Control system for a hoisting device and hoisting device

Abstract

This invention discloses a control system for lifting equipment. The lifting equipment includes a hydraulic system and an execution system. The control system includes a hydraulic control handle and a controller. The controller is configured to: determine that the lifting equipment activates the virtual wall function; determine that the execution system is in the operation mode of the hydraulic control handle; determine that the execution system moves towards an abnormal operating area and reaches the boundary line between the normal operating area and the abnormal operating area, the abnormal operating area being located between the normal operating area and the virtual wall; and adjust the flow rate of hydraulic control oil supplied by the hydraulic system to the hydraulic control handle to a preset flow rate so that the execution system decelerates to zero before reaching the virtual wall. This control system and lifting equipment have the advantages of being easy to operate and improving safety performance.

Description

Technical Field

[0001] This invention relates to the field of lifting equipment technology, and more specifically to a control system and lifting equipment for lifting equipment. Background Technology

[0002] As specialized engineering equipment for special purposes, truck cranes are subject to varying regulations in different regions and countries, and their required functions also differ depending on the operating environment. In general operating conditions, the crane's upper system (including the turntable, boom, counterweight, and luffing assembly) can be controlled by handles or joysticks, allowing free rotation within a 360° range via the slewing mechanism. When reaching the desired working position, the luffing assembly can control the boom's lifting angle (height) and amplitude (distance from the load), allowing it to be raised and lowered freely within a (0-80)° range to reach the designated location. However, when operators use handles or joysticks to operate the crane in narrow, enclosed spaces or height-restricted areas (such as near high-voltage lines), the slewing angle and / or lifting angle and / or amplitude may exceed the preset range due to equipment inertia, limited visibility, human misjudgment, or misoperation, potentially leading to safety accidents. Summary of the Invention

[0003] The purpose of this invention is to provide a control system and lifting equipment for lifting equipment, which have the advantages of being easy to operate and improving safety performance.

[0004] To achieve the above objectives, a first aspect of the present invention provides a control system for a lifting device, the lifting device including a hydraulic system and an actuation system, the control system including a hydraulic control handle and a controller, the controller being configured to:

[0005] Confirm that the virtual wall function is enabled on the lifting equipment;

[0006] Confirm that the execution system is in the operation mode of the hydraulic control handle;

[0007] The execution system is determined to move in the direction of the abnormal working area and reach the boundary line between the normal working area and the abnormal working area, which is located between the normal working area and the virtual wall;

[0008] The flow rate of hydraulic control oil supplied by the hydraulic system to the hydraulic control handle is adjusted to a preset flow rate so that the actuator decelerates to zero before reaching the virtual wall.

[0009] In an embodiment of the present invention, the hydraulic system includes a handle oil circuit equipped with a control valve assembly and a hydraulic control handle. The control valve assembly is provided with a flow control port connected to the hydraulic control handle. Adjusting the flow rate of the hydraulic control oil supplied by the hydraulic system to the hydraulic control handle to a preset flow rate includes:

[0010] Reduce the opening of the flow control port of the control valve assembly to a preset opening, so that the flow rate of hydraulic control oil delivered to the hydraulic control handle is reduced to the preset flow rate.

[0011] In an embodiment of the present invention, the control valve assembly includes an electro-proportional directional valve and a switchable solenoid valve arranged in series. The flow control port of the control valve assembly is located on the switchable solenoid valve. Reducing the opening degree of the flow control port of the control valve assembly to a preset opening degree includes:

[0012] Increase the current of the electro-proportional directional valve to a preset current so that the opening of the flow control port of the control valve assembly is reduced to a preset opening.

[0013] In embodiments of the present invention, the controller is further configured to:

[0014] Set up virtual walls and normal work areas;

[0015] Identify non-normal working areas based on virtual walls and normal working areas.

[0016] In an embodiment of the present invention, the abnormal working area includes a deceleration area and a stopping area located between the deceleration area and the virtual wall, and the controller is further configured to:

[0017] After the abnormal working area is determined, adjust the included angle width of the deceleration area and the included angle width of the stop area.

[0018] In embodiments of the present invention, the included angle width of the deceleration region and the current change rate of the electro-proportional directional valve are negatively correlated.

[0019] In an embodiment of the present invention, the hydraulic system further includes a handle oil supply circuit, an oil inlet on one side of the electro-proportional directional valve is connected to the handle oil supply circuit, an oil outlet on the other side of the electro-proportional directional valve is connected to an oil inlet on one side of the on / off solenoid valve, an oil outlet on the other side of the on / off solenoid valve is connected to the oil inlet of the hydraulic control handle, and a return port on the other side of the on / off solenoid valve is connected to the oil inlet of the electro-proportional directional valve.

[0020] In an embodiment of the present invention, the hydraulic system further includes a main valve, a drive oil circuit disposed between the actuator and the main valve, and a drive oil supply circuit for supplying oil to the drive oil circuit. The opening degree of the valve core of the main valve is controlled by hydraulic control oil flowing from the hydraulic control handle.

[0021] In an embodiment of the present invention, the handle oil circuit includes a first handle output oil circuit and a second handle output oil circuit that are independently branched from the two outlet ends of the hydraulic control handle. The main valve includes a first pressure end and a second pressure end for pushing the valve core to deflect. The first handle output oil circuit is connected to the first pressure end, and the second handle output oil circuit is connected to the second pressure end.

[0022] A second aspect of the present invention provides a lifting device, which includes the control system described above for lifting devices.

[0023] As shown in the above technical solution, the control system includes a hydraulic control handle and a controller. The controller is configured to: determine that the lifting equipment activates the virtual wall function; determine that the execution system is in the operation mode of the hydraulic control handle; determine that the execution system moves towards the abnormal working area and reaches the boundary line between the normal working area and the abnormal working area, where the abnormal working area is located between the normal working area and the virtual wall; and adjust the flow rate of the hydraulic control oil supplied by the hydraulic system to the hydraulic control handle to a preset flow rate so that the execution system decelerates to zero before reaching the virtual wall. This control system has simple control logic, is easy to operate, and can prevent safety accidents from occurring in special operating environments, thus improving the safety performance of the lifting equipment. Attached Figure Description

[0024] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0025] Figure 1 This is the main control flowchart of the controller in this embodiment of the invention;

[0026] Figure 2 This is a schematic diagram of the hydraulic system in an embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of the working area of ​​the rotary mechanism in an embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram of the working area of ​​the boom mechanism in an embodiment of the present invention.

[0029] Explanation of reference numerals in the attached figures

[0030] 1-Hydraulic control handle; 2-Abnormal working area; 201-Deceleration area; 202-Stop area; 3-Normal working area; 4-Virtual wall; 5-Control valve group; 501-Electro-proportional directional valve; 502-On / off solenoid valve; 6-Handle oil circuit; 601-First handle output oil circuit; 602-Second handle output oil circuit; 7-Handle oil supply circuit; 8-Main valve; 9-Drive oil circuit; 10-Drive oil supply circuit; 11-Drive component. Detailed Implementation

[0031] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0032] An embodiment of the present invention provides a novel control system for lifting equipment. The lifting equipment includes a hydraulic system and an execution system. The control system includes a hydraulic control handle 1 and a controller, such as... Figure 1 As shown, the controller is configured to perform the following steps:

[0033] Step S101: Confirm that the virtual wall function is enabled on the lifting equipment;

[0034] Step S102: Determine that the execution system is in the operation mode of the hydraulic control handle 1;

[0035] Step S103: Determine that the execution system moves towards the abnormal working area 3 and reaches the boundary line between the normal working area 3 and the abnormal working area 3, where the abnormal working area 3 is located between the normal working area 3 and the virtual wall 4;

[0036] Step S104: Adjust the flow rate of hydraulic control oil supplied by the hydraulic system to the hydraulic control handle 1 to a preset flow rate so that the execution system decelerates to zero before reaching the virtual wall 4.

[0037] Specifically, in this embodiment, the lifting equipment is a crane (such as a truck crane), the execution system includes a slewing mechanism and a boom mechanism, and the virtual wall function refers to the fact that the operator of the lifting equipment can set the safe left and right slewing range of the slewing mechanism according to actual usage needs (e.g., ...). Figure 3 (as shown) and / or set the safe lifting and lowering angle of the boom mechanism (e.g. Figure 4 (As shown). Furthermore, in this embodiment, both the slewing mechanism and the boom mechanism have two control methods: one is remote control, whereby the operator sends control commands to the controller remotely via a remote control device to control the slewing of the slewing mechanism and / or the lifting and lowering of the boom mechanism; the other is hydraulic control handle 1, whereby the operator controls the slewing of the slewing mechanism and / or the lifting and lowering of the boom mechanism by swinging the hydraulic control handle 1.

[0038] The lifting equipment is equipped with a virtual wall function button. When the operator presses the virtual wall function button, the virtual wall function is activated. The virtual wall function button sends a signal to the controller that the virtual wall function is activated. After receiving the signal, the controller can determine that the lifting equipment has activated the virtual wall function. After the virtual wall function is activated, the working area of ​​the execution system is divided into a normal working area 3 and a non-normal working area 2. A virtual wall 4 is set on the side of the non-normal working area 2 that is away from the normal working area 3. When the operator uses the hydraulic control handle 1 to operate the execution system, the oil circuit of the hydraulic control handle 1 is opened. In this case, the controller can determine that the execution system is in the control mode of the hydraulic control handle 1 by monitoring the hydraulic system.

[0039] Furthermore, the slewing mechanism is equipped with a first detector (such as an encoder or angle sensor) for detecting the slewing angle. The first detector can send the detection result of the slewing angle to the controller in real time. The boom mechanism is equipped with a second detector (such as an encoder or angle sensor) for detecting the lifting angle. Similarly, the second detector can send the detection result of the lifting angle to the controller in real time. The controller can determine the movement direction of the slewing mechanism based on the angle change value detected by the first detector, and determine the movement direction of the boom mechanism based on the angle change value detected by the second detector. If the angle change value is positive, it is determined to move in the first direction (such as towards the direction closer to the abnormal working area 2). If the angle change value is negative, it is determined to move in the second direction (such as towards the direction away from the abnormal working area 2). The movement in the second direction is opposite to the movement in the first direction. The controller has a preset angle value corresponding to the boundary line between the normal working area 3 and the abnormal working area 2. If the detection result of the first detector or the second detector is consistent with the preset angle value, it means that the slewing mechanism or the boom mechanism has moved to the boundary line between the normal working area 3 and the abnormal working area 2.

[0040] If the controller determines, based on the above method, that the slewing mechanism or boom mechanism moves towards the direction of the abnormal working area 2 and reaches the boundary line between the normal working area 3 and the abnormal working area 2, then the slewing mechanism or boom mechanism should be controlled to decelerate. Otherwise, the slewing mechanism or boom mechanism will continue to move towards the direction of the virtual wall 4 and reach or break through the location of the virtual wall 4, colliding with or interfering with external components (such as walls or other mechanical mechanisms). Specifically, the execution system includes a drive component 11 (such as a slewing motor in the slewing mechanism, a lifting cylinder in the boom mechanism), and the hydraulic system includes a main valve 8 and a drive... The opening of the output port of the main valve 8 in the drive oil circuit 9 of component 11 is controlled by the hydraulic control oil flowing from the hydraulic control handle 1. Therefore, when the slewing mechanism or boom mechanism moves towards the abnormal working area 2 and reaches the boundary line between the normal working area 3 and the abnormal working area 2, the controller controls the hydraulic system to adjust the flow rate of the hydraulic control oil sent to the hydraulic control handle 1 to a preset flow rate. The output opening of the main valve 8 decreases, the drive oil pressure of the drive component 11 decreases, and thus the running speed of the drive component 11 decreases. The execution system begins to decelerate and decelerates to zero before reaching the virtual wall 4. The control logic of the above control system is simple and easy to operate. It can avoid safety accidents of lifting equipment in special working environments (such as narrow, confined spaces or height-restricted areas) and improve the safety performance of lifting equipment.

[0041] In one embodiment of the present invention, such as Figure 2As shown, the hydraulic system includes a handle oil circuit 6 equipped with a control valve assembly 5 and a hydraulic control handle 1. The control valve assembly 5 is equipped with a flow control port connected to the hydraulic control handle 1. Step S104, which adjusts the flow rate of the hydraulic control oil supplied by the hydraulic system to the hydraulic control handle 1 to a preset flow rate, further includes step S201, wherein:

[0042] Step S201: Reduce the opening of the flow control port of the control valve group 5 to a preset opening, so that the flow rate of the hydraulic control oil delivered to the hydraulic control handle 1 is reduced to a preset flow rate.

[0043] Specifically, the hydraulic control oil in the handle oil circuit 6 flows into the hydraulic control handle 1 after passing through the control valve group 5, and then flows out of the hydraulic control handle 1. The controller controls the control valve group 5 to reduce the opening of its flow control port, so the flow rate of the hydraulic control oil flowing into the hydraulic control handle 1 decreases. When the opening of the flow control port is reduced to the preset opening, the flow rate of the hydraulic control oil flowing into the hydraulic control handle 1 is reduced to the preset flow rate. The preset flow rate of hydraulic control oil controls the opening of the output port of the main valve 8, and the execution system starts to decelerate, and decelerates to zero before reaching the virtual wall 4.

[0044] In one embodiment of the present invention, the control valve assembly 5 includes an electro-proportional directional valve 501 and a switch-type solenoid valve 502 arranged in series. The flow control port of the control valve assembly 5 is located on the switch-type solenoid valve 502. Step S201, which increases the opening degree of the flow control port of the control valve assembly 5 to a preset opening degree, includes step S301, wherein:

[0045] Step S301: Increase the current of the electro-proportional directional valve 501 to a preset current so that the opening of the flow control port of the control valve group 5 is reduced to a preset opening.

[0046] Specifically, the electro-proportional directional valve 501 is located upstream of the on / off solenoid valve 502. The flow control port on the electro-proportional directional valve 501 is connected to the oil inlet of the on / off solenoid valve 502. That is, the hydraulic control oil flows through the electro-proportional directional valve 501 and the on / off solenoid valve 502 before flowing into the hydraulic control handle 1. The electro-proportional directional valve 501 is used to control the flow rate of the hydraulic control oil flowing to the hydraulic control handle 1, and the on / off solenoid valve 502 is used to control the opening or closing of the handle oil circuit 6. When it is necessary to reduce the flow rate of hydraulic control oil to hydraulic control handle 1, the controller controls both the electro-proportional directional valve 501 and the on / off solenoid valve 502 to be energized, and the current of the electro-proportional directional valve 501 increases to a preset current, the opening degree of the flow control port on the on / off solenoid valve 502 decreases to a preset opening degree, the flow rate of hydraulic control oil from the electro-proportional directional valve 501 to the on / off solenoid valve 502 becomes a preset flow rate, and the flow rate of hydraulic control oil from the on / off solenoid valve 502 to the hydraulic control handle 1 also becomes a preset flow rate.

[0047] In one embodiment of the invention, the controller is further configured to perform the following steps:

[0048] Step S401: Set up the virtual wall 4 and the normal working area 3;

[0049] Step S401: Determine the non-normal working area 2 based on the virtual wall 4 and the normal working area 3.

[0050] Before operating the execution system, the operator can define the virtual wall 4 and the normal working area 3 based on actual needs. Specifically, for a rotary mechanism, the virtual wall 4, the normal working area 3, and the abnormal working area 2 are all on a horizontal plane. There are two virtual walls 4, arranged at an angle. The operator can set the angle of each of the two virtual walls 4. The normal working area 3 is located between the two virtual walls 4. The operator can set the position and angle of the normal working area 3. After the virtual wall 4 and the normal working area 3 are set, the virtual wall 4 and the normal working area 2 are... The other areas between the working area 3 are the non-normal working area 2. If it is for the boom mechanism, the virtual wall 4, the normal working area 3 and the non-normal working area 2 are all on the vertical plane. The number of virtual walls 4 is one or two. When there are two virtual walls 4, the setting method of virtual walls 4 and normal working area 3 is the same as that in the slewing mechanism, and will not be repeated here. When there is only one virtual wall 4, the operator only needs to set the angle corresponding to the virtual wall 4, the position of the normal working area 3 and the angle it occupies. The other areas between the virtual wall 4 and normal working area 3 are the non-normal working area 2.

[0051] In one embodiment of the present invention, the abnormal working area 2 includes a deceleration area 201 and a stop area 202 located between the deceleration area 201 and the virtual wall 4, and the controller is further configured to perform the following steps:

[0052] Step S501: After the abnormal working area 2 is determined, adjust the included angle width of the deceleration area 201 and the included angle width of the stop area 202.

[0053] Specifically, after the execution system decelerates, it decelerates in deceleration region 201. When the execution system moves to the boundary line between deceleration region 201 and stop region 202, the execution system decelerates to zero. After the abnormal working region 2 is determined, if the included angle of deceleration region 201 is larger and the included angle of stop region 202 is smaller, it indicates that the execution system deceleration process lasts longer and the deceleration process is relatively smooth. However, the execution system is closer to the virtual wall 4 after stopping, so the probability of the execution system colliding with the virtual wall 4 due to accidents (such as inertial impact) is greater. If the included angle of deceleration region 201 is smaller and the included angle of stop region 202 is larger, it indicates that the execution system deceleration process lasts shorter and the deceleration process is more rapid. However, the execution system is farther away from the virtual wall 4 after stopping, so the probability of the execution system colliding with or breaking through the virtual wall 4 due to accidents (such as inertial impact) is smaller. Operators can adjust the included angle width of the deceleration zone 201 and the included angle width of the stopping zone 202 according to the actual working environment of the lifting equipment and / or their personal operating habits, thereby enhancing the practicality of the lifting equipment and its adaptability to the working environment.

[0054] In one embodiment of the present invention, the included angle width of the deceleration region 201 is negatively correlated with the current change rate of the electro-proportional directional valve 501.

[0055] Specifically, the faster the current of the electro-proportional directional valve 501 increases, the faster the opening of the flow control port on the electro-proportional directional valve 501 decreases, the faster the flow of hydraulic control oil to the hydraulic control handle 1 decreases, the faster the opening of the output port of the main valve 8 decreases, the faster the drive component 11 stops, and the smaller the included angle width of the deceleration region 201; conversely, the slower the current of the electro-proportional directional valve 501 increases, the slower the opening of the flow control port on the electro-proportional directional valve 501 decreases, the slower the flow of hydraulic control oil to the hydraulic control handle 1 decreases, the slower the opening of the output port of the main valve 8 decreases, the slower the drive component 11 stops, and the larger the included angle width of the deceleration region 201.

[0056] In one embodiment of the present invention, the hydraulic system further includes a handle oil supply circuit 7, an oil inlet on one side of the electro-proportional directional valve 501 is connected to the handle oil supply circuit 7, an oil outlet on the other side of the electro-proportional directional valve 501 is connected to an oil inlet on one side of the on / off solenoid valve 502, an oil outlet on the other side of the on / off solenoid valve 502 is connected to the oil inlet of the hydraulic control handle 1, and a return port on the other side of the on / off solenoid valve 502 is connected to the oil inlet of the electro-proportional directional valve 501. Specifically, the handle oil supply circuit 7 and the handle oil circuit 6 are connected and used to supply hydraulic control oil to the handle oil circuit 6. The outlet of the electro-proportional directional valve 501 near the solenoid valve 502 is the flow control port. When the actuator is in the normal operating range 3, the electro-proportional directional valve 501 is energized, the solenoid valve 502 is de-energized, and the current value of the electro-proportional directional valve 501 is less than the preset current value. The hydraulic control oil flowing out of the handle oil supply circuit 7 passes sequentially through the inlet of the electro-proportional directional valve 501, the outlet of the electro-proportional directional valve 501, and the inlet of the solenoid valve 502. The oil flows from the outlet of the on / off solenoid valve 502 to the hydraulic control handle 1. When the actuator needs to decelerate, both the electro-proportional directional valve 501 and the on / off solenoid valve 502 are energized, and the opening of the outlet on one side of the on / off solenoid valve 502 decreases. Before the opening of the outlet on one side of the on / off solenoid valve 502 decreases to zero, the hydraulic control oil flowing from the oil supply circuit 7 of the handle still flows sequentially through the inlet of the electro-proportional directional valve 501, the outlet of the electro-proportional directional valve 501, the inlet of the on / off solenoid valve 502, and the outlet of the on / off solenoid valve 502 to the hydraulic control handle 1.

[0057] In one embodiment of the present invention, the hydraulic system further includes a drive oil circuit 9 disposed between the execution system and the main valve 8, and a drive oil supply circuit 10 for supplying oil to the drive oil circuit 9. The opening degree of the valve core of the main valve 8 is controlled by the hydraulic control oil flowing out from the hydraulic control handle 1. Specifically, after the valve core of the main valve 8 is opened, the working hydraulic oil output from the drive oil supply circuit 10 flows through the main valve 8 and the drive oil circuit 9 to drive and control the drive component 11 in the execution system (such as turning the rotary motor to the left or right, or extending or retracting the lifting cylinder). If the pressure of the hydraulic control oil flowing out from the hydraulic control handle 1 is greater than the elastic force of the pressure end of the main valve 8, the larger the valve core opening degree, the more working hydraulic oil flows into the drive oil circuit 9, and the faster the drive component 11 is driven; conversely, the smaller the valve core opening degree, the less working hydraulic oil flows into the drive oil circuit 9, and the slower the drive component 11 is driven.

[0058] In one embodiment of the present invention, the handle oil circuit 6 includes a first handle output oil circuit 601 and a second handle output oil circuit 602, which are independently branched from the two outlet ends of the hydraulic control handle 1. The main valve 8 includes a first pressure end and a second pressure end for pushing the valve core to deflect. The first handle output oil circuit 601 ( Figure 2The hydraulic control oil flows from point a to point a' and is connected to the first pressure end. The second handle outputs oil through circuit 602. Figure 2 The hydraulic control oil flows from point b to point b' and is connected to the second pressure end. Specifically, when the operator pushes the hydraulic control handle 1 in the first or second direction, the hydraulic control oil entering the hydraulic control handle 1 connects the first handle output oil circuit 601 or the second handle output oil circuit 602, and then flows to the first or second pressure end of the main valve 8, so as to make the drive component 11 move in the first or second direction. The first handle output oil circuit 601 corresponds to the first direction, and the second handle output oil circuit 602 corresponds to the second direction.

[0059] Another embodiment of the present invention provides a novel lifting device, which includes the control system for lifting devices described in the above embodiments.

[0060] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings; however, the present invention is not limited thereto. Within the scope of the inventive concept, various simple modifications can be made to the technical solutions of the present invention, including combinations of various specific technical features in any suitable manner. To avoid unnecessary repetition, the present invention will not describe the various possible combinations separately. However, these simple modifications and combinations should also be considered as the content disclosed in the present invention and are all within the protection scope of the present invention.

[0061] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0062] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0063] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A control system for lifting equipment, characterized in that, The lifting equipment includes a hydraulic system and an execution system. The control system includes a hydraulic control handle (1) and a controller. The hydraulic system includes a handle oil circuit (6) with a control valve assembly (5) and the hydraulic control handle (1). The control valve assembly (5) has a flow control port connected to the hydraulic control handle (1). The control valve assembly (5) includes an electro-proportional directional valve (501) and a switchable solenoid valve (502) arranged in series. The electro-proportional directional valve (501) is located upstream of the switchable solenoid valve (502). The flow control port of the control valve assembly (5) is located on the switchable solenoid valve (502). The controller is configured to: The lifting equipment is confirmed to have the virtual wall function enabled. Determine that the execution system is in the operation mode of the hydraulic control handle (1); The execution system is determined to move toward the abnormal working area (2) and reach the boundary line between the normal working area (3) and the abnormal working area (2), wherein the abnormal working area (2) is located between the normal working area (3) and the virtual wall (4); The flow rate of the hydraulic control oil supplied by the hydraulic system to the hydraulic control handle (1) is adjusted to a preset flow rate so that the execution system decelerates to zero before reaching the virtual wall (4); wherein, The adjustment of the flow rate of the hydraulic control oil supplied by the hydraulic system to the hydraulic control handle (1) to a preset flow rate includes: The current of the electro-proportional directional valve (501) is increased to a preset current so that the opening of the flow control port of the control valve group (5) is reduced to the preset opening and the flow rate of the hydraulic control oil delivered to the hydraulic control handle (1) is reduced to the preset flow rate.

2. The control system for lifting equipment according to claim 1, characterized in that, The controller is also configured to: Set the virtual wall (4) and the normal working area (3); The abnormal working area (2) is determined based on the virtual wall (4) and the normal working area (3).

3. The control system for lifting equipment according to claim 2, characterized in that, The abnormal working area (2) includes a deceleration area (201) and a stop area (202) located between the deceleration area (201) and the virtual wall (4), and the controller is further configured to: After the abnormal working area (2) is determined, the included angle width of the deceleration area (201) and the included angle width of the stop area (202) are adjusted and allocated.

4. The control system for lifting equipment according to claim 3, characterized in that, The included angle width of the deceleration region (201) and the rate of change of current of the electro-proportional directional valve (501) are negatively correlated.

5. The control system for lifting equipment according to claim 1, characterized in that, The hydraulic system also includes a handle oil supply circuit (7), with the oil inlet on one side of the electro-proportional directional valve (501) connected to the handle oil supply circuit (7), the oil outlet on the other side of the electro-proportional directional valve (501) connected to the oil inlet on one side of the on / off solenoid valve (502), the oil outlet on the other side of the on / off solenoid valve (502) connected to the oil inlet of the hydraulic control handle (1), and the oil return port on the other side of the on / off solenoid valve (502) connected to the oil inlet of the electro-proportional directional valve (501).

6. The control system for lifting equipment according to claim 1, characterized in that, The hydraulic system also includes a main valve (8) and a drive oil passage (9) disposed between the actuator and the main valve (8) and a drive oil supply passage (10) for supplying oil to the drive oil passage (9). The opening degree of the valve core of the main valve (8) is controlled by the hydraulic control oil flowing out from the hydraulic control handle (1).

7. The control system for lifting equipment according to claim 6, characterized in that, The handle oil circuit (6) includes a first handle output oil circuit (601) and a second handle output oil circuit (602) that are independently branched from the two outlet ends of the hydraulic control handle (1). The main valve (8) includes a first pressure end and a second pressure end for pushing the valve core to deflect. The first handle output oil circuit (601) is connected to the first pressure end, and the second handle output oil circuit (602) is connected to the second pressure end.

8. A lifting device, characterized in that, The lifting equipment includes a control system for lifting equipment according to any one of claims 1-7.

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