Hoisting apparatus and hoisting method

Abstract

The application relates to a hoisting device and a hoisting method, and relates to the technical field of engineering machinery. The hoisting device comprises a lifting appliance configured to hoist a target plate body; a moving body connected with the lifting appliance, the moving body being configured to move towards the edge of the target plate body and emit a displacement signal representing a displacement distance; a distance sensor arranged at a first end of the moving body, the distance sensor being configured to detect the distance between the first end and the surface of the target plate body and emit a detection signal; and a controller in communication connection with the moving body, the distance sensor and the lifting appliance. The hoisting device and the hoisting method can improve the problem that the steel plate hoisted to a predetermined position is inclined and deviated, and improve the cutting precision of the subsequent steel plate.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, specifically to a hoisting device and hoisting method. Background Technology

[0002] Currently, steel plates are hoisted onto a cutting table using lifting equipment. The cutting table then cuts the steel plates. Because the cutting precision requirements are high, it's crucial to ensure the steel plates are accurately placed in their designated positions on the cutting table. However, since each layer of steel plates may be in different positions during stacking, and current technology mostly involves manual lifting and unloading of steel plates, even when following a fixed procedure, the deviation of steel plates in different positions relative to the lifting equipment will vary. This will result in different tilting deviations after reaching the designated position, significantly impacting the subsequent cutting accuracy. Summary of the Invention

[0003] To address the aforementioned technical problems, this application proposes a hoisting device and a hoisting method. Embodiments of this application provide a hoisting device and a hoisting method that can improve the problem of tilting or deviating when a steel plate is hoisted to a predetermined position, thereby improving the subsequent cutting accuracy of the steel plate.

[0004] According to one aspect of this application, a lifting device is provided, comprising:

[0005] Lifting equipment, configured for lifting the target plate;

[0006] A movable body, connected to the lifting device, is configured to move toward the edge of the target plate and emit a displacement signal characterizing the displacement distance;

[0007] A distance sensor is disposed at the first end of the moving body. The distance sensor is configured to detect the distance between the first end and the surface of the target plate and to emit a detection signal.

[0008] The controller is communicatively connected to the moving body, the distance sensor, and the lifting device. The controller is configured to acquire the displacement signal when the change in the distance value represented by the detection signal exceeds an amplitude threshold, and to obtain the deviation between the center coordinates of the lifting device and the center coordinates of the target plate based on the displacement signal. Based on the deviation and the original coordinates of the predetermined position, the controller controls the lifting device to lift the target plate to the predetermined position.

[0009] The hoisting equipment provided in this embodiment includes a hoisting device, a moving body, a distance sensor, and a controller. The moving body is connected to the hoisting device, and the distance sensor is located at the first end of the moving body. The controller is communicatively connected to the moving body, the distance sensor, and the hoisting device. The moving body moves towards the edge of the target plate, causing the first end to move towards the edge of the target plate, so that the distance sensor can also follow the first end towards the edge of the target plate. The distance sensor can detect the distance between the first end and the surface of the target plate and emit a corresponding detection signal. The moving body can emit a displacement signal representing its own displacement distance. When the change in the distance value represented by the detection signal exceeds an amplitude threshold, the controller acquires the displacement signal and obtains the deviation between the center coordinates of the hoisting device and the center coordinates of the target plate based on the displacement signal. This determines the actual relative position information between the target plate and the hoisting device. Then, based on the deviation and the original coordinates of the predetermined position, the coordinate values ​​that the hoisting device needs to move can be adjusted, allowing the hoisting device to accurately hoist the target plate to the predetermined position. This improves the problem of tilting or deviating of the target plate after hoisting to the predetermined position, effectively ensuring the subsequent cutting accuracy of the target plate.

[0010] According to one aspect of this application, the mobile body includes:

[0011] A first rod assembly, connected to the lifting device, is configured to extend toward the wide edge of the target plate; and

[0012] The second rod assembly is connected to the lifting device and is configured to extend toward the long edge of the target plate.

[0013] According to one aspect of this application, the number of the first rod groups is two, and the two first rod groups are respectively disposed on a first side and a second side of the lifting device, wherein one of the first rod groups is configured to extend along a first direction toward a first wide edge of the target plate, and the other first rod group is configured to extend along a second direction toward a second wide edge of the target plate; wherein the first direction is opposite to the second direction.

[0014] According to one aspect of this application, the first rod group includes a plurality of first rods, which are distributed in parallel.

[0015] According to one aspect of this application, the number of the second rod groups is two, and the two second rod groups are respectively disposed on the third side and the fourth side of the lifting device. One of the second rod groups is configured to extend along a third direction toward the first long edge of the target plate, and the other second rod group is configured to extend along a fourth direction toward the second long edge of the target plate; wherein the third direction is opposite to the fourth direction.

[0016] According to one aspect of this application, the second rod group includes a plurality of second rods, which are distributed in parallel.

[0017] According to one aspect of this application, the mobile body includes:

[0018] Telescopic push rod, connected to the lifting device; and

[0019] An encoder is communicatively connected to the telescopic push rod and the controller, and the encoder is configured to emit the displacement signal.

[0020] According to another aspect of this application, a hoisting method is provided, applied to the controller of the aforementioned hoisting equipment, the hoisting method comprising:

[0021] Receive the detection signal to obtain the distance between the first end of the moving body and the surface of the target plate;

[0022] If the change in the distance value represented by the detection signal exceeds the amplitude threshold, the displacement signal is acquired to obtain the displacement distance of the moving body.

[0023] Based on the displacement signal, the deviation between the center coordinates of the lifting device and the center coordinates of the target plate is obtained; and

[0024] Based on the deviation and the original coordinates of the predetermined position, the lifting device is controlled to lift the target plate to the predetermined position.

[0025] The hoisting method provided in this application embodiment obtains the distance between the first end of the moving body and the surface of the target plate by receiving a detection signal emitted by a distance sensor. When the change in the distance value represented by the detection signal exceeds the amplitude threshold, it can be considered that the distance sensor has reached the edge of the target plate. At this time, a displacement signal is obtained to determine the displacement distance of the moving body. Then, based on the displacement signal, the deviation between the center coordinates of the hoisting device and the center coordinates of the target plate can be obtained, thereby determining the actual relative position information between the target plate being hoisted and the hoisting device. Then, based on the obtained deviation and the original coordinates of the predetermined position, the coordinate values ​​that the hoisting device needs to move can be adjusted, so that the hoisting device can accurately hoist the target plate to the predetermined position. In this way, the problem of tilting and deviation of the target plate when hoisted to the predetermined position can be improved.

[0026] According to another aspect of this application, controlling the lifting device to lift the target plate to the predetermined position based on the deviation amount and the original coordinates of the predetermined position includes:

[0027] Based on the deviation, the compensation coordinate value for the spreader to move to the predetermined position is obtained;

[0028] Based on the compensated coordinate values ​​and the original coordinate values, the target movement coordinate values ​​are obtained; and

[0029] Based on the target movement coordinates, the lifting device is controlled to lift the target plate to the predetermined position.

[0030] According to another aspect of this application, before receiving the detection signal, the hoisting method further includes:

[0031] Control the lifting device to lift the target plate; and

[0032] Control the moving body to move toward the edge of the target plate.

[0033] According to another aspect of this application, one embodiment of this application provides a computer-readable storage medium storing a computer program for performing the relative position state detection method described in the above embodiment. Attached Figure Description

[0034] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0035] Figure 1 This is a structural schematic diagram of a hoisting device for hoisting a target plate, provided as an exemplary embodiment of this application.

[0036] Figure 2 This is a schematic diagram of the structure of a moving body during a movement process, provided as an exemplary embodiment of this application.

[0037] Figure 3 A control block diagram of a moving body, a distance sensor, and a controller provided for an exemplary embodiment of this application.

[0038] Figure 4 This is a schematic flowchart of a hoisting method provided for an exemplary embodiment of this application.

[0039] Figure 5 This is a schematic diagram illustrating a process for controlling a lifting device to lift a target plate to a predetermined position based on the deviation amount and the original coordinates of the predetermined position, as provided in an exemplary embodiment of this application.

[0040] Figure 6 A schematic flowchart of a hoisting method provided for another exemplary embodiment of this application.

[0041] Figure 7A structural block diagram of a controller provided for an exemplary embodiment of this application.

[0042] Reference numerals: 100-Lifting equipment; 110-Lifting tool; 111-First side; 112-Second side; 113-Third side; 114-Fourth side; 120-Moving body; 121-First end; 122-First rod group; 1221-First rod; 123-Second rod group; 1231-Second rod; 124-Telescopic push rod; 125-Encoder; 130-Distance sensor; 140-Controller; 141-Processor; 142-Memory; 143-Input device; 144-Output device; 200-Target plate; 210-First wide edge; 220-Second wide edge; 230-First long edge; 240-Second long edge; 300-Ground. Detailed Implementation

[0043] Hereinafter, exemplary embodiments according to this application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments of this application. It should be understood that this application is not limited to the exemplary embodiments described herein.

[0044] Figure 1 This is a schematic diagram of the structure of a hoisting device for hoisting a target plate, provided as an exemplary embodiment of this application. Figure 1 As shown, the hoisting equipment 100 provided in this application embodiment may include a lifting device 110. The lifting device 110 can be used to hoist the target plate 200. Generally, different target plates 200 are initially stacked in different positions. After the lifting device 110 hoists the target plate 200, it raises the height of the target plate 200, then moves the position of the target plate 200, hoists the target plate 200 to the predetermined position, and then unloads the target plate 200 to complete the transfer of the target plate 200.

[0045] In one embodiment, the target plate 200 can be a steel plate, a wooden plate, an iron plate, etc.

[0046] In one embodiment, the lifting device 110 may include an overhead crane and a clamp. The position of the clamp can be adjusted by operating the overhead crane, and the clamp can also be controlled to hold or unload the target plate 200.

[0047] Figure 2 This is a structural diagram illustrating the movement process of a mobile body, provided as an exemplary embodiment of this application. Figure 1 and Figure 2 As shown, the hoisting equipment 100 may also include a movable body 120 and a distance sensor 130. The movable body 120 is connected to the lifting device 110, and the distance sensor 130 is located at the first end 121 of the movable body 120.

[0048] Specifically, in practical applications, the moving body 120 can move toward the edge of the target plate 200. During the movement of the moving body 120, the first end 121 moves toward the edge of the target plate 200, and the distance sensor 130 can also follow the first end 121 to move toward the edge of the target plate 200. The distance sensor 130 can continuously emit signals toward the target and receive the reflected signals. Based on the reflected signals, a detection signal representing the distance between the first end 121 and the surface of the target plate 200 can be emitted. In addition, during the movement of the moving body 120, a displacement signal representing the displacement distance can be emitted.

[0049] In one embodiment, the distance sensor 130 may be an infrared distance sensor, a laser distance sensor, or the like.

[0050] In one embodiment, the moving body 120 may be powered by a drive cylinder such as an electric cylinder, a pneumatic cylinder, or a hydraulic cylinder.

[0051] In one embodiment, the moving body 120 can move toward the edge of the target plate 200 by extending. Correspondingly, the signal emitted by the moving body 120 can be a displacement signal characterizing the linear displacement of the moving body 120.

[0052] In one embodiment, the moving body 120 can move toward the edge of the target plate 200 by rotation. Correspondingly, the signal emitted by the moving body 200 can be a displacement signal characterizing the angular displacement of the moving body 120.

[0053] Figure 3 A control block diagram of a moving body, a distance sensor, and a controller provided for an exemplary embodiment of this application. (See diagram below.) Figure 3 As shown, the hoisting equipment 100 may also include a controller 140, which is communicatively connected to the moving body 120, the distance sensor 130, and the lifting device 110. On the one hand, the controller 140 can obtain the aforementioned detection signal from the distance sensor 130 and the aforementioned displacement signal from the moving body 120. On the other hand, the controller 140 can control the lifting device 110 to perform operations such as moving, hoisting, and unloading, and can also control the moving body 120 to move toward the edge of the target plate 200.

[0054] Specifically, in practical applications, refer to Figure 2Taking the process of the moving body 120 moving in the direction indicated by arrow A as an example, during the process of the moving body 120 moving in the direction indicated by arrow A, the first end 121 moves toward the edge of the target plate 200, and the distance sensor 130 also moves toward the edge of the target plate 200 along with the first end 121. When the distance sensor 130 moves above the edge of the target plate 200, the signal emitted by the distance sensor 130 will reach the ground 300. Thus, according to the signal reflected back from the ground 300, the distance value represented by the detection signal emitted by the distance sensor 130 changes significantly. That is to say, the distance detected by the distance sensor 130 at this time has a large difference from the distance detected at the previous moment.

[0055] It should be noted that in practical applications, if the change in distance value exceeds the amplitude threshold, it can be assumed that the distance sensor 130 is now on the same vertical line as the edge of the target plate 200. At this time, the controller 140 acquires the displacement signal, determines the displacement distance of the moving body 120, and obtains the deviation between the center coordinates of the lifting device 110 and the center coordinates of the target plate 200 based on the displacement signal. This allows the actual relative position information between the target plate 200 and the lifting device 110 to be determined. Based on the obtained deviation and the original coordinates of the predetermined position, the coordinate values ​​that the lifting device 110 needs to move can be adjusted to eliminate the influence of the tilting offset of the target plate 200, so that the lifting device 110 can accurately lift the target plate 200 to the predetermined position. This can improve the problem of the target plate 200 tilting offset when lifted to the predetermined position.

[0056] It should be understood that when steel plates are used for the target plate 200, by determining the actual relative position information between the steel plate being hoisted and the lifting device 110, the coordinate values ​​that the lifting device 110 needs to move can be adjusted, so that the lifting device 110 can accurately hoist the steel plate to the predetermined position. This can improve the problem of tilting or deviating of the steel plate after it has been hoisted to the predetermined position, and effectively improve the cutting accuracy of the subsequent steel plate.

[0057] In one embodiment, the amplitude threshold can be set according to the actual situation, and this application does not specifically limit the amplitude threshold.

[0058] The hoisting equipment 100 provided in this embodiment includes a hoisting device 110, a movable body 120, a distance sensor 130, and a controller 140. The movable body 120 is connected to the hoisting device 110. The distance sensor 130 is disposed at the first end 121 of the movable body 120. The controller 140 is communicatively connected to the movable body 120, the distance sensor 130, and the hoisting device 110. The movable body 120 moves towards the edge of the target plate 200, causing the first end 121 to move towards the edge of the target plate 200, so that the distance sensor 130 can also follow the first end 121 towards the edge of the target plate 200. The distance sensor 130 can detect the distance between the first end 121 and the surface of the target plate 200 and emit a corresponding detection signal. The movable body 120 moves towards the edge of the target plate 200, causing the first end 121 to move towards the edge of the target plate 200. The moving body 120 can emit a displacement signal representing its own displacement distance. When the change in the distance value represented by the detection signal exceeds the amplitude threshold, the controller 140 acquires the displacement signal and obtains the deviation between the center coordinates of the lifting device 110 and the center coordinates of the target plate 200 based on the displacement signal. This allows the actual relative position information between the target plate 200 and the lifting device 110 to be determined. Then, based on the deviation and the original coordinates of the predetermined position, the coordinate values ​​that the lifting device 110 needs to move can be adjusted, so that the lifting device 110 can accurately lift the target plate 200 to the predetermined position. This can improve the problem of tilting and deviation of the target plate 200 after being lifted to the predetermined position, and effectively ensure the subsequent cutting accuracy of the target plate 200.

[0059] like Figure 1 As shown, the movable body 120 may include a first rod group 122 and a second rod group 123. Both the first rod group 122 and the second rod group 123 are connected to the lifting device 110. The first rod group 122 can extend toward the wide edge of the target plate 200, and the second rod group 123 can extend toward the long edge of the target plate 200.

[0060] In this way, when the change in the distance value represented by the detection signal emitted by the distance sensor 130 on the first rod group 122 exceeds the amplitude threshold, the controller 140 can acquire the displacement signal emitted by the first rod group 122 and determine the deviation of the center coordinate of the lifting device 110 relative to the center coordinate of the target plate 200 in the direction toward the wide edge. In addition, when the change in the distance value represented by the detection signal emitted by the distance sensor 130 on the second rod group 123 exceeds the amplitude threshold, the controller 140 can acquire the displacement signal emitted by the second rod group 123 and determine the deviation of the center coordinate of the lifting device 110 relative to the center coordinate of the target plate 200 in the direction toward the long edge. Then, based on the deviation in the aforementioned different directions, the overall deviation of the center coordinate of the lifting device 110 relative to the center coordinate of the target plate 200 can be determined more accurately, thereby enabling the target plate 200 to be lifted to the predetermined position more accurately.

[0061] like Figure 1 As shown, there are two first rod groups 122, which are respectively located on the first side 111 and the second side 112 of the lifting device 110. One of the first rod groups 122 can move along the first direction ( Figure 1 The direction indicated by the middle arrow B) extends toward the first wide edge 210 of the target plate 200, and another first rod assembly 122 can extend along the second direction ( Figure 1 The direction indicated by the middle arrow C extends toward the second wide edge 220 of the target plate 200, with the first direction being opposite to the second direction.

[0062] Specifically, in practical applications, after the distance sensors 130 on the two first rod groups 122 are distributed to the first wide edge 210 and the second wide edge 220 of the target plate 200, the average extension length is obtained by comprehensively considering the length value extended along the first direction and the length value extended along the second direction (the specific calculation process will be described in detail later). The average extension length is applied to calculate the overall deviation of the center coordinate of the aforementioned lifting device 110 relative to the center coordinate of the target plate 200, which can improve the accuracy of the deviation, thereby enabling the target plate 200 to be lifted to the predetermined position more accurately.

[0063] like Figure 1 As shown, the first rod group 122 may include a plurality of first rods 1221, which are distributed in parallel and can extend simultaneously. Each first rod 1221 is provided with a distance sensor 130.

[0064] Specifically, in practical applications, after the distance sensors 130 on multiple first rods 1221 have all reached the edge of the target plate 200, the average extension length is obtained by comprehensively considering the extension length values ​​of multiple first rods 1221 (the specific calculation process will be described in detail later). The average extension length is used to calculate the overall deviation of the center coordinate of the aforementioned lifting device 110 relative to the center coordinate of the target plate 200, which can improve the accuracy of the deviation, thereby enabling the target plate 200 to be lifted to the predetermined position more accurately.

[0065] It should be noted that "multiple first strokes 1221" can be understood as having two or more first strokes 1221.

[0066] like Figure 1 As shown, there are two second rod groups 123, which are respectively located on the third side 113 and the fourth side 114 of the lifting device 110. One of the second rod groups 123 is configured along the third direction ( Figure 1The direction indicated by the middle arrow D) extends toward the first long edge 230 of the target plate 200, and another second rod group 123 is configured to extend along the fourth direction ( Figure 1 The direction indicated by the middle arrow E) extends towards the second long edge 240 of the target plate 200, and the third direction is opposite to the fourth direction.

[0067] Specifically, in practical applications, after the distance sensors 130 on the two second rod groups 123 are distributed to the first long edge 230 and the second long edge 240 of the target plate 200, the average extension length is obtained by comprehensively considering the length values ​​of the extension along the third direction and the length values ​​of the extension along the fourth direction (the specific calculation process will be described in detail later). The average extension length is applied to calculate the overall deviation of the center coordinate of the aforementioned lifting device 110 relative to the center coordinate of the target plate 200, which can improve the accuracy of the deviation, thereby enabling the target plate 200 to be lifted to the predetermined position more accurately.

[0068] like Figure 1 As shown, the second rod group 123 may include multiple second rods 1231, which are distributed in parallel and can extend simultaneously. Each second rod 1231 is equipped with a distance sensor 130.

[0069] Specifically, in practical applications, after the distance sensors 130 on multiple second rods 1231 have all reached the edge of the target plate 200, the average extension length is obtained by comprehensively considering the extension length values ​​of multiple second rods 1231 (the specific calculation process will be described in detail later). The average extension length is used to calculate the overall deviation of the center coordinate of the aforementioned lifting device 110 relative to the center coordinate of the target plate 200, which can improve the accuracy of the deviation, thereby enabling the target plate 200 to be lifted to the predetermined position more accurately.

[0070] It should be noted that "multiple second-stroke 1231" can be understood as the number of second-stroke 1231 being two or more.

[0071] In one embodiment, such as Figure 1As shown, after the lifting device 110 lifts the target plate 200, it controls the extension of four first rods 1221 and four second rods 1231. When the distance sensors 130 on the four first rods 1221 reach the wide edge of the target plate 200, the extension lengths of the four first rods 1221 can be obtained, which are △L1, △L2, △L3 and △L4 respectively. When the distance sensors 130 on the four second rods 1231 reach the long edge of the target plate 200, the extension lengths of the four second rods 1231 can be obtained, which are △L5, △L6, △L7 and △L8 respectively. Then, by averaging the extension lengths of the four first rods 1221, the center coordinates of the lifting device 110 relative to the center coordinates of the target plate 200 can be obtained. Figure 1 The deviation in the direction indicated by arrow B or arrow C, that is, the deviation of the center coordinates of the lifting device 110 relative to the center coordinates of the target plate 200. Figure 1 The deviation ΔX in the direction indicated by the middle arrow B or arrow C is calculated as [(ΔL1 + ΔL2) / 2 + (ΔL3 + ΔL4) / 2] / 2. Correspondingly, by averaging the extension lengths of the four second rods 1231, the center coordinates of the lifting device 110 relative to the center coordinates of the target plate 200 can be obtained. Figure 1 The deviation in the direction indicated by the middle arrow D or arrow E, that is, the deviation of the center coordinates of the lifting device 110 relative to the center coordinates of the target plate 200. Figure 1 The deviation △Y in the direction of the middle arrow D or arrow E is [(△L5+△L6) / 2+(△L7+△L8) / 2] / 2. Then, based on △X, △Y and the original coordinates of the predetermined position, the movement coordinates of the lifting device 110 are adjusted so that the lifting device 110 can more accurately lift the target plate 200 to the predetermined position.

[0072] like Figure 2 As shown, the movable body 120 may include a telescopic push rod 124 and an encoder 125. The telescopic push rod 124 is connected to the lifting device 110, and the encoder 125 is communicatively connected to the telescopic push rod 124 and the controller 140.

[0073] Specifically, in practical applications, during the process of controlling the extension of the telescopic push rod 124, the encoder 125 can convert the linear displacement signal of the telescopic push rod 124 into a displacement signal that can be recognized by the controller 140. In this way, after receiving the detection signal, the controller 140 can obtain the extension length of the telescopic push rod 124.

[0074] Figure 4 This is a schematic flowchart illustrating a hoisting method provided in an exemplary embodiment of this application. The hoisting method provided in this embodiment is applied to the controller of the aforementioned hoisting equipment. Specifically, the hoisting method may include:

[0075] S310: Receives a detection signal to obtain the distance between the first end of the moving body and the surface of the target plate.

[0076] Specifically, since the distance sensor is located on the first end, the distance sensor emits a detection signal. After the controller receives the detection signal, it can obtain the distance between the first end of the moving body and the surface of the target plate.

[0077] S320: If the change in the distance value represented by the detection signal exceeds the amplitude threshold, then the displacement signal is acquired to obtain the displacement distance of the moving body.

[0078] Specifically, if the change in the distance value represented by the detection signal exceeds the amplitude threshold, it can be considered that the distance sensor has reached the edge of the target plate. At this time, by acquiring the displacement signal, the displacement distance of the moving body can be determined. This displacement distance can be used as a reference to calculate the offset between the center coordinates of the lifting device and the center coordinates of the target plate.

[0079] S330: Based on the displacement signal, obtain the deviation between the center coordinates of the lifting device and the center coordinates of the target plate.

[0080] S340: Based on the deviation and the original coordinates of the predetermined position, control the lifting device to lift the target plate to the predetermined position.

[0081] Specifically, after executing step S330, the deviation between the center coordinates of the lifting device and the center coordinates of the target plate can be obtained, so as to determine the actual relative position information between the target plate being lifted and the lifting device. Then, based on the obtained deviation and the original coordinates of the predetermined position, the coordinate values ​​that the lifting device needs to move can be adjusted, so that the lifting device can accurately lift the target plate to the predetermined position. In this way, the problem of tilting and deviation of the target plate when lifted to the predetermined position can be improved.

[0082] The hoisting method provided in this application embodiment obtains the distance between the first end of the moving body and the surface of the target plate by receiving a detection signal emitted by a distance sensor. When the change in the distance value represented by the detection signal exceeds the amplitude threshold, it can be considered that the distance sensor has reached the edge of the target plate. At this time, a displacement signal is obtained to determine the displacement distance of the moving body. Then, based on the displacement signal, the deviation between the center coordinates of the hoisting device and the center coordinates of the target plate can be obtained, thereby determining the actual relative position information between the target plate being hoisted and the hoisting device. Then, based on the obtained deviation and the original coordinates of the predetermined position, the coordinate values ​​that the hoisting device needs to move can be adjusted, so that the hoisting device can accurately hoist the target plate to the predetermined position. In this way, the problem of tilting and deviation of the target plate when hoisted to the predetermined position can be improved.

[0083] Figure 5This is a schematic diagram illustrating a process for controlling a lifting device to lift a target plate to a predetermined position based on the deviation amount and the original coordinates of the predetermined position, as provided in an exemplary embodiment of this application. Figure 5 As shown, step S340 may include:

[0084] S341: Based on the deviation, obtain the compensation coordinate value for the spreader to move to the predetermined position.

[0085] It should be understood that if the deviation is zero, then the compensation coordinate value is zero, and in this case, it is only necessary to hoist the target plate to the predetermined position according to the original coordinates of the predetermined position. If the deviation is not zero, then in order to ensure that the target plate can accurately reach the predetermined position, it is necessary to compensate for the movement coordinates of the lifting device according to the deviation, that is, to obtain the compensation coordinate value of the lifting device moving to the predetermined position.

[0086] S342: Obtain the target movement coordinates based on the compensated coordinates and the original coordinates.

[0087] S343: Based on the target's movement coordinates, control the lifting device to lift the target plate to the predetermined position.

[0088] Specifically, based on the supplementary coordinate values ​​and the original coordinate values, the target movement coordinate values ​​of the spreader can be calculated. That is, if the spreader moves according to the target movement coordinate values, the influence of the tilt of the target plate relative to the spreader can be eliminated, so that the target plate can accurately enter the predetermined position.

[0089] Figure 6 A schematic flowchart illustrating a hoisting method provided for another exemplary embodiment of this application. Figure 6 As shown, before step S310, the hoisting method may further include:

[0090] S350: Controls the lifting device to lift the target plate.

[0091] Specifically, after the spreader descends to the position of the target plate, the spreader clamps or adsorbs the target plate, and then the spreader is controlled to move upward, which can achieve the purpose of controlling the spreader to lift the target plate.

[0092] S360: Controls the moving body to move toward the edge of the target plate.

[0093] Specifically, the moving body can be controlled by a motor, and the controller can control the moving body to move toward the edge of the target plate by sending control signals to the motor.

[0094] It should be understood that performing steps S350 and S360 can improve the automation level of the overall operation process and effectively improve the overall work efficiency of hoisting operations.

[0095] Figure 7This is a structural block diagram of a controller provided for an exemplary embodiment of this application. Figure 7 As shown, the controller 140 can be either or both of the first device and the second device, or a standalone device independent of them, which can communicate with the first device and the second device to receive the acquired input signals from them.

[0096] like Figure 7 As shown, the controller 140 includes one or more processors 141 and memory 142.

[0097] The processor 141 may be a central processing unit (CPU) or other form of processing unit with data processing and / or instruction execution capabilities, and may control other components in the controller 140 to perform desired functions.

[0098] The memory 142 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 141 may execute the program instructions to implement the control methods and / or other desired functions of the various embodiments of this application described above. Various contents such as input signals, signal components, and noise components may also be stored in the computer-readable storage medium.

[0099] In one example, controller 140 may also include input device 143 and output device 144, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0100] When the controller is a standalone device, the input device 143 can be a communication network connector for receiving the acquired input signals from the first device and the second device.

[0101] In addition, the input device 143 may also include, for example, a keyboard, a mouse, etc.

[0102] The output device 144 can output various information to the outside, including determined distance information, direction information, etc. The output device 144 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0103] Of course, for the sake of simplicity, Figure 7Only some of the components of the controller 140 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the controller 140 may include any other suitable components depending on the specific application.

[0104] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0105] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0106] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0107] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0108] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0109] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0110] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A hoisting device, characterized in that, include: The lifting device (110) is configured to lift the target plate (200). A movable body (120) is connected to the lifting device (110), the movable body (120) is configured to move toward the edge of the target plate (200) and emit a displacement signal characterizing the displacement distance; A distance sensor (130) is disposed at the first end (121) of the moving body (120). The distance sensor (130) is configured to detect the distance between the first end (121) and the surface of the target plate (200) and to emit a detection signal. A controller (140) is communicatively connected to the moving body (120), the distance sensor (130), and the lifting device (110). The controller (140) is configured to acquire the displacement signal when the change in the distance value represented by the detection signal exceeds the amplitude threshold, and to obtain the deviation between the center coordinates of the lifting device (110) and the center coordinates of the target plate (200) based on the displacement signal. Based on the deviation and the original coordinates of the predetermined position, the controller (140) is controlled to lift the target plate (200) to the predetermined position. The moving body (120) includes: A first rod assembly (122) is connected to the lifting device (110). The first rod assembly (122) is configured to extend toward the wide edge of the target plate (200). There are two first rod assemblies (122), which are respectively located on a first side (111) and a second side (112) of the lifting device (110). One first rod assembly (122) is configured to extend toward the first wide edge (210) of the target plate (200) along a first direction, and the other first rod assembly (122) is configured to extend toward the second wide edge (220) of the target plate (200) along a second direction. The first direction is opposite to the second direction. The second rod group (123) is connected to the lifting device (110). The second rod group (123) is configured to extend toward the long edge of the target plate (200). There are two second rod groups (123), which are respectively located on the third side (113) and the fourth side (114) of the lifting device (110). One of the second rod groups (123) is configured to extend toward the first long edge (230) of the target plate (200) along a third direction, and the other second rod group (123) is configured to extend toward the second long edge (240) of the target plate (200) along a fourth direction. The third direction is opposite to the fourth direction.

2. The hoisting equipment according to claim 1, characterized in that, The first rod group (122) includes a plurality of first rods, which are distributed in parallel.

3. The hoisting equipment according to claim 1, characterized in that, The second rod group (123) includes a plurality of second rods (1231), which are distributed in parallel.

4. The hoisting equipment according to claim 1, characterized in that, The mobile body (120) includes: Telescopic push rod (124) is connected to the lifting device (110); and An encoder (125) is communicatively connected to the telescopic push rod (124) and the controller (140), and the encoder (125) is configured to emit the displacement signal.

5. A hoisting method, applied to the hoisting equipment according to any one of claims 1 to 4, characterized in that, The hoisting method includes: Receive the detection signal to obtain the distance between the first end of the moving body and the surface of the target plate; If the change in the distance value represented by the detection signal exceeds the amplitude threshold, then the displacement signal is acquired to obtain the displacement distance of the moving body; Based on the displacement signal, the deviation between the center coordinates of the lifting device and the center coordinates of the target plate is obtained; and Based on the deviation and the original coordinates of the predetermined position, the lifting device is controlled to lift the target plate to the predetermined position.

6. The hoisting method according to claim 5, characterized in that, The step of controlling the lifting device to lift the target plate to the predetermined position based on the deviation and the original coordinates of the predetermined position includes: Based on the deviation, the compensation coordinate value for the spreader to move to the predetermined position is obtained; Based on the compensated coordinate values ​​and the original coordinate values, the target movement coordinate values ​​are obtained; and Based on the target movement coordinates, the lifting device is controlled to lift the target plate to the predetermined position.

7. The hoisting method according to claim 5, characterized in that, Before receiving the detection signal, the hoisting method further includes: Control the lifting device to lift the target plate; and Control the moving body to move toward the edge of the target plate.

Images