Load hoisting method and load hoisting device of electric hoisting system

Abstract

The present disclosure relates to a load hoisting method for an electric hoisting system, a load hoisting device for an electric hoisting system, a storage medium, and an electric hoisting system. The load hoisting method for the electric hoisting system comprises: when the electric hoisting system hoists the load to be hoisted, monitoring the winch phase current of the winch and the oil pump phase current of the hydraulic oil pump motor when hoisting the load to be hoisted. The first weight of the load to be hoisted is determined by the winch phase current, and the second weight of the load to be hoisted is determined by the oil pump phase current. By combining the first weight and the second weight, it is comprehensively judged whether the load to be hoisted is overloaded. Finally, the hoisting operation corresponding to the determination result is performed according to the determination result. In this way, the situation of hoisting when the load to be hoisted is overloaded can be effectively reduced, thereby improving the hoisting safety.

Description

Technical Field

[0001] The present disclosure relates to the technical field of lifting devices, and in particular to a load lifting method of an electric lifting system, a load lifting device of an electric lifting system, a storage medium, and an electric lifting system. Background Art

[0002] Vehicles equipped with electric hydraulic lifting devices (including truck cranes, truck-mounted crane transporters, aerial work platforms, and other vehicles or equipment equipped with electric hydraulic lifting devices) may be operating with an unknown load weight during lifting operations. If the load exceeds the maximum lifting capacity, safety accidents such as hydraulic cylinder depressurization and retraction, and lifting cable breakage may occur. Summary of the Invention

[0003] In view of this, embodiments of the present disclosure are intended to provide a load hoisting method for an electric hoisting system, a load hoisting device for an electric hoisting system, a storage medium, and an electric hoisting system.

[0004] The technical solution of the present disclosure is achieved as follows:

[0005] In a first aspect, the present disclosure provides a load lifting method for an electric lifting system.

[0006] The present disclosure provides a load hoisting method for an electric hoisting system, the method comprising:

[0007] Monitor the winch phase current of the winch and the oil pump phase current of the hydraulic oil pump motor when hoisting the load to be hoisted;

[0008] determining a first weight of the load to be hoisted based on the hoist phase current and a correlation between the hoist phase current and the hoisted load;

[0009] determining a second weight of the load to be hoisted based on the oil pump phase current and a correlation between the oil pump phase current and the hoisted load;

[0010] determining whether the load to be hoisted is overloaded based on the first weight of the load to be hoisted, the second weight of the load to be hoisted, and a predetermined load capacity;

[0011] Based on the determination result of whether the load to be hoisted is overloaded, a hoisting operation corresponding to the determination result is performed.

[0012] In some embodiments, the correlation between the hoist phase current and the hoisted load is determined by a first hoisting mechanism when the electric hoisting system performs a hoisting operation on the load to be hoisted; wherein the first hoisting mechanism includes at least one of the following mechanisms: a hoist, a transmission mechanism, a crane arm, and a cable pulled by the hoist;

[0013] The correlation between the hoist phase current and the hoisting load includes:

[0014] Based on at least one of the following parameters as intermediate correlation quantities: the phase voltage of the winch, the transmission efficiency of the transmission mechanism, the work efficiency of the winch, the power factor of the winch, the angle between the crane arm and the load to be hoisted in the direction of the gravity line, the length of the cable pulled by the winch, and the winch speed, the correlation relationship between the phase current of the winch and the hoisting load is determined.

[0015] In some embodiments, the oil pump phase current and the correlation between the oil pump phase current and the hoisted load are determined by a second hoisting mechanism when the electric hoisting system performs a hoisting operation on the load to be hoisted; wherein the second hoisting mechanism includes at least one of the following mechanisms: a hydraulic oil pump motor, a hydraulic cylinder, and a lifting arm;

[0016] The oil pump phase current and the correlation between the oil pump phase current and the hoisted load include:

[0017] Based on at least one of the oil pump phase voltage, the work efficiency of the hydraulic oil pump motor, the mechanical efficiency of the hydraulic cylinder, the diameter of the cavity accommodating the piston in the hydraulic cylinder, the diameter of the piston in the hydraulic cylinder, the angle between the extension and contraction direction of the hydraulic cylinder and the gravity line direction of the load to be hoisted, the liquid flow of the hydraulic cylinder, the standard coefficient of the hydraulic cylinder, the power factor of the hydraulic oil pump motor and the return oil back pressure of the hydraulic cylinder as intermediate correlation quantities, the correlation relationship between the oil pump phase current and the hoisted load is determined.

[0018] In some embodiments, determining whether the load to be hoisted is overloaded based on the first weight of the load to be hoisted, the second weight of the load to be hoisted, and a predetermined load capacity includes:

[0019] If it is determined that the first weight of the load to be hoisted and the second weight of the load to be hoisted are both less than the predetermined load capacity, it is determined that the load to be hoisted is not overloaded; or,

[0020] If it is determined that the first weight of the load to be hoisted and the second weight of the load to be hoisted are both greater than the predetermined load capacity, then it is determined that the load to be hoisted is overloaded; or,

[0021] If it is determined that the first weight of the load to be hoisted is greater than the predetermined load capacity and the second weight of the load to be hoisted is less than the predetermined load capacity, or if it is determined that the first weight of the load to be hoisted is less than the predetermined load capacity and the second weight of the load to be hoisted is greater than the predetermined load capacity, determining whether a difference between the first weight and the second weight is within a predetermined threshold range;

[0022] If the difference between the first weight and the second weight is within a predetermined threshold range, whether the load to be hoisted is overloaded is determined based on an average value of the first weight and the second weight and a predetermined load capacity.

[0023] In some embodiments, determining whether the load to be hoisted is overloaded based on an average of the first weight and the second weight and a predetermined load capacity includes:

[0024] If the average value of the first weight and the second weight is less than the predetermined load capacity, it is determined that the load to be hoisted is not overloaded;

[0025] If the average value of the first weight and the second weight is greater than the predetermined load capacity, it is determined that the load to be hoisted is overloaded.

[0026] In some embodiments, the performing of a hoisting operation corresponding to the determination result of whether the load to be hoisted is overloaded based on the determination result includes:

[0027] If the determination result is that the load to be hoisted is not overloaded, performing a hoisting operation on the load to be hoisted;

[0028] If the determination result is that the load to be hoisted is overloaded, the hoisting operation of the load to be hoisted is stopped and an overload alarm is issued.

[0029] In some embodiments, the correlation between the hoist phase current and the hoisted load includes:

[0030] F1=[η1*9550*(η2*3*U*I*cosθ)*tanφ] / (L1*n), where:

[0031] U is the phase voltage of the winch, I is the phase current of the winch, F1 is the first weight of the load to be hoisted,

[0032] η1 is the transmission efficiency of the transmission mechanism, η2 is the work efficiency of the winch, cosθ is the power factor of the winch, φ is the angle between the crane arm and the load to be hoisted in the direction of the gravity line, L1 is the length of the cable pulled by the winch, and n is the speed of the winch.

[0033] In some embodiments, the oil pump phase current and the correlation between the oil pump phase current and the hoisted load include:

[0034] F2=η m *π*[(D 2 *η4*3*U2*I2*cosβ*K 系数 / Q 流量 )-d 2 P0] / (4*cosα); where:

[0035] U2 is the oil pump phase voltage, I2 is the oil pump phase current, η m is the mechanical efficiency of the hydraulic cylinder, cosβ is the power factor of the hydraulic oil pump motor, Q 流量 is the liquid flow rate of the hydraulic cylinder, η4 is the work efficiency of the hydraulic oil pump motor, P0 is the return oil back pressure of the hydraulic cylinder, D is the diameter of the cavity accommodating the piston in the hydraulic cylinder, d is the diameter of the piston in the hydraulic cylinder, K 系数 is the standard coefficient of the hydraulic cylinder, and F2 is the second weight of the load to be hoisted.

[0036] In a second aspect, the present disclosure provides a load hoisting device for an electric hoisting system, comprising:

[0037] A data monitoring module is used to monitor the winch phase current of the winch and the oil pump phase current of the hydraulic oil pump motor when the load to be hoisted is being hoisted;

[0038] A first weight determination module is configured to determine a first weight of the load to be hoisted based on the hoist phase current and a correlation between the hoist phase current and the hoisted load;

[0039] a second weight determination module, configured to determine a second weight of the load to be hoisted based on the oil pump phase current and a correlation between the oil pump phase current and the hoisted load;

[0040] an overload determination module, configured to determine whether the load to be hoisted is overloaded based on the first weight of the load to be hoisted, the second weight of the load to be hoisted, and a predetermined load capacity;

[0041] The hoisting operation execution module is used to execute a hoisting operation corresponding to the determination result based on the determination result of whether the load to be hoisted is overloaded.

[0042] In a third aspect, the present disclosure provides an electric lifting system, comprising a memory, a processor, and a load lifting program for the electric lifting system stored in the memory and executable on the processor. When the processor executes the load lifting program for the electric lifting system, the load lifting method for the electric lifting system described in the first aspect above is implemented.

[0043] According to the load hoisting method of the electric hoisting system of the embodiment of the present disclosure, by monitoring the winch phase current of the winch and the oil pump phase current of the hydraulic oil pump motor when the load to be hoisted is being hoisted; based on the winch phase current and the correlation between the winch phase current and the hoisting load, the first weight of the load to be hoisted is determined; based on the oil pump phase current and the correlation between the oil pump phase current and the hoisting load, the second weight of the load to be hoisted is determined; based on the first weight of the load to be hoisted, the second weight of the load to be hoisted and the predetermined load amount, whether the load to be hoisted is overloaded is determined; based on the determination result of whether the load to be hoisted is overloaded, a hoisting operation corresponding to the determination result is performed. In the present application, when the electric hoisting system is hoisting the load to be hoisted, the first weight of the load to be hoisted is determined by the winch phase current, the second weight of the load to be hoisted is determined by the oil pump phase current, and whether the load to be hoisted is overloaded is comprehensively judged by combining the first weight and the second weight. Finally, a hoisting operation corresponding to the determination result is performed according to the determination result. This can effectively reduce the situation where the load to be hoisted is overloaded and improve the safety of hoisting.

[0044] Additional aspects and advantages of the present disclosure will be given in part in the description below and in part will be obvious from the description below, or will be learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a flow chart of a load lifting method of an electric lifting system according to an exemplary embodiment;

[0046] Figure 2 A schematic diagram of the structure of an electric hoisting system is shown as an exemplary embodiment;

[0047] Figure 3 This is a schematic diagram of the electric lifting system according to an exemplary embodiment;

[0048] Figure 4 The figure is a schematic structural diagram of a load hoisting device of an electric hoisting system according to an exemplary embodiment. DETAILED DESCRIPTION

[0049] The following describes in detail embodiments of the present disclosure, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present disclosure, and should not be construed as limiting the present disclosure.

[0050] Vehicles equipped with electric hydraulic lifting devices (including truck cranes, truck-mounted crane transporters, aerial work platforms, and other vehicles or equipment equipped with electric hydraulic lifting devices) may be operating with an unknown load weight during lifting operations. If the load exceeds the maximum lifting capacity, safety accidents such as hydraulic cylinder depressurization and retraction, and lifting cable breakage may occur.

[0051] In view of the above situation, the present disclosure provides a load lifting method of an electric lifting system. Figure 1 FIG. 1 is a flow chart of a load hoisting method of an electric hoisting system according to an exemplary embodiment. Figure 1 As shown, the load lifting method of the electric lifting system includes:

[0052] Step 10: monitoring the hoist phase current of the hoist and the oil pump phase current of the hydraulic oil pump motor when the load to be hoisted is being hoisted;

[0053] Step 11: determining a first weight of the load to be hoisted based on the hoist phase current and a correlation between the hoist phase current and the hoisted load;

[0054] Step 12: determining a second weight of the load to be hoisted based on the oil pump phase current and the correlation between the oil pump phase current and the hoisted load;

[0055] Step 13: determining whether the load to be hoisted is overloaded based on the first weight of the load to be hoisted, the second weight of the load to be hoisted, and a predetermined load capacity;

[0056] Step 14: Based on the determination result of whether the load to be hoisted is overloaded, perform a hoisting operation corresponding to the determination result.

[0057] In this exemplary embodiment, Figure 2 The figure is a schematic structural diagram of an electric lifting system according to an exemplary embodiment. Figure 2 As shown, the electric lifting system includes: a lifting arm 1; a hydraulic cylinder 2; a hydraulic oil pump 3; a lifting hook 4; an oil pump motor 5; an oil pump motor controller 6; a hybrid power controller 7; a power battery 8; a support arm 9 and a winch (not shown in the figure), a transmission mechanism (not shown in the figure), and a cable pulled by the winch (not shown in the figure). Figure 3 The schematic diagram of the electric lifting system is shown as an exemplary embodiment. Figure 3 As shown, the generator control unit 38 , the DC-DC converter 31 , the hybrid power control unit 32 , the hydraulic oil pump controller 33 , the battery distribution unit and battery management system 35 , and the winch controller 36 are all connected via the CAN bus 30 .

[0058] The load hoisting method of the electric hoisting system provided in the present disclosure can be applied to Figure 2 The working principle of the electric lifting system is as follows: Figure 3 As shown, the hydraulic oil pump controller 33 is connected to the hydraulic oil pump motor 34 to control the rotation speed of the hydraulic oil pump motor 34 ; the hoist controller 36 is connected to the hoist motor 37 to control the rotation speed of the hoist motor 37 .

[0059] When applying the load hoisting method for an electric hoisting system provided herein, the correlation between the winch phase current and the hoisted load, as well as the correlation between the oil pump phase current and the hoisted load, can be determined in advance based on the electric hoisting system. When the electric hoisting system is operating, the winch and the hydraulic oil pump motor operate simultaneously to lift the load to be hoisted.

[0060] During operation, the vehicle or lifting device's engine generates electricity, some of which is stored in the power battery and some used to power the lifting system. The hydraulic pump motor's pump phase current and the winch's hoist phase current are used to determine if the hoisted cargo is overloaded. When the cargo weight exceeds the lifting system's maximum capacity, the hydraulic pump motor controller sends a shutdown request to the VCU or HCU. Upon approval, the lifting system halts its current operation and uses audio and visual notifications to prompt the operator to recover or halt the operation.

[0061] In this exemplary embodiment, the current detection principle for the weight of the load to be hoisted is as follows: Most loads to be hoisted are perpendicular to the ground, and their own weight can be calculated using G = mg (usually calculated based on standard atmospheric pressure, but calibrated based on altitude in plateaus), defined as Fwork. The crane can only lift the load when the winch output force F1 ≥ Fwork. The boom's elevation angle can be changed by pushing and retracting the hydraulic cylinder.

[0062] According to the load hoisting method of the electric hoisting system of the embodiment of the present disclosure, by monitoring the winch phase current of the winch and the oil pump phase current of the hydraulic oil pump motor when the load to be hoisted is being hoisted; based on the winch phase current and the correlation between the winch phase current and the hoisting load, the first weight of the load to be hoisted is determined; based on the oil pump phase current and the correlation between the oil pump phase current and the hoisting load, the second weight of the load to be hoisted is determined; based on the first weight of the load to be hoisted, the second weight of the load to be hoisted and the predetermined load amount, whether the load to be hoisted is overloaded is determined; based on the determination result of whether the load to be hoisted is overloaded, a hoisting operation corresponding to the determination result is performed. In the present application, when the electric hoisting system is hoisting the load to be hoisted, the first weight of the load to be hoisted is determined by the winch phase current, the second weight of the load to be hoisted is determined by the oil pump phase current, and whether the load to be hoisted is overloaded is comprehensively judged by combining the first weight and the second weight. Finally, a hoisting operation corresponding to the determination result is performed according to the determination result. By combining the first weight and the second weight to comprehensively judge whether the load to be hoisted is overloaded, it is beneficial to improve the accuracy of judging whether the load to be hoisted is overloaded. At the same time, it can effectively reduce the situation of hoisting when the load to be hoisted is overloaded, thereby improving hoisting safety.

[0063] In some embodiments, the correlation between the hoist phase current and the hoisted load is determined by a first hoisting mechanism when the electric hoisting system performs a hoisting operation on the load to be hoisted; wherein the first hoisting mechanism includes at least one of the following mechanisms: a hoist, a transmission mechanism, a crane arm, and a cable pulled by the hoist;

[0064] The correlation between the hoist phase current and the hoisting load includes:

[0065] Based on at least one of the following parameters as intermediate correlation quantities: the phase voltage of the winch, the transmission efficiency of the transmission mechanism, the work efficiency of the winch, the power factor of the winch, the angle between the crane arm and the load to be hoisted in the direction of the gravity line, the length of the cable pulled by the winch, and the winch speed, the correlation relationship between the phase current of the winch and the hoisting load is determined.

[0066] In some embodiments, the oil pump phase current and the correlation between the oil pump phase current and the hoisted load are determined by a second hoisting mechanism when the electric hoisting system performs a hoisting operation on the load to be hoisted; wherein the second hoisting mechanism includes at least one of the following mechanisms: a hydraulic oil pump motor, a hydraulic cylinder, and a lifting arm;

[0067] The oil pump phase current and the correlation between the oil pump phase current and the hoisted load include:

[0068] Based on at least one of the oil pump phase voltage, the work efficiency of the hydraulic oil pump motor, the mechanical efficiency of the hydraulic cylinder, the diameter of the cavity accommodating the piston in the hydraulic cylinder, the diameter of the piston in the hydraulic cylinder, the angle between the extension and contraction direction of the hydraulic cylinder and the gravity line direction of the load to be hoisted, the liquid flow of the hydraulic cylinder, the standard coefficient of the hydraulic cylinder, the power factor of the hydraulic oil pump motor and the return oil back pressure of the hydraulic cylinder as intermediate correlation quantities, the correlation relationship between the oil pump phase current and the hoisted load is determined.

[0069] In this exemplary embodiment, the method for calculating overload is based on the relationship between the hoisting motor and the weight of the load to be hoisted:

[0070] Calculation of the lifting force of the load to be hoisted at the standard altitude: F = G = mg;

[0071] The output force of the hook winch motor is equal to the gravity of the load to be hoisted after deducting the friction resistance of the pulley, etc. The calculation is as follows:

[0072] F1 = η1 * T1 / L1 * tanφ (Formula 1); where T1 represents the winch motor torque, L1 represents the length of the cable pulled by the winch, φ represents the angle between the boom and the load to be hoisted in the direction of the gravity line, and η1 represents the transmission efficiency of the transmission mechanism (including the pulley);

[0073] The relationship between winch motor power and torque is as follows:

[0074] P 电机 =T1*n / 9550 (Formula 2); where P 电机 is the winch motor power, n is the winch motor speed, and 9550 is a constant;

[0075] From (Formula 1) and (Formula 2), it can be deduced that: F1=η1*P 电机 *9550*tanφ / L1*n (Formula 3);

[0076] P 电机 =η²*3*U*I*cosθ (Formula 4); η² is the winch's efficiency, U is the winch's phase voltage, I is the winch's phase current, and cosθ is the winch's power factor. The motor voltage and current are calculated by the controller. The relationship between the winch's phase current and the weight of the load to be hoisted is as follows:

[0077] F1=[η1*9550*(η2*3*U*I*cosθ)*tanφ] / (L1*n); where:

[0078] U is the phase voltage of the winch, I is the phase current of the winch, F1 is the first weight of the load to be hoisted,

[0079] η1 is the transmission efficiency of the transmission mechanism, η2 is the work efficiency of the winch, cosθ is the power factor of the winch, φ is the angle between the crane arm and the load to be hoisted in the direction of the gravity line, L1 is the length of the cable pulled by the winch, and n is the speed of the winch.

[0080] In this exemplary embodiment, the relationship between the oil pump phase current required by the pressure of the hydraulic cylinder and the load to be hoisted is calculated as follows:

[0081] The relationship between the weight of the load to be hoisted and the component of the force output by the crane arm perpendicular to the ground is as follows:

[0082] F2 = mg = η3 * T2 / L2 * cosα (Formula 5); where T2 represents the vertical component of the boom support hydraulic cylinder's output torque, L2 represents the boom's operating length, α represents the angle between the hydraulic cylinder's extension and retraction direction and the gravity line of the load to be hoisted, and η3 represents the efficiency of the hydraulic mechanism's force acting on the boom.

[0083] The relationship between hydraulic motor power and torque is as follows:

[0084] P 电机 =T2*n1 / 9550 (Formula 6); where P 电机 is the power of the hydraulic oil pump driving motor, n1 is the speed of the hydraulic oil pump driving motor, and 9550 is a constant;

[0085] P 电机 =η4*3*U2*I2*cosβ (Formula 7); η4 is the motor controller efficiency, U2 is the oil pump phase voltage, I2 is the oil pump phase current, and cosβ is the power factor of the hydraulic oil pump motor;

[0086] F2=(A2P 压 -A1P0)*η m =π / 4*[D 2 (P 压 -P0)-d 2 P0]*η m / cosα

[0087] (Formula 8), where F2 is the second weight of the load to be hoisted, P 压 is the oil inlet pressure of the hydraulic cylinder, P0 is the oil return back pressure of the hydraulic cylinder, D is the diameter of the cavity accommodating the piston in the hydraulic cylinder, d is the diameter of the piston in the hydraulic cylinder, ηm is the mechanical efficiency of the hydraulic cylinder, α is the angle between the extension direction of the hydraulic cylinder and the force of the hoisted object, A2 is P 压 The weight coefficient of A1 is the weight coefficient of P0;

[0088] P 电机 =△P 液压 *Q流量 / k 系数 (Formula 9); where: △P 液压 =P 压 –P0, △P 液压 Q is the difference in hydraulic power between the inside and outside of the hydraulic cylinder, 流量 is the liquid flow rate of the hydraulic cylinder, K 系数 is the standard coefficient of the hydraulic cylinder. The motor voltage and current are calculated by the controller. The relationship between the current consumption of the hydraulic pump drive motor and the weight of the load to be hoisted is calculated by the above formulas as follows: Q 流量 =q*n 转 , q is the hydraulic oil pump displacement (fixed value); n 转 is the oil pump speed.

[0089] Through the above formulas (Formula 5 to Formula 9), we can get:

[0090] F2=η m *π*[(D 2 *η4*3*U2*I2*cosβ*K 系数 / Q 流量 )-d 2 P0] / (4*cosα); where:

[0091] U2 is the oil pump phase voltage, I2 is the oil pump phase current, η m is the mechanical efficiency of the hydraulic cylinder, cosβ is the power factor of the hydraulic oil pump motor, Q 流量 is the liquid flow rate of the hydraulic cylinder, η4 is the work efficiency of the hydraulic oil pump motor, P0 is the return oil back pressure of the hydraulic cylinder, D is the diameter of the cavity accommodating the piston in the hydraulic cylinder, d is the diameter of the piston in the hydraulic cylinder, K 系数 is the standard coefficient of the hydraulic cylinder, and F2 is the second weight of the load to be hoisted.

[0092] This application determines whether a crane is overloaded by real-time monitoring of the hydraulic oil pump motor and winch phase currents in an electro-hydraulic lifting system. This overload detection includes both boom overload detection and overload detection caused by increased lifting torque due to boom extension during telescoping. This application determines whether the lifting equipment is overloaded by monitoring the hydraulic oil pump motor and winch phase currents. If overload is determined, the application automatically stops the equipment or disallows further extension, thereby ensuring the safety of the lifting equipment.

[0093] In some embodiments, determining whether the load to be hoisted is overloaded based on the first weight of the load to be hoisted, the second weight of the load to be hoisted, and a predetermined load capacity includes:

[0094] If it is determined that the first weight of the load to be hoisted and the second weight of the load to be hoisted are both less than the predetermined load capacity, it is determined that the load to be hoisted is not overloaded; or,

[0095] If it is determined that the first weight of the load to be hoisted and the second weight of the load to be hoisted are both greater than the predetermined load capacity, then it is determined that the load to be hoisted is overloaded; or,

[0096] If it is determined that the first weight of the load to be hoisted is greater than the predetermined load capacity and the second weight of the load to be hoisted is less than the predetermined load capacity, or if it is determined that the first weight of the load to be hoisted is less than the predetermined load capacity and the second weight of the load to be hoisted is greater than the predetermined load capacity, determining whether a difference between the first weight and the second weight is within a predetermined threshold range;

[0097] If the difference between the first weight and the second weight is within a predetermined threshold range, whether the load to be hoisted is overloaded is determined based on an average value of the first weight and the second weight and a predetermined load capacity.

[0098] If the difference between the first weight and the second weight exceeds a predetermined threshold range, it is determined that the values ​​of the first weight and the second weight are inaccurate, and the lifting operation is stopped.

[0099] In some embodiments, determining whether the load to be hoisted is overloaded based on an average of the first weight and the second weight and a predetermined load capacity includes:

[0100] If the average value of the first weight and the second weight is less than the predetermined load capacity, it is determined that the load to be hoisted is not overloaded;

[0101] If the average value of the first weight and the second weight is greater than the predetermined load capacity, it is determined that the load to be hoisted is overloaded.

[0102] In some embodiments, the performing of a hoisting operation corresponding to the determination result of whether the load to be hoisted is overloaded based on the determination result includes:

[0103] If the determination result is that the load to be hoisted is not overloaded, performing a hoisting operation on the load to be hoisted;

[0104] If the determination result is that the load to be hoisted is overloaded, the hoisting operation of the load to be hoisted is stopped and an overload alarm is issued.

[0105] In this exemplary embodiment, since there is a corresponding relationship between the winch phase current and the first weight, and there is a corresponding relationship between the hydraulic oil pump motor phase current and the second weight, the predetermined load capacity corresponds to the first predetermined current value and the second predetermined current value. When the winch phase current is greater than the first predetermined current value, it can be determined that the first weight is greater than the predetermined load capacity, and when the hydraulic oil pump motor phase current is greater than the second predetermined current value, it can be determined that the second weight is greater than the predetermined load capacity. Therefore, when the lifting operation is started, the motor current value is judged. If the driving motor current value is greater than the overload warning value, it is fed back to the vehicle for sound and light alarm. If the operator still continues to operate, the hydraulic system should stop working and maintain the current state until the operator performs the return operation and eliminates the alarm and resumes operation after the current is below the warning value;

[0106] When using the base boom for lifting without overloading, but extending the boom increases the lifting torque required due to the increased arm length and exceeds the maximum lifting value for that length, the motor current also exceeds the warning value or the hydraulic system enters the unloading state, at which point the vehicle will sound an audible and visual alarm. If the operator continues to operate, the hydraulic system should stop and maintain the current state until the operator returns to the operating state and the current drops below the warning value, eliminating the alarm and resuming operation.

[0107] The present disclosure provides a load hoisting device for an electric hoisting system. Figure 4 FIG. 1 is a schematic diagram showing the structure of a load hoisting device of an electric hoisting system according to an exemplary embodiment. Figure 4 As shown, the load lifting device includes:

[0108] The data monitoring module 41 is used to monitor the winch phase current of the winch and the oil pump phase current of the hydraulic oil pump motor when the load to be hoisted is being hoisted;

[0109] A first weight determination module 42 is configured to determine a first weight of the load to be hoisted based on the hoist phase current and a correlation between the hoist phase current and the hoisted load;

[0110] A second weight determination module 43 is configured to determine a second weight of the load to be hoisted based on the oil pump phase current and a correlation between the oil pump phase current and the hoisted load;

[0111] an overload determination module 44 for determining whether the load to be hoisted is overloaded based on the first weight of the load to be hoisted, the second weight of the load to be hoisted, and a predetermined load capacity;

[0112] The hoisting operation execution module 45 is configured to execute a hoisting operation corresponding to the determination result based on the determination result of whether the load to be hoisted is overloaded.

[0113] In this exemplary embodiment, the correlation between the winch phase current and the hoisted load and the correlation between the oil pump phase current and the hoisted load can be determined in advance based on the electric hoisting system. When the electric hoisting system is in operation, the winch and the hydraulic oil pump motor work simultaneously to lift the load to be hoisted.

[0114] According to the load hoisting device of the electric hoisting system of the embodiment of the present disclosure, the hoisting device monitors the winch phase current of the winch and the oil pump phase current of the hydraulic oil pump motor when the load to be hoisted is being hoisted; based on the winch phase current and the correlation between the winch phase current and the hoisting load, the first weight of the load to be hoisted is determined; based on the oil pump phase current and the correlation between the oil pump phase current and the hoisting load, the second weight of the load to be hoisted is determined; based on the first weight of the load to be hoisted, the second weight of the load to be hoisted and the predetermined load capacity, whether the load to be hoisted is overloaded is determined; based on the determination result of whether the load to be hoisted is overloaded, a hoisting operation corresponding to the determination result is performed. In the present application, when the electric hoisting system is hoisting the load to be hoisted, the first weight of the load to be hoisted is determined by the winch phase current, the second weight of the load to be hoisted is determined by the oil pump phase current, and whether the load to be hoisted is overloaded is comprehensively judged by combining the first weight and the second weight. Finally, a hoisting operation corresponding to the determination result is performed according to the determination result. This can effectively reduce the situation where the load to be hoisted is overloaded and improve the safety of hoisting.

[0115] In some embodiments, the correlation between the hoist phase current and the hoisted load is determined by a first hoisting mechanism when the electric hoisting system performs a hoisting operation on the load to be hoisted; wherein the first hoisting mechanism includes at least one of the following mechanisms: a hoist, a transmission mechanism, a crane arm, and a cable pulled by the hoist;

[0116] The correlation between the hoist phase current and the hoisting load includes:

[0117] Based on at least one of the following parameters as intermediate correlation quantities: the winch phase voltage, the transmission efficiency of the transmission mechanism, the work efficiency of the winch, the power factor of the winch, the angle between the crane arm and the load to be hoisted in the direction of the gravity line, the length of the cable pulled by the winch and the winch speed, the correlation relationship between the winch phase current and the hoisting load is determined.

[0118] In some embodiments, the oil pump phase current and the correlation between the oil pump phase current and the hoisted load are determined by a second hoisting mechanism when the electric hoisting system performs a hoisting operation on the load to be hoisted; wherein the second hoisting mechanism includes at least one of the following mechanisms: a hydraulic oil pump motor, a hydraulic cylinder, and a lifting arm;

[0119] The oil pump phase current and the correlation between the oil pump phase current and the hoisted load include:

[0120] Based on at least one of the parameters among the oil pump phase voltage, the work efficiency of the hydraulic oil pump motor, the mechanical efficiency of the hydraulic cylinder, the diameter of the cavity accommodating the piston in the hydraulic cylinder, the diameter of the piston in the hydraulic cylinder, the angle between the extension and contraction direction of the hydraulic cylinder and the gravity line direction of the load to be hoisted, the hydraulic cylinder liquid flow, the standard coefficient of the hydraulic cylinder, the power factor of the hydraulic oil pump motor and the return oil back pressure of the hydraulic cylinder as intermediate correlation quantities, the correlation relationship between the oil pump phase current and the hoisting load is determined.

[0121] In this exemplary embodiment, the electric lifting system includes: a lifting arm 1; a hydraulic cylinder 2; a hydraulic oil pump 3; a lifting hook 4; an oil pump motor 5; an oil pump motor controller 6; a hybrid power controller 7; a power battery 8; a support arm 9, and a winch, a transmission mechanism, and a cable pulled by the winch.

[0122] Principle of current detection of load weight to be hoisted:

[0123] Most loads are perpendicular to the ground, and their weight can be calculated using G = mg (usually based on standard atmospheric pressure, but calibrated based on altitude in plateaus), defined as Fweight. The crane can only lift the load when the winch's output force, F1, is greater than or equal to Fweight. The boom's elevation angle can be changed by pushing and retracting the hydraulic cylinder.

[0124] In this exemplary embodiment, the method for calculating overload is based on the relationship between the hoisting motor and the weight of the load to be hoisted:

[0125] Calculation of the lifting force of the load to be hoisted at the standard altitude: F = G = mg;

[0126] The output force of the hook winch motor is equal to the gravity of the load to be hoisted after deducting the friction resistance of the pulley, etc. The calculation is as follows:

[0127] F1 = η1 * T1 / L1 * tanφ (Formula 1); where T1 represents the winch motor torque, L1 represents the length of the cable pulled by the winch, φ represents the angle between the boom and the load to be hoisted in the direction of the gravity line, and η1 represents the transmission efficiency of the transmission mechanism (including the pulley);

[0128] The relationship between winch motor power and torque is as follows:

[0129] P 电机 =T1*n / 9550 (Formula 2); where P 电机 is the winch motor power, n is the winch motor speed, and 9550 is a constant;

[0130] From (Formula 1) and (Formula 2), it can be deduced that: F1=η1*P电机 *9550*tanφ / L1*n (Formula 3);

[0131] P 电机 =η²*3*U*I*cosθ (Formula 4); η² is the winch's efficiency, U is the winch's phase voltage, I is the winch's phase current, and cosθ is the winch's power factor. The motor voltage and current are calculated by the controller. The relationship between the winch's phase current and the weight of the load to be hoisted is as follows:

[0132] F1=[η1*9550*(η2*3*U*I*cosθ)*tanφ] / (L1*n); where:

[0133] U is the phase voltage of the winch, I is the phase current of the winch, F1 is the first weight of the load to be hoisted,

[0134] η1 is the transmission efficiency of the transmission mechanism, η2 is the work efficiency of the winch, cosθ is the power factor of the winch, φ is the angle between the crane arm and the load to be hoisted in the direction of the gravity line, L1 is the length of the cable pulled by the winch, and n is the speed of the winch.

[0135] In this exemplary embodiment, the relationship between the oil pump phase current required by the pressure of the hydraulic cylinder and the load to be hoisted is calculated as follows:

[0136] The relationship between the weight of the load to be hoisted and the component of the force output by the crane arm perpendicular to the ground is as follows:

[0137] F2 = mg = η3 * T2 / L2 * cosα (Formula 5); where T2 represents the vertical component of the boom support hydraulic cylinder's output torque, L2 represents the boom's operating length, α represents the angle between the hydraulic cylinder's extension and retraction direction and the gravity line of the load to be hoisted, and η3 represents the efficiency of the hydraulic mechanism's force acting on the boom.

[0138] The relationship between hydraulic motor power and torque is as follows:

[0139] P 电机 =T2*n1 / 9550 (Formula 6); where P 电机 is the power of the hydraulic oil pump driving motor, n1 is the speed of the hydraulic oil pump driving motor, and 9550 is a constant;

[0140] P 电机 =η4*3*U2*I2*cosβ (Formula 7); η4 is the motor controller efficiency, U2 is the oil pump phase voltage, I2 is the oil pump phase current, and cosβ is the power factor of the hydraulic oil pump motor;

[0141] F2=(A2P 压 -A1P0)*ηm =π / 4*[D 2 (P 压 -P0)-d 2 P0]*η m / cosα

[0142] (Formula 8), where F2 is the second weight of the load to be hoisted, P 压 is the oil inlet pressure of the hydraulic cylinder, P0 is the oil return back pressure of the hydraulic cylinder, D is the diameter of the cavity accommodating the piston in the hydraulic cylinder, d is the diameter of the piston in the hydraulic cylinder, ηm is the mechanical efficiency of the hydraulic cylinder, and α is the angle between the extension and contraction direction of the hydraulic cylinder and the hoisted object;

[0143] P 电机 =△P 液压 *Q 流量 / k 系数 (Formula 9); where: △P 液压 =P 压 –P0, △P 液压 Q is the difference in hydraulic power between the inside and outside of the hydraulic cylinder, 流量 is the liquid flow rate of the hydraulic cylinder, K 系数 is the standard coefficient of the hydraulic cylinder. The motor voltage and current are calculated by the controller. The relationship between the current consumption of the hydraulic pump drive motor and the weight of the load to be hoisted is calculated by the above formulas as follows: Q 流量 =q*n 转 , q is the hydraulic oil pump displacement (fixed value); n 转 is the oil pump speed.

[0144] Through the above formulas (Formula 5 to Formula 9), we can get:

[0145] F2=η m *π*[(D 2 *η4*3*U2*I2*cosβ*K 系数 / Q 流量 )-d 2 P0] / (4*cosα); where:

[0146] U2 is the oil pump phase voltage, I2 is the oil pump phase current, η m is the mechanical efficiency of the hydraulic cylinder, cosβ is the power factor of the hydraulic oil pump motor, Q 流量 is the liquid flow rate of the hydraulic cylinder, η4 is the work efficiency of the hydraulic oil pump motor, P0 is the return oil back pressure of the hydraulic cylinder, D is the diameter of the cavity accommodating the piston in the hydraulic cylinder, d is the diameter of the piston in the hydraulic cylinder, K 系数 is the standard coefficient of the hydraulic cylinder, and F2 is the second weight of the load to be hoisted.

[0147] This application determines whether a crane is overloaded by real-time monitoring of the hydraulic oil pump motor and winch phase currents in an electro-hydraulic lifting system. This overload detection includes both boom overload detection and overload detection caused by increased lifting torque due to boom extension during telescoping. This application determines whether the lifting equipment is overloaded by monitoring the hydraulic oil pump motor and winch phase currents. If overload is determined, the application automatically stops the equipment or disallows further extension, thereby ensuring the safety of the lifting equipment.

[0148] In some embodiments, the overload determination module is used to

[0149] If it is determined that the first weight of the load to be hoisted and the second weight of the load to be hoisted are both less than the predetermined load capacity, it is determined that the load to be hoisted is not overloaded; or,

[0150] If it is determined that the first weight of the load to be hoisted and the second weight of the load to be hoisted are both greater than the predetermined load capacity, then it is determined that the load to be hoisted is overloaded; or,

[0151] If it is determined that the first weight of the load to be hoisted is greater than the predetermined load capacity and the second weight of the load to be hoisted is less than the predetermined load capacity, or if it is determined that the first weight of the load to be hoisted is less than the predetermined load capacity and the second weight of the load to be hoisted is greater than the predetermined load capacity, determining whether a difference between the first weight and the second weight is within a predetermined threshold range;

[0152] If the difference between the first weight and the second weight is within a predetermined threshold range, whether the load to be hoisted is overloaded is determined based on an average value of the first weight and the second weight and a predetermined load capacity.

[0153] In some embodiments, the overload determination module is used to

[0154] If the average value of the first weight and the second weight is less than the predetermined load capacity, it is determined that the load to be hoisted is not overloaded;

[0155] If the average value of the first weight and the second weight is greater than the predetermined load capacity, it is determined that the load to be hoisted is overloaded.

[0156] In some embodiments, the lifting operation execution module is used to

[0157] If the determination result is that the load to be hoisted is not overloaded, performing a hoisting operation on the load to be hoisted;

[0158] If the determination result is that the load to be hoisted is overloaded, the hoisting operation of the load to be hoisted is stopped and an overload alarm is issued.

[0159] In this exemplary embodiment, since there is a corresponding relationship between the winch phase current and the first weight, and there is a corresponding relationship between the hydraulic oil pump motor phase current and the second weight, the predetermined load capacity corresponds to the first predetermined current value and the second predetermined current value. When the winch phase current is greater than the first predetermined current value, it can be determined that the first weight is greater than the predetermined load capacity, and when the hydraulic oil pump motor phase current is greater than the second predetermined current value, it can be determined that the second weight is greater than the predetermined load capacity. Therefore, when the lifting operation is started, the motor current value is judged. If the driving motor current value is greater than the overload warning value, it is fed back to the vehicle for sound and light alarm. If the operator still continues to operate, the hydraulic system should stop working and maintain the current state until the operator performs the return operation and eliminates the alarm and resumes operation after the current is below the warning value;

[0160] When using the base boom for lifting without overloading, but extending the boom increases the lifting torque required due to the increased arm length and exceeds the maximum lifting value for that length, the motor current also exceeds the warning value or the hydraulic system enters the unloading state, at which point the vehicle will sound an audible and visual alarm. If the operator continues to operate, the hydraulic system should stop and maintain the current state until the operator returns to the operating state and the current drops below the warning value, eliminating the alarm and resuming operation.

[0161] The present disclosure provides a computer-readable storage medium storing a load hoisting program for an electric hoisting system. When the load hoisting program for the electric hoisting system is executed by a processor, the load hoisting method for the electric hoisting system described in the above embodiments is implemented.

[0162] The present disclosure provides an electric lifting system, including a memory, a processor, and a load lifting program of the electric lifting system stored in the memory and executable on the processor. When the processor executes the load lifting program of the electric lifting system, the load lifting method of the electric lifting system described in the above-mentioned embodiments is implemented.

[0163] It should be noted that the logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device), or in conjunction with such instruction execution system, apparatus, or device. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transmit a program for use by an instruction execution system, apparatus, or device, or in conjunction with such instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion having one or more wires (electronic device), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing it in a suitable manner if necessary, and then storing it in a computer memory.

[0164] It should be understood that various parts of the present disclosure can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0165] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0166] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation to the present disclosure.

[0167] In addition, the terms "first" and "second" used in the embodiments of the present disclosure are only used for descriptive purposes and should not be understood as indicating or implying relative importance, or implicitly indicating the number of technical features indicated in the embodiments. Therefore, the features defined in the embodiments of the present disclosure with terms such as "first" and "second" can explicitly or implicitly indicate that the embodiment includes at least one such feature. In the description of the present disclosure, the word "plurality" means at least two or two or more, such as two, three, four, etc., unless otherwise clearly and specifically defined in the embodiments.

[0168] In this disclosure, unless otherwise clearly specified or limited in the embodiments, the terms "installed," "connected," "connect," and "fixed" appearing in the embodiments should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integral connection. It can also be a mechanical connection, an electrical connection, etc.; of course, it can also be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication between two elements, or the interaction between two elements. For those skilled in the art, the specific meanings of the above terms in this disclosure can be understood based on the specific implementation.

[0169] In the present disclosure, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0170] Although the embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are illustrative and are not to be construed as limitations on the present disclosure. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present disclosure.

Claims

1. A load hoisting method for an electric hoisting system, characterized in that: include: Monitor the winch phase current of the winch and the oil pump phase current of the hydraulic oil pump motor when hoisting the load to be hoisted; determining a first weight of the load to be hoisted based on the hoist phase current and a correlation between the hoist phase current and the hoisted load; determining a second weight of the load to be hoisted based on the oil pump phase current and a correlation between the oil pump phase current and the hoisted load; Determining whether the load to be hoisted is overloaded based on the first weight of the load to be hoisted, the second weight of the load to be hoisted, and a predetermined load capacity; wherein, determining whether the load to be hoisted is overloaded based on the first weight of the load to be hoisted, the second weight of the load to be hoisted, and the predetermined load capacity includes: if it is determined that the first weight of the load to be hoisted is greater than the predetermined load capacity and the second weight of the load to be hoisted is less than the predetermined load capacity, or, the first weight of the load to be hoisted is less than the predetermined load capacity and the second weight of the load to be hoisted is greater than the predetermined load capacity, determining whether the difference between the first weight and the second weight is within a predetermined threshold range; if the difference between the first weight and the second weight is within the predetermined threshold range, determining whether the load to be hoisted is overloaded based on an average value of the first weight and the second weight and the predetermined load capacity; Based on the determination result of whether the load to be hoisted is overloaded, performing a hoisting operation corresponding to the determination result; The correlation between the hoist phase current and the hoisted load is determined by a first hoisting mechanism when the electric hoisting system performs a hoisting operation on the load to be hoisted; wherein the first hoisting mechanism includes: a hoist, a transmission mechanism, a crane arm, and a cable pulled by the hoist; The correlation between the hoist phase current and the hoisting load includes: Based on the hoist phase voltage, the transmission efficiency of the transmission mechanism, the work efficiency of the hoist, the power factor of the hoist, the angle between the boom and the load to be hoisted in the direction of the gravity line, the length of the cable pulled by the hoist, and the hoist speed as intermediate correlation quantities, the correlation relationship between the hoist phase current and the hoisted load is determined; The oil pump phase current and the correlation between the oil pump phase current and the hoisted load are determined by a second hoisting mechanism when the electric hoisting system performs a hoisting operation on the load to be hoisted; wherein the second hoisting mechanism includes: a hydraulic oil pump motor, a hydraulic cylinder, and a lifting arm; The oil pump phase current and the correlation between the oil pump phase current and the hoisted load include: Based on the oil pump phase voltage, the work efficiency of the hydraulic oil pump motor, the mechanical efficiency of the hydraulic cylinder, the diameter of the cavity accommodating the piston in the hydraulic cylinder, the diameter of the piston in the hydraulic cylinder, the angle between the extension and contraction direction of the hydraulic cylinder and the gravity line direction of the load to be hoisted, the liquid flow of the hydraulic cylinder, the standard coefficient of the hydraulic cylinder, the power factor of the hydraulic oil pump motor and the return oil back pressure of the hydraulic cylinder as intermediate correlation quantities, the correlation relationship between the oil pump phase current and the hoisting load is determined.

2. The load hoisting method of the electric hoisting system according to claim 1, characterized in that: The determining whether the load to be hoisted is overloaded based on the first weight of the load to be hoisted, the second weight of the load to be hoisted, and a predetermined load capacity includes: If it is determined that the first weight of the load to be hoisted and the second weight of the load to be hoisted are both less than the predetermined load capacity, it is determined that the load to be hoisted is not overloaded; or, If it is determined that the first weight of the load to be hoisted and the second weight of the load to be hoisted are both greater than the predetermined load capacity, it is determined that the load to be hoisted is overloaded.

3. The load hoisting method of the electric hoisting system according to claim 1, characterized in that: The determining whether the load to be hoisted is overloaded based on an average value of the first weight and the second weight and a predetermined load capacity includes: If the average value of the first weight and the second weight is less than the predetermined load capacity, it is determined that the load to be hoisted is not overloaded; If the average value of the first weight and the second weight is greater than the predetermined load capacity, it is determined that the load to be hoisted is overloaded.

4. The load hoisting method of the electric hoisting system according to any one of claims 1 to 3, characterized in that: The performing of a hoisting operation corresponding to the determination result of whether the load to be hoisted is overloaded based on the determination result includes: If the determination result is that the load to be hoisted is not overloaded, performing a hoisting operation on the load to be hoisted; If the determination result is that the load to be hoisted is overloaded, the hoisting operation of the load to be hoisted is stopped and an overload alarm is issued.

5. The load hoisting method of the electric hoisting system according to claim 1, characterized in that: The correlation between the hoist phase current and the hoisting load includes: ,in: U is the phase voltage of the winch, I is the phase current of the winch, F1 is the first weight of the load to be hoisted, η1 is the transmission efficiency of the transmission mechanism, η2 is the working efficiency of the winch, is the power factor of the winch, φ is the angle between the crane arm and the load to be hoisted in the direction of the gravity line, L1 is the length of the cable pulled by the winch, and n is the speed of the winch.

6. The load hoisting method of the electric hoisting system according to claim 1, characterized in that: The oil pump phase current and the correlation between the oil pump phase current and the hoisted load include: ;in: U2 is the oil pump phase voltage, I2 is the oil pump phase current, η m is the mechanical efficiency of the hydraulic cylinder, cosβ is the power factor of the hydraulic oil pump motor, Q 流量 is the liquid flow rate of the hydraulic cylinder, η4 is the work efficiency of the hydraulic oil pump motor, P0 is the return oil back pressure of the hydraulic cylinder, D is the diameter of the cavity accommodating the piston in the hydraulic cylinder, d is the diameter of the piston in the hydraulic cylinder, K 系数 is the standard coefficient of the hydraulic cylinder, F2 is the second weight of the load to be hoisted, and α represents the angle between the extension and contraction direction of the hydraulic cylinder and the direction of the gravity line of the load to be hoisted.

7. A load hoisting device for an electric hoisting system, suitable for the load hoisting method for an electric hoisting system according to any one of claims 1 to 6, characterized in that: include: A data monitoring module is used to monitor the winch phase current of the winch and the oil pump phase current of the hydraulic oil pump motor when the load to be hoisted is being hoisted; A first weight determination module is configured to determine a first weight of the load to be hoisted based on the hoist phase current and a correlation between the hoist phase current and the hoisted load; a second weight determination module, configured to determine a second weight of the load to be hoisted based on the oil pump phase current and a correlation between the oil pump phase current and the hoisted load; an overload determination module, configured to determine whether the load to be hoisted is overloaded based on the first weight of the load to be hoisted, the second weight of the load to be hoisted, and a predetermined load capacity; wherein, the determining whether the load to be hoisted is overloaded based on the first weight of the load to be hoisted, the second weight of the load to be hoisted, and the predetermined load capacity comprises: if it is determined that the first weight of the load to be hoisted is greater than the predetermined load capacity and the second weight of the load to be hoisted is less than the predetermined load capacity, or, the first weight of the load to be hoisted is less than the predetermined load capacity and the second weight of the load to be hoisted is greater than the predetermined load capacity, then determining whether the difference between the first weight and the second weight is within a predetermined threshold range; if the difference between the first weight and the second weight is within the predetermined threshold range, then determining whether the load to be hoisted is overloaded based on an average value of the first weight and the second weight and the predetermined load capacity; The hoisting operation execution module is used to execute a hoisting operation corresponding to the determination result based on the determination result of whether the load to be hoisted is overloaded.

8. An electric lifting system, characterized in that: The invention comprises a memory, a processor and a load hoisting program of an electric hoisting system stored in the memory and executable on the processor. When the processor executes the load hoisting program of the electric hoisting system, the load hoisting method of the electric hoisting system according to any one of claims 1 to 6 is implemented.

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