Hoisting mechanism control method, device, system and storage medium

Abstract

The application discloses a hoisting mechanism control method, device, system and storage medium, and relates to the technical field of electrical control. The method comprises the following steps: after the hoisting mechanism starts to work, the tension state of a connecting rope in the hoisting mechanism is acquired; the tension state comprises a slack state or a tension state; according to the tension state, the current working stage of the hoisting mechanism is determined; the current working stage comprises a hoisting stage, a stable running stage or a descending landing stage; according to the current working stage, the running speed of the hoisting mechanism is determined; and according to the running speed, the hoisting mechanism is controlled to run. According to the application, the hoisting mechanism runs at different running speeds in different stages, so that the load can be smoothly hoisted, and compared with the operation of the hoisting drive control system to drive the hoisting mechanism to run, the application will not cause a safety accident due to improper operation, solves the technical problem that the existing hoisting mechanism is driven to run by the operation of the hoisting drive control system and has low reliability, and improves the reliability of hoisting mechanism control.

Description

Hoisting mechanism control methods, equipment, systems and storage media Technical Field

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

[0002] In lifting equipment, the working principle of the hoisting mechanism is to drive the hoisting motor to rotate forward or reverse through the hoisting drive control system, so that the load follows the hoisting components to move and stop within a specified travel range in the vertical direction.

[0003] In related technologies, crane operators manipulate the operating devices in the hoisting drive control system according to work requirements. During the load lifting phase, stable operation phase, and descent to ground contact phase, they switch corresponding speed gears to control the hoisting motor to drive the hoisting mechanism, achieving smooth lifting to the designated position. However, driving the hoisting mechanism through manual operation of the hoisting drive control system relies on the operator's skills and experience. Improper operation can easily lead to safety accidents, resulting in low reliability. Summary of the Invention

[0004] The main objective of this application is to provide a hoisting mechanism control method, device, system, and storage medium, aiming to solve the technical problem of low reliability in existing hoisting mechanisms driven by manual operation of the hoisting drive control system.

[0005] To achieve the above objectives, this application adopts the following technical solution:

[0006] Firstly, this application provides a method for controlling a hoisting mechanism, the method comprising:

[0007] After the hoisting mechanism starts working, the tension of the connecting rope in the hoisting mechanism is obtained; the tension includes a slack state or a taut state.

[0008] Determine the current working stage of the hoisting mechanism based on its tension level; the current working stage includes the hoisting stage, the stable operation stage, or the descent and ground contact stage.

[0009] Determine the operating speed of the hoisting mechanism based on the current stage of work;

[0010] The operation of the hoisting mechanism is controlled according to the operating speed.

[0011] Optionally, the steps for determining the current working stage of the hoisting mechanism based on the tension status include:

[0012] Based on the tension and operating parameters of the hoisting mechanism, determine the current working stage of the hoisting mechanism; the operating parameters include one or more of the following: the current running direction of the hoisting motor corresponding to the hoisting mechanism, the duration of being in the tensioned state, and the distance of the hoisting mechanism from the ground.

[0013] Optionally, the steps for determining the current working stage of the hoisting mechanism based on the tension and operating parameters of the hoisting mechanism include:

[0014] If the tension is in a relaxed state, then the current running direction of the hoisting motor corresponding to the hoisting mechanism is determined;

[0015] If the current operating direction is the first preset operating direction corresponding to the hoisting mechanism in the rising state, then the current working stage is determined to be the hoisting stage;

[0016] The steps for determining the operating speed of the hoisting mechanism based on the current stage of work include:

[0017] Based on the lifting phase, the operating speed is determined to be the first preset operating speed;

[0018] The steps for controlling the operation of the hoisting mechanism based on the operating speed include:

[0019] The hoisting mechanism is controlled to operate according to the first preset operating speed.

[0020] Optionally, after controlling the operation of the hoisting mechanism according to the first preset operating speed, the method further includes:

[0021] After the hoisting mechanism has been running for a first preset time, the hoisting mechanism is controlled to operate according to the preset maximum operating speed of the hoisting mechanism; wherein the first preset operating speed is less than the preset maximum operating speed.

[0022] Optionally, after controlling the operation of the hoisting mechanism according to the first preset operating speed, the method further includes:

[0023] When a change in the torque of the hoisting motor is detected, the first torque fluctuation of the hoisting motor within a second preset time period after the moment of torque change is obtained.

[0024] If the first torque fluctuation is greater than or equal to the first fluctuation threshold, the hoisting mechanism is controlled to operate according to the second preset operating speed; wherein the second preset operating speed is less than the first preset operating speed.

[0025] Optionally, the steps for determining the current working stage of the hoisting mechanism based on the tension and operating parameters of the hoisting mechanism include:

[0026] If the tension state is the tension state, and the duration of the tension state is greater than or equal to the first preset duration threshold, then the current working stage is determined to be the stable operation stage.

[0027] The steps for determining the operating speed of the hoisting mechanism based on the current stage of work include:

[0028] Based on the stable operation phase, the operating speed is determined to be the preset maximum operating speed of the hoisting mechanism;

[0029] The steps for controlling the operation of the hoisting mechanism based on the operating speed include:

[0030] The hoisting mechanism is controlled according to the preset maximum operating speed.

[0031] Optionally, after controlling the operation of the hoisting mechanism according to the preset maximum operating speed, the method further includes:

[0032] Obtain the second torque fluctuation of the hoisting motor;

[0033] If the second torque fluctuation is greater than or equal to the second fluctuation threshold, and the duration of the second torque fluctuation being greater than or equal to the second fluctuation threshold is greater than or equal to the second preset duration threshold, then the hoisting mechanism is controlled to stop operating.

[0034] Optionally, the steps for determining the current working stage of the hoisting mechanism based on the tension and operating parameters of the hoisting mechanism include:

[0035] If the tension state is the same as the loose state, then the current running direction of the hoisting motor of the hoisting mechanism is determined;

[0036] If the current operating direction is the second preset operating direction corresponding to the hoisting mechanism in the descending state, then the distance of the hoisting mechanism to the ground is detected;

[0037] If the detected distance to the ground is less than or equal to a preset distance threshold, the current working stage is determined to be the descent and ground contact stage;

[0038] The steps for determining the operating speed of the hoisting mechanism based on the current stage of work include:

[0039] Based on the descent and ground contact phase, the operating speed is determined to be the third preset operating speed;

[0040] The steps for controlling the operation of the hoisting mechanism based on the operating speed include:

[0041] The hoisting mechanism is controlled to operate according to the third preset operating speed; the third preset operating speed is less than the preset maximum operating speed of the hoisting mechanism.

[0042] Optionally, before determining the operating speed as the third preset operating speed based on the descent and ground contact phase, the method further includes:

[0043] Obtain the current operating speed of the hoisting mechanism;

[0044] If the current operating speed reaches the preset maximum operating speed of the hoisting mechanism, then the step of determining the operating speed as the third preset operating speed based on the descent and ground contact stage will be executed.

[0045] Optionally, after controlling the operation of the hoisting mechanism according to the third preset operating speed, the method further includes:

[0046] When a change in the torque of the hoisting motor is detected, the third torque fluctuation of the hoisting motor within a third preset time period after the moment of torque change is obtained.

[0047] If the third torque fluctuation is greater than or equal to the third fluctuation threshold, the hoisting mechanism is controlled to operate according to the fourth preset operating speed; wherein the fourth preset operating speed is less than the third preset operating speed.

[0048] Secondly, this application also provides a hoisting mechanism control device, the device including: a memory, a processor, and a hoisting mechanism control program stored in the memory and executable on the processor, the hoisting mechanism control program being configured to implement the steps of any of the hoisting mechanism control methods described above.

[0049] Thirdly, this application also provides a hoisting mechanism control system, the system comprising:

[0050] Lifting mechanism;

[0051] The hoisting motor connected to the hoisting mechanism;

[0052] As mentioned above, the hoisting mechanism control equipment is connected to the hoisting motor.

[0053] Fourthly, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the hoisting mechanism control method as described above.

[0054] This application provides a hoisting mechanism control method, device, system, and storage medium. After the hoisting mechanism starts working, the tension state of the connecting rope in the hoisting mechanism is acquired; the tension state includes a slack state or a tensioned state; based on the tension state, the current working stage of the hoisting mechanism is determined; the current working stage includes a hoisting stage, a stable operation stage, and a descent and ground contact stage; based on the current working stage, the operating speed of the hoisting mechanism is determined; based on the operating speed, the operation of the hoisting mechanism is controlled.

[0055] Therefore, this application determines the hoisting mechanism's operation by controlling its speed at different working stages based on the tension of the connecting rope. This automatically controls the hoisting mechanism to operate at different speeds according to its operation, achieving stable load lifting. Compared to manually operating the hoisting drive control system, this avoids safety accidents caused by improper operation and improves the reliability of the hoisting mechanism control. Attached Figure Description

[0056] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0057] Figure 1 shows a hoisting mechanism control system provided in an embodiment of this application;

[0058] Figure 2 is a schematic diagram of the structure of the lifting mechanism control device in the hardware operating environment involved in the embodiment of this application;

[0059] Figure 3 is a flowchart illustrating a hoisting mechanism control method provided in an embodiment of this application.

[0060] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0062] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0063] In this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an apparatus or system comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an apparatus or system. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the apparatus or system that includes that element.

[0064] If the embodiments of this application involve descriptions such as "first" or "second," such descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0065] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0066] In view of the low reliability of existing technologies that rely on manual operation of the hoisting drive control system to drive the hoisting mechanism, this application provides a hoisting mechanism control method, the overall idea of ​​which is as follows:

[0067] The method includes: after the hoisting mechanism starts working, obtaining the tension state of the connecting rope in the hoisting mechanism; the tension state includes a slack state or a tensioned state; determining the current working stage of the hoisting mechanism based on the tension state; the current working stage includes the hoisting stage, the stable operation stage, or the descent and ground contact stage; determining the operating speed of the hoisting mechanism based on the current working stage; and controlling the operation of the hoisting mechanism based on the operating speed.

[0068] This application provides a hoisting mechanism control method. Based on the tension of the connecting rope, the hoisting mechanism is controlled to operate at different speeds during different working stages. This automatically controls the hoisting mechanism to operate at different speeds according to its operation, achieving stable load lifting. Compared to manually operating the hoisting drive control system to drive the hoisting mechanism, this method avoids safety accidents caused by improper operation and improves the reliability of hoisting mechanism control.

[0069] The following provides a detailed description of the hoisting mechanism control method, equipment, system, and storage medium used in the technical implementation of this application:

[0070] Referring to Figure 1, Figure 1 illustrates a hoisting mechanism control system provided in an embodiment of this application. This embodiment provides a hoisting mechanism control system, which may include:

[0071] Lifting mechanism;

[0072] The hoisting motor connected to the hoisting mechanism;

[0073] As mentioned above, the hoisting mechanism control equipment is connected to the hoisting motor.

[0074] In this embodiment, the hoisting mechanism (not shown in the figure) can move and stop within a specified travel range in the vertical direction along with the hoisting assembly, thereby achieving load hoisting. The hoisting motor M can drive the hoisting mechanism under the control of the hoisting mechanism control device. The hoisting mechanism control device can be a frequency converter as shown in Figure 1.

[0075] As shown in Figure 1, the hoisting mechanism control system may also include a limit device, which can be installed on the hoisting assembly according to the actual travel range requirements. When the hoisting mechanism reaches the position of the limit device, it can trigger the limit device to output a limit signal to the hoisting mechanism control equipment. Thus, the hoisting mechanism control equipment can control the hoisting mechanism to stop running according to the limit signal, thereby achieving the limit of the hoisting mechanism.

[0076] The hoisting mechanism control system may also include an encoder, which is connected to both the hoisting motor and the hoisting mechanism control equipment. By monitoring the rotation position of the hoisting motor, the encoder can provide feedback on the operating position of the hoisting mechanism to the hoisting mechanism control equipment.

[0077] The hoisting mechanism control system may also include an overload limiter connected to the hoisting mechanism control equipment. The overload limiter monitors whether the hoisting mechanism is overloaded and outputs an overload limit signal to the hoisting mechanism control equipment. This allows the hoisting mechanism control equipment to adjust the hoisting mechanism's operating status based on the overload limit signal. For example, when the hoisting mechanism is overloaded, it can be stopped to prevent damage and safety issues caused by overloaded operation.

[0078] The hoisting mechanism control system may also include a brake enable contactor and a brake. The brake enable contactor is connected to the hoisting mechanism control equipment and the brake, respectively. The hoisting mechanism control equipment can output a brake signal DO to control the brake enable contactor to enable or deactivate the brake, thereby braking the hoisting mechanism.

[0079] The hoisting mechanism control system may also include an operating device and a control device. The operating device is connected to the hoisting mechanism control equipment through the control device. The operator manually controls the operating device according to actual usage needs, and the control device controls the hoisting mechanism to start operation. The control device may also be connected to limit devices and overload limiters, enabling them. The control device may include a PLC controller or a host computer.

[0080] Referring to Figure 2, which is a schematic diagram of the structure of the lifting mechanism control device in the hardware operating environment of the embodiment of this application.

[0081] As shown in Figure 2, the device may include: a processor 1001, such as a CPU; a user interface 1003; a memory 1005; and a communication bus 1002. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a hoisting motor, a brake enable contactor, a limit device, and an overload limiter, etc. Optionally, the user interface 1003 may also be a display screen or an input unit such as a keyboard. The memory 1005 may be a high-speed RAM or a stable, non-volatile memory, such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0082] It is understood that the device may also include a network interface 1004, which may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). Optionally, the device may also include RF (Radio Frequency) circuitry, sensors, audio circuitry, a Wi-Fi module, etc.

[0083] Those skilled in the art will understand that the device structure shown in Figure 1 does not constitute a limitation on the device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0084] The lifting mechanism control method and storage medium of this application will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0085] Based on, but not limited to, the above hardware structure, and referring to Figure 3, Figure 3 is a flowchart illustrating a hoisting mechanism control method provided in an embodiment of this application.

[0086] This embodiment provides a hoisting mechanism control method, which may include:

[0087] Step S100: After the lifting mechanism starts working, obtain the tension of the connecting rope in the lifting mechanism.

[0088] The state of tension includes either a relaxed state or a taut state.

[0089] Step S200: Determine the current working stage of the hoisting mechanism based on the tension status.

[0090] The current working phases include the lifting phase, the stable operation phase, or the descent and ground contact phase.

[0091] Step S300: Determine the operating speed of the hoisting mechanism based on the current working stage.

[0092] Step S400: Control the operation of the hoisting mechanism according to the operating speed.

[0093] In this embodiment, the executing entity can be the aforementioned hoisting mechanism control device. The connecting rope can be a steel wire rope, used to connect the load and the hoisting mechanism. The stable operation phase can include an ascending state and a descending state.

[0094] During the operation of the hoisting mechanism, in the hoisting phase, the load is not off the ground and the connecting rope is slack. In the ascending phase, the hoisting mechanism moves the load upward, the load is off the ground, and the connecting rope is taut. In the descending phase, the hoisting mechanism moves the load downward, the load is off the ground, and the connecting rope is taut. In the descent and ground contact phase, the load touches the ground, and the connecting rope changes from taut to slack.

[0095] It is understandable that during the lifting phase, to avoid the load rising at high speed and causing a large load impact on the mechanical structure of the lifting mechanism, which could lead to swaying, the operating speed of the lifting mechanism is required to be relatively low. During the lifting and lowering phases, to achieve rapid load lifting, the operating speed of the lifting mechanism is required to be relatively high. During the lowering and ground contact phase, after the load touches the ground, the lifting mechanism is required to operate slowly until the load is fully on the ground. In other words, the lifting mechanism operates at different speeds during the lifting, stable operation, and lowering and ground contact phases to achieve smooth load lifting. The operating speed of the lifting mechanism in different working phases can be set according to actual usage requirements. Typically, during the lifting and lowering and ground contact phases, the lifting mechanism is controlled to operate at a lower speed to prevent the load from rising at high speed and landing suddenly; during the stable operation phase, the lifting mechanism is controlled to operate slowly to achieve rapid load lifting.

[0096] It should be noted that the load weight will change, and the torque of the hoisting motor will also change accordingly. Therefore, the tension of the connecting rope can be determined based on the hoisting motor torque. If the hoisting motor torque is greater than or equal to a preset torque threshold, the connecting rope is taut; if the hoisting motor torque is less than the preset torque threshold, the connecting rope is slack. The preset torque threshold is set according to the actual usage conditions. Typically, the preset torque threshold is determined based on the load weight.

[0097] This embodiment provides a hoisting mechanism control method. Based on the tension of the connecting rope, the hoisting mechanism is controlled to operate at different speeds during different working stages. This automatically controls the hoisting mechanism to operate at different speeds according to its operation, achieving stable load lifting. Compared to manually operating the hoisting drive control system to drive the hoisting mechanism, this method avoids safety accidents caused by improper operation and improves the reliability of hoisting mechanism control.

[0098] As one implementation, step S200 may include:

[0099] Step S210: Determine the current working stage of the hoisting mechanism based on the tension state and the operating status parameters of the hoisting mechanism; the operating status parameters include one or more of the following: the current running direction of the hoisting motor corresponding to the hoisting mechanism, the duration of being in the tension state, and the distance of the hoisting mechanism from the ground.

[0100] In this embodiment, in order to more accurately determine the current working stage of the hoisting mechanism, it can be determined based on the tension of the connecting rope and in combination with the operating status parameters of the hoisting mechanism. The operating status parameters of the hoisting mechanism include one or more of the following: the current running direction of the hoisting motor corresponding to the hoisting mechanism, the duration of being in the tensioned state, and the distance of the hoisting mechanism from the ground.

[0101] For example, if the connecting rope is slack and the current running direction of the hoisting motor is the direction corresponding to the hoisting mechanism being in an upward state, then the current working stage of the hoisting mechanism is determined to be the hoisting stage; if the connecting rope is taut and the duration of the taut state is greater than or equal to a preset duration threshold, then the hoisting mechanism is determined to be in a stable stage of driving the load to rise or fall, that is, the current working stage of the hoisting mechanism is the stable operation stage; if the connecting rope is taut, the current running direction of the hoisting motor is the direction corresponding to the hoisting mechanism being in a downward state, and the distance of the hoisting mechanism to the ground is less than or equal to a preset distance threshold, then the current working stage of the hoisting mechanism is determined to be the downward contact stage. In this embodiment, the current working stage of the hoisting mechanism is determined based on the tension of the connecting rope and the operating parameters of the hoisting mechanism. This makes the determination of the current working stage of the hoisting mechanism more accurate and avoids misjudgment when determining the current working stage of the hoisting mechanism solely based on the tension of the connecting rope. This avoids incorrect determination of the operating speed of each working stage, which could lead to the hoisting mechanism lifting at high speed or touching the ground at high speed, and thus easily cause safety accidents. This improves the reliability of the hoisting mechanism control.

[0102] As one implementation, step S210 may include:

[0103] Step S211: If the tension state is relaxed, then determine the current running direction of the hoisting motor corresponding to the hoisting mechanism.

[0104] Step S212: If the current running direction is the first preset running direction corresponding to the lifting mechanism in the rising state, then the current working stage is determined to be the lifting stage.

[0105] Step S300 may include:

[0106] Step S310: Based on the lifting stage, determine the operating speed as the first preset operating speed.

[0107] Step S400 may include:

[0108] Step S410: Control the operation of the lifting mechanism according to the first preset operating speed.

[0109] The first preset running speed is less than the preset maximum running speed.

[0110] In this embodiment, the tension of the connecting rope is in a slack state during both the lifting and descent to the ground stages. At this time, the current working stage can be further determined based on the current running direction of the lifting motor.

[0111] Specifically, the direction of the hoisting motor corresponds to the operating state of the hoisting mechanism. When the hoisting motor rotates forward, it corresponds to the lifting state of the hoisting mechanism; when it rotates backward, it corresponds to the lowering state. Conversely, when the hoisting motor rotates forward, it corresponds to the lowering state of the hoisting mechanism; when it rotates backward, it corresponds to the lifting state. Therefore, the current operating stage can be determined by observing the current direction of the hoisting motor to identify whether the hoisting mechanism is in an lifting or lowering state.

[0112] When the torque of the hoisting motor is detected to be less than the aforementioned preset torque threshold, if the hoisting motor's running direction is the first preset running direction, then the corresponding hoisting mechanism is operating in an ascending state, and the current working stage is the hoisting stage. The first and second preset running directions are determined according to actual usage requirements.

[0113] It is understandable that after the hoisting mechanism starts working under the control of the aforementioned operating device, all parts of the hoisting mechanism control system are enabled. The hoisting mechanism control equipment will directly control the hoisting motor to run according to the speed gear corresponding to the operating device. At this time, if the speed gear corresponding to the operating device is high, the hoisting motor will start running and drive the hoisting mechanism to start directly at high speed, causing the load to rise off the ground at high speed, generating a large load impact on the mechanical structure of the hoisting mechanism, causing the hoisting mechanism to sway. Therefore, in this embodiment, after the hoisting mechanism starts working, it is determined that the connecting rope in the hoisting mechanism is in a slack state and the running direction of the hoisting motor is the running direction corresponding to the hoisting mechanism in the rising state. The current working stage of the hoisting mechanism is then determined to be the hoisting stage, and the hoisting mechanism is controlled to run at a first preset running speed to avoid the load leaving the ground at high speed.

[0114] Furthermore, after step S410, the method may further include: after the hoisting mechanism has been running for a first preset time, controlling the operation of the hoisting mechanism according to the preset maximum operating speed of the hoisting mechanism.

[0115] In this embodiment, after the lifting mechanism operates at a first preset operating speed for a first preset time, the load is completely lifted off the ground. Thereafter, the lifting mechanism is controlled to operate at a preset maximum operating speed to achieve rapid lifting of the load.

[0116] The first preset running speed, the preset maximum running speed, and the first preset duration are all set according to actual usage requirements.

[0117] In one example, the hoisting mechanism's operating speed can be divided into four speed segments, from low to high. The first preset operating speed is the second speed, and the preset maximum operating speed is the fourth speed, which is full speed. The second speed is half of full speed, and the first preset duration is 5 seconds. After the hoisting mechanism starts working, the hoisting mechanism control equipment determines that the connecting rope in the hoisting mechanism is in a slack state and that the hoisting motor's running direction is the same as the hoisting mechanism's running direction in the rising state. It then determines the current working stage as the hoisting stage and controls the hoisting mechanism to operate at the second speed to prevent the hoisting mechanism from lifting the load off the ground at high speed. After the hoisting mechanism operates at the second speed for 5 seconds, it is then controlled to operate at the fourth speed, allowing the hoisting mechanism to lift the load off the ground and then lift the load at high speed. It can be understood that when the hoisting mechanism reaches its highest position, a limit device can be triggered to generate a limit signal. The hoisting mechanism control equipment can then control the hoisting mechanism to stop operating based on the limit signal. Alternatively, the operator can control the operating device according to actual usage needs to stop the hoisting mechanism.

[0118] Furthermore, after step S410, the method may further include: when a change in the torque of the hoisting motor of the hoisting mechanism is detected, acquiring the first torque fluctuation of the hoisting motor within a second preset time period after the torque change time; if the first torque fluctuation is greater than or equal to the first fluctuation threshold, controlling the operation of the hoisting mechanism according to the second preset operating speed.

[0119] The second preset running speed is less than the first preset running speed.

[0120] In this embodiment, during the lifting phase, if the first preset operating speed is too low, the load will require a longer time to lift off the ground, resulting in low load lifting efficiency. Therefore, the first preset operating speed will not be too low either. Thus, during the lifting process at the first preset operating speed, when the load lifts off the ground, the connecting rope rapidly changes from a slack state to a tensioned state, which may also generate a load impact on the mechanical structure of the lifting mechanism, causing it to sway. Therefore, when the connecting rope rapidly changes from a slack state to a tensioned state, the operating speed of the lifting mechanism can be further reduced, and the operation of the lifting mechanism can be controlled at a second preset operating speed to further reduce the swaying of the mechanical structure of the lifting mechanism.

[0121] It should be noted that when the connecting rope begins to change from a slack to a taut state, the load begins to lift off the ground, and the torque of the hoisting motor changes due to the change in load weight. At this time, after detecting the change in hoisting motor torque, the first torque fluctuation of the hoisting motor can be recorded within a second preset time period. When the first torque fluctuation is greater than or equal to a first fluctuation threshold, it is determined that the load has begun to lift off the ground. After this, the hoisting mechanism is controlled to operate at a second preset operating speed, driving the load off the ground at the second preset operating speed. The second preset operating speed, the first fluctuation threshold, and the second preset time period are all set according to actual usage requirements.

[0122] It is understandable that during the lifting phase, the hoisting mechanism can detect the torque of the hoisting motor in real time, and the moment when the detected torque of the hoisting motor is greater than or equal to the above-mentioned preset torque threshold is taken as the moment of torque change.

[0123] Continuing with the example above, the speed of the hoisting motor corresponding to the second preset operating speed can be set to 4Hz. After the hoisting mechanism starts working, the hoisting mechanism control device determines that the connecting rope in the hoisting mechanism is in a slack state, and that the running direction of the hoisting motor is the running direction corresponding to the hoisting mechanism in the rising state. It then determines the current working stage as the hoisting stage and controls the hoisting mechanism to run at the second speed. When a torque change in the hoisting motor is detected, the first torque fluctuation amount within a second preset time period after the torque change is obtained. If the first torque fluctuation amount is greater than or equal to the first fluctuation amount threshold, the hoisting mechanism is controlled to run at the second preset operating speed, allowing the hoisting mechanism to smoothly lift the load off the ground. After the hoisting mechanism has run for 5 seconds, it is then controlled to run at the fourth speed, causing the hoisting mechanism to lift the load off the ground and then lift the load at high speed.

[0124] In another implementation, step S210 may include:

[0125] Step S213: If the tension state is the loose state, then determine the current running direction of the hoisting motor of the hoisting mechanism.

[0126] Step S214: If the current running direction is the second preset running direction corresponding to the hoisting mechanism in the descending state, then detect the distance of the hoisting mechanism to the ground.

[0127] Step S215: If the detected distance to the ground is less than or equal to a preset distance threshold, then the current working stage is determined to be the descent and ground contact stage.

[0128] Step S300 may include:

[0129] Step S320: Based on the descent and ground contact stage, determine the operating speed as the third preset operating speed.

[0130] Step S400 may include:

[0131] Step S420: Control the operation of the lifting mechanism according to the third preset operating speed.

[0132] The third preset operating speed is less than the preset maximum operating speed of the hoisting mechanism.

[0133] In this embodiment, during the descent of the lifting mechanism, if the load's instantaneous ground contact speed is too high, the sudden unloading of the lifting mechanism can cause mechanical structural vibration. If the lifting mechanism continues to bring the load to the ground at high speed for an extended period, it will damage the mechanical structure of the lifting mechanism, leading to safety issues. Therefore, when the current operating phase of the lifting mechanism is the descent and ground contact phase, the operating speed of the lifting mechanism can be reduced to decrease the speed at which the load touches the ground, preventing the load from being in contact with the ground at high speed for an extended period and damaging the mechanical structure of the lifting mechanism. The third preset operating speed can be set according to actual usage requirements.

[0134] It is understandable that when the connecting rope is taut, the current direction of the hoisting motor's operation can determine whether the hoisting mechanism is in an ascending or descending state. Furthermore, when the connecting rope is taut, the distance between the load and the hoisting mechanism is fixed. Therefore, by determining whether the distance between the hoisting mechanism and the ground is less than or equal to a preset distance threshold, it can be determined whether the load is approaching the ground and whether the hoisting motor has entered the descent and ground contact phase. When it is determined that the load is approaching the ground, the hoisting mechanism is controlled to operate at a third preset operating speed, which is less than the preset maximum operating speed, thus reducing the hoisting mechanism's operating speed and preventing the load from touching the ground at high speed. The preset distance threshold and the third preset operating speed can be set according to usage over time. Preferably, the third preset operating speed is the same as the first preset operating speed.

[0135] In practice, during the descent of the lifting mechanism, if the tension of the connecting rope is determined to be in a tensioned state and the current running direction is the second preset running direction, then the lifting mechanism is determined to be in a descent state. If the distance between the lifting mechanism and the ground is less than or equal to a preset distance threshold, then the lifting mechanism is determined to have entered the descent and ground contact stage.

[0136] Furthermore, before step S320, the method may also include: obtaining the current operating speed of the hoisting mechanism; if the current operating speed reaches the preset maximum operating speed of the hoisting mechanism, then performing the step of determining the operating speed as a third preset operating speed based on the descent and ground contact stage.

[0137] In this embodiment, after determining that the lifting mechanism is in a lowering state, if it is determined that the current operating speed of the lifting mechanism has reached the preset maximum operating speed, then the operating speed of the lifting mechanism will be further reduced. Conversely, when the lifting mechanism is in a lowering state, if the current operating speed of the lifting mechanism has reached the preset maximum operating speed, then the operating speed of the lifting mechanism does not need to be reduced.

[0138] Furthermore, after step S420, the method may further include: when a change in the torque of the hoisting motor is detected, acquiring the third torque fluctuation amount of the hoisting motor within a third preset time period after the torque change time; if the third torque fluctuation amount is greater than or equal to the third fluctuation amount threshold, controlling the hoisting mechanism to operate according to the fourth preset operating speed; wherein the fourth preset operating speed is less than the third preset operating speed.

[0139] In this embodiment, during the descent of the lifting mechanism, when it is close to the ground, the lifting mechanism is controlled to operate at a third preset operating speed. At this time, the third preset operating speed should not be too low, otherwise the load will not be able to land for a long time. Therefore, when the lifting mechanism is in the descent and ground contact stage, at the moment the load touches the ground, the operating speed of the lifting mechanism can be further reduced. The lifting motor is controlled to operate at a fourth preset operating speed, which is lower than the third preset operating speed, to reduce the speed at which the load touches the ground and avoid prolonged high-speed contact with the ground, which could damage the mechanical structure of the lifting mechanism.

[0140] It should be noted that at the moment the load begins to touch the ground, the torque of the hoisting motor changes due to the weight variation of the load. At this time, after detecting the torque change, the third torque fluctuation of the hoisting motor can be recorded within a third preset time period. When the third torque fluctuation is greater than or equal to a third fluctuation threshold, it is determined that the load has begun to touch the ground, and the hoisting mechanism is controlled to operate at a fourth preset operating speed, driving the load to the ground at the fourth preset operating speed. The fourth preset operating speed, the third fluctuation threshold, and the third preset time period are all set according to actual usage requirements.

[0141] In one example, the speed of the lifting motor corresponding to the fourth preset operating speed can be set to 3Hz. This embodiment provides a lifting mechanism control method. During the lifting phase, the lifting mechanism is controlled to operate at a first preset operating speed, allowing the connecting rope to quickly reach a tensioned state. At the instant the connecting rope changes from a slack state to a tensioned state, the lifting mechanism is controlled to operate at a second preset operating speed lower than the first preset operating speed, ensuring the load is smoothly lifted off the ground. After this, the lifting mechanism is controlled to operate at a preset maximum operating speed, allowing the load to quickly rise to the required position. This allows for further segmented automatic control during the lifting phase, actively reducing the speed at the moment the load leaves the ground, reducing load impact, and preventing mechanical swaying of the lifting mechanism. Furthermore, when this embodiment detects that the load is close to the ground, the lifting mechanism is controlled to operate at a smaller third preset operating speed. At the instant the load touches the ground, the landing speed of the load is further reduced to a fourth preset operating speed. During the descent and ground contact phase, further segmented automatic control ensures that the impact on the lifting mechanism at the moment the connecting rope slackens is minimal, allowing the load to land smoothly and preventing swaying of the lifting mechanism.

[0142] As another implementation, step S210 may include:

[0143] Step S216: If the tension state is a tension state and the duration of the tension state is greater than or equal to the first preset duration threshold, then the current working stage is determined to be a stable operation stage.

[0144] Step S300 may include:

[0145] Step S330: Based on the stable operation phase, determine the operating speed as the preset maximum operating speed of the hoisting mechanism.

[0146] Step S400 may include:

[0147] Step S430: Control the operation of the hoisting mechanism according to the preset maximum operating speed.

[0148] In this embodiment, after the load is lifted off the ground, the connecting rope changes from a slack state to a taut state. If the hoisting mechanism operates normally thereafter, the connecting rope remains taut. Therefore, the duration for which the connecting rope remains taut can be used to determine whether the hoisting mechanism is operating in a stable phase. Specifically, this can be determined by checking if the duration of the taut connecting rope is greater than or equal to a first preset duration threshold. The first preset duration threshold can be set according to time usage requirements.

[0149] It is understandable that during the stable operation phase of the hoisting mechanism, in order to quickly lift the load, the hoisting mechanism control equipment controls the hoisting mechanism to operate at a preset maximum operating speed.

[0150] As a specific implementation, after step S430, the method may further include: obtaining a second torque fluctuation amount of the hoisting motor; if the second torque fluctuation amount is greater than or equal to a second fluctuation amount threshold, and the duration of the second torque fluctuation amount being greater than or equal to the second fluctuation amount threshold is greater than or equal to a second preset duration threshold, then controlling the hoisting mechanism to stop operating.

[0151] In this embodiment, during the stable operation phase of the lifting mechanism, if the load is stuck by an obstacle or collides with an obstacle, the torque of the lifting motor will also change. Furthermore, if the load is attached for a long time, the connecting rope may break or the load may be suddenly unloaded, causing the mechanical structure of the lifting mechanism to shake or break, leading to a safety accident.

[0152] Therefore, in this embodiment, when the hoisting mechanism is in a stable operating phase, the second torque fluctuation of the hoisting motor is collected according to a preset sampling period. When the second torque fluctuation is greater than or equal to the second fluctuation threshold, timing begins. When the duration of the second torque fluctuation being greater than or equal to the second fluctuation threshold is greater than or equal to the second preset duration threshold, it is determined that a loading situation has occurred, and the hoisting mechanism is controlled to stop operating.

[0153] The preset sampling period, the second torque fluctuation amount, the second fluctuation amount threshold, and the second preset duration threshold are all set according to the actual usage.

[0154] It is understandable that the hoisting mechanism control system may also include a torque sensor installed on the hoisting motor, and the hoisting mechanism control equipment can obtain the torque fluctuation through the torque sensor.

[0155] In this embodiment, the step of "obtaining the second torque fluctuation of the hoisting motor" may include: determining whether the torque sensor is working properly; if the torque sensor is not working properly, obtaining the load weight change value detected by the electronic weighing device according to a preset sampling period; and determining the second torque fluctuation based on the load weight change value.

[0156] In this embodiment, an electronic weighing device can also be installed in the hoisting mechanism control system. When the torque sensor in the hoisting mechanism control system fails, the second torque fluctuation amount is determined based on the load weight change value detected by the electronic weighing device.

[0157] This embodiment provides a hoisting mechanism control system. When the hoisting mechanism is operating in a stable phase and a load is detected, the system controls the hoisting mechanism to stop operating. This prevents the hoisting mechanism from being damaged by a load, which could cause the connecting rope to break or the tension of the connecting rope to change, resulting in the mechanical structure of the hoisting mechanism shaking or breaking, thus avoiding a safety accident.

[0158] Furthermore, embodiments of this application also propose a computer storage medium storing a computer program, which, when executed by a processor, implements the steps of the hoisting mechanism control method described above. Therefore, further details will not be repeated here. Additionally, the beneficial effects of employing the same method will not be repeated. For technical details not disclosed in the computer-readable storage medium embodiments of this application, please refer to the description of the method embodiments of this application. As an example, program instructions can be deployed to execute on a single computing device, or on multiple computing devices located at one location, or on multiple computing devices distributed across multiple locations and interconnected via a communication network.

[0159] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for controlling a hoisting mechanism, characterized in that, The method includes: after the hoisting mechanism starts working, acquiring the tension state of the connecting rope in the hoisting mechanism; the tension state includes a slack state or a tensioned state; determining the current working stage of the hoisting mechanism based on the tension state; the current working stage includes a hoisting stage, a stable operation stage, or a descent and ground contact stage, wherein the connecting rope is in the slack state during the hoisting stage, the connecting rope is in the tensioned state during the stable operation stage, and the connecting rope changes from the tensioned state to the slack state during the descent and ground contact stage; determining the operating speed of the hoisting mechanism based on the current working stage, the operating speed including one of a first preset operating speed corresponding to the hoisting stage, a third preset operating speed corresponding to the descent and ground contact stage, and a preset maximum operating speed corresponding to the stable operation stage; and controlling the operation of the hoisting mechanism based on the operating speed.

2. The method as described in claim 1, characterized in that, The step of determining the current working stage of the hoisting mechanism based on the tension state includes: determining the current working stage of the hoisting mechanism based on the tension state and the operating status parameters of the hoisting mechanism; the operating status parameters include one or more of the following: the current running direction of the hoisting motor corresponding to the hoisting mechanism, the duration of being in the tension state, and the distance of the hoisting mechanism from the ground.

3. The method as described in claim 2, characterized in that, The step of determining the current working stage of the lifting mechanism based on the tension state and the operating state parameters of the lifting mechanism includes: if the tension state is the slack state, then determining the current operating direction of the lifting motor corresponding to the lifting mechanism; if the current operating direction is the first preset operating direction corresponding to the lifting mechanism in the rising state, then determining the current working stage as the lifting stage; the step of determining the operating speed of the lifting mechanism based on the current working stage includes: determining the operating speed as the first preset operating speed based on the lifting stage; the step of controlling the operation of the lifting mechanism based on the operating speed includes: controlling the operation of the lifting mechanism based on the first preset operating speed.

4. The method as described in claim 3, characterized in that, After the step of controlling the operation of the hoisting mechanism according to the first preset operating speed, the method further includes: after the hoisting mechanism has been running for a first preset time, controlling the operation of the hoisting mechanism according to the preset maximum operating speed of the hoisting mechanism; wherein the first preset operating speed is less than the preset maximum operating speed.

5. The method as described in claim 3, characterized in that, After the step of controlling the operation of the hoisting mechanism according to the first preset operating speed, the method further includes: when a change in the torque of the hoisting motor is detected, obtaining a first torque fluctuation of the hoisting motor within a second preset time period after the torque change time; if the first torque fluctuation is greater than or equal to a first fluctuation threshold, then controlling the operation of the hoisting mechanism according to a second preset operating speed; wherein the second preset operating speed is less than the first preset operating speed.

6. The method as described in claim 2, characterized in that, The step of determining the current working stage of the hoisting mechanism based on the tension state and the operating state parameters of the hoisting mechanism includes: if the tension state is the tension state, and the duration of the tension state is greater than or equal to a first preset duration threshold, then the current working stage is determined to be the stable operating stage; the step of determining the operating speed of the hoisting mechanism based on the current working stage includes: determining the operating speed as a preset maximum operating speed of the hoisting mechanism based on the stable operating stage; the step of controlling the operation of the hoisting mechanism based on the operating speed includes: controlling the operation of the hoisting mechanism based on the preset maximum operating speed.

7. The method as described in claim 6, characterized in that, After the step of controlling the operation of the hoisting mechanism according to the preset maximum operating speed, the method further includes: obtaining the second torque fluctuation amount of the hoisting motor; if the second torque fluctuation amount is greater than or equal to the second fluctuation amount threshold, and the duration of the second torque fluctuation amount being greater than or equal to the second fluctuation amount threshold is greater than or equal to the second preset duration threshold, then controlling the hoisting mechanism to stop operating.

8. The method as described in claim 2, characterized in that, The step of determining the current working stage of the hoisting mechanism based on the tension state and the operating state parameters of the hoisting mechanism includes: if the tension state is the tensioned state, then determining the current operating direction of the hoisting motor of the hoisting mechanism; if the current operating direction is the second preset operating direction corresponding to the hoisting mechanism in the descent state, then detecting the ground distance of the hoisting mechanism; if the ground distance is detected to be less than or equal to a preset distance threshold, then determining the current working stage as the descent and ground contact stage; the step of determining the operating speed of the hoisting mechanism based on the current working stage includes: determining the operating speed as a third preset operating speed based on the descent and ground contact stage; the step of controlling the operation of the hoisting mechanism based on the operating speed includes: controlling the operation of the hoisting mechanism based on the third preset operating speed; the third preset operating speed is less than the preset maximum operating speed of the hoisting mechanism.

9. The method as described in claim 8, characterized in that, Before the step of determining the operating speed as a third preset operating speed based on the descent and ground contact stage, the method further includes: obtaining the current operating speed of the hoisting mechanism; if the current operating speed reaches the preset maximum operating speed of the hoisting mechanism, then the step of determining the operating speed as a third preset operating speed based on the descent and ground contact stage is executed.

10. The method as described in claim 8, characterized in that, After the step of controlling the operation of the hoisting mechanism according to the third preset operating speed, the method further includes: when a change in the torque of the hoisting motor is detected, obtaining the third torque fluctuation amount of the hoisting motor within a third preset time period after the torque change time; if the third torque fluctuation amount is greater than or equal to the third fluctuation amount threshold, then controlling the operation of the hoisting mechanism according to the fourth preset operating speed; wherein, the fourth preset operating speed is less than the third preset operating speed.

11. A hoisting mechanism control device, characterized in that, The device includes: a memory, a processor, and a hoisting mechanism control program stored in the memory and executable on the processor, configured to implement the steps of the hoisting mechanism control method as described in any one of claims 1 to 10.

12. A hoisting mechanism control system, characterized in that, The system includes: a hoisting mechanism; a hoisting motor connected to the hoisting mechanism; and a hoisting mechanism control device as claimed in claim 11, wherein the hoisting mechanism control device is connected to the hoisting motor.

13. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the steps of the hoisting mechanism control method as described in any one of claims 1 to 10.

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