Control method, control device, work machine, and machine-readable storage medium

Abstract

The application discloses a control method, a control device, a working machine and a machine readable storage medium, relates to the technical field of working machine lifting mechanism control, and the control method comprises the following steps: acquiring a first state of a downward operation device and a second state of an upper limit position device; determining whether the lifting mechanism is abnormally descending according to the first state and the second state; and controlling the upper driving device to drive the lifting mechanism to ascend in the case that it is determined that the lifting mechanism is abnormally descending. The embodiment of the application can solve the problem of insufficient safety of the existing working machine lifting mechanism control technology.

Description

Technical Field

[0001] The present application relates to the technical field of control of lifting mechanisms of working machines, and in particular to a control method, a control device, a working machine, and a machine-readable storage medium. Background Art

[0002] Operating machinery, such as ultra-large excavators, has a high body and the cab is installed at a correspondingly high position. The driver needs to use a lifting mechanism to reach the cab from the ground. However, when the ultra-large excavator is working, the working conditions are complex and the vibration is large. The lifting mechanism may move abnormally downward due to vibration or leakage in the cylinder, causing safety accidents. Therefore, it is necessary to control the abnormal downward movement of the lifting mechanism.

[0003] The existing control technology for the lifting mechanism of operating machinery mainly controls abnormal downward movement by adding a locking mechanism. However, the addition of a locking mechanism will lead to an increase in system complexity, and the failure rate of the complex system will also increase accordingly, eventually leading to the occurrence of safety accidents.

[0004] It can be seen that the existing control technology of the lifting mechanism of operating machinery has the problem of insufficient safety. Summary of the Invention

[0005] The purpose of the embodiments of the present application is to provide a control method, a control device, an operating machine and a machine-readable storage medium to solve the problem of insufficient safety of the existing operating machine lifting mechanism control technology.

[0006] To achieve the above-mentioned object, the present application provides a first aspect of a control method for an operating machine, characterized in that the operating machine includes a lifting mechanism, a downward operating device, an upper limit device, and an upward drive device, wherein the upward drive device is connected to the lifting mechanism, the downward operating device is configured to control the lifting mechanism to move downward; the upward drive device is configured to drive the lifting mechanism upward; and the upper limit device is configured to determine whether the lifting mechanism has reached the upper limit. The control method includes:

[0007] Acquire a first state of the downlink operating device and a second state of the upper limit device;

[0008] Determining whether the lifting mechanism is descending abnormally according to the first state and the second state;

[0009] When it is determined that the lifting mechanism is not moving downward normally, the upward driving device is controlled to drive the lifting mechanism upward.

[0010] In an embodiment of the present application, whether the lifting mechanism is descending abnormally is determined based on the first state and the second state, including: determining whether the first state is a pressed state; when the first state is not a pressed state, determining whether the second state changes from a triggered state to a non-triggered state; when the second state changes from a triggered state to a non-triggered state, determining that the lifting mechanism is descending abnormally.

[0011] In the embodiment of the present application, when the first state is not the pressed state, determining whether the second state changes from the triggered state to the non-triggered state includes:

[0012] When the first state is not the pressed state, determining whether the second state changes from the triggered state to the non-triggered state and maintains the non-triggered state for a first preset time period;

[0013] When the second state changes from the triggered state to the non-triggered state, determining that the lifting mechanism is abnormally descending includes:

[0014] When the second state changes from the triggered state to the non-triggered state and the duration of the non-triggered state reaches a first preset duration range, it is determined that the lifting mechanism is abnormally descending.

[0015] In the embodiment of the present application, when it is determined that the lifting mechanism is not descending normally, after controlling the upward driving device to drive the lifting mechanism upward, the method further includes:

[0016] determining whether the second state is a trigger state;

[0017] When it is determined that the second state is the trigger state, the upward driving device stops driving the lifting mechanism.

[0018] In the embodiment of the present application, determining whether the lifting mechanism is descending abnormally according to the second state and the second state further includes:

[0019] Determine whether the first state is a pressed state;

[0020] When the first state is the pressed state, determining whether the second state changes from the triggered state to the non-triggered state;

[0021] When the second state changes from the triggered state to the non-triggered state, it is determined that the lifting mechanism is descending normally.

[0022] In the embodiment of the present application, determining whether the first state is a pressed state includes:

[0023] When the lifting mechanism has been operated and stopped at the upper limit position, and the second state is the trigger state, it is determined whether the first state is the pressed state.

[0024] In the embodiment of the present application, when the first state is the pressed state, determining whether the second state changes from the triggered state to the non-triggered state includes:

[0025] When the first state is the pressed state, determining whether the second state changes from the triggered state to the non-triggered state after a second preset time period;

[0026] When the second state changes from the triggered state to the non-triggered state, determining that the lifting mechanism is descending normally includes:

[0027] When the second state changes from the triggered state to the non-triggered state after the second preset time period, it is determined that the lifting mechanism descends normally.

[0028] A second aspect of an embodiment of the present application provides a control device, including:

[0029] a memory configured to store instructions; and

[0030] The processor is configured to call the instructions from the memory and implement the control method of the foregoing embodiment when executing the instructions.

[0031] A third aspect of an embodiment of the present application provides an operating machine, comprising: a lifting mechanism; a controller of the aforementioned embodiment; a downward operating device, configured to control the lifting mechanism to move downward; an upper limit device, configured to determine whether the lifting mechanism has reached the upper limit; and an upward drive device, configured to drive the lifting mechanism upward.

[0032] A fourth aspect of an embodiment of the present application provides a machine-readable storage medium having instructions stored thereon. When the instructions are processed and executed, the processor is configured to execute the control method of the aforementioned embodiment.

[0033] The control method, controller, working machine and medium of the lifting mechanism of the working machine provided in the embodiment of the present application obtain the first state of the downward operating device and the second state of the upper limit device. The downward operating device is configured to control the lifting mechanism to move downward, and the upper limit device is configured to determine whether the lifting mechanism has reached the upper limit. The first state of the downward operating device can be used to know whether the operator controls the lifting mechanism to move downward. If the first state of the downward operating device is not the pressed state, it means that the current operator does not control the lifting mechanism to move downward. If the second state of the upper limit device changes from the triggered state to the non-triggered state, it means that the lifting mechanism is moving abnormally downward, and the upward drive device is controlled to drive the lifting mechanism upward. The embodiment of the present application only needs to use the downward operating device, the upper limit device and the upward drive device to determine and control the abnormal downward movement of the lifting mechanism. No additional devices are required, which reduces the complexity of the system. The first state and the second state can be used to determine whether the lifting mechanism is moving abnormally downward. In the case of abnormal downward movement, the upward drive device can be controlled in time to drive the lifting mechanism, solving the problem of insufficient safety of the existing working machine lifting mechanism.

[0034] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present invention, but do not constitute a limitation of the embodiments of the present invention. In the accompanying drawings:

[0036] Figure 1 The following schematically shows a flow chart of a control method 100 for a lifting mechanism according to an embodiment of the present application;

[0037] Figure 2 A schematic diagram of a signal for determining abnormal downward movement of a lifting mechanism according to an embodiment of the present application is shown;

[0038] Figure 3 A schematic diagram of a signal for determining that a lifting mechanism is in normal downward movement according to an embodiment of the present application is shown;

[0039] Figure 4 A schematic diagram of automatic upper limit control of a lifting mechanism according to an embodiment of the present application is shown;

[0040] Figure 5 The following schematically shows a structural block diagram of a control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0041] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0042] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0043] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0044] Reference Figure 1 , Figure 1 The flowchart of the control method 100 according to the embodiment of the present application is schematically shown. The working machine includes a lifting mechanism, a downward operating device, an upper limit device, an upward driving device, and the upward driving device is connected to the lifting mechanism; the downward operating device is configured to control the lifting mechanism to move downward; the upward driving device is configured to drive the lifting mechanism upward; the upper limit device is configured to determine whether the lifting mechanism has reached the upper limit. Figure 1 As shown, the control method 100 of the embodiment of the present application includes steps S110-S130.

[0045] Step S110, obtaining the first state of the down-operating device and the second state of the upper limit device;

[0046] It can be understood that a lifting mechanism is a mechanical device with a lifting function that can lift people or goods to a certain height.

[0047] The embodiments of the present application are described by way of example using an excavator as the operating machine, a folding ladder as the lifting mechanism, a down-operating device as a down-button switch, an upper limit device as an upper limit proximity switch, and an up-drive device as an up-solenoid valve. When the operator presses the down-button switch, the down-button switch is in a pressed state, and the folding ladder should descend. When the operator does not press the down-button switch, the down-button switch is not in a pressed state, and the folding ladder should not descend. The first state represents one of two states: a pressed state and a non-pressed state. The upper limit refers to the maximum limit position that the folding ladder can reach when ascending. When the folding ladder reaches the upper limit, the upper limit proximity switch is in a triggered state. When the folding ladder leaves the upper limit position, the upper limit proximity switch is in a non-triggered state. The second state represents one of two states: a triggered state and a non-triggered state.

[0048] By acquiring the first state of the down button switch and the second state of the upper limit proximity switch, it is possible to determine whether the down button switch is pressed and whether the upper limit proximity switch has left the upper limit position. By acquiring the first and second states, the states of the down button switch and the upper limit proximity switch can be determined, reducing system complexity and improving control safety.

[0049] Step S120, determining whether the lifting mechanism is descending abnormally according to the first state and the second state;

[0050] In an embodiment of the present application, the first state indicates whether the down switch button is pressed, and the second state indicates whether the folding ladder has left the upper limit. The working conditions of the excavator are complex and the vibration is large. When the folding ladder goes up and stops at the upper limit, there is a possibility that the folding ladder is not actively controlled and does not fall normally. According to the first state and the second state, that is, whether the down button switch is pressed and whether the folding ladder has left the upper limit, it can be determined whether the folding ladder is descending abnormally. The method for determining whether the folding ladder is descending abnormally only uses the states of the down button switch and the upper limit proximity switch, which improves the efficiency of the judgment, can timely detect the abnormal descent of the folding ladder, and thus improves the safety of the control.

[0051] In an optional implementation, step S120 includes:

[0052] Step S121: Determine whether the first state is a pressed state;

[0053] Step S122: when the first state is not the pressed state, determining whether the second state changes from the triggered state to the non-triggered state;

[0054] Step S123: When the second state changes from the triggered state to the non-triggered state, it is determined that the lifting mechanism is not descending normally.

[0055] In the embodiment of the present application, the first state indicates whether the down button switch is pressed. By determining whether the first state is pressed, it can be determined whether an operator has pressed the down button switch to control the descent. If the first state is not pressed, that is, if no operator has pressed the down button switch to control the descent, the down solenoid valve will not be controlled to drive the folding ladder downward, and the folding ladder will not leave the upper limit position, and the upper limit proximity switch will remain in the triggered state. By determining whether the second state changes from the triggered state to the non-triggered state, the movement of the folding ladder in the absence of operator control can be determined. If the second state changes from the triggered state to the non-triggered state, it indicates that the folding ladder is descending uncontrolled, that is, abnormally descending.

[0056] In an optional implementation, step S121 includes:

[0057] Step S1211: When the folding ladder has been running and stopped at the upper limit position, and the second state is the trigger state, determine whether the first state is the pressed state.

[0058] In this embodiment of the present application, step S1211 indicates that the folding ladder has reached its upper limit, and the second state is triggered, causing the ladder to stop. At this point, determining whether the first state is in the pressed state is equivalent to determining whether an operator has pressed the down button switch, driving the down solenoid valve to control the folding ladder's downward movement. This means that the down button switch can only be pressed when the folding ladder reaches its upper limit, allowing for subsequent judgment and control, thereby improving the safety of the folding ladder's operation.

[0059] In an optional implementation, step S122 includes:

[0060] Step S1221: If the first state is not the pressed state, determining whether the second state changes from the triggered state to the non-triggered state and maintains the non-triggered state for a first preset time period;

[0061] Step S123 includes:

[0062] Step S1231: When the second state changes from the triggered state to the non-triggered state and the duration of the non-triggered state reaches a first preset duration range, it is determined that the folding ladder is not descending normally.

[0063] In the embodiment of the present application, step S1221 and step S1231 are equivalent to adding a first preset time range on the basis of step S122 and step S123, so that the abnormal descent judgment of the folding ladder is more accurate and the control safety is improved.

[0064] Please also refer to Figure 2 , Figure 2The signal schematic diagram for determining the abnormal descending of the folding ladder is shown in the figure, and the folding ladder is in the normal descending state. Figure 2

[0065] Specifically, Figure 2 The signal states of the upper limit position signal input, the descending button signal input and the descending electromagnetic valve output are shown in the signal schematic diagram. When the descending button switch is pressed, the descending button signal input is high, which is recorded as 1 in the signal schematic diagram, and when the descending button switch is not pressed, the descending button signal input is low, which is recorded as 0 in the signal schematic diagram. When the upper limit position proximity switch is triggered, the upper limit position signal input is high, which is recorded as 1 in the signal schematic diagram, and when the upper limit position proximity switch is not triggered, the upper limit position signal is low, which is recorded as 0 in the signal schematic diagram. Time t1 represents the first preset time range.

[0066] It is determined whether the first state is the pressed state, that is, whether the descending button signal input is 0 or 1. In the case where the first state is not the pressed state, the descending electromagnetic valve will not receive the control signal that becomes high. In the signal schematic diagram shown in the figure, the descending button switch signal input and the descending electromagnetic valve output are 0. Figure 2 It is determined whether the second state changes from the triggered state to the untriggered state and maintains the untriggered state in the t1 time range, which is equivalent to determining whether the upper limit position signal input is 0 or 1. In the case where the second state changes from the triggered state to the untriggered state and maintains the untriggered state in the t1 time range, that is, the upper limit position signal input changes from 1 to 0 and maintains the untriggered state in the t1 time range, it can be determined that the lifting mechanism is in the abnormal descending state.

[0067] In the embodiment of the application, the value range of t1 includes 50-200 ms.

[0068] In an optional embodiment, the step S120 further includes:

[0069] Step S124: determining whether the first state is the pressed state.

[0070] Step S125: in the case where the first state is the pressed state, determining whether the second state changes from the triggered state to the untriggered state.

[0071] Step S126: in the case where the second state changes from the triggered state to the untriggered state, determining that the lifting mechanism is in the normal descending state.

[0072] ​In the embodiment of the present application, the first state indicates whether the down button switch is pressed. By determining whether the first state is in the pressed state, it can be known whether an operator has pressed the down button switch to perform down control. When the first state is in the pressed state, that is, the operator presses the down button switch to perform down control, the down solenoid valve will be controlled to drive the folding ladder to move downward, the folding ladder will leave the upper limit, and the upper limit proximity switch will be in a non-triggered state. By determining whether the second state changes from a triggered state to a non-triggered state, it can be known how the folding ladder moves under operator control. If the second state changes from a triggered state to a non-triggered state, it means that the folding ladder is descending under control, that is, descending normally.

[0073] In an optional implementation, step S125 includes:

[0074] Step S1251: when the first state is the pressed state, determining whether the second state changes from the triggered state to the non-triggered state after a second preset time period;

[0075] Step S126 includes:

[0076] Step S1261: When the second state changes from the triggered state to the non-triggered state after the second preset time period, it is determined that the lifting mechanism descends normally.

[0077] In the embodiment of the present application, step S1251 and step S1261 are equivalent to adding a second preset time length on the basis of step S125 and step S126, so that the normal descent judgment of the folding ladder is more accurate and the control safety is improved.

[0078] Figure 3 A schematic diagram of a signal for determining that a folding ladder is descending normally according to an embodiment of the present application is shown.

[0079] Specifically, Figure 3 The signal diagram shown shows the signal states of the upper limit signal input, the down button signal input, and the down solenoid valve output. When the down switch button is pressed, the down button signal input is high, indicated by 1 in the signal diagram. When the down switch button is not pressed, the down button signal input is low, indicated by 0 in the signal diagram. When the upper limit proximity switch is triggered, the upper limit signal input is high, indicated by 1 in the signal diagram. When the upper limit proximity switch is not triggered, the upper limit signal input is low, indicated by 0 in the signal diagram. Time t0 represents the second preset duration.

[0080] Determine whether the first state is the pressed state, that is, determine whether the down button signal input is 0 or 1. When the first state is the pressed state, the down electromagnetic valve will receive a control signal that becomes a high level. Figure 3The signal diagram shown is equivalent to the down button switch signal input and the down solenoid valve output being 1. Determining whether the second state changes from the triggered state to the detriggered state after the second preset time duration is equivalent to determining whether the upper limit position signal input is 0 or 1 after t0. If the second state changes from the triggered state to the detriggered state after t0, that is, the upper limit position signal input changes from 1 to 0 after t0, it can be determined that the lifting mechanism is descending normally.

[0081] Illustratively, in the embodiment of the present application, the value range of t0 is 0-1s.

[0082] Step S130 : When it is determined that the lifting mechanism is not moving downward normally, the upward driving device is controlled to drive the lifting mechanism upward.

[0083] The embodiment of the present application is illustrated by taking an excavator as the working machine, a folding ladder as the lifting mechanism, a down operating device as a down button switch, an upper limit device as an upper limit proximity switch, and an up driving device as an up solenoid valve. The up solenoid valve is connected to the folding ladder. When it is determined that the folding ladder is descending abnormally, the up solenoid valve is controlled to drive the folding ladder upward. The control of the up solenoid valve to drive the folding ladder upward is automatically performed on the basis of determining that the folding ladder is descending abnormally. As long as it is determined that the folding ladder is descending abnormally, the up solenoid valve will be controlled to drive the folding ladder upward. No additional settings are required. The system is relatively simple and can be automatically controlled, thereby improving the safety of control.

[0084] In an optional implementation manner, after step S130, the method further includes:

[0085] S1301: Determine whether the second state is a trigger state;

[0086] S1302: When it is determined that the second state is the trigger state, the upward solenoid valve stops driving the folding ladder.

[0087] It can be understood that whether the second state is a triggered state actually indicates whether the folding ladder has run to the upper limit position and whether the upper limit proximity switch has been triggered. If the second state is a triggered state, it means that the folding ladder has run to the upper limit position and the upper limit proximity switch has been triggered. At this time, the upward solenoid valve stops driving the folding ladder, thereby effectively preventing the folding ladder from going up beyond the upper limit position and causing safety problems.

[0088] Please also refer to Figure 4 , Figure 4 The following schematically shows the upper limit automatic control diagram of the lifting mechanism according to the embodiment of the present application. Figure 2 As shown,

[0089] Specifically, Figure 4 is Figure 2Based on the expansion of the basic, the signal diagram shown shows the signal status of the four signals of upper limit signal input, down button signal input, up solenoid valve output and down solenoid valve output. Figure 4 exist Figure 2 On the basis of the above, the signal status of the upward solenoid valve output is added. When the upward solenoid valve is not controlled to output, it is recorded as 0 in the signal diagram. When the upward solenoid valve is controlled to output, it is recorded as 1 in the signal diagram.

[0090] Specifically, after the folding ladder is determined to be descending abnormally, the upward solenoid valve will be controlled to output. Figure 4 The signal diagram shown is equivalent to the output of the upward solenoid valve changing from 0 to 1. When the folding ladder reaches the upper limit, the upper limit proximity switch is triggered, and the upper limit signal input changes from 0 to 1. By determining whether the second state is the trigger state, it can be known whether the folding ladder has reached the upper limit. When the folding ladder reaches the upper limit, that is, when the second state is determined to be the trigger state, the upward solenoid valve output is controlled to stop. Figure 4 The signal diagram shown is equivalent to the output of the upward solenoid valve changing from 1 to 0, stopping the upward solenoid valve from driving the folding ladder.

[0091] Optionally, the embodiment of the present application is applicable to the control of upward mechanisms such as centralized filling of ultra-large excavators.

[0092] Figure 5 The following schematically shows a structural block diagram of a control device according to an embodiment of the present application. Figure 5 As shown, an embodiment of the present application provides a control device, which may include:

[0093] Memory 510 configured to store instructions; and

[0094] The processor 520 is configured to call instructions from the memory 510 and implement the control method of the aforementioned embodiment when executing the instructions.

[0095] In an embodiment of the present application, the controller has a switch input acquisition port and a switch output acquisition port, wherein the switch input acquisition port is configured to acquire input signals, and the switch output acquisition port is configured to acquire output signals.

[0096] The present application also provides a working machine, which may include:

[0097] Lifting mechanism;

[0098] The control device shown in the aforementioned embodiment;

[0099] A downward operating device is configured to control the lifting mechanism to move downward;

[0100] an upper limit device configured to determine whether the lifting mechanism has reached an upper limit;

[0101] An upward driving device, configured to drive the lifting mechanism upward;

[0102] Wherein, the upward driving device is connected with the lifting mechanism.

[0103] In the embodiment of the present application, the upward operating device, the downward operating device, the upper limit device, the lower limit device, the upward driving device, and the downward driving device are respectively configured as an upward button switch, a downward button switch, an upper limit proximity switch, a lower limit proximity switch, an upward solenoid valve, and a downward solenoid valve. The upward button switch, the downward button switch, the upper limit proximity switch, and the lower limit proximity switch are connected to the switch quantity acquisition port of the controller described in the aforementioned embodiment. When the button is not pressed or the proximity switch is not triggered, the voltage level is low, and when the button is pressed or the proximity switch is triggered, the voltage level is high. The upward solenoid valve and the downward solenoid valve are connected to the switch quantity output port of the controller described in the aforementioned embodiment. Among them, the upward operating device, the lower limit device, and the downward driving device are respectively configured to control the lifting mechanism to move upward, determine whether the lifting mechanism has reached the lower limit, and drive the lifting mechanism downward; the downward driving device is connected to the lifting mechanism.

[0104] An embodiment of the present application further provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the above-mentioned control method for a lifting mechanism.

[0105] In summary, the embodiments of the present application can achieve some or all of the following advantages through the aforementioned technical solutions:

[0106] The input status of the downward operating device and the upper limit device can be used to determine whether the lifting mechanism is actively descending or abnormally descending. The determination method is convenient and efficient. When it is determined that the lifting mechanism is abnormally descending, the controller actively drives the upward solenoid valve to control the lifting mechanism, so that the lifting mechanism always remains at the upper limit when there is no active triggering, solving the problem of insufficient safety of the existing technology.

[0107] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0108] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0109] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0110] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0111] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0112] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0113] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can implement information storage by any method or technology. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0114] It should also be noted that the terms "comprising", "containing", or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, method, article or apparatus that includes a list of elements does not only include those elements, but also includes other elements not explicitly listed, or further includes elements inherent in such a process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0115] The above only is an embodiment of the present application, and is not used to limit the present application. For those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A control method, applied to an operating machine, characterized in that: The working machine includes a lifting mechanism, a downward operating device, an upper limit device, and an upward driving device, wherein the upward driving device is connected to the lifting mechanism; the downward operating device is configured to control the lifting mechanism to move downward; and the upward driving device is configured to drive the lifting mechanism to move upward. The upper limit device is configured to determine whether the lifting mechanism has reached the upper limit; the control method includes: Acquire a first state of the downward operating device and a second state of the upper limit device; determining whether the lifting mechanism is descending abnormally according to the first state and the second state; When it is determined that the lifting mechanism is not descending normally, controlling the upward driving device to drive the lifting mechanism upward; Wherein, determining whether the lifting mechanism is descending abnormally according to the first state and the second state includes: determining whether the first state is a pressed state; When the first state is not the pressed state, determining whether the second state changes from the triggered state to the non-triggered state; When the second state changes from the triggered state to the non-triggered state, it is determined that the lifting mechanism is not descending normally.

2. The control method according to claim 1, characterized in that: The step of determining whether the second state changes from a triggered state to a non-triggered state when the first state is not a pressed state includes: When the first state is not the pressed state, determining whether the second state changes from the triggered state to the non-triggered state and maintains the non-triggered state for a first preset time period; When the second state changes from the triggered state to the non-triggered state, determining that the lifting mechanism is not descending normally includes: When the second state changes from the triggered state to the non-triggered state and the duration of the non-triggered state reaches a first preset duration range, it is determined that the lifting mechanism is abnormally descending.

3. The control method according to claim 1, wherein: In the case where it is determined that the lifting mechanism is not descending normally, after controlling the upward driving device to drive the lifting mechanism upward, the method further includes: determining whether the second state is a trigger state; When it is determined that the second state is a trigger state, the upward driving device stops driving the lifting mechanism.

4. The control method according to claim 1, wherein: The determining, based on the first state and the second state, whether the lifting mechanism is descending abnormally further includes: determining whether the first state is a pressed state; When the first state is a pressed state, determining whether the second state changes from a triggered state to a non-triggered state; When the second state changes from the triggered state to the non-triggered state, it is determined that the lifting mechanism is descending normally.

5. The control method according to claim 1 or 4, characterized in that: The determining whether the first state is a pressed state includes: When the lifting mechanism has been operated and stopped at the upper limit position, and the second state is a triggered state, it is determined whether the first state is a pressed state.

6. The control method according to claim 4, characterized in that: When the first state is the pressed state, determining whether the second state changes from the triggered state to the non-triggered state includes: In a case where the first state is a pressed state, determining whether the second state changes from a triggered state to a non-triggered state after a second preset time period; When the second state changes from the triggered state to the non-triggered state, determining that the lifting mechanism is descending normally includes: When the second state changes from the triggered state to the non-triggered state after the second preset time period, it is determined that the lifting mechanism descends normally.

7. A control device, characterized in that: include: a memory configured to store instructions; as well as A processor is configured to call the instructions from the memory and implement the control method according to any one of claims 1 to 6 when executing the instructions.

8. A working machine, characterized in that: include: Lifting mechanism; The control device according to claim 7; A downward operating device, configured to control the lifting mechanism to move downward; an upper limit device, configured to determine whether the lifting mechanism has reached an upper limit; The upward driving device is configured to drive the lifting mechanism upward.

9. A machine-readable storage medium, characterized in that The machine-readable storage medium stores instructions, which are used to enable a machine to execute the control method according to any one of claims 1-6.

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