Hoisting system and control method, device, electronic equipment and storage medium thereof

Abstract

The application relates to a hoisting system and a control method, device, electronic equipment and storage medium thereof. The hoisting system control method comprises the following steps: acquiring a first load change amount of at least one hoisting device in the hoisting system in a first preset time period; judging whether there is a first target hoisting device whose first load change amount exceeds a preset range; and outputting a stop running signal for all hoisting devices when the first target hoisting device exists. Therefore, the application can acquire the first load change amount of at least one hoisting device in the hoisting system in the first preset time period, and judge whether there is an overload possibility of an individual hoisting device according to the first load change amount of each hoisting device, so that the application can make a pre-judgment, prevent the phenomenon of overload of the individual hoisting device, take corresponding measures, and improve the safety of hoisting.

Description

Technical Field

[0001] This application relates to the technical field of automatic control, and more specifically, to a lifting system and its control method, apparatus, electronic equipment and storage medium. Background Technology

[0002] Elevator installation requires various hoisting devices, especially for duplex elevators, where different hoisting schemes necessitate different hoisting devices. A crane is a multi-action lifting machine that vertically lifts and horizontally moves heavy objects within a certain range. The working principle of a crane is to convert electrical energy into mechanical energy via an electric motor. The rotor of the motor rotates and outputs energy, which is then reduced in speed by gears and other reduction gears before driving a drum to rotate. The drum winds a wire rope (or chain) and passes it through a pulley system (or sprocket), causing the hook to lift or lower, thus converting mechanical energy into mechanical work and enabling the vertical transport of the load suspended on the hook. When the load is large in mass or volume, the load-bearing capacity of a single lifting point may not be sufficient, or a single lifting point may not guarantee that the load will not deform. In such cases, multiple lifting points and multiple motors are used simultaneously for hoisting.

[0003] During hoisting, not only will the mass of the hoisted object increase due to manual loading and other reasons, causing a change in the center of gravity, but the gravitational potential energy of the hoisted object will also increase due to factors such as hanging of suspended objects and increased lifting height. At this time, the changes in the mass, gravitational potential energy, or center of gravity of the hoisted object will cause an increase in the load on individual hoisting devices. If the hoisting device is undersized and cannot be adjusted in time during the hoisting process, individual hoisting devices may be overloaded, resulting in a hoisting accident. Summary of the Invention

[0004] The purpose of this application is to provide a lifting system and its control method, device, electronic equipment and storage medium, which can prevent or handle overloading of individual lifting devices.

[0005] In order to achieve the above objectives,

[0006] In a first aspect, this application provides a lifting system control method comprising: acquiring a first load change of at least one hoisting device in the lifting system during a first preset time period; determining whether there is a first target hoisting device whose first load change exceeds a preset range; and when there is a first target hoisting device, outputting a stop operation signal for all hoisting devices.

[0007] In one embodiment, when a first target lifting device exists, after outputting a stop signal for all lifting devices, the method further includes: obtaining the current load difference between every two lifting devices; and generating control commands for the other lifting devices besides the first target lifting device based on the current load difference.

[0008] In one embodiment, the method further includes: when there is no first target lifting device, obtaining the second load change of at least one lifting device in the lifting system during a second preset time period; determining whether there is a second target lifting device whose first load change is less than the second load change; and when there is a second target lifting device, generating a control command for the lifting system.

[0009] In one embodiment, the method further includes generating an automatic operation signal for the lifting system when no second target lifting device is available.

[0010] In one embodiment, when a second target lifting device is present, a control command is generated for the lifting system, including: acquiring historical displacement information of the object being lifted in the lifting system; acquiring historical load information of the second target lifting device; generating a first fitting curve of the second target lifting device with respect to load and displacement based on the historical displacement information and historical load information; determining the critical position of the object being lifted when the load exceeds the rated load in the second target lifting device based on the first fitting curve; and generating a stop operation signal for all lifting devices in the lifting system before the object reaches the critical position.

[0011] In one embodiment, when a second target lifting device is present, a control command for the lifting system is generated, including: acquiring historical load information of the second target lifting device; generating a second fitting curve of the second target lifting device with respect to load and time based on historical displacement information and historical load information; determining the critical time when the second target lifting device exceeds the rated load based on the second fitting curve; and generating a stop operation signal for all lifting devices in the lifting system before the critical time is reached.

[0012] In one embodiment, when a second target lifting device is present, control instructions for the lifting system are generated, including: outputting a stop operation signal for the second target lifting device; obtaining the current load difference between every two lifting devices; and generating control instructions for all lifting devices other than the second target lifting device based on the current load difference.

[0013] In one embodiment, before acquiring the first load change of at least one hoisting device in the lifting system during a first preset time period, the method further includes: acquiring the current load information of all hoisting devices; determining whether all hoisting devices are simultaneously loaded based on the current load information of all hoisting devices; when all hoisting devices are not simultaneously loaded, generating individual control commands for all hoisting devices to ensure that all hoisting devices reach the preset load; and when all hoisting devices reach the preset load, generating an automatic operation signal for all hoisting devices to ensure that all hoisting devices are simultaneously loaded.

[0014] In one embodiment, before acquiring the first load change of at least one hoisting device in the lifting system during a first preset time period, the method further includes: acquiring the current load information of all hoisting devices; determining whether there is a third target hoisting device whose current load information exceeds the rated range; and when there is a third target hoisting device, outputting a stop operation signal for all hoisting devices.

[0015] In one embodiment, when a third target lifting device is present, after outputting a stop operation signal for all lifting devices, the method further includes: obtaining the current load difference between every two lifting devices; and generating control commands for the other lifting devices besides the third target lifting device based on the current load difference.

[0016] Secondly, this application provides a lifting system control device comprising: a first acquisition module, a first judgment module, and a first output module. The first acquisition module is used to acquire the first load change of at least one hoisting device in the lifting system during a first preset time period. The first judgment module is used to determine whether there is a first target hoisting device whose first load change exceeds the rated range. The first output module is used to output a stop operation signal for all hoisting devices when the first target hoisting device exists.

[0017] In one embodiment, the lifting system control device further includes a fifth acquisition module and a fifth generation module: the fifth acquisition module is used to acquire the current load difference between every two lifting devices after outputting a stop operation signal for all lifting devices when a first target lifting device exists; the fifth generation module is used to generate control commands for other lifting devices among all lifting devices except the first target lifting device based on the current load difference.

[0018] In one embodiment, the lifting system control device further includes: a second acquisition module, a second judgment module, and a first generation module. The second acquisition module is used to acquire the second load change of at least one lifting device in the lifting system during a second preset time period when there is no first target lifting device. The second judgment module is used to determine whether there is a second target lifting device whose first load change is less than the second load change. The first generation module is used to generate control commands for the lifting system when there is a second target lifting device.

[0019] In one embodiment, the lifting system control device further includes a second generation module for generating an automatic operation signal for the lifting system when a second target lifting device is not present.

[0020] In one embodiment, the first generation module is further configured to acquire historical displacement information of the object being lifted in the lifting system; acquire historical load information of the second target lifting device; generate a first fitting curve of the second target lifting device with respect to load and displacement based on the historical displacement information and historical load information; determine the critical position of the object being lifted in the second target lifting device when the load exceeds the rated load based on the first fitting curve; and generate a stop operation signal for all lifting devices in the lifting system before the object reaches the critical position.

[0021] In one embodiment, the first generation module is further configured to acquire historical load information of the second target hoisting device; generate a second fitting curve of the second target hoisting device with respect to load and time based on the historical load information; determine the critical time when the second target hoisting device exceeds the rated load based on the second fitting curve; and generate a stop operation signal for all hoisting devices in the lifting system before the critical time is reached.

[0022] In one embodiment, the first generation module is further configured to output a stop operation signal for the second target hoisting device; obtain the current load difference between every two hoisting devices; and generate control commands for all hoisting devices other than the second target hoisting device based on the current load difference.

[0023] In one embodiment, the lifting system control device further includes: a fifth acquisition module, a fifth judgment module, a third generation module, and a fourth generation module. The fifth acquisition module is used to acquire the current load information of all lifting devices; the fifth judgment module is used to determine whether all lifting devices are simultaneously loaded based on the current load information of all lifting devices; the third generation module is used to generate individual control commands for all lifting devices when all lifting devices are not simultaneously loaded, so that all lifting devices reach the preset load; the fourth generation module is used to generate an automatic operation signal for all lifting devices when all lifting devices reach the preset load, so that all lifting devices are simultaneously loaded.

[0024] In one embodiment, the lifting system control device further includes: a third acquisition module, a third judgment module, and a third output module. The third acquisition module is used to acquire the current load information of all lifting devices before acquiring the first load change amount of at least one lifting device in the lifting system during a first preset time period. The third judgment module is used to determine whether there is a third target lifting device whose current load information exceeds a preset range. The third output module is used to output a stop operation signal for all lifting devices when there is a third target lifting device.

[0025] In one embodiment, the lifting system control device further includes a fifth acquisition module and a sixth generation module: the fifth acquisition module is used to acquire the current load difference between every two lifting devices after outputting a stop operation signal for all lifting devices when a third target lifting device exists; the sixth generation module is used to generate control commands for the other lifting devices among all lifting devices except the third target lifting device based on the current load difference.

[0026] Thirdly, this application provides an electronic device, including: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the method as described in any of the foregoing embodiments.

[0027] Fourthly, this application provides a non-transitory computer-readable storage medium, comprising: a program, which, when run by an electronic device, causes the electronic device to perform any of the methods described in the foregoing embodiments.

[0028] Fifthly, this application provides a lifting system comprising: a control device, a detection device, and multiple lifting devices, each lifting device including a lifting tool and at least one power component, each lifting device being connected to the control device; the detection device being connected to the control device and used to detect the load of each lifting device.

[0029] In one embodiment, the detection device includes: a plurality of weighing devices and / or a plurality of detectors, each weighing device being connected to a lifting device for detecting the tensile force borne by the lifting device, and each detector being connected to a power component for detecting the power output of the power component.

[0030] The advantages of this application compared to the prior art are:

[0031] This application can obtain the first load change of at least one hoisting device in the hoisting system during a first preset time period; and determine whether there is a possibility of overloading of individual hoisting devices based on the first load change of each hoisting device, thereby making predictions, preventing the phenomenon of overloading of individual hoisting devices, and taking corresponding measures to improve the safety of hoisting.

[0032] This application can also obtain the first load change of at least one hoisting device in the lifting system during a first preset time period; and determine whether there is a possibility of overloading in individual hoisting devices by comparing the first load change and the second load change of each hoisting device, and take corresponding measures. Therefore, this application can perform secondary prediction, improving the accuracy of the prediction.

[0033] This application can also obtain the current load value of at least one lifting device in the lifting system; and determine whether any individual lifting device is overloaded by comparing the current load value of each lifting device with its rated load, and take corresponding measures. Therefore, this application can promptly address the problem of overload of individual lifting devices and improve the safety of the lifting operation. Attached Figure Description

[0034] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a block diagram illustrating a lifting system according to an embodiment of this application.

[0036] Figure 2 This is a schematic diagram of the structure of a lifting system according to an embodiment of this application.

[0037] Figure 3 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application.

[0038] Figure 4 This is a schematic flowchart illustrating a lifting system control method according to an embodiment of this application.

[0039] Figure 5 This is a schematic flowchart illustrating a lifting system control method according to an embodiment of this application.

[0040] Figure 6 An embodiment of this application is shown Figure 5 A detailed schematic diagram of step S208.

[0041] Figure 7 A schematic diagram of a first fitting curve is shown for one embodiment of this application.

[0042] Figure 8 An embodiment of this application is shown Figure 5 A detailed schematic diagram of step S208.

[0043] Figure 9 A schematic diagram of a second fitting curve is shown for one embodiment of this application.

[0044] Figure 10 An embodiment of this application is shown Figure 5 A detailed schematic diagram of step S208.

[0045] Figure 11 This is a schematic flowchart illustrating a lifting system control method according to an embodiment of this application.

[0046] Figure 12 This is a schematic flowchart illustrating a lifting system control method according to an embodiment of this application.

[0047] Figure 13 This is a block diagram of a lifting system control device according to an embodiment of this application.

[0048] Icons: 100-Lifting system; 110-Lifting device; 111-Power component; 112-Lifting tool; 120-Detection device; 121-Weighing device; 130-Control device; 131-Operator box; 132-Control component; 133-Electrical control box; 134-Connecting cable; 140-Limit device; 141-Displacement sensor; 200-Lifted object; 210-Guide shoe; 300-Electronic equipment; 301-Bus; 302-Memory; 303-Processor; 400-Lifting system control device; 410-First acquisition module; 420-First judgment module; 430-First output module. Detailed Implementation

[0049] The terms "first," "second," and "third," etc., are used only for distinguishing descriptions and do not indicate sequential order, nor should they be construed as indicating or implying relative importance. Furthermore, terms such as "horizontal," "vertical," and "suspended" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," not that the structure must be completely horizontal, but can be slightly tilted. In the description of this application, it should be noted that the terms "inner," "outer," "left," "right," "upper," and "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this application is in use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. In the description of this application, unless otherwise expressly specified and limited, the terms “set up,” “install,” “connect,” and “link” shall be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral connection; as a mechanical connection or an electrical connection; as a direct connection or an indirect connection through an intermediate medium; or as a connection within two components.

[0050] The technical solution of this application will now be clearly and completely described with reference to the accompanying drawings.

[0051] Please refer to Figure 1This is a block diagram of a lifting system 100 according to an embodiment of this application. The lifting system 100 includes a control device 130, a detection device 120, and a plurality of lifting devices 110. The control device 130 is connected to the plurality of lifting devices 110 and is used for control. Each lifting device 110 includes a lifting device 112 and at least one power component 111. The lifting device 112 is drively connected to the power component 111 and is used to lift the load 200. The detection device 120 is connected to the control device 130 and is used to detect the load of each lifting device 110.

[0052] The lifting system 100 can be applied to various lifting equipment, such as for lifting in multi-level elevator machine rooms, lifting large items, road construction, and mine hoisting. The hoisting device 110 can be a winch or similar mechanism, and the number of hoisting devices 110 can be designed according to the dimensions and weight of the object being lifted 200. The number of hoisting devices 110 can be 1, 2, 3, 4, 5, or 6. The power component 111 can be a motor, hydraulic cylinder, or pneumatic cylinder, and the number of power components 111 in each hoisting device 110 can be 1, 2, 3, 4, 5, or 6. The hoisting device 110 may also include a transmission component such as a sprocket, which connects the lifting device 112 to the power component 111.

[0053] The detection device 120 includes: a plurality of weighing instruments 121 and / or a plurality of detectors, each weighing instrument 121 being connected to a lifting device 112 for detecting the tensile force borne by the lifting device 112; and a plurality of detectors, each detector being connected to a power unit 111 for detecting the power output of the power unit 111.

[0054] It should be noted that the detection device 120 includes multiple weighing devices 121 and / or multiple detectors, which can be implemented in several ways. First, the detection device 120 includes only weighing devices 121, which are tension detectors installed on the lifting devices 112 of each lifting device 110. These detectors directly detect the tension borne by each lifting device 112, i.e., each lifting point, thereby allowing the calculation of the load on each lifting device 110. Second, the detection device 120 includes only detectors, which can be current measuring devices or torque detectors, installed on each power component 111 of each lifting device 110. The load on each lifting device 110 can be calculated by directly detecting the current of each power component 111 or the torque of the main shaft of the power component 111. Third, the detection device 120 includes both weighing devices 121 and detectors, allowing the average value of the results calculated from the measurements of the weighing devices 121 and the detectors to improve the accuracy of the load results.

[0055] The following section uses the first implementation method as an example to introduce the operation process of the lifting system 100.

[0056] During the operation, when lifting, the support of the object 200 in the lifting system 100 is first adjusted manually to bring the object 200 into a standard balanced state. At this time, the lifting system 100 is in a no-load state. The operator first clears the data in the weighing device 121 in the detection device 120 to zero. The operator then simultaneously starts multiple lifting devices 110. Each weighing device 121 detects the tension borne by the corresponding lifting device 112 in real time and sends it to the control device 130.

[0057] The control device 130 receives the tension signal collected in real time by the weighing device 121, calculates the load information of the corresponding lifting device 110, and determines whether the load exceeds the rated load set by each lifting device 110, thus determining whether each lifting device 110 is overloaded. When the control device 130 determines that no lifting device 110 is overloaded, the control device 130 controls the crane 200 to continue moving; when the control device 130 determines that at least one lifting device 110 is overloaded, the control device 130 first controls all power components 111 of all lifting devices 110 to stop operating, the control device 130 issues an alarm signal for manual adjustment, or the control device 130 generates control commands for the lifting system 100, takes corresponding measures, and then allows the crane 200 to continue moving. The corresponding measures could include first allowing the non-overloaded lifting devices 110 to operate, sharing the load of the overloaded lifting devices 110, thereby eliminating the overload phenomenon of individual lifting devices 110.

[0058] When the control device 110 determines that none of the lifting devices 110 is overloaded, the control device 110 can also obtain the first load change of each lifting device 110 per unit time or per unit displacement of the lifted object 200 based on the signal collected by the weighing device 121. Based on the first load change of each lifting device 110, it can determine whether there is a high probability that any individual lifting device 110 is overloaded. When the control device 130 determines that none of the lifting devices 110 is likely to be overloaded, the control device 130 controls the lifted object 200 to continue moving. When the control device 130 determines that at least one lifting device 110 is likely to be overloaded, the control device 130 first controls one of the multiple lifting devices 110 to stop operating, the control device 130 issues an alarm signal for manual adjustment, or the control device 130 generates control commands for the lifting system 100, takes appropriate measures, and then allows the lifted object 200 to continue moving. One possible measure is to first allow other lifting devices 110 that are unlikely to be overloaded to operate, so that they can share the load of the lifting devices 110 that may be overloaded, thereby eliminating the potential for overload of individual lifting devices 110.

[0059] When the control device 130 determines that none of the lifting devices 110 is likely to be overloaded, the control device 110 can also obtain the second load change of each lifting device 110 in another unit time or another unit displacement of the lifted object 200 based on the signal collected by the weighing device 121. By comparing the first load change and the second load change of each lifting device 110, it can determine whether there is a possibility that individual lifting devices 110 are overloaded. When the first load change in at least one lifting device 110 is greater than or equal to the second load change (i.e., the load change decreases or remains unchanged), the control device 130 determines that none of the lifting devices 110 may be overloaded. In this case, the control device 130 controls the crane 200 to continue moving. When the first load change in at least one lifting device 110 is less than the second load change (i.e., the load change increases), the control device 130 determines that at least one lifting device 110 may be overloaded. In this case, the control device 130 first stops the operation of the lifting devices 110, issues an alarm signal, and performs manual adjustments. Alternatively, the control device 130 generates control commands for the lifting system 100, takes appropriate measures, and then allows the crane 200 to continue moving. One possible measure is to first allow other lifting devices 110 that are unlikely to be overloaded to operate, sharing the load of the potentially overloaded lifting devices 110, thereby eliminating the potential overload hazard of individual lifting devices 110. Corresponding measures can also be to estimate or fit curves by using signals collected by the weighing device 121, the position information of the lifted object 200, and other operating information such as the number of revolutions of the hoisting device 110, so as to assess the position or time when the hoisting device 110 may be overloaded, and to stop the lifted object 200 in advance.

[0060] This application can obtain the first load change of at least one hoisting device 110 in the hoisting system 100 during a first preset time period; and determine whether there is a possibility of overloading of individual hoisting devices 110 based on the first load change of each hoisting device 110, thereby making a prediction, preventing the phenomenon of overloading of individual hoisting devices 110, and taking corresponding measures to improve the safety of hoisting.

[0061] This application can also obtain the first load change of at least one hoisting device 110 in the lifting system 100 during a first preset time period; and determine whether there is a possibility of overloading of individual hoisting devices 110 by comparing the first load change and the second load change of each hoisting device 110, and take corresponding measures. Therefore, this application can perform secondary prediction, improving the accuracy of the prediction.

[0062] This application can also obtain the current load value of at least one hoisting device 110 in the lifting system 100; and determine whether any individual hoisting device 110 is overloaded by comparing the current load value of each hoisting device 110 with its rated load, and take corresponding measures. Therefore, this application can promptly address the problem of overload of individual hoisting devices 110 and improve the safety of hoisting.

[0063] In this embodiment, the lifting system 100 also includes a limiting device 140, which includes a displacement sensor 141. The displacement sensor 141 can be used to detect the displacement of the entire lifted object 200. When the displacement sensor 141 detects that the lifted object 200 has reached the limit position or the specified position, the control device 130 cuts off the circuit to stop all power components 111 from running, so that the lifted object 200 stops at the limit position or the specified position.

[0064] In another embodiment, multiple displacement sensors 141 may be provided, each for detecting the displacement of a different lifting point. In another embodiment, a weight sensor is also provided on the lifted object 200, which can be used to detect the weight of the lifted object 200 in real time. The lifting system 100 also includes a timer for timing.

[0065] Please refer to Figure 2 This is a schematic diagram of the lifting system 100 shown in one embodiment of this application. The object to be lifted 200 is an elevator car, there are 3 hoisting devices 110, 3 power components 111 are motors, the lifting system 100 controls the lifting and lowering of the elevator car with 3 lifting points, and there are also 3 weighing devices 121.

[0066] Multiple guide shoes 210 are also provided on the lifting object 200, thereby improving the safety of lifting and lowering the lifting object 200 through the cooperation between the guide shoes 210 and the elevator guide rail.

[0067] The control device 130 includes an operation box 131, an electrical control box 133, and a connecting cable 134. The connecting cable 134 is used to connect components such as the operation box 131, the electrical control box 133, and the power component 111, and the connecting cable 134 is a signal line that can transmit signals.

[0068] The electrical control box 133 includes a display screen mounted on the operation box 131 and electrical components located inside the operation box 131. The electrical control box 133 can receive signals collected by the weighing device 121 and automatically control each power component 111 of the lifting system 100 according to a preset program. It can also automatically control the power components 111 by using logical combinations of on / off switching of electrical components based on user input through the operation box 131, thus energizing or de-energizing the power components 111. The display screen can be used to display the data collected by the weighing device 121, facilitating operators' understanding of the operating status of the lifting system 100 and improving the safety of the lifting system 100.

[0069] The control box 131 is equipped with multiple control components 132, including a synchronization control, individual control, a main power switch and a safety emergency stop switch. The synchronization control is connected to two or more or all of the power components 111 via a connecting cable 134, and is used to control the synchronous operation of two or more or all of the power components 111. The individual control is connected to a single power component 111 via a connecting cable 134, and is used to control the operation of the single power component 111 separately.

[0070] Multiple control units 132 can be used to achieve different operational needs, thereby enabling the machine to be automatically controlled by the electrical control box 133 and also manually controlled. The control unit 132 can be a button or a joystick. In this embodiment, when the hoisting device 110 is provided with 3, the power units 111 of the three hoisting devices 110 are respectively called the front power unit 111, the left rear power unit 111 and the right rear power unit 111. The control unit 132 includes four joysticks that individually control the three power units 111, one joystick that synchronously controls the three power units 111, a main switch button for controlling the hoisting system 100 switch and a safety emergency stop switch button.

[0071] Please refer to Figure 3 This is a schematic diagram of the structure of an electronic device 300 according to an embodiment of this application. The electronic device 300 can serve as the control device 130 in the above embodiments. The electronic device 300 includes at least one processor 303 and a memory 302, taking one processor 303 as an example. The processor 303 and the memory 302 are connected via a bus 301. The memory 302 stores instructions executable by the processor 303. The instructions are executed by the processor 303 to enable the electronic device 300 to execute all or part of the processes of the methods in the following embodiments, so as to prevent or handle the overload phenomenon of individual hoisting devices 110.

[0072] In one embodiment, the processor 303 may be a general-purpose processor 303, including but not limited to a central processing unit (CPU), a network processor (NP), etc., or a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor 303 may be a microprocessor 303, or any conventional processor 303. The processor 303 is the control center of the electronic device 300, connecting various parts of the electronic device 300 through various interfaces and lines. The processor 303 can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0073] In one embodiment, memory 302 may be implemented by any type of volatile or non-volatile storage device or a combination thereof, including but not limited to, random access memory (RAM), read-only memory (ROM), static random access memory (SRAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), and electrically erasable programmable read-only memory (EEPROM).

[0074] Electronic device 300 can be a mobile phone, laptop computer, desktop computer, or a computing system composed of multiple computers. Electronic device 300 may also include... Figure 5 The more or fewer components shown, or having the same Figure 5 Different configurations are shown. For example, electronic device 300 also includes input / output devices for human-computer interaction.

[0075] Please refer to Figure 4This is a flowchart illustrating a control method for a lifting system 100 according to an embodiment of this application. The method can be... Figure 3 The electronic device 300 shown is as Figures 1 to 2 The control device 130 shown in any embodiment is used to perform the control. Figures 1 to 2 The lifting system 100 shown in any embodiment is used to prevent or address overloading of individual lifting devices 110. The method includes the following steps:

[0076] Step S101: Obtain the first load change of at least one hoisting device 110 in the hoisting system 100 during a first preset time period.

[0077] This step can occur after the control device 130 receives a start command from the lifting system 100. The start command may include the lifting distance and / or lifting speed of the load 200. In one embodiment, this step involves obtaining the first load change of each lifting device 110 in the lifting system 100 during a first preset time period.

[0078] In this step, the first load change is calculated by the control device 130 based on the load of the corresponding lifting device 110. The load of the corresponding lifting device 110 can be calculated by the control device 130 based on the tension data, current data and / or torque data measured by each weighing device 121 and / or each detector in the detection device 120.

[0079] In this step, the first preset time period can be a manually set unit time interval or a manually set unit displacement of the lifted object 200. The control device 130 uses components such as the displacement sensor 141 to detect the time period required for the lifted object 200 to move that unit displacement.

[0080] Step S102: Determine whether there is a first target hoisting device 110 whose first load change exceeds the preset range.

[0081] This step determines whether there is a possibility of overloading in any individual lifting device 110. The preset range in this step can be manually input or calculated by the control device 130 according to a preset algorithm. The preset range for at least one lifting device 110 can be the same or different. For example, the preset range corresponding to a first load change is the sum of the measured fluctuation value of the corresponding weighing instrument 121 and / or the corresponding detector in the detection device 120 and the expected load increase of the lifting device 110 within a first preset time period. The expected load increase of the lifting device 110 within the first preset time period can be calculated based on the operating data of all lifting devices 110, the weight of the lifted object 200, and the travel distance of the lifted object 200.

[0082] This step determines whether there is a possibility that individual lifting devices 110 are overloaded by checking whether the first load change of at least one lifting device 110 exceeds the preset range corresponding to each lifting device 110. If the first load change of at least one lifting device 110 exceeds the preset range corresponding to each lifting device 110, that is, there is at least one first target lifting device 110, it means that there is a possibility that individual lifting devices 110 are overloaded. Steps S103-S105 are executed to take certain measures until the possibility of individual lifting devices 110 being overloaded is eliminated. If the first load change of no lifting device 110 exceeds the preset range corresponding to each lifting device 110, that is, there is no first target lifting device 110, it means that there is no possibility that lifting devices 110 are overloaded, and the process can return to step S101 to continue the loop.

[0083] In another embodiment, when the first target lifting device 110 is not present, the control device 130 can generate an automatic operation command for the lifting system 100, controlling the lifting system 100 to continue lifting and lowering the load 200. The automatic operation signal can be a pre-stored program in the control device 130, or it can be generated by the control device 130 based on the start command of the lifting system 100 received before step S110.

[0084] In another embodiment, when the first target hoisting device 110 is present, only step S103 can be executed, without executing steps S104 and S105, for manual adjustment. In another embodiment, when the first target hoisting device 110 is present, an alarm signal can also be output.

[0085] Step S103: Output a stop operation signal for all hoisting devices 110.

[0086] Since the loads of each lifting point, i.e. each lifting device 110, in the lifting system 100 are interconnected, this step involves controlling all lifting devices 110 to stop operating through the control device 130. This avoids the problem of overloading the first target lifting device 110 due to the continuous increase of the load on the first target lifting device 110, reduces the probability of dangerous accidents such as the lifting object 200 falling and the lifting rope breaking, and improves the safety of the lifting.

[0087] In another embodiment, since the first target hoisting device 110 is not overloaded at this time, step S103 outputs a stop operation signal for the first target hoisting device 110, stopping only the first target hoisting device 110.

[0088] Step S104: Obtain the current load difference between every two lifting devices 110.

[0089] The current load difference in this step is the difference obtained by subtracting the current load information of any two hoisting devices 110, and the current load difference carries the hoisting device 110 information used in its calculation.

[0090] The number of current rotation count differences is the number of weighing devices 121 minus one. When there are 2 lifting devices 110, the current rotation count difference is 1; when there are 3 lifting devices 110, the current rotation count difference is 2; when there are 4 lifting devices 110, the current rotation count difference is 3.

[0091] Step S105: Based on the current load difference, generate control commands for all lifting devices 110 except the first target lifting device 110.

[0092] Since step S102 determines that the first target lifting device 110 is a lifting device 110 that may be overloaded, and all lifting devices 110 except the first target lifting device 110 are lifting devices 110 that cannot be overloaded, this step generates control commands for all lifting devices 110 except the first target lifting device 110, causing the other lifting devices 110 to run first or run faster for a certain distance, while the first target lifting device 110 does not run, runs at a constant speed, or slows down, so that the other lifting devices 110 share the load of the first target lifting device 110, thereby reducing the load of the first target lifting device 110 and eliminating the hidden danger of overloading of individual lifting devices 110.

[0093] The control instructions in this step can be estimated by the control device 130 based on the current load difference, the current load information of each hoisting device 110, the position information of the hoisted object 200, and other operating information such as the number of rotations of the hoisting device 110, or calculated by fitting a curve or by using a preset database.

[0094] After this step, a command can be output to control all hoisting devices 110 to continue operating automatically.

[0095] In another embodiment, before step S104 or step S105, it is further included to determine whether the number of the first target hoisting device 110 is equal to the total number of hoisting devices 110. If so, all hoisting devices 110 are the first target hoisting devices 110. If there are no other hoisting devices 110, the control device 130 generates a warning message. If not, if there are other hoisting devices 110, step S104 or step S105 is executed.

[0096] In another embodiment, before step S101, the method may further include: obtaining the current load difference between every two lifting devices 110. Based on the current load difference, generating control commands for the two lifting devices 110 corresponding to the current load difference. This allows for the assessment of load variation between each lifting point, adjusting the lifting height of a single lifting device 110 within a small range, minimizing load deviation between different lifting points (lifting devices 110), preventing overloading of a single lifting device 110, improving lifting safety, and ensuring that the lifted object 200 can smoothly reach the position specified by the operator.

[0097] Please refer to Figure 5 This is a flowchart illustrating a control method for a lifting system 100 according to an embodiment of this application. The method can be... Figure 3 The electronic device 300 shown is as Figures 1 to 2 The control device 130 shown in any embodiment is used to perform the control. Figures 1 to 2 The lifting system 100 shown in any embodiment is used to prevent or address overloading of individual lifting devices 110. The method includes the following steps:

[0098] Step S201: Obtain the first load change of at least one hoisting device 110 in the lifting system 100 during a first preset time period. See the description of step S101 in the above embodiment for details.

[0099] Step S202: Determine whether there is a first target hoisting device 110 whose first load change exceeds a preset range. See the description of step S102 in the above embodiment for details. In this embodiment, when a first target hoisting device 110 exists, steps S203-S205 are executed; when a first target hoisting device 110 does not exist, steps S206-S208 are executed.

[0100] Step S203: Output a stop operation signal for all hoisting devices 110. See the description of step S103 in the above embodiment for details.

[0101] Step S204: Obtain the current load difference between every two lifting devices 110. See the description of step S104 in the above embodiment for details.

[0102] Step S205: Based on the current load difference, generate control commands for all lifting devices 110 except the first target lifting device 110. See the description of step S205 in the above embodiment for details.

[0103] Step S206: Obtain the second load change of at least one hoisting device 110 in the lifting system 100 during a second preset time period.

[0104] In this step, the second preset time period is a time period following the first preset time period in step S201, and the duration of the second preset time period is equal to the duration of the first preset time period. The second preset time period can be a manually set unit time interval or a manually set unit displacement of the lifted object 200. The control device 130 uses components such as the displacement sensor 141 to detect the time period required for the lifted object 200 to move that unit displacement.

[0105] The hoisting device 110 in this step is the same as the hoisting device 110 in step S201. In one embodiment, this step is to obtain the first load change of each hoisting device 110 in the lifting system 100 during a second preset time period.

[0106] Step S207: Determine whether there is a second target hoisting device 110 where the first load change is less than the second load change.

[0107] This step involves comparing the first load change and the second load change of each hoisting device 110 to determine if there is a possibility that an individual hoisting device 110 may be overloaded. If so, step S208 is executed to take corresponding measures to eliminate the potential overload of an individual hoisting device 110. If not, the process returns to step S206 or step S201 for re-judgment.

[0108] Step S208: When a second target hoisting device 110 is present, a control command is generated for the lifting system 100.

[0109] In this step, the control device 130 analyzes the operating data of each hoisting device 110 and the operating data of the hoisted object 200, thereby generating control commands for the hoisting system 100 based on preset mapping relationships, calculation formulas, neural network models, etc. When the control device 130 controls the operation of the hoisting device 110 through the control commands, it eliminates the hidden danger of overloading of individual hoisting devices 110, thereby improving the safety of hoisting.

[0110] In another embodiment, when the second target lifting device 110 is not present, the control device 130 can generate an automatic operation command for the lifting system 100, controlling the lifting system 100 to continue lifting and lowering the load 200. The automatic operation signal can be a pre-stored program in the control device 130, or it can be generated by the control device 130 based on the start command of the lifting system 100 received before step S110.

[0111] In another embodiment, an alarm signal may also be output when a second target hoisting device 110 is present.

[0112] In another embodiment, steps S206-S208 may also occur before step S202.

[0113] Please refer to Figure 6 This is an embodiment shown in this application. Figure 5 A detailed schematic diagram of step S208 is provided. Please refer to... Figure 7 This is a schematic diagram of the first fitting curve shown in an embodiment of this application.

[0114] Step S20801: Obtain the historical displacement information of the object 200 in the lifting system 100.

[0115] The historical displacement information in this step can be the overall displacement information of the crane 200, or the displacement information of each lifting point of the crane 200. In this embodiment, the historical displacement information is the displacement information of each lifting point of the crane 200. This step can be obtained by receiving information sent by the displacement sensor 141, obtaining it through networking, or searching a database.

[0116] Step S20802: Obtain historical load information of the second target hoisting device 110.

[0117] This step can be obtained by receiving information sent by the weighing device 121 corresponding to the second target hoisting device 110, by connecting to the network, or by searching a database.

[0118] Step S20803: Based on historical displacement information and historical load information, generate the first fitting curve of the second target hoisting device 110 with respect to load and displacement.

[0119] The first fitted curve in this step is as follows: Figure 7 As shown in the figure. The Y-axis represents the load, the X-axis represents the displacement, and curves a, b, and c are the load-displacement fitting curves of the three lifting devices 110 in the lifting system 100, respectively.

[0120] Step S20804: Based on the first fitted curve, determine the critical position of the object 200 in the second target hoisting device 110 when it exceeds the rated load.

[0121] In this step, the rated load is either manually set or the preset factory parameters of the second target hoisting device 110.

[0122] Step S20805: Before the lifted object 200 reaches the critical position, generate a stop operation signal for all lifting devices 110 in the lifting system 100.

[0123] In this step, the stop signal is to stop the crane 200 before the second target hoisting device 110 is overloaded to prevent the occurrence of a hoisting accident. The time node in the stop signal is calculated by the control device 130 based on the critical position obtained in step S20804, the preset formula, and the height of each elevator floor in the hoisting system 100.

[0124] Please refer to Figure 8 This is an embodiment shown in this application. Figure 5 A detailed schematic diagram of step S208 is provided. Please refer to... Figure 9 This is a schematic diagram of the second fitting curve shown in one embodiment of this application.

[0125] Step S20806: Obtain historical load information of the second target hoisting device 110. See the description of step S20802 in the above embodiment for details.

[0126] Step S20807: Based on historical load information, generate a second fitting curve of the second target hoisting device 110 with respect to load and time.

[0127] The second fitting curve in this step is as follows: Figure 9 As shown in the figure. The Y-axis represents the load, the Z-axis represents the time, and curves d, e, and f are the load-displacement fitting curves of the three lifting devices 110 in the lifting system 100, respectively.

[0128] Step S20808: Determine the critical time when the load exceeds the rated load in the second target hoisting device 110 according to the second fitting curve.

[0129] In this step, the rated load is either the preset factory parameter of the second target hoisting device 110 or a manually set parameter.

[0130] Step S20809: Before reaching the critical time, generate a stop operation signal for all lifting devices 110 in the lifting system 100.

[0131] In this step, the stop signal is to stop the crane 200 before the second target hoisting device 110 is overloaded to prevent the occurrence of a hoisting accident. The time node in the stop signal is calculated by the control device 130 based on the critical time obtained in step S20808, the preset formula, and the height of each elevator floor in the hoisting system 100.

[0132] Please refer to Figure 10 This is an embodiment shown in this application. Figure 5 A detailed schematic diagram of step S208.

[0133] Step S20810: Output a stop signal for the second target hoisting device 110.

[0134] At this time, the second target hoisting device 110 is not overloaded, so in this step, only the second target hoisting device 110 needs to be stopped.

[0135] In another embodiment, step S20810 can refer to the description of step S103 in the above embodiment, and output a stop operation signal for all hoisting devices 110.

[0136] Step S20811: Obtain the current load difference between every two lifting devices 110. See the description of step S104 in the above embodiment for details.

[0137] Step S20812: Based on the current load difference, generate control commands for all lifting devices 110 except the second target lifting device 110. See the description of step S104 in the above embodiment for details.

[0138] After this step, a command can be output to control all hoisting devices 110 to continue operating automatically.

[0139] Please refer to Figure 11 This is a flowchart illustrating a control method for a lifting system 100 according to an embodiment of this application. The method can be... Figure 3 The electronic device 300 shown is as Figures 1 to 2 The control device 130 shown in any embodiment is used to perform the control. Figures 1 to 2 The lifting system 100 shown in any embodiment is used to prevent or address overloading of individual lifting devices 110. The method includes the following steps:

[0140] Step S301: Obtain the current load information of all hoisting devices 110.

[0141] This step can occur after the control device 130 receives a start command from the lifting system 100. The start command may include the lifting distance and / or lifting speed of the load 200. In one embodiment, this step involves the control device 130 receiving an electrical signal sent by the weighing device 121 in the detection device 120, and obtaining the current load information by performing an A / D (analog-to-digital) conversion on the electrical signal.

[0142] Step S302: Based on the current load information of all hoisting devices 110, determine whether all hoisting devices 110 are simultaneously under load.

[0143] This step can be based on the current load information of all hoisting devices 110 to make a judgment. If the current load information is not all 0, it means that all hoisting devices 110 are not simultaneously loaded. Steps S303-S304 are executed until all hoisting devices 110 are simultaneously loaded. If the current load information is all 0, it means that all hoisting devices 110 are simultaneously loaded. Step S305 is executed.

[0144] In another embodiment, this step can be based on the current load information of all hoisting devices 110 to calculate the load difference ratio between any two hoisting devices 110 to determine whether all hoisting devices 110 are not simultaneously loaded if at least one load difference ratio is greater than 10%; otherwise, all hoisting devices 110 are simultaneously loaded.

[0145] Step S303: When all hoisting devices 110 are not simultaneously loaded, generate individual control commands for all hoisting devices 110 so that all hoisting devices 110 reach the preset load.

[0146] like Figure 7 or Figure 9 As shown, the preset load in this step is S, which can be set manually or calculated by the control device 130 according to a preset program. For example, the preset load S = total mass of the lifted object 200 ÷ number of lifting devices 110 ÷ safety factor, where the safety factor is ≥ 2.

[0147] This step generates individual control commands for all lifting devices 110, so that each lifting device 110 reaches the preset load S sequentially. The individual control commands in this step can be the control time length of the lifting device 110 calculated based on the load change per unit time and the preset load, or the control displacement of the crane's lifting point calculated based on the load change per unit displacement and the preset load.

[0148] Step S304: When all hoisting devices 110 reach the preset load, an automatic operation signal is generated for all hoisting devices 110 so that all hoisting devices 110 are loaded simultaneously.

[0149] In this step, the automatic operation signal can be a program pre-stored in the control device 130, or it can be generated by the control device 130 based on the start command of the lifting system 100 received before step S110.

[0150] like Figure 7 As shown, the hoisting device 110 of curve a reaches the preset load at point a1. At this time, it waits for other hoisting devices 110 to be loaded simultaneously. After loading the preset displacement or preset time, the object 200 reaches point a2, detaches from the ground or support, and begins to be lifted. Figure 7 and Figure 9 The same logic applies to points b1, b2, c1, c2, d1, d2, e1, e2, f1, and f2, which will not be elaborated upon here.

[0151] Step S305: Obtain the first load change of at least one hoisting device 110 in the lifting system 100 during a first preset time period. See the description of step S101 in the above embodiment for details.

[0152] Step S306: Determine whether there is a first target hoisting device 110 whose first load change exceeds a preset range. See the description of step S102 in the above embodiment for details.

[0153] Step S307: When a first target hoisting device 110 exists, output a stop operation signal for all hoisting devices 110. See the description of step S103 in the above embodiment for details.

[0154] Step S308: Obtain the current load difference between every two lifting devices 110. See the description of step S104 in the above embodiment for details.

[0155] Step S309: Based on the current load difference, generate control commands for all lifting devices 110 except the first target lifting device 110. See the description of step S205 in the above embodiment for details.

[0156] Step S310: When the first target lifting device 110 is not present, obtain the second load change of at least one lifting device 110 in the lifting system 100 during a second preset time period. See the description of step S206 in the above embodiment for details.

[0157] Step S311: Determine whether there is a second target hoisting device 110 where the first load change is less than the second load change. See the description of step S207 in the above embodiment for details.

[0158] Step S312: When a second target lifting device 110 is present, a control command is generated for the lifting system 100. See the description of step S208 in the above embodiment for details.

[0159] Please refer to Figure 12 This is a flowchart illustrating a control method for a lifting system 100 according to an embodiment of this application. The method can be... Figure 3 The electronic device 300 shown is as Figures 1 to 2 The control device 130 shown in any embodiment is used to perform the control. Figures 1 to 2 The lifting system 100 shown in any embodiment is used to prevent or address overloading of individual lifting devices 110. The method includes the following steps:

[0160] Step S401: Obtain the current load information of all hoisting devices 110.

[0161] Step S402: Determine whether there is a third target hoisting device 110 whose current load information exceeds the rated range.

[0162] This step determines whether an individual lifting device 110 is overloaded based on the current load information of each lifting device 110 exceeding the rated range. If so, steps S403-S405 are executed until no lifting device 110 is overloaded. If not, step S406 is executed.

[0163] Step S403: Output a stop operation signal for all hoisting devices 110. See the description of step S103 in the above embodiment for details.

[0164] Step S404: Obtain the current load difference between every two lifting devices 110. See the description of step S104 in the above embodiment for details.

[0165] Step S405: Based on the current load difference, generate control commands for all lifting devices 110 except the third target lifting device 110. See the description of step S105 in the above embodiment for details.

[0166] Step S406: Obtain the first load change of at least one hoisting device 110 in the lifting system 100 during a first preset time period. See the description of step S101 in the above embodiment for details.

[0167] Step S407: Determine whether there is a first target hoisting device 110 whose first load change exceeds a preset range. See the description of step S102 in the above embodiment for details.

[0168] Step S408: When there is a first target hoisting device 110, output a stop operation signal for all hoisting devices 110.

[0169] Step S409: Obtain the current load difference between every two lifting devices 110. See the description of step S104 in the above embodiment for details.

[0170] Step S410: Based on the current load difference, generate control commands for all lifting devices 110 except the first target lifting device 110. See the description of step S205 in the above embodiment for details.

[0171] Step S411: When the first target lifting device 110 is not present, obtain the second load change of at least one lifting device 110 in the lifting system 100 during a second preset time period. See the description of step S206 in the above embodiment for details.

[0172] Step S412: Determine whether there is a second target hoisting device 110 where the first load change is less than the second load change. See the description of step S207 in the above embodiment for details.

[0173] Step S413: When a second target lifting device 110 is present, a control command is generated for the lifting system 100. See the description of step S208 in the above embodiment for details.

[0174] Please refer to Figure 13 This is a block diagram of a lifting system control device 400 according to an embodiment of this application. This device can be applied to... Figure 3 The electronic device 300 shown is used for control Figures 1-2 The lifting system 100 shown in any embodiment is used to perform leveling processing on the lifted object 200. The lifting system control device 400 includes: a first acquisition module 410, a first judgment module 420, and a first output module 430. The principle relationship between each module is as follows: the first acquisition module 410 is used to acquire the first load change of at least one hoisting device 110 in the lifting system 100 during a first preset time period; the first judgment module 420 is used to determine whether there is a first target hoisting device 110 whose first load change exceeds the rated range; the first output module 430 is used to output a stop operation signal for all hoisting devices 110 when there is a first target hoisting device 110.

[0175] In one embodiment, the lifting system control device 400 further includes a fifth acquisition module and a fifth generation module: the fifth acquisition module is used to acquire the current load difference between every two lifting devices 110 after outputting a stop operation signal for all lifting devices 110 when a first target lifting device 110 exists; the fifth generation module is used to generate control commands for the other lifting devices 110 besides the first target lifting device 110 among all lifting devices 110 based on the current load difference.

[0176] In one embodiment, the lifting system control device 400 further includes: a second acquisition module, a second judgment module, and a first generation module. The second acquisition module is used to acquire the second load change of at least one lifting device 110 in the lifting system 100 during a second preset time period when there is no first target lifting device 110. The second judgment module is used to determine whether there is a second target lifting device 110 whose first load change is less than the second load change. The first generation module is used to generate a control command for the lifting system 100 when there is a second target lifting device 110.

[0177] In one embodiment, the lifting system control device 400 further includes a second generation module for generating an automatic operation signal for the lifting system 100 when the second target lifting device 110 is not present.

[0178] In one embodiment, the first generation module is further configured to acquire historical displacement information of the lifted object 200 in the lifting system 100; acquire historical load information of the second target lifting device 110; generate a first fitting curve of the second target lifting device 110 with respect to load and displacement based on the historical displacement information and historical load information; determine the critical position of the lifted object 200 in the second target lifting device 110 when the rated load is exceeded based on the first fitting curve; and generate a stop operation signal for all lifting devices 110 in the lifting system 100 before the lifted object 200 reaches the critical position.

[0179] In one embodiment, the first generation module is further configured to acquire historical load information of the second target lifting device 110; generate a second fitting curve of the second target lifting device 110 with respect to load and time based on the historical load information; determine the critical time when the second target lifting device 110 exceeds the rated load based on the second fitting curve; and generate a stop operation signal for all lifting devices 110 in the lifting system 100 before the critical time is reached.

[0180] In one embodiment, the first generation module is further configured to output a stop operation signal for the second target hoisting device 110; obtain the current load difference between every two hoisting devices 110; and generate control commands for all hoisting devices 110 except the second target hoisting device 110 based on the current load difference.

[0181] In one embodiment, the lifting system control device 400 further includes: a fifth acquisition module, a fifth judgment module, a third generation module, and a fourth generation module. The fifth acquisition module is used to acquire the current load information of all lifting devices 110. The fifth judgment module is used to determine whether all lifting devices 110 are simultaneously loaded based on the current load information of all lifting devices 110. The third generation module is used to generate individual control commands for all lifting devices 110 when all lifting devices 110 are not simultaneously loaded, so that all lifting devices 110 reach the preset load. The fourth generation module is used to generate an automatic operation signal for all lifting devices 110 when all lifting devices 110 reach the preset load, so that all lifting devices 110 are simultaneously loaded.

[0182] In one embodiment, the lifting system control device 400 further includes: a third acquisition module, a third judgment module, and a third output module. The third acquisition module is used to acquire the current load information of all lifting devices 110 before acquiring the first load change amount of at least one lifting device 110 in the lifting system 100 during a first preset time period. The third judgment module is used to determine whether there is a third target lifting device 110 whose current load information exceeds a preset range. The third output module is used to output a stop operation signal for all lifting devices 110 when there is a third target lifting device 110.

[0183] In one embodiment, the lifting system control device 400 further includes a fifth acquisition module and a sixth generation module: the fifth acquisition module is used to acquire the current load difference between every two lifting devices 110 after outputting a stop operation signal for all lifting devices 110 when a third target lifting device 110 exists; the sixth generation module is used to generate control commands for the other lifting devices 110 besides the third target lifting device 110 among all lifting devices 110 based on the current load difference.

[0184] For a detailed description of the lifting system control device 400 described above, please refer to the description of the relevant method steps in the above embodiments.

[0185] This application embodiment also provides a non-transitory computer-readable storage medium, including: a program, which, when run on an electronic device 300, enables the electronic device 300 to execute all or part of the processes of the methods described in the above embodiments. The storage medium may be a disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory 302, hard disk drive (HDD), or solid-state drive (SSD), etc. The storage medium may also include combinations of the above-mentioned types of memory 302.

[0186] The apparatuses and methods disclosed in the several embodiments provided in this application can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatuses, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function.

[0187] In some alternative implementations, the functions marked in the boxes may occur in a different order than those shown in the figures. For example, two consecutive boxes may actually be executed substantially in parallel, or they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and combinations of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified functions or actions, or using a combination of dedicated hardware and computer instructions. Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0188] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. The above are merely preferred embodiments of this application and are used only to illustrate the technical solutions of this application, and are not intended to limit this application. For those skilled in the art, any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A control method for a lifting system, characterized in that, include: Obtain the first load change of at least one hoisting device in the lifting system during a first preset time period; Determine whether there is a first target hoisting device whose first load change exceeds a preset range; When the first target hoisting device is present, a stop operation signal is output for all hoisting devices.

2. The method according to claim 1, characterized in that, After outputting a stop signal for all hoisting devices when the first target hoisting device is present, the method further includes: Obtain the current load difference between every two lifting devices; Based on the current load difference, control commands are generated for all lifting devices except the first target lifting device.

3. The method according to claim 1, characterized in that, The method further includes: When the first target lifting device is not present, the second load change of at least one lifting device in the lifting system during a second preset time period is obtained; Determine whether there is a second target hoisting device whose first load change is less than the second load change; When the second target hoisting device is present, control commands are generated for the hoisting system.

4. The method according to claim 3, characterized in that, When the second target hoisting device is present, generating control commands for the lifting system includes: Obtain the historical displacement information of the lifted object in the lifting system; Obtain the historical load information of the second target hoisting device; Based on the historical displacement information and the historical load information, a first fitting curve of the second target hoisting device with respect to load and displacement is generated; Based on the first fitted curve, determine the critical position of the lifted object in the second target lifting device when it exceeds the rated load; Before the load reaches the critical position, a stop operation signal is generated for all lifting devices in the lifting system.

5. The method according to claim 3, characterized in that, When the second target hoisting device is present, generating control commands for the lifting system includes: Obtain the historical load information of the second target hoisting device; Based on the historical load information, a second fitting curve of the second target hoisting device with respect to load and time is generated; Based on the second fitted curve, determine the critical time when the load exceeds the rated load in the second target hoisting device; Before the critical time is reached, a stop operation signal is generated for all lifting devices in the lifting system.

6. The method according to claim 3, characterized in that, When the second target hoisting device is present, generating control commands for the lifting system includes: Output a stop signal for the hoisting device targeting the second target. Obtain the current load difference between every two lifting devices; Based on the current load difference, control commands are generated for all lifting devices except the second target lifting device.

7. The method according to any one of claims 1 to 6, characterized in that, Before obtaining the first load change of at least one hoisting device in the lifting system during a first preset time period, the method further includes: Obtain the current load information for all hoisting devices; Based on the current load information of all hoisting devices, determine whether all hoisting devices are simultaneously under load; When all lifting devices are not simultaneously loaded, individual control commands are generated for each lifting device to ensure that all lifting devices reach the preset load. When all hoisting devices reach the preset load, an automatic operation signal is generated for all hoisting devices so that all hoisting devices are loaded simultaneously.

8. The method according to any one of claims 1 to 6, characterized in that, Before obtaining the first load change of at least one hoisting device in the lifting system during a first preset time period, the method further includes: Obtain the current load information for all hoisting devices; Determine whether there is a third target hoisting device whose current load information exceeds the rated range; When the third target hoisting device is present, a stop operation signal is output for all hoisting devices.

9. The method according to claim 8, characterized in that, After outputting a stop signal for all hoisting devices when the third target hoisting device is present, the method further includes: Obtain the current load difference between every two lifting devices; Based on the current load difference, control commands are generated for all lifting devices except the third target lifting device.

10. A control device for a lifting system, characterized in that, include: The first acquisition module is used to acquire the first load change of at least one hoisting device in the hoisting system during a first preset time period. The first judgment module is used to determine whether there is a first target hoisting device whose first load change exceeds a preset range; The first output module is used to output a stop operation signal for all hoisting devices when the first target hoisting device is present.

11. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor for performing the method as described in any one of claims 1 to 9.

12. A non-transitory computer-readable storage medium, characterized in that, Includes: a program, when run by an electronic device, causing the electronic device to perform the method of any one of claims 1 to 9.

13. A lifting system, characterized in that, include: Control device for performing the method as described in any one of claims 1 to 9; Multiple lifting devices, each of the lifting devices including a lifting tool and at least one power component, and each of the lifting devices being connected to the control device; as well as A detection device, connected to the control device, is used to detect the load of each of the hoisting devices; The detection device includes: Multiple weighing devices, each of the weighing devices connected to one of the lifting devices, for detecting the tensile force borne by the lifting device; and / or Multiple detectors, each connected to one of the power components, are used to detect the power output of the power components.

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