Lifting system and control method thereof

Abstract

The application discloses a lifting system and a control method thereof. The lifting system comprises a fixed pulley, a steel cable and a hook, and further comprises: a hydraulic driving device arranged on one side of the fixed pulley and providing power for forward and reverse rotation of the fixed pulley so as to pull the steel cable and realize lifting of the hook; a sensor group distributed on the fixed pulley, the hook and the hydraulic driving device and used for measuring lifting displacement of the hook and load on the fixed pulley; and a controller electrically connected with the hydraulic driving device and the sensor group, used for receiving measurement data of the sensor group and reliably controlling start and stop of the hydraulic driving device according to the measurement data. The controller can comprehensively analyze the measurement data of the multiple sensor groups and realize precise control of the hydraulic driving device, thereby improving lifting precision and stability of the hook, further improving safety and reliability of the whole lifting system, and making the whole lifting process more intelligent and automatic through real-time monitoring and precise control of the multiple sensors.

Description

Technical Field

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

[0002] In the field of lifting control for construction machinery, precise load control and safe, reliable operation are crucial. After years of research and development and practice, lifting control systems have become relatively mature and are widely used in various construction machinery equipment. However, existing lifting systems still face some challenges when dealing with complex environments and heavy-duty, high-intensity work. On the one hand, although lifting control systems have made good progress in load raising and lowering control, continuous efforts are still needed to ensure the safety and reliability of the control. When the system malfunctions, downtime for maintenance is often required, preventing the equipment from maintaining good operating conditions for extended periods. This limitation makes existing lifting systems difficult to handle some application scenarios requiring long-term stable operation. On the other hand, existing lifting systems also have certain limitations in load-bearing capacity. When facing heavy-duty and high-intensity work demands, their load-bearing capacity is relatively small and cannot meet the actual needs of the equipment. This shortcoming restricts the application of lifting systems in some heavy construction machinery.

[0003] Therefore, how to improve the reliability and safety of lifting systems has become a technical problem that urgently needs to be solved and a key research focus for those skilled in the art. Summary of the Invention

[0004] To address the technical issues of low safety and reliability in existing lifting systems, this invention innovatively provides a lifting system and its control method. This system enables precise load control and real-time monitoring, thereby improving the safety and reliability of lifting control, while also enhancing the stability and durability of the lifting system to cope with complex environments and heavy-duty, high-intensity work requirements. It can drive the upgrading of lifting control systems, providing more efficient and reliable support and solutions for engineering machinery and other applications, helping to improve the operational efficiency and quality of lifting systems, and meeting the needs of various application scenarios.

[0005] To achieve the above-mentioned technical objectives, embodiments of the present invention disclose a lifting system, including a fixed pulley, a steel cable, and a hook, and further comprising:

[0006] A hydraulic drive unit, located on one side of the fixed pulley, provides power for the forward and reverse rotation of the fixed pulley, thereby pulling the steel cable to achieve the lifting and lowering of the hook;

[0007] Sensor arrays, distributed across the fixed pulleys, hook, and hydraulic drive mechanism, are used to measure the lifting displacement of the hook and the load on the fixed pulleys; and,

[0008] The controller, electrically connected to the hydraulic drive unit and the sensor group, is used to receive measurement data from the sensor group and reliably control the start and stop of the hydraulic drive unit based on the measurement data.

[0009] Furthermore, the present invention provides a lifting system, wherein the hydraulic drive device includes:

[0010] The oil source motor driver is electrically connected to the controller and is used to receive start commands sent by the controller to control the rotation of the oil source motor or to receive stop commands sent by the controller to control the oil source motor to stop rotating.

[0011] The oil-powered motor is electrically connected to the oil-powered motor driver and is used to respond to the control of the oil-powered motor driver to rotate or stop rotating.

[0012] The hydraulic valve has an input end connected to the oil source motor, an output end connected to the hydraulic motor, and a control end electrically connected to the controller. It is used to receive changes in its own valve position from the controller to control the flow direction of the high-pressure oil pumped by the oil source motor in the hydraulic motor, thereby controlling the forward and reverse rotation of the hydraulic motor.

[0013] A hydraulic motor, coaxially mounted with the fixed pulley, is used to drive the fixed pulley to rotate; and,

[0014] The brake is installed on the hydraulic motor and electrically connected to the controller. It is used to receive braking commands sent by the controller and control the hydraulic motor to perform emergency braking.

[0015] Furthermore, the present invention provides a lifting system, wherein the sensor group includes:

[0016] The first displacement sensor is installed on the hook to measure the lifting displacement of the hook and obtain the first displacement data;

[0017] The second displacement sensor is located on the brake and is used to measure the lifting displacement of the hook to obtain the second displacement data.

[0018] An angle sensor, installed on the fixed pulley, is used to measure the rotation angle of the fixed pulley and convert it into the lifting displacement of the hook to obtain the third displacement data.

[0019] A first load sensor, located on the left side of the fixed pulley, is used to measure the load on the left side of the fixed pulley to obtain first load data; and,

[0020] The second load sensor is located on the right side of the fixed pulley and is used to measure the load on the right side of the fixed pulley to obtain the second load data.

[0021] Furthermore, in a lifting system of the present invention, the first displacement sensor, the second displacement sensor, the angle sensor, the first load sensor, the second load sensor, the oil source motor driver, and the brake are all connected to the controller via a CAN bus.

[0022] The present invention also provides a control method for the above-mentioned lifting system, the control method comprising the following steps:

[0023] After the lifting system is powered on, the controller performs a power-on self-test on the first displacement sensor, the second displacement sensor, the angle sensor, the first load sensor, and the second load sensor.

[0024] When the controller receives the lifting command, it sends a start command to the oil source motor driver via the CAN bus. The oil source motor driver then controls the rotation of the oil source motor to start the oil source.

[0025] After the oil source is started, the controller changes the valve position of the hydraulic valve through the IO port, thereby controlling the forward and reverse rotation of the hydraulic motor. The hydraulic motor drives the fixed pulley to rotate, thereby controlling the lifting and lowering of the hook.

[0026] During the lifting and lowering of the hook, the controller reliably controls the lifting system based on data measured by the first displacement sensor, the second displacement sensor, the angle sensor, the first load sensor, and the second load sensor.

[0027] Furthermore, the present invention provides a control method for a lifting system, wherein during the lifting process of the hook, the controller acquires first displacement data, second displacement data, and third displacement data measured by a first displacement sensor, a second displacement sensor, and an angle sensor respectively via a CAN bus, compares the first displacement data, second displacement data, and third displacement data, and performs adaptive control of the lifting process of the hook based on the comparison results.

[0028] Furthermore, the present invention provides a control method for a lifting system, wherein if the values ​​of the first displacement data, the second displacement data, and the third displacement data are consistent, the controller controls the lifting and lowering of the hook based on the displacement data of the first displacement sensor.

[0029] If one of the first, second, and third displacement data deviates from the other two in value, the controller selects one of the two displacement sensors with similar values ​​to control the lifting and lowering of the hook.

[0030] If the values ​​of the first displacement data, the second displacement data, and the third displacement data all deviate, the controller sends a braking command to the brake and a stop command to the hydraulic motor driver via the CAN bus. At the same time, the controller controls the hydraulic valves to close via the I / O port to achieve an emergency stop.

[0031] Furthermore, the present invention provides a control method for a lifting system, wherein during the lifting process of the hook, the controller acquires first load data and second load data measured by a first load sensor and a second load sensor respectively via a CAN bus;

[0032] The controller compares the difference between the first load data and the second load data to see if it exceeds the set load threshold. If not, the controller continues to control the hook to lift and lower. If so, the controller sends a braking command to the brake and a stop command to the hydraulic motor driver via the CAN bus. At the same time, the controller controls the hydraulic valves to close via the IO port to achieve an emergency stop.

[0033] Furthermore, the present invention provides a control method for a lifting system, wherein during the lifting and lowering of the hook, the controller acquires first displacement data, second displacement data, and third displacement data measured by a first displacement sensor, a second displacement sensor, and an angle sensor respectively via a CAN bus. Based on one of the first displacement data, second displacement data, and third displacement data, the controller calculates the lifting and lowering speed of the hook. If the lifting and lowering speed of the hook exceeds a set speed threshold, the controller sends a braking command to the brake and a stop command to the hydraulic motor driver via the CAN bus. At the same time, the controller controls the hydraulic valves to close via the I / O port to achieve an emergency stop.

[0034] Furthermore, the present invention provides a control method for a lifting system, wherein the power-on self-test includes the following steps:

[0035] The controller receives the values ​​measured by the first displacement sensor, the second displacement sensor, the third displacement sensor, the first load sensor, and the second load sensor via the CAN bus, and determines whether the values ​​measured by the first displacement sensor, the second displacement sensor, the third displacement sensor, the first load sensor, and the second load sensor are within a predetermined threshold range. If they are, the controller executes the lifting and lowering process of the hook; otherwise, the sensor corresponding to the abnormal value is repaired or replaced.

[0036] The beneficial effects of this invention are as follows: This invention uses a hydraulic drive to complete the lifting and lowering process. The hydraulic drive system can maintain a good state for a long time, making it suitable for applications requiring long-term operation. It can smoothly adjust the traction speed within a given range, making it suitable for various application scenarios. It has a high load-bearing capacity and can adapt to heavy-duty and high-intensity work requirements. By comprehensively analyzing the measurement data from multiple sensor groups through the controller, precise control of the hydraulic drive device can be achieved. This precise control improves the lifting accuracy and stability of the hook, while further enhancing the safety and reliability of the entire lifting system. Furthermore, the real-time monitoring and precise control of multiple sensors make the entire lifting process more intelligent and automated, making lifting work easier and more efficient. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the structure of a lifting system according to the present invention;

[0038] Figure 2 This is a block diagram illustrating the control principle of a lifting system according to the present invention. Detailed Implementation

[0039] The lifting system of the present invention will now be explained and described in detail with reference to the accompanying drawings.

[0040] like Figure 1 and combined Figure 2 As shown, this embodiment of the invention discloses a lifting system, including a fixed pulley 1, a steel cable 2, and a hook 3. It also includes: a hydraulic drive device located on one side of the fixed pulley 1, which provides power for the forward and reverse rotation of the fixed pulley 1, thereby pulling the steel cable 2 to achieve the lifting and lowering of the hook 3; a sensor group distributed on the fixed pulley 1, the hook 3, and the hydraulic drive device, used to measure the lifting displacement of the hook 3 and the load on the fixed pulley 1; and a controller 4 electrically connected to the hydraulic drive device and the sensor group, used to receive the measurement data from the sensor group and reliably control the start and stop of the hydraulic drive device based on the measurement data.

[0041] In practical applications, the fixed pulley 1 uses the forward and reverse rotation of the hydraulic drive device to raise and lower the hook 3. The sensor group is responsible for collecting the lifting displacement of the hook 3 and the load data on the fixed pulley 1, and transmitting this data to the controller 4. After receiving this data, the controller 4 processes and analyzes the data according to a preset control algorithm, and precisely controls the start and stop of the hydraulic drive device based on the analysis results.

[0042] This configuration not only improves the accuracy and safety of hook 3 lifting, but also allows for real-time adjustment and control of the hydraulic drive unit to adapt to different lifting needs and working conditions. Simultaneously, data collected by the sensor array monitors the operating status of components such as hook 3 and fixed pulley 1, enabling timely detection and handling of potential safety hazards, further enhancing the reliability and safety of the entire lifting system. Furthermore, controller 4 can connect and interact with external devices as needed, such as remote monitoring centers, other lifting systems, or automated equipment, achieving more intelligent lifting operations and management. This lifting system, comprising fixed pulley 1, steel cable 2, and hook 3, through the introduction of advanced technologies such as hydraulic drive units, sensor arrays, and controller 4, achieves safer, more precise, and efficient hook 3 lifting control, providing a reliable solution for various industrial applications.

[0043] Those skilled in the art will understand that the controller 4 may be a DSP (Digital Signal Processor), an FPGA (Field-Programmable Gate Array), an MCU (Microcontroller Unit) system board, a SoC (System on a Chip) system board, or a PLC (Programmable Logic Controller) minimum system including I / O.

[0044] In one embodiment of the present invention, the hydraulic drive device includes the following five parts:

[0045] Oil source motor driver 5: This device is electrically connected to the controller 4 and is responsible for receiving the start command sent by the controller 4, thereby controlling the oil source motor 6 to start rotating; at the same time, it also receives the stop command sent by the controller 4, causing the oil source motor 6 to stop rotating.

[0046] Oil source motor 6: This device is electrically connected to the oil source motor driver 5 and can respond to the control commands of the oil source motor driver 5 to rotate or stop rotating.

[0047] Hydraulic valve 7: The input end of hydraulic valve 7 is connected to the oil source motor 6, the output end is connected to the hydraulic motor, and the control end is electrically connected to the controller 4. The function of these valves is to receive instructions from the controller 4, change their own valve positions, and thus control the flow direction of the high-pressure oil pumped by the oil source motor 6 in the hydraulic motor, thereby realizing the forward and reverse rotation control of the hydraulic motor.

[0048] Hydraulic motor: This device is coaxially mounted with the fixed pulley 1 and its function is to receive the drive of the hydraulic valve 7 and drive the fixed pulley 1 to rotate.

[0049] Brake 8: This device is installed on the hydraulic motor 6 and electrically connected to the controller 4. Its function is to receive braking commands sent by the controller 4 and apply emergency braking to the hydraulic motor 6.

[0050] In this embodiment, the above-mentioned configuration enables the hydraulic drive device to exhibit excellent performance, characterized by high efficiency, stability, reliability, and intelligence. Specifically, the hydraulic motor driver 5 can quickly respond to the start and stop commands of the controller 4, precisely controlling the rotation and stop of the hydraulic motor 6. The hydraulic valve 7 can intelligently adjust its valve position according to the commands of the controller 4, thereby controlling the forward and reverse rotation of the hydraulic motor. The hydraulic motor can convert hydraulic energy into mechanical energy, driving the fixed pulley 1 to rotate and realize the movement of the equipment. The brake 8 can receive braking commands from the controller 4 in emergency situations, quickly braking the hydraulic motor 6 to ensure the safety of equipment and personnel. Furthermore, the hydraulic drive device also has advantages such as compact structure, small size, light weight, and convenient maintenance. Due to the adoption of advanced hydraulic technology and intelligent control technology, this device can adapt to various complex working environments and task requirements, and is widely used in engineering machinery, agricultural machinery, chemical machinery, and other fields, possessing broad application and market prospects.

[0051] In one embodiment of the present invention, the sensor group includes five sensors, which are as follows:

[0052] The first displacement sensor 9, installed on the hook 3, is mainly used to measure the lifting displacement of the hook 3 and generate the first displacement data.

[0053] The second displacement sensor 10, installed on the brake 8, is mainly used to measure the lifting displacement of the hook 3 and generate second displacement data.

[0054] The angle sensor 11, installed on the fixed pulley 1, primarily measures the rotation angle of the fixed pulley 1 and converts this rotation angle into the lifting displacement of the hook 3, further generating third displacement data. Those skilled in the art will understand that the angle sensor 11 is preferably a multi-turn position sensor, whose output is a voltage signal proportional to the displacement. When the angle sensor 11 outputs a voltage signal, it can be converted into displacement data via a transmitter module according to its corresponding relationship.

[0055] The first load sensor 12, installed on the left side of the fixed pulley 1, primarily measures the load on the left side of the fixed pulley 1 and generates first load data. Additionally,

[0056] The second load sensor 13, installed on the right side of the fixed pulley 1, has the main function of measuring the load on the right side of the fixed pulley 1 and generating second load data.

[0057] In this embodiment, the sensor assembly can comprehensively monitor the operating status of the lifting system, providing operators with accurate information and helping to improve the safety and stability of the hook 3 lifting system. It also provides important guidance for preventative maintenance and troubleshooting.

[0058] In one embodiment of the present invention, the first displacement sensor 9, the second displacement sensor 10, the angle sensor 11, the first load sensor 12, the second load sensor 13, the oil source motor driver 5, and the brake 8 are all connected to the controller 4 via the CAN bus 14.

[0059] In this embodiment, this structure allows the controller 4 to acquire the real-time status information of the lifting system and precisely control its actions based on this information. Simultaneously, this highly interconnected structure enables the lifting system to adapt to various complex environments and tasks, thereby improving its flexibility and efficiency.

[0060] like Figure 2 The present invention also provides a control method for the above-mentioned lifting system, the control method comprising the following steps:

[0061] After the lifting system is powered on, the controller 4 performs a power-on self-test on the first displacement sensor 9, the second displacement sensor 10, the angle sensor 11, the first load sensor 12, and the second load sensor 13.

[0062] When the controller 4 receives the lifting command, it sends a start command to the oil source motor driver 5 through the CAN bus 14. The oil source motor driver 5 then controls the oil source motor 6 to rotate, thereby starting the oil source.

[0063] After the oil source is started, the controller 4 changes the valve position of the hydraulic valve 7 through the IO port, thereby controlling the forward and reverse rotation of the hydraulic motor. The hydraulic motor drives the fixed pulley 1 to rotate, thereby controlling the lifting and lowering of the hook 3.

[0064] During the lifting and lowering process of the hook 3, the controller 4 reliably controls the lifting system based on the data measured by the first displacement sensor 9, the second displacement sensor 10, the angle sensor 11, the first load sensor 12, and the second load sensor 13.

[0065] During the operation of the lifting system, controller 4 will monitor the data from various sensors in real time, including the position and load of hook 3, to ensure the safe and stable operation of the lifting system. Furthermore, the proper control of the lifting system by controller 4 will optimize its energy consumption, achieving the goal of energy conservation and emission reduction.

[0066] Based on the above method embodiments, in this embodiment, during the lifting and lowering process of the hook 3, the controller 4 obtains the first displacement data, the second displacement data, and the third displacement data measured by the first displacement sensor 9, the second displacement sensor 10, and the angle sensor 11 respectively through the CAN bus 14, compares the first displacement data, the second displacement data, and the third displacement data, and performs adaptive control on the lifting and lowering process of the hook 3 according to the comparison results.

[0067] If the values ​​of the first displacement data, the second displacement data, and the third displacement data are consistent, then the controller 4 controls the lifting and lowering of the hook 3 based on the displacement data from the first displacement sensor 9. In this case, the controller 4 will adjust the lifting and lowering of the hook 3 based on the measurement data from the first displacement sensor 9.

[0068] If any of the first, second, and third displacement data deviates from the other two in value, the controller 4 will select one of the two displacement sensors with similar values ​​to control the lifting and lowering of the hook 3. This means that the controller 4 will choose the sensor data that is closer to the measurement results of the other two sensors to regulate the lifting and lowering of the hook 3.

[0069] If the values ​​of the first, second, and third displacement data all deviate, the controller 4 sends a braking command to the brake 8 and a stop command to the hydraulic motor driver 5 via the CAN bus 14. Simultaneously, the controller 4 controls the hydraulic valve 7 to close via the I / O port, achieving an emergency stop. In this case, if the measurement data from all sensors deviate, the controller 4 will send commands to the brake 8 and the hydraulic motor driver 5 via the CAN bus 14, and simultaneously control the hydraulic valve 7 to close via the I / O port, achieving an emergency stop for the hook 3.

[0070] During the lifting and lowering process of hook 3, controller 4 acquires the first load data and the second load data measured by first load sensor 12 and second load sensor 13 respectively through CAN bus 14;

[0071] The controller 4 compares the difference between the first load data and the second load data to see if it exceeds the set load threshold. If not, the controller 4 continues to control the hook 3 to lift and lower. If so, the controller 4 sends a braking command to the brake 8 and a stop command to the oil source motor driver 5 through the CAN bus 14. At the same time, the controller 4 controls the hydraulic valve 7 to close through the IO port to achieve an emergency stop.

[0072] During the lifting and lowering process of hook 3, controller 4 obtains the first displacement data, second displacement data and third displacement data measured by first displacement sensor 9, second displacement sensor 10 and angle sensor 11 respectively through CAN bus 14. Based on one of the first displacement data, second displacement data and third displacement data, controller 4 calculates the lifting and lowering speed of hook 3. If the lifting and lowering speed of hook 3 exceeds the set speed threshold, controller 4 sends a braking command to brake 8 and a stop command to oil source motor driver 5 through CAN bus 14. At the same time, controller 4 controls hydraulic valve 7 to close through IO port to achieve emergency stop.

[0073] The above methods make the lifting process of hook 3 more stable and safer. Simultaneously, adaptive control can effectively cope with different situations, improving the control accuracy and stability of the lifting system. During the lifting process of hook 3, controller 4 also monitors the data changes of each sensor in real time via CAN bus 14, adjusting the control strategy promptly to ensure that hook 3 can stably complete the lifting task. This method not only improves the control accuracy and stability of the lifting system but also extends its service life and reduces maintenance costs. Adaptive control better addresses different situations, improving the control effect and safety of the lifting system.

[0074] Based on the above method embodiments, in this embodiment, the power-on self-test includes the following steps:

[0075] The controller receives the values ​​measured by the first displacement sensor, the second displacement sensor, the third displacement sensor, the first load sensor, and the second load sensor via the CAN bus, and determines whether the values ​​measured by the first displacement sensor, the second displacement sensor, the third displacement sensor, the first load sensor, and the second load sensor are within a predetermined threshold range. If they are, the controller executes the lifting and lowering process of the hook; otherwise, the sensor corresponding to the abnormal value is repaired or replaced.

[0076] Through the above steps, the controller receives the values ​​measured by the first, second, and third displacement sensors, as well as the first and second load sensors via the CAN bus, and determines whether these values ​​are within a predetermined threshold range. Under normal circumstances, if all measured values ​​are within the predetermined threshold range, the controller will execute the hook lifting / lowering procedure. At this time, the hook will lift / lower according to the preset program and the data fed back by the sensors, thus ensuring the accuracy and safety of the entire operation. However, if any measured value is outside the predetermined threshold range, the controller will determine it as an abnormal value. In this case, the controller will trigger an alarm, notifying the operator of the abnormal situation and instructing the sensor corresponding to the abnormal value to be repaired or replaced. After the sensor is repaired or replaced, the controller will re-detect and determine the value, and only after confirming that all measured values ​​are within the predetermined threshold range will it continue executing the hook lifting / lowering procedure. This design effectively ensures the accuracy and safety of hook operation, while also effectively improving work efficiency and reducing maintenance costs.

[0077] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0078] 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 or an electrical connection; 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.

[0079] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0080] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and simple improvements made on the substantive content of the present invention should be included within the protection scope of the present invention.

Claims

1. A lifting system, comprising a fixed pulley, a steel cable, and a hook, characterized in that, Also includes: A hydraulic drive unit, located on one side of the fixed pulley, provides power for the forward and reverse rotation of the fixed pulley, thereby pulling the steel cable to achieve the lifting and lowering of the hook; The sensor array, distributed across the fixed pulley, hook, and hydraulic drive device, is used to measure the lifting displacement of the hook and the load on the fixed pulley. as well as, The controller is electrically connected to the hydraulic drive unit and the sensor group, and is used to receive the measurement data from the sensor group and reliably control the start and stop of the hydraulic drive unit based on the measurement data. The hydraulic drive device includes: The oil source motor driver is electrically connected to the controller and is used to receive start commands sent by the controller to control the rotation of the oil source motor or to receive stop commands sent by the controller to control the oil source motor to stop rotating. The oil-powered motor is electrically connected to the oil-powered motor driver and is used to respond to the control of the oil-powered motor driver to rotate or stop rotating. Hydraulic valves have an input end connected to an oil source, an output end connected to a hydraulic motor, and a control end electrically connected to a controller. They are used to receive commands from the controller to change their own valve position, thereby controlling the flow direction of the high-pressure oil pumped by the oil source motor in the hydraulic motor, and thus controlling the forward and reverse rotation of the hydraulic motor. A hydraulic motor, coaxially mounted with the fixed pulley, is used to drive the fixed pulley to rotate; and, The brake is installed on the hydraulic motor and electrically connected to the controller. It is used to receive braking commands sent by the controller and control the hydraulic motor to perform emergency braking. The sensor group includes: The first displacement sensor is installed on the hook to measure the lifting displacement of the hook and obtain the first displacement data; The second displacement sensor is located on the brake and is used to measure the lifting displacement of the hook to obtain the second displacement data. An angle sensor, installed on the fixed pulley, is used to measure the rotation angle of the fixed pulley and convert it into the lifting displacement of the hook to obtain the third displacement data. A first load sensor, located on the left side of the fixed pulley, is used to measure the load on the left side of the fixed pulley to obtain first load data; and, The second load sensor is located on the right side of the fixed pulley and is used to measure the load on the right side of the fixed pulley to obtain the second load data.

2. The lifting system according to claim 1, characterized in that, The first displacement sensor, the second displacement sensor, the angle sensor, the first load sensor, the second load sensor, the oil source motor driver, and the brake are all connected to the controller via a CAN bus.

3. The control method for a lifting system according to claim 2, characterized in that, The control method includes the following steps: After the lifting system is powered on, the controller performs a power-on self-test on the first displacement sensor, the second displacement sensor, the angle sensor, the first load sensor, and the second load sensor. When the controller receives the lifting command, it sends a start command to the oil source motor driver via the CAN bus. The oil source motor driver then controls the rotation of the oil source motor to start the oil source. After the oil source is started, the controller changes the valve position of the hydraulic valve through the IO port, thereby controlling the forward and reverse rotation of the hydraulic motor. The hydraulic motor drives the fixed pulley to rotate, thereby controlling the lifting and lowering of the hook. During the lifting and lowering of the hook, the controller reliably controls the lifting system based on data measured by the first displacement sensor, the second displacement sensor, the angle sensor, the first load sensor, and the second load sensor.

4. The control method for a lifting system according to claim 3, characterized in that, During the lifting and lowering of the hook, the controller acquires the first displacement data, second displacement data, and third displacement data measured by the first displacement sensor, second displacement sensor, and angle sensor respectively via the CAN bus, compares the first displacement data, second displacement data, and third displacement data, and performs adaptive control of the lifting and lowering process of the hook based on the comparison results.

5. The control method for a lifting system according to claim 3, characterized in that, If the values ​​of the first displacement data, the second displacement data, and the third displacement data are consistent, the controller controls the lifting and lowering of the hook based on the displacement data of the first displacement sensor. If one of the first, second, and third displacement data deviates from the other two in value, the controller selects one of the two displacement sensors with similar values ​​to control the lifting and lowering of the hook. If the values ​​of the first displacement data, the second displacement data, and the third displacement data all deviate, the controller sends a braking command to the brake and a stop command to the hydraulic motor driver via the CAN bus. At the same time, the controller controls the hydraulic valves to close via the I / O port to achieve an emergency stop.

6. The control method for a lifting system according to claim 3, characterized in that, During the lifting and lowering of the hook, the controller acquires the first load data and the second load data measured by the first load sensor and the second load sensor respectively via the CAN bus; The controller compares the difference between the first load data and the second load data to see if it exceeds the set load threshold. If not, the controller continues to control the hook to lift and lower. If so, the controller sends a braking command to the brake and a stop command to the hydraulic motor driver via the CAN bus. At the same time, the controller controls the hydraulic valves to close via the IO port to achieve an emergency stop.

7. The control method for a lifting system according to claim 3, characterized in that, During the lifting and lowering of the hook, the controller acquires the first displacement data, second displacement data, and third displacement data measured by the first displacement sensor, second displacement sensor, and angle sensor respectively via the CAN bus. Based on one of the first displacement data, second displacement data, and third displacement data, the controller calculates the lifting and lowering speed of the hook. If the lifting and lowering speed of the hook exceeds the set speed threshold, the controller sends a braking command to the brake and a stop command to the hydraulic motor driver via the CAN bus. At the same time, the controller controls the hydraulic valves to close via the IO port to achieve an emergency stop.

8. The control method for a lifting system according to claim 3, characterized in that, The power-on self-test includes the following steps: The controller receives the values ​​measured by the first displacement sensor, the second displacement sensor, the angle sensor, the first load sensor, and the second load sensor via the CAN bus, and determines whether the values ​​measured by the first displacement sensor, the second displacement sensor, the angle sensor, the first load sensor, and the second load sensor are within a predetermined threshold range. If so, the controller executes the lifting and lowering process of the hook. If not, the sensor corresponding to the abnormal value should be repaired or replaced.

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