value is the sum of the target working amplitude and a second height threshold value; if the height of the hoisted object from the ground is greater than the sum of the first threshold and the second error, the action signal comprises a falling action signal; and if the height of the hoisted object from the ground is greater than or equal to the difference between the first threshold and the second error and is less than or equal to the sum of the first threshold and the second error, the action signal comprises a lifting stopping action signal and a falling action signal.

The action signal corresponding to the first rotation step comprises: according to the real rotation angle and the target rotation angle, if the position of the target hoisting point is determined to be on the right side of the facing direction of the operator, the action signal comprises a rightward rotation signal; if the target hoisting point is determined to be positioned on the left side of the facing direction of the operator, the action signal comprises a leftward rotation signal; and if the target hoisting point is determined to be positioned right in front of the operator, the action signal comprises a rotation stopping signal.

The action signal corresponding to the falling step comprises a falling signal, so that the hoisted object falls to the height above the ground as the height of the target lifting hook.

In other embodiments of the present disclosure, the hoisting step set by the user, and the determined actions performed by the crane in sequence include: the method comprises a lifting step, a second rotating step, a variable amplitude operation step, a first rotating step and a falling step. The action signal corresponding to the second rotation step comprises a rotation signal so as to enable the crane to rotate by a preset angle. The action signals corresponding to the ascending step, the amplitude variation operation step, the first rotation step and the falling step are described in detail in the above embodiments, and are not further described here.

The signal output module 540 is configured to output a motion signal to instruct an operator to control the crane according to the motion signal.

In some embodiments, the controller outputs the operating signal to a display, which provides the driver with motion guidance via an optical signal according to the motion signal.

In some embodiments, the controller outputs an operating signal to the sound device, which plays the operating signal.

In the embodiment, the crane needs to be lifted in a trial mode before lifting, the lifting target position is determined by moving the lifting hook to the target positioning point, the method is simple and accurate in positioning, when the lifted object is lifted, the deviation between the real parameters and the target parameters of the crane is compared, the action steps sequentially executed by the crane are determined, corresponding action signals are generated, an operator is guided to move the crane arm frame to the target according to the working signals, the working intensity of the operator is reduced, and the operation difficulty is reduced.

Fig. 6 is a schematic structural diagram of another embodiment of a hoist guide controller according to the present disclosure, where the controller 600 includes a memory 610 and a processor 620. Wherein: the memory 610 may be a magnetic disk, flash memory, or any other non-volatile storage medium. The memory is used for storing the instructions in the corresponding embodiments. Processor 620 is coupled to memory 610 and may be implemented as one or more integrated circuits, such as a microprocessor or microcontroller. The processor 620 is configured to execute instructions stored in the memory.

In some embodiments, processor 620 is coupled to memory 610 through a BUS BUS 630. The controller 600 may also be coupled to an external storage system 650 via a storage interface 640 for retrieving external data, and may also be coupled to a network or another computer system (not shown) via a network interface 660. And will not be described in detail herein.

In the embodiment, the data instruction is stored in the memory, and the processor processes the instruction to prompt and guide an operator to move the crane boom to a target according to the action planned by the system, so that the working intensity of the operator is reduced, and the operation difficulty is reduced.

Figure 7 is a schematic structural view of some embodiments of the hoist guide system of the present disclosure. The hoist guide system includes a positioning switch 710 and a hoist guide controller 720 in the above embodiments.

The positioning switch 710 is configured to position a target hoist point location. When the position switch 710 is pressed, the hoist guide controller 720 automatically records the target position information.

In some embodiments, the hoist guide system further includes a torque limiter 730, a slew angle sensor 740, and a hoist height sensor 750. The moment limiter 730 is configured to detect a target working amplitude and a real working amplitude; the gyration angle sensor 740 is configured to detect a target gyration angle and a real gyration angle; the hoist height sensor 750 is configured to detect a target hook height and a hoisted object ground clearance height.

In some embodiments, the hoist guide system further includes a display 760 configured to display an action signal, e.g., to guide the driver through an arrow icon.

In some embodiments, the hoist guide system further comprises a sound device 770 configured to play a motion signal.

In some embodiments, the positioning switch 710, the hoist guide controller 720, the torque limiter 730, the rotation angle sensor 740, the hoist height sensor 750, the display 760, and the sound device 770 are connected or electrically connected via a communication bus. The hoist guide system components are all mounted on the crane with the display mounted within the cockpit. In some embodiments, the positioning switch 710 and the sound device 770 may be integrated into the display 760.

In the embodiment, the crane is provided with the sensor matched with the positioning switch, the positioning problem of the target point is solved on the premise of not increasing the cost, and then the action guide graph or sound is provided on the display to prompt and guide an operator to move the crane arm frame to the target according to the action planned by the system, so that the working intensity of the operator is reduced, and the operation difficulty is reduced. The driver is still the main body of safe operation, accords with current regulation and current technological level, can use in batches fast.

In further embodiments of the present disclosure, a crane is also protected, the crane comprising the hoist guide controller, or hoist guide system, of the above embodiments.

In further embodiments, a computer-readable storage medium has stored thereon computer program instructions which, when executed by a processor, implement the steps of the method in the respective embodiments described above. As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, apparatus, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

Thus far, the present disclosure has been described in detail. Some details that are well known in the art have not been described in order to avoid obscuring the concepts of the present disclosure. It will be fully apparent to those skilled in the art from the foregoing description how to practice the presently disclosed embodiments.

Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A hoisting guide method comprises the following steps:

before hoisting a hoisted object, controlling a lifting hook of a crane to move to a target hoisting point position, and determining target parameters of the crane;

comparing the deviation between the real parameter and the target parameter of the crane in the process of hoisting the hoisted object;

determining action steps sequentially executed by the crane according to the deviation, and generating corresponding action signals; and

and outputting the action signal to instruct an operator to control the crane according to the action signal.

2. The hoist guide method of claim 1, wherein,

the target parameters comprise a target working amplitude, a target lifting hook height and a target rotation angle; and

the real parameters comprise real working amplitude, the ground clearance of the hoisted object and a real rotation angle.

3. The hoist guide method of claim 1 or 2, wherein outputting the action signal comprises:

and outputting the working signal to a display so that the display can display the working signal.

4. The hoist guide method of claim 1 or 2, wherein outputting the action signal comprises:

and outputting the working signal to a sound device so that the sound device can play the working signal.

5. Hoisting guide method according to claim 2, wherein the crane performs in sequence the action steps comprising:

a lifting step, a variable amplitude operation step, a lifting and hoisting step, a first rotation step and a falling step; or

The method comprises a lifting step, a second rotating step, a variable amplitude operation step, a first rotating step and a falling step.

6. The hoisting guide method according to claim 5, wherein the action signal corresponding to the raising step comprises a raising signal to raise the hoisted object by a predetermined distance.

7. The hoisting guidance method according to claim 5, wherein the action signal corresponding to the amplitude variation operation comprises:

if the real working amplitude is smaller than the difference between the target working amplitude and the first error, the action signal comprises a falling amplitude action signal;

if the real working amplitude is larger than the sum of the target working amplitude and the first error, the action signal comprises an amplitude variation action signal; and

if the real working amplitude is greater than or equal to the difference between the target working amplitude and the first error and is less than or equal to the sum of the target working amplitude and the first error, the action signal comprises a stop amplitude-variable action signal.

8. The hoisting guidance method of claim 7, wherein the motion signal corresponding to the luffing operation further comprises:

when the crane executes the amplitude-variable action, if the height of the hoisted object above the ground is smaller than a first height threshold value, the action signals comprise a lifting hook lifting action signal and an amplitude-variable stopping action signal.

9. The hoisting guide method according to claim 5, wherein the action signal corresponding to the hoisting and winding step comprises:

if the height of the hoisted object from the ground is smaller than the difference between a first threshold and a second error, the action signal comprises a lifting action signal, wherein the first threshold is the sum of the target working amplitude and a second height threshold;

if the height of the hoisted object above the ground is larger than the sum of the first threshold and the second error, the action signal comprises a falling action signal; and

and if the height of the hoisted object from the ground is greater than or equal to the difference between the first threshold and the second error and is less than or equal to the sum of the first threshold and the second error, the action signal comprises a lifting stopping action signal and a falling action signal.

10. The hoisting guide method according to claim 5, wherein the action signal corresponding to the first rotation step comprises:

according to the real rotation angle and the target rotation angle, if the target hoisting point is determined to be positioned on the right side of the facing direction of the operator, the action signal comprises a rightward rotation signal;

if the target hoisting point is determined to be positioned on the left side of the facing direction of the operator, the action signal comprises a leftward rotation signal; and

and if the target hoisting point is determined to be positioned right in front of the operator, the action signal comprises a rotation stopping signal.

11. The hoisting guiding method according to claim 5, wherein the action signal corresponding to the falling step comprises a falling signal, so that the hoisted object falls to the ground clearance height which is the target hook height.

12. The hoisting guiding method according to claim 5, wherein the action signal corresponding to the second turning step comprises a turning signal to turn the crane by a predetermined angle.

13. A hoist guide controller comprising:

the positioning module is configured to control a lifting hook of a crane to run to a target lifting point position before lifting a lifted object, and determine a target parameter of the crane;

the comparison module is configured to compare the deviation between the real parameter and the target parameter of the crane in the process of hoisting the hoisted object;

a signal generation module configured to determine, according to the deviation, action steps to be sequentially performed by the crane and generate corresponding action signals; and

a signal output module configured to output the motion signal to instruct an operator to control the crane according to the motion signal.

14. A hoist guide controller comprising:

a memory; and

a processor coupled to the memory, the processor configured to perform the hoist guide method of any of claims 1-12 based on instructions stored in the memory.

15. A hoist guide system, comprising:

the hoist guide controller of claim 13 or 14; and

the positioning switch is configured to position the target hoisting point position.

16. The hoist guide system of claim 15, further comprising:

a torque limiter configured to detect a target working amplitude and a real working amplitude;

a hoisting height sensor configured to detect a target hook height and a hoisted object ground clearance height; and

a gyration angle sensor configured to detect a target gyration angle and a real gyration angle.

17. The hoist guide system of claim 15 or 16, further comprising at least one of a display and a sound device, wherein,

the display is configured to display the action signal;

the sound device is configured to play the motion signal.

18. The hoist guide system of claim 17,

at least one of the sound device and the positioning switch is integrated in the display.

19. A crane, comprising:

the hoist guide controller of claim 13 or 14; or

The hoist guide system of any one of claims 15 to 18.

20. A non-transitory computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the hoist guide method of any of claims 1 to 12.