CN116332040A - Full-automatic control method and system for tire lifting hook - Google Patents

Abstract

The invention discloses a full-automatic control method and a full-automatic control system for a tire lifting hook, and relates to the technical field of tire lifting hook control, wherein the method comprises the steps of obtaining a plurality of supporting point positions of a lifting hook platform, and determining a middle point position according to the plurality of supporting point positions; determining adjustment distances according to the positions of the supporting points and the positions of the middle points, obtaining adjustment time according to the adjustment distances, obtaining a platform inclination angle, and correcting the platform inclination angle according to the positions of the middle points to obtain a corrected platform inclination angle; and selecting a corresponding control mode according to the corrected platform inclination angle so as to adjust the leveling speed. According to the method and the device, different control modes are adopted through different platform dip angles, and the leveling speed is controlled according to the adjustment time, so that the tire crane is quickly leveled, the leveling precision is improved, and the working efficiency is improved.

Description

A fully automatic control method and system for tire hooks

technical field

The present application relates to the technical field of tire crane control, and more specifically, relates to a fully automatic control method and system for tire cranes.

Background technique

A mobile crane is a boom rotating crane that uses a tire-type chassis to travel. It is a full-slewing crane that installs the lifting mechanism on a special chassis composed of heavy-duty tires and axles. Its upper structure is basically the same as that of a crawler crane. Four retractable legs. On flat ground, it is possible to hoist with small lifting capacity and run at low speed without outriggers. It consists of two parts: boarding and getting off. The upper part is the lifting operation part, which is equipped with boom, hoisting mechanism, luffing mechanism, counterweight and turntable, etc.; the lower part is the supporting and walking part. The connection between getting on and off the car is connected by a slewing bearing. When hoisting, it is generally necessary to lower the outriggers, increase the supporting surface, and level the fuselage to ensure the stability of the crane.

In the existing technology, most of the tire cranes are manually operated by the operator. When working, the operator needs to perform operations such as alignment with the naked eye. The requirements for personnel experience and proficiency are high, and there are often problems such as imbalance, which greatly reduces the work efficiency. reduce, prone to safety accidents. It is urgent to improve the automatic control of the tire crane, so as to improve the control precision and accurately level.

Therefore, how to improve the control precision and leveling precision of the tire crane is a technical problem to be solved at present.

Contents of the invention

The invention provides a fully automatic control method for a tire hook to solve the technical problem of low leveling accuracy of the tire crane in the prior art. The method is applied in a rubber-tyred crane comprising a hook system, the method comprising a leveling method comprising:

Obtain the positions of multiple support points of the hook platform, and determine the position of the intermediate point according to the positions of multiple support points;

Determine the adjustment distance according to the position of multiple support points and the position of the intermediate point, obtain the adjustment time according to the adjustment distance, obtain the platform inclination angle, correct the platform inclination angle according to the position of the intermediate point, and obtain the corrected platform inclination angle;

Select the corresponding control mode according to the corrected platform inclination to adjust the leveling speed.

In some embodiments of the present application, before acquiring the positions of multiple support points of the hook platform, the method further includes a detection method, and the detection method includes:

Obtain the output torque of the servo motor, filter the output torque to obtain the filtered output torque, and judge whether the filtered output torque exceeds the output torque threshold;

Leveling is performed if the output torque threshold is exceeded.

In some embodiments of the present application, the detection method also includes:

If the filtered output torque does not exceed the output torque threshold, then adjust the steel wire rope, and re-test the output torque after the steel wire rope is adjusted.

In some embodiments of the present application, the leveling method also includes:

During the leveling process, the difference between the positions of each support point and the middle point is detected in real time, and if the difference between the positions of each support point and the middle point is less than the position difference threshold, the leveling is stopped;

If the difference between the positions of each support point and the intermediate point is not less than the position difference threshold, continue leveling.

In some embodiments of the present application, the corresponding control mode is selected according to the corrected platform inclination, including:

If the corrected platform inclination is greater than the inclination threshold, select the first control mode to control the leveling speed;

If the corrected platform inclination is not greater than the inclination threshold, the second control mode is selected.

In some embodiments of the present application, the first control mode includes:

Control the leveling speed in the first interval according to the adjustment time, correct the leveling speed according to the weight of the material on the hook platform, and obtain the corrected leveling speed interval value.

In some embodiments of the present application, the second control mode includes:

The leveling speed is controlled in the second interval according to the adjustment time, and the leveling speed is corrected according to the real-time wind speed to obtain the corrected leveling speed interval value.

In some embodiments of the present application, the leveling method also includes:

When the material is packed, the leveling direction of the hook platform is controlled according to the blocking state of the laser sensor on the hook platform.

In some embodiments of the present application, the leveling direction of the hook platform is controlled according to the blocking state of the laser sensor on the hook platform, including:

If the fifth laser or the sixth laser is blocked, the hook platform needs to be adjusted to the first direction;

If the second laser, the fourth laser or the first laser and the third laser are blocked, the hook platform needs to be adjusted to the second direction;

If the second laser, the third laser or the first laser and the fourth laser are blocked, the hook platform needs to rotate in the third direction.

Correspondingly, the present application also provides a fully automatic control system for a tire hook, which is applied to a tire crane including a hook system. The system includes a leveling subsystem, and the leveling subsystem includes:

An acquisition module, configured to acquire the positions of multiple support points of the hook platform, and determine the position of the intermediate point according to the positions of the multiple support points;

The correction module is used to determine the adjustment distance according to the positions of multiple support points and the position of the intermediate point, obtain the adjustment time according to the adjustment distance, obtain the platform inclination angle, correct the platform inclination angle according to the position of the intermediate point, and obtain the corrected platform inclination angle;

The control module is used to select a corresponding control mode according to the corrected platform inclination to adjust the leveling speed.

By applying the above technical solution, the method includes a leveling method, and the leveling method includes: obtaining multiple support point positions of the hook platform, determining the intermediate point position according to the multiple support point positions; according to the multiple support point positions and The position of the middle point determines the adjustment distance, the adjustment time is obtained according to the adjustment distance, and the platform inclination is obtained, and the platform inclination is corrected according to the position of the middle point to obtain the corrected platform inclination; the corresponding control mode is selected according to the corrected platform inclination to adjust the adjustment. flat speed. In this application, different control modes are adopted for different platform inclination angles, and the leveling speed is controlled according to the adjustment time, so that the tire crane can be quickly leveled, the leveling accuracy is improved, and the work efficiency is improved.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, other drawings can also be obtained based on these drawings without any creative effort.

Fig. 1 shows a schematic flow chart of a fully automatic control method for a tire hook proposed by an embodiment of the present invention;

Fig. 2 shows a schematic structural view of a fully automatic control system for a tire hook proposed by an embodiment of the present invention;

Fig. 3 shows one of the schematic diagrams of the positional relationship between the hook platform and the container in another embodiment of the present invention;

Fig. 4 shows one of the schematic diagrams of the positional relationship between the hook platform and the container in another embodiment of the present invention;

Fig. 5 shows one of the schematic diagrams of the positional relationship between the hook platform and the container in another embodiment of the present invention;

Fig. 6 shows one of the schematic diagrams of the positional relationship between the hook platform and the container in another embodiment of the present invention.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

An embodiment of the present application provides a fully automatic control method for a tire hook, which is applied to a tire-type crane including a hook system. The hook system includes a gear reduction box, a pulley, a wire rope, a hook platform, and a servo motor. , and the rest of the structures are commonly used techniques in the art, and will not be repeated here.

As shown in Figure 1, the method includes the following steps:

Step S101, obtaining multiple support point positions of the hook platform, and determining the intermediate point position according to the multiple support point positions.

In this embodiment, generally speaking, a rubber-tyred crane has four outriggers, and the position of the outriggers is used as the position of the support point, and the position of the center point is determined according to the position of the support point and the hook platform. If the distance is poor, control the other support legs to rise or fall until each support point is aligned with the center point. When the support point reaches the center point, the platform is in a horizontal state.

Step S102, determine the adjustment distance according to the positions of multiple support points and the intermediate point, obtain the adjustment time according to the adjustment distance, obtain the platform inclination, correct the platform inclination according to the intermediate point position, and obtain the corrected platform inclination.

In this embodiment, a platform coordinate system is established, the length of the platform is a, the width is b, the support point L _i =(xi _, y _i ,zi ₎ (i=1-4), L ₁ =(0,0, 0), L ₂ = (a, 0, 0), L ₃ = (a, b, 0), L ₄ = (0, b, 0), the Z coordinate of the center point is (a/2, b/2, 0), perform pre-support before leveling, and set the initial inclination angles as α ₀ and β ₀ .

The distance difference between each support point and the middle point is:

The total adjustment distance is

The adjustment time T is determined by the difference between the position of L ₁ and the position of the middle point,

Among them, V is the regulating speed.

At this time, the adjustment speed in the obtained adjustment time is the rated speed, and the adjustment speed is subsequently controlled.

Different platforms have different lengths and widths, and the position of the middle point has a certain influence on the inclination angle of the platform.

预设中间点位置数组A0(A1，A2，A3，A4)，其中，A1、A2、A3、A4均为预设数值，且A1＜A2＜A3＜A4；Set the position of the middle point as A,

The preset intermediate point position array A0 (A1, A2, A3, A4), wherein, A1, A2, A3, A4 are all preset values, and A1<A2<A3<A4;

Preset platform inclination correction coefficient array Q0 (Q1, Q2, Q3, Q4), wherein, Q1, Q2, Q3, Q4 are all preset values, and 0.8<Q1<Q2<Q3<Q4<1.2;

According to the size relationship between the position of the intermediate point and each preset intermediate point position, the platform inclination correction coefficient is determined, and the platform inclination is corrected;

If A<A1, the first preset platform inclination correction coefficient Q1 is used as the platform inclination correction coefficient, and the corrected platform inclination angle is α*Q1;

If A1≤A<A2, the second preset platform inclination correction coefficient Q2 is used as the platform inclination correction coefficient, and the corrected platform inclination is α*Q2;

If A2≤A<A3, the third preset platform inclination correction coefficient Q3 is used as the platform inclination correction coefficient, and the corrected platform inclination is α*Q3;

If A3≦A<A4, the fourth preset platform inclination correction coefficient Q4 is used as the platform inclination correction coefficient, and the corrected platform inclination is α*Q4.

Step S103, select the corresponding control mode according to the corrected platform inclination angle, so as to adjust the leveling speed.

In order to shorten the leveling time, in some embodiments of the present application, the corresponding control mode is selected according to the corrected platform inclination, including: if the corrected platform inclination is greater than the inclination threshold, then select the first control mode to control the leveling speed; if the corrected If the subsequent platform inclination is not greater than the inclination threshold, the second control mode is selected.

In this embodiment, when the inclination angle of the platform is large, large-scale leveling is performed (the first control mode), and the movement speed of the outriggers is controlled to be faster, which is beneficial to reduce the leveling time. When the inclination of the platform is small, perform small-scale leveling (the second control mode), and control the movement speed of the outriggers (leveling speed) to be slow, which is beneficial to reduce overshoot and improve leveling accuracy.

In order to further shorten the leveling time, in some embodiments of the present application, the first control mode includes: controlling the leveling speed in the first interval according to the adjustment time, correcting the leveling speed according to the weight of the material on the hook platform, and obtaining the corrected The value of the leveling speed range.

In this embodiment, because the weight of the material on the hook platform has an influence on the speed, it needs to be corrected. The first interval is greater than the second interval (speed). Correct the leveling speed according to the weight of the material on the hook platform, specifically:

Set the material weight as B, and preset the material weight array B0 (B1, B2, B3, B4), where B1, B2, B3, and B4 are all preset values, and B1<B2<B3<B4;

Preset leveling speed correction coefficient array F0 (F1, F2, F3, F4), where F1, F2, F3, and F4 are all preset values, and 0.8<F1<F2<F3<F4<1.2;

According to the relationship between the material weight and each preset material weight, determine the leveling speed correction coefficient and correct the speed;

If B<B1, use the first preset leveling speed correction coefficient F1 as the leveling speed correction coefficient, and the corrected leveling speed interval value is V*F1;

If B1≤B<B2, the second preset leveling speed correction coefficient F2 is used as the leveling speed correction coefficient, and the corrected leveling speed interval value is V*F2;

If B2≤B<B3, the third preset leveling speed correction coefficient F3 is used as the leveling speed correction coefficient, and the corrected leveling speed interval value is V*F3;

If B3≦B<B4, the fourth preset leveling speed correction coefficient F4 is used as the leveling speed correction coefficient, and the corrected leveling speed interval value is V*F4.

In order to further shorten the leveling time, in some embodiments of the present application, the second control mode includes: controlling the leveling speed in the second interval according to the adjustment time, correcting the leveling speed according to the real-time wind speed, and obtaining the corrected leveling speed interval value.

In this embodiment, in the fine leveling, the real-time wind speed will affect the leveling, so it needs to be corrected.

Set the real-time wind speed as C, and preset the real-time wind speed array C0 (C1, C2, C3, C4), where C1, C2, C3, and C4 are all preset values, and C1<C2<C3<C4;

Preset leveling speed correction coefficient array H0 (H1, H2, H3, H4), where H1, H2, H3, H4 are all preset values, and 0.8<H1<H2<H3<H4<1.2;

According to the relationship between the real-time wind speed and each preset real-time wind speed, determine the leveling speed correction coefficient, and correct the leveling speed;

If C<C1, determine the first preset leveling speed correction coefficient H1 as the leveling speed correction coefficient, and the corrected leveling speed interval value is V*H1;

If C1≤C<C2, determine the second preset leveling speed correction coefficient H2 as the leveling speed correction coefficient, and the corrected leveling speed interval value is V*H2;

If C2≤C<C3, determine the third preset leveling speed correction coefficient H3 as the leveling speed correction coefficient, and the corrected leveling speed interval value is V*H3;

If C3≦C<C4, the fourth preset leveling speed correction coefficient H4 is determined as the leveling speed correction coefficient, and the corrected leveling speed interval value is V*H4.

It should be noted that the various thresholds and preset values mentioned above can be changed according to different actual situations.

In order to improve the leveling accuracy, in some embodiments of the present application, before obtaining the positions of multiple support points of the hook platform, the method further includes a detection method, and the detection method includes: obtaining the output torque of the servo motor, The output torque is filtered to obtain the filtered output torque, and it is judged whether the filtered output torque exceeds the output torque threshold; if it exceeds the output torque threshold, leveling is performed.

In some embodiments of the present application, the detection method further includes: if the filtered output torque does not exceed the output torque threshold, adjusting the steel wire rope, and re-testing the output torque after the steel wire rope is adjusted.

In this embodiment, it can be distinguished from the number of support points. If a leveling system has several support points, it can be called a point leveling system. According to the principle of "three points determine a plane", leveling is performed. When the support points exceed Three times, there will be a phenomenon of empty legs, that is, there is a support point that can be basically unstressed. This is not allowed in engineering. This is because when there is a virtual leg during the leveling process, if there is external interference, the platform will vibrate, and even cause overturning in severe cases, so this phenomenon must be avoided. First obtain the output torque of each servo motor. If the torque is small, it means that the steel wire rope is under no force and is in a suspended state. It is necessary to tighten the steel wire rope first. After tensioning, perform leveling to reduce the error.

In order to further improve the accuracy of leveling, in some embodiments of the present application, the leveling method further includes: during the leveling process, real-time detection of the difference between the position of each support point and the position of the middle point, if the position of each support point and the middle point If the difference between the point positions is less than the position difference threshold, stop leveling; if the difference between the positions of each support point and the middle point is not less than the position difference threshold, continue leveling.

In this embodiment, during the leveling process, the positions of the support point and the middle point are detected in real time, and if the laser feedback deviation is within a reasonable range, the leveling is stopped, indicating that the leveling requirements are met.

In order to improve control reliability, in some embodiments of the present application, the leveling method further includes: controlling the leveling direction of the hook platform according to the blocking state of the laser sensor on the hook platform when the material is packed.

In this embodiment, after the tire crane unloads the material from the ship, it needs to be put into the loading box. At this time, the platform and the loading box need to be dropped into the box. The two need to be aligned. laser sensor. The positional relationship between the two is judged by whether the laser sensor is blocked, so as to make adjustments.

In some embodiments of the present application, the leveling direction of the hook platform is controlled according to the blocking state of the laser sensor on the hook platform, including: if the fifth laser or the sixth laser is blocked, the hook platform needs to be adjusted in the first direction ; If the second laser, the fourth laser or the first laser and the third laser are blocked, the hook platform needs to be adjusted to the second direction; if the second laser, the third laser or the first laser and the fourth laser are blocked , the hook platform needs to rotate in the third direction.

In this embodiment, as shown in Figure 3, the laser 6 is blocked, indicating that the hook platform needs to be translated in the positive direction of the X-axis. If the laser 5 is blocked, it indicates that the hook platform needs to be translated in the negative direction of the X-axis. The first direction includes X-axis positive direction and X-axis negative direction.

As shown in Figure 4, lasers 2 and 4 are blocked and need to be translated in the positive direction of the Y axis. If lasers 1 and 3 are blocked, they need to be translated in the negative direction of the Y axis. The second direction includes the positive direction of the Y axis and the negative direction of the Y axis.

As shown in Figures 5 and 6, the lasers 2 and 3 are blocked and need to rotate clockwise. Lasers 1 and 4 are blocked and need to be rotated counterclockwise. The third direction includes clockwise and counterclockwise.

By applying the above technical solutions, the method includes a leveling method, and the leveling method includes: obtaining multiple support point positions of the hook platform, determining the position of the intermediate point according to the multiple support point positions; according to the multiple support point positions and The position of the middle point determines the adjustment distance, the adjustment time is obtained according to the adjustment distance, and the platform inclination is obtained, and the platform inclination is corrected according to the position of the middle point to obtain the corrected platform inclination; the corresponding control mode is selected according to the corrected platform inclination to adjust the adjustment. flat speed. In this application, different control modes are adopted for different platform inclination angles, and the leveling speed is controlled according to the adjustment time, so that the tire crane can be quickly leveled, the leveling accuracy is improved, and the work efficiency is improved.

Through the above description of the implementation manners, those skilled in the art can clearly understand that the present invention can be realized by hardware, or by software plus a necessary general hardware platform. Based on this understanding, the technical solution of the present invention can be embodied in the form of software products, which can be stored in a non-volatile storage medium (which can be CD-ROM, U disk, mobile hard disk, etc.), including several The instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute the methods described in various implementation scenarios of the present invention.

In order to further illustrate the technical idea of the present invention, the technical solution of the present invention will now be described in conjunction with specific application scenarios.

Correspondingly, the present application also provides a fully automatic control system for a tire hook, which is applied to a tire crane including a hook system. The system includes a leveling subsystem, as shown in FIG. 2 , the leveling subsystem The Ping subsystem includes:

An acquisition module 201, configured to acquire multiple support point positions of the hook platform, and determine the intermediate point position according to the multiple support point positions;

The correction module 202 is used to determine the adjustment distance according to the position of multiple support points and the position of the intermediate point, obtain the adjustment time according to the adjustment distance, obtain the platform inclination angle, correct the platform inclination angle according to the position of the intermediate point, and obtain the corrected platform inclination angle;

The control module 203 is configured to select a corresponding control mode according to the corrected platform inclination to adjust the leveling speed.

In some embodiments of the present application, a detection subsystem is also included for:

Obtain the output torque of the servo motor, filter the output torque to obtain the filtered output torque, and judge whether the filtered output torque exceeds the output torque threshold;

Leveling is performed if the output torque threshold is exceeded.

In some embodiments of the present application, the detection subsystem is used to:

If the filtered output torque does not exceed the output torque threshold, then adjust the steel wire rope, and re-test the output torque after the steel wire rope is adjusted.

In some embodiments of the present application, the leveling subsystem also includes a first module, configured to:

During the leveling process, the difference between the positions of each support point and the middle point is detected in real time, and if the difference between the positions of each support point and the middle point is less than the position difference threshold, the leveling is stopped;

If the difference between the positions of each support point and the intermediate point is not less than the position difference threshold, continue leveling.

In some embodiments of the present application, the corresponding control mode is selected according to the corrected platform inclination, including:

If the corrected platform inclination is greater than the inclination threshold, select the first control mode to control the leveling speed;

If the corrected platform inclination is not greater than the inclination threshold, the second control mode is selected.

In some embodiments of this application, the control module 203 is used to:

Control the leveling speed in the first interval according to the adjustment time, correct the leveling speed according to the weight of the material on the hook platform, and obtain the corrected leveling speed interval value.

In some embodiments of this application, the control module 203 is used to:

The leveling speed is controlled in the second interval according to the adjustment time, and the leveling speed is corrected according to the real-time wind speed to obtain the corrected leveling speed interval value.

In some embodiments of the present application, the leveling subsystem further includes a second module, configured to:

When the material is packed, the leveling direction of the hook platform is controlled according to the blocking state of the laser sensor on the hook platform.

In some embodiments of the present application, the second module is also used for:

If the fifth laser or the sixth laser is blocked, the hook platform needs to be adjusted to the first direction;

If the second laser, the fourth laser or the first laser and the third laser are blocked, the hook platform needs to be adjusted to the second direction;

If the second laser, the third laser or the first laser and the fourth laser are blocked, the hook platform needs to rotate in the third direction.

Those skilled in the art can understand that the modules in the devices in the implementation scenario can be distributed among the devices in the implementation scenario according to the description of the implementation scenario, or can be located in one or more devices different from the implementation scenario according to corresponding changes. The modules of the above implementation scenarios can be combined into one module, or can be further split into multiple sub-modules.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not drive the essence of the corresponding technical solutions away from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims (10)

1. A fully automatic control method for a tire hook, applied to a tire crane comprising a hook system, characterized in that the method includes a leveling method, and the leveling method includes: Obtain the positions of multiple support points of the hook platform, and determine the position of the intermediate point according to the positions of multiple support points; Determine the adjustment distance according to the positions of multiple support points and the intermediate point, obtain the adjustment time according to the adjustment distance, obtain the platform inclination, correct the platform inclination according to the intermediate point position, and obtain the corrected platform inclination; Select the corresponding control mode according to the corrected platform inclination to adjust the leveling speed. 2. The method according to claim 1, characterized in that, before obtaining a plurality of support point positions of the hook platform, the method also includes a detection method, the detection method comprising: Obtain the output torque of the servo motor, filter the output torque to obtain the filtered output torque, and judge whether the filtered output torque exceeds the output torque threshold; Leveling is performed if the output torque threshold is exceeded. 3. method as claimed in claim 2, is characterized in that, described detection method also comprises: If the filtered output torque does not exceed the output torque threshold, then adjust the steel wire rope, and re-test the output torque after the steel wire rope is adjusted. 4. The method according to claim 1, wherein the leveling method further comprises: During the leveling process, the difference between the positions of each support point and the middle point is detected in real time, and if the difference between the positions of each support point and the middle point is less than the position difference threshold, the leveling is stopped; If the difference between the positions of each support point and the intermediate point is not less than the position difference threshold, continue leveling. 5. The method according to claim 1, wherein selecting a corresponding control mode according to the corrected platform inclination includes: If the corrected platform inclination is greater than the inclination threshold, select the first control mode to control the leveling speed; If the corrected platform inclination is not greater than the inclination threshold, the second control mode is selected. 6. The method of claim 5, wherein the first control mode comprises: Control the leveling speed in the first interval according to the adjustment time, correct the leveling speed according to the weight of the material on the hook platform, and obtain the corrected leveling speed interval value. 7. The method of claim 5, wherein the second control mode comprises: The leveling speed is controlled in the second interval according to the adjustment time, and the leveling speed is corrected according to the real-time wind speed to obtain the corrected leveling speed interval value. 8. The method of claim 1, wherein the leveling method further comprises: When the material is packed, the leveling direction of the hook platform is controlled according to the blocking state of the laser sensor on the hook platform. 9. The method according to claim 8, wherein controlling the leveling direction of the hook platform according to the blocking state of the laser sensor on the hook platform comprises: If the fifth laser or the sixth laser is blocked, the hook platform needs to be adjusted to the first direction; If the second laser, the fourth laser or the first laser and the third laser are blocked, the hook platform needs to be adjusted to the second direction; If the second laser, the third laser or the first laser and the fourth laser are blocked, the hook platform needs to rotate in the third direction. 10. A fully automatic control system for a tire hook, applied to a tire crane including a hook system, characterized in that the system includes a leveling subsystem, and the leveling subsystem includes: An acquisition module, configured to acquire the positions of multiple support points of the hook platform, and determine the position of the intermediate point according to the positions of the multiple support points; The correction module is used to determine the adjustment distance according to the position of multiple support points and the position of the intermediate point, obtain the adjustment time according to the adjustment distance, obtain the platform inclination angle, correct the platform inclination angle according to the position of the intermediate point, and obtain the corrected platform inclination angle; The control module is used to select a corresponding control mode according to the corrected platform inclination to adjust the leveling speed.

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