A method, device, system and storage medium for controlling a crane

Abstract

The application relates to the technical field of crane control, in particular to a crane logic control method, equipment, system and storage medium, which comprises the following steps: acquiring a crane operation signal; acquiring a first detection signal emitted by a magnetic encoder installed on the crane, wherein the magnetic encoder is used for detecting the rotation angle, the number of turns, the distance and the rotation speed of a coil drum on the crane; acquiring the driving current size when the crane is running, and defining the driving current size as a second detection signal; judging whether the crane is abnormal according to the first detection signal and / or the second detection signal; if yes, a brake trigger signal is emitted to control the brake braking of the crane, and the type of the abnormality is judged and the abnormality is notified. The application has the effect of realizing abnormality detection in the lifting process of the crane and taking countermeasures in time when the abnormality occurs.

Description

Technical Field

[0001] This application relates to the technical field of hoisting machine control, and in particular to a hoisting machine logic control method, device, system and storage medium. Background Technology

[0002] The hoisting machine mainly consists of a hoisting mechanism, a traveling mechanism, a luffing mechanism, a slewing mechanism, and a metal mechanism. It is composed of a hoisting system and a winch, and some also use a hydraulic system to lift and lower heavy objects. It can lift heavy objects in the longitudinal horizontal direction.

[0003] During the lifting process, hoisting machines may encounter some unexpected situations, such as machine failure, rope tangling, power outages, etc. However, hoisting machines in this technology generally do not have the function of monitoring the lifting speed, fault status, etc. Therefore, when certain emergencies occur, they cannot brake in time, which may cause the heavy object to fall suddenly, posing a significant safety hazard. Summary of the Invention

[0004] In order to detect abnormalities during the lifting process of a hoist and take timely countermeasures when abnormalities occur, this application provides a hoist logic control method, device, system and storage medium.

[0005] Firstly, this application provides a logic control method for a hoisting machine, which adopts the following technical solution: A hoisting machine logic control method includes the following steps: Obtain the hoisting machine's operating signals; A first detection signal is acquired from a magnetic encoder installed on the hoist, the magnetic encoder being used to detect the rotation angle, number of revolutions, and distance of the coil drum on the hoist; The magnitude of the drive current during the operation of the hoist is obtained and defined as the second detection signal; Determine whether the hoisting machine is malfunctioning based on the first detection signal and / or the second detection signal; If so, a brake trigger signal is issued to control the crane's brakes, and the type of abnormality is determined and an abnormality notification is sent.

[0006] Preferably, determining whether the hoisting machine is malfunctioning based on the first detection signal and / or the second detection signal includes the following steps: If the first detection signal is zero and the second detection signal rises rapidly within a preset time, an abnormality is determined to have occurred, and the abnormality type is determined to be a knotted rope. or, If the first detection signal rises rapidly within a preset time and the second detection signal rises rapidly within a preset time, an abnormality is determined to have occurred, and the abnormality type is determined to be rope breakage. The rise of the first detection signal indicates that the coil drum rotates along the direction of the lifting object, and the decrease of the second detection signal indicates that the coil drum rotates along the direction of the descending object. or, If the second detection signal is present and the first detection signal is zero, then an abnormality is determined to have occurred, and the abnormality type is determined to be a coil roller failure. or, If both the first detection signal and the second detection signal are zero, an abnormality is determined to have occurred, and the abnormality type is determined to be a power outage. or, If the second detection signal is greater than a preset value, an abnormality is determined to have occurred, and the abnormality type is determined to be overload.

[0007] Preferably, if the second detection signal is greater than a preset value, an abnormality is determined to have occurred, and the abnormality type is determined to be overload, specifically including the following steps: Obtain the work command and record the current time of obtaining the work command as the initial time; Determine whether the second detection signal detected within a preset time after the initial time is greater than a preset value; if it is greater, determine that an overload has occurred. If it is not greater than, then it is determined whether the second detection signal is in a stable state, wherein the stable state is characterized by the change amplitude of the second detection signal being less than a preset amplitude; If the system is in a stable state, a dynamic overload judgment value is obtained based on the first detection signal, and it is determined whether the second detection signal exceeds the dynamic overload judgment value. If so, then an overload has occurred.

[0008] Preferably, the following steps are also included: Determine whether the first detection signal has reached the preset position value; If the target height is reached, it indicates that the object has been hoisted to the preset height, and a brake trigger signal is issued to control the hoisting machine to brake, which is considered a normal situation. If not, the limit switch installed on the coil drum is used to determine whether the number of turns in the first detection signal has reached the preset limit value. If so, it indicates that the object has been hoisted to its maximum height and can no longer be lifted, and a brake trigger signal is issued to control the hoisting machine to brake. This is defined as an abnormality, and the abnormality type is reaching the hoisting limit.

[0009] Preferred options also include: After obtaining the preset arrival value, determine whether the difference between the arrival value and the preset limit value is less than the preset value; If the difference is less than the preset limit value, the value is updated by decreasing it until the difference is greater than or equal to the preset limit value.

[0010] Preferably, the following steps are also included: Determine if the number of hoists currently in a communication connection is greater than 1; If the value is greater than 1, then when any of the hoisting machines malfunctions, the brake trigger signal will be forwarded to all hoisting machines connected in the communication connection to cause all of the hoisting machines to brake.

[0011] Preferably, when the number of hoisting machines is greater than one, the method further includes the following steps: The real-time hoisting height of each hoisting machine is calculated based on its first detection signal. If the difference between any two real-time hoisting heights exceeds a preset value, a brake trigger signal is issued to control the braking of all the hoisting machines, and an anomaly is determined to have occurred, wherein the anomaly type is asynchronous hoisting height.

[0012] Secondly, this application provides a hoisting machine, which adopts the following technical solution: A hoisting machine, based on the aforementioned hoisting machine logic control method, performs hoisting operations. It includes a hoisting machine body, a magnetic encoder, a current detection unit, a brake module, and a control module. The hoisting machine body includes a coil drum with a hoisting line wound around it. The magnetic encoder is located inside the coil drum and is used to detect the rotation angle, number of turns, and distance of the coil drum on the hoisting machine to generate a first detection signal. The current detection unit is located inside the hoisting machine body and is used to detect the magnitude of the drive current during hoisting machine operation to generate a second detection signal. The control module receives the first and second detection signals and determines whether an abnormality has occurred. When an abnormality occurs, it sends a brake trigger signal to the brake module to brake the coil drum and provides an abnormality notification based on the type of abnormality.

[0013] Thirdly, this application provides a hoisting machine system, which adopts the following technical solution: A hoisting machine system includes one or more of the aforementioned hoisting machine devices, and further includes a Bluetooth module and a mobile terminal. The Bluetooth module is used to connect the mobile terminal and the hoisting machine devices for communication. The mobile terminal is used to send control commands to the hoisting machine devices based on user operations. The control commands include start / stop and hoisting up / down. The Bluetooth module is also used to send abnormal notifications issued by the control module to the mobile terminal, and the mobile terminal receives and displays the abnormal notifications.

[0014] Fourthly, this application provides a computer storage medium, which adopts the following technical solution: A computer storage medium storing a computer program, which, when executed by a processor, implements the above-described hoisting machine logic control method.

[0015] In summary, this application includes at least one of the following beneficial technical effects: 1. By detecting information such as rotation speed, angle, and number of revolutions through a magnetic encoder and detecting the magnitude of the drive current through a current detection unit, the system combines the two to determine whether any abnormalities occur during the operation of the hoist. The system also detects the type of abnormality by analyzing the specific values ​​and changes in the values ​​of the first and / or second detection signals. Finally, it promptly issues abnormality notifications and applies the brakes, thus solving the problem of abnormality detection during the hoist's lifting process. This allows for timely notification and braking when abnormalities occur, reducing the occurrence of safety hazards. 2. When multiple hoists are operating in parallel, if any one hoist malfunctions, all hoists will receive a braking signal to apply the brakes. 3. If the set landing height is close to the limit height of the hoist, the landing height will be automatically lowered to prevent the load from being lifted too close to the limit height during the lifting process. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall steps of the hoisting machine logic control method in the embodiments of this application; Figure 2 This is a schematic diagram of the hoisting machine equipment in the embodiments of this application; Figure 3 This is a schematic diagram of the hoisting machine system in an embodiment of this application. Detailed Implementation

[0017] The following is in conjunction with the appendix Figure 1-3 This application will be described in further detail.

[0018] This application discloses a logic control method for hoisting machines.

[0019] like Figure 1 As shown, a hoisting machine logic control method includes the following steps: S100, acquire the hoisting machine's operating signal.

[0020] The hoisting machine's operating signals are generated by the operator through a control terminal. The control terminal can be a mobile device such as a mobile phone or tablet, or a console or desktop computer. In this application, it is a mobile phone, and the mobile phone communicates with each hoisting machine and its configured control system via Bluetooth.

[0021] Once the hoisting machine receives the operating signal, it powers on and begins operation, awaiting subsequent lifting commands.

[0022] S200: Acquire the first detection signal emitted by the magnetic encoder installed on the hoist.

[0023] A magnetic encoder is a device that converts changes in the magnetic properties of a sensitive element caused by external factors such as magnetic field, current, stress and strain, temperature, and light into electrical signals, thereby detecting corresponding physical quantities. In this application, the magnetic encoder is used to detect physical quantities such as the rotation angle, number of turns, and distance of the coil drum on a hoisting machine.

[0024] The detected physical quantity is defined as the first detection signal for use in subsequent logic control methods.

[0025] S300 acquires the magnitude of the drive current during the operation of the hoist and defines it as the second detection signal.

[0026] The current is detected by a current detection unit, which is a current sensor in this embodiment. It can detect the driving current when the coil drum on the hoist rotates. Generally speaking, the heavier the object and the faster the rotation speed, the larger the corresponding load and the larger the driving current.

[0027] S400 determines whether the hoisting machine is malfunctioning based on the first detection signal and / or the second detection signal.

[0028] The hoisting machine is assessed for abnormalities based on the different values ​​and changes of the first detection signal (rotation speed, angle, and number of turns of the coil drum) and / or the second detection signal (drive current). The type of abnormality can also be determined, including: S410, if the first detection signal is zero and the second detection signal rises rapidly within a preset time, an abnormality is determined to have occurred, and the abnormality type is determined to be a knotted rope.

[0029] The first detection signal is zero, indicating that the current coil drum is not rotating, so the speed, angle, and number of revolutions are unchanged. The second detection signal rises rapidly, indicating that the load drive current rises rapidly when the coil drum is not rotating. This can be judged as an abnormal situation of rope knotting. In this case, because the rope on the coil drum is knotted, the coil drum is subjected to great resistance and cannot rotate. In order to overcome the resistance, the hoist's drive current will rise rapidly.

[0030] or, S420, if the first detection signal rises rapidly within a preset time and the second detection signal rises rapidly within a preset time, an abnormality is determined to have occurred, and the abnormality type is determined to be rope breakage. The rise of the first detection signal indicates that the coil drum rotates along the direction of the lifting object, and the decrease of the second detection signal indicates that the coil drum rotates along the direction of the descending object.

[0031] If the first detection signal rises rapidly within a preset time, it indicates that the rotational speed of the coil drum increases rapidly in a short period of time. If the second detection signal also rises rapidly, it indicates that the drive current also rises rapidly. This suggests that a rope breakage may have occurred. When the rope breaks during the lifting process, the load disappears rapidly, causing the rotational speed to increase instantaneously, which in turn causes the drive current to rise rapidly.

[0032] Furthermore, in order to reduce possible misjudgments during the initial accelerated lifting process, the preset time in the above judgment process is very short. For example, an abnormality is only judged if the speed and drive current rise rapidly within 1 second or 0.5 seconds. However, when the hoist starts to lift normally, it is not considered an abnormal situation if the speed and drive current rise to a certain value within a certain period of time, such as within 10 seconds.

[0033] or, S430: If a second detection signal exists and the first detection signal is zero, an abnormality is determined to have occurred, and the abnormality type is determined to be a coil roller failure.

[0034] If there is a drive current but the speed corresponding to the coil drum cannot be detected, then the coil drum is considered to be faulty. The fault includes two aspects: one is that the coil drum cannot rotate normally and the speed cannot be detected, and the other is that the magnetic encoder corresponding to the coil drum is faulty.

[0035] or, S440, if both the first detection signal and the second detection signal are zero, an abnormality is determined to have occurred, and the abnormality type is determined to be power disconnection.

[0036] If the speed of the coil drum and the drive current are both zero when the hoisting machine's operating signal is received, it is determined that a power outage has occurred, and the hoisting machine will be unable to operate according to the corresponding operating information.

[0037] or, S450, if the second detection signal is greater than the preset value, an abnormality is determined to have occurred, and the abnormality type is determined to be overload.

[0038] If the detected drive current is extremely high, exceeding the preset current value, then an overload abnormality is determined to have occurred.

[0039] Specifically, it also includes: S451, retrieve the work command and record the current time of retrieving the work command as the initial time.

[0040] A work command is a command corresponding to the hoist's operating signal, used to control the hoist to perform specific actions, including lifting distance and lifting mode. A timer is started upon receiving a work command to record the time of command acquisition.

[0041] S452, determine whether the second detection signal detected within a preset time after the initial time is greater than a preset value. If it is greater, determine that an overload has occurred.

[0042] The preset time after the initial time is the acceleration and ascent state. During this time, the rotation speed will gradually increase, and the corresponding drive current will also gradually increase. So, in the initial acceleration and ascent state of the heavy object, it is necessary to detect whether an overload phenomenon has occurred.

[0043] S453, if not greater than, then determine whether the second detection signal is in a stable state. A stable state is characterized by the change amplitude of the second detection signal being less than the preset amplitude.

[0044] If no overload occurs during the initial acceleration and ascent, the rotational speed will stabilize after a preset time. At this point, the load will be in a stable ascent state. It is necessary to determine whether the load is in a stable state, that is, whether the magnitude of the drive current changes smoothly.

[0045] S454, if in a stable state, obtain the dynamic overload judgment value based on the first detection signal, and determine whether the second detection signal exceeds the dynamic overload judgment value.

[0046] If S455 is present, then an overload is detected.

[0047] In a stable state, overload detection is not based on exceeding a preset value. Instead, a dynamic overload judgment value is obtained based on the first detection signal, and the second detection signal is dynamically compared with this dynamic overload judgment value. Because the overload value changes dynamically during the lifting process in a stable state depending on the weight of the load and the rotational speed of the coil roller, the overload value changes dynamically. Heavier loads and faster rotation speeds result in higher overload values ​​and a greater likelihood of overload. Conversely, lighter loads and faster rotation speeds result in lower overload values ​​and a less likely overload. However, if the load itself is very light but the rotation speed is very high, overload may occur. Therefore, in these situations, using a dynamic overload value for overload detection further improves the accuracy and flexibility of overload detection.

[0048] If the S500 is correct, a brake trigger signal is sent to control the crane's brakes, and the type of abnormality is determined and an abnormality notification is sent.

[0049] If an anomaly occurs, a brake trigger signal will be promptly issued to control the crane's brakes and stop the lifting operation. An anomaly notification will be issued in a timely manner according to the anomaly type. The anomaly notification may include information such as the anomaly type, the machine number of the anomaly, and the time of the anomaly, and will be displayed via mobile devices such as smartphones.

[0050] In other embodiments, it also includes: S600, determine whether the first detection signal has reached the preset position value.

[0051] If S610 is reached, it indicates that the object has been hoisted to the preset height, a brake trigger signal is issued to control the hoisting machine to brake, and this is considered a normal situation.

[0052] The magnetic encoder calculates the number of rotations of the coil drum corresponding to the first detection signal. The number of rotations of the coil drum corresponding to the ideal height set by the user is the same as the target height. If the number of rotations detected by the magnetic encoder reaches the preset number of rotations, it means that the object has been lifted to the desired height, that is, it is in position. At this time, the crane brake is controlled to stop working. Although the brake is applied in this case, it is considered a normal situation and no abnormality warning will be given.

[0053] The positioning value can be changed according to different working conditions, so that the hoist can lift the heavy object to different positioning heights.

[0054] S620, if not reached, then the limit switch installed on the coil drum is used to determine whether the number of turns in the first detection signal has reached the preset limit value.

[0055] S630, if so, indicates that the object has been hoisted to the limit height and can no longer be hoisted, and a brake trigger signal is issued to control the hoisting machine to brake, and it is defined as an abnormality, with the abnormality type being reaching the hoisting limit.

[0056] If the desired height is not reached, it means that the load has not yet been lifted to the desired height. In this case, it is necessary to check whether the number of rotations in the first detection signal is greater than the preset limit. If it is, it means that the coil drum can no longer rotate. It also means that the user-set height exceeds the lifting height limit of the hoist itself. In this case, it is necessary to brake in time to prevent the drive current from gradually increasing and causing overload when the coil drum is obstructed and can no longer rotate, thus indicating that the hoisting limit has been reached.

[0057] For example, if the maximum number of rotations of a coil drum is 500, then the limit value corresponds to 500 rotations. If the coil drum rotates to 500 rotations, continuing to rotate the coil drum will cause damage to the components. Therefore, when the limit switch detects that the coil drum has rotated to the limit of 500 rotations, it will promptly send a trigger signal to control the crane's brake.

[0058] Of course, if the number of revolutions in the first detection signal is not detected to be the preset value, then rotation can continue. In the above method, the hoist brakes in only two situations: one is reaching the position value, and the other is reaching the limit value.

[0059] In other embodiments, the following steps are also included: S650, after obtaining the preset position value, determines whether the difference between the position value and the preset limit value is less than the preset value.

[0060] S660, if it is less than, then the value at the position is updated by decreasing until the difference is greater than or equal to the preset limit value.

[0061] To avoid situations where the maximum height and the final height are close due to a high user-set landing height, which could lead to abnormalities when the hoisting machine is near the maximum height, this embodiment of the application first determines whether the difference between the landing value and the maximum height is less than a preset value after obtaining the user-set landing value. If it is less than the preset value, the landing value is lowered and updated until the difference is greater than or equal to the preset maximum height.

[0062] After the above steps, a certain difference can be formed between the preset landing height and the limit value. Since the lifting position near the limit value is prone to collision with the hoist body, the setting can minimize the possibility of the landing height being too close to the limit height, thus reducing the possibility of safety accidents and machine damage.

[0063] In other embodiments, the following steps are also included: S700: Determine if the number of hoisting machines currently in communication connection is greater than 1.

[0064] S710, if greater than 1, then when any hoisting machine malfunctions, the brake trigger signal will be forwarded to all hoisting machines connected in the communication connection to make all hoisting machines brake.

[0065] Lifting machines can operate in single-machine or parallel-machine scenarios. Some large or heavy objects often require multiple lifting machines to lift them together.

[0066] First, determine if the number of hoisting machines currently in a communication connection is greater than 1. Being in a communication connection means that the hoisting machine that has received the work command is communicating with the mobile device such as a mobile phone via Bluetooth. For example, if a work command is sent to hoisting machine A, hoisting machine B, and hoisting machine C, then these three hoisting machines are in a communication connection state with the mobile device, while hoisting machine D, which has not received the work command, is not in a communication connection state.

[0067] If the number of hoists in the communication connection state is greater than 1, it means that the current working mode is parallel operation. When operating in parallel, if any hoist malfunctions, the brake trigger signal will be forwarded through the mobile terminal to all hoists in the communication connection state, so that when one machine malfunctions, all machines will brake to ensure operational safety.

[0068] Furthermore, it also includes: S711 calculates the real-time hoisting height of each hoisting machine based on its own first detection signal.

[0069] S712 If the difference between any two real-time hoisting heights is greater than the preset value, a brake trigger signal is issued to control the braking of all hoisting machines, and an abnormality is determined to be asynchronous hoisting height.

[0070] The number of rotations and / or angle of the coil drum corresponding to each hoisting machine can be calculated based on the first detection signal to determine the height to which the object is lifted, which is the current real-time hoisting height. If the difference between any two real-time hoisting heights is greater than the preset value, it indicates that there may be a problem of mismatch in the rotation speed of the two coil drums during the lifting process. If the difference in real-time hoisting height between two or more hoisting machines is large, the object will tilt. Therefore, in order to reduce the tilting of the object, it is necessary to brake in time and output an abnormality type when the difference in hoisting height is large.

[0071] like Figure 2 As shown, this application also discloses a hoisting machine device. The above-mentioned hoisting machine logic control method performs hoisting work, including a hoisting machine body, a magnetic encoder, a current detection unit, a brake module, and a control module. The hoisting machine body includes a coil drum with a hoisting line wound on it. The magnetic encoder is installed inside the coil drum and is used to detect the rotation angle, number of turns, and distance of the coil drum on the hoisting machine to generate a first detection signal. The current detection unit is installed inside the hoisting machine body and is used to detect the magnitude of the drive current during hoisting machine operation to generate a second detection signal. The control module is used to receive the first and second detection signals and determine whether an abnormality has occurred. When an abnormality occurs, a brake trigger signal is sent to the brake module to brake the coil drum and to notify the abnormality according to the type of abnormality.

[0072] like Figure 3 As shown, this application also discloses a hoisting machine system, including one or more of the above-mentioned hoisting machine devices, and further including a Bluetooth module and a mobile terminal. The Bluetooth module is used to establish a communication connection between the mobile terminal and the hoisting machine devices. The mobile terminal is used to send control commands to the hoisting machine devices based on user operations. The control commands include start / stop, hoisting up / down. The Bluetooth module is also used to send abnormal notifications issued by the control module to the mobile terminal. The mobile terminal receives and displays the abnormal notifications.

[0073] This application also discloses a computer storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described hoisting machine logic control method.

[0074] The implementation principle is as follows: By using a magnetic encoder to detect information such as rotation speed, angle, and number of revolutions, and by using a current detection unit to detect the magnitude of the drive current, the hoist is judged to determine whether any abnormalities have occurred during its operation. The type of abnormality is detected by the specific values ​​and changes in the values ​​of the first and / or second detection signals. Finally, the abnormality is promptly notified and the brakes are applied. This solves the problem of abnormality detection during the hoist's lifting process, and promptly notifies and applies the brakes when an abnormality occurs, reducing the occurrence of safety hazards.

[0075] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A logic control method for a hoisting machine, characterized in that, Includes the following steps: Obtain the hoisting machine's operating signals; A first detection signal is acquired from a magnetic encoder installed on the hoist, the magnetic encoder being disposed in a coil drum on the hoist and used to detect the rotation angle, number of revolutions, distance, and rotation speed of the coil drum on the hoist; The magnitude of the drive current during the operation of the hoist is obtained and defined as the second detection signal; Determine whether the hoisting machine is malfunctioning based on the first detection signal and / or the second detection signal; If so, a brake trigger signal is issued to control the crane's brakes, and the type of abnormality is determined and an abnormality notification is sent. The abnormality types include rope knots, rope breaks, coil drum malfunctions, power outages, and overloads. The process of determining whether the hoisting machine is malfunctioning based on the first detection signal and / or the second detection signal includes the following steps: If the first detection signal is zero and the second detection signal rises rapidly within a preset time, an abnormality is determined to have occurred, and the abnormality type is determined to be a knotted rope. or, If the first detection signal rises rapidly within a preset time and the second detection signal falls rapidly within a preset time, an abnormality is determined to have occurred, and the abnormality type is determined to be rope breakage. or, If the second detection signal is present and the first detection signal is zero, then an abnormality is determined to have occurred, and the abnormality type is determined to be a coil roller failure. or, If both the first detection signal and the second detection signal are zero, an abnormality is determined to have occurred, and the abnormality type is determined to be a power outage. or, If the second detection signal is greater than a preset value, an anomaly is determined, and the anomaly type is determined to be overload. Specifically, this includes: acquiring a work command and recording the current time of acquiring the work command as the initial time; determining whether the second detection signal detected within a preset time after the initial time is greater than the preset value; if it is greater, an overload is determined; if it is not greater, determining whether the second detection signal is in a stable state, wherein the stable state is characterized by the change amplitude of the second detection signal being less than a preset amplitude; if it is in a stable state, acquiring a dynamic overload judgment value based on the first detection signal and determining whether the second detection signal exceeds the dynamic overload judgment value; if so, an overload is determined. The preset time is no more than 1 second, and the abnormal notification includes the abnormal type, the abnormal machine number, and the abnormal time, and is displayed through a mobile device.

2. The hoisting machine logic control method according to claim 1, characterized in that: It also includes the following steps: Determine whether the first detection signal has reached the preset position value; If the target height is reached, it indicates that the object has been hoisted to the preset height, and a brake trigger signal is issued to control the hoisting machine to brake, which is considered a normal situation. If not, the limit switch installed on the coil drum is used to determine whether the number of turns in the first detection signal has reached the preset limit value. If so, it indicates that the object has been hoisted to its maximum height and can no longer be lifted, and a brake trigger signal is issued to control the hoisting machine to brake. This is defined as an abnormality, and the abnormality type is reaching the hoisting limit.

3. The hoisting machine logic control method according to claim 2, characterized in that, Also includes: After obtaining the preset arrival value, determine whether the difference between the arrival value and the preset limit value is less than the preset value; If the difference is less than the preset limit value, the value is updated by decreasing it until the difference is greater than or equal to the preset limit value.

4. The hoisting machine logic control method according to claim 1, characterized in that: It also includes the following steps: Determine if the number of hoists currently in a communication connection is greater than 1; If the value is greater than 1, then when any of the hoisting machines malfunctions, the brake trigger signal will be forwarded to all hoisting machines connected in the communication connection to cause all of the hoisting machines to brake.

5. The hoisting machine logic control method according to claim 4, characterized in that: When the number of hoisting machines is greater than 1, the following steps are also included: The real-time hoisting height of each hoisting machine is calculated based on its first detection signal. If the difference between any two real-time hoisting heights exceeds a preset value, a brake trigger signal is issued to control the braking of all the hoisting machines, and an anomaly is determined to have occurred, wherein the anomaly type is asynchronous hoisting height.

6. A hoisting machine, performing hoisting operations based on the hoisting machine logic control method as described in any one of claims 1-5, characterized in that: The system includes a hoist body, a magnetic encoder, a current detection unit, a brake module, and a control module. The hoist body includes a coil drum with a hoisting line wound on it. The magnetic encoder is located inside the coil drum and is used to detect the rotation angle, number of turns, distance, and rotation speed of the coil drum on the hoist to generate a first detection signal. The current detection unit is located inside the hoist body and is used to detect the magnitude of the drive current during hoist operation to generate a second detection signal. The control module receives the first and second detection signals and determines whether an abnormality has occurred. When an abnormality occurs, it sends a brake trigger signal to the brake module to brake the coil drum and provides an abnormality notification based on the type of abnormality.

7. A hoisting machine system, characterized in that: The device includes one or more hoisting machines as described in claim 6, and further includes a Bluetooth module and a mobile terminal. The Bluetooth module is used to connect the mobile terminal and the hoisting machine for communication. The mobile terminal is used to send control commands to the hoisting machine based on user operation. The control commands include start / stop and hoisting up / down. The Bluetooth module is also used to send abnormal notifications issued by the control module to the mobile terminal. The mobile terminal receives and displays the abnormal notifications.

8. A computer storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the hoisting machine logic control method as described in any one of claims 1 to 5.

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