The invention provides a control method, a control device and double-crane equipment, and relates to the technical field of mechanical equipment. The control method is used for the double-travelling-crane equipment, a detection unit is arranged on the double-travelling-crane equipment, and the detection unit is used for detecting the relative rotation angle of a front travelling crane and a rear travelling crane which are hinged to the double-travelling-crane equipment in the left-right direction. The control method comprises the steps that when the condition of entering a walking four-wheel-drive mode is met, the double-travelling-crane equipment is controlled to enter the walking four-wheel-drive mode; and in the walking four-wheel-drive mode, driving control is conducted on the four walking devices of the two travelling cranes according to the angles. When the double-traveling-crane equipment is in the traveling four-wheel-drive mode, driving control is conducted on the four traveling devices of the two traveling cranes according to the angles, the relative poses of the front traveling crane and the rear traveling crane can be judged to a certain degree through the angles, driving control is conducted on the four traveling devices accordingly, the traveling coordination of the front traveling crane and the rear traveling crane can be improved, and the traveling efficiency of the double-traveling-crane equipment is improved. And the controllability of the double-travelling-crane equipment is improved.

    本发明提供一种控制方法、控制装置及双行车设备,涉及机械设备技术领域。控制方法用于双行车设备,双行车设备上设置有检测单元,检测单元用于检测双行车设备的铰接的前后两个行车在左右方向相对转动的角度;控制方法包括:当满足进入行走四驱模式的条件时,控制双行车设备进入行走四驱模式;行走四驱模式时,根据角度对两个行车的四个行走装置进行驱动控制。当双行车设备处于行走四驱模式时,根据角度对两个行车的四个行走装置进行驱动控制,能够通过该角度在一定程度上判断前后两个行车的相对位姿,据此对四个行走装置进行驱动控制,有利于提高前后两个行车行走的协调性,提高对双行车设备的可控性。


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    Title :

    Control method, control device and double-travelling-crane equipment


    Additional title:

    控制方法、控制装置及双行车设备


    Contributors:

    Publication date :

    2024-03-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / E21D SHAFTS , Schächte



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