A hook control method and hook device

Abstract

The present invention discloses a hook control method and a hook device, the method comprising: obtaining a first measurement value from a first obstacle recognition module to an obstacle, and a second measurement value from a second obstacle recognition module to an obstacle; comparing the first measurement value with the first safety distance and comparing the second measurement value with the second safety distance; if the first measurement value is less than the first safety distance or the second measurement value is less than the second safety distance, sending a command to stop the hook from descending; if the hook stops descending, sending a hole alignment command; controlling the hook to move according to the hole alignment command; if the hole alignment sensing module on the hook senses the inner hole of the steel coil, sending a command to stop the hook from moving. By means of obstacle distance sensing and hole alignment sensing, cargo information can be quickly collected and holes can be aligned accurately, reducing manual labor intensity and improving work efficiency.

Description

Technical Field

[0001] The present invention relates to the field of mechanical equipment control, and in particular to a hook control method and a hook device. Background Art

[0002] At present, the electric hook drives the opening and closing mechanism under the control of the controller to realize the opening and closing of the hook, thereby clamping and releasing the steel coil, realizing the lifting and unloading functions of the steel coil.

[0003] However, the existing hooks only provide simple operations, and can only realize the left and right rotation, opening and closing of the crane through a remote control or mechanical buttons. The functions are single and the integration is low. The cargo information cannot be obtained in time and it relies purely on manual acquisition, which has high labor intensity and low work efficiency. Summary of the invention

[0004] In order to overcome the deficiencies of the prior art, one of the objects of the present invention is to provide a hook control method that can quickly collect cargo information and accurately align holes, reduce manual labor intensity, and improve work efficiency.

[0005] The second purpose of the present invention is to provide a hook device that can quickly collect cargo information and accurately align holes, reduce manual labor intensity and improve work efficiency.

[0006] One of the purposes of the present invention is achieved by the following technical solution:

[0007] A hook control method, comprising:

[0008] Acquire a first measurement value from the first obstacle recognition module to the obstacle, and a second measurement value from the second obstacle recognition module to the obstacle;

[0009] Compare the first measurement value with the first safety distance and compare the second measurement value with the second safety distance; if the first measurement value is smaller than the first safety distance or the second measurement value is smaller than the second safety distance, send a command to stop the hook from descending;

[0010] If the hook stops descending, send the hole alignment command;

[0011] Control the movement of the hook according to the hole alignment instruction;

[0012] If the hole sensing module on the hook senses the inner hole of the steel coil, a command to stop the hook movement is sent.

[0013] Furthermore, it also includes:

[0014] Recording the order in which the hook passes through the first position sensor and the second position sensor;

[0015] Determining the direction in which the hook deviates from the origin according to the order in which the hook passes through the first position sensor and the second position sensor;

[0016] If a hook homing instruction is received, a hook rotation instruction is sent according to the direction in which the hook deviates from the origin;

[0017] Controlling the rotation of the hook according to the hook rotation instruction;

[0018] If the origin sensor senses that the hook has returned to its original position, a command to stop the hook rotation is sent.

[0019] Furthermore, if the hole sensing module on the hook senses the inner hole of the steel coil, after sending the instruction to stop the hook movement, it also includes:

[0020] Send hook closing command;

[0021] Controlling the hook to close according to the hook closing instruction;

[0022] If the clamping sensing module senses the steel coil, it sends a command to stop the hook from closing.

[0023] Furthermore, if the clamping sensing module senses the steel coil, after sending the instruction to stop the hook closing, it also includes:

[0024] If the load-bearing sensing module senses that the hook has entered the load-bearing state, a command to prohibit opening and closing is sent.

[0025] Furthermore, if the clamping sensing module senses the steel coil, after sending the instruction to stop the hook closing, it also includes:

[0026] Get the weight of the steel coil.

[0027] Furthermore, if the clamping sensing module senses the steel coil, after sending the instruction to stop the hook closing, it also includes:

[0028] The diameter of the steel coil is calculated according to the first measurement value and the second measurement value.

[0029] Further, after calculating the diameter of the steel coil according to the first measurement value and the second measurement value, the method further includes:

[0030] Get the QR code information on the steel coil;

[0031] The two-dimensional code information is bound to the weight and diameter information of the steel coil.

[0032] The second object of the present invention is achieved by adopting the following technical solution:

[0033] A hook device comprises a hook, a controller, an opening and closing mechanism for controlling the opening and closing of the hook, and a driving mechanism for controlling the movement of the hook, wherein the opening and closing mechanism and the driving mechanism are both connected to the controller, and is characterized in that it further comprises: an obstacle distance detection module, a hole sensing module, and a hook homing sensing module;

[0034] The obstacle distance detection module is connected to the controller and includes a first obstacle recognition module and a second obstacle recognition module. The obstacle distance detection module is used to obtain distance information of obstacles and send the distance information to the controller;

[0035] The hole sensing module is connected to the controller and is used to sense the inner hole position information of the steel coil and send the inner hole position information to the controller;

[0036] The hook homing sensing module is connected to the controller and includes a first position sensor, a second position sensor and an origin sensor. The hook homing sensing module is used to determine the direction information of the hook deviating from the origin and send the direction information to the controller;

[0037] The controller is used to control the opening and closing mechanism and the driving mechanism according to the distance information, the inner hole position information, and the direction information.

[0038] Furthermore, it also includes: a steel coil clamping module, a load-bearing sensing module, a weighing module and a QR code camera module;

[0039] The steel coil clamping module is connected to the controller and is used to determine whether the hook contacts the steel coil and send contact information to the controller;

[0040] The load-bearing sensing module is connected to the controller and is used to detect the load-bearing state information of the hook and send the load-bearing state information to the controller;

[0041] The weighing module is connected to the controller and is used to obtain the weight information of the steel coil and send the weight information to the controller;

[0042] The two-dimensional code photographing module is connected to the controller, and is used to obtain the two-dimensional code information of the steel coil and send the two-dimensional code information to the controller.

[0043] Furthermore, the weighing module includes a flange and a gravity sensor, the flange includes a locking grid, a hanging ear, a connecting rod, and an upper cover assembly fixed to the inner side of the hanging ear; the gravity sensor is located inside the upper cover assembly, one end of the gravity sensor is connected to the upper cover assembly, and the other end is connected to one end of the connecting rod; the locking grid is fixed to one end of the hanging ear, and cooperates with the hanging ear for connecting an external hook.

[0044] Compared with the prior art, the beneficial effects of the present invention are: through obstacle distance sensing and hole sensing, cargo information can be quickly collected and holes can be accurately aligned, thereby reducing manual labor intensity and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A flow chart of a hook control method provided in Embodiment 1 of the present invention;

[0046] Figure 2 A flow chart of a hook control method provided in Embodiment 2 of the present invention;

[0047] Figure 3 A schematic diagram of a hook device provided in an embodiment of the present invention;

[0048] Figure 4 for Figure 3 A schematic diagram of a weighing module of the hook device shown;

[0049] Figure 5 for Figure 4 Cross-section of the weigh module shown.

[0050] In the figure: 1. hook; 11. opening and closing mechanism; 12. driving mechanism; 13. crossbeam; 14. hook; 15. arm; 151. vertical plate; 152. cross plate; 2. obstacle distance detection module; 21. first obstacle identification module; 22. second obstacle identification module; 3. hole sensing module; 31. first hole sensor; 32. second hole sensor; 4. hook homing sensing module; 5. steel coil clamping module; 6. load-bearing sensing module; 7. weighing module; 71. flange; 711. lock grid; 712. hanging ear; 7121. second Installation position; 7122, first hanging ear; 7123, second hanging ear; 7124, connecting piece; 713, connecting rod; 7131, first groove; 7132, third protrusion; 714, upper cover assembly; 7141, hanging sleeve; 7142, upper cover; 71421, second protrusion; 7143, first installation position; 715, fixing piece; 7151, hanging block; 716, lower cover; 717, connecting ring; 7171, first protrusion; 72, gravity sensor; 721, second groove; 722, third groove; 8, QR code camera module. DETAILED DESCRIPTION

[0051] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form a new embodiment.

[0052] like Figure 1 As shown, the hook control method provided by the first embodiment of the present invention includes:

[0053] Step S101: obtaining a first measurement value from a first obstacle recognition module to an obstacle, and a second measurement value from a second obstacle recognition module to an obstacle.

[0054] Specifically, the first obstacle recognition module is arranged at the upper end of the hook, and the second obstacle recognition module is arranged at the lower end of the hook, and the distance of the obstacle is detected at the same time, which has higher accuracy.

[0055] Step S102: Compare the first measurement value with the first safety distance and compare the second measurement value with the second safety distance; if the first measurement value is smaller than the first safety distance or the second measurement value is smaller than the second safety distance, send a command to stop the hook from descending.

[0056] Specifically, when the hook is lowered to lift the cargo, the controller compares the first measurement value with the first safety distance. If the first measurement value is greater than the first safety distance, the hook continues to descend; if the first measurement value is less than the first safety distance, the hook stops descending and triggers other operation instructions, such as prompting manual operation. When the hook is lowering the cargo, the controller compares the second measurement value with the second safety distance. If the second measurement value is greater than the second safety distance, the hook continues to descend; if the second measurement value is less than the second safety distance, the hook stops descending and triggers other operation instructions. At the same time, the controller calculates the diameter of the steel coil based on the first measurement value and the second measurement value and sends it to the controller.

[0057] Step S103: If the hook stops descending, a hole alignment instruction is sent.

[0058] Step S104: Control the movement of the hook according to the hole alignment instruction.

[0059] Specifically, the driving mechanism determines the moving direction of the hook according to the hole alignment instruction sent by the controller, and drives the hook to move.

[0060] Step S105: If the hole sensing module on the hook senses the inner hole of the steel coil, a command to stop the movement of the hook is sent.

[0061] Specifically, if the hole sensing module detects that the inner hole of the steel coil is aligned, the hook stops moving; if the hole sensing module detects that the inner hole of the steel coil is not aligned, the controller sends a hole alignment instruction to the driving mechanism according to the detection result, and the driving mechanism drives the hook to move in the forward direction according to the hole alignment instruction, and the hole sensing module detects the inner hole of the steel coil in real time. When the hole sensing module detects the inner hole of the steel coil, the driving mechanism stops moving to determine whether the hook is ahead of the position of the inner hole of the steel coil due to inertia; if the hook is ahead of the position of the inner hole of the steel coil, the driving mechanism drives the hook to move in the reverse direction, and the hole sensing module detects the inner hole of the steel coil in real time. The above operation is repeated until the hole sensing module detects that the inner hole of the steel coil is aligned.

[0062] Further, after the hole is completed, perform the following operations:

[0063] The controller sends a hook closing instruction to the opening and closing mechanism;

[0064] The opening and closing mechanism controls the hook to close according to the hook closing instruction;

[0065] If the clamping sensing module senses the steel coil, the controller sends a command to the opening and closing mechanism to stop the hook from closing.

[0066] Specifically, during the closing process of the hook, the hole-aligning sensing module continues to detect the position of the inner hole of the steel coil. When the inner hole is blocked, the hook stops closing. After the hole-aligning sensing module detects that the inner hole of the steel coil is aligned, the hook continues to close. After the clamping sensing module on the hook senses that the hook clamps the steel coil, the hook stops closing, to avoid damage to the hook or clamping of the steel coil caused by misoperation.

[0067] Furthermore, if the load-bearing sensing module senses that the hook has entered a load-bearing state, the controller sends a prohibition instruction to the opening and closing mechanism.

[0068] Specifically, the hook lifts the steel coil and presses down the weighing detection probe of the weighing sensing module, entering the detection range of the load-bearing sensing module. The hook enters the load-bearing state, and the controller prohibits the hook from opening and closing to prevent workers from accidentally opening the hook.

[0069] Furthermore, when the hook rises to lift the steel coil, the weighing module obtains the weight of the steel coil and sends it to the controller.

[0070] Furthermore, during the lifting process of the hook, the QR code camera module obtains the QR code information on the steel coil; the controller receives the QR code information and binds the QR code information with the weight and diameter information of the steel coil.

[0071] Specifically, the QR code photographing module takes a photo of the QR code information on the steel coil and uploads it to the controller. The controller reads the QR code information and binds it with the weight and diameter information of the steel coil.

[0072] The hook control method provided in the first embodiment of the present invention can quickly collect cargo information and accurately align the holes through obstacle distance sensing and hole sensing, thereby reducing manual labor intensity and improving work efficiency.

[0073] like Figure 2 As shown, the hook control method provided by the second embodiment of the present invention includes:

[0074] Step S201: Record the order in which the hook passes through the first position sensor and the second position sensor.

[0075] Step S202: determining the direction in which the hook deviates from the origin according to the order in which the hook passes through the first position sensor and the second position sensor.

[0076] Step S203: If a hook return instruction is received, a hook rotation instruction is sent according to the direction in which the hook deviates from the origin.

[0077] Step S204: controlling the hook to rotate according to the hook rotation instruction.

[0078] Step S205: If the origin sensor senses that the hook has returned to its original position, a command to stop the hook rotation is sent.

[0079] Specifically, during the operation, the controller records the order in which the hook passes through the first position sensor and the second position sensor, thereby determining the rotation direction of the hook. After the operation is completed, the controller receives the hook return instruction and detects whether the hook is at the origin. If the hook is at the origin, the drive mechanism does not perform the action; if it is detected that the hook is not at the origin, the controller determines whether the hook returns to the origin in a forward or reverse rotation according to the rotation direction of the hook during the operation, and drives the hook to return to the origin.

[0080] The hook control method provided in the second embodiment of the present invention records the rotation direction of the hook during rotation. When the hook needs to be returned to its original position, the hook is controlled to return to its original position according to the recorded rotation direction. No manual calibration is required and the hook returns to its original position automatically.

[0081] The embodiment of the present invention also provides a hook device, such as Figure 3 As shown, the hook device is used to clamp and lift the steel coil, including a hook 1, a controller (not shown in the figure), an opening and closing mechanism 11 for controlling the opening and closing of the hook 1, and a driving mechanism 12 for controlling the movement of the hook 1, and the opening and closing mechanism 11 and the driving mechanism 12 are both connected to the controller. The hook 1 includes a crossbeam 13, a hook portion 14 located on the upper part of the crossbeam 13, and two booms 15 located at both ends of the crossbeam 13 for clamping the steel coil, the hook portion 14 is used to connect to an external crane, and the boom 15 includes a vertical plate 151 and a horizontal plate 152; one end of the vertical plate 151 is connected to one end of the crossbeam 13, and the other end is connected to one end of the crossbeam 152; the opening and closing mechanism 11 is located on the crossbeam 13, connected to the two booms 15, and is used to control the opening and closing of the booms 15, and the driving mechanism 12 is located on the upper side of the crossbeam 13, and is used to control the movement and rotation of the hook 1.

[0082] The hook device also includes: an obstacle distance detection module 2, a hole sensing module 3 and a hook return sensing module 4, and the obstacle distance detection module 2, the hole sensing module 3 and the hook return sensing module 4 are all connected to the controller.

[0083] The obstacle distance detection module 2 includes a first obstacle recognition module 21 and a second obstacle recognition module 22. The first obstacle recognition module 21 is located at the lower end of the opening and closing mechanism 11, and the second obstacle recognition module 22 is located at the lower end of the horizontal plate 152 of one of the arms 15. The obstacle distance detection module 2 is used to obtain the distance information of the obstacle and send the distance information to the controller. The first obstacle recognition module 21 is used to detect the first measurement value of the obstacle and send it to the controller, and the second obstacle recognition module 22 is used to detect the second measurement value of the obstacle and send it to the controller. When the hook is lowered to lift the goods, the controller compares the first measurement value with the first safety distance. If the first measurement value is greater than the first safety distance, the hook continues to descend; if the first measurement value is less than the first safety distance, the hook stops descending and triggers other operation instructions, such as prompting manual operation. When the hook is lowering the goods, the controller compares the second measurement value with the second safety distance. If the second measurement value is greater than the second safety distance, the hook continues to descend; if the second measurement value is less than the second safety distance, the hook stops descending and triggers other operation instructions. The distance to the obstacle is sensed by two sensors located at the upper and lower ends of the hook, which has high accuracy and better safety. At the same time, the controller calculates the diameter of the steel coil according to the first measurement value and the second measurement value and sends it to the controller.

[0084] The hole sensing module 3 includes a first hole sensing device 31 and a second hole sensing device 32 respectively located at the upper ends of the two horizontal plates 152; the hole sensing module 3 is used to sense the inner hole position information of the steel coil and send the inner hole position information to the controller. If the hole sensing module 3 detects that the inner hole of the steel coil is aligned, the hook stops moving.

[0085] The hook return sensing module 4 is located at the upper end of the opening and closing mechanism 11, and includes a first position sensor (not shown in the figure), a second position sensor (not shown in the figure) and an origin sensor (not shown in the figure). The hook return sensing module 4 is used to determine the direction information of the hook 1 deviating from the origin, and send the direction information to the controller. During the operation, the controller records the order in which the hook 1 passes through the first position sensor and the second position sensor, thereby determining the rotation direction of the hook 1. After the operation is completed, after the controller receives the hook 1 return instruction, it detects whether the hook 1 is at the origin. If the hook 1 is at the origin position, the driving mechanism 12 does not perform the action; if it is detected that the hook is not at the origin position, it is determined whether the hook returns to the origin position in a forward rotation or a reverse rotation according to the rotation direction of the hook during the operation, and the hook is driven to return to the origin position.

[0086] The controller is used to control the opening and closing mechanism 11 and the driving mechanism 12 according to the distance information, the inner hole position information, and the direction information.

[0087] During the process of lifting cargo with a hook, obstacle distance sensing and hole sensing can be used to quickly collect cargo information and accurately align holes, reducing manual labor intensity and improving work efficiency. The hook return sensing module records the direction of movement of the hook and controls the hook to return to its initial position. It does not require manual proofreading and automatically returns to its original position.

[0088] Furthermore, the hook device also includes: a steel coil clamping module 5, a load-bearing sensing module 6, a weighing module 7 and a QR code camera module 8, and the steel coil clamping module 5, the load-bearing sensing module 6, the weighing module 7 and the QR code camera module 8 are all connected to the controller.

[0089] The coil clamping module 5 is located on the inner side of the two vertical plates 151, and is used to determine whether the hook 1 contacts the coil and send the contact information to the controller. During the hook closing process, the hook continues to close after the hole sensing module detects that the inner hole of the coil is aligned, and the hook stops closing after the clamping sensing module on the hook senses that the hook clamps the coil, so as to avoid damage to the hook or clamping of the coil caused by misoperation.

[0090] The load-bearing sensing module 6 is located at the upper ends of the two horizontal plates 152 and is used to detect the load-bearing state information of the hook 1 and send the load-bearing state information to the controller. When the hook lifts the steel coil and presses down the weighing detection probe of the weighing sensing module, it enters the detection range of the load-bearing sensing module 6, and the hook enters the load-bearing state. The controller prohibits the hook from opening and closing to prevent the worker from opening the hook by mistake.

[0091] The weighing module 7 is located between the hook 14 and the driving mechanism 12. When the hook 1 is lifting the goods, the weighing module 7 obtains the weight information of the steel coil and sends the weight information to the controller.

[0092] like Figures 4 to 5 As shown, the weighing module 7 includes a flange 71 and a gravity sensor 72. The flange 71 includes a locking grid 711, a hanging ear 712, a connecting rod 713, and an upper cover assembly 714 fixed to the inner side of the hanging ear 712; the gravity sensor 72 is located in the upper cover assembly 714, one end of the gravity sensor 72 is connected to the upper cover assembly 714, and the other end is connected to one end of the connecting rod 713; the locking grid 711 is fixed to one end of the hanging ear 712, and cooperates with the hanging ear 712 to be used for connecting an external crane. The connecting rod 713 is connected to the hook. After the hook clamps the object, the weighing module detects the weight of the object and sends the object weight information to the controller. The gravity sensor 72 is connected to the upper cover assembly 714, and the upper cover assembly 714 is located in the hanging ear 712. The device structure is stable, and the accuracy of weighing is guaranteed during the weighing process. It has a simple structure and is easy to disassemble and assemble.

[0093] The upper cover assembly 714 includes a hanging sleeve 7141 and an upper cover 7142 fixed to one end of the hanging sleeve 7141. The gravity sensor 72 is located in the hanging sleeve 7141, and one end of the gravity sensor 72 is connected to the upper cover 7142 to ensure the accuracy of weighing. The flange 71 also includes a fixing member 715. The outer side of the hanging sleeve 7141 is provided with a first mounting position 7143, and the hanging ear 712 is provided with a second mounting position 7121 adapted to the first mounting position 7143; one end of the fixing member 715 is connected to the first mounting position 7143, and the other end is connected to the second mounting position 7121. Further, the fixing member 715 includes at least one hanging block 7151, one end of the hanging block 7151 is interference fit with the first mounting position 7143, and the other end is connected to the second mounting position 7121. The device has a simple structure and is easy to disassemble and assemble, and this installation method can ensure that the device is firmly fixed. In this embodiment, the number of the first mounting positions 7143 is four, of which two first mounting positions 7143 are located at the upper end of the outer side of the hanging sleeve 7141, and two first mounting positions 7143 are located at the lower end of the outer side of the hanging sleeve 7141, so that the hanging sleeve 7141 is in the shape of a barrel with double grooves, and the number of the second mounting positions 7121 is correspondingly set to four. Further, the hanging ear 712 includes a first hanging ear 7122 and a second hanging ear 7123, and the first hanging ear 7122 and the second hanging ear 7123 are fixed by a connecting member 7124, and the connecting member 7124 is a screw, so as to further lock the hanging ear 712 and the hanging sleeve 7141 to prevent the hanging sleeve 7141 from rotating. Further, the flange 71 also includes a lower cover 716, and the connecting rod 713 passes through the lower cover 716, and the lower cover 716 is fixed to the other end of the hanging sleeve 7141, so as to further fix the hanging sleeve 7141.

[0094] Furthermore, the weighing device further comprises a connecting ring 717, which is movably connected to the other end of the connecting rod 713, so as to reduce the force exerted by external factors on the gravity sensor 72 and ensure the accuracy of the gravity sensor 72. Furthermore, a first groove 7131 is provided on the outer side of the connecting rod 713, and a first protrusion 7171 adapted to the first groove 7131 is provided on the connecting ring 717, so that the connection between the connecting ring 717 and the connecting rod 713 is more tightly secured. The balance and stability of the entire device can be ensured, and potential safety hazards caused by the shaking of the hook can be prevented.

[0095] Furthermore, the upper cover 7142 is provided with a second protrusion 71421, and the gravity sensor 72 is provided with a second groove 721 adapted to the second protrusion 71421. One end of the connecting rod 713 is provided with a third protrusion 7132, and the gravity sensor 72 is provided with a third groove 722 adapted to the third protrusion 7132, and the device structure is compact and firmly fixed.

[0096] Please continue to refer to Figure 3The QR code photographing module 8 is located at the lower end of the opening and closing mechanism 11. The QR code photographing module 8 photographs the QR code information on the steel coil and sends the QR code information to the controller. The controller reads the QR code information and binds it with the weight and diameter information of the steel coil. When the steel coil is lifted, the weight of the steel coil is collected and the QR code label information on the surface of the steel coil is read, thereby improving work efficiency.

[0097] Furthermore, it also includes an audible and visual alarm system connected to the controller. If the hoisted goods are not authorized to leave the warehouse, the controller sends out an alarm command, the hook drives the audible and visual alarm, and the hook opens at the same time, and the function becomes invalid until the alarm command is cancelled.

[0098] The hook control method and hook device provided by the present invention can quickly collect cargo information and accurately align holes through obstacle distance sensing and hole sensing, thereby reducing manual labor intensity and improving work efficiency.

[0099] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. A hook control method, characterized in that: include: Acquire a first measurement value from the first obstacle recognition module to the obstacle, and a second measurement value from the second obstacle recognition module to the obstacle; Comparing the first measurement value with the first safety distance and comparing the second measurement value with the second safety distance; If the first measurement value is less than the first safety distance or the second measurement value is less than the second safety distance, a command to stop the hook from descending is sent; If the hook stops descending, send the hole alignment command; Control the movement of the hook according to the hole alignment instruction; If the hole sensing module on the hook senses the inner hole of the steel coil, it sends a command to stop the hook movement; Also includes: Recording the order in which the hook passes through the first position sensor and the second position sensor; Determining the direction in which the hook deviates from the origin according to the order in which the hook passes through the first position sensor and the second position sensor; If a hook homing instruction is received, a hook rotation instruction is sent according to the direction in which the hook deviates from the origin; Controlling the rotation of the hook according to the hook rotation instruction; If the origin sensor senses that the hook has returned to its original position, a command to stop the hook rotation is sent.

2. The hook control method according to claim 1, characterized in that: If the hole sensing module on the hook senses the inner hole of the steel coil, after sending the instruction to stop the hook movement, the method further includes: Send hook closing command; Controlling the hook to close according to the hook closing instruction; If the clamping sensing module senses the steel coil, it sends a command to stop the hook from closing.

3. The hook control method according to claim 2, characterized in that: If the clamping sensing module senses the steel coil, after sending the instruction to stop the hook closing, it also includes: If the load-bearing sensing module senses that the hook has entered the load-bearing state, a command to prohibit opening and closing is sent.

4. The hook control method according to claim 2, characterized in that: If the clamping sensing module senses the steel coil, after sending the instruction to stop the hook closing, it also includes: Get the weight of the steel coil.

5. The hook control method according to claim 4, characterized in that: If the clamping sensing module senses the steel coil, after sending the instruction to stop the hook closing, it also includes: The diameter of the steel coil is calculated according to the first measurement value and the second measurement value.

6. The hook control method according to claim 5, characterized in that: After calculating the diameter of the steel coil according to the first measurement value and the second measurement value, the method further includes: Get the QR code information on the steel coil; The two-dimensional code information is bound to the weight and diameter information of the steel coil.

7. A hook device, comprising a hook, a controller, an opening and closing mechanism for controlling the opening and closing of the hook, and a driving mechanism for controlling the movement of the hook, wherein the opening and closing mechanism and the driving mechanism are both connected to the controller, and characterized in that: It also includes: obstacle distance detection module, hole sensing module and hook return sensing module; The obstacle distance detection module is connected to the controller and includes a first obstacle recognition module and a second obstacle recognition module. The obstacle distance detection module is used to obtain distance information of obstacles and send the distance information to the controller; The hole sensing module is connected to the controller and is used to sense the inner hole position information of the steel coil and send the inner hole position information to the controller; The hook homing sensing module is connected to the controller and includes a first position sensor, a second position sensor and an origin sensor. The hook homing sensing module is used to determine the direction information of the hook deviating from the origin and send the direction information to the controller; The controller is used to control the opening and closing mechanism and the driving mechanism according to the distance information, the inner hole position information, and the direction information.

8. The hook device according to claim 7, characterized in that: Also includes: Steel coil clamping module, load-bearing sensing module, weighing module and QR code camera module; The steel coil clamping module is connected to the controller and is used to determine whether the hook contacts the steel coil and send contact information to the controller; The load-bearing sensing module is connected to the controller and is used to detect the load-bearing state information of the hook and send the load-bearing state information to the controller; The weighing module is connected to the controller and is used to obtain the weight information of the steel coil and send the weight information to the controller; The two-dimensional code photographing module is connected to the controller, and is used to obtain the two-dimensional code information of the steel coil and send the two-dimensional code information to the controller.

9. The hook device according to claim 8, characterized in that: The weighing module includes a flange and a gravity sensor, the flange includes a locking grid, a hanging ear, a connecting rod, and an upper cover assembly fixed to the inner side of the hanging ear; the gravity sensor is located in the upper cover assembly, one end of the gravity sensor is connected to the upper cover assembly, and the other end is connected to one end of the connecting rod; the locking grid is fixed to one end of the hanging ear and cooperates with the hanging ear for connecting an external crane.

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