Parameter calibration method, device and system of hoisting mechanism and hoisting equipment

Abstract

The present disclosure relates to a parameter calibration method, device and system of a hoisting mechanism and a hoisting equipment, and relates to the technical field of engineering machinery. The parameter calibration method of the hoisting mechanism comprises determining a calibration rotating speed of the hoisting mechanism at a calibration current value; taking the calibration current value as a working current value of a driving device of the hoisting mechanism, controlling the hoisting mechanism to operate, and detecting an actual rotating speed of the hoisting mechanism; in the case that a difference between the actual rotating speed and the calibration rotating speed is not within a first preset range, adjusting the working current value until the difference between the actual rotating speed and the calibration rotating speed is within the first preset range, and obtaining a calibration current value; and determining the calibration current value as a value of the working current in the driving device of the hoisting mechanism corresponding to the calibration rotating speed.

Description

Technical Field

[0001] This disclosure relates to the field of engineering machinery technology, and in particular to a method, apparatus, system and lifting equipment for calibrating parameters of a winch mechanism. Background Technology

[0002] Currently, crane hoisting mechanisms typically employ electro-hydraulic systems for speed control. These systems can be divided into pump-controlled and valve-controlled systems. Pump-controlled systems adjust the hoisting mechanism's speed by regulating the pump's current, while valve-controlled systems adjust the hoisting mechanism's speed by regulating the valve's current. Electro-hydraulic pumps and valves are generally linearly proportional; for example, given minimum and maximum current values, they correspond to minimum and maximum speeds, respectively. However, due to differences in components and matching, the parameters of the electro-hydraulic system generally have a certain allowable error range. Therefore, the same control current can produce varying control effects on different cranes with the same configuration.

[0003] Therefore, the current of the electrically controlled pump or proportional valve that controls the speed of the winch mechanism is usually adjusted by the user or service personnel. However, manually adjusting the current to optimize the control parameters of the winch mechanism relies entirely on the experience of the adjuster. Furthermore, due to the subjectivity and randomness of manual current adjustment, the control performance varies between different vehicles, resulting in low parameter calibration accuracy. Summary of the Invention

[0004] One of the technical problems this disclosure aims to solve is: how to improve the accuracy of hoisting mechanism parameter calibration.

[0005] According to some embodiments of this disclosure, a parameter calibration method for a hoisting mechanism is provided, comprising: determining the rated speed of the hoisting mechanism under a rated current value; using the rated current value as the operating current value of the drive device of the hoisting mechanism, controlling the operation of the hoisting mechanism, and detecting the actual speed of the hoisting mechanism; adjusting the operating current value until the difference between the actual speed and the rated speed is not within a first preset range when the difference between the actual speed and the rated speed is not within a first preset range, thereby obtaining a calibration current value; and determining the calibration current value as the value of the operating current in the drive device of the hoisting mechanism corresponding to the rated speed.

[0006] In some embodiments, controlling the operation of the hoisting mechanism includes controlling the hoisting mechanism to operate in a preset direction, wherein the preset direction includes lifting and / or lowering.

[0007] In some embodiments, adjusting the operating current value includes: setting an initial correction value; in each adjustment, determining the current adjustment direction and the current correction value based on the previous adjustment result, the previous adjustment direction, and the previous correction value, wherein the previous adjustment result is the comparison result between the actual speed and the calibrated speed corresponding to the previous operating current value; and determining the current operating current value based on the previous operating current value, the current adjustment direction, and the current correction value.

[0008] In some embodiments, determining the current adjustment direction and the current correction value based on the previous adjustment result, the previous adjustment direction, and the previous correction value includes: if the comparison result of the actual speed corresponding to the previous working current value and the calibrated speed is the same as the comparison result of the actual speed corresponding to the calibrated current value and the calibrated speed, the current adjustment direction is the same as the previous adjustment direction, and the current correction value is the same as the previous correction value.

[0009] In some embodiments, determining the current adjustment direction and the current correction value based on the previous adjustment result, the previous adjustment direction, and the previous correction value includes: if the comparison result of the actual speed corresponding to the previous working current value and the rated speed is opposite to the comparison result of the actual speed corresponding to the rated current value and the rated speed, the current adjustment direction is opposite to the previous adjustment direction, and the current correction value is determined based on the initial correction value and the number of times the correction value has been adjusted.

[0010] In some embodiments, the current correction value is negatively correlated with the number of times the correction value has been adjusted.

[0011] In some embodiments, determining the current operating current value based on the previous operating current value, the current adjustment direction, and the current correction value includes: if the current adjustment direction is the same as the previous adjustment direction, determining the sum of the previous operating current value and the current correction value as the current operating current value; if the current adjustment direction is different from the previous adjustment direction, determining the difference between the previous operating current value and the current correction value as the current operating current value.

[0012] In some embodiments, the calibrated current value is the operating current value corresponding to the maximum calibrated speed or the minimum calibrated speed.

[0013] In some embodiments, controlling the operation of the winch mechanism and detecting the actual rotational speed of the winch mechanism includes: operating the winch mechanism by adjusting the electric control handle to a preset opening degree; and detecting the actual rotational speed of the winch mechanism by a winch sensor installed on the winch mechanism.

[0014] In some embodiments, any two of the calibration current value, calibration speed, and preset opening degree are mutually corresponding.

[0015] In some embodiments, the parameter calibration method further includes: when the difference between the actual rotational speed and the calibrated rotational speed is within a first preset range, determining the calibrated current value as the value of the operating current in the drive device of the hoisting mechanism corresponding to the calibrated rotational speed.

[0016] In some embodiments, the parameter calibration method further includes displaying the difference between the actual rotational speed and the calibrated rotational speed.

[0017] In some embodiments, the parameter calibration method further includes displaying a warning message when the adjusted operating current value exceeds a second preset range.

[0018] According to some other embodiments of this disclosure, a parameter calibration device for a hoisting mechanism is provided, comprising: a first determining module configured to determine a rated rotational speed of the hoisting mechanism at a rated current value; a detecting module configured to use the rated current value as the operating current value of the drive device of the hoisting mechanism, control the operation of the hoisting mechanism, and detect the actual rotational speed of the hoisting mechanism; an adjusting module configured to adjust the operating current value until the difference between the actual rotational speed and the rated rotational speed is not within a first preset range, thereby obtaining a calibration current value; and a second determining module configured to determine the calibration current value as the value of the operating current in the drive device of the hoisting mechanism corresponding to the rated rotational speed.

[0019] According to some embodiments of the present disclosure, a parameter calibration device for a hoisting mechanism is provided, comprising: a processor; and a memory coupled to the processor for storing instructions, which, when executed by the processor, cause the processor to perform the parameter calibration method for the hoisting mechanism as described above.

[0020] According to some embodiments of this disclosure, a parameter calibration system for a hoisting mechanism is provided, comprising: a parameter calibration device for a hoisting mechanism as described above; a hoisting sensor configured to detect the actual rotational speed of the hoisting mechanism; an electric control handle configured to control the operation of the hoisting mechanism; and a display configured to display the difference between the actual rotational speed and the calibrated rotational speed.

[0021] According to some other embodiments of this disclosure, a lifting device is provided, including: a parameter calibration system for the hoisting mechanism as described above.

[0022] According to some other embodiments of the present disclosure, a computer-readable storage medium is provided having a computer program stored thereon, wherein the program, when executed by a processor, implements the parameter calibration method for the hoisting mechanism as described above.

[0023] According to further embodiments of this disclosure, a computer program product is provided, including instructions that, when executed by a processor, cause the processor to perform a parameter calibration method for a hoisting mechanism as described above.

[0024] This disclosure determines the calibration current value corresponding to the rated speed of the winch mechanism by adjusting the working current value, so that the difference between the actual speed reached by the winch mechanism under the control of the calibration current value and the rated speed is within a first preset range, thereby controlling the parameter calibration accuracy of the winch mechanism, realizing the control of the parameter calibration effect of the winch mechanism, and improving the accuracy of the parameter calibration of the winch mechanism.

[0025] Other features and advantages of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this disclosure 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 disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 A schematic flowchart of a parameter calibration method for a hoisting mechanism according to some embodiments of the present disclosure is shown.

[0028] Figure 2 A flowchart illustrating a parameter calibration method for a hoisting mechanism according to other embodiments of the present disclosure is shown.

[0029] Figure 3 A schematic diagram of the structure of a parameter calibration device for a hoisting mechanism according to some embodiments of the present disclosure is shown.

[0030] Figure 4 A schematic diagram of the structure of a parameter calibration device for a hoisting mechanism according to other embodiments of the present disclosure is shown.

[0031] Figure 5 A schematic diagram of the structure of a parameter calibration device for a hoisting mechanism according to some embodiments of the present disclosure is shown.

[0032] Figure 6 A schematic diagram of the structure of a parameter calibration system for a hoisting mechanism according to some embodiments of the present disclosure is shown.

[0033] Figure 7 A schematic diagram of the structure of a parameter calibration system for a hoisting mechanism according to other embodiments of the present disclosure is shown.

[0034] Figure 8 A schematic diagram of the structure of a lifting device according to some embodiments of the present disclosure is shown. Detailed Implementation

[0035] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0036] To address the issue that hoisting mechanism parameter calibration relies on manual adjustments and suffers from low calibration accuracy, this disclosure provides a method for automatically calibrating the control parameters of the hoisting mechanism. This calibration method enables automatic adjustment of the control current to ensure that the actual speed of the hoisting mechanism matches the calibrated speed.

[0037] Figure 1 A flowchart illustrating a parameter calibration method for a hoisting mechanism according to some embodiments of the present disclosure is shown. Figure 1 As shown, the method of this embodiment includes steps S102 to S108.

[0038] In step S102, the rated speed of the hoisting mechanism under the rated current value is determined.

[0039] Typically, the rated current and rated speed are provided to the user by the manufacturer or supplier, instructing the user that when the operating current of the drive unit of the hoisting mechanism is set to the rated current value, the speed that the hoisting mechanism will achieve is the rated speed.

[0040] The rated current value corresponds one-to-one with the rated speed. For example, the rated current value is the operating current value corresponding to the maximum or minimum rated speed. Users can obtain the rated current value corresponding to the rated speed of the hoisting mechanism by querying the correspondence between rated current and rated speed.

[0041] Except for the operating current value corresponding to the maximum or minimum rated speed, the rated current value can be any value between the operating current value corresponding to the minimum and maximum rated speeds. For example, the rated current value is the operating current value corresponding to half of the maximum rated speed.

[0042] By using multiple sets of calibrated current and speed values, the operating efficiency of the hoisting mechanism can be improved. Therefore, calibrating the calibrated current corresponding to the calibrated speed is of great significance, as it can improve the operating accuracy of the hoisting mechanism.

[0043] In step S102, the calibrated current value is used as the working current value of the drive device of the hoisting mechanism to control the operation of the hoisting mechanism and detect the actual speed of the hoisting mechanism.

[0044] Determine the actual rotational speed of the hoisting mechanism under the calibrated current value. By determining whether the error between the actual rotational speed and the calibrated rotational speed is within a first preset range, determine whether the calibrated current value corresponding to the calibrated rotational speed needs to be calibrated.

[0045] In some embodiments, controlling the operation of the winch mechanism and detecting the actual rotational speed of the winch mechanism includes: operating the winch mechanism by adjusting the electric control handle to a preset opening degree; and detecting the actual rotational speed of the winch mechanism by a winch sensor installed on the winch mechanism.

[0046] When controlling the hoisting mechanism to run at the calibrated current value, adjusting the electric control handle to the preset opening degree as the input signal to allow the hoisting mechanism to run not only improves the safety and reliability of the calibration, but also allows the opening degree of the electric control handle to be correlated with the calibrated speed after calibration. That is, any two of the preset opening degree, the calibrated speed, and the calibration current value obtained after calibration are mutually correlated.

[0047] After the hoisting mechanism is calibrated, the operating current of the drive device of the hoisting mechanism can be adjusted to the calibrated current value by adjusting the electric control handle to the preset opening. This ensures that the speed achieved by the hoisting mechanism is the calibrated speed, thereby improving the efficiency of the hoisting mechanism's operation.

[0048] For example, after calibrating the operating current value in the drive device corresponding to the minimum rated speed of the hoisting mechanism, adjusting the electric control handle to the first preset opening degree can control the hoisting mechanism to achieve the minimum rated speed.

[0049] After calibrating the operating current value in the drive device corresponding to the maximum rated speed of the hoisting mechanism, adjusting the electric control handle to the second preset opening degree will control the hoisting mechanism to achieve the maximum rated speed.

[0050] Since this disclosure can calibrate any calibrated speed, it can actually realize the correspondence between any speed of the hoisting mechanism and the opening degree of the electric control handle. That is, by adjusting the opening degree of the electric control handle, the hoisting mechanism can be controlled to achieve the corresponding speed, thereby realizing the quick setting of the control parameters of the hoisting mechanism and improving the operating efficiency of the hoisting mechanism.

[0051] In some embodiments, after the winch mechanism has been running, a waiting period is established before the actual rotational speed of the winch mechanism is detected by the winch sensor. The waiting time is determined based on the maximum response time of the winch mechanism, which is the time it takes for the winch mechanism to reach a stable operating speed after receiving the input operating current value. This improves the accuracy of the detected actual rotational speed, thereby improving the accuracy of parameter calibration.

[0052] In some embodiments, controlling the operation of the hoisting mechanism includes controlling the hoisting mechanism to operate in a preset direction, wherein the preset direction includes lifting and / or lowering. That is, this disclosure can calibrate the operating current value corresponding to the calibrated rotational speed in different operating states, i.e., the lifting and lowering states.

[0053] For example, by controlling the hoisting mechanism to rise and performing subsequent calibration steps, the operating current values ​​corresponding to the minimum and maximum rated speeds of the hoisting mechanism in the rising state can be obtained. By controlling the hoisting mechanism to descend and performing subsequent calibration steps, the operating current values ​​corresponding to the minimum and maximum rated speeds of the hoisting mechanism in the descending state can be obtained.

[0054] The working current value corresponding to the rated speed was calibrated under both lifting and lowering states. The influence of different operating states of the winch mechanism on parameter calibration was taken into account, and refined parameter calibration of the winch mechanism under different operating states was realized, thereby improving the accuracy of winch mechanism parameter calibration.

[0055] In step S102, if the difference between the actual speed and the calibrated speed is not within the first preset range, the operating current value is adjusted until the difference between the actual speed and the calibrated speed is within the first preset range, and a calibration current value is obtained.

[0056] If the difference between the actual rotational speed and the calibrated rotational speed is not within the first preset range, it indicates that the calibration current value has a large error and exceeds the acceptable range, requiring calibration. For example, if the difference between the actual rotational speed and the calibrated rotational speed is less than any value within the first preset range, it indicates that the calibration current value is too small. If the difference between the actual rotational speed and the calibrated rotational speed is greater than any value within the first preset range, it indicates that the calibration current value is too large.

[0057] If the difference between the actual speed and the rated speed is within a first preset range, it means that the error of the rated current value is within an acceptable range and no calibration is required. The rated current value is the value of the working current in the drive device of the hoisting mechanism corresponding to the rated speed.

[0058] The first preset range is set based on theory or experience.

[0059] In some embodiments, the calibration method further includes displaying the difference between the actual rotational speed and the calibrated rotational speed, so that the adjustment progress can be obtained in real time during the adjustment of the operating current value, so that other strategies can be used to reasonably intervene in the calibration process if necessary.

[0060] In some embodiments, adjusting the operating current value includes: setting an initial correction value; in each adjustment, determining the current adjustment direction and the current correction value based on the previous adjustment result, the previous adjustment direction, and the previous correction value, wherein the previous adjustment result is the comparison result between the actual speed and the calibrated speed corresponding to the previous operating current value; and determining the current operating current value based on the previous operating current value, the current adjustment direction, and the current correction value.

[0061] Each adjustment includes determining the current adjustment direction and the current correction value. In other words, the adjustment direction and correction value can be changed during the adjustment of the working current value, which increases the flexibility of the adjustment and allows for reasonable adjustments based on the results of the previous adjustment, thus helping to improve the efficiency of calibration.

[0062] In some embodiments, determining the current adjustment direction and the current correction value based on the previous adjustment result, the previous adjustment direction, and the previous correction value includes: if the comparison result of the actual speed corresponding to the previous working current value and the calibrated speed is the same as the comparison result of the actual speed corresponding to the calibrated current value and the calibrated speed, the current adjustment direction is the same as the previous adjustment direction, and the current correction value is the same as the previous correction value.

[0063] In some embodiments, determining the current adjustment direction and the current correction value based on the previous adjustment result, the previous adjustment direction, and the previous correction value includes: if the comparison result of the actual speed corresponding to the previous working current value and the rated speed is opposite to the comparison result of the actual speed corresponding to the rated current value and the rated speed, the current adjustment direction is opposite to the previous adjustment direction, and the current correction value is determined based on the initial correction value and the number of times the correction value has been adjusted.

[0064] For example, if the difference between the actual speed and the calibrated speed corresponding to the previous working current value and the calibrated speed corresponding to the previous working current value is less than any value within the first preset range, it indicates that the calibrated current value is too small compared to the calibration current value. The calibrated current value needs to be increased to obtain the calibration current value. However, if the previous working current value is still too small compared to the calibration current value after the previous adjustment, the previous working current value still needs to be increased. In this case, setting the current adjustment direction to be the same as the previous adjustment direction and the current correction value to be the same as the previous correction value can improve the efficiency of obtaining the calibration current value.

[0065] For example, if the comparison between the actual speed and the calibrated speed corresponding to the calibrated current value is less than any value within the first preset range, while the comparison between the actual speed and the calibrated speed corresponding to the previous working current value is greater than any value within the first preset range, it indicates that the calibrated current value is too small compared to the calibration current value, and the calibrated current value needs to be increased to obtain the calibration current value. However, if the previous working current value was too large compared to the calibration current value after the previous adjustment, the previous working current value needs to be decreased. Therefore, the current adjustment direction is set differently from the previous adjustment direction, and the current correction value is set according to the number of times the correction value has been adjusted.

[0066] In some embodiments, the current correction value is negatively correlated with the number of times the correction value has been adjusted.

[0067] For example, if the initial correction value is 20 mA and the previous correction value was also 20 mA, meaning this is the first time the correction value has been adjusted, then the current correction value can be set to 20 / (1+1), which is 10 mA.

[0068] For example, if the initial correction value is 20 mA, and the correction value has been adjusted 3 times before, and this is the 4th adjustment, then the current correction value can be set to 20 / (1+4), which is 4 mA.

[0069] When the current adjustment direction changes compared to the previous one, setting a smaller current correction value compared to the previous one facilitates quick acquisition of the calibration current value. Furthermore, the current correction value is set based on the number of adjustments made, resulting in increasingly higher adjustment accuracy throughout the overall adjustment process. This avoids excessively large correction values ​​that would require repeated adjustments later, thus improving both calibration efficiency and accuracy.

[0070] In some embodiments, determining the current operating current value based on the previous operating current value, the current adjustment direction, and the current correction value includes: if the current adjustment direction is the same as the previous adjustment direction, determining the sum of the previous operating current value and the current correction value as the current operating current value; if the current adjustment direction is different from the previous adjustment direction, determining the difference between the previous operating current value and the current correction value as the current operating current value.

[0071] Repeat the above steps during each adjustment until the difference between the actual speed and the rated speed corresponding to the final adjusted working current value is within the first preset range. After the adjustment is completed, the final adjusted working current value is determined as the working current value corresponding to the rated speed, i.e., the calibration current value.

[0072] In each adjustment process, the current adjustment direction and correction value are determined based on the previous adjustment. That is, if the previous adjustment failed to achieve the adjustment target and needs to continue along the previous adjustment direction, the current adjustment direction and correction value are retained. However, if the previous adjustment was excessive, the previous operating current value needs to be adjusted back, meaning the current adjustment direction is different from the previous one. Furthermore, the current correction value is determined by the number of adjustments made to the correction value, employing a variable correction value. This reduces the tendency for inappropriate initial correction values ​​to lead to repeated adjustments without obtaining the calibration current value, balancing calibration efficiency and accuracy. For example, setting a large initial correction value still allows for rapid acquisition of the calibration current value, and the final adjusted correction value is a smaller number, maintaining calibration accuracy. Alternatively, setting a small initial correction value improves calibration accuracy and reduces the number of adjustments, allowing the calibration current value to be obtained in a shorter iteration time, thus balancing calibration efficiency.

[0073] In some embodiments, the calibration method further includes displaying a warning message when the adjusted operating current value exceeds a second preset range. For example, a minimum and maximum limit value for the allowable adjustable operating current value is pre-stored. If the speed of the hoisting mechanism still cannot reach the error range of the minimum or maximum calibrated speed after reaching the limit value, the decrease or increase of the operating current value is stopped, and the user is alerted through the display information. At this time, the component performance difference has exceeded the allowable value, and the component should be replaced or repaired.

[0074] In step S102, the calibration current value is determined as the value of the working current in the drive device of the hoisting mechanism corresponding to the calibrated speed.

[0075] The calibration current value is the operating current value of the drive unit when the winch mechanism achieves the calibrated speed. Subsequently, during winch operation, when it is desired to achieve the calibrated speed, the operating current value of the drive unit controlling the winch mechanism is simply the calibration current value. Alternatively, during calibration, the winch mechanism can be allowed to run by adjusting the electric control handle to a preset opening degree. After calibration, the winch mechanism can also achieve the calibrated speed by adjusting the electric control handle to the preset opening degree.

[0076] This disclosure determines the calibration current value corresponding to the rated speed of the winch mechanism by adjusting the working current value, so that the difference between the actual speed reached by the winch mechanism under the control of the calibration current value and the rated speed is within a first preset range, thereby controlling the parameter calibration accuracy of the winch mechanism. Furthermore, the use of variable correction values ​​during the calibration process can balance the efficiency and accuracy of the calibration, thereby controlling the parameter calibration effect of the winch mechanism and improving the accuracy of the parameter calibration of the winch mechanism.

[0077] Figure 2 A flowchart illustrating a parameter calibration method for a hoisting mechanism according to other embodiments of this disclosure is shown. Figure 2 As shown, the parameter calibration method for the hoisting mechanism includes steps S202 to S216.

[0078] In step S202, select automatic calibration on the display to enter automatic calibration mode, which automatically executes the following steps. Automatic calibration is not limited to selection on the display; it can also be performed via external switches, voice control, gesture control, etc.

[0079] In step S204, the calibrated minimum current value is used as the operating current value of the drive device of the hoisting mechanism to control the hoisting mechanism to lift. The calibrated minimum current value refers to the calibrated current value corresponding to the minimum calibrated speed. That is, in this embodiment, the operating current value corresponding to the minimum calibrated speed in the calibrated lifting state is used as an example.

[0080] In step S206, after the hoisting mechanism is raised, wait a few seconds and collect the actual rotational speed v of the hoisting mechanism.

[0081] In step S208, it is determined whether the actual rotational speed v is equal to the calibrated rotational speed v0. In some embodiments, a first preset range can be set as the allowable error range between the actual rotational speed and the calibrated rotational speed, that is, it is determined whether the difference between the actual rotational speed and the calibrated rotational speed is within the first preset range. If yes, step S210 is executed; otherwise, step S212 is executed.

[0082] In step S210, the current value corresponding to the actual rotational speed v at this time is recorded, and this current value is determined as the calibration current value.

[0083] In step S212, it is determined whether the actual rotational speed v is less than the calibrated rotational speed v0. With the first preset range set as the allowable error range between the actual rotational speed and the calibrated rotational speed, it is determined whether the difference between the actual rotational speed and the calibrated rotational speed is less than any value within the first preset range. If yes, proceed to step S214; otherwise, proceed to step S216.

[0084] In step S214, the current value corresponding to the actual rotational speed v is increased by x milliamperes, and the process returns to step S206.

[0085] In step S216, the current value corresponding to the actual rotational speed v is reduced by x milliamperes, and the process returns to step S206.

[0086] In steps S214 and S216, x refers to the aforementioned correction value, which is variable and therefore can be understood. Figure 2 When performing multiple loops, the value of x in each loop is not necessarily the same.

[0087] Figure 3A schematic diagram of the structure of a parameter calibration device for a hoisting mechanism according to some embodiments of the present disclosure is shown. Figure 3 As shown, the parameter calibration device 30 of the hoisting mechanism includes modules 310-340.

[0088] The first determining module 310 is configured to determine the rated speed of the hoisting mechanism at the rated current value.

[0089] The detection module 320 is configured to use the calibrated current value as the working current value of the drive device of the hoisting mechanism, control the operation of the hoisting mechanism, and detect the actual speed of the hoisting mechanism.

[0090] The adjustment module 330 is configured to adjust the operating current value when the difference between the actual speed and the calibrated speed is not within a first preset range, until the difference between the actual speed and the calibrated speed is within the first preset range, thereby obtaining a calibration current value.

[0091] The second determining module 340 is configured to determine the calibration current value as the value of the operating current in the drive unit of the hoisting mechanism corresponding to the calibrated speed.

[0092] In some embodiments, the detection module 320 is configured to control the hoisting mechanism to operate in a preset direction, wherein the preset direction includes lifting and / or lowering.

[0093] In some embodiments, the adjustment module 330 is configured to set an initial correction value; in each adjustment, the current adjustment direction and the current correction value are determined based on the previous adjustment result, the previous adjustment direction, and the previous correction value, wherein the previous adjustment result is the comparison result between the actual speed and the calibrated speed corresponding to the previous operating current value; and the current operating current value is determined based on the previous operating current value, the current adjustment direction, and the current correction value.

[0094] In some embodiments, the adjustment module 330 is configured such that, if the comparison result of the actual speed corresponding to the previous operating current value and the calibration speed is the same as the comparison result of the actual speed corresponding to the calibration current value and the calibration speed, the current adjustment direction is the same as the previous adjustment direction, and the current correction value is the same as the previous correction value.

[0095] In some embodiments, the adjustment module 330 is configured to, when the comparison result of the actual speed corresponding to the previous working current value and the rated speed is opposite to the comparison result of the actual speed corresponding to the rated current value and the rated speed, the current adjustment direction is opposite to the previous adjustment direction, and the current correction value is determined based on the initial correction value and the number of times the correction value is adjusted.

[0096] In some embodiments, the current correction value is negatively correlated with the number of times the correction value has been adjusted.

[0097] In some embodiments, determining the current operating current value based on the previous operating current value, the current adjustment direction, and the current correction value includes: if the current adjustment direction is the same as the previous adjustment direction, determining the sum of the previous operating current value and the current correction value as the current operating current value; if the current adjustment direction is different from the previous adjustment direction, determining the difference between the previous operating current value and the current correction value as the current operating current value.

[0098] In some embodiments, the adjustment module 330 is configured to determine the current adjusted operating current value as the sum of the current adjusted correction value and the previous adjusted operating current value.

[0099] In some embodiments, the calibrated current value is the operating current value corresponding to the maximum calibrated speed or the minimum calibrated speed.

[0100] In some embodiments, the detection module 320 is configured to operate the winch mechanism by adjusting the electric control handle to a preset opening; and to detect the actual rotational speed of the winch mechanism by a winch sensor mounted on the winch mechanism.

[0101] In some embodiments, any two of the calibration current value, calibration speed, and preset opening degree are mutually corresponding.

[0102] In some embodiments, the parameter calibration device 30 of the hoisting mechanism is configured to determine the calibration current value as the value of the operating current in the drive device of the hoisting mechanism corresponding to the calibration speed when the difference between the actual rotational speed and the calibrated rotational speed is within a first preset range.

[0103] In some embodiments, the parameter calibration device 30 of the hoisting mechanism is configured to display the difference between the actual rotational speed and the calibrated rotational speed.

[0104] In some embodiments, the parameter calibration device 30 of the hoisting mechanism is configured to display a warning message if the adjusted operating current value exceeds a second preset range.

[0105] This disclosure determines the calibration current value corresponding to the rated speed of the winch mechanism by adjusting the working current value, so that the difference between the actual speed reached by the winch mechanism under the control of the calibration current value and the rated speed is within a first preset range, thereby controlling the parameter calibration accuracy of the winch mechanism. Furthermore, the use of variable correction values ​​during the calibration process can balance the efficiency and accuracy of the calibration, thereby controlling the parameter calibration effect of the winch mechanism and improving the accuracy of the parameter calibration of the winch mechanism.

[0106] The parameter calibration device for the hoisting mechanism in the embodiments of this disclosure can be implemented by various computing devices or computer systems, as described below. Figure 4 as well as Figure 5 Describe it.

[0107] Figure 4 A schematic diagram of the structure of a parameter calibration device for a hoisting mechanism according to other embodiments of the present disclosure is shown. For example... Figure 4 As shown, the hoisting mechanism parameter calibration device 40 includes a memory 410 and a processor 420 coupled to the memory 410. The processor 420 is configured to execute the hoisting mechanism parameter calibration method in any of the embodiments of this disclosure based on instructions stored in the memory 410.

[0108] The memory 410 may include, for example, system memory, fixed non-volatile storage media, etc. The system memory may store, for example, the operating system, application programs, boot loader, database, and other programs.

[0109] Figure 5 A schematic diagram of the structure of a parameter calibration device for a hoisting mechanism according to some embodiments of the present disclosure is shown. Figure 5 As shown, the parameter calibration device 50 of the hoisting mechanism includes a memory 510 and a processor 520, which are similar to the memory 410 and processor 420, respectively. It may also include an input / output interface 530, a network interface 540, and a storage interface 550. These interfaces 530, 540, 550, and the memory 510 and processor 520 can be connected, for example, via a bus 560. The input / output interface 530 provides a connection interface for input / output devices such as monitors, mice, keyboards, and touchscreens. The network interface 540 provides a connection interface for various networked devices, such as database servers or cloud storage servers. The storage interface 550 provides a connection interface for external storage devices such as SD cards and USB flash drives.

[0110] Figure 6 A schematic diagram of the structure of a parameter calibration system for a hoisting mechanism according to some embodiments of the present disclosure is shown. Figure 6 As shown, the hoisting mechanism parameter calibration system 60 includes the hoisting mechanism parameter calibration device 610 as described above; a hoisting sensor 620 configured to detect the actual rotational speed of the hoisting mechanism; an electric control handle 630 configured to control the operation of the hoisting mechanism; and a display 640 configured to display the difference between the actual rotational speed and the calibrated rotational speed.

[0111] Figure 7 A schematic diagram of the structure of a parameter calibration system for a hoisting mechanism according to other embodiments of the present disclosure is shown. For example... Figure 7As shown, the hoisting mechanism parameter calibration system includes an electric control handle 710, which is configured to provide motion control signals and be electrically connected to the hoisting mechanism parameter calibration device 720. The controller 720 is a programmable controller with multiple external interfaces capable of acquiring digital and analog signals and outputting drive digital and analog signals, and also has a communication interface, enabling the aforementioned hoisting mechanism parameter calibration method. A display 730 serves as a human-machine interface and is connected to the controller 720 via a bus. The controller 720 outputs electrical or communication signals after logical operations to drive the hoisting mechanism's drive unit 740. The hoisting mechanism's drive unit 740 can consist of an electro-proportional hydraulic pump and a motor, or a hydraulic pump, an electro-proportional valve, and a motor. The hoisting mechanism's drive unit 740 is mechanically connected to the hoisting mechanism 750, driving the hoisting mechanism 750 to rotate. A hoisting sensor 760 is installed on the hoisting mechanism 750 to detect the actual rotational speed of the hoisting mechanism, and the hoisting sensor 760 is connected to the controller 720 via an electrical signal.

[0112] Figure 8 A schematic diagram of the structure of a lifting device according to some embodiments of the present disclosure is shown. For example... Figure 8 As shown, the lifting device 80 includes a parameter calibration system for the hoisting mechanism as described above.

[0113] Embodiments of this disclosure also provide a computer-readable storage medium having a computer program stored thereon, characterized in that the program, when executed by a processor, implements any of the aforementioned parameter calibration methods for a hoisting mechanism.

[0114] Embodiments of this disclosure also provide a computer program product, including instructions that, when executed by a processor, cause the processor to perform a parameter calibration method according to any of the aforementioned hoisting mechanisms.

[0115] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0116] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0117] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0118] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0119] The above description is only a preferred embodiment of this disclosure and is not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. A parameter calibration method for a hoisting mechanism, comprising: Determine the rated speed of the hoisting mechanism at the rated current value; The calibrated current value is used as the operating current value of the drive device of the hoisting mechanism to control the operation of the hoisting mechanism and detect the actual speed of the hoisting mechanism; If the difference between the actual rotation speed and the calibrated rotation speed is not within a first preset range, adjust the operating current value until the difference between the actual rotation speed and the calibrated rotation speed is within the first preset range to obtain a calibration current value. The calibration current value is determined as the value of the operating current in the drive device of the hoisting mechanism corresponding to the calibrated speed.

2. The parameter calibration method according to claim 1, wherein, The control of the hoisting mechanism includes: The hoisting mechanism is controlled to operate in a preset direction, wherein the preset direction includes lifting and / or lowering.

3. The parameter calibration method according to claim 1, wherein, The adjustment of the operating current value includes: Set the initial correction value; In each adjustment, the current adjustment direction and the current correction value are determined based on the previous adjustment result, the previous adjustment direction, and the previous correction value. The previous adjustment result is the comparison result between the actual speed corresponding to the previous working current value and the calibrated speed. The current operating current value is determined based on the previous operating current value, the current adjustment direction, and the current correction value.

4. The parameter calibration method according to claim 3, wherein, The process of determining the current adjustment direction and current correction value based on the previous adjustment result, the previous adjustment direction, and the previous correction value includes: If the comparison result between the actual speed corresponding to the previous working current value and the calibrated speed is the same as the comparison result between the actual speed corresponding to the calibrated current value and the calibrated speed, then the current adjustment direction is the same as the previous adjustment direction, and the current correction value is the same as the previous correction value.

5. The parameter calibration method according to claim 3, wherein, The process of determining the current adjustment direction and current correction value based on the previous adjustment result, the previous adjustment direction, and the previous correction value includes: If the comparison result between the actual speed corresponding to the previous operating current value and the rated speed is opposite to the comparison result between the actual speed corresponding to the rated current value and the rated speed, the current adjustment direction is opposite to the previous adjustment direction, and the current correction value is determined based on the initial correction value and the number of times the correction value has been adjusted.

6. The parameter calibration method according to claim 5, wherein, The current correction value is negatively correlated with the number of times the correction value has been adjusted.

7. The parameter calibration method according to claim 3, wherein, Determining the current operating current value based on the previous operating current value, the current adjustment direction, and the current correction value includes: If the current adjustment direction is the same as the previous adjustment direction, the sum of the previous operating current value and the current correction value is determined as the current operating current value; If the current adjustment direction is different from the previous adjustment direction, the difference between the previous operating current value and the current correction value is determined as the current operating current value.

8. The parameter calibration method according to claim 1, wherein, The calibrated current value is the operating current value corresponding to the maximum calibrated speed or the minimum calibrated speed.

9. The parameter calibration method according to claim 1, wherein, The control of the hoisting mechanism and the detection of the actual rotational speed of the hoisting mechanism include: The winch mechanism is operated by adjusting the electronic control handle to a preset opening degree; The actual rotational speed of the winch mechanism is detected by a winch sensor installed on the winch mechanism.

10. The parameter calibration method according to claim 9, wherein, Any two of the calibration current value, the calibration speed, and the preset opening degree are mutually corresponding.

11. The parameter calibration method according to claim 1, further comprising: When the difference between the actual rotational speed and the calibrated rotational speed is within a first preset range, the calibrated current value is determined as the value of the operating current in the drive device of the hoisting mechanism corresponding to the calibrated rotational speed.

12. The parameter calibration method according to claim 1, further comprising: The display shows the difference between the actual rotational speed and the calibrated rotational speed.

13. The parameter calibration method according to claim 1, further comprising: If the adjusted operating current value exceeds the second preset range, a warning message will be displayed.

14. A parameter calibration device for a hoisting mechanism, comprising: The first determining module is configured to determine the rated speed of the hoisting mechanism at the rated current value; The detection module is configured to use the calibrated current value as the operating current value of the drive device of the hoisting mechanism, control the operation of the hoisting mechanism, and detect the actual rotational speed of the hoisting mechanism. The adjustment module is configured to adjust the operating current value when the difference between the actual speed and the calibrated speed is not within a first preset range, until the difference between the actual speed and the calibrated speed is within the first preset range, thereby obtaining a calibration current value. The second determining module is configured to determine the calibration current value as the value of the operating current in the drive device of the hoisting mechanism corresponding to the calibrated speed.

15. A parameter calibration device for a hoisting mechanism, comprising: processor; as well as A memory coupled to the processor is used to store instructions that, when executed by the processor, cause the processor to perform the parameter calibration method for the hoisting mechanism as described in any one of claims 1 to 13.

16. A parameter calibration system for a hoisting mechanism, comprising: The parameter calibration device for the hoisting mechanism as described in claim 14 or 15; A hoisting sensor is configured to detect the actual rotational speed of the hoisting mechanism; An electric control handle is configured to control the operation of the hoisting mechanism; The display is configured to show the difference between the actual rotational speed and the calibrated rotational speed.

17. A lifting device, comprising: The parameter calibration system for the hoisting mechanism as described in claim 16.

18. A computer-readable storage medium having a computer program stored thereon, wherein, When executed by the processor, the program implements the parameter calibration method for the hoisting mechanism as described in any one of claims 1 to 13.

19. A computer program product comprising instructions that, when executed by a processor, cause the processor to perform a parameter calibration method for a hoisting mechanism according to any one of claims 1 to 13.

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